Ch 9.

Rotational Dynamics
The Action of Forces and Torques on Rigid Objects

(a) Translation

(b) Combined translation

and rotation

DEFINITION OF TORQUE

Torque ( Magnitude of the force ) ( Lever arm)

F
Direction: The torque is positive when the force tends to
produce a counterclockwise rotation about the axis, and
negative when the force tends to produce a clockwise
rotation.
SI Unit of Torque: newton meter (N
m)

The line of action is an extended line drawn colinear with

the force. The lever arm is the distance between the line
of action and the axis of rotation, measured on a line that
is perpendicular to both. The torque is represented by
the symbol (Greek letter tau), and its magnitude is
defined as the magnitude of the force times the lever arm
3

Forces of the same

magnitude can produce
different torques,
depending on the value
of the lever arm.
4

Example1.
Different Lever Arms, Different
Torques

A force whose magnitude is 55 N is applied to a door. However,

the lever arms are different in the three parts of the drawing:
(a) = 0.80 m, (b) = 0.60 m, and (c) = 0 m. Find the
magnitude of the torque in each case.
(a)
(b)
(c)

In part c the line of action of F passes through the axis

of rotation (the hinge). Hence, the lever arm is zero, and
the torque is zero.

Example2. The Achilles Tendon

The ankle joint and the Achilles tendon attached to the heel at
point P. The tendon exerts a force of magnitude F = 720 N.
Determine the torque (magnitude and direction) of this force
about the ankle joint, which is located 3.6 102 m away from
7
point P.

(3.6 102 m) cos 55

The force F tends to produce a clockwise rotation about

the ankle joint, so the torque is negative:

Check Your Understanding 1

The drawing shows an overhead view of a horizontal bar that is

free to rotate about an axis perpendicular to the page. Two
forces act on the bar, and they have the same magnitude.
However, one force is perpendicular to the bar, and the other
makes an angle with respect to it. The angle can be 90, 45,
or 0. Rank the values of according to the magnitude of the net
torque (the sum of the torques) that the two forces produce,
largest net torque first.
0, 45, 90
9

Rigid Objects in Equilibrium

CONCEPTS AT A GLANCE If a rigid body is in
equilibrium, neither its linear motion nor its rotational motion
changes. This lack of change leads to certain equations that
apply for rigid-body equilibrium.

10

EQUILIBRIUM OF A RIGID BODY: A rigid body is in

equilibrium if it has zero translational acceleration
and zero angular acceleration. In equilibrium, the sum
of the externally applied forces is zero, and the sum of
the externally applied torques is zero:

11

Example3. A Diving Board

12

A woman whose weight is 530 N is poised at the right end of a

diving board with a length of 3.90 m. The board has
negligible weight and is bolted down at the left end, while
being supported 1.40 m away by a fulcrum. Find the forces
F1 and F2 that the bolt and the fulcrum, respectively, exert on
the board

F F F W 0
F W 0
y

2 2

WW (530 N )(3.90m)
F2

1480 N
2
1.40m
W = 530 N

13

Example4. Fighting a Fire

14

An 8.00-m ladder of weight WL = 355 N leans against a

smooth vertical wall. The term smooth means that the wall
can exert only a normal force directed perpendicular to the
wall and cannot exert a frictional force parallel to it. A
firefighter, whose weight is WF = 875 N, stands 6.30 m from
the bottom of the ladder. Assume that the ladders weight acts
at the ladders center and neglect the hoses weight. Find the
forces that the wall and the ground exert on the ladder.

15

Force

Lever Arm

WF = 875 N

WL = 355 N

Torque

= (4.00 m) cos 50.0

WL

= (6.30 m) cos 50.0

WF

= (8.00 m) sin 50.0

+P

16

 W
L

WF F P P 0

WL L WF F
P
P
.

355 N 4.00m cos 50.0 875 N 6.30m cos 50.0

727 N
8.00m sin 50.0
P = 727 N
17

Example5. Bodybuilding

18

A bodybuilder holds a dumbbell of weight Wd. His arm is

horizontal and weighs Wa = 31.0 N. The deltoid muscle is assumed
to be the only muscle acting and is attached to the arm as shown.
The maximum force M that the deltoid muscle can supply has a
magnitude of 1840 N. The distances that locate where the various
forces act on the arm. The locations from where the various forces
act on the arm are shown in the figure. What is the weight of the
heaviest dumbbell that can be held, and what are the horizontal
and vertical force components, Sx and Sy, that the shoulder joint
applies to the left end of the arm?

