XII Physics Rotational Motion

Rotational Motion
Prof. Sameer Sawarkar

Contents
Rigid Body
Rotational Motion
Cause & Consequence
Moment of Inertia
Kinetic Energy
Angular Momentum
Conservation Principle
Parallel & Perpendicular Axes Theorems
Radius of Gyration
Rolling Motion
Prof. Sameer Sawarkar 2
Rigid Body: A body which does not
undergo any appreciable
deformation under the
action of external forces, i.e.
the intermolecular distances
remain constant when
subjected to external forces.
3 Prof. Sameer Sawarkar
A
B
C
No body is truly rigid nor elastic or plastic. The state is always
referred to as rigid/elastic/plastic in context with the magnitude
and range of external forces.
A
B
C
Rotational Motion: A body is said to be
purely rotating
when all the
constituents of the
body are moving in
circular motions,
with centers of their
paths lying on a
fixed straight line
called axis of
rotation.
e, o
Rotational Motion: A body is said to be
purely rotating
when all the
constituents of the
body are moving in
circular motions,
with centers of their
paths lying on a
fixed straight line
called axis of
rotation.
e, o
A
B
The axis of rotation
may lie within the
body or without the
body
e, o
Examples: Motion of table/ceiling fan blades
Motion of Turbine rotor
Motion of gear wheels
Spinning Motion of planets
Opening of doors/window panels
Motion of hands of clock etc.
CAUSE & CONSEQUENCE
in Rotational Motion
Force produces translation
i.e. linear acceleration, a
Couple Moment produces rotation
i.e. angular acceleration, o
F
a
F
F
o
d
t
o
Rigid body subjected to
torque t

Rotating about a fixed axis
with angular acceleration o
t
o
1
n
2
R
1
R
2
R
n
Consider n particles of the
body in circular motion with
masses m
1
, m
2
, , m
n
.

R
1
, R
2
, , R
n
are the radii.
t
o
R
1
R
2
R
n
a
1
a
n
a
2
Linear tangential accelerations of
constituents; a
1
, a
2
, , a
n

Using a
T
= Ro

a
1
= R
1
o
a
2
= R
2
o

a
n
= R
n
o
(1)
t
o
R
1
R
2
R
n
a
1
a
n
a
2
F
1
F
2
F
n
a
1
= R
1
o, a
2
= R
2
o, , a
n
= R
n
o _(1)

Using Newtons II Law; F = ma

F
1
= m
1
a
1
= m
1
R
1
o
F
2
= m
2
a
2
= m
2
R
2
o

F
n
= m
n
a
n
= m
n
R
n
o
(2)
F
1
F
2
F
n
t
o
R
1
R
2
R
n
a
1
a
n
a
2
t
1
t
n
F
1
F
2
F
n
F
1
= m
1
R
1
o, F
2
= m
2
R
2
o,
F
n
= m
n
R
n
o _(2)

Using definition of torque; t = d*F
t
1
= R
1
F
1
= R
1
(m
1
R
1
o)

t
1
= m
1
R
1
2
o
t
2
= m
2
R
2
2
o

t
n
= m
n
R
n
2
o
(3)
F
1
F
2
F
n
t
o
R
1
R
2
R
n
a
1
a
n
a
2
t
1
t
n
F
1
F
2
F
n
t
1
= m
1
R
1
2
o, t
2
= m
2
R
2
2
o,
t
n
= m
n
R
n
2
o _(3)

Sum of all individual constituent
torques must be equal to the
externally applied original torque.

t = t
1
+ t
2
+ + t
n

t = m
1
R
1
2
o + m
2
R
2
2
o + + m
n
R
n
2
o
t = (m
i
R
i
2
) o
i = 1, 2, , n.
Translational Motion Rotational Motion
t = (m
i
R
i
2
)*o F = m*a
F t a o
m m
i
R
i
2

Quantity m
i
R
i
2
is called as Moment of Inertia of rotating
body about the defined axis of rotation.
Moment of Inertia (m
i
R
i
2
) about a given axis of rotation is
defined as the sum of product of
mass of each constituent and
square of its distance from the axis
of rotation.
Moment of Inertia (abbreviated as MI, denoted by I) represents
inertia in rotational motion i.e. reluctance of a rigid body to
undergo angular acceleration. Larger the MI, more difficult it is
to change the state of the body (to accelerate/decelerate).
With regular geometric boundaries,
where division in discrete shapes is
possible, MI is expressed as;
I = m
i
R
i
2

