Chapter 10

Dynamics of
Rotational Motion
PowerPoint® Lectures for
University Physics, Twelfth Edition
– Hugh D. Young and Roger A. Freedman

Lectures by James Pazun

Copyright © 2008 Pearson Education Inc., publishing as Pearson Addison-Wesley
 Goals for Chapter 10
•  Torque: “angular force”
•  To see how torques cause rotational dynamics
(just as linear forces cause linear accelerations)
•  To examine the combination of translation and
rotation
•  To calculate the work done by a torque
•  To study angular momentum and its conservation
•  To relate rotational dynamics and angular
momentum
 Review from Ch 9

Kinematic equation just like before:

θ like displacement Δx
ω like velocity
α like acceleration

Relation between linear quantities and angular quantities (by geometry)

Δl Δ v tan v 2 tan
l = Rθ v tan = = Rω atan = = Rα arad = = Rω 2
Δt Δt R

€Kinetic energy of € €
a rotating object about a fixed (stationary) axis:

1 Moment of inertia
KE rot = Iω 2 I = ∑ mi ri 2 or “angular mass”
2 i
(DEPENS ON THE AXIS
CHOSEN)

€ €
 Torque: Angular force
•  A force applied at
a right angle to a
lever will generate
a torque.
•  The distance from
the pivot to the
point of force
application is
linearly
proportional to the
torque produced.
 Lines of force and calculations of torques
Just like moment of inertia, torque is always
measured with respect to a point/axis around
which the object rotates (Pivot Point)

Magnitude of torque is given by:

τ = rF sin θ = rFtan
Torque of force F wrt. applied a distance r away:
  
τ =r×F
The direction of the torque is given by the RHR
€

€
 Calculating an applied torque
Ftan

l = (0.80)cos(19 ) m

THREE WAYS TO CALCULATE THE MAGNITUDE (EQUIVALENT)

€ st
1 : find the “leverage arm” (shortest distance between PP and line determined by the
force, i.e. perpendicular to the force and going through PP) and then multiply by the
magnitude of F:
l = (0.80)cos(19 ) m ⇒ τ = Fl = (900 N)(0.80)cos(19 ) m = 680 Nm
2nd: find the tangential component of the force (perpendicular to the line connecting
the PP and where the force is applied) and multiply by this distance (note that this
distance is not the “line of action”)
€
Ftan = (900 N) cos (19€) = 851 N ⇒ τ = Ftan r = (851 N)(0.80) m = 680 Nm

3rd: Just find the magnitude of the cross product by multiplying F, r, and sine of the
angle between them ⇒ τ = Fr sin(θ ) = (900 N)(0.80 m) sin(71 ) = 680 Nm
F −r
€ €
 Newton’s 2nd Law in angular sense:
Σ τ = Iα is just like Σ F = ma
Moment of inertia AROUND the
same PP (O in the figure)

∑τ z
= Iα z

Sum of torques on a rigid object

AROUND a PP (O in the figure)

The label z is to remind you that the actual torque and angular velocity vector
point perpendicular to the x-y plane defined by the force and the leverage arm
€
This angular equation is IN ADDITION to any linear force which moves the center of
mass but as long as the axis of rotation is fixed we do not need to worry about the
linear motion. This changes when the rotating object is also moving
 Flywheel problem from Ch 9
(using work energy theorem)
The cable is wrapped around a cylinder. If it unwinds 2.0 m by pulling it with a
force of 9.0 N and it starts at rest, what is its final angular velocity and
velocity of the cable? (use work energy theorem)

W total = KE f − KE i
1
FΔx = Iω 2 − 0
2
€ 2FΔx 4FΔx
ω= = 2 = 20 rad/s
I mR
€
v = Rω = (20 rad/s)(0.060 m) = 1.2 m/s
 Flywheel problem using torque
(using work energy theorem)
The cable is wrapped around a cylinder. If it unwinds 2.0 m by pulling it with a
force of 9.0 N and it starts at rest, what is its final angular velocity and
velocity of the cable? (use work energy theorem)
1
I = MR 2
2
τ = FR = (9.0 N)(0.06 m)

€ τ 2FR 2F 2
τ = Iα ⇒ α = = = = 6.0 rad/s
€ I MR 2 MR
Use α to get acceleration of the cable:

€ atan = Rα = (0.06m)(6.0 rad/s2 ) = 0.36 m/s2

Then use kinematics v 2 = v 20 + 2atan (x − x 0 )

