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d
) , we are describing its spinning motion exactly.
dt
1
d
2
dt
t
t 2 t1
spinning,
and slowing
^
k
^i
x
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i j k
j k i
^j
i i 0
j j 0
etc.
y
M.Dubson, University of Colorado at Boulder
Page 2 of 5
r F
(out of page)
origin
r
point of application
of force
The vector torque is defined with respect to an origin (which is usually, but not always, the axis
of rotation). So, if you change the origin, you change the torque (since changing the origin
changes the position vector r).
With these definitions of vector angular acceleration and vector torque, the fixed-axis equation
I becomes
I I
d
dt
( like F m a m
dv
)
dt
is the rotational analogue of linear momentum. So, based on our analogy between
translation and rotation, we expect L I
L r p
L (out of page)
p
particle
object spinning about a fixed axis is L I . Consider a object spinning about an axis
pointing along the +z direction. We place the origin at the axis.
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Page 3 of 5
L tot
z ri mi vi z
vi = ri
r p
axis
r (m v )
i
m r
2
i i
z I
L tot I
vi
mi
ri
If something has a big moment of inertia I and is spinning fast (big ), then it has a big "spin",
big angular momentum. Angular momentum is a very useful concept, because angular
momentum is conserved.
Important fact: the angular momentum of a object spinning about an axis that passes through the
center of mass is given by L = Icmindependent of the location of the origin; that is, even if
the origin is chosen to be outside the spinning object, the angular momentum has the same value
as if the origin was chosen to be at the axis. (Proof not given here).
Conservation of Angular Momentum: If a system is isolated from external torques, then its
total angular momentum L is constant.
ext = 0 Ltot = I = constant
dL
dt
dr
dL
d
ri pi
dt
dt i
dt
pi ri
i
dp
) :
dt
d pi
.
dt
dr
dt
i
pi
i
v m v m v v
i
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dL
dt
r F
r
i
d pi
dt
net , so we have
r F
i
(since Fnet
dp
) . Finally,
dt
dL
net .
dt
Page 4 of 5
L
L
if net = 0 , then
0 L constant . Done.
t
t
Conservation of Angular Momentum is very useful for analyzing the motion of spinning objects
isolated from external torques like a skater or a spinning star.
If ext = 0 , then L = I = constant. If I decreases, must increase, to keep L = constant.
Example: spinning skater.
Ii i
If f
( I big, small )
( I small, big )
Example: rotation of collapsing star. A star shines by converting hydrogen (H) into helium
(He) in a nuclear reaction. When the H is used up, the nuclear fire stops, and gravity causes the
star to collapse inward.
gravity
nuclear
slow
fast!
!
As the star collapses (pulls its arms in), the star rotates faster and faster. Star's radius can get
much smaller: Ri 1 million miles Rf 30 miles
3/25/2009
Page 5 of 5
Ii i If f
2
5
(Sphere I =
M R i 2 i
R i 2 i
R i2
Rf 2
2
5
f
i
2
5
M R2)
M R f 2 f
R f 2 f
Ti
Tf
( using = 2 f
2
)
T
Rotation
x
t
v
t
= r F
I = m r2
Fnet = M a
net = I
KErot = (1/2 ) I 2
p=mv
L = I
Fnet = p / t
net = L / t
KEtrans = (1/2)M v2
3/25/2009