Professional Documents
Culture Documents
Chapter 5 Rotation
Chapter 5 Rotation
5
Almost everywhere, we know that there
exists a rotation of an object from the
motions of electrons in atoms to the motions
of the entire galaxies. That is why it is
imperative to develop a model so that we can
understand and analyze the motion of a
rotating body. In this chapter, a rotating
object is being studied. Some analogy in
rotational motions like angular velocity,
angular acceleration are being introduce and
equations were develop to describe
rotational motion. Torque was
Wind turbines converts the energy of wind into rotational also defined which is the twisting or turning
energy by means of blades. The blades have the same
angular velocity. It involves a body that rotates about an
effort of a force. Work, power, energy and
axis that is stationary in some inertial frame of reference. conservation of angular momentum were
(Source: https://www.thebestofthebesttours.com) discussed which are tremendously useful for
understanding rotational motion. There are
two types of rotational motion that were
being discussed in this chapter which are the
rotational kinematics and the rotational
dynamics.
ROTATIONAL KINEMATICS
Real-world bodies are considered as a rigid body, an idealized model which has a
perfectly definite and unchanging shape and size. It is a body where all the particles maintain
their relative position as it rotates. In this section, the rotational motion is described using
kinematic language. When a rigid body rotates about a fixed axis, its motion can be described
in terms of its angular position 𝜃, angular velocity 𝜔, and angular acceleration 𝛼. Then we look
at the kinetic energy of rotation, the key to using energy methods for rotational motion.
s (5-1)
r
where 𝑟 is the radius of the circle and 𝑠 is the arc length as seen
in Figure 5.1.
Figure 5.1: Measuring angle
in radians.
Angular velocity (𝜔) is the time rate of change of the angular position. Average angular
velocity is defined as
ave t t2 t 1 (5-2)
2 1
1
And the instantaneous angular velocity is defined as
ave d
lim (5-3)
t 0 t dt
Angular acceleration 𝛼 is the time rate of change of the angular velocity. The average
angular acceleration is defined as
2 1
ave t 2 t1 t (5-4)
ave d d 2
lim (5-5)
t 0 t dt dt 2
The figure below shows the right-hand rule for the direction of the angular velocity vector .
Reversing the direction of rotation reverses the direction of . The sign of for rotation along
Z
the z-axis.
Figure 5.1: The right-hand rule for the direction of the angular velocity vector . Reversing the direction
of rotation reverses the direction of . (Source: Young & Freedman, Univ. Physics with Modern Physics
13th Ed.)
2
Sample Problem
Solution
d
dZ 2 (t 2 ) 2t
z
dt av z
t dt
dz
a) (t) 2t (1.60 rad/s3)t.
z dt
b) z (3.0 s)= (-1.60 rad/s3) (3.0 s) = -4.80 rad/s2
For the special case of constant angular acceleration, the equations which relate
angular displacement, angular velocity, and angular acceleration and time have the same form
as the kinematics equations for constant linear acceleration. These equations can be obtained
from the familiar ones by replacing x with , v with omega, and a with .
𝑥 − 𝑥 = 1 (𝑣 + 𝑣 )𝑡 𝜃 − 𝜃 = 1 (𝜔 + 𝜔 )𝑡
𝑜 2 𝑜 𝑜 2 𝑜
x x v t 1 at 𝜃 − 𝜃 = 𝜔 𝑡 + 1 𝛼𝑡2
oo 𝑜𝑜
2 2
3
Sample Problem
When an electric fan is turned off, its angular velocity is decreasing uniformly from 500 rev/min
to 200 rev/min in 40 s.
Solution
a) t
O
200 nrev 500 min
mi rev 1min
x 60s rev
o
0.125
t
40s s2
rev 1min
200 x
min 60s
c) t t o
rev
26.67s
O 0.125
s2
r (5-6)
v2 2 (5-8)
arad r
r
4
Sample Problem
An electric turntable 0.750 m in diameter is rotating about a fixed axis with an initial angular
velocity of 0.250 rev/s and a constant angular acceleration of 0.900 rev/s 2. (a) Compute the
angular velocity of the turntable after 0.200 s. (b) Through how many revolutions has the
turntable spun in this time interval?(c) What is the tangential speed of a point on the rim of
the turntable at t=0.200 s? (d) What is the magnitude of the resultant acceleration of a point
on the rim at t= 0.200 s?
Solution
Apply constant angular acceleration equations. A point on the rim has both tangential and
radial components of acceleration. v r.
atan r a r 2
r
a) t 0.250rev / s (0.900rev / s2 )(0.200s) 0.430rev / s
z 0z
(0.900rev / s 2
)(2rad / rev)(0.375m) .
2
a 3.46m / s .
