Physics I

Class 13

General
Rotational Motion

Rev. 19-Feb-06 GB
13-1
 Definitions

A n g u la r P o s iti o n :  ( n o r m a lly i n r a d ia n s )
A n g u la r D i s p la c e m e n t :     0
A v e r a g e o r m e a n a n g u lar v e lo c it y is d e f i n e d a s f o ll o w s :
   0 
 avg  
t  t0 t
I n s ta n ta n e o u s a n g u la r v e l o c it y o r j u s t “ a n g u la r v e lo c it y ” :
  d 
  lim 
t 0  t dt
W a it a m in u t e ! H o w c a n a n a n g l e h a v e a v e c t o r d i r e c tio n ?

13-2
Direction of Angular Displacement
and Angular Velocity

•Use your right hand.

•Curl your fingers in the direction
of the rotation.
•Out-stretched thumb points in
the direction of the angular
velocity.

13-3
 Angular Acceleration

A v e ra g e a n g u la r a c c e le ra tio n is d e fin e d a s fo llo w s :

  
   0 
 avg  
t  t0 t
I n s t a n t a n e o u s a n g u l a r a c c e l e r a t i o n o r j u s t “ a n g u l a r a c c e l e r a t i o n ” :
 
  d  d2
  lim  
 t 0  t d t d t 2
T h e e a s ie s t w a y to g e t th e d ire c tio n o f th e a n g u la r a c c e le ra tio n is
to d e te rm in e th e d ire c tio n o f th e a n g u la r v e lo c ity a n d th e n …
 If th e o b je c t is s p e e d in g u p , a n g u la r v e lo c ity a n d a c c e le ra tio n
a re in th e s a m e d ire c tio n .
 If th e o b je c t is s lo w in g d o w n , a n g u la r v e lo c ity a n d a c c e le ra tio n
a re in o p p o s ite d ire c tio n s .
13-4
 Equations for Constant 

1.    0   t  t 0  x  
2.    0   0(t  t0)  1
 (t  t0)2 v  
2
a  
1
3.   0  2
( 0   )( t  t 0 )
1
4.    0   (t  t0)  2
 (t  t0)2
5.  2
  2
0  2     0 
We recommend always using radians for angles.

13-5
 Relationships Among
Linear and Angular Variables

s r MUST express angles in radians.

v  r
a tangential   r
v2  2 r2
a centripeta l    2r
r r
T he radial direction is defined to be +
outw ard fro m the center.
a radial   a centripeta l

13-6
 Energy in Rotation

C o n s id e r th e k in e tic e n e rg y in a ro ta tin g o b je c t. T h e c e n te r o f
m a s s o f th e o b je c t is n o t m o v in g , b u t e a c h p a rtic le (a to m ) in th e
o b je c t is m o v in g a t th e s a m e a n g u la r v e lo c ity ( ) .

  
1 2 1 2 2 1 2 2
K  2
m i v i  2
m i  ri  2
 m i ri
T h e s u m m a tio n in th e fin a l e x p re s s io n o c c u rs o fte n w h e n
a n a ly z in g ro ta tio n a l m o tio n . It is c a lle d r o ta tio n a l in e r tia o r
th e m o m e n t o f in e r tia .

13-7
 Rotational Inertia
or Moment of Inertia
F o r a s y s te m o f d is c re te “ p o in t” o b je c ts :


2
I m i ri
F o r a s o lid o b je c t, u s e a n in te g ra l w h e re  is th e d e n s ity :

I   r 2 dx dy dz
W e m a y a s k y o u to c a lc u la te th e ro ta tio n a l in e rtia fo r p o in t o b je c ts , b u t w e w ill
g iv e y o u a fo rm u la f o r a s o lid o b je c t o r ju s t g iv e y o u its ro ta tio n a l in e r tia .

2 2
R Ifo
raso
lidsp
here
: I5MR
Ifo
rasp
heric
alsh
ell: I2
3
MR2

13-8
 Characteristics of
Rotational Inertia
T h e ro tatio n a l inertia o f an o b jec t d ep e nd s o n
 Its m a ss.
 Its sh ap e .
 T h e a xis o f ro tatio n .
 N O T th e a n g ula r velo city o r acc ele ratio n.
T h e ro tatio n a l inertia is a m easure o f ho w d ifficu lt it is to ge t a n
o bjec t to sta rt ro ta tin g o r to slo w d o w n o nc e sta rted .
F o r tw o o r m o re o b jects ro ta tin g aro u nd a co m m o n a xis, the to tal
ro tatio nal ine rtia is th e su m o f ea ch ind iv id ua l ro tatio nal in e rtia.
I I i

13-9
 Introduction to Torque

For linear motion, wehave“F=ma”. For rotation, wehave

 
I
Thesymbol “”istorque. Wewill defineit morepreciselynext
time.

Torque and angular acceleration are always

in the same direction in Physics 1 because
we consider rotations about a fixed axis.

13-10
 Correspondence Between
Linear and Rotational Motion

x
v You will solve many rotation problems
a using exactly the same techniques you
learned for linear motion problems.
mI
F 
K  12 I  2
 
  I

13-11
 Class #13
Take-Away Concepts
1. D e fi n itio n s o f r o ta tio n a l q u a n tit ie s :  ,  ,  .
2. C e n tr ip e ta l a n d ta n g e n tia l a c c e le r a tio n .

 m i ri
2
3. R o ta tio n a l in e r tia : I
1 2
4 . R o ta tio n a l k in e tic e n e r g y : K  2 I 
 
5 . I n tr o d u c tio n to to r q u e :   I 
6. C o rresp o n d e n c e
x  v  a 
m  I F 

13-12
 Class #13
Problems of the Day

___1. Lance Armstrong is riding his bicycle due east in the

Tour de France bicycle race. What is the direction of
the angular velocity of his bicycle wheels?

A) North.
B) South.
C) East.
D) West.
E) Up.
F) Down.

13-13
 Class #13
Problems of the Day

2. A carousel takes 8 seconds to make one revolution

when turning at full speed. It takes exactly one revolution
to reach its full speed from rest. What is the magnitude of
its angular acceleration while speeding up, assuming that
its angular acceleration is constant?

13-14
 Activity #13
Introduction to Rotation

Objectiveof the Activity:

1. Thinkabout rotationconcepts.
2. Trychangingtherotational inertiaof a
 simple
object andseehowthat affects I.

13-15