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Now we analyze the rotational motion of rigid bodies about a certain axis of
rotation.
Consider a certain force is applied at a certain location to a rigid body free to
rotate about a particular axis, the resulting motion depends upon the location of the
application of force. A given force applied a one location may produce difference rotation
at some other location. This quantity which takes into account both the magnitude of the
force and the location and direction in which it is applied is called torque.
We regard force as push or a pull, similarly we can regard torque as twist.
The effort required to put a body into rotation depends on the distribution of mass
of the body about the axis of rotation. If the mass is closer to the azis of rotation, it is
easier to rotate a body and vice versa. The inertial quantity that takes into account the
distribution of bodys mass is called rotational inertia or moment of inertia. Unlike mass,
rotational inertia is not an intrinsic property of the body.
The equation, identical with equation (1), for rotational dynamics is:
Torque = Moment of Inertia * Angular Acceleration
I
Relationship between Linear and Angular Variables:
Linear Motion
Angular Motion
Linear Displacement x
Angular Displacement
Linear Velocity v
dx
dt
Linear Acceleration a
Force F ma or F
Angular Velocity
dv
dt
Angular Acceleration
dp
dt
Torque I or
Work W Fdx
Kinetic Energy K
d
dt
d
dt
dL
dt
Work W d
1 2
mv
2
Kinetic Energy K
1 2
I
2
Power P F v
Power P
Linear Momentum p mv
Angular Momentum L I
Linear Impulse = Ft
Angular Impulse = t
Rotational Inertia I
59
Written and composed by: Prof. Muhammad Ali Malik (M. Phil. Physics), Govt. Degree College, Naushera
Physics (HRK)
which
are
at
distances
Since the body is rigid, so all the masses will rotate with same angular velocity
Where
Where
Physics (HRK)
xi , yi Co-ordinates of
xi ', yi '
mi w.r.t origin
xcm , ycm
From figure,
xi xi ' xcm
yi yi ' ycm
I mi xi 2 , yi 2
2
2
I mi xi ' xcm yi ' ycm
But
m x ' 0 m y '
i i
xcm 2 ycm 2 d 2
m x ' y ' I
2
CM
I ICM Md 2
Which is the mathematical form of parallel axis theorem.
61
Written and composed by: Prof. Muhammad Ali Malik (M. Phil. Physics), Govt. Degree College, Naushera
Physics (HRK)
62
Written and composed by: Prof. Muhammad Ali Malik (M. Phil. Physics), Govt. Degree College, Naushera
Physics (HRK)
I x2 .
0
M
dx
L
M 2
x dx
L 0
L
M x3
I
L 3
M L
0
L 3
3
M L
I
L 3
I
1
I ML2
3
Rotational Inertia of (i) A Hollow Cylinder (ii) A Solid Cylinder about Axis of
63
Written and composed by: Prof. Muhammad Ali Malik (M. Phil. Physics), Govt. Degree College, Naushera
Physics (HRK)
I r 2 dm
R2
r . 2 rLdr
2
R1
R2
2 L r dr
3
R1
R2
I 2 L r 3dr
R1
r4
I 2 L
4
R2
R1
1
I L R2 4 R14
2
1
I L R2 2 R12
2
I
R12
1
R2 2 R12 L R2 2 R12
1
M R2 2 R12
2
------------ (1)
1
M R 2 02
2
1
MR 2
2
1
M R2 R2
2
1
M 2R2
2
I MR2
64
Written and composed by: Prof. Muhammad Ali Malik (M. Phil. Physics), Govt. Degree College, Naushera
Physics (HRK)
Rotational Inertia of (i) A Disk (ii) A Hoop (Ring) about Cylindrical Axis
Consider a disk of inner and outer radii R1 and R2 , respectively. Let is surface
mass density.
Consider a circular strip of radius r and breadth dr with in the material.
Surface area of circular strip ds 2 rdr
Mass of circular strip ds ds 2 rdr
Rotational inertia of strip is:
I r 2 dm
R2
2 r dr
3
R1
R2
I 2 r 3dr
R1
R2
I 2 r 3dr
R1
r4
I 2
4
R2
R1
1
I R2 2 R12
2
1
I R2 4 R14
2
R12
1
R2 2 R12 R2 2 R12
1
M R2 2 R12
2
------------ (1)
1
M R 2 02
2
1
MR 2
2
1
M R2 R2
2
I MR2
65
Written and composed by: Prof. Muhammad Ali Malik (M. Phil. Physics), Govt. Degree College, Naushera
Physics (HRK)
dI = 2 R4 sin3 d
Rotational inertia of the shell is
I dI r dm 2 R4 sin3 d
2
= 2 R 4 sin 3 d
---------- (1)
Here
3
2
2
sin d sin sin 1 cos sin d
cos
cos 0
3
2 4
1 1
= cos cos 0 2
3 3
3 3
Hence equation (1) will becomes:
66
Written and composed by: Prof. Muhammad Ali Malik (M. Phil. Physics), Govt. Degree College, Naushera
Physics (HRK)
4 2
I = 2 R 4 . ( 4 R 2 ) R 2
3 3
2
MR 2
3
where M ( 4 R 2 )
2 2
2
r * mass r 2 * dm
3
3
mass of shell
volume of shell
dm 4 r 2 dr
4
M
R3
3
dm=
3r 2
Mdr
R3
So
dI
2 2 3r 2
r * 3 Mdr
3
R
dI
2M 4
r dr
R3
The moment of inertia of the sphere is the sum of moment of inertia of the various shells.
I dI
2M
3
R
2M 4
r dr
R3 0
R5
2
2
0 MR `
5
5
Hence
2
I= MR 2
5
67
Written and composed by: Prof. Muhammad Ali Malik (M. Phil. Physics), Govt. Degree College, Naushera