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Class 15
Review: Definitions
Angular Position:
(always in radians)
Angular Displacement:
d
lim
dt
t 0 t
Angular acceleration:
d d
dt dt 2
t 0 t
lim
2 r
r
r
Keeping track of radial and tangential components of
acceleration allows us to treat problems that don't
have constant angular velocity.
the same angular velocity, , but not the same linear velocity.
K mi vi 2 mi 2 ri 2 2 mi ri 2
1
2
1
2
1
2
K I 2
Rotational Inertia
For a system of discrete point objects:
I mi ri 2
For a solid object, we use an integral instead of a sum:
dm dV
kg
is mass density in 3
m
I r 2 dm (r 2 )dV (r 2 )dx dy dz
I rod
2
2M
r dm x
L
0
I rod
M 2
dx x dx
L 0
3
1 2
L
= ML
3 3
7
Rigid Bodies
Spherical shapes are often confused:
solid sphere:
R
spherical shell:
2
5
M R2
2
3
M R2
Introduction to Torque
Newton's Second Law still applies to rotation problems.
For rotation about a fixed axis, changing to rotational variables
gives a similar expression:
I
Here is torque.
10
Correspondence Between
Linear and Rotational Motion
x
v
a
mI
F
1
I 2
2
11
Take-Away Concepts
1. Definitions of rotational quantities: , , .
2. Centripetal and tangential acceleration.
3. Rotational inertia: I mi ri 2
5. Introduction to torque: I
6. Correspondence
x
v
a
mI
F
12
13
a) -2.0x104 J
b) +2.0x104 J
c) -1.32x104 J/s
d) +1.32x104 J/s
14