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Physics : Rotational Motion
ROTATIONAL MOTION
A rigid body can perform the various types of motion - from a simple translation to quite complex motions. The
various types of motion of a rigid body can be grouped as follows :
(a) Pure Translation : SA rigid body is said to be in pure translation if every particle of the rigid body
undergoes same linear displacement.
(b) Pure Rotation : A rigid body is said to have pure rotation if every particle of the rigid body moves in a
circular path, the centers of which lie on a straight line called the axis of rotation.
(c) Translation and rotation : In general a rigid body can rotate as it translates. Its motion can be treated
as a combination of translation of center of mass and rotation about an axis passing through the
center of mass
KINEMATICS OF ROTATIONAL MOTION ABOUT A FIXED AXIS OF

ROTATION
Consider a body of arbitrary shape rotating about a fixed axis O as shown in figure. In a given interval all the
particles lying on the line OA move to their corresponding positions lying on OB.
Although the particles of the body have different linear displacements, they all have the same angular
displacement , which is given by
s
...(i)
r
r B
s
The average angular velocity of the body for a finite time interval is given by A
O
f i
av
t t f ti
The unit of angular velocity radian per second (rad/s).

The instantaneous angular velocity is defined as
d
lim ...(ii)
t 0 t dt z
y
It is the rate of change of the angular position with respect to time. It is a vector
quantity. The direction of angular velocity is given by the right-hand rule. We hold
the right hand such that when the fingers of the right hand curve in the sense of x
rotation, the thumb points in the direction of .
1
The relation between linear speed and angular speed is obtained by differentiating equation (i) w.r.t time.
d 1 ds v
or
dt r dt r
or v r
Although all particles have the same angular velocity, their speeds increase linearly with distance from the
axis of rotation.
The average angular acceleration is defined as
f i
av
t t f ti
and the instantaneous angular acceleration is defined as
d
lim ...(iii)
t 0 t dt
Angular acceleration is a vector quantity measured in rad/s2.
When the angular acceleration is constant, we can find the change in angular velocity by integrating
equation (iii).
d dt
t
or d dt
0 0
or 0 t
or 0 t ....(iv)
Substituting the value of in equation (ii), we get
d dt 0 t dt
On integrating
t
d 0 t dt
0 0
1
0 0t t 2
2
1
or 0 0t t 2 ....(v)
2
On eliminating t from equation (iv) and (v), we get
2 02 2 0 ....(vi)
The equations (iv), (v) and (vi) are called the equations of rotational kinematics for constant angular acceleration.
2
Note :
These relations can be easily compared with those in uniformly accelerated linear
motion, i.e.,
v v0 at ; x x0 v0t 1/ 2 at 2 ; v 2 v02 2a x x0
, , can be clockwise or anti-clockwise. We can take anti-clockwise direction as

positive and clockwise direction as negative or vice versa.
and are opposite if the rotating body slows down (compare with case of retardation
in linear motion).
The angular velocity and angular acceleration are actually vector quantities. We are able
to treat them as scalar quantites because we consider rotation about a fixed axis of
rotation. But if the axis of rotation is changing direction then we will have to take their
vector nature into consideration.
COMPARISION OF LINEAR MOTION AND ROTATIONAL MOTION

Linear Motion Rotational Motion
(i) If acceleration is 0, v = constant (i) If acceleration is 0, = constant and = t
and s = vt
(ii) If acceleration a = constant, (ii) If acceleration = constant then
(u v ) (1 2 )
(i) s t (i) t
2 2
v u 2 1
(ii) a (ii)
t t
(iii) v = u + at (iii) 2 = 1 + t
(iv) s = ut + (1/2) at2 (iv) = 1t + 1/2 t2
(v) v2 = u2 + 2as (v) 22 = 12 + 2
(vi) Snth = u + a(2n 1)/2 (vi) nth = 1 + (2n 1)/2
(iii) If acceleration is not constant, the (iii) If acceleration is not constant, the above
above equation will not be applicable. equation will not be applicable.
In this case, apply calculus method. In this case, apply calculus method.
dx d
(i) v (i)
dt dt
dv d2 x d d2
(ii) a 2 (ii) 2
dt dt dt dt
(iii) vdv = ads (iii) d = d
3
EXAMPLES BASED ON ROTATIONAL KINEMATICS

Example - 1 A disc starts rotating with constant angular acceleration of rad/s2 about a fixed axis
perpendicular to its plane and through its centre.
(a) Find the angular velocity of the disc after 4s.
(b) Find the angular displacement of the disc after 4 s.
(c) Find number of turns accomplished by the disc in 4 s.
Solution : Here rad / sec 2
0 0 , t 4sec
(a) 0 rad/s 2 4 sec = 4 rad/s.
(b) 0
1
2
rad/s2 16s 2 8 rad.
(c) Let the number of turns be n
n 2 rad=8 rad
n=4 Ans.
Example - 2 A wheel mounted on a stationary axle starts moving from rest and is given the following
angular acceleration
9 12t
where t is the time after the wheel begins to rotate. Find the number of revolutions that the
wheel turns before it stops (and begins to turn in the opposite direction).
Solution : The kinematic equations do not apply because the angular acceleration is not constant.
We start with the basic definition : d / dt to write
t t
0 dt 9 12t dt 9t 6t 2
0 0
we find the elapsed time t between

0 0 and 0 by substituting these values :
0 0 9t 6t 2
Solving for t, we obtain t = 9/6 = 1.50 s
From d / dt , we have
t t
2
2

0 dt 9t 6t dt 4.5t 2t
3
0 0
Substituting 0 0 and t 1.5s, we obtain
0 4.5 1.5 2 1.5 3.375 rad

2 3
If n be is the number of of turns. Then

n 2 3.375
3.375
n 0.5
~ Ans.
2 3.14
4
A wheel rotates with an angular acceleration given by 4at 3bt where t is the time
3 2
Example - 3
and a and b are constants. If the wheel has initial angular speed 0 , write the equations
for:
(i) the angular speed
(ii) the angular displacement.
Solution : (i) We know
d dt
Integrating both sides, we get
t t
d dt 4at 3bt dt
3 2
0 0 0
or 0 at 4 bt 3 Ans.
(ii) Also d dt
On integrating both the sides, we get
t t
d dt 0 at bt dt
4 3
0 0 0
at 5 bt 4
or 0t Ans.
5 4
Example - 4 A flywheel of radius 30 cm starts from rest and accelerates with constant acceleration of
0.5 rad/s2. Compute the tangential, radial and resultant accelerations of a point on its
circumference :
(a) initially at 0 and
(b) after it has made one third of a revolution.
Solution :
(a) At the start :
0.5 rad/s 2 , R 0.3 m and i 0 rad/s

radial acceleration = ar 2 R 0m/s
tangential acceleration ar R
0.3 0.5 0.15 m/s 2

Net acceleration = anet
ar2 at2 02 0.152 0.15 m/s 2 Ans.
(b) After 120 2 / 3 :
2f i2 2 0 2 0.5 2 / 3
2
f rad/s
3
5
a r 2 R 2 / 3 .3 / 5 m/s2
at R 0.3 0.5 0.15 m/s 2
2
anet ar2 at2 0.15
2
25
0.646 m/s2 Ans.
MOMENT OF INERTIA
The moment of inertia (I) of a body is a measure of its rotational inertia, that is, its resistance to the change
its angular velocity. It depends on the location of the axis, that is, on how the mass of the body is distributed
relative to the axis. Thus, a body does not posses a unique moment of inertia; different axes through the
body are associated with different moment of inertia.
Y
MOMENT OF INERTIA OF A SINGLE PARTICLE r P
Let a particle P of mass m is rotating about an axis YY . Then the
moment of inertia of the particle P is defined as,
Y
I mr 2
where r is the perpendicular distance of the particle from the axis of
rotation.
Y
rn
MOMENT OF INERTIA OF A SYSTEM OF PARTICLES mn
r3
Let point masses m1 , m2 , m3 ,......., mn be rotating about an axis YY . Then m3
r2
the moment of inertia of the system about this axis is defined as, m2
r1
m1
I m1r12 m2 r22 m3 r32 ............ mn rn2
where r1 , r2 , r3 ,........rn are perpendicular distances of the particles from
Y
axis of rotation.
n
or I mi ri 2
i 1
MOMENT OF INERTIA OF A CONTINUOUS BODY

Y
When the distribution of mass of a system of particles is continuous, the discrete
n
sum I m r
i 1
i i
2
is replaced by an integral. We have to calculate the sum of r dm
contributions of infinitesimal mass elements dm shown in figure, each of which

contributes dI = r2 dm to the total moment of inertia. The mass element should be
chosen such that all the particle on it are at the same perpendicular distance from Y
the axis. The moment of inertia of the whole body then takes the form
I r 2 dm
Keep in mind that here the quantity r is the perpendicular distance from an axis, not the distance from an
origin. To evaluate this integral, we must express m in term of r.
6
RADIUS OF GYRATION
If M is the mass and 1 is the moment of inertia of a rigid body, then the radius of gyration (k) of body is given
by :
I
k
M
I Mk 2
TABLE : MOMENT OF INERTIA OF SOME COMMON SHAPED BODIES

1 Circular Ring : R
axis
Axis passing through the center and perpendicular to the
plane of ring.
I = MR2
2. Hollow Cylinder :
I = MR2
hollow
axis
3. Solid Cylinder & a Disc : R
About the geometrical axis
I = MR2
R
solid
About the perpendicular axis of cylinder
L2 R 2
I=M
axis
12 4
R
l
4. (a) Solid Sphere :
Axis passing through the center :
I = 2/5 MR2
(b) Hollow Sphere :
Axis passing through the center :
I = 2/3 MR2
5. Thin rod of length l :

(a) Axis passing through mid-point and
perpendicular to the length :
Ml 2
I
12
(b) Axis passing through an end perpendicular to
rod :
Ml 2
I
3
6. Cuboid l b h :
Axis through center and parallel to the height (h) : h
I
M 2
12
l b2 b
7
EXAMPLES BASED ON MOMENTUM OF INERTIA

B A C
Example 5 Many molecules have a simple diatomic , dumbbell
structure. Let us find the moments of inertia about
the four axes as shown in the figure. We treat the
bodies as point particles with mass m1 3 kg and m1 D
d1 d2 m2
m2 5 kg . Take d1 1m and d2 2m
If the spheres are treated as point particles,
1 1 m2d2 3kg 1m 5kg 2m 23kg.m

Axis A : I A md 2 2 2 2 2 the moment of inertia about axis D is zero
Solution :
Axis B : I B m1 0 m2 d1 d 2 45kg.m 2
2
Axis C : I C m1 d1 d 2 m2 0 27kg.m2
2
Axis D : I D 0
I D is zero because we treated the masses as point particles. Ans.
Example 6 Four point masses lie at the corners of a rectangle with 4M 4m 3M A

sides of length 3 m and 4m, as shown in figure. Find the
moment of inertia about each of the diagonals.
Take M = 1 kg. 3m
53 o
Solution : For each mass we need its perpendicular distance from the
axis. For each axis, two of the four masses do not contribute M 2M
to the moment of inertia. The other two are at the same
distance, that is
3sin 53 2.4m
I A 4kg 2.4m 2kg 2.4m 34.6kgm2

