7.

KINEMATICS OF ROTATION OF RIGID BODIES

DEFINITION: 7.1. 7.1.1 A rigid body is an object or system of particles in which the distances between particles are fixed and remain constant. A body that has a definite and unchanging shape and size. Define as one that is none deformable or to say the same thing another way, one in which the separation between all pairs of particles remain constant. Kinematics rotation of rigid bodies Definition of angular displacement, () When a rigid body rotates about a fixed axis, the angular displacement is the angle is swept out by a line passing through at any point on the body and intersecting the axis of rotation perpendicullary The angle through y which a rigid object rotates about a fixed axis

r 1 2 x

S.I Unit : : : Equation :

radian (rad) degree () revolution (rev) ( in radians) =

Arch length Radius

s r

 (in degree) = =

circumference of a circle Radius of a circle

2r r

= 2 rad Thus, 2 rad corresponds to 360o, so the number of degrees in one radian is 1 rad =
360 = 57.3o 2

Definition of average angular velocity ( ) The rate of change of angular displacement Average angular velocity = Time taken
Angle turned

av
7.1.2

2 1 = t 2 t1 t

Definition of instantaneous angular velocity ( )

t ) approach The limit of average angular velocity, ( av) as time interval, ( zero, that is, the derivative of with respect to t :

which is

= lim

d = t dt

= angular displacement t = time interval

= instantaneous angular velocity

t.

is the small angular distance moved by a rotating wheel in the small time

7.2

Relationship between linear and rotational motion.

7.2.1

Objective : After the end of this topic, students should be able to write and explain;
s = r v = r a t = r a c = r2

= 2f

7.2.2

Content

Figure 7.2. : Rotation of dics: the angle is defined to be the arc length s devided by the radius. The picture focuses attention on a point P on the disc. This points starts out on the reference line, so that defines in radius only.

(in radians) =
or

Arc length s = Radius r

s = r

(7.2.1)

The angular coordinat of a rigid body rotating around a fixed axis can be positive or negative. If we choose positive angles to be measured counterlockwise from the positive x-axis, than the angle in Figure 7.2 is positive. If we instead choose the positive rotation direction to be clockwise, the in the Fig.7.2 is negative as mention before. From the equation 7.2.1

s = r ,

then,

ds d = ( r ) dt dt

v = r d
dt

d = dt

v = r
which is

v = instantaneous linear speed of particle,

The farther a points is from the axis, the greater its linear speed r = radius = instantaneous angular speed - that is, the magnitude of the instantaneous angular velocity in rad/s - every points on the rigid object has same angular speed

We can represent the acceleration of a particle moving in a circle in terms of its centripetal and tangential components arad and atan (Figure 7.2.2)

They can be write as

a tan = v2 r

(7.2.3)

(always points toward the axis of rotation) = 2 r

a tan = dv dt

and

=r =

d dt

(7.2.4)

(always tangent to the circular path of the particle) but when we combine both of equations, we get magnitude a vector of acceleration
a = a rad + a tan
2 2

(total linear acceleration)

r 2 4 + r 2 2

= r 4 + 2

In the study of linear motion, we found that the simplest form of accelerated motion to analyze is motion under constant linear acceleration. Like wise for rotational motion about fixed axis, the simplest accelerated motion to analyze is motion under constant angular acceleration. Therefore we next develop kinematic relationships for rotational motion under contant angular acceleration. A comparison of kinematic equation for rotational and linear motion under constant acceleration. Rotational Motion About a fixed axis with = constant variable = and Linear Motion with a constant variables : x and v
v = v 0 + at

= 0 + t
1 2

= 0 t + (0 + )t = 0 = +0 t + t 2
1 2

x = x0 +

1 (v0 + v)t 2 1 2 at 2

x = x0 + v0 t +
2

2 = 0 + 2 ( 0 )

v 2 = v 0 + 2a ( x x 0 )

7.3 7.4 7.4.1

Rotational motion with uniform angular acceleration Centre of mass, moment of inertia and torque Centre of mass (COM)