With irregular geometric boundaries,
where division in elemental shapes is
necessary, MI is expressed as;
I = }R
2
dm
I = ](m
i
, R
i
2
)
MI represents mass distribution of the rotating rigid body.
Rotational motion depends not just upon total mass but upon
mass distribution!!
Moment of Inertia
I = m
i
R
i
2
or I = }R
2
dm
Unit: kg-m
2
Dimensions: [L
2
M
1
T0]

KINETIC ENERGY
e
Rigid body rotating about a
fixed axis with angular
velocity e
e
1
n
2
R
1
R
2
R
n
masses m
1
, m
2
, , m
n
.

R
1
, R
2
, , R
n
are the radii.
e
R
1
R
2
R
n
V
1
V
n
V
2
Linear tangential velocities of
constituents; V
1
, V
2
, , V
n

Using V = Re

V
1
= R
1
e
V
2
= R
2
e

V
n
= R
n
e
(1)
e
R
1
R
2
R
n
V
1
V
n
V
2
V
1
= R
1
e, V
2
= R
2
e, , V
n
= R
n
e _(1)

KE = mV
2
= m(R
2
e
2
) of each
constituent.

U
1
= m
1
R
1
2
e
2

U
2
= m
2
R
2
2
e
2

U
n
= m
n
R
n
2
e
2

(2)
e
R
1
R
2
R
n
V
1
V
n
V
2
U
1
= m
1
R
1
2
e
2
, U
2
= m
2
R
2
2
e
2
,
U
n
= m
n
R
n
2
e
2
_(2)

Total KE of the rotating rigid body;
U = U
1
+ U
2
+ + U
n

U = m
1
R
1
2
e
2
+ m
2
R
2
2
e
2
+ +
m
n
R
n
2
e
2

U = (m
i
R
i
2
)e
2
U = Ie
2

ANGULAR MOMENTUM
V, mV
L
R
m
Angular Momentum: Property possessed
by a rotating body
by virtue of its
angular velocity.
Defined as; moment
of linear momentum.
i.e. L = R*P = R*(mV)
Like linear momentum, angular momentum
is a vector.
Unit: kg-m
2
/s, Dimensions: [L
2
M
1
T
-1
]
P
L
R
m
Vector relation between linear
momentum and angular
momentum:
From scalar relation; L = R*P
and using Right-hand rule;
P R L =
R
e
Rigid body rotating about a
fixed axis with angular
velocity e
e
1
n
2
R
1
R
2
R
n
masses m
1
, m
2
, , m
n
.

R
1
, R
2
, , R
n
are the radii.
e
R
1
R
2
R
n
V
1
V
n
V
2
Linear tangential velocities of
constituents; V
1
, V
2
, , V
n

Using V = Re

V
1
= R
1
e
V
2
= R
2
e

V
n
= R
n
e
(1)
e, L
R
1
R
2
R
n
V
1
V
n
V
2
V
1
= R
1
e, V
2
= R
2
e, , V
n
= R
n
e _(1)

Linear momentum P = mV for each
constituent.

Angular momentum for each
constituent;
L = R*P = RmV = Rm(Re) = mR
2
e

L
1
= m
1
R
1
2
e
L
2
= m
2
R
2
2
e

L
n
= m
n
R
n
2
e
(2)
e, L
R
1
R
2
R
n
V
1
V
n
V
2
L
1
= m
1
R
1
2
e, L
2
= m
2
R
2
2
e,
L
n
= m
n
R
n
2
e

_(2)

Total angular momentum of the
rotating rigid body;
L = L
i
, i = 1, 2, , n.