2 2
I B 1kg 2.4m 3kg 2.4m 2 23.0kgm 2

2
`
Ans.
Example 7 Find the moment of inertia of a thin rod of mass M and length
L about an axis at one end and perpendicular to the rod, as dx
shown in figure.
x
Solution : The mass of an element of length dx is dm = dx .
L
where M / L is the linear mass density..
The moment of inertia of the mass element that is at a distance x from the axis is
dI x 2 dx . For the entire rod the moment of inertia is

L3
L
I x 2 dx
0 3
ML2
or, I Ans.
3
8
THEOREMS ON MOMENT OF INERTIA

I cm IP
PARALLEL AXIS THEOREM

Let Icm be the moment of inertia of a body about an axis through its centre of
d
mass and let IP be the moment of inertia of the same body about another
axis which is parallel to the original one. P
cm
If d is distance between these two parallel axes and M is the mass of the
body, we can write according to the parallel axis theorem:
I p I cm Md 2
PERPENDICULAR AXIS THEOREM

Consider a planar body (i.e. a plate of small thickness) of mass M. Let X and Y axes be two mutually
perpendicular lines in the plane of the body. The axes intersect at origin O. Z
Y
Let I x moment of inertia of the body about X-axis
Let I y moment of inertia of the body about Y-axis

O X
The moment of inertia of the body about Z-axis (passing through O and perpendicular to the plane of the
body) is given by :
Iz Ix I y
The above result is known as the perpendicular axis theorem.
Note : The point of intersection of x and y axes need not lie certain the body.
Example - 8 Two spheres each of mass M and radius R/2 are connected with a Z
massless rod of length 2R as shown it fig. What wilI be the Y
moment of inertia of the system about an axis passing through the
centre of one of the sphere and perpendicular to the rod. X
2 2 O
2 R 2 R 21
Solution : I M M(2R)2 M MR 2
5 2 5 2 5
Example - 9 Two circular discs A and B of equal masses and thickness t but made of metals with
densities dA and dB (dA > dB). If their moments of inertia about an axis passing through the
centre and normal to the circular faces be IA and IB then IA / IB = ?
m A rA2 m r2 I A rA2
Solution : IA and IB B B
2 2 IB rB2 ( mA = mB) ....(1)
Now mA = rA2 t dA
mB = rB2 t dB
So, rA2 tdA = rB2 t dB
rA2 dB
or ....(2)
rB2 dA
From equations (1) and (2)

IA d
B
IB d A .
As dA > dB hence IA < IB
9
Example - 10 Find the moment of inertia of a circular disc or solid cylinder of radius R about the following
axes.
(a) through the centre and perpendicular to the flat surface.
(b) at the ring and perpendicular to the flat surface
Solution : (a) Figure shows that the appropriate mass
element is a circular ring of radius r and dr
width dr. Its area is dA 2 rdr and its mass
is dm dA, where M / A is the areal
mass density. The moment of inertia of this r R
R
element is
dI r 2 dm 2r 3 dr
For the whole body,
R
1
I 2 r 3 dr R 4
0
2
The mass of the whole disk or cylinder is M A R 2 , and so
1
I cm MR 2 Ans.
2
(b) The evolution of the moment of inertia about an axis at the rim, as in figure, by integration
is difficult. The parallel axis theorem, equation, with d R, provides the answer with
remarkable simplicity.
1 3
I rim I cm Md 2 MR 2 MR 2 MR 2 Ans.
2 2
Example - 11 Calculate the moment of inertia of :
(a) a ring of mass M and radius R about an axis coinciding with a diameter of the ring.
(b) a thin disc about an axis coinciding with a diameter.
Solution : Let X and Y axes be along two perpendicular diameters of the ring.
By symmetry I x I y and I z I x I y
But we know that I z MR 2
MR 2 I x I y
MR 2 2 I x
I x I y MR 2 / 2
Similarly for a thin disc (i.e., a circular plate), Iz = MR2/2, therefore moment of inertia about
11 2 1
a diameter is I
2
MR = MR Ans.
22 4
10
TORQUE F
Torque is the rotational analog of force. Force causes

linear acceleration; torque causes angular acceleration. In
order to lift a stone by using a lever, a force is required M
(see figure). The effectiveness of the force depends both
on its direction and magnitude and it is applied relative to
the pivot point. A stone of mass M is lifted by using a lever
The turning ability of a force about an axis or pivot is
y F
called its torque.

The torque of a force F that acts at a distance r from the origin is defined as
r
rF sin ...(i)
Where is the angle between the vector r and F, as shown O x
r
in the figure.
= (r sin F=r F
The definition of torque {in equation (i)} may be interpreted in two ways :
(i) r F sin rF . The turning effect of a force about the origin is produced
only by the perpendicular component F F sin as shown in the figure.
y
F
r sin F r F . Here r is the perpendicular distance from the origin to
F = F sin
(ii) F cos
the line of action of the force as shown in the figure. It is also called the lever
arm. r
Torque is actually a vector and is given by O x

r F = (r sin F=r F
Torque produced by a force
where r is the position vector of the point of application of the force. the
F about the origin O.
direction of the torque is perpendicular to the plane formed by r and F.
NEWTONS SECOND LAW FOR ROTATORY MOTION

Since torque is a rotational analog of force, therefore, Newtons second law for rotational motion is given by
net I
It is valid in two situations :
(i) The axis is fixed in position and direction.
(ii) The axis passes through the centre of mass and is fixed in direction only.
The equation cm I cm cm is valid even if the centre of mass is accelerating.
EXAMPLES BASED ON NEWTONS SECOND LAW FOR ROTATORY

MOTION
Example - 12 A weightless horizontal rod is free to rotate about an axis OO'. Two masses, each of 1 kg,
are placed at A and A such that, OA = OA = 0.20 meter. Now a torque of 2.0 newton-
meter is applied on the system which rotates about OO'. If the masses are displaced to B
and B such that OB = OB = 0.50 meter, then what will be the decrement in angular
acceleration ?
11
Solution : In the first case the moment of inertia of each, mass about OO' O
1kg 1kg
= mass x ( distance from O)2
O' 0.2m
= 1 kg (0.20 m)2 = 0.04 kg-m2
moment of inertia of the whole system about OO' O
(rod is weightless) is 1kg 1kg
I = 2 x 0.04 = 0.08 kg-m2 O' 0.5m
Let a be the angular acceleration.

Then the torque is, = I
2.0N m
25 rad / sec 2
I 0.08kg m 2
In the second case, the moment of inertia of each mass about OO
= 1 kg (0.50 m)2 = 0.25 kg-m2
moment of inertia of the whole system is
I = 2 0.25 = 0.50 kg-m 2
2. 0
angular acceleration 4.0 rad / sec 2
I 0.50
Decrement in angular acceleration = 25.-4 = 21 rad/sec2

Example - 13 Given that. r 2 i 3 j and F 2 i 6 k . What will be the magnitude of torque ?

Solution : We know that r F

(2 i 3 j ) (2 i 6 k )
12( j ) 6( k ) 18 i 12 j 6 k 18 i
[Note : i i 0, i j k,
j i k etc. ]

Now | | ( 12)2 ( 6 )2 (18)2 144 36 324 504
Example - 14 A grind - stone in the form of a solid cylinder has a radius of 0.5 m and mass 50 kg.
(a) What torque will bring it from rest to an angular velocity of 300 rev/min in 10 s ?
(b) What is the kinetic energy when it is rotating at 300 rev/min ?
Let i 0 rad/s, f 2 300 / 60 10rad/s

2
Solution :
f i 10 0
(a) rad/s 2
t 10
1 2
torque required I MR
2
1/ 2 50 0.5 19.6 Nm
2
Ans.
(b) Kinetic energy of a rotating body (RKE) :
1 11
RKE I 2 MR 2 2
2 2 2
11 2
50 0.5 10
2
2 2
RKE = 3084 J Ans.
12
Example - 15 A disc-shaped pulley has mass M 4k g and radius R 0.5m. It can

rotate freely on a horizontal axis, as shown in figure. A block of mass
m = 2 kg hangs by a string that is tightly wrapped around the pulley. R
(a) What is the angular velocity of the pulley 3s after the block is
released ?
(b) Find the speed of the block after it has fallen by 1.6m. Assume the m1
system starts from rest.
Solution : Applying Newtons second Law for the pulley
I T

MR 2 a1
For the pulley, I
2 mg
MR 2 T
TR
2 FBD of pulley FBD of block
MR
or T ...(i)
2
Applying Newtons second Law for the block
Fnet ma
mg T ma ...(ii)
Since the block and the rim of the pulley have the same speed (the string does not slip), we
have a R . Thus, from equation (i) we find
1
T Ma ...(iii)
2
Adding (ii) and (iii) leads to
mg
a
M
m ...(iv)
2
Putting m = 2 kg; M 4kg ; R 0.5m ;
we get a 5 m/s 2
(a) To find after 3s, we use equation
a
0 t 0 t 30 rad/s Ans.
R
(b) To find the speed of the block we use
v 2 v02 2ay 0 2 5m / s 2 1.6m
Thus v 4 m / s Ans.
13
Example - 16 For the arrangement shown in the figure, the string is tightly wrapped over the pulley. Find
the acceleration of each block when released from rest. The string is not slipping over the
pulley. Mass of pulley is M and that of blocks is m 1 & m 2.
Solution : The free body diagrams of the pulley and the blocks are shown in the figure.
Note that tensions on two sides of the pulley are different. Why ?
Applying Newtons second law on the pulley, we get
T1 R T2 R T1 T2 R

M
MR 2 R
Since I
2
m2

MR m1
Therefore, T1 T2 R
2
MR a a
or T1 T2 ...(i)
2
Applying Newtons Law on the blocks, we get
mg mg
T2 m2 g m2 a2 ...(ii)
m1 g T1 m1a1 ...(iii)
Since the string is tightly wrapped over the pulley, therefore,
a1 a2 R a ...(iv)
Solving equation (i), (ii), (iii) and (iv), we obtain

m1 m2
a g
M Ans.
m1 m2
2
ROTATIONAL WORK AND ENERGY

The rotational work done by a force about the fixed axis of rotation is defined as
Wrot d ...(i)
Where is the torque produced by the force, and d is the infinitesimally small angular displacement
about the axis.
The rotational kinetic energy of a body about a fixed rotational axis is defined as
1 2
K rot I ...(ii)
2
where I is the moment of inertia about the axis.
14
WORK - ENERGY THEOREM

In complete analog to the work energy theorem for the translatory motion, it can be stated for rotational
motion as :
Wrot K rot
The net rotational work done by the forces is equal to the change in rotational kinetic energy of the body.
CONSERVATION OF MECHANICAL ENERGY

In the absence of dissipative work done by non-conservative forces, the total mechanical energy of a system
is conserved.
K U 0
or K f U f K i U i
EXAMPLES BASED ON ROTATIONAL WORK AND ENERGY

