PHY110W 2005

HRW 10

Angular motion
Rotating body has axis of rotation Axis might change with time consider xed axis for now. Then every point in the body moves in circle around the axis of rotation

PHY110W 2005

HRW 10.2

Angular position
y r s x

Coordinate system is xed in space Angle is measured in radians

s = r 1 revolution = 360 = 2r/r = 2 radians

PHY110W 2005

HRW 10.2

Angular coordinates
Angle can have any value, . . . 2 radians corresponds to 360. 1 radian is about 57.3 degrees. 1 degree is about 0.0175 radians

PHY110W 2005

HRW 10.2

Angular displacement
Suppose the angle varies with time. In some time interval t2 t1 :

Angular displacement = 2 1 All points in body have same angular displacement

PHY110W 2005

HRW 10.2

Angular velocity
average angular velocity (rotation about zaxis). 2 1 z = = t2 t1 t instantaneous angular velocity 2 1 d = z = lim t0 t2 t1 dt

PHY110W 2005

HRW 10.3

Angular velocity is a vector

has direction along axis of rotation given by right-hand rule. Suppose particle moves in a circle in the x y plane. The angular velocity is then = k.

PHY110W 2005

HRW 10.2

Angular acceleration
average angular acceleration (rotation about zaxis). 2 1 z = = t2 t1 t instantaneous angular acceleration 2 1 d = z = lim t0 t2 t1 dt
This is also a vector.
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PHY110W 2005

HRW 10.4

Motion with constant acceleration

Equations are formally equivalent to (1-d) linear motion.

z = constant z = 0z + zt 1 2 = 0 + 0zt + zt 2

PHY110W 2005

HRW 10.5

Linear and angular motion

Particle at r from axis moves in circle about axis. Arclength s = r. Velocity is tangential to circle. Thus:

ds d v= =r dt dt
or

v = r

PHY110W 2005

HRW 10.5

Linear and angular motion (2)

What about vectors? Suppose particle moves in xy plane, axis of rotation along z axis, with = k. Then

v=r

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PHY110W 2005

HRW 10.5

Linear and angular motion (3)

Velocity is tangential to path acceleration need not be. Recall that there are two components: Linear (tangential) acceleration (only if speed changes):

dv d atan = =r = r dt dt
Radial acceleration (even if speed constant):

v2 arad = = r2 r
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PHY110W 2005

HRW 10.6

Energy and Rotation

A rotating body consists of moving particles with mass, so these possess kinetic energy. Suppose the ith particle of mass mi is located at ri from the axis of rotation, and angular velocity is . Its kinetic energy is

1 2 1 2 2 Ki = mivi = miri 2 2

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PHY110W 2005

HRW 10.6

Rotational kinetic energy

Kinetic energy of body as a whole is

1 1 2 2 2 K = m1r1 + m2r2 2 + . . . 2 2 1 2 2 = miri 2 i 1 2 2 mi r = i 2 i

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PHY110W 2005

HRW 10.7

Rotational inertia
The quantity

I=
i

miri2

relates the kinetic energy to the angular velocity. It is the rotational inertia (or moment of inertia) (rotational equivalent of inertial quantity like mass). Note that this is a rotational inertia about a particular axis of the body if we change the axis, I changes.

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PHY110W 2005

HRW 10.7

Parallel axis theorem

The rotational inertia IP about an arbitrary axis can be related to that about the centre of mass, Icm. Let M be the total mass of the body, and d the distance from the axis to a parallel axis passing through the centre of mass. Then:

IP = Icm + Md2

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PHY110W 2005

HRW 11.2

Parallel axis theorem

A rolling wheel rotates about an axis instantaneously at rest on the road.

1 K = I P 2 2 1 1 2 2 2 = Icm + Md 2 2 1 1 2 2 = Icm + Mvcm 2 2

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PHY110W 2005

HRW 10.8

Torque
Particle of mass m moves in circle around an axis. Apply force F to accelerate particle.

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PHY110W 2005

HRW 10.8

Torque (2)
Dene the torque (turning action) on the body:

= Fl = Fr sin = Ftr
We see that this is the magnitude of a vector product. Torque is the vector:

=rF

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PHY110W 2005

HRW 10.9

Torque and angular acceleration

Consider again the body to consist of masses mi at ri from the axis of rotation. Tangential acceleration changes speed of particle.

Fi,t = miai,t
Now, ai,t = zr and iz = Fi,tri. So,

iz = Fi,tri = miri2z

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PHY110W 2005

HRW 10.9

Torque and angular acceleration (2)

Thus, summing over all particles in the body,

z =
i

iz =
i

miri2z = Iz

(For rotation about a xed axis passing through axis of symmetry

= Iz
)

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PHY110W 2005

HRW 11.7

Angular momentum
Torque is

=rF
From Newton 2 we have (mass constant in time)

r F = r ma dv =rm dt d = (r mv) dt

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PHY110W 2005

HRW 11.8

Angular momentum (2)

We call

L = r mv = r p
the angular momentum Thus the equivalent to Newton 2 for rotation is

dL = dt

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PHY110W 2005

HRW 11.8

Angular momentum (3)

We can show (see 10.5) that, for a rigid body rotating about an axis of symmetry

L = r p = I
(More generally, L complicated.)

I, but directions are more

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PHY110W 2005

HRW 11.11

Conservation of angular momentum

In the absence of external torques acting:

dL =0 = dt
Hence

L = constant in time
Simple cases:

Iii = I f f

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PHY110W 2005

HRW 10.10

Angular work and power

Work done by a tangential force:

dW = F ds = Ftanr d = d
Thus work done for nite angular displacement is

W=

f i

d =

I d
i

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PHY110W 2005

HRW 10.10

Angular work and power (2)

It follows from this that

W=
Also, the power is

f i

1 I d = I(2 2) i f 2

dW d P= = = dt dt

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PHY110W 2005

HRW 12.2

Equilibrium
A system with constant angular and linear momentum is said to be in equilibrium. In the special case where both of these are zero, we talk of staic equilibrium. Then:

Fext = 0

and

ext = 0

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PHY110W 2005

HRW 12.3

Equilibrium (2)
Constrain motion to x y planne (say):

Fx = 0 Fy = 0 z = 0

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PHY110W 2005

HRW 15.2

Simple harmonic motion

Mass and spring Simple pendulum
restoring force oscillatory motion: periodic and repetitive
spring

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PHY110W 2005

HRW 15.2

Mass on spring
Consider system of mass and spring

F(x) = kx ma(t) = kx(t) d2 x(t) m 2 = kx(t) dt

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PHY110W 2005

HRW 15.2

Mass on spring solution

Energy is conserved:

1 2 1 2 E = K + U = mv + kx = const 2 2 v = 0 when x is at a maximum, x = xm. So: 1 2 1 2 1 2 E = K + U = mv + kx = kxm 2 2 2 Thus 2 mv2 = k(xm x2)
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PHY110W 2005

HRW 15.2

Mass on spring solution

k 2 dx(t) v= = xm x2 dt m Rearrange, integrate both sides k m dt =
1/2

1 dx 2 x2)1/2 (xm

k 1 x t + = sin m xm and so, with = k/m, = + pi/2 x(t) = xm cos(t + )

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PHY110W 2005

HRW 15.2

Simple harmonic motion

For all SHM,

x(t) = xm cos(t + ) xm: amplitude of the motion xm x xm. t + : phase of the motion (in radians) : phase constant.

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PHY110W 2005

HRW 15.2

Phase and period

Let T be time for change in phase by 2.

(t + T ) + = t + + 2
Then

2 T=

T : period of the motion. : angular frequency.

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PHY110W 2005

HRW 15.2

Frequency
Number of oscillations per second:

1 f = T
where f is the frequency. So = 2 f . Units: 1 hertz = 1Hz = 1 per s.

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PHY110W 2005

HRW 15.2

Velocity and acceleration

Position as function of time:

x(t) = xm cos(t + )
Velocity is derivative:

v(t) = xm sin(t + )
Acceleration is derivative of velocity

a(t) = 2 xm cos(t + ) = 2 x(t)

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PHY110W 2005

HRW 15.4

Energy
Consider spring again:

1 2 U(t) = kx = = 2 1 2 K(t) = mv = = 2

1 2 kxm cos2(t + ) 2 1 2 2 m xm sin2(t + ) 2

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PHY110W 2005

HRW 15.4

Energy (2)
For spring, 2 = k/m, so

1 2 K(t) = kxm sin2(t + ) 2

And since sin2 + cos2 = 1,

1 2 U(t) + K(t) = kxm 2

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PHY110W 2005

HRW 15.3

Simple harmonic motion

Any system with equations of motion

d2 x(t) = 2 x(t) dt2

undergoes SHM.

determine from parameters of system often for limiting case of small oscillations

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PHY110W 2005

HRW 15.6

SHM: examples
Mass and spring Simple pendulum (small oscillations) Physical pendulum (small oscillations; use parallel axis theorem).

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PHY110W 2005

HRW 15.6

SHM: (1) Mass and spring

Force: F = kx = md2 x/dt2 Angular frequency: = k/m Period

T = 2

m k

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PHY110W 2005

HRW 15.6

SHM: (2) Torsional pendulum

Shear stress: Thus torque:

x F =G = G A L = FR =

i.e. shear stress gives rise to restoring torque.

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PHY110W 2005

HRW 15.6

SHM: (2) Torsional pendulum

d 2 = I = I 2 = dt
Thus have SHM:

d 2 2 = = 2 I dt
Hence:

and

T = 2

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PHY110W 2005

HRW 15.6

SHM: (3) Simple pendulum

Consider torques acting in system:

g z = mgL sin = I sin L

Also,

d 2 z = I 2 dt Because of the sin , this is not SHM

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PHY110W 2005

HRW 15.6

SHM: (3) Simple pendulum

However, for small , we have sin . Then if angles are small:

g d 2 z = I 2 = I L dt
i.e. we have SHM. Hence:

g L

and

T = 2

L g
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PHY110W 2005

HRW 15.6

SHM: (4) Physical pendulum

Consider torques acting in system:

d 2 z = MgL sin = I 2 dt L is distance from pivot P to centre of mass. I is rotational inertia about P.
By parallel axis theorem:

I = Icm + ML2
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PHY110W 2005

HRW 15.6

SHM: (4) Physical pendulum

Thus

d 2 MgL MgL sin = 2 = I I dt2 For small , SHM with = MgL I

and

T = 2

I MgL

Note that, as L 0 we have T : approach to static equilibrium.

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PHY110W 2005

HRW 15.6

SHM: The untold story

Damping of SHM: loss of energy. Forced oscillations and resonance. Coupled oscillations.

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