L = m
1
R
1
2
e

+ m
2
R
2
2
e

+ + m
n
R
n
2
e

L = (m
i
R
i
2
)e

L = Ie
PRINCIPLE OF CONSERVATION OF
ANGULAR MOMENTUM
( ) ( ) L
dt
d
I
dt
d
dt
d
I I
= =
= =
e t
e
o t
, 0 = t
L
If then is constant.
In absence of an external torque, the angular
momentum of the system remains constant
Applications of Principle of Conservation of Angular Momentum
PARALLEL AXES THEOREM
PERPENDICULAR AXES THEOREM
Rigid body with mass M
Purely rotating about an
axis through C.M.
MI = I
G
(known)
I
G
G
I
P
It is desired that MI
about a parallel axis at a
distance h through P
i.e. I
P
be found.
I
G
G P
h
I
P
G
P
Assume elemental mass
dm at an arbitrary point
Q.
I
G
Q
G
P
h
I
P
Construction

I
G
G
P
Q (dm)
S
h
I
P I
G
G
P
Q (dm)
S
h
I
G
= }QG
2
dm
I
P
= }QP
2
dm
QP
2
= PS
2
+ SQ
2
= (PG + GS)
2
+ SQ
2
= PG
2
+ 2PG*GS + (GS
2
+
SQ
2
)
QP
2
= PG
2
+ 2PG*GS + QG
2

I
P I
G
G
P
Q (dm)
S
h
QP
2
= PG
2
+ 2PG*GS + QG
2
Multiplying throughout by dm and
integrating;
}QP
2
dm = } PG
2
dm + 2PG } GSdm
+ } QG
2
dm
}QP
2
dm = I
P
} QG
2
dm = I
G
} PG
2
dm = PG
2
}dm = Mh
2
} GSdm = 0, G being the center of
mass of the body.
I
P
Substituting;
I
P
= I
G
+ Mh
2
I
G
G
P
Q (dm)
S
h
MI of a rigid body about any
axis is equal to sum of its MI
about a parallel axis through
center of mass and product of
mass of body and square of the
distance between two parallel
axes.
Rigid with mass M
Laminar body (thickness
very small compared to
surface area)
System of 3 mutually
perpendicular axes
through any point O.
X and Y in the plane of
the lamina, Z being
perpendicular to the
plane.
O
X
Y
Z
Imagine elemental mass
dm at a distance r from
Z axis.
O
X
Y
Z
r
dm
Moment of inertia of
the lamina @ Z axis;
I
Z
= } r
2
dm
O
X
Y
Z
r
dm
I
Z
Construction
perpendiculars on X and
Y axes from elemental
mass.
O
X
Y
Z
r
dm
I
Z
x y
MI of lamina about X
axis;
I
X
= } y
2
dm
MI of lamina about Y
axis;
I
X
= } x
2
dm
O
X
Y
Z
r
dm
I
Z
x y
I
Y
I
X
r
2
= x
2
+ y
2
Multiplying throughout by
dm and integrating;
} r
2
dm = } x
2
dm + } y
2
dm
Substituting;
O
X
Y
Z
r
dm
I
Z
x y
I
Y
I
X
I
Z
= I
X
+ I
Y
Moment of inertia of a
lamina about an axis
perpendicular to its plane is equal to sum of its moments of inertia
about two mutually perpendicular axes in the plane of lamina and
concurrent with that axis.
RADIUS OF GYRATION
Radius of Gyration (K) w.r.t. the given axis of rotation is the
theoretical distance at which, when entire mass of the body is
assumed to be concentrated, gives same MI (of idealized point mass
system) as that of the original rigid body. If MK
2
= }R
2
dm, then K is
the radius of gyration.
I = }R
2
dm I = MK
2
M
K
I
G
= MR
2
I
G
= MK
2
K

M
REAL SYSTEMS IDEALIZED SYSTEMS
I
G
= 2MR
2
/5
I
G
= MK
2
K

M
MK
2
= MR
2
K = R/\2
MK
2
= 2MR
2
/5
K = R*\(2/5)
Thank You!

XII Physics Rotational Motion

Caricato da

Informazioni sul documento

Copyright

Formati disponibili

Condividi questo documento

Condividi o incorpora il documento

Opzioni di condivisione

Hai trovato utile questo documento?

Questo contenuto è inappropriato?

Copyright:

Formati disponibili

XII Physics Rotational Motion

Caricato da

Copyright:

Formati disponibili

Rotational Motion

Prof. Sameer Sawarkar

Potrebbero piacerti anche