Example - 17 A block of mass m = 4 kg is attached to a spring (k = 32 N/
m) by rope that hangs over a pulley of mass M 8kg . If the k
system starts from rest with the spring unextended, find the
speed of the block after it falls 1m. Treat the pulley as a M
disc, so
1 m
I MR 2 .
2
Solution : Since the rim of the pulley moves at the same speed as the block, the speed of the block v
and the angular velocity of the pulley are related by v R

When the block falls by a distance x, its potential energy decreases U g mgx ; the
1 2
potential energy of the spring increases U g kx , and both the block and the
2
1 2 1 2
pulley gain kinetic energy K mv I ,
2 2
From the conservation of mechanical energy, K U 0 ,
2
1 2 1 v 1 2
mv I kx mgx 0
2 2 R 2
1 M 2 1 2
m v kx mgx 0
2 2 2
Note that radius R of the pulley was not needed. We need only shape of the pulley.
Putting m 4kg ; M 8kg ; k 32 N / m; x 1m
15
1 8 2 1
4 v 32 1 4 10 1 0
2
2 2 2
4v 2 16 40 0
or v 2.4 m/s Ans.
ROTATIONAL POWER
In complete analog with the linear motion, the instantaneous rotational power is defined as
dWrot
Prot .
dt
EXAMPLES BASED ON ROTATIONAL POWER
Example - 18 A motor rotates a pulley of radius 25 cm at a constant angular speed R
of 20 rpm. A rope around the pulley lifts a 50 kg block, as shown in
figure. What is the power output of the motor ?
Solution : The tension in the rope is equal to the weight since there is no
acceleration.
Thus, T 500 N . T
Therefore, TR 500 0.25 125 Nm.
2N
Angular velocity,
60
2 20 2
or rad / s
60 3
The power required is
2
P 125 Nm rad/s 260 N Ans.
3
ROLLING MOTION
Rolling motion is defined as the combination of translational motion and rotational motion.
Pure translation Pure rotation Rolling motion

i.e. ve + ve = ve
In a pure rolling motion a wheel rotates about its center and the centre moves linearly so that while the
wheel makes one full revolution, its centre covers a distance equal to its circumference.
s 2R
16
If T be the time period of one revolution, then dividing both the

sides by T, we get
s 2
R vC vC
T T
or vC R
Where is the angular velocity of the wheel about its centre of 2R
When a wheel of radius R rolls without
mass, and vC is the linear velocity of the centre of mass.
slipping slipping at angular velocity
Since rolling is a combination of translation of the centre and , the speed of its centre is vC R.
rotation about the centre, therefore velocity of any point on the rim
is the vector sum

v vc v

where vc is the velocity of the centre of mass, and v is the velocity of the particle with respect to centre of
mass. R
2 R 2 2
v1= vC 2
2 v2 =2vC
R vc R vC
1 3
R
+ 1
3 vc = 1
vc
3
R
vC
= 1 3
v3 = vC 2
vc R
R O O O vC 0
v0 = O v2 = 0

Rolling is a combination of translation of the centre and rotation about the centre. Velocity of any point is v vC v .
It is obvious from the figure at the top point 2 of the wheel these two velocities are in the same direction, so
v2 2vC 2R and at the bottom point O, they are in the opposite directions, so v0 0 .
Since the wheel does not slip, the point of contact with the surface is instantaneously at rest and the wheel
momentarily rotates about this point. Any particle on the rim, appears to describe circular path with angular
velocity .
The magnitude of the velocity of any point is given by the product of angular velocity with the distance of
that point from the point of contact.
The direction of the velocity vector is perpendicular to the line joining the point and the point of contact. The
velocities of the point 1, 2 and 3 are shown in the figure.
v2 = 2 R
v1 = R 2 v3 = R 2
O
O
Example - 19 A hoop of radius R rolls over a horizontal plane with a constant velocity A
vo without slipping. Find the velocity of point A of the hoop as shown
in figure. c vo

Solution : The velocity of the point A can be obtained in two ways :
17
Method I Method II
A v0 A

C vA= 2 v0 cos c
vA= (2vo cos
R=v0
O O
APPLICATION OF NEWTONS SECOND LAW IN ROLLING MOTION

1. Write Fnet Macm for the object as if it were a point - mass, that is ignoring rotation.
2. Write I cm as if the object were only rotating about the centre of mass, that is ignoring translation.
3. Use of no-slip condition i.e. Vc = r and ac = r
4. Solve the resulting equations simultaneously.
Caution :
In general, it is not the case that friction force f N .
Be certain the sign convention for forces and torques are consistent.
EXAMPLS BASED ON ROLLING MOTION

Example - 20 A uniform sphere of mass 200 g rolls without slipping on a plane surface so that its centre
moves at a speed of 2.00 cm/s. Find its kinetic energy.
Solution : As the
v sphere rolls without slipping on the plane surface, its angular speed about the centre is
cm . The kinetic energy is
1r 1
K I cm 2 Mv cm 2
2 2
1 2 1
. Mr 2 2 Mv cm
2
2 5 2
1 1 7
2
Mv cm Mv cm
2
2
Mv cm
5 2 10
7
0.200kg 0.02 m/s 5.6 10 5 J
2
Ans.
10
Example - 21 A rigid body of radius of gyration k and radius R rolls (without slipping) down a plane inclined
at an angle with horizontal. Calculate its acceleration and the frictional force acting on it.
Solution : When the body is placed on the inclined plane, it tries to slip down and hence a static friction
f acts upwards. This friction provides a torque which causes the body to rotate. Let a be the
linear acceleration of centre of mass and be the angular acceleration of the body..
From free body diagram : N
for linear motion parallel to the plane f
n
m g si
mg sin f ma mg
c os
for rotation around the axis through centre of mass

18
net torque = I fR mk
2

As there is no slipping, the point of contact of the body with plane is instantaneously at rest.
v R and a R
Solve the following three equations for a and f :
mg sin f ma
fR mk 2
a R
mg sin
g sin mg sin
a f MR2
k2
and
R2
= 1
1 2 1 2 I
R k
We can also derive the condition for pure rolling (rolling without slipping) ;
to avoid slipping, the friction must be static in nature, whose maximum value is s N
= f s N
g sin
s mg cos
1 R2 / k 2
tan tan
s
R2 MR 2
1 2 1
k I
This is the condition on s so that the body rolls without slipping. Ans.
Example - 22 A solid cylinder rolls down an inclined plane of height h and inclination . Calculate its
speed at the bottom of the plane using acceleration-method and energy-method. Also
calculate the time taken to reach bottom.
Solution : Energy Method :
Let v, be the velocity of centre of mass and the
angular velocity of cylinder respectively at the bottom
of the plane. h
v
As the cylinder rolls down :
loss in G.P.E = gain in translation KE + gain in rotational KE
1 1
mgh mv 2 I 2
2 2
As the cylinder is rolling without slipping,
v R
mgh mv 2 mR 2 / 2 v 2 / R 2 mv 2 mv 2
1 1 1 1

2 2 2 4
4 gh
v Ans.
3
19
Acceleration Method :
From the result of last example (using k 2 R 2 / 2 )
acceleration of the cylinder is :
g sin 2
g sin
1 3
1
2
using v 2 u 2 2 as down the plane (taking downward direction positive)
h
v 0 2a
sin
2 h 4 gh
2 sin
3 sin 3
Time to reach bottom = t
4 gh
0
v u 3

a 2
g sin
3
2h 1
Ans.
g sin
Example - 23 A solid cylinder of mass m 4kg and radius R 10 cm has two ropes wrapped around it, one
near each end. The cylinder is held horizontally by fixing the two free ends of the cords to the
hooks on the ceiling crush that both the cord are exactly vertical. The cylinder is released to
fall under gravity. Find the tension in the cords when they unwind and the linear acceleration of
the cylinder.
2T T T
mg
mg
Solution : Let a linear acceleration and

=angular acceleration of the cylinder..
for the linear motion of the cylinder
mg 2T ma
for the rotational motion :
net torque = I
2TR 1/ 2mR 2
20
Suppose centre of cylinder falls with acceleration a, so the angular acceleration about its axis
would be
a

R
Combining the three equations, we get :
m
mg ma a
2
2g
a 6.53 m/s 2
3
mg ma
T 6.53N Ans.
2
Example - 24 A wheel of moment of inertia I and radius r is free to rotate about its
centre as shown in figure. A string is wrapped over its rim and a block
of mass m attached to the free end of the string. The system is
released from rest. Find the speed of the block as it descends through
a height h. m
Solution : Let the speed of the block be v when it descends through a height h. So is the speed of the
string and hence of a particle at the rim of the wheel. The angular velocity of the wheel is v/r
1
I v / r . Using the principle of conservation of
2
and its kinetic energy at the instant is
2
energy, the gravitational potential energy lost by the block must be equal to the kinetic energy
gained by the block and the wheel. Thus,
1 1 v2
mgh mv 2 I 2
2 2 r
1/ 2
2mgh
or, v 2 . Ans.
m I /r
ANGULAR MOMENTUM
ANGULAR MOMENTUM OF A PARTICLE

Angular momentum of a particle about a point O is defined as

Lrp ...(i)

where p is the linear momentum and r is the position vector of the particle w.r.t.
the given point O.
A v
Suppose a particle P of mass m moves at a velocity v (figure). Its angular
P
momentum about a point O is, r

l OP mv O
21
or, l mvOP sin mvr ...(ii)

As in the case of torque, we define the angular moment of a particle about a line say AB. Take any point O

on the line AB and obtain the angular momentum r p of the particle about O. The component of r p
along the line AB is called the angular momentum of the particle about AB. The point O may be chosen
anywhere on the line AB.
ANGULAR MOMENTUM OF A SYSTEM OF PARTICLES

The angular momentum L of a system of particles is the vector sum of the angular momenta of the individual
particles. n
i.e. L L1 L2 .......... Ln L
i 1
i
A
v P
ANGULAR MOMENTUM OF A RIGID BODY P
r
Suppose a particle is moving in a circle of radius r and at
some instant the speed of the particle is v (figure a). What is B
the angular momentum of the particle about the axis of the (a) (b)
circle ?

As the origin may be chosen anywhere on the axis, we choose it at the centre of the circle. Then r is

along a radius and v is along the tangent so that r is perpendicular to v and l r p mvr. Also r p

is perpendicular to r and p and hence is along the axis. Thus, the component of r p along the axis
is mvr itself.
Next consider a rigid body rotating about an axis AB (figure b). Let the angular velocity of the body be .
Consider the ith particle going in a circle of radius ri with its plane perpendicular to AB. The linear velocity
of this particle at this instant is vi ri . The angular momentum of this particle about AB mi vi ri mi ri2 .
The angular momentum of the whole body about AB is the sum of these components, i.e.,
L mi ri 2 I
where I is the moment of inertia of the body about AB.
ANGULAR MOMENTUM OF A BODY IN COMBINED ROTATION AND TRANSLATION

Consider a body in combined translational and rotational motion in the lab frame. Suppose in the frame of
the centre of mass, the body is making a pure rotation with an angular velocity . The centre of mass

itself is moving in the lab frame at a velocity v0 . The velocity of a particle of mass mi is vi ,cm with respect

to the centre of mass frame and vi with respect to the lab frame. We have,

vi vi ,cm v0 .
Let O be a fixed point in the lab which we take as the origin. Angular momentum of the body about O is
22

L mi ri vi
i

mi ri ,cm r0 vi ,cm v0 .

i
Here, r0 is the position vector of the centre of mass, ri , cm is position of particle on body w.r.t its centre
of mass.

