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7 Systems of Particles and Rotational Motion PDF
7 Systems of Particles and Rotational Motion PDF
SYSTEMS
OF
PARTICLES
AND
ROTATIONAL MOTION
7.1 INTRODUCTION
7.1
7.2
7.3
7.4
7.5
7.6
7.7
7.8
7.9
7.10
7.11
7.12
7.13
7.14
Introduction
Centre of mass
Motion of centre of mass
Linear momentum of a
system of particles
Vector product of two
vectors
Angular velocity and its
relation with linear velocity
T or que
and
angular
momentum
Equilibrium of a rigid body
Moment of inertia
Theorems of perpendicular
and parallel axes
Kinematics of rotational
motion about a fixed axis
Dynamics of r otational
motion about a fixed axis
Angular momentum in case
of rotation about a fixed axis
Rolling motion
Summary
Points to Ponder
Exercises
Additional exercises
142
PHYSICS
(a)
(b)
Fig. 7.3 Rotation about a fixed axis
(a) A ceiling fan
(b) A potters wheel.
143
Fig. 7.4
144
PHYSICS
Fig. 7.6(a)
Fig. 7.7
X =
m 1 x1 + m 2 x 2
m1 + m 2
(7.1)
In Eq. (7.1), X can be regarded as the massweighted mean of x1 and x2. If the two particles
have the same mass m1 = m2 = m, then
mx 1 + mx 2 x 1 + x 2
=
2m
2
Thus, for two particles of equal mass the
centre of mass lies exactly midway between
them.
If we have n particles of masses m1, m2,
...mn respectively, along a straight line taken as
the x- axis, then by definition the position of
the centre of the mass of the system of particles
is given by
X =
X =
m1x 1 + m 2 x 2 + .... + m n x n
=
m1 + m 2 + .... + m n
m i xi
mi
(7.2)
where x 1, x 2,...x n are the distances of the
particles from the origin; X is also measured
from the same origin. The symbol
(the Greek
mi
=M
(7.3a)
Y =
(7.3b)
m (y1 + y 2 + y 3 ) y1 + y 2 + y 3
=
3m
3
Thus, for three particles of equal mass, the
centre of mass coincides with the centroid of
the triangle formed by the particles.
Results of Eqs. (7.3a) and (7.3b) are
generalised easily to a system of n particles, not
necessarily lying in a plane, but distributed in
space. The centre of mass of such a system is
at (X, Y, Z ), where
Y =
X =
Y =
mi xi
(7.4a)
m i yi
(7.4b)
and Z =
m i zi
(7.4c)
mi
Here M =
and R = X i + Y j + Z k
Then R =
m i ri
(7.4d)
M
The sum on the right hand side is a vector
sum.
Note the economy of expressions we achieve
by use of vectors. If the origin of the frame of
reference (the coordinate system) is chosen to
be the centre of mass then
X =
X =
145
mi ri
= 0 for the
146
PHYSICS
(m i )x i , Y = (m i )yi , Z = (m i )zi
m i
m i
m i
m i dm = M ,
( m i )x i x dm ,
( m i )yi y dm ,
and
( m i )zi z dm
1
1
x dm , Y =
M
M
y dm and Z =
1
z dm (7.5a)
M
1
r dm
(7.5b)
M
If we choose, the centre of mass as the origin
of our coordinate system,
R=
R= 0
i.e., r dm = 0
or
x dm = y dm = z dm = 0
(7.6)
Fig. 7.9
147
X =
m 1x 1 + m 2 x 2 + m 3 x 3
m1 + m 2 + m 3
gm
Y =
75 + 50
125
5
m=
m=
m
450
450
18
gm
450 g
50 3
3
1
m=
m=
m
450
9
3 3
The centre of mass C is shown in the figure.
Note that it is not the geometric centre of the
triangle OAB. Why?
t
=
Fig. 7.11
Hence
Fig. 7.10
X =
Y =
kg m
5
m
6
5
m
6
148
PHYSICS
MR = m i ri = m1r1 + m 2 r2 + ... + m n rn
(7.7)
dr
dr
dr
dR
= m1 1 + m 2 2 + ... + m n n
dt
dt
dt
dt
or
M V = m1 v1 + m 2 v 2 + ... + m n vn
(7.8)
dv1
dv 2
dv n
dV
= m1
+ m2
+ ... + m n
dt
dt
dt
dt
or
MA = m 1a1 + m 2 a 2 + ... + m n an
(7.9)
MA = F1 + F2 + ... + Fn
(7.10)
MA = Fext
(7.11)
149
P = p1 + p2 + ... + pn
= m1 v1 + m 2 v 2 + ... + m n vn
(7.14)
Comparing this with Eq. (7.8)
P=MV
(7.15)
Thus, the total momentum of a system
of particles is equal to the product of the
total mass of the system and the velocity of
its centre of mass. Differentiating Eq. (7.15)
with respect to time,
Fig. 7.12
F=
dp
dt
(7.13)
dP
dV
=M
= MA
(7.16)
dt
dt
Comparing Eq.(7.16) and Eq. (7.11),
dP
= Fext
(7.17)
dt
This is the statement of Newtons second
law extended to a system of particles.