19

Force
Wa = 31.0 N
Wd
M = 1840 N

Lever Arm

= 0.620 m
= 0.280 m

= (0.150) sin13.0

Torque
Wa a

Wd
+M

20

 W
a

Wd d M M 0

Wa a MM
Wd
d
.

31.0 N 0.280m 1840 N 0.150m sin 13.0

86.1N
0.620m

21

Check Your Understanding 2

Three forces act on each of the thin, square sheets shown in the
drawing. In parts A and B of the drawing, the force labeled 2F
acts at the center of the sheet. The forces can have different
magnitudes (F or 2F) and can be applied at different points on
an object.
In which drawing is (a) the
translational acceleration equal to
zero, but the angular acceleration is
not equal to zero, (b) the
translational acceleration is not
equal to zero, but the angular
acceleration is equal to zero, and (c)
the object in equilibrium?
(a) C, (b) A, (c) B

22

Center of Gravity
DEFINITION OF CENTER OF GRAVITY: The center of
gravity of a rigid body is the point at which its weight can
be considered to act when the torque due to the weight is
being calculated.

23

24

Example6. The Center of

Gravity of an Arm
The horizontal arm is
composed of three parts: the
upper arm (weight W1 = 17 N),
the lower arm (W2 = 11 N),
and the hand (W3 = 4.2 N). The
drawing shows the center of
gravity of each part, measured
with respect to the shoulder
joint. Find the center of
gravity of the entire arm,
relative to the shoulder joint.
25

26

ConceptualExample7.
Overloading a Cargo Plane

27

A stationary cargo plane with its front landing gear 9

meters off the ground. This accident occurred because the
plane was overloaded toward the rear. How did a shift in
the center of gravity of the loaded plane cause the
accident?
Because of the overloading, the center of gravity has shifted
behind the rear landing gear. The torque due to W is now
counterclockwise and is not balanced by any clockwise torque.
Due to the unbalanced counterclockwise torque, the plane
rotates until its tail hits the ground, which applies an upward
force to the tail. The clockwise torque due to this upward force
balances the counterclockwise torque due to W, and the plane
comes again into an equilibrium state, this time with the front
landing gear 9 meters off the ground.
28

The center of gravity of an object with an irregular shape

and a nonuniform weight distribution can be found by
suspending the object from two different points P1 and P2,
one at a time.
29

Newton's Second Law for Rotational

Motion About a Fixed Axis
FT = maT

= FTr
= maTr
aT = r
The constant of proportionality is I =
mr2, which is called the moment of
inertia of the particle. The SI unit for
moment of inertia is kg m2.
30

31

ROTATIONAL ANALOG OF NEWTONS SECOND LAW

FOR A RIGID BODY ROTATING ABOUT A FIXED AXIS

I
Requirement: must be expressed in rad/s2
Although a rigid object possesses a unique total mass, it does
not have a unique moment of inertia, for the moment of inertia
depends on the location and orientation of the axis relative to the
particles that make up the object.
32

Example8.
The Moment of Inertia Depends
on Where the Axis Is
Two particles each have a mass m
and are fixed to the ends of a thin
rigid rod, whose mass can be
ignored. The length of the rod is L.
Find the moment of inertia when
this object rotates relative to an
axis that is perpendicular to the
rod at (a) one end and (b) the
center
33

(a)

(r1=0, r2=L)
(b)

34

35

36

37

38

Example9.
The Torque of an Electric Saw Motor
The motor in an electric saw brings the circular blade from
rest up to the rated angular velocity of 80.0 rev/s in 240.0 rev.
One type of blade has a moment of inertia of 1.41 102 kg
m2. What net torque (assumed constant) must the motor
apply to the blade?

1508 rad
(240.0 rev)

503 rad/s
(80.0 rev/s)

0
rad/s

39

40

The lever arm is just the radius of the circular rail,

which is designed to be as large as possible. Thus, a
relatively large torque can be generated for a given force,
allowing the rider to accelerate quickly.
41

ConceptualExample10.
Archery and Bow Stabilizers
Archers can shoot with amazing accuracy, especially using
modern bows. Notice the bow stabilizer, a long, thin rod that
extends from the front of the bow and has a relatively massive
cylinder at the tip. Advertisements claim that the stabilizer
helps to steady the archers aim. Could there be any truth to
this claim? Explain.
To the extent that I is larger, a given net torque will create a
smaller angular acceleration and less disturbance of the aim. It is
to increase the moment of inertia of the bow that the stabilizer has
been added. The relatively massive cylinder is particularly
effective in increasing the moment of inertia, because it is placed
at the tip of the stabilizer, far from the axis of rotation (a large
42
value of r in the equation I = mr2).

