In this lecture youll learn

Chapter 10 Lecture

To describe the rotational motion

of rigid bodies
To calculate the rotational inertias
of objects made of discrete and
continuous distributions of matter

Rotational Motion

Rotational inertia is the

rotational analog of mass
To describe rolling motion
To apply energy conservation in
rotational motion
To apply
pp y Newtons Second Law for
rotation
Slide 10-2

Slide 10-1

Angular Velocity and Angular Acceleration

All points on a straight line drawn through
the rotational axis move through the same
angle in the same time. The angle in
radians (rad) is defined:
s

Angular and linear velocity

The linear speed of a point on a rotating
body is proportional to its distance from
the rotation axis:

v ds
d dt
d r d dt
d r

Angular velocity is the rate of change

of angular position (rad/s, rpm)

Average:

Instantaneous:

d
dt

Relationship between Linear and Angular

Quantities

+ ccw
- cw

Angular acceleration is the rate of change of angular

velocity (rad/s2)

d
Average:
Instantaneous:
t
dt

Slide 10-3

Clicker Question

Angular and tangential acceleration

The linear acceleration of a point on
a rotating body is proportional to its
distance from the rotation axis:

at r

A point on a rotating object also has

radial acceleration: v 2
ar 2 r
r

Slide 10-4

Clicker Question

The fan blade is slowing down. What are the signs

of and ?

A military
y helicopter
p has rotor blades 3.0 m long
g
rotating at 600 rpm. What is the tangential velocity of
each blade tip?
1.
2.
3.
4.

1.
2.
3.
4.

Clicker 10-5

99 m/s
188 m/s
33 m/s
66 m/s

Clicker 10-6

Clicker Question

Clicker Question

A point on the rim of a 0.30 m radius rotating wheel

has a tangential speed of 6.0 m/s. What is the
tangential speed of a point 0
0.2
2 m from the center of
the same wheel?
1.
2
2.
3.
4.

If the distance from the center of a Ferris wheel to the

passenger seats is 12 m, what centripetal
acceleration does a passenger experience when the
wheel's angular velocity is 0.50 rad/s?

1.5 m/s
2 m/s
4 m/s
12 m/s

1.
2.
3.
4
4.

16.9 m/s2
9.0 m/s2
3.0 m/s2
6 0 m/s
6.0
/ 2

Clicker 10-7

Constant Angular Acceleration

Example

Problems with constant angular acceleration are exactly

analogous to similar problems involving linear motion in
one dimension.
The same equations apply, with the substitutions
x ,

v ,

Clicker 10-8

A grinding wheel, initially at rest, rotates with a constant

acceleration of 0.5 rad/s2. At the instant that it has gone
through an angular displacement of 36 rad,
rad

How much time has

elapsed?
1.
1
2.
3
3.
4.

5.0
5
0s
3.0 s
60s
6.0
12.0 s

5.0 rad/s
3.0 rad/s
6 0 rad/s
6.0
12.0 rad/s

Finding Rotational Inertia

A rotating object has kinetic energy.

energy For pure rotation
rotation,
1
1
2
K rot mi vi2 mi ri
2
2
1
1
2
mi ri 2 I 2
2
2

1.
2.
3
3.
4.

Clicker 10-10

Slide 10-9

Rotational Kinetic Energy

What is the angular

velocity?

For a single point mass m,

m rotational inertia is the product of
mass with the square of the distance R from the rotation
axis: I mR 2 .
For a system of discrete masses,
the rotational inertia is the sum of
the rotational inertias of the
individual masses:

Moment of inertia or rotational inertia I

is the rotational analog of mass
Rotational inertia depends on mass
and its distance from the rotation
axis
2
I mi ri
((SI unit: kgm
g 2)

I mi ri2
For continuous matter, the
rotational inertia is given by an
integral over the distribution of
matter:
I r 2 dm
Slide 10-11

Slide 10-12

Clicker Question

Clicker Question

The four identical masses shown are in the xxyy plane

plane,
and the direction of the z axis is coming out of the
paper. Find the rotation inertia about the x-axis, Ix.

If a solid cylinder and a hollow cylinder both have the same

mass and the same radius,, which cylinder
y
has a greater
g
moment of inertia about an axis through the exact center of the
flat surfaces?
A.
B
B.
C.
D.

