Rigid Body Rotation

Inertia of Rotation

F = 20 N Linear Inertia, m
a = 4 m/s2 24 N
m = 4 m/s2 = 5 kg

F = 20 N Rotational Inertia, I
R = 0.5 m  (20 N)(0.5 m)
 = 2 rad/s2 I= = = 2.5 kg m 2
4 m/s2

Force does for translation what torque does for rotation:

 Rotational Kinetic Energy
Consider tiny mass m: v = R
m
K = ½mv 2
m4
K = ½m(R)2  m1 m3
m2
K = ½(mR ) 2 2 axis
Object rotating at constant 
Sum to find K total:

K = ½(mR2)2 Rotational Inertia Defined:

(½2 same for all m ) II = mR

= mR 22
 Common Rotational Inertias
L L

I 1
3
2
mL I 1
12 mL2

R R R

I = mR 2
I = ½mR 2
I 2
5 mR 2

Hoop Disk or cylinder Solid sphere

Example 2: A circular hoop and a disk each have a
mass of 3 kg and a radius of 20 cm. Compare their
rotational inertias.

I  mR  (3 kg)(0.2 m)
2 2 R

I = 0.120 kg m2 I = mR2
Hoop
I  12 mR 2  12 (3 kg)(0.2 m) 2

I = ½mR2 I = 0.0600 kg m2
Disk
 Important Analogies
For many problems involving rotation, there is an
analogy with linear motion.
m 
  50 rad/s
x I R 

f  = 40 N m
4 kg
A resultant force F A resultant torque
produces negative produces angular
acceleration a for acceleration  of disk
a mass m. with rotational inertia I.

FF  ma
ma   II
 Newton’s 2nd Law for Rotation
How many
F 50 rad/s
revolutions required 
to stop? R R = 0.20 m
= I 4 kg F = 40 N

FR = (½mR2) 0
2f - o2
2

2F 2(40N)  02 (50 rad/s) 2

   
mR (4 kg)(0.2 m) 2 2(100 rad/s 2 )

= 100rad/s2  = 12.5 rad = 1.99 rev

Example 3: What is the linear accel-
eration of the falling 2-kg mass? R = 50 cm
M 6 kg
Apply Newton’s 2nd law to rotating disk:
a=?
I TR = (½MR ) 2

a 2 kg
T = ½MR but a = R;  =
R
a R = 50 cm
T = ½MR( ) ; and T = ½Ma
R
6 kg
T
Apply Newton’s 2nd law to falling mass:
T
mg - T = ma mg - ½Ma
T = ma +a
2 kg
(2 kg)(9.8 m/s2) - ½(6 kg) a = (2 kg) a
mg
19.6 N - (3 kg) a = (2 kg) a a = 3.92 m/s2
 The Work-Energy Theorem
For linear motion: the work done is equal to the
change in linear kinetic energy:

Fx  ½ mv  ½ mv2
f
2
0

For the rotational : work is equal to the change in

rotational kinetic energy:

  ½ I  ½ I2
f
2
0
 Applying the Work-Energy Theorem:

What work is needed F 60 rad/s


to stop wheel rotating:
rotating R R = 0.30 m
Work= r F = 40 N
4 kg

I for wheel: I = mR2 = (4 kg)(0.3 m)2 = 0.36 kg m2

0
  ½ I  ½ I
2
f
2
0 Work = -½I

Work = -½(0.36 kg m2)(60 rad/s)2 Work = -648 J

 Combined Rotation and Translation


Now consider a ball rolling without
slipping. The angular velocity  v
about the point P is same as  for R
disk, so that we write: P

v
 Or v  R
R
 Two Kinds of Kinetic Energy
Kinetic Energy 
of Translation: K = ½mv 2

R v
Kinetic Energy
of Rotation: K = ½I2 P

Total Kinetic Energy of a Rolling Object:

mv  II
KTT  mv
22 22
K 11
22  11
22
 Translation or Rotation?
If you are to solve for a linear parameter, you
must convert all angular terms to linear terms:
s v 
  a I  (?)mR 2
R R R
If you are to solve for an angular parameter, you
must convert all linear terms to angular terms:

s R v  R v R
Example : Find velocity v of a disk if its total
kinetic energy E is given.