Thus, L mi ri ,cm vi ,cm mi ri , cm v0 r0 mi vi ,cm mi r0 v0 .
i i i

and mi vi ,cm MVcm,cm 0. ( Linear momentum of a body w.r.t. its centre of mass frame is
i
zero)
mr i i , cm 0

Thus, L mi ri ,cm vi ,cm Mr0 v0
i

L Lcm Mr0 v0 .

The first term Lcm represents the angular momentum of the body as seen from the centre-of mass frame.

The second term Mr0 v0 equals the angular momentum of the body if it is assumed to be concentrated

at the centre of mass that is translating with the velocity v0 .
NEWTONS SECOND LAW IN ANGULAR FORM

be written in angular form as
Newtons second law for a particle can
dL
net
dt

where net is the net torque acting on the particle, and L is the angular momentum of the particle.
CONSERVATION OF ANGULAR MOMENTUM

If the net external torque on a system is zero, the total angular momentum is constant in magnitude and
direction.
dL
That is, if ext 0 0
dt
Thus, L constant
for rigid body rotating about a fixed axis,
L f Li or I f f I i i
23
Illustrations
(i) Suppose a ball is tied at one end of a cord whose other end passes
through a vertical hollow tube.
The tube is held in one hand and the cord in the other. The ball is set
into rotation in a horizontal circle. If the cord is pulled down, shortening
the radius of the circular path of the ball, the ball rotates faster than
before. The reason is that by shortening the radius of the circle, the
moment of inertia of the ball about the axis of rotation decreases.Hence,
by the law of conservation of angular momentum, the angular velocity of
the ball about the axis of rotation increases.[fig. (1)]
(ii) When a diver jumps into water from a height, he does not keep his body
straight but pulls in his arms and legs toward: the centre of his body. On
doing so, the moment of inertia I of his body decreases. But since the
angular momentum I remains constant, his angular velocity
correspondingly increases. Hence during jumping he can rotate his body
in the air - fig. (2)]
(iii) In fig. (3) a man with his arms outstretched and holding heavy dumb
bells in each hand, is standing at the centre of a rotating table. When
the man pulls in his arms, the speed of rotation of the table increases.
The reason is that on pulling in the arms, the distance R of the dumbells
from the axis of rotation decreases and so the moment of inertia of the
man decreases. Therefore, by conservation of angular momentum, the
angular velocity increases.
In the same way, the ice skater and the ballet dancer increase or decrease
their angular velocity of spin about a vertical axis by pulling or extending out
their limbs.
Example - 25 A wheel is rotating at an angular speed about its axis which is kept vertical. An identical
wheel initially at rest is gently dropped onto the first wheel so that they have the same axis
and the two wheels start rotating with a common angular speed. Find this common angular
speed.
Solution : Let the moment of inertia of the wheel about the axis be I. Initially the first wheel is rotating
at the angular speed about the axis and the second wheel is at rest. Take both the
wheels together as the system. The total angular momentum of the system before the
coupling is I 0 I . When the second wheel is dropped into the axle, the two wheels
slip on each other and exert forces of friction. The forces of friction have torques about the
axis of rotation but these are torques of internal forces. No external torque is applied on the
two - wheel system and hence the angular momentum of the system remains unchanged. If
the common angular speed is , the total angular momentum of the two-wheel system is
2I after the coupling. Thus,
I 2 I
or, / 2 Ans.
Example - 26 A turntable rotates about a fixed vertical axis, making one revolution in 10s. The moment of
inertia of the turntable about the axis is 1200 kg m2. A man of mass 80 kg initially standing
at the centre of the turntable, runs out along a radius. What is the angular velocity of the
turntable when the man is 2m from the centre ?
24
Solution :
O O
2m
I 0 initial moment of inertia of the system
I 0 I man I table
I 0 0 1200 1200kgm 2
( I man 0 as the man is at the axis)
I final moment of inertia of the system

I I man I table
I mr 2 1200
I 80 2 1200 1520kgm 2
2
By conservation of angular momentum
I 00 I
Now 0 2 / T0 2 /10 / 5 rad/s
I 0 0 1200

I 1520 5
0.5 rad/s Ans.
ANGULAR IMPULSE
The angular impulse of a torque in a given time interval is defined as
t2
J dt. ... (1)

t1
If be the resultant torque acting on a body, hence

dL
,
dt
Now frame equation (1)
L2
dL
J dt dL
dt L1
Integrating this
J L2 L1.
Thus. the change in angular momentum is equal to the angular impulse of the resultant torque.
25
EXAMPLES BASED ON ANGULAR IMPULSE
Example - 27 A billiard ball, initially at rest, is given a sharp impulse F

by a rod. The rod is held horizontally at a height h h
above the center of the ball. The ball immediately
beings to roll without slipping after the impact. O
Calculate the height h in terms of the radius of the
ball.
Solution : The horizontal force creates a linear impulse and angular impulse.
Linear impulse = change in linear momentum
Fdt mv 0 ...(i)
angular impulse about CM = change in angular momentum
dt I 0
But Fh
Fh dt I 0 ...(ii)
dividing (ii) and (i) we get :
2 2
mr
I 5 2
h r Ans.
mv mr 5
POINTS TO REMEMBER
1 1
KE KE T KE R 2
Mv cm Icm 2
2 2
1 2 k2
Mvcm 1 2 Vcm R
2 R
. Motion of a body rolling down an incline plane:
2gh
v cm [ v cm is the velocity at the bottom of the incline]
1 k 2 R2
g sin
a cm
1 k2 R2
k2
21 2 h
td
1 R [ t d is the time of descent]
sin g
where h is the height of the incline plane, is the angle of inclinction and K is the radius of gyration.
The final velocity is independent of the inclination of the plane and depends only height h through which
the body descends. Acceleration and time depend on the inclination. Greater the inclination, greater will
be the acceleration and lesser will be the time of descent
26
Note :
Vcm , a cm and t d depends only on radius of gyration and are independent of mass of
the bodies.
Vcm is inversely related to radius of gyration. Greater the radius of gyration, lessor will
be the velocity. For instance, if a ring, cylinder and sphere simultaneously start rolling
down an inclined plane sphere will reach the bottom first and with greatest velocity and
ring in the last with least velocity as k ring k cylinder k sphere
Angular momentum
(a) Angular momentum of a single particle:

L r mv

L L mvr sin mvr
(b) Angular momentum of a rigid body:
L I
Moment of inertia of a body depends not only on its mass but also on its mass distribution with respect
to the axis of rotation. The greater the distance of particles from axis rotation, greater will be their
contribution to the moment of inertia.
The moment of inertia is minimum about the axis which passes through the center of mass.
Analog of between linear motion and rotation

dp dL
Newtons Second Law F ma I
dt dt
Work W Fd s W d
1 2 p2 1 2 L2
Kinetic Energy KE Mv KE I
2 2m 2 2I
1 1 1 2 1 2
Work-Energy theorem mv 2f mv i2 W If Ii W
2 2 2 2
Power P = Fv P
Impulse Fdt d t
4. In rolling without slipping, work done by friction (or dissipation of energy) is zero as there is no relative
motion between body and surface at the point of contact.
5. For a system consisting of single body rotating about an axis
L I
In such situation if I is decreased by changing the mass distribution, will increase so that I
remains constant. This method of increasing the angular velocity is quite familiar to gymnasts, dancers
L2
and divers. It should also be noted that kinetic energy R
K
2I will increase. This increase in
kinetic energy is achieved by internal non-conservative forces.
6. The ratio of translational kinetic energy and rotational kinetic energy in pure rolling is given by
1 2
MVcm
KE T 2 R2
2
KER 1 k
I 2
2 cm
27
SOLVED EXAMPLES
Example - 1 The motor of an engine is rotating about its axis with an angular velocity of 100 rev/minute. It
comes to rest in 15 s, after being switched off. Assuming constant angular deceleration,
calculate the number of revolutions made by it before coming to rest.
Solution : The initial angular velocity = 100 rev/minute
= (10 / 3 ) rad/s.
Final angular velocity = 0
Time interval = 15 s.
Let the angular acceleration be . Using the equation 0 t , we obtain
2 / 9 rad/s2.
The angle rotated by the motor during this motion is
1
0 t t 2
2
10 rad 1 2 rad
15s 2
15s
2
3 s 2 9 s
25 rad 12.5 revolutions.

Hence the motor rotates through 12.5 revolutions before coming to rest. Ans.
Example - 2 A bucket is being lowered down into a well through a rope passing over a fixed pulley of radius
10 cm. Assume that the rope does not slip on the pulley. Find the angular velocity and angular
acceleration of the pulley at an instant when the bucket is going down at a speed of 20 cm/s
and has an acceleration of 4.0 m/s2.
Solution : Since the rope does not slip on the pulley, the linear speed v of the rim of the pulley is same
as the speed of the bucket.
The angular velocity of the pulley is then
20cm / s
v/r 2rad / s
10cm
and the angular acceleration of the pulley is
4.0m / s 2
a/r 40rad / s 2 Ans.
10cm
28
Example - 3 The wheel of a motor, accelerated uniformly from rest, rotates through 2.5 radian during the
first second. Find the angle rotated during the next second.
Solution : As the angular acceleration is constant, we have
1 1
0t t 2 t 2
2 2
1
Thus, 2.5rad 1s
2
2
or 5rad / s 2
The angle rotated during the first two seconds is
5rad / s 2 2 s 10rad
1 2
2
Thus, the angle rotated during the 2nd second is
10 rad 2.5 rad 7.5 rad Ans.
Example - 4 A wheel having moment of inertia 2 kg-m 2 about its axis, rotates at 50 rpm about this axis.
Find the torque that can stop the wheel in one minute.
Solution : The initial angular velocity
5
50rpm rad / s
3
Using 0 t ,
5
0
0 3 rad / s 2 rad / s 2

t 60 36
The torque that can produce this deceleration is

r I 2kg m 2 rad / s 2 N m Ans.
36 18
Example - 5 Four particles each of mass m are kept at the four corners of a square of edge a. Find the
moment of inertia of the system about a line perpendicular to the plane of the square and
passing through the centre of the square.
Solution : The perpendicular distance of every particle from the given line is a / 2. The moment of
1
2
inertia of one particle is, therefore, m a / 2 ma 2 The moment of inertia of the system
2
1 2
is , therefore, 4 ma 2ma 2 .
2
m m
2
a/
m m
29
Example - 6 A wheel of radius 10 cm can rotate freely about its centre as shown
in figure. A string is wrapped over its rim and is pulled by a force of
5.0 N. It is found that the torque produced an angular acceleration
2.0 rad/s in the wheel. Calculate the moment of inertia of the wheel.
Solution : The forces acting on the wheel are (i) W due to gravity, (ii) N due to
the support at the centre and (iii) F due to tension. The torque of W
and N are separately zero and that of F is F.r. The net torque is
5.0 N
5.0 N . 10cm 5.0 N m
The moment of inertia is
0.50 N m
I 0.25 kg m 2 . Ans.
2rad / s 2
Example - 7 A string is wrapped around the rim of the wheel of moment of inertia 0.20 kg-m2 and radius 20
cm. The wheel is free to rotate about its axis. Initially, the wheel is at rest. The string is now
pulled by a force of 20 N. Find the angular velocity of the wheel after 5.0 seconds.
Solution : The torque applied to the wheel is
F .r 20 N 0.20m 4.0 N m
The angular acceleration produced is