Suppose now, that the sum of external
forces acting on a system of particles is zero.
Then from Eq.(7.17)
dP
= 0 or P = Constant
(7.18a)
dt
Thus, when the total external force acting
on a system of particles is zero, the total linear
momentum of the system is constant. This is
the law of conservation of the total linear
momentum of a system of particles. Because of
Eq. (7.15), this also means that when the
total external force on the system is zero
the velocity of the centre of mass remains
constant. (We assume throughout the
discussion on systems of particles in this
chapter that the total mass of the system
remains constant.)
Note that on account of the internal forces,
i.e. the forces exerted by the particles on one
another, the individual particles may have
150
PHYSICS
(a)
(b)
(a)
(b)
151
a b = b a
Another interesting property of a vector
product is its behaviour under reflection.
Under reflection (i.e. on taking the mirror
a ( b + c) = a b + a c
(a)
(b)
a 2 sin 0 = 0 .
152
PHYSICS
i i = 0, j j = 0, k
k
=0
(ii) i j = k
i
ab= 3
2
j k
= i and k
i = j
From the rule for commutation of the cross
product, it follows:
j i = k
, k
j = i, i k
= j
5 = 7i j 5k
Note b a = 7i + j + 5k
a b = (a x i + a y j + a z k
x
y
z )
a b j a b k
+ a b i + a b j a b i
= a x by k
x z
y x
y z
z x
z y
= (a yb z a z b x )i + (a z b x a x b z )j + (a x by a yb x )k
j
ay
k
az
bx
by
bz
and b = ( 2i + j 3k )
Answer
)i( 2i + j 3k
)
a i b = (3i 4 j + 5k
= 6 4 15
= 25
vi = ri
(7.19)
The index i runs from 1 to n, where n is the
total number of particles of the body.
For particles on the axis, r = 0 , and hence
v = r = 0. Thus, particles on the axis are
stationary. This verifies that the axis is fixed.
Note that we use the same angular velocity
for all the particles. We therefore, refer to
as the angular velocity of the whole body.
We have characterised pure translation of
a body by all parts of the body having the same
velocity at any instant of time. Similarly, we
may characterise pure rotation by all parts of
the body having the same angular velocity at
any instant of time. Note that this
characterisation of the rotation of a rigid body
about a fixed axis is just another way of saying
as in Sec. 7.1 that each particle of the body moves
in a circle, which lies in a plane perpendicular
to the axis and has the centre on the axis.
In our discussion so far the angular velocity
appears to be a scalar. In fact, it is a vector. We
shall not justify this fact, but we shall accept
it. For rotation about a fixed axis, the angular
velocity vector lies along the axis of rotation,
153
154
PHYSICS
Now
r = OP = (OC+CP)
But
OC=0 as is along OC
Hence
r = CP
(7.20)
d
dt
(7.21)
d
dt
(7.22)
155
Fig. 7.18
= r F , is perpendicular to the
plane containing r and F, and its
direction is given by the right handed
screw rule.
= (r sin )F = r F
(7.24b)
or = r F sin = rF
(7.24c)
l = r p sin
(7.26a)
where p is the magnitude of p and is the angle
between r and p. We may write
l = r p or r p
(7.26b)
156
PHYSICS
dl
d
=
(r p)
dt dt
Applying the product rule for differentiation
to the right hand side,
d
dr
dp
(r p) =
p+r
dt
dt
dt
Now, the velocity of the particle is v = dr/dt
and p = m v
dr
p = v m v = 0,
dt
as the vector product of two parallel vectors
vanishes. Further, since dp / dt = F,
Because of this
dp
= rF=
dt
Hence
d
(r p) =
dt
dl
=
(7.27)
dt
Thus, the time rate of change of the angular
momentum of a particle is equal to the torque
acting on it. This is the rotational analogue of
the equation F = dp/dt, which expresses
Newtons second law for the translational motion
of a single particle.
or
L = l1 + l2 + ... + ln =
li
i =1
li =
ri pi
(7.25b)
li =
i
dli
=
dt
i
i
(7.28a)
i = ri Fi
The force Fi on the ith particle is the vector
sum of external forces Fiext acting on the particle
and the internal forces Fiint exerted on it by the
other particles of the system. We may therefore
separate the contribution of the external and
the internal forces to the total torque
= i =
i
ri
i
Fi as
= ext + int ,
where ext =
and
ri Fi ext
i
int = ri Fiint
i
157
dL
=0
dt
or
L = constant.