Total energy: E = ½mv2 + ½I

v
E  mv  I  ; I  mR ;  
1
2
2 1
2
2 1
2
2

R
 v 2

1 2 1 1
 2

E  2 mv  2 2 mR  2  ; E  12 mv 2  14 mv 2
R 
3mv 2 4E
E or v
4 3m
Example Find angular velocity  of a disk
given its total kinetic energy E.

Total energy: E = ½mv2 + ½I

E  12 mv 2  12 I  2 ; I  12 mR 2 ; v   R

E  12 m( R ) 2  12  12 mR 2   2 ; E  12 mR 2 2  14 mR 2 2

3mR 2 2 4E
E or 
4 3mR 2
Example 5: A circular hoop and a circular disk, each
of the same mass and radius, roll at a linear speed v.
Compare the kinetic energies.


v v

v
Total energy: E = ½mv + ½I
2  =
R
 v 2

2

Disk: E  ½ mv  ½ ½ mR  2 
2
 E = ¾mv2
R 
 v 2

2 2

Hoop: E  ½ mv  ½ mR  2   E = mv2
R 
 Conservation of Energy
The total energy is still conserved for
systems in rotation and translation.
However, rotation must now be considered.
Begin: (U + Kt + KR)o = End: (U + Kt + KR)f

Height? mgho mghf Height?

Rotation? ½ = ½f Rotation?

velocity? ½mvo2 ½mvf2 velocity?

 Example 6: Find the velocity of the 2-kg mass just
before it strikes the floor.
R = 50 cm
mgho mghf
½ = ½f 6 kg

2 kg
½mv o
2 ½mvf2
h = 10 m

mgh0  12 mv 2  12 I  2 I  12 MR 2
 v 2
 2.5v2 = 196 m2/s2
mgh0  2 mv  2 ( 2 MR )  2 
1 2 1 1 2

R 
v = 8.85 m/s
(2)(9.8)(10)  (2)v  (6)v
1
2
2 1
4
2
 Example 7: A hoop and a disk roll from the top of an incline.
What are their speeds at the bottom if the initial height is 20 m?

mgho = ½mv2 + ½I2 Hoop: I = mR2

 v 2

mgh0  ½ mv  ½(mR )  2 
2 2
20 m
R 
mgho = ½mv2 + ½mv2; mgho = mv2

v  gh0  (9.8 m/s 2 )(20 m) Hoop: vv == 14

14 m/s
m/s
Disk: I = ½mR2; mgho = ½mv2 + ½I2 v 4
3 gh0
 v 2

mgh0  ½ mv  ½(½ mR )  2 
2 2

R  v = 16.2 m/s
 Summary – Rotational Analogies
Quantity Linear Rotational
Displacement Displacement x Radians 
Inertia Mass (kg) I (kgm2)
Force Newtons N Torque N·m
Velocity v “ m/s ”  Rad/s

Acceleration a “ m/s2 ”  Rad/s2

Momentum mv (kg m/s) I (kgm2rad/s)

 Analogous Formulas
Linear Motion Rotational Motion
F = ma  = I
K = ½mv2 K = ½I2
Work = Fx Work = 
Power = Fv Power = I
Fx = ½mvf2 - ½mvo2  = ½If2 - ½Io2
 Summary of Formulas: II == mR
mR
22

KK  II Work 

Work  IIoo
oo  IIffff
22
11
22 

 ½II
 ½ ½II
 ½ 
22
ff
22
00
Power 
Power 
  
 
tt

Height? mgho mghf Height?

Rotation? ½ = ½f Rotation?

velocity? ½mvo2 ½mvf2 velocity?