A rotating rigid body consists of mass in motion, so it has kinetic energy. This energy
can be expressed in terms of the body’s angular velocity and a quantity called moment of
inertia. The moment of inertia of a body is a measure of the resistance of an object to
changes
in its rotational motion. For a system of particles of masses mi at distances ri from an axis
passing through a point P the rotational inertia of the system about the axis is given by:
2 2 2
I m1 12r 2 m r ...m
r ii (5-9)
i
When a rigid body rotates about a fixed axis, the vi of the i th particle is given by:
speed
v r . The kinetic energy of the particle can be expressed as
i i
5
1 2 1 2
mr
2
mv (5-10)
i i i i
2 2
6
The total kinetic energy (K) of the body is the sum of the kinetic energies of all its particles:
1 2
K 2 m r (5-11)
ii
2 i
In terms of moment of inertia (I), the rotational kinetic energy of a rigid body is:
1
I
2
K (5-12)
2
Sample Problem
1. A 0.75 kg wooden ball 0.15 m in radius is rolling at a speed of 3.05 m/s. Find its
total kinetic energy.
Solution
1 1 2
+ 𝐼𝜔
2
2
𝐾= 𝑚𝑣
2
2 2
𝐼 = 𝑚𝑅 2 = (0.75 𝑘𝑔 )(0.15 𝑚 )2 = 6.75 𝑥 10−3 𝑘𝑔 ∙ 𝑚 2
5 5
𝑣
𝜔=
𝑟 =
3.05 𝑚/𝑠 = 20.33 𝑟𝑎𝑑/𝑠
0.15 𝑚
1 1 1 1
𝐾= 𝑚𝑣 2 + 𝐼𝜔 2 = (0.75 𝑘𝑔 )(3.05 𝑚⁄𝑠 )2 + (6.75𝑥10−3 )(20.33 𝑟𝑎𝑑⁄𝑠 )2
2 2 2 2
𝐾 = 4.88 𝐽
Solution
2 2 2 2
I mr mr mr mr
1 1 2 2 3 3 4 4
22
Using the Pythagorean r
Theorem, 0.4m
0.4m
2 2
7
0.28m
8
(The distance from point O to the sphere)
The moment of inertia of any object about an axis through its center of mass is the
minimum moment of inertia for an axis in that direction in space. The moment of inertia about
any axis parallel to that axis through the center of mass is given by:
I p Icm Md 2 (5-13)
Where, M the object's mass and d the perpendicular distance between the two axes.
For continuous mass distribution, the moment of inertia for linear distribution is
I r2dm (5-14)
For continuous mass distribution, the moment of inertia for volume distribution is
I r2dV (5-15)
If the body is uniform in density, then we may take outside the integral:
(5-16)
I r 2dV
ROTATIONAL DYNAMICS
In this section, we will learn how to find the net torque acting on a rigid body; work and power
in rotational motion; and conservation of angular momentum.
9
5.7 Torque
The figure shows a wrench being used to loosen a tight bolt. Force Fb
applied near the end of the handle is more effective that an equal force
Fa applied near the bolt. Force Fc doesn’t do any good at all; it is
applied at the same point and has the same magnitude as Fb but its Figure 5.2: A wrench
parallel along the length of the handle which contribute any torque. being used to loosen a
tight bolt. (Source: Young
& Freedman, Univ. Physics
with Modern Physics
The torque sign
13th Ed.)
conventions:
(+) →counter-clockwise
(–) →clockwise
𝜏1 = + 𝐹1𝑙1
𝜏2 = − 𝐹2𝑙2
𝜏3 = 0
Three ways to calculate the torque of the force about the point
O. In figure 5.4, and are in the plane of the page and the
torque vector points out of the page toward you.
where
,
𝑙 – moment arm or lever arm perpendicular with
Force 𝐹.
F – magnitude of the force
– angle between 𝑟⃗ and 𝐹⃗
F (5-18)
r
10
Sample Problem
Find the torque produced by each force through point O. The magnitudes of F1 ,
F2 and F3 are
8N, 12N and 10N, respectively. What is the net Torque?
O 30o 75o
2
3
Solution
b) 𝜏⃑𝐹
= 𝑟⃑2 𝑥 𝐹⃑2 = +𝑟2 𝐹2 𝑠𝑖𝑛𝜃 = +(2 𝑚 )(12 𝑁 )sin30° = +12 𝑚𝑁
2
c) 𝜏⃑𝐹
3= 𝑟⃑3 𝑥 𝐹⃑3 = +𝑟3 𝐹3 𝑠𝑖𝑛𝜃 = +(2 𝑚 )(10 𝑁 )sin75° = +19.3 𝑚𝑁
5.8 Equilibrium
The word equilibrium means balance. In particular, static equilibrium means that a system is
stable and at rest. This means that the net force must be zero – called translational
equilibrium. However, to be complete the net torque must also be zero – called rotational
equilibrium. For complete static equilibrium, both of these two conditions must be fulfilled.