Example 11. Hoisting a Crate

43

A crate that weighs 4420 N is being lifted by the mechanism.

The two cables are wrapped around their respective pulleys,
which have radii of 0.600 and 0.200 m. The pulleys are
fastened together to form a dual pulley and turn as a single
unit about the center axle, relative to which the combined
moment of inertia is I = 50.0 kg m2. A tension of magnitude T1
= 2150 N is maintained in the cable attached to the motor. Find
the angular acceleration of the dual pulley and the tension in
the cable connected to the crate.

1 1

T2 2 I

2150 N 0.600m T2 0.200m 50.0kg m

44

m = (4420 N)/(9.80 m/s2) = 451 kg:

ay = r = (0.200 m).

45

Analogies Between Rotational and

Translational Concepts
Physical Concept

Rotational

Translational

Displacement

The cause of acceleration

Torque

Inertia

Moment of inertia I

Mass m

Newtons second law

= I

F = ma

Work

Fs

Kinetic energy

I 2

mv2

Momentum

L = I

p = mv

Velocity
Acceleration

v
a
Force F

46

Check Your Understanding 3

47

Three massless rods are free to rotate about an axis at

their left end (see the drawing). The same force F is
applied to the right end of each rod. Objects with
different masses are attached to the rods, but the total
mass (3m) of the objects is the same for each rod. Rank
the angular acceleration of the rods, largest to smallest.
Lets say the length is 2a.
All three has the same Torque around axis

to page.

F 2a

I
48

Since
is the same for all 3, the product I should be
the same for all 3, hence large I should have smaller .

I A mr m a m 2a 5ma 2
2

I B mr 2m a m 2a 6ma 2
2

I C mr 3m 2a 12ma 2
2

I C > IB > I A

C B A

A, B, C

in descending order A B C

49

Rotational Work and Energy

DEFINITION OF ROTATIONAL WORK
The rotational work WR done by a constant torque in
turning an object through an angle is

Requirement: must be expressed in radians.W = Fs =

Fr
SI Unit of Rotational Work: joule (J)
50

kinetic energy is

51

DEFINITION OF ROTATIONAL KINETIC ENERGY

The rotational kinetic energy KER of a rigid object rotating
with an angular speed about a fixed axis and having a
moment of inertia I is

Requirement: must be expressed in rad/s.

SI Unit of Rotational Kinetic Energy: joule (J)
52

53

Example12. Rolling Cylinders

A thin-walled hollow cylinder (mass =
mh, radius = rh) and a solid cylinder
(mass = ms, radius = rs) start from rest
at the top of an incline . Both cylinders
start at the same vertical height h0. All
heights are measured relative to an
arbitrarily chosen zero level that passes
through the center of mass of a
cylinder when it is at the bottom of the
incline. Ignoring energy losses due to
retarding forces, determine which
cylinder has the greatest translational
speed upon reaching the bottom.
54

h = h0, v0 = 0 m/s, 0 = 0 rad/s

55

I MR

1
I MR 2
2
The solid cylinder, having the greater translational
speed, arrives at the bottom first.
56

Check Your Understanding 4

Two solid balls are placed side by side at the top of an incline
plane and, starting from rest, are allowed to roll down the
incline. Which ball, if either, has the greater translational
speed at the bottom if (a) they have the same radii but one is
more massive than the other, and (b) they have the same
mass but one has a larger radius?