(7.29a)
Thus, if the total external torque on a system
of particles is zero, then the total angular
momentum of the system is conserved, i.e.
remains constant. Eq. (7.29a) is equivalent to
three scalar equations,
Lx = K1, Ly = K2 and Lz = K3
(7.29 b)
Here K1, K2 and K3 are constants; Lx, Ly and
Lz are the components of the total angular
momentum vector L along the x,y and z axes
respectively. The statement that the total
angular momentum is conserved means that
each of these three components is conserved.
Eq. (7.29a) is the rotational analogue of
Eq. (7.18a), i.e. the conservation law of the total
linear momentum for a system of particles.
Like Eq. (7.18a), it has applications in many
practical situations. We shall look at a few of
the interesting applications later on in this
chapter.
u Example 7.5 Find the torque of a force
about the origin. The force
7i + 3j 5k
acts on a particle whose position vector is
i j + k .
that
dL
= ext
(7.28 b)
dt
Thus, the time rate of the total angular
momentum of a system of particles about a
point (taken as the origin of our frame of
reference) is equal to the sum of the external
torques (i.e. the torques due to external forces)
acting on the system taken about the same
point. Eq. (7.28 b) is the generalisation of the
single particle case of Eq. (7.23) to a system of
particles. Note that when we have only one
particle, there are no internal forces or torques.
Eq.(7.28 b) is the rotational analogue of
dP
= Fext
(7.17)
dt
Note that like Eq.(7.17), Eq.(7.28b) holds
good for any system of particles, whether it is a
rigid body or its individual particles have all
kinds of internal motion.
Answer Here r = i j + k
.
and F = 7i + 3j 5k
We shall use the determinant rule to find the
torque = r F
i
= 1 1
7
or = 2i + 12j + 10k
158
PHYSICS
F1 + F2 + ... + Fn =
Fi = 0
(7.30a)
i =1
(2)
Fig 7.19
i = 0
1 + 2 + ... + n =
(7.30b)
i =1
Fix = 0 ,
i =1
Fiy = 0 and
i =1
Fiz = 0
(7.31a)
i =1
ix = 0 ,
i =1
iy = 0 and
i =1
iz = 0
(7.31b)
i =1
159
F0
160
PHYSICS
length. This point is called the fulcrum. A seesaw on the childrens playground is a typical
example of a lever. Two forces F1 and F2, parallel
to each other and usually perpendicular to the
lever, as shown here, act on the lever at
distances d 1 and d 2 respectively from the
fulcrum as shown in Fig. 7.23.
Fig. 7.22
Fig. 7.23
(i)
F1 d 2
M.A. = F = d
2
1
(7.32b)
Fig. 7.24
161
i =
ri m i g = 0
(7.33)
162
PHYSICS
Fig. 7.26
Fig. 7.27
163
(iii)
1
1
m ii2 = m i ri2 2
2
2
where mi is the mass of the particle. The total
kinetic energy K of the body is then given by
the sum of the kinetic energies of individual
particles,
ki =
1 n
(m i ri2 2 )
2
i =1
i =1
Here n is the number of particles in the body.
Note is the same for all particles. Hence, taking
out of the sum,
n
1
K = 2 ( m i ri2 )
2
i =1
K = ki =
Now
W = 20 g = 20 9.8 N = 196.0 N
From (i) N = 196.0
I = m i ri2
(7.34)
i =1
1 2
I
(7.35)
2
Note that the parameter I is independent of
the magnitude of the angular velocity. It is a
characteristic of the rigid body and the axis
about which it rotates.
Compare Eq. (7.35) for the kinetic energy of
a rotating body with the expression for the
kinetic energy of a body in linear (translational)
motion,
1
m 2
2
Here m is the mass of the body and v is its
velocity. We have already noted the analogy
between angular velocity (in respect of rotational
motion about a fixed axis) and linear velocity v (in
respect of linear motion). It is then evident that
the parameter, moment of inertia I, is the desired
rotational analogue of mass. In rotation (about a
fixed axis), the moment of inertia plays a similar
role as mass does in linear motion.
We now apply the definition Eq. (7.34), to
calculate the moment of inertia in two simple
cases.
(a) Consider a thin ring of radius R and mass
M, rotating in its own plane around its
K=
K=
164
PHYSICS
1
1
M 2 = MR 2 2
2
2
Comparing with Eq. (7.35) we get I = MR 2
for the ring.