∑ 𝐹⃗ =0 (5-19)
∑ 𝜏⃗=0 (5-20)
The net force acting on this particle has a component 𝐹1𝑟𝑎𝑑 along the radial direction, a
component 𝐹1𝑡𝑎𝑛that is tangent to the circle of radius r1 in which particle moves, and component
F1z along axis of rotation as shown in the figure.
11
The net torque is
z Iz (5-21)
iz i i z i z
Sample Problem
Solution
1 2
z I z z I cy MR
Icy 2
z
z
FR 2 2F 2(9.0N ) 2
z I MR MR (50kg)(0.060m) 6.0rad / s
2
a x R x (0.060m)(6.0.rad / s ) 0.36m / s
2 2
12
5.10 Rigid-Body Rotation about a Moving Axis
We can extend our analysis of the dynamics of rotational motion to some cases in
which the axis of rotation moves. When that happens, the motion of the body is combined
translation and rotation.
In this case, the kinetic energy is associated with motion of the center of mass and with
rotation about an axis through the center of mass.
1 1
K Mv2 I 2 (5-23)
cm cm
2 2
An important case of combined translation and rotation is rolling without slipping, such as the
motion of the wheel shown in figure. The condition for rolling without slipping is
𝑣𝑐𝑚 = 𝑅𝜔 (5-24)
Figure 5.6: The motion of a rolling wheel is the sum of the translational motion of the center of mass plus
the rotational motion of the wheel around the center of mass. (Source: Young & Freedman, Univ. Physics
with Modern Physics 13th Ed.)
Sample Problem
Flywheels which are simply large rotating disks have been suggested as a means of storing
energy for solar-powered generating systems. Estimate the kinetic energy that can be stored
in a 20,000-kg (10-ton) flywheel with a diameter of 20 m (a 6-story building). Assume it could
hold together (without flying apart due to internal stresses) at 100 rpm (revolution per
minute).
13
Solution
2 22 4
8
K 2.205 10 J
The combined translational and rotational motion of an object can also be analyzed
from the standpoint of dynamics. In this case the object must obey both of the following forms
of Newton's Second Law:
Rolling friction occurs when a wheel, ball, or cylinder rolls freely over a surface, as in
ball and roller bearings. The main source of friction in rolling appears to be dissipation of
energy involved in deformation of the objects.
Figure 5.7: Rolling down a perfectly rigid surface and a deformable surface. The deformation in the right
figure is greatly exaggerated. (Source: Young & Freedman, Univ. Physics with Modern Physics 13th Ed.)
14
Sample Problem
Solution
2 2
I MR
solid sphere
5
(1)
Fx Mg sin ( f )
Ma cm,x
acm x
acm x
R (2)
z R
z
The equation of motion for rotation about the axis through the center of mass is
2 2
fR I MR
z cm z z
(3)
5
Substitute z (2) to (3), so that (3) becomes,
2 2 acm x 2
fR MR f Ma
cm x
5 R 5
Substitute f to (1) and solve
for
acm x
Mg sin ( f ) Macm x
acm x 5
g sin
7
and
2 2
f M ( g sin ) Mg sin
55 7
7
15
5.13 Work and Power in Rotational Motion
16
Consider a tangential force applied to a rotating body that does work as shown in Figure 5.8.
The work done by a torque is,
2
W d (5-26)
1 z
If the torque remains constant while the angle changes by a finite amount, then the work done
by a constant torque is,
𝜔2
1
𝑊𝑡𝑜𝑡 = ∫ 𝐼𝜔𝑧𝑑𝜔𝑧 = 𝐼𝜔22
𝜔1 2 (5-28)
1 2
− 𝐼𝜔 1
2
The change in the rotational kinetic energy of a rigid body equals the work done by forces
exerted from outside the body. This equation is analogous to the work–energy theorem for a
particle.
The power associated with work done by a torque acting on a rotating body,
𝑑𝑊𝑑𝜃
(5-29)
𝑃 = 𝑑𝑡 = 𝜏 𝑑𝑡
Note that 𝑑𝑊/𝑑𝑡 is just the rate of doing work and 𝑑𝜃/𝑑𝑡 is the angular velocity.
P zz (5-30)
Sample Problem
What is the power output in horsepower of an electric motor turning at 4800 rev/min and
developing a torque of 4.30 N-m?
Solution
17
From the equation of power in rotational motion,
P 4800rev 2rad 1min = 2161 Watts
= 4.30N.m x
z z 60s
min 1rev
The power output of an electric motor is, P = 2161 W.
