Monday of Week 12

This week and part of next: Rotational dynamics and Angular Momentum,
Chapters 9 and 10

Quiz 4: Thursday, April 21 and Friday, April 24

In the limit Δθ → 0, this is valid even when α is not constant:

1 2 1 2
! " ! 0 = # d$
2 2

1 2 1 2 Defining torque in terms of force:

! " ! 0 = # d$ (*)
2 2
Since the kinetic energy of a rigid, rotation body is K=
1 2
I! dW = ! d" = I# d" and I = " mi r i2! v1
2 i
m4
where I is the moment of inertia about the axis of rotation,
v4 r ω r1 m 1
we multiply (*) by I : 4
1 2 1 2 v2
I! " I! 0 = I# d$
2 2 dW = " mi r i2!# d$ m3
r3 r2
m2
K " K 0 = I# d$ i
v3
=" mi (r i !# )(r i ! d$ )
Work kinetic energy theorem: The incremental change in
the kinetic energy of an object (where there is no other energy
i
ω
change, e.g., no ΔU) is the amount of work done. Thus
where r i⊥ is the perpendicular distance from m i to the axis of rotation:
dW = I! d" r1 ⊥
! ! r2 ⊥
Compare to linear kinematics, where dW = maid "
! ! ! ! r i ! d" = ds
which, combined with Newton’s 2nd law, F = ma , yields dW = Fid "
r i !# = aT , the tangential acceleration. aT
This leads to the idea of a “rotational force” which we dub “torque” τ :
! = I" = mi ri2#" = ri # ( mi ri #" ) = ri # ( mi aiT ) = ri # FiT
r⊥ ds
dW = ! d"
! = I" : Newton's 2nd law for rotations. ω

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 Rotational dynamics continued:
More on moments of inertia

• Look at just a single particle constrained to move in a circle. For discrete masses: I = " mi r i2!
i
Force F acts the particle. Since it is constrained to move in a
circle, only the tangential component of the force accelerates When the object has “continuous mass”: I = "r
2
! dm
the particle, giving it a tangential acceleration. m

• In terms of the angular acceleration: aT = αr⊥ F In general this must be converted to a spatial integral:
FT
• Torque: τ = r⊥ FT ! !
aT For volume mass density ! (r ) : I = # r 2! "(r )dV
• Units of torque: Newton-meters (Nm) (But don’t m
V
call it Joules!!) ! !
r⊥ For area mass density ! (r ) : I = # r 2!" (r )dA
"
!= Newton's 2nd law A
I α ! !
For lineal mass density ! (r ) : I = # r 2! " (r )d" E.g., thin hoop through
In this case the moment of inertia is just " diameter (last class).

I = mr!2

Parallel Axis Theorem

Applies also to hoop
of radius R Build out of thin
hoops of radius
r = 0 to R:
• Suppose the moment of inertia of a solid object of
r total mass M about an axis through the center of
mass, ICM, is known.
• The moment of inertia about an axis parallel to
Build out of thin
cylinders of radius
Build out of thin
shells of radius
this axis but a distance h away is given by:
r = 0 to R r = 0 to R:
r

IPARALLEL = ICM + Mh2

Subtract a solid
cylinder of radius
Obtained using the
R1 from one of R2 parallel axis theorem.

Thus, given ICM , it is easy to calculate the moment

of inertia about a parallel axis.

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 Parallel Axis Theorem: Example

• Consider a thin uniform rod of mass M and length D. Figure out the
moment of inertia about an axis through the end of the rod.

D=L/2
CM M
IEND = I CM + MD2 x
L All of the objects illustrated in the figure have equal masses. They are all
homogeneous solids, with the same maximum extent from the rotation
IEND ICM axis. The moment of inertia about the indicated axis is largest for the
1
We know I CM = ML2
12 A. The ring
B. The cross
Consequently: C. The cube
1 ! L $2 1 D. The sphere
I END = ML2 + M # & = ML2
12 " 2% 3 E. The cylinder

We have found that torque is the rotational analog of

force. It depends on the location where the force is
Which tube is easier to rotate? --- Jennifer applied through the distance of this point from the
axis of rotation.

If you are using a wrench

to loosen a bolt, is it easier
to loosen the bolt if you
hold the wrench near the
end or near the middle?

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More on the definition of torque Torque

|τ | = rF sin φ
Which force will open the door?
Torque is a
vector. Unlike
force, it
depends on
point of
application
and on axis of
rotation.

Definitions of torque τ = RFsinθ

Direction of torque

Use the right hand rule

1. τ = ( R sinθ) F = R⊥F

Torque=lever arm x force

2. τ = R(Fsinθ) = RF⊥

Torque=perpendicular force x distance to axis

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