I C10 Dynamics of Rotational Motion

I Topic 31
Jerome C. Taguba
National Institute of Physics
2019·03·20

[~] ジェロ [1/17]

 I Objectives

◦ Compare translational and rotational kinetic energies of a rolling

object.
◦ Apply Newton’s second law of rotation and conservation of energy
to physical systems that involves rotation about a moving axis.

[~] ジェロ [2/17]

 I Vector Product

Vector Product
⃗ and B
The vector product of vectors A ⃗ is

⃗×B
A ⃗ = AB sin θ (1)
⃗×B
A ⃗ = (Ay Bz − Az By )î + (Az Bx − Ax Bz )ĵ + (Ax By − Ay Bx )k̂
(2)

[1. Recall] ジェロ [3/17]

 I Torque

Definition: Torque
Torque is a turning or twisting action on a body about a given rotation
axis due to a force F⃗ . If F⃗ is exerted at a point given by position vector
⃗r relative to the axis, then the magnitude of the torque is

τ = rF⊥ = r⊥ F = rF sin ϕ (3)

in vector form
⃗τ = ⃗r × F⃗ (4)
where F⊥ is the component of F⃗ perpendicular to ⃗r.

The unit for torque is [N · m]

[1. Recall] ジェロ [4/17]

 I Newton’s Second Law for Rotation

The rotational analog of Newton’s second law is

τnet = Iα (5)

where
τnet is the net torque acting on a particle or rigid body
I is the moment of inertia of the particle or body about the rotation axis
α is the resulting angular acceleration about the rotation axis

[2. Newton’s Second Law for Rotation] ジェロ [5/17]

 I Example

Problem 10.71 Halliday and Resnick

Two 6.20 [kg] blocks are connected by a massless string over a pulley of
radius 2.40 [cm] and rotational inertia 7.40 × 104 [kg · m2 ]. The string
does not slip on the pulley; it is not known whether there is friction
between the table and the sliding block; the pulley’s axis is frictionless.
When this system is released from rest, the pulley turns through
0.130 [rad] in 91.0 [ms] and the acceleration of the blocks is constant.
What are (a) the magnitude of the pulley’s angular acceleration, (b) the
magnitude of either block’s acceleration,(c) string tension T1 ,and (d)
string tension T2 ?

[2. Newton’s Second Law for Rotation] ジェロ [8/17]

 I Example

Problem 10.71 Halliday and Resnick

[2. Newton’s Second Law for Rotation] ジェロ [9/17]

 I Translational and Rotational Relations

[3. Summary for Translational and Rotational Variable] ジェロ [10/17]

 I Rolling as Translational and Rotational Motion Combined

Key Idea
For a wheel of radius R rolling smoothly,

vcm = ωR (6)

where
vcm is the velocity of the center of mass of the wheel
ω is the angular velocity
R is the radius of the wheel

[4. Rolling Objects] ジェロ [11/17]

 I Translational and Rotational Motion

[4. Rolling Objects] ジェロ [12/17]

 I Translational and Rotational Motion

◦ Rolling Smoothly (Rolling without slipping)

[4. Rolling Objects] ジェロ [13/17]

 I Kinetic Energy of Rolling Objects

Key Ideas

◦ A smoothly rolling wheel has kinetic energy

1 1
K = Icm ω 2 + M vcm
2
(7)
2 2
◦ If the wheel is being accelerated but still rolls smoothly then

acm = αR (8)

◦ If the wheel rolls smoothly down a ramp of angle θ then the

acceleration of the center of mass is
g sin θ
acm,x = − (9)
1 + Icm/M R2

[5. Kinetic Energy] ジェロ [14/17]

 I Rolling Object Down an Incline

[5. Kinetic Energy] ジェロ [15/17]

 I Example
Problem 11.9 Halliday and Resnick
In the following figure, a solid ball rolls smoothly from rest (starting at
height H = 6.0 [m]) until it leaves the horizontal section at the end of
the track, at height h = 2.0 [m]. How far horizontally from point A does
the ball hit the floor?

[5. Kinetic Energy] ジェロ [16/17]

 I Example

Problem 11.10 Halliday and Resnick

A hollow sphere of radius 0.15 [m], with moment of inertia
I = 0.040 [kg · m2 ] about a line through its center of mass, rolls without
slipping up a surface inclined at 30◦ to the horizontal. At a certain initial
position, the sphere’s total kinetic energy is 20 [J]. (a) How much of this
initial kinetic energy is rotational? (b) What is the speed of the center of
mass of the sphere at the initial position? When the sphere has moved
1.0 [m] up the incline from its initial position, what are (c) its total
kinetic energy and (d) the speed of its center of mass?

[5. Kinetic Energy] ジェロ [17/17]