K=
k 2 = L2 12 , i.e. k 2 = L
12 . Similarly, k = R/2
165
Table 7.1 Moments of Inertia of some regular shaped bodies about specific axes
Body
Axis
(1)
Thin circular
ring, radius R
Perpendicular to
plane, at centre
M R2
(2)
Thin circular
ring, radius R
Diameter
M R2/2
(3)
Thin rod,
length L
Perpendicular to
rod, at mid point
M L2/12
(4)
Circular disc,
radius R
Perpendicular to
disc at centre
M R2/2
(5)
Circular disc,
radius R
Diameter
M R2/4
(6)
Hollow cylinder,
radius R
Axis of cylinder
M R2
(7)
Solid cylinder,
radius R
Axis of cylinder
M R2/2
(8)
Solid sphere,
radius R
Diameter
2 M R2/5
Figure
166
PHYSICS
(7.36)
Let us look at the usefulness of the theorem
through an example.
167
I = M
l2
Ml 2
l
+M =
12
3
2
I = 2M .
4l 2 1 Ml 2
=
12 2
3
Fig. 7.32
I tangent = I dia + MR 2 =
MR 2
3
+ MR 2 = MR 2 .
2
2
168
PHYSICS
1
x = x 0 + 0t + at 2
2
(b)
2 = 02 + 2ax
(c)
= 0 + t
= 0 + 0t +
(7.38)
1 2
t
2
(7.39)
(7.40)
and 2 = 02 + 2 ( 0 )
where 0= initial angular displacement of the
rotating body, and 0 = initial angular velocity
of the body.
(i)
= dt + c
= t + c (as is constant)
At t = 0, = 0 (given)
From (i) we get at t = 0, = c = 0
Thus, = t + 0 as required.
With the definition of = d/dt we may
integrate Eq. (7.38) to get Eq. (7.39). This
derivation and the derivation of Eq. (7.40) is
left as an exercise.
u Example 7.14 The angular speed of a
motor wheel is increased from 1200 rpm
to 3120 rpm in 16 seconds. (i) What is its
angular acceleration, assuming the
acceleration to be uniform? (ii) How many
revolutions does the engine make during
this time?
Answer
(i)
We shall use = 0 + t
2 1200
rad/s
60
= 40 rad/s
Similarly = final angular speed in rad/s
=
2 3120
rad/s
60
= 2 52 rad/s
= 104 rad/s
Fig.7.33
Angular acceleration
0
t
= 4 rad/s2
169
= 0t +
1 2
t
2
= (40 16 +
1
4 162 ) rad
2
170
PHYSICS
Linear Motion
Displacement x
Angular displacement
Velocity v = dx/dt
Acceleration a = dv/dt
Mass M
Moment of inertia I
Force F = Ma
Torque = I
Work dW = F ds
Work W = d
Kinetic energy K = Mv /2
Power P = F v
Power P =
Linear momentum p = Mv
Angular momentum L = I
(7.41)
dW
d
=
=
dt
dt
or P =
(7.42)
This is the instantaneous power. Compare
this expression for power in the case of
rotational motion about a fixed axis with the
expression for power in the case of linear motion,
P = Fv
In a perfectly rigid body there is no internal
motion. The work done by external torques is
therefore, not dissipated and goes on to increase
the kinetic energy of the body. The rate at which
work is done on the body is given by Eq. (7.42).
This is to be equated to the rate at which kinetic
energy increases. The rate of increase of kinetic
energy is
d I2
(2 ) d
=I
dt 2
2 dt
We assume that the moment of inertia does
not change with time. This means that the mass
of the body does not change, the body remains
rigid and also the axis does not change its
position with respect to the body.
Since = d / dt , we get
d I2
=I
dt 2
(7.43)
Eq. (7.43) is similar to Newtons second law
for linear motion expressed symbolically as
F = ma
Just as force produces acceleration, torque
produces angular acceleration in a body. The
angular acceleration is directly proportional to
the applied torque and is inversely proportional
to the moment of inertia of the body. Eq.(7.43)
can be called Newtons second law for rotation
about a fixed axis.