The solid cylinder

The hollow cylinder
Both cylinders have the same moment of inertia.
It depends
p
on the inner radius of the hollow cylinder.
y

1. ma2
2. 2ma2
3. 8ma2
Clicker 10-13

Rotational Inertias of Simple Objects

Clicker 10-14

Parallel-Axis Theorem
If we know the rotational inertia Icm about an axis through the
center of mass of a body, the parallel-axis theorem allows
us to calculate the rotational inertia I through any parallel
axis.
The parallel-axis theorem states that

I I cm Md 2
where
h
d is
i th
the di
distance
t
ffrom th
the
center-of-mass axis to the parallel axis
and M is the total mass of the object.
j

Slide 10-15

Example: Conservation of Energy

Slide 10-16

Example: Conservation of Energy

A bucket of mass m drops into a well,
well its rope unrolling
from a cylinder of mass M and radius R. What is the speed
of the bucket after it has dropped a distance h?

A uniform rod of length L and mass m is free to rotate

about O. The rod is released from rest in the horizontal
position. Determine the angular velocity of the rod and
the tangential speed at the tip when the rod swings
past the vertical position.

Energy conservation:

KB UB K A U A

1 2 1 2
mv I mgh
2
2

The speed of the bucket is the same as the

tangential speed on the rim of the cylinder:

1
2
I B mgh 0
2
11 2 2
L
mL B mg
23

2
3g
B
L

v R
Rotational inertia for a cylinder is: I
2

1 2 11
v
mv MR 2 mgh
2
22
R

Tangential speed at the tip: v B L 3 gL

Clicker 10-17

1
MR 2
2

2mghh
mM /2
Clicker 10-18

Rolling Motion

Clicker Question

Rolling
g motion combines translational ((linear)) motion and
rotational motion.
The rolling objects center of mass undergoes
translational motion
motion.
The object itself rotates about the center of mass.
In true rolling motion
motion, the object moves without slipping
and its point of contact with the ground is instantaneously
at rest.
Then the rotational speed and linear speed v are
related by v = R, where R is the objects radius.

Suppose th
S
thatt the
th speedometer
d
t off a truck
t k is
i sett to
t read
d the
th
linear speed of the truck, but uses a device that actually
measures the angular
g
speed
p
of the tires. If larger
g
diameter tires are mounted on the truck instead, how will
that affect the speedometer reading as compared to the
true linear speed of the truck?
1) speedometer reads a higher
speed than the true linear speed
2) speedometer reads a lower speed
th the
than
th true
t
linear
li
speed
d
3) speedometer still reads the true
linear speed
Clicker 10-20

Slide 10-19

Kinetic Energy of Rolling Object

Example: Conservation of Energy

A rolling object has both translational and rotational kinetic

energy (assuming no slipping):

K tot
K rott
t t K tran
t

1
1
1
1 v
Mv 2 I 2 Mv 2 I
2
2
2
2 R

A string
g is wrapped
pp around a uniform cylinder
y
of mass M
and radius R. The cylinder is released from rest. What is the
the speed of the center of mass after the cylinder has
descended through distance h?
Energy conservation:

I 2 1
1
2
M 1
v M 1 v
2 MR 2
2

1
1
Mv 2 I 2 Mgh
2
2

Assuming that the string does not slip:

The rotational inertia around the center of mass is I MR 2 ,

where = 1
1, 1/2
1/2, and 2/5,
2/5 for thin hoop,
hoop disk/cylinder,
disk/cylinder and
sphere, respectively

v R
Rotational inertia for a cylinder is: I 1 MR 2
2

1
11
v
Mv 2 MR 2 mgh
2
22
R

The ratio of the rotational kinetic energy to the total kinetic

energy is

K rot

K tot 1

44ghh
3

Slide 10-21

Example: Conservation of Energy

Slide 10-22

Clicker Question

A solid ball rolls down a hill.

hill How fast is it moving at the
bottom?
Equation for energy conservation
1
1
Mgh Mv 2 I 2
2
2

Two solid spheres

p
roll down an incline,, starting
g from
rest. Sphere A has twice the mass and twice the
radius of sphere B. Which arrives at the bottom first?

1
12
7
v
Mv 2 MR2 Mv2
2
25
R 10

Solution:
v

10

1.
2
2.
3.
4
4.

sphere A
sphere
h
B
Both arrive at the same time
impossible to determine

gh

7
Slide 10-23

Clicker 10-24

Clicker Question

Clicker Question

Consider
C
id a race iin which
hi h the
h ffollowing
ll i ffour objects
bj