57

2mgh
vf
I
m 2
r

Solid ball I= (2/5) mr2

For m1 and r1 , I1= (2/5) m1r12

2m1 gh
2m1 gh
2 gh
v1

I1
2
2
m1 2
m1 m1
1
r1
5
5

(2 gh)
7

58

For m2 and r2 , I2= (2/5) m2r22

2m2 gh
2m2 gh
2 gh
v2

I2
2
2
m2 2
m2 m2
1
r2
5
5

(2 gh)
7
(a), (b) Both have the same translational speed.
59

Angular Momentum
DEFINITION OF ANGULAR MOMENTUM The
angular momentum L of a body rotating about a fixed
axis is the product of the bodys moment of inertia I and
its angular velocity with respect to that axis:

L I
Requirement: must be expressed in rad/s.
SI Unit of Angular Momentum: kgm2/s
60

PRINCIPLE OF CONSERVATION OF ANGULAR

MOMENTUM The total angular momentum of a system remains
constant (is conserved) if the net average external torque acting on
the system is zero.
61

ConceptualExample13.
A Spinning Skater
An ice skater is spinning with
both arms and a leg
outstretched. She pulls her arms
and leg inward. As a result of
this maneuver, her spinning
motion changes dramatically.
Using the principle of
conservation of angular
momentum, explain how and
why it changes.
62

Example14.
A Satellite in an Elliptical Orbit
An artificial satellite is placed into
an elliptical orbit about the earth.
Telemetry data indicate that its
point of closest approach (called
the perigee) is rP = 8.37 106 m
from the center of the earth, and
its point of greatest distance
(called the apogee) is rA = 25.1
106 m from the center of the earth.
The speed of the satellite at the
perigee is vP = 8450 m/s. Find its
63
speed vA at the apogee.

Keplers second law of

planetary motion states
that a line joining a planet
to the sun sweeps out equal
areas in equal time
intervals.
64

Concepts&Calculations
Example15. Torque and Force
A crate resting on a horizontal
surface. It has a square cross section
and a weight of W = 580 N, which is
uniformly distributed. At the bottom
right edge is a small obstruction that
prevents the crate from sliding when
a horizontal pushing force P is
applied to the left side. However, if
this force is great enough, the crate
will begin to tip or rotate over the
obstruction. Determine the minimum
pushing force that leads to tipping.
65

WW 0

66

Concepts&Calculations
Example16. Which Sphere
Takes Longer to Stop?
Two spheres are each rotating
at an angular speed of 24
rad/s about axes that pass
through their centers. Each
has a radius of 0.20 m and a
mass of 1.5 kg. However, one
is solid and the other is a thinwalled spherical shell.
67

Suddenly, a net external torque due to friction (magnitude =

0.12 N m) begins to act on each sphere and slows the motion
down. How long does it take each sphere to come to a halt?

0 t

0 t
I

68

 0
I ( 0 )
t

( ) / I

Solid sphere I=(2/5)MR2

2
MR 2 ( 0 )
I ( 0 ) 5
t

2
2
(1.5kg )(0.20m) (0rad / s ) (24rad / s )
t 5
4.8s
0.12 N m
69

Spherical shell I=(2/3)MR2

2
2
MR ( 0 )
I ( 0 ) 3
t

2
2
(1.5kg )(0.20m) (0rad / s) (24rad / s )
t 3
8.0 s
0.12 N m
70

Conceptual Question 20
If the ice cap at the South Pole melted and the water were
uniformlydistributedovertheearth'soceans,
1)earthsangularvelocityincreases,decreases,orsame?
I increases

but

L I

constant (no external torques)

decreases.
71

REASONING AND SOLUTION Consider the earth to be

an isolated system. Note that the earth rotates about an
axis that passes through the North and South poles and is
perpendicular to the plane of the equator. If the ice cap at
the South Pole melted and the water were uniformly
distributed over the earth's oceans, the mass at the South
Pole would be uniformly distributed and, on average, be
farther from the earth's rotational axis. The moment of
inertia of the earth would, therefore, increase. Since the
earth is an isolated system, any torques involved in the
redistribution of the water would be internal torques;
therefore, the angular momentum of the earth must
remain the same. If the moment of inertia increases, and
the angular momentum is to remain constant, the angular
velocity of the earth must decrease.
72

Conceptual Question 21
River sediments, (Mississippi), towards equator.
What happens to angular velocity?
Main distribution from top towards equator (r---larger)
I increases.
Since

L I

is constant, (why?)
decreases.
73

Conceptual Question 21
REASONINGANDSOLUTIONNotethattheearthrotates
aboutanaxisthatpassesthroughtheNorthandSouthpoles
andisperpendiculartotheplaneoftheequator.Whenrivers
liketheMississippicarrysedimenttowardtheequator,they
redistributethemassfromamoreuniformdistributiontoa
distributionwithmoremassconcentratedaroundtheequator.
Thisincreasesthemomentofinertiaoftheearth.Iftheearth
isconsideredtobeanisolatedsystem,thenanytorques
involvedintheredistributionofmassareinternaltorques.
Therefore,theangularmomentumoftheearthmustremain
constant.Themomentofinertiaincreases,andtheangular
momentummustremainthesame;therefore,theangular
velocitymustdecrease.
74