4.0 N m
20 rad/s2
I 0.20kg m 2
The angular velocity after 5.0 seconds is
0 t 20 rad/s 2 5.0 s 100 rad/s. Ans.
Example - 8 A wheel of radius r and moment of inertia I about its axis is

fixed at the top of an inclined plane of inclination as shown
in figure. A string is wrapped around the wheel and its free
end supports a block of mass M which can slide on the M
plane.
Initially, the wheel is rotating at a speed in a direction
such that the block slides up the plane. How far will the
block move before stopping ?
Solution : Suppose the deceleration of the block is a. The linear deceleration of the rim of the wheel is
also a. The angular deceleration of the wheel is a / r. If the tension in the string is T, the
equations of motion are as follows :
Mg sin T Ma
and Tr I I / r.
Eliminating T from these equations,
a
Mg sin I Ma
r2
Mgr 2 sin
giving, a
I Mr 2
30
The initial velocity of the block up the incline is v r. Thus, the distance moved by the
block before stopping is
v 2 r I Mr I Mr
2 2 2 2 2
x Ans.
2a 2 Mgr 2 sin 2Mg sin
Example - 9 A uniform ladder of mass 10 kg leans against a smooth vertical wall N1 A

making an angle of 530 with it. The other end rests on a rough horizontal
floor. Find the normal force and the frictional force that the floor exerts o
on the ladder. 53
N2
Solution : The forces acting on the ladder are shown in figure. These are W
(a) Its weight W,
(b) normal force N1 by the vertical wall, B f C O
(c) normal force N2 by the floor and
(d) frictional force f by the floor.
Taking horizontal and vertical components,
N1 f ...(i)
and N 2 W ...(ii)
Taking torque about B, N1 AO W CB .
AB
or N1 AB cos53 W sin 53
2
3 W 4
or N1 ,
5 2 5
2
or N1 W ...(iii)
3
The normal force by the floor is
N 2 W 10kg 9.8 m/s 2 98 N
2
The frictional force is f N1 W 65 N Ans.
3
Example - 10 Two particles of mass m each are attached to a light rod of length d, one at its centre and the
other at a free end. The rod is fixed at the other end and is rotated in plane at an angular speed
. Calculate the angular momentum of the particle at the end with respect to the particle at
the centre.
Solution :
A O B
The situation is shown in figure. The velocity of the particle A with respect to the fixed end O is
d
vA and that of B with respect to O is vB d . Hence the velocity of B with respect
2
d
to A is vB v A . The angular momentum of the with respect to A is therefore,
2
31
d d 1
L mvr m md 2
22 4
along the direction perpendicular to the plane of rotation. Ans.
Example - 11 A particle is projected at time t = 0 from a point P with a speed v0 at an angle of 450 to the
horizontal. Find the magnitude and the direction of the angular momentum of the particle
about the point P at time t = vo/g.
Solution : Let us take the origin at P, X-axis along the horizontal and Y-axis along the vertically upward
direction as shown in figure. For horizontal motion during the time 0 to t,
Y
v x v0 cos 45 v0 / 2 v
r
v0 v0 v2 X
P
and x vx t . 0
2 g 2g
For vertical motion, v y v0 sin 45 gt
v0
v0
1 2 v
0
2 2
1 2
and y v0 sin 45 t gt
2

v02
2g

v02 v02

2g 2g

2 1
The angular momentum of the particle at time t about the origin is

L r p mr v

m ix jy ivx jv y

m kxv y kyv x
v 2 v
v2
mk 0 0 1 2 0
2 g 2 2g
v2
2 1 0
mv 3
k 0
2 2g
mv03
Thus, the angular momentum of the particle is in the negative Z direction i.e.,
2 2g
perpendicular to the plane of motion, going into the plane.
Example - 12 A uniform circular disc of mass 200 g and radius 4.0 cm is rotated about one of its diameter at
an angular speed 10 rad/s. Find the kinetic energy of the disc and its angular momentum
about the axis of rotation.
Solution : The moment of inertia of the circular disc about its diameter is
32
1 1
I Mr 2 0.200kg 0.04m
2
4 4
8.0 105 kg-m2

The kinetic energy is
I 8.0 105 kg m 2 100rad 2 / s 2

1 2 1
K 3
= 4.0 10 J
2 2
and the angular momentum about the axis of rotation is
L Iw 8.0 105 kg m 2 100 rad 2 /s 2
8.0 103 kg m 2 / s 8.0 103 J s Ans.

Example - 13 Two blocks of mass M and m are connected by a light string going over a pulley of radius r. The
pulley is free to rotate about its axis which is horizontal. The moment of inertia of the pulley
about the axis is I. The system is released from rest. Find the angular momentum of the
system when the mass M has descended through a height h. The string does not slip over the
pulley.
Solution : The situation is shown in figure. Let the speed of masses be v at time t. This
will also be the speed of a point on the rim of the wheel and hence the angular
velocity of the wheel at time t will be v/r. If the height descended by the mass 1
M is h, the loss in the potential energy of the masses plus the pulley system
r
is Mgh-mgh. The gain in kinetic energy is
M
2
1 1 1 v m
Mv 2 mv 2 I .
2 2 2 r
1 I 2
As no energy is lost, M m 2 v M m gh
2 r
2 M m gh
or, v2
I
M m 2
r
The angular momentum of the mass M is Mvr and that of the mass m is mvr in the same
direction. The angular momentum of the pulley is I Iv / r . The total angular momentum is
I I 2 M m gh
M m r r v M m r 2 r
M m I
r2
I
2 M m M m 2 r 2 gh . Ans.
r
33
Example - 14 A uniform rod of mass m and length l is kept vertical with a hinge at the lower end. It is slightly
pushed to let it fall down under gravity. Find the its angular speed when the rod is passing
through its lowest position, Neglect any friction at the clamp. What will be the linear speed of
the free end at
this instant?
l
l
Solution : As the rod reaches its lowest position, the centre of mass is lowered by the distance l. It
gravitational potential energy is decreased by mgl. As no energy is lost against friction, this
should be equal to the increase in the kinetic energy. As the rotation occurs about the horizontal
axis through the hinged end, the moment of inertia is I ml 2 / 3 .
1 2
I mgl
2
1 ml 2 2
mgl
2 3
6g
or
l
The linear speed of the free end is
v l 6 gl . Ans.
Example - 15 A uniform rod of mass M and length a lies on a smooth horizontal plane. A particle of mass m
moving at a speed v perpendicular to the length of rod strikes it a distance a/4 from the centre
and stops after the collision. Find
(a) the velocity of the centre of the rod and
(b) the angular velocity of the rod about its centre just after the collision.
Solution : The situation is shown in figure. Consider the rod
and the particle together as the system. As there is
no external on the system force, the linear ro
A a A V
momentum of the system will remain constant. Also a/4
there is no resultant external torque on the system
and so the angular momentum of the system
about any line will remain constant. (a) (b)
Suppose the velocity of the centre of the rod is V and the angular velocity about the centre
is .
(a) The linear momentum before the collision is mv and that after the collision is MV.
m
Thus, mv MV , or V v
M
(b) Let A be the centre of the rod when it is at rest. Let AB be the line perpendicular to the
plane of the figure. Consider the angular momentum of the system about AB. Initially the
34
rod is at rest. The angular momentum of the particle about AB is

L mv a / 4
After the collision, the particle comes to rest. The angular momentum of the rod about A
is

L Lcm Mr0 V

As r0 || V , r0 V 0.

Thus, L Lcm
Hence the angular momentum of the rod about AB is

Ma 2
L I .
12
mva Ma 2
Thus,
4 12
3mv
or, Ans.
Ma
Example - 16 A cylinder is released from rest from the top of an incline of inclination and
length l. If the cylinder rolls without slipping, what will be its speed when it reaches the
bottom ?
Solution : Let the mass of the cylinder be m and its radius r. Suppose the liner speed of the cylinder
when it reaches the bottom is v. As the cylinder rolls without slipping, its angular speed about
its axis is v / r. The kinetic energy at the bottom will be
1 2 1 2
K I mv
2 2
11 1 1 1 3
mr 2 2 mv 2 mv 2 mv 2 mv 2 .
2 2 2 4 2 4
This should be equal to the loss of potential energy which is mgl sin . Thus,
3 2
mv mgl sin
4
4
or v gl sin Ans.
3
Example - 17 A sphere of mass m rolls without slipping on an inclined plane of inclination . Find the linear
acceleration of the sphere and the force of friction acting on it. What should be the minimum
coefficient of static friction to support pure rolling ? N
Solution : Suppose the radius of the sphere is r. The forces acting on f

the sphere are shown in figure. They are (a) weight mg, (b)
normal force N and (c) friction f. mg
Let the linear acceleration of the sphere down the plane be a. The equation for the linear
motion of the centre of mass is
mg sin f ma ....(i)
As the sphere rolls without slipping, its angular acceleration about the centre is a/r. The
equation of rotational motion about the centre of mass is,
35
2 a
I fr mr
2

5 r
2
f ma. ....(ii)
5
5
From (i) and (ii), a g sin
7
2
and f mg sin
7
The normal force is equal to mg cos as there is no acceleration perpendicular to the incline.
The maximum friction that can act is, therefore, mg cos , where is the coefficient of
static friction. Thus, for pure rolling
2
mg cos mg sin
7
2
or tan . Ans.
7
Example - 18 On the flat surface of a disc of radius a, a small circular hole of radius b is made with its
centre at a distance c from the centre of the disc. If mass of the uncut disc is M, calculate
the moment of inertia of the cut disc about the axis of the circular hole.
Solution : The disc is shown in figure.
C axis
b
a O1
Let m be the mass of the cut out portion of the disc, then
Mb 2
m
a2
We know that moment of inertia of a disc about an axis passing through its centre and
1
perpendicular to its plane is given by Ma 2
2
Let I 1 be the moment of inertia of the uncut disc about an axis passing through O 1 and
perpendicular to the plane of disc. Then applying theorem of parallel axes, we have
1
I1 Ma 2 Mc 2
2
If I 2 be the moment of inertia of the cut-off portion about an axis passing through and
perpendicular to its plane, then
36
Moment of inertia of the holed disc about an axis passing through O1 and perpendicular to its
plane
Example - 19 A body of radius R and mass m is rolling horizontally without slipping with speed v. It then
3 v2
rolls smoothly up a hill rising upto a maximum height h. It is given that h . What is
4 g
the bodys rotational inertia?
g sin
f (retardation up the plane) = 1 k
2
Solution :
2
R
From v 2 v02 2 f s , where s is measured along the inclined plane.
g sin h
v2 2
k 2 sin
1 2
R
h s sin
2 gh 2g 3 v2
v2
or, k2 k2 4 g
1 2 1 2
R R
R
k
2
2 1
The rotational inertia of the body is I mk mR 2 .
2
Example - 20 A 10-m-long uniform ladder rests against a wall and makes an angle of 600 with the horizontal
floor. If it just starts to slip from this position, find its instantaneous axis of rotation.
Solution : When the rod begins to slip, its position changes from time to time. At any instant, two
successive positions (one a little before that instant and the other a little later) can be
represented by the rotation of the rod about the certain point called the instantaneous
centre.
At any instant, the end A slides along the vertical direction, while the end B slides along
the horizontal. This motion may be imagined to be rotation about some point O ' as
follows:
d d
O A cos ; v 1 dt O A sin dt
d d
O B sin ; v 2 dt O B cos dt
37
v1 A O