171
= I
MR 2
2
20.0 (0.2)2
= 0.4 kg m2
2
= angular acceleration
= 5.0 N m/0.4 kg m2 = 12.5 s2
(b) Work done by the pull unwinding 2m of the
cord
= 25 N 2m = 50 J
(c) Let be the final angular velocity. The
1 2
I ,
2
since the wheel starts from rest. Now,
kinetic energy gained =
2 = 02 + 2 , 0 = 0
The angular displacement = length of
unwound string / radius of wheel
= 2m/0.2 m = 10 rad
L = ri pi
(7.25b)
i =1
Fig. 7.35
(a) We use
the torque
=FR
= 25 0.20 Nm (as R = 0.20m)
= 5.0 Nm
172
PHYSICS
With p = m v ,
l = ( OC m v ) + ( CP m v )
The magnitude of the linear velocity v of the
particle at P is given by v = r where r is the
length of CP or the perpendicular distance of P
from the axis of rotation. Further, v is tangential
at P to the circle which the particle describes.
Using the right-hand rule one can check that
CP v is parallel to the fixed axis. The unit
vector along the fixed axis (chosen as the z-axis)
. Hence
is k
CP m v = r (mv ) k
= mr2
k (since v = wr )
Similarly, we can check that OC v is
perpendicular to the fixed axis. Let us denote
the part of l along the fixed axis (i.e. the z-axis)
by lz, then
l = CP m v = mr 2 k
z
and l = lz + OC m v
We note that lz is parallel to the fixed axis,
but l is not. In general, for a particle, the angular
momentum l is not along the axis of rotation,
i.e. for a particle, l and are not necessarily
parallel. Compare this with the corresponding
fact in translation. For a particle, p and v are
always parallel to each other.
For computing the total angular momentum
of the whole rigid body, we add up the
contribution of each particle of the body.
Thus
L=
li =
liz +
OCi m i v i
OCi m i vi
(7.44a)
Note L = L z + L
(7.44c)
The rigid bodies which we have mainly
considered in this chapter are symmetric about
the axis of rotation, i.e. the axis of rotation is
one of their symmetry axes. For such bodies,
for a given OCi, for every particle which has a
velocity vi , there is another particle of velocity
vi located diametrically opposite on the circle
with centre Ci described by the particle. Together
such pairs will contribute zero to L and as a
result for symmetric bodies L is zero, and
hence
(7.44d)
L = Lz = I k
For bodies, which are not symmetric about
the axis of rotation, L is not equal to Lz and
hence L does not lie along the axis of rotation.
Referring to table 7.1, can you tell in which
cases L = Lz will not apply?
is a
Let us differentiate Eq. (7.44b). Since k
fixed (constant) vector, we get
d
d
Lz )=
(
( I ) k
dt
dt
Now, Eq. (7.28b) states
dL
=
dt
As we have seen in the last section, only
those components of the external torques which
are along the axis of rotation, need to be taken
into account, when we discuss rotation about a
.
fixed axis. This means we can take = k
Since L = L z + L and the direction of Lz (vector
Lz =
2
i i
liz =
mr
k
or
(7.44b)
Lz = I k
The last step follows since the perpendicular
distance of the ith particle from the axis is ri;
and by definition the moment of inertia of the
body about the axis of rotation is I = m i ri2 .
and
dL z
= k
dt
(7.45a)
dL
=0
dt
(7.45b)
d
(I ) =
dt
(7.45c)
d
d
= I
(I ) = I
dt
dt
and we get from Eq. (7.45c),
(7.43)
= I
We have already derived this equation using
the work - kinetic energy route.
7.13.1 Conservation of angular momentum
We are now in a position to revisit the principle
of conservation of angular momentum in the
context of rotation about a fixed axis. From Eq.
(7.45c), if the external torque is zero,
Lz = I = constant
(7.46)
For symmetric bodies, from Eq. (7.44d), Lz
may be replaced by L .(L and Lz are respectively
the magnitudes of L and Lz.)
This then is the required form, for fixed axis
rotation, of Eq. (7.29a), which expresses the
general law of conservation of angular
momentum of a system of particles. Eq. (7.46)
applies to many situations that we come across
in daily life. You may do this experiment with
your friend. Sit on a swivel chair with your
arms folded and feet not resting on, i.e., away
from, the ground. Ask your friend to rotate the
chair rapidly. While the chair is rotating with
considerable angular speed stretch your arms
173
174
PHYSICS
K=
2
1 mk 2cm
1
2
+ mcm
2
2 R
2
or K =
1
2
mcm
2
k2
1 + 2
R
(7.49b)
175
1
k2
m 2 1 + 2 , where v is the
2
R
Eq. (7.49b), K =
mgh =
1
k2
m 2 1 + 2
2
R
2 gh
2
or =
2
2
1 + k R
Note is independent of the mass of the
rolling body;
For a ring, k2 = R2
2 gh
,
1 +1
ring =
=
gh
For a solid cylinder k2 = R2/2
disc =
2gh
1 +1 2
4 gh
3
For a solid sphere k2 = 2R2/5
sphere =
2 gh
1+ 2 5
10gh
7
From the results obtained it is clear that among
the three bodies the sphere has the greatest and
the ring has the least velocity of the centre of mass
at the bottom of the inclined plane.