1hp
In horsepower, P 2161W 2.9hp
746W
L r p r mv (5-31)
where
,
p - linear momentum
r - position vector relative to point O of an inertial frame
v - velocity of the particle
m - constant mass of the particle
- angle between r and p
L L m r I
2
i i i (5-33)
The angular momentum for rigid body rotating around a symmetry axis
18
L I (5-34)
19
Then the sum of external torque for any system of particle is given by
dL (5-35)
dt
Sample Problem
Solution
At t=3.0s : 2 3 2 3
L (100kg m / s )(3.0s) 900kg m /
sz
b) dL
z 2 3 2 3
(100kg m / s )(2t) (200kg m / s )t
dt
z
At t=3.0s :
(200kg m2 / s3)(3.0s) 600kg m2 / s 2 600N
mz
“When a net external Torque acting on a system is zero, then the total angular momentum of
the system is constant (conserved).”
dL
0 then 0 and L is constant. (5-37)
dt
20
Sample Problem
Solution
I I prof I dumbells 2
Idumbells 2(mr
;
Initially,
2 2 2
I 3.0kg m 2(5.0kg)(1.0m) 13kg m
1
1z 1rev
0.50rev / s
2.0s
The final moment of inertia
2 2 2
I 2.2kg m 2(5.0kg)(0.20m ) 2.6kg m
2
I
1 13kg m
2
2z 1z 2.5 rev / s
(0.50rev /
2
I s)
2.6kg m
2
21
Exercise No. 5
1. A fan blade is initially rotating an angular speed of 4.6 rpm. It slows down and eventually
comes to rest in a time of 32 seconds after turning through a total of 8.8 revolutions. Find
a) the angular speed in rad/s,
b) the average angular velocity and
c) the average angular acceleration of the fan blade.
2. Starting from rest at time t = 0, a grindstone has a constant angular acceleration of 3.2
rad/s2. What is the angular displacement after 2.7 s? If the radius of the grindstone is 0.24
m, calculate the tangential and radial acceleration.
3. A wheel of diameter 40.0 cm starts from rest and rotates with a constant angular
acceleration of 3.00 rad/s2 . At the instant the wheel has completed its second revolution,
compute the radial acceleration of a point on the rim in two ways:
a) using the relationship αrad = ω2r and
b) from the relationship αrad= v2/r.
4. Calculate the moment of inertia of each of the following uniform objects about the axes
indicated. A thin 2.50-kg rod of length 75.0 cm about an axis perpendicular to it and
passing
a) (i) throughits one end (ii) through its center, and (iii) about an axis parallel to the rod
and passing through it.
b) A 3.00-kg sphere is (i) solid and (ii) A thin-walled hollow shell.
c) An 8.00-kg cylinder of length 19.5 cm cylinder if the cylinder is (i) thin-walled and
hollow and (ii) solid.
5. A twirler’s baton is madeof a slender metal cylinder of mass M and length L. Each end has a
rubber cap of mass m. and you can accurately treat each cap as a particle in this problem.
Find the total moment of inertia of the baton about the usual twirling axis (perpendicular to
the baton through its center.
6. Calculate the net torque about point O for the
two forces applied as in figure shown. F2=12.0N
7. A thin rod of length L lies on the +x-axis
with its left end at the origin. A sting pulls
30o
O
on the rod with a force 𝐹⃗ directed toward 2.00m
point P a distance h above the rod. Where 3.00m
along the rod should you attach the string to F2=4.0N
get the greatest torque about the origin if
point P is above the right end of the rod?
8. A hollow, spherical shell with mass 2.00 kg rolls without slipping down at 38.0˚ slope. Find
the acceleration, the friction force, and the minimum coefficient of friction needed to
prevent slipping
9. A block with mass m = 5.00 kg slides down a
surface inclined 36.9˚to the horizontal (Figure on
the right). The coefficient of kinetic friction is 0.25.
A string attached to the block is wrapped around a
flywheel on a fixed axis at O. The flywheel has mass
25.0 kg and moment of inertia 0.500 kg∙m2 with
respect to the axis of rotation. The string pulls
without slipping at a perpendicular distance of 0.200
m from that axis.
a) What is the acceleration of the block down the
plane?
b) What is the tension in the string
22
10. A large turntable rotates about a fixed vertical axis (I turntable=1200 kg/m2) making 1
revolution in 6.0 s. A 40-kg student initially standing at the center of the turntable, runs
out along a radius. What is the angular speed of the turntable when he is 2.0m from the
center?
Answers:
6. 8.0 mN, 𝑘̂
9. a)1.12m/s2 b)14N
23
24