10m
60
O B
v2
Clearly, v 1 . sin .O ' A

and, v 2 cos .O ' B
if, O ' A OB and O ' B O A .
At any position of the rod, the instantaneous centre is the point of intersection of the
vertical line through the lower end and the horizontal line through the upper end. Therefore,
the coordinates of the instantaneous centre of rotation are 10 cos 600 and 10 sin 600 or 5
m and 5 3 m.
38
EXERCISES
LEVEL - I
1. The moment of inertia of a ring about its perpendicular geometrical axis is I, then its moment of inertia
about its diameter will be
I
(1) 2I (2)
2
I
(3) I (4)
4
2. The angular momentum and moment of inertia are respectively
(1) Vector and tensor quantities (2) Scalar and vector quantities
(3) Vector and vector quantities (4) Scalar and scalar quantities
3. A rigid body is rotating with variable angular velocity (a-bt) at any instant of time t. The total angle
subtended by it before coming to rest will be - (a and b are constants)
a b a a2
(1) (2)
2 2b
a 2 b2 a 2 b2
(3) (4)
2b 2a
4. A ring of mass M is rolling down an inclined plane. The length of this plane is L and it makes an
angle with the horizontal. The velocity of the centre of mass of the ring at the centre of the plane will be
g L sin 2
(1) (2) g L sin
2 3
(3) 2g L sin (4) 0 A 4 1

5. The moment of inertia of a thin square plate ABCD of uniform thickness
about an axis passing through its centre and perpendicular to its plane
will be 3
(1) I 1 I 2 (2) I 1 I 3 O
(3) I 1 I 2 I 4 (4) I 1 I 2 I 3 D 2
6. If the earth shrinks to half of its radius without change in mass, the duration of the day will be
(1) 48 hour (2) 24 hour
(3) 12 hour (4) 6 hour.
7. How can we differentiate between a solid sphere and a hollow sphere of the same material and of a same
size without weighing ?
(1) By determining their moment of inertia about their central axes.
(2) By rolling them simultaneously on an inclined plane.
(3) By rotating them about a common axis of rotation.
(4) By applying equal torque on them.
39
8. The curve for the moment of inertia of a sphere of constant mass M versus its radius will be -
I I
(1) (2)
R R
I I
(3) (4)
O R O R
9. The moment of inertia of an annular disc of mass M about an axis passing through its centre and
perpendicular to its plane will be -
M 2 M 2
(1)
2
r1 r22 (2)
2
r1 r22 r1
O r2
M 2 M 3
(3)
2
r1 r12 (4)
2
r2 r13
10. The curve between logeL and loge p is (L is the angular momentum and p is the linear momentum).
log L
log L
(1) (2)
log p log p
log L
log L
(3) (4)
log p log p
11. The relation between the linear velocity and angular velocity is

(1) v r (2) v r

(3) v r (4) r v
12. The work done by a constant torque in rotating a body from angle 1 to an angle 2 will be

(1) (2) 2 1
1 2
1 2
(3) Zero (4)

13. A girl sits near the edge of a rotating circular platform. If the girl moves from circumference toward the
centre of the platform. Then the angular velocity of the platform will
(1) decrease (2) increase
(3) remain same (4) become zero
14. A constant torque acting on a uniform circular wheel changes its angular momentum from A0 to 4A0 in 4
seconds. The value of torque is
(1) 4A0 (2) 12A0
(3) A0 (4) 3A0 /4
40
15. According to the theorem ofparallelaxes I=Icm+Md2, the graph between I and d will be
I I
(1) (2)
O d O d
I I
(3) (4)
d d
16. A solid cylinder of mass M and radius R rolls an inclined plane of height h. The velocity of its centre of
mass at the bottom of the plane will be
4g 3
(1) (2) gh
h 4
4
(3) gh (4) 2gh
3
17. If the rotational kinetic energy of a body is increased by 300% then the percentage increase in its
angular momentum will be
(1) 600% (2) 150%
(3) 100% (4) 1500%
18. The dimensions of Planks constant h are equivalent to those of

(1) L (2) P

(3) E (4) F
19. An earth satellite is moving around the earth in circular orbit. In such case, what is conserved ?
(1) velocity (2) linear momentum

(3) angular momentum (4) none of these
20. Which of the following quantities plays same role in rotational dynamics as is played by mass in linear
dynamics ?
(1) moment of inertia (2) torque
(3) angular velocity (4) none of these
21. Which of these statements in not correct ?
(1) Moment of inertia depends on shape and size of the body
(2) Moment of inertia depends on choice of axis
(3) Moment of inertia does not depend on mass of the body
(4) None of these
41
22. The angular momentum of a system of particle is not conserved.

(1) when net external force acts upon the system
(2) when an net external torque is acting upon the system
(3) when a net external impulse is acting upon the system
(4) none of these
23. If a force acts on a body, whose action line does not pass through its centre of gravity, then the body will
experience
(1) angular acceleration (2) linear acceleration
(3) no acceleration (4) none of these
24. The graph between the angular momentum L and angular velocity will be
L L
(1) (2)

L L
(3) (4)

25. The correct relation connecting the quantities Pr , and is Pr Rotational Power

(1) Pr (2) Pr

(3) Pr . (4) Pr
26. A thin wire of length l and mass m is bent in the form of a semicircle (Figure). Its moment of inertia about
an axis joining its free ends will be z
(1) zero (2) ml 2

m O
2 2
ml ml z
(3) (4)
2 22
27. About which axis in the following figure the moment of inertia of the rectangular lamina is the
maximum ? 2
(1) 2 (2) 3 3
1
(3) 4 (4) 1 4
28. The angle covered by a body in nth second is

(1) 0 2n 1 (2) 0 2n 1
2 2

(3) 0 n 1 (4) 0 n 1
2 2
29. The direction of is

(1) parallel to the plane of r and F (2) perpendicular to the plane of r and F

(3) parallel to the plane of r and P (4) perpendicular to the plane of r and P
42
30. Three identical rods, each of mass m and length l, are placed along X, Y and Z- axis respectively. One
of the ends of the rods is at the origin. The moment of inertia of the system about X-axis will be
ml 2 2ml 2
(1) (2)
3 3
3ml 2 4ml 2
(3) (4)
3 3
31. A uniform rod is kept vertically on a horizontal smooth surface at a point O. If it is disturbed slightly and
released, it falls down on the horizontal surface. The position of the lower end when rod strikes the
ground is
(1) at O (2) at a distance less than l/2 from O
(3) at a distance l/2 from O (4) at a distance larger than l/2 from O.
32. A circular disc A of radius r is made from an iron plate of thickness t and another circular disc B of radius
4r is made from an iron plate of thickness t/4. The relation between the moments of inertia IA and IB is
(1) I A I B (2) I A I B
(3) I A I B (4) depends on the actual value of t and r.

33. Equal torques act on the discs A and B of the previous problem, initially both being at rest. At a later
instant, the linear speeds of a point on the rim of A and another point on the rim of B are vB respectively.
We have
(1) vA > vB (2) vA = vB
(3) vA < vB (4) the relation depends on the actual magnitude
of the torque.
34. A closed cylindrical tube containing some water (not filling the entire tube) lies in a horizontal plane. If
the tube is rotated about a perpendicular bisector, the moment of inertia of water about the axis
(1) increases (2) decreases
(3) remain constant
(4) increases if the rotation is clockwise and decreases if it is anticlockwise.
35. The moment of inertia of a uniform semicircular wire of mass M and radius r about a line perpendicular to
the plane of the wire through the centre is
1
(1) Mr 2 (2) Mr 2
2
1 2
(3) Mr 2 (4) Mr 2
4 5
36. A cubical block of mass M and edge a slides down a rough inclined plane of inclination with a uniform
velocity. The torque of the normal force on the block about its centre has a magnitude
(1) zero (2) Mga
1
(3) Mga sin (4) Mga sin
2
37. A person sitting firmly over a rotating stool has his arms stretched. If he folds his arms, his angular
momentum about the axis of rotation
(1) increases (2) decreases
(3) remains unchanged (4) doubles
43
38. The centre of a wheel rolling on a plane surface moves with a speed v 0 . A particle on the rim of the wheel
at the same level as the centre will be moving at speed
(1) zero (2) v 0
(3) 2v 0 (4) 2v 0
39. A solid sphere, a hollow sphere and a disc, all having same mass and radius, are placed at the top of a
smooth incline and released. Least time will be taken in reaching the bottom by
(1) the solid sphere (2) the hollow sphere
(3) the disc (4) all will take same time.
40. A solid sphere, a hollow sphere and a disc, all having same mass and radius, are placed at the top of an
incline and released. The friction coefficients between the objects and the incline are same and sufficient
to allow pure rolling. Least time will be taken in reaching the bottom by
(3) the disc (4) all will take same time
41. A solid sphere, a hollow sphere and a disc, all having same mass and radius, are placed at the top of an
incline and released. The friction coefficients between the objects and the incline are same and sufficient
to allow pure rolling. The smallest kinetic energy at the bottom of incline will be achieved by
(3) the disc (4) all will achieve same kinetic energy
42. A rod of mass M and length L is placed in a horizontal plane with one end hinged about the vertical axis.
Mg 5L
A horizontal force of F is applied at a distance from the hinged end. The angular acceleration
2 2
of the rod will be
4g 5g
(1) (2)
5L 4L
3g 4g
(3) (4)
4L 3L
43. A wheel having moment of inertia 2 kg-m 2 about its vertical axis, rotates at the rate of 60 rpm about this
axis. The torque which can stop the wheels rotation in one minute would be
2 2 2
(1) N-m (2) N-m
15 12
2 2
(3) N-m (4) N-m
15 18
44. Three particles, each of mass m gram, are situated at the vertices of an equilateral triangle ABC of side
l cm (as shown in figure). The moment of inertia of the system about a line AX perpendicular to AB and in
the plane of ABC, in gram-cm 2 units will be X
m C
3 2 l
(1) ml (2) 2ml 2
4 B
A m
5 2 3 2
(3) ml (4) ml
4 2
44
45. The ratio of the radii of gyration of a circular disc about a tangential axis in the plane of the disc and of a
circular ring of the same radius about a tangential axis in the plane of the ring is
(1) 2 : 3 (2) 2 : 1
(3) 5: 6 (4) 1 : 2
46. A round disc of moment of inertia I2 about its axis perpendicular to its plane and passing through its
centre of placed over another disc of moment of inertia I1 rotating with an angular velocity about the
same axis. The final angular velocity of the combination of discs is
I 2
(1) (2)
I1 I 2
I1 I1 I 2
(3) (4)
I1 I 2 I1
47. Two particles having mass M and m are moving in a circular path having radius R and r. If their time
periods are same, then the ratio of angular velocity will be
r R
(1) (2)
R r
R
(3) 1 (4)
r
48. A disc is rolling, the velocity of its centre of mass is Vcm . Which statement is correct ?
(1) the velocity of highest point is 2 Vcm and point of contact is zero
(2) the velocity of highest point is 2 Vcm and point of contact is Vcm
(3) the velocity of highest point is 2 Vcm and point of contact is Vcm
(4) the velocity of highest point is 2 Vcm and point of contact is 2 Vcm
49. A small steel sphere is tied to a string and is whirled in a horizontal circle with a uniform angular velocity
1 . The string is suddenly pulled so that radius of the circle is halved. If 2 is new angular velocity, then
(1) 1 2 (2) 1 22
(3) 2 21 (4) 1 2 / 4
50. From a disc of radius R, a concentric circular portion of radius r is cut out so as to leave an annular disc
of mass M. The moment of inertia of this annular disc about the axis perpendicular to its plane and
passing through its centre of gravity is
M R2 r 2 M R2 r 2
1 1
(1) (2)
2 2
M R4 r 4 M R4 r 4
1 1
(3) (4)
2 2
45
Level - II
1. A body of mass m slides down an incline and reaches the bottom with a velocity v. If the same mass were
in the form of a ring which rolls down this incline, the velocity of the ring at bottom would have been
(1) v (2) 2v
1 2
(3) v (4) v
2 5
2. A cord is wound round the circumference of wheel of radius r. The axis of the wheel is horizontal and
moment of inertia about it is I. A weight mg is attached to the end of the cord and falls from rest. After
falling through a distance h, the angular velocity of the wheel will be
1/ 2
2gh 2mgh
(1) (2)
I mr I mr 2
1/ 2
2mgh
(3) (4) 2gh
I 2mr 2
3. Two point masses of 0.3 kg and 0.7 kg are fixed at the ends of a rod of length 1.4 m and of negligible
mass. The rod is set rotating about an axis perpendicular to its length with a uniform angular speed. The
point on the rod through which the axis should pass in order that the work required for rotation of the rod
is minimum. is located at a distance of
(1) 0.4 m from mass of 0.3 kg (2) 0.98 m from mass of 0.3 kg
(3) 0.70 m from mass of 0.7 kg (4) 0.98 m from mass of 0.7 kg
4. A disc of mass M and radius R is rolling with angular speed on a horizontal plane as shown. The
magnitude of angular momentum of the disc about the origin O is
y
1
(1) MR 2 (2) MR2
2
M
3
(3) MR 2 (4) 2MR2 O x
2
5. A thin circular ring of mass M and radius r is rotating about its axIs with a constant angular velocity .
Two objects each of mass m are attached gently to the opposite ends of a diameter of the ring. The ring
will now rotate with an angular velocity
(M 2m) M
(1) (2)
M 2m M 2m
M (M 2m)
(3) (4)
Mm M
6. Let be the moment of inertia of a uniform square plate about an axis AB that passes through its centre
and is parallel to two of its sides. CD is a line in the plane of the plate that passes through the centre of
the plate and makes an angle with AB. The moment of inertia of the plate about the axis CD is then
equal to
(1) (2) sin2
(3) cos2 (4) cos2 /2
46
7. In a rectangle ABCD (BC = 2AB). The moment of inertia along which E