Suppose the bodies have the same mass. Which
body has the greatest rotational kinetic energy while
reaching the bottom of the inclined plane?
t
Fig.7.38
SUMMARY
1.
2.
3.
4.
5.
Ideally, a rigid body is one for which the distances between different particles of the
body do not change, even though there are forces on them.
A rigid body fixed at one point or along a line can have only rotational motion. A rigid
body not fixed in some way can have either pure translation or a combination of
translation and rotation.
In rotation about a fixed axis, every particle of the rigid body moves in a circle which
lies in a plane perpendicular to the axis and has its centre on the axis. Every Point in
the rotating rigid body has the same angular velocity at any instant of time.
In pure translation, every particle of the body moves with the same velocity at any
instant of time.
Angular velocity is a vector. Its magnitude is = d/dt and it is directed along the axis
of rotation. For rotation about a fixed axis, this vector has a fixed direction.
176
PHYSICS
6.
7.
8.
The vector or cross product of two vector a and b is a vector written as a b. The
magnitude of this vector is absin and its direction is given by the right handed screw
or the right hand rule.
The linear velocity of a particle of a rigid body rotating about a fixed axis is given by
v = r, where r is the position vector of the particle with respect to an origin along the
fixed axis. The relation applies even to more general rotation of a rigid body with one
point fixed. In that case r is the position vector of the particle with respect to the fixed
point taken as the origin.
The centre of mass of a system of particles is defined as the point whose position vector
is
m i ri
R=
9.
Velocity of the centre of mass of a system of particles is given by V = P/M, where P is the
linear momentum of the system. The centre of mass moves as if all the mass of the
system is concentrated at this point and all the external forces act at it. If the total
external force on the system is zero, then the total linear momentum of the system is
constant.
ri pi
L =
i =1
ri Fi
1
The force Fi acting on the ith particle includes the external as well as internal forces.
Assuming Newtons third law and that forces between any two particles act along the
line joining the particles, we can show int = 0 and
dL
= ext
dt
11. A rigid body is in mechanical equilibrium if
(1) it is in translational equilibrium, i.e., the total external force on it is zero :
F =0 ,
i
and
(2) it is in rotational equilibrium, i.e. the total external torque on it is zero :
i = ri
Fi = 0 .
12. The centre of gravity of an extended body is that point where the total gravitational
torque on the body is zero.
13. The moment of intertia of a rigid body about an axis is defined by the formula I =
m iri2
where ri is the perpendicular distance of the ith point of the body from the axis. The
kinetic energy of rotation is K =
1
I2 .
2
15. Rotation about a fixed axis is directly analogous to linear motion in respect of kinematics
and dynamics.
16. For a rigid body rotating about a fixed axis (say, z-axis) of rotation, Lz = I, where I is
the moment of inertia about z-axis. In general, the angular momentum L for such a
body is not along the axis of rotation. Only if the body is symmetric about the axis of
rotation, L is along the axis of rotation. In that case, L = L z = I . The angular
acceleration of a rigid body rotating about a fixed axis is given by I = . If the external
torque acting on the body is zero, the component of angular momentum about the
fixed axis (say, z-axis), Lz (=I) of such a rotating body is constant.
17. For rolling motion without slipping vcm = R, where vcm is the velocity of translation (i.e.
of the centre of mass), R is the radius and m is the mass of the body. The kinetic energy
of such a rolling body is the sum of kinetic energies of translation and rotation:
K=
1
1
2
m vcm
+ I 2 .
2
2
POINTS TO PONDER
1.
2.
3.
4.
5.
6.
7.
8.
177
178
PHYSICS
EXERCISES
7.1
Give the location of the centre of mass of a (i) sphere, (ii) cylinder, (iii) ring, and (iv)
cube, each of uniform mass density. Does the centre of mass of a body necessarily
lie inside the body ?
7.2
In the HC1 molecule, the separation between the nuclei of the two atoms is about
1.27 (1 = 10-10 m). Find the approximate location of the CM of the molecule,
given that a chlorine atom is about 35.5 times as massive as a hydrogen atom and
nearly all the mass of an atom is concentrated in its nucleus.
A child sits stationary at one end of a long trolley moving uniformly with a speed V
on a smooth horizontal floor. If the child gets up and runs about on the trolley in any
manner, what is the speed of the CM of the (trolley + child) system ?
Show that the area of the triangle contained between the vectors a and b is one half
of the magnitude of a b.