€ v = 0 + 2(0.36 m/s2 )(2 m) = 1.2 m/s
€
 What is the velocity of the block
when it hits the ground?
The work done by the cable is zero
since the two tension forces cancel
each other out so energy is conserved

KE i + PE i = KE f + PE f

1 1
0 + mgh = mv 2 + Iω 2 + 0
2 2
€ 2
1 2 1 ⎛ 1 ⎞⎛ v ⎞
0 + mgh = mv + ⎜ MR 2 ⎟⎜ ⎟ + 0
2 2 ⎝ 2 ⎠⎝ R ⎠
€
2mgh
v=
(m + M/2)

€
 Another look at the unwinding cable
What is the linear acceleration of the block?

These are two coupled objects; one rotates

and the other moves linearly

For the rotating wheel we have:

τ = Iα
1 ⎛ ⎞
2 a 1
TR = MR ⎜ ⎟ ⇒ T = Ma
2 ⎝ R ⎠ 2
For the block we have:

mg − T = ma
€ Combine the two equations to get
1
mg − Ma = ma
2
€
mg
⇒a=
m + M /2
 A rigid body in motion about a moving axis

When an object is moving and rotating at the same time we can

show that the total kinetic energy is:

1 2 1
KE = mv cm + Icmω 2
2 2

That is, there are two parts, the motion of the center of
€mass and the rotation about the center of mass. Keep
in mind that it is ONLY ABOUT THE CENTER OF
MASS when this applies. Any other point of rotation it
will not work.
 Rolling with and without slipping
When rolling without slipping then This is the condition to roll
v cm = Rω
without slipping.
Then, if you are rolling without slipping the kinetic energy is
1 2 1 2 1 2 1 Icm 2
KE = mv cm + Icmω = mv cm + v
2 € 2 2 2 R2
Also note that when one is rolling without slipping (i.e. rolling down an
incline) the friction force is static so no work is done by it and energy is
conserved in this case.
€
 Consider the speed of a yo-yo toy
What is the speed of the Yo-yo at the bottom (use conservation of energy)

Why conservation of energy: the hand is not moving so it

does no work on the system. You may be confused about
the tension but keep in mind that it is an internal force so
the sum of the upper and lower tension is zero.

Ei = E f
1 1
0 + Mgh = Mv 2cm + Icmω 2
2 2
1 2 1 ⎛ 1 2
⎞⎛ v cm ⎞ 2
0 + Mgh = Mv cm + ⎜ MR ⎟⎜ ⎟
2 2 ⎝ 2 ⎠⎝ R ⎠
3
Mgh = Mv 2cm
4
4
⇒ v cm = gh
3

€
 The race of objects with different moments

Let’s figure out which circular object has the largest velocity when it reaches the
bottom of the ramp. They roll without slipping so energy is conserved.
Ei = E f
1 1 2gh 10gh
0 + Mgh = Mv 2cm + Icmω 2 v sphere
cm = =
2 2 2 7
1+
1
2
1 ⎛ v cm ⎞ 1 1 Icm 2 5
2
0 + Mgh = Mv cm + Icm ⎜ ⎟ = Mv 2cm + v 2gh
2 2 ⎝ R ⎠ 2 2 MR 2 cm v ring = gh
cm =
1 I 1+1
Mgh = (1+ cm 2 )Mv 2cm
2 MR 2gh 4gh
v cylinder
cm = =
2gh 1 3
⇒ v cm = 1+
I 2
1+ cm 2
MR

€
Combined translation and rotation: dynamics

When an object is moving and rotating then the dynamics are determined by
considering the linear acceleration of the center of mass and the rotation about
the center of mass (i.e. the torques considered are around the center of mass)

 
∑ F = macm

∑τ z = Icm α z

€
 The yo-yo (again)
This time let’s calculate the acceleration

The linear Newton’s equation read:

y: ∑F y = Macm −y
Mg − T = Macm
The rotational Newton’s equation read:
-
€ θ: ∑τ z = Iα z + -
τ Mg + τ T = Iα z
1 2 acm
0 + RT = MR
2 R 1
⇒ Mg − Macm = Macm +
1 2
T = Macm
2 2
acm = g
3
 Consider the acceleration of a rolling sphere

The linear Newton’s equations read:

x: ∑F x = macm −x Mgsin β − F f −stat = macm

y: ∑F y =0 FN − Mgcos β = 0

The rotational Newton’s equation read:

€
θ: ∑τ z = Iα z
τ FN + τ Mg + τ fric = Iα z
2 2 acm 2
0 + 0 + RFf = MR ⇒ Mgsin β − Macm = Macm
5 R 5
2 5
F f = Macm acm = gsin β
5 7

€
 Work and power in rotational motion
Work done by a torque
Work done by a any torque Work done by a constant torque
θ2
Wτ = ∫ τ dθ Wτ = τ z (θ 2 − θ1 )
z
θ1

€
Power delivered by a torque
€
dW
Pτ = = τ zω z
dt

€
 Angular Momentum
  
Recall that torque was defined as τ =r×F
Similarly the angular momentum of a particle is
    
L = r × p = r × mv
€
Also, just as before for linear momentum we can show that the rate of change
of
 the angular momentum on a particle is equal to the torque on that particle
 
dL d   dr   dv      
= ( r€× m v) = × m v+ r × m = v × m v+ r × ma = 0 + r × F
dt dt dt  dt
 dL
⇒τ =
dt
FOR A RIGID BODY ONE USES THE MOMENT OF INERTIA
TO DEFINE THE ANGULAR MOMENTUM
 
€ L = Iω

€
 Conservation of angular
momentum
Before we saw that if the external forces on a system are zero then
linear momentum is conserved. Similar for angular momentum.

If the external torques on a system are zero then the TOTAL angular
momentum of the systems is conserved.

Note that in this case the TORQUE has to be zero. There can be still
forces acting on the system but they do not generate any torque (e.g.
force due to gravity on the cat which acts at the center of mass)

I1ω1 = I2ω 2
 How a car’s clutch work
The clutch disk and the gear disk is
pushed into each other by two forces
that do not impart any torque, what is the
final angular velocity when they come
together?

Lz −before = Lz −after
IAω A + IBω B = (IA + IB )ω final
IAω A + IBω B
⇒ ω final =
(IA + IB )
 Angular momentum conservation in collisions

A door 1.00 m wide, of mass 15 kg, is hinged at one side so that it can rotate
without friction about a vertical axis. It is unlatched. A police officer fires a bullet
with a mass of 10 g and a speed of 400 m/s into the exact center of the door, in a
direction perpendicular to the plane of the door. Find the angular speed of the
door just after the bullet embeds intelf in the door.

Lz −before = Lz −after
mB v B l = (Idoor + mB l 2 )ω f
1
mB v B l = ( Md 2 + mB l 2 )ω f
3
mB v B l
⇒ ωf = = 0.4 rad/s
1
( Md 2 + mB l 2 )
3
 Exercise 10.16
A 12.0-kg box resting on a horizontal, frictionless surface is attached
to a 5.00-kg weight by a thin, light wire that passes without slippage
over a frictionless pulley (the figure ). The pulley has the shape of a
uniform solid disk of mass 2.10 kg and diameter 0.600 m. Find the
tensions in the cables and the acceleration.

Problem worked out in class

 Exercise 10.20
A string is wrapped several times around the rim of a small hoop
with radius 8.00 cm and mass 0.180 kg. The free end of the
string is held in place and the hoop is released from rest. After
the hoop has descended 90.0 cm, calculate the speed of its
center of mass.

Problem worked out in class

 Exercise 10.22
A hollow, spherical shell with mass 2.25 kg rolls without slipping down a
slope angled at 31.0 degrees. Find the acceleration, the frictional force
and the minimal coefficient of static friction to prevent it from slipping.

Problem worked out in class

 Exercise 10.39
Under some circumstances, a star can collapse into an extremely dense
object made mostly of neutrons and called a neutron star. The density of a
neutron star is roughly 1014 times as great as that of ordinary solid matter.
Suppose we represent the star as a uniform, solid, rigid sphere, both before
and after the collapse. The star's initial radius was 6.0×105 km (comparable
to our sun); its final radius is 17 km. If the original star rotated once in 32
days, find the angular speed of the neutron star.

Problem worked out in class

 Exercise 10.70
A thin-walled, hollow spherical shell of mass m and radius r starts from rest
and rolls without slipping down the track shown in the figure . Points A and B
are on a circular part of the track having radius R. The diameter of the shell
is very small compared to h0 and R, and rolling friction is negligible. What is
the minimum height for which this shell will make a complete loop-the-loop
on the circular part of the track?

Problem worked out in class

 Gyroscopic precession
•  The precession of a
gyroscope shows up in
many “common”
situations.