A B
axis will be minimum
(1) BC (2) BD H F
(3) HF (4) EG
D C
8. Two spheres each of mass M and radius R/2 are connected with a G
massless rod of length 2R as shown in the-figure. What will be the Y
moment of inertia of the -system about an axis passing through the M M
centre of one of the spheres and perpendicular to the rod P
2
R/
Q
21 2
(1) MR 2 (2) MR 2
5 5
2R Y
5 5
(3) MR 2 (4) MR 2
2 21
9. A uniform solid cylinder rolling without slipping along a horizontal plane
with angular speed suddenlycomes into contact with a plane inclined
at an angle as shown in the figure. Which of the following values of
could possibly bring the cylinder immediately to rest on impact?

(1) 900 (2) 600

(3) 1200 (4) 300
10. Four particles each of mass m are placed at the corners of a square of side length l. The radius of
gyration of the system about an axis perpendicular to the square and passing through its centre is
l l
(1) (2)
2 2
(3) l (4) ( 2 ) l
11. An equilateral triangle ABC formed from a uniform wire has two small identical beads initially located at
A. The triangle is set rotating located at A. The triangle is set rotating about the vertical axis AO. Then the
beads are released from rest simultaneously and allowed to slide down, one along AB and the other
along AC as shown. Neglecting frictional effects, the quantities that are conserved as the beads slide
down, are
(1) Angular velocity and total energy (kinetic and potential) A
(2) Total angular momentum and total energy g
(3) Angular velocity and moment of inertia about the axis of rotation
(4) Total angular momentum and moment of inertia about the axis of rotation
B O C
12. A thin wire of length L and uniform linear mass density is bent into a circular loop with centre at O as
shown. The moment of inertia of the
loop about the axis XX is
L3 L3
(1) (2) X X
8 2 16 2 90
O
5L3 3L3
(3) (4)
16 2 8 2
47
13. A small spherical metal ball of mass m is put at the point A of A

a loop track and the vertical distance of A from the lower most
point of track is 8 times the radius R of the circular part. The
angular momentum of ball when it rolls at the point B to a nR
8R
height R in the circular track, about the center of the track will B
R
be :

1 1
(1) m 10 gR 3 2 (2) m 4.9 gR 3 2
m 1.4 gR m 5 gR .
1 1
3 2 3 2
(3) (4)
14. A ball slides without friction down an inclined chute from a
height h and then moves in a loop of radius R. What is the
pressure exerted by the ball on the chute at a point B where
the radius drawn from the centre of the loop to the point B B
makes an angle with the vertical? The mass of the ball is h=5/2R O R
C
5
m and height h R . Consider the size of the ball to be A
2
negligible compared to other dimensions
(1) mg 1 cos (2) 2mg 1 cos
(3) 3mg 1 cos (4) mg 1 cos .
15. Two discs of same thickness but of different radii are made of two different materials such that their
masses are same. The densities of the materials are in the ratio 1 : 3. The moments of inertia of these
discs about the respective axes passing through their centres and perpendicular to their'planes will be in
the ratio
(1) 1 : 3 (2) 3 : 1
(3) 1 : 9 (4) 9 : 1 Y
16. Three rings each of mass M and radius R are arranges shown in the
figure. The moment of inertia of the system about YY will be
(1) 3 MR2 (2) 3/2 MR2
2
(3) 5 MR (4) 7/2 MR2
17. A uniform rod of length 2L is placed with one end in contact with the horizontal and is then inclinedYat an
angle to the horizontal and allowed to fall without slipping at contact point. When it becomes horizontal.
its angular velocity Will be
3g sin 2L
(1) (2) 3g sin
L
6g sin L
(3) (4) g sin
L
18. One quarter sector is cut from a uniform circular disc of radius R. This sector
has mass M. It is made to rotate about a line perpendicular to its plane and
passing through the centre of the original disc. Its moment of inertia about the
axis of rotation is
1 1
(1) MR 2 (2) MR 2
2 4
1
(3) MR 2 (4) 2 MR 2
8
19. A ball rolls without slipping. The radius of gyration of the ball about an axis passing through its centre of
mass is K. If radius of the ball be R, then the fraction of total energy associated with its rotational energy
will be
K 2 R2 K2
(1) 2 (2)
R R2
2
K R2
(3) (4)
K R
2 2
K R2
2
48
20. A smooth sphere A is moving on a frictionless horizontal plane with angular speed and center of mass
velocity v . It collides elastically and head-on with an identical sphere B at rest. Neglect friction every-
where. After the collision their angular speeds are A and B respectively. Then
(1) A < B (2) A = B
(3) A = (4) = B
21. A rigid horizontal smooth rod AB of mass 0.75 kg and length 40
cm can rotate freely about a fixed vertical axis through its mid point
O. Two rings, each of mass 1 kg are at rest at a distance of 10 cm O
from O on both sides of the rod. The rod is set into rotation with an A B
angular velocity of 30 rad/s. When the rings reach the ends of the
rod, then angular velocity of the ring is Vertical
axis
(1) 10 rad/sec (2) 15 rad/sec
(3) 20 rad/sec (4) 25 rad/sec

22. A solid cylinder of mass M and radius R rolls without slipping down an inclined plane of length L and
height h. What is the speed of its centre of mass when the cylinder reaches its bottom
3 4
(1) gh (2) gh
4 3
(3) 4 gh (4) 2 gh
23. A thin circular ring of mass M and radius r is rotating about its axis with a constant angular velocity .
Four objects each of mass m, are kept gently to the opposite ends of two perpendicular diameters of the
ring. The angular velocity of the ring will be
M (M 4m)
(1) (2)
M 4m M
(M 4m) M
(3) (4)
M 4m 4m
24. A uniform bar of length 6 a and mass 8 m lies on a smooth horizontal
table. Two point masses m and 2 m moving in the same horizontal 2v
plane with speed 2v and v respectively strike the bar (see figure) and a
m
stick to the bar after collision at distances a & 2a, respectively from
the centre of the rod as shown in figure. The angular velocity about
2m
the centre of mass denoted by c satisfies rod as shown in figure. 2a
v
The angular velocity about the centre of mass denoted by c satisfies
3
(1) c 0 (2) c v
5a
v
(3) c (4) none of the above.
5a
25. A cubical block of side a is moving with a velocity v on a smooth
horizontal plane as shown in the figure. It hits a ridge at point O. The
angular speed of the block after it hits O is:
O
3v 3v
(1) (2)
4a 2a
3v
(3) (4) zero
2a
49
SELF ASSESSMENT
1. Two identical particles move towards each other with velocity 2v and v respectively. The velocity of
centre of mass is [AIEEE 2002]
(1) v (2) v/3
(3) zero (4) v/2
2. A particle of mass m moves along line PC with velocity v as shown in Y
C
figure. What is the angular momentum of the particle about P ?
L
[AIEEE 2002] P
r
(1) mvl (2) mvL l
(3) zero (4) mvr O X

3. A thin and circular disc of mass M and radius R is rotating in a horizontal plane about an axis passing
through its centre and perpendicular to its plane with an angular velocity . If the another disc of same
dimensions but of mass M/4 is placed gently on the first disc co-axially, then the new angular velocity of
the system is [AIEEE 2002]
5 2
(1) (2)
4 3
4 3
(3) (4)
5 2
4. The initial angular velocity of a circular disc of mass M is 1 . A small sphere of mass m is attached
gently on edge of the disc. The final angular velocity of the disc will be [AIEEE 2002]
M m 1 M m 1
(1) (2)
M m
M M
(3) 1 (4) 1
M 4m M 2m
5. A solid sphere. a hollow sphere and a ring are released from top of an inclined plane (frictionless) so
that they slide down the plane. Then maximum acceleration down the plane is for (no rolling)
[AIEEE 2002]
(1) Solid sphere (2) hollow sphere
(3) Ring (4) All same
6. The angular momentum of a system of particles is not conserved when [AIIMS 2002, AFMC 2002]
(1) net external force acts on the system (2) net external torque acts on the system
(3) net external impulse acts on the system (4) none of these
7. Two spherical bodies of mass M and 5 M and radii R and 2 R respectively are released in free space with
initial separation between their centres equal to 12 R. If they attract each other due to gravitational force
only, then the distance covered by the smaller body just before collision is [AIEEE 2003]
(1) 2.5 R (2) 4.5 R
(3) 7.5 R (4) 1.5 R