Show that a.(b c) is equal in magnitude to the volume of the parallelepiped formed
on the three vectors , a, b and c.
Find the components along the x, y, z axes of the angular momentum l of a particle,
whose position vector is r with components x, y, z and momentum is p with
components px, py and pz. Show that if the particle moves only in the x-y plane the
angular momentum has only a z-component.
Two particles, each of mass m and speed v, travel in opposite directions along parallel
lines separated by a distance d. Show that the vector angular momentum of the two
particle system is the same whatever be the point about which the angular momentum
is taken.
A non-uniform bar of weight W is suspended at rest by two strings of negligible
weight as shown in Fig.7.39. The angles made by the strings with the vertical are
36.9 and 53.1 respectively. The bar is 2 m long. Calculate the distance d of the
centre of gravity of the bar from its left end.
7.3
7.4
7.5
7.6
7.7
7.8
Fig. 7.39
7.9
A car weighs 1800 kg. The distance between its front and back axles is 1.8 m. Its
centre of gravity is 1.05 m behind the front axle. Determine the force exerted by the
level ground on each front wheel and each back wheel.
7.10 (a) Find the moment of inertia of a sphere about a tangent to the sphere, given the
moment of inertia of the sphere about any of its diameters to be 2MR2/5, where
M is the mass of the sphere and R is the radius of the sphere.
(b) Given the moment of inertia of a disc of mass M and radius R about any of its
diameters to be MR2/4, find its moment of inertia about an axis normal to the
disc and passing through a point on its edge.
7.11 Torques of equal magnitude are applied to a hollow cylinder and a solid sphere, both
having the same mass and radius. The cylinder is free to rotate about its standard
axis of symmetry, and the sphere is free to rotate about an axis passing through its
centre. Which of the two will acquire a greater angular speed after a given time.
7.12 A solid cylinder of mass 20 kg rotates about its axis with angular speed 100 rad s-1.
The radius of the cylinder is 0.25 m. What is the kinetic energy associated with the
rotation of the cylinder? What is the magnitude of angular momentum of the cylinder
about its axis?
7.13 (a) A child stands at the centre of a turntable with his two arms outstretched. The
turntable is set rotating with an angular speed of 40 rev/min. How much is the
angular speed of the child if he folds his hands back and thereby reduces his
moment of inertia to 2/5 times the initial value ? Assume that the turntable
rotates without friction.
(b) Show that the childs new kinetic energy of rotation is more than the initial
kinetic energy of rotation. How do you account for this increase in kinetic energy?
7.14 A rope of negligible mass is wound round a hollow cylinder of mass 3 kg and radius
40 cm. What is the angular acceleration of the cylinder if the rope is pulled with a
force of 30 N ? What is the linear acceleration of the rope ? Assume that there is no
slipping.
7.15 To maintain a rotor at a uniform angular speed of 200 rad s-1, an engine needs to
transmit a torque of 180 N m. What is the power required by the engine ?
(Note: uniform angular velocity in the absence of friction implies zero torque. In
practice, applied torque is needed to counter frictional torque). Assume that the
engine is 100% efficient.
7.16 From a uniform disk of radius R, a circular hole of radius R/2 is cut out. The centre
of the hole is at R/2 from the centre of the original disc. Locate the centre of gravity
of the resulting flat body.
7.17 A metre stick is balanced on a knife edge at its centre. When two coins, each of mass
5 g are put one on top of the other at the 12.0 cm mark, the stick is found to be
balanced at 45.0 cm. What is the mass of the metre stick?
7.18 A solid sphere rolls down two different inclined planes of the same heights but
different angles of inclination. (a) Will it reach the bottom with the same speed in
each case? (b) Will it take longer to roll down one plane than the other? (c) If so,
which one and why?
7.19 A hoop of radius 2 m weighs 100 kg. It rolls along a horizontal floor so that its centre
of mass has a speed of 20 cm/s. How much work has to be done to stop it?
7.20 The oxygen molecule has a mass of 5.30 10-26 kg and a moment of inertia of
1.9410-46 kg m2 about an axis through its centre perpendicular to the lines joining
the two atoms. Suppose the mean speed of such a molecule in a gas is 500 m/s and
that its kinetic energy of rotation is two thirds of its kinetic energy of translation.
Find the average angular velocity of the molecule.
7.21 A solid cylinder rolls up an inclined plane of angle of inclination 30. At the bottom
of the inclined plane the centre of mass of the cylinder has a speed of 5 m/s.
(a) How far will the cylinder go up the plane?
(b) How long will it take to return to the bottom?