COM of a rigid body is the point where its entire mass can be considered to act when caalculating the
xcm = m1 x1 + m2 x 2 + ..........m n x n m1 + m2 + ........mn

m x m
i i

Centre of gravity (COG) COG of a rigid body is the point where the entire weight can be considered to act.
x cg = m1 gx1 + m 2 gx 2 + ..........m n gx n ( m1 + m2 + ........m n ) g

(mi xi ) g (mi ) g
i i

m x m
i

For a regular-shaped object the centre of mass is the centre of gravity. Moment Inertia i) Moment inertia of each small element of the body (Cutnell & Johnson,19 ii) The moment of inertia, I of a body about a given axis is defined as the sum of the individual moments for all points in the body I = m1 r1 + m 2 r2 + ............mn rn I = mi ri
i =1 n 2 2 2 2

which is rotation.

I = moment inertia m = mass of the element r = perpendicullar radial distance of each particle from the axis of

Example: 1.

For the system of masses shown as shown in figure below, find the centre of mass.

2.0 kg

5.0 m

3.0 kg

3.0 m

3.0 m

1.0 kg Solution: m3 =2.0 kg (0,3)

5.0 m

4.0 kg

m4=3.0 kg (5,3)

(0,0) m1=1.0 kg Centre of mass (Xcm , Ycm) =

(5,0) m2=4.0 kg

m x , m y m m
i i i i i

m x m
i i

(1)(1) + ( 4)(5) + ( 2)(0) +(3)(5) 1.0 + 4.0 + 2.0 + 3.0

0 + 20 + 0 + 15 10

m y m
i i

= 3.5 cm
i

(1)(0) + ( 4)(0) + ( 2)(3) +(3)(3) 1.0 + 4.0 + 2.0 + 3.0

0 +0 +6+9 10

= 1.5 cm Centre of mass = (3.5,1.5)

Centre of mass 1.5 cm 3.5 cm

2.

Two particles of mass 5.0 kg and 7.0 kg are mounted 4.0 m apart on a light rod (whose mass is negligible). Calculate the moment of inertia of the system a) when rotated about an axis passing halfway between the masses. b) when the system rotates about an axis located 0.5 m to the left of the 5.0 kg mass.

Solution: a) Both particles are the same distance 2.0 m, for the axis of rotation.
mr 2 I= = ( 5.0)(2.0)2 + (7.0)(2.0)2 = 48 kg m2

b)

The 5.0 kg mass is now 0.5 m from the axis and the 7.0 kg mass is 4.50 m from the axis. Then
mr 2 I= = (5.0)(0.5)2 + (7.0)(4.5)2 = 1.3 + 142 = 143.3 kg m2

7.5

Rotational Inertia

In linear motion, the inertia of an object is represented by the objects mass. From F= ma, we have m=
F a

The rotational analog of F=ma which is

= I
I =

Objects that have large values for inertia require large torques to change their rotation rate. In analogy to
1 mv2, m and v are replaced by I and 2

, thus,

Work done on rotating object = change of kinetic energy in rotating object

=
= In linear motion, the analog of

1 1 2 2 I f 2 2 0 1 2 2 I f 0 2

is

v2 u2 = 2as f 2 0 2 = 2as

= I(2) = I I=
Example: [Rotational Kinetik Energy] Find the rotational kinetic energy of the earth due to its daily rotation on its axis. Assume it to be a uniform sphere, m = 5.89 x 1024 kg, r = 6.37 x 106 m. Solution; For a uniform sphere, I = 2/5 mr2 = (2/5)(5.98 x 1024 kg)(6.37 x 106 m)2

= 9.71 x 1037 kgm2 The angular relocity of the earth is W = (1 rev/day)(1/86,400 day/s)(2 rad/rev) = 7.27 x 10-5 rad/s K. Er = I2 = (9.71 x 1037 kg.m2)(7.27 x 10-5 rad/s)2 = 2.56 x 1029 J