8. Let F be the force acting on a particle, having position vector r , and T be the torque of this force about
the origin, then [AIEEE 2003]

(1) F .T 0 and F .T 0 (2) F .T 0 and F .T 0

(3) F .T 0 and F .T 0 (4) F .T 0 and F .T 0
50
9. A particle is moving on a circular path in the horizontal plane with constant angular speed. The angular
momentum will be constant about a point : [IIT 2003]
(1) on the circumference (2) outside the circle
(3) inside the circle (4) on the centre
10. A circular disc X of radius R is made from an iron plate of thickness t, and another plate Y of radius 4 R
is made from an iron plate of thickness t/4. The ratio of moment of inertia IY / I X is
(1) 32 (2) 16
(3) 1 (4) 64 [AIEEE 2003]
11. A circular disc X of radius R is made from an iron plate of thickness t, and another disc Y of radius 4R is
m ade from an iron plate ofthickness t/4.Then the relation betw een the m om entofinertia Ix and Iy is
[AIEEE 2003]
(1) Iy = 64 Ix (2) Iy = 32 Ix
(3) Iy = 16 Ix (4) Iy = Ix
12. A particle undergoes uniform circular motion. About which point on the plane of the circle, will the angular
momentum of the particle remain conserved [IIT Screening 2003]
(1) Centre of the circle (2) On the circumference of the circle
(3) Inside the circle (4) Outside the circle
13. A particle performs uniform circular motion with an angular momentum L. If the frequency of particle's
motion is doubled and its kinetic energy is halved, the angular momentum becomes
[MNR 1991: AlEEE 2003]
(1) 2L (2) 4 L
(3) L/2 (4) L/4
14. Consider a body, shown in figure, consisting of two identical balls, each of mass M connected by a light
rigid rod. If an impulse J = MV is imparted to the body at one of its ends, what would be its angular
velocity
[lIT Screening 2003]
L
M M
J=MV
(1) V/L (2) 2V/L
(3) V/3L (4) V/4L
15. A disc is rolling (without slipping) on a horizontal surface. C is its centre Q
and Q and P are two points equidistant from C. Let V p , VQ and VC be
the magnitude of velocities of points P, Q and C respectively, then C
P
(1) VQ VC VP (2) VQ VC VP
1
(3) VQ VP , VC VP (4) VQ VC VP [IIT 2004]
2
16. A child is standing with folded hands at the centre of a platform rotating about its central axis. The kinetic
energy of the system is K. The child now stretches his arms so that the moment of inertia of the system
doubles. The kinetic energy of the system now is
(1) 2K (2) K/2
(3) K/4 (4) 4K [IIT 2004]
51
17. A solid sphere is rotating in free space. If the radius of the sphere is increased keeping mass same
which one of the following will not be affected? [AIEEE 2004]
(1) Moment of Inertia (2) Angular momentum
(3) Angular velocity (4) Rotational kinetic energy
18. One solid sphere A and another hollow sphere B are of same mass and same outer radii. Their moment
of inertia about their diameters are respectively IA and IB such that : [AIEEE 2004]
(1) IA IB (2) IA IB
IA d A
(3) IA IB (4)
IB d B
19. The moment of inertia of a uniform semicircular disc of mass M and radius r about a line perpendicular
to the plane of the disc through the centre is [AIEEE 2005]
2 1
(1) Mr 2 (2) Mr 2
5 4
1
(3) Mr 2 (4) Mr 2
2
20. A solid sphere of radius R is moulded into a solid disc of radius r and thickness t. The moment of inertia
of the disc about an axis perpendicular to the cross section of the disc and passing through circumference
is equal to the moment of inertia of the sphere about its diameter. The value of r (in terms of R) is
[IIT 2006]
2 2
(1) R (2) R
15 15
1 1
(3) R (4) R
2 5
21. A small ball starts rolling from position A down the fixed hemispherical surface (see figure) to position C.
There is friction on path AB while path BC is frictionless. If KA, KB, KC represent kinetic energy of the ball
and hA, hB, hC height of the ball at points A, B and C, then [IIT 2006]
C
hA A hC
(1) hA hC , KA KC (2) hA hC , KC KA
(3) hA hC , KA KC (4) hA hC , KC KA
52
22. A solid cylinder of mass m rolls down a fixed incline of angle q. If F be

the magnitude of friction force acting on the cylinder, then [IIT 2006]

(1) F is dissipative.
(2) F = m mg cos q.
(3) F helps rotational but opposes translatory motion.
(4) F mg sin
z
23. A force of -F k acts on O, the origin of the coordinate system. The
torque about the point (1, -1) is [AIEEE 2006]
O y
(1) F (i j ) (2) F (i j ) x
(3) F (i j ) (4) F (i j )
24. A thin circular ring of mass m and radius R is rotating about its axis with a constant angular velocity
w. Two objects each of mass M are attached gently to the opposite ends of a diameter of the ring.
The ring now rotates with an angular velocity = [AIEEE 2006]
m (m 2M )
(1) (2)
(m 2M ) m
(m 2M ) m
(3) (4)
(m 2M ) (m M )
25. Four point masses, each of value m, are placed at the corner of a square ABCD of side . The moment
of inertia of this system about an axis passing through A and parallel to BD is [AIEEE 2006]
(1) m 2 (2) 2 m 2
(3) 3 m 2 (4) 3m 2
53
KEY
LEVEL - I
1. (2) 2. (1) 3. (2) 4. (1) 5. (1)

6. (4) 7. (2) 8. (1) 9. (1) 10. (2)
11. (2) 12. (2) 13. (2) 14. (4) 15. (4)
16. (3) 17. (3) 18. (1) 19. (3) 20. (1)
21. (3) 22. (2) 23. (1) 24. (1) 25. (3)
26. (4) 27. (3) 28. (1) 29. (2) 30. (2)
31. (3) 32. (3) 33. (1) 34. (1) 35. (1)
36. (4) 37. (3) 38. (3) 39. (4) 40. (1)
41. (2) 42. (3) 43. (3) 44. (3) 45. (3)
46. (3) 47. (3) 48. (1) 49. (4) 50. (1)
LEVEL - II
1. (3) 2. (2) 3. (2) 4. (3) 5. (2)

6. (1) 7. (4) 8. (1) 9. (3) 10. (1)
11. (2) 12. (4) 13. (1) 14. (3) 15. (2)
16. (4) 17. (1) 18. (1) 19. (3) 20. (3)
21. (1) 22. (2) 23. (1) 24. (1) 25. (1)
SELF ASSESSMENT
1. (4) 2. (3) 3. (3) 4. (4) 5. (4)

6. (2) 7. (3) 8. (4) 9. (4) 10. (4)
11. (1) 12. (1) 13. (4) 14. (1) 15. (1)
16. (2) 17. (2) 18. (3) 19. (3) 20. (1)
21. (3) 22. (3) 23. (3) 24. (1) 25. (4)
54

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Physics : Rotational Motion

KINEMATICS OF ROTATIONAL MOTION ABOUT A FIXED AXIS OF

The unit of angular velocity radian per second (rad/s).

and the instantaneous angular acceleration is defined as

, , can be clockwise or anti-clockwise. We can take anti-clockwise direction as

COMPARISION OF LINEAR MOTION AND ROTATIONAL MOTION

EXAMPLES BASED ON ROTATIONAL KINEMATICS

(a) 0 rad/s 2 4 sec = 4 rad/s.

we find the elapsed time t between

Substituting 0 0 and t 1.5s, we obtain

0 4.5 1.5 2 1.5 3.375 rad

If n be is the number of of turns. Then

0.5 rad/s 2 , R 0.3 m and i 0 rad/s

0.3 0.5 0.15 m/s 2

ar2 at2 02 0.152 0.15 m/s 2 Ans.

(b) After 120 2 / 3 :

MOMENT OF INERTIA OF A CONTINUOUS BODY

contributions of infinitesimal mass elements dm shown in figure, each of which

TABLE : MOMENT OF INERTIA OF SOME COMMON SHAPED BODIES

5. Thin rod of length l :

EXAMPLES BASED ON MOMENTUM OF INERTIA

1 1 m2d2 3kg 1m 5kg 2m 23kg.m

Example 6 Four point masses lie at the corners of a rectangle with 4M 4m 3M A

I A 4kg 2.4m 2kg 2.4m 34.6kgm2

I B 1kg 2.4m 3kg 2.4m 2 23.0kgm 2

dI x 2 dx . For the entire rod the moment of inertia is

THEOREMS ON MOMENT OF INERTIA

PARALLEL AXIS THEOREM

PERPENDICULAR AXIS THEOREM

Let I x moment of inertia of the body about X-axis

Let I y moment of inertia of the body about Y-axis

From equations (1) and (2)

The mass of the whole disk or cylinder is M A R 2 , and so

But we know that I z MR 2

Torque is the rotational analog of force. Force causes

Torque is actually a vector and is given by O x

NEWTONS SECOND LAW FOR ROTATORY MOTION

EXAMPLES BASED ON NEWTONS SECOND LAW FOR ROTATORY

I = 2 x 0.04 = 0.08 kg-m2 O' 0.5m

Let a be the angular acceleration.

Let i 0 rad/s, f 2 300 / 60 10rad/s

(b) Kinetic energy of a rotating body (RKE) :

Example - 15 A disc-shaped pulley has mass M 4k g and radius R 0.5m. It can

Putting m = 2 kg; M 4kg ; R 0.5m ;

v 2 v02 2ay 0 2 5m / s 2 1.6m

Since the string is tightly wrapped over the pulley, therefore,

Solving equation (i), (ii), (iii) and (iv), we obtain

ROTATIONAL WORK AND ENERGY

WORK - ENERGY THEOREM

CONSERVATION OF MECHANICAL ENERGY

EXAMPLES BASED ON ROTATIONAL WORK AND ENERGY

Therefore, TR 500 0.25 125 Nm.

Pure translation Pure rotation Rolling motion

If T be the time period of one revolution, then dividing both the

APPLICATION OF NEWTONS SECOND LAW IN ROLLING MOTION

EXAMPLS BASED ON ROLLING MOTION

for rotation around the axis through centre of mass

Solution : Let a linear acceleration and

ANGULAR MOMENTUM OF A PARTICLE

or, l mvOP sin mvr ...(ii)

ANGULAR MOMENTUM OF A SYSTEM OF PARTICLES

where I is the moment of inertia of the body about AB.

ANGULAR MOMENTUM OF A BODY IN COMBINED ROTATION AND TRANSLATION