Additional Exercises
7.22 As shown in Fig.7.40, the two sides of a step ladder BA and CA are 1.6 m long and
hinged at A. A rope DE, 0.5 m is tied half way up. A weight 40 kg is suspended from
a point F, 1.2 m from B along the ladder BA. Assuming the floor to be frictionless
and neglecting the weight of the ladder, find the tension in the rope and forces
exerted by the floor on the ladder. (Take g = 9.8 m/s2)
(Hint: Consider the equilibrium of each side of the ladder separately.)
179
180
PHYSICS
Fig.7.40
7.23 A man stands on a rotating platform, with his arms stretched horizontally holding a
5 kg weight in each hand. The angular speed of the platform is 30 revolutions per
minute. The man then brings his arms close to his body with the distance of each
weight from the axis changing from 90cm to 20cm. The moment of inertia of the
man together with the platform may be taken to be constant and equal to 7.6 kg m2.
(a) What is his new angular speed? (Neglect friction.)
(b) Is kinetic energy conserved in the process? If not, from where does the change
come about?
7.24 A bullet of mass 10 g and speed 500 m/s is fired into a door and gets embedded
exactly at the centre of the door. The door is 1.0 m wide and weighs 12 kg. It is
hinged at one end and rotates about a vertical axis practically without friction. Find
the angular speed of the door just after the bullet embeds into it.
(Hint: The moment of inertia of the door about the vertical axis at one end is ML2/3.)
7.25 Two discs of moments of inertia I1 and I2 about their respective axes (normal to the
disc and passing through the centre), and rotating with angular speeds 1 and 2
are brought into contact face to face with their axes of rotation coincident. (a) What
is the angular speed of the two-disc system? (b) Show that the kinetic energy of the
combined system is less than the sum of the initial kinetic energies of the two discs.
How do you account for this loss in energy? Take 1 2.
7.26 (a) Prove the theorem of perpendicular axes.
(Hint : Square of the distance of a point (x, y) in the xy plane from an axis through
the origin and perpendicular to the plane is x2+y2).
(b) Prove the theorem of parallel axes.
(Hint : If the centre of mass is chosen to be the origin
m i ri = 0 ).
7.27 Prove the result that the velocity v of translation of a rolling body (like a ring, disc,
cylinder or sphere) at the bottom of an inclined plane of a height h is given by
v2 =
2 gh
(1 + k
/R2
181
Fig. 7.41
7.29 Explain why friction is necessary to make the disc in Fig. 7.41 roll in the direction indicated.
(a) Give the direction of frictional force at B, and the sense of frictional torque, before perfect rolling
begins.
(b) What is the force of friction after perfect rolling begins ?
7.30 A solid disc and a ring, both of radius 10 cm are placed on a horizontal table
simultaneously, with initial angular speed equal to 10 rad s-1. Which of the two will start to roll
earlier ? The co-efficient of kinetic friction is = 0.2.
k
7.31 A cylinder of mass 10 kg and radius 15 cm is rolling perfectly on a plane of inclination 30o. The coefficient of static friction s = 0.25.
(a) How much is the force of friction acting on the cylinder ?
(b) What is the work done against friction during rolling ?
(c) If the inclination of the plane is increased, at what value of does the cylinder begin to skid,
and not roll perfectly ?
L = L + R MV
7.32 Read each statement below carefully, and state, with reasons, if it is true or false;
(a) During rolling, the force of friction acts in the same direction as the direction of motion of the CM
of the body.
(b) The instantaneous speed of the point of contact during rolling is zero.
(c) The instantaneous acceleration of the point of contact during rolling is zero.
(d) For perfect rolling motion, work done against friction is zero.
(e) A wheel moving down a perfectly frictionless inclined plane will undergo slipping (not rolling)
motion.
7.33 Separation of Motion of a system of particles into motion of the centre of mass and motion about the
centre of mass :
(a) Show p = pi + m i V
where pi is the momentum of the ith particle (of mass mi) and p i = mi v i. Note v i is the velocity of
the ith particle relative to the centre of mass.
Also, prove using the definition of the centre of mass
pi = 0
(b) Show K = K + MV 2
where K is the total kinetic energy of the system of particles, K is the total kinetic energy of the
system when the particle velocities are taken with respect to the centre of mass and MV2/2 is the
kinetic energy of the translation of the system as a whole (i.e. of the centre of mass motion of the
system). The result has been used in Sec. 7.14.
(c) Show
where L =
r i pi is the angular momentum of the system about the centre of mass with
182
PHYSICS
dL
dp
= ri
dt
dt
dL
= ext
dt
where ext is the sum of all external torques acting on the system about the
centre of mass.
(Hint : Use the definition of centre of mass and Newtons Third Law. Assume the
internal forces between any two particles act along the line joining the particles.)