Conceptual Question 22
REASONINGANDSOLUTIONLetthesystembethe
rotatingcloudofinterstellargas.Thegravitationalforce
thatpullstheparticlestogetherisinternaltothesystem;
hence,thetorqueresultingfromthegravitationalforceisan
internaltorque.Sincethereisnonetexternaltorqueacting
onthecollapsingcloud,theangularmomentum,,of
I
thecloudmustremainconstant.Sincethecloudis
shrinking,itsmomentofinertiaIdecreases.Sincethe
productremainsconstant,theangularvelocity
I
mustincreaseasIdecreases.Therefore,theangular
velocityoftheformedstarwouldbegreaterthanthe
angularvelocityoftheoriginalgascloud.

75

Problem 12
REASONINGWhentheboardjustbeginstotip,threeforces
actontheboard.TheyaretheweightWoftheboard,the
weightWPoftheperson,andtheforceFexertedbytheright
support.
x
F

1.4 m
x

W = 225 N
W

P =

450 N

76

Sincetheboardwillrotatearoundtherightsupport,thelever
armforthisforceiszero,andthetorqueexertedbytheright
supportiszero.Theleverarmfortheweightoftheboardis
equaltoonehalfthelengthoftheboardminustheoverhang
length:2.5m1.1m=1.4m
Theleverarmfortheweightofthepersonisx.Therefore,
takingcounterclockwisetorquesaspositive,wehave

WP x W (1.4 m) 0
Thisexpressioncanbesolvedforx.
SOLUTIONSolvingtheexpressionaboveforx,weobtain

W (1.4 m) (225 N)(1.4 m)

x

0.70 m
WP
450 N

77

Problem 19
cg

Fr

Axis

Ff

REASONINGThejetisinequilibrium,sothesumofthe
externalforcesiszero,andthesumoftheexternaltorquesis
zero.Wecanusethesetwoconditionstoevaluatetheforces
exertedonthewheels.
78

SOLUTION
a.LetFfbethemagnitudeofthenormalforcethattheground
exertsonthefrontwheel.Sincethenettorqueactingonthe
planeiszero,wehave(usinganaxisthroughthepointsof
contactbetweentherearwheelsandtheground)

=Ww+Fff=0
whereWistheweightoftheplane,and wand farethe
leverarmsfortheforcesWandFf,respectively.Thus,

= N)(15.0m12.6m)+Ff(15.0m)=0
SolvingforFfgivesFf=

1.60 10 5 N
79

b.Settingthesumoftheverticalforcesequaltozeroyields

Fy=Ff+2FrW=0
wherethefactorof2arisesbecausetherearetworear
wheels.Substitutinginthedata,

Fy=1.60105N+2Fr1.00106N=0
Fr= 4.20 105 N
80

Problem 42
a

a
T2

T1

REASONINGANDSOLUTIONNewton's
lawappliedtothe11.0kgobjectgives

T2 m2 g m2 a
T2(11.0kg)(9.80m/s2)=(11.0kg)(4.90m/s2)
orT2=162N

m2 =
m 1=

Asimilartreatmentforthe44.0kgobjectyields

T1 m1 g m1a

T1(44.0kg)(9.80m/s2)=(44.0kg)(4.90m/s2)
orT1=216N

81

Foranaxisaboutthecenterofthepulley
r

r
Clockwise rotation

T2

T1

T1rT2r=
I(

a
(T1 T2 )r I
r

1
2 a
T1 T2 Mr 2
2
r
82

Ma
T1 T2
2

2
M (T1 T2 )
a
SolvingforthemassMweobtain

M=(2/a)(T2T1)=[2/(4.90m/s2)](162N216N)
=22.0 kg
83

Problem 52

5.00 rad / s

I total (stretched arms) 5.40 kg.m2

I red =3.8
84

Problem 52
Angular momentum is conserved.

L I 00 I11

5.40 3.8
I0
5.40kg m
0
5.00rad / s 7.11rad / s
2
I
3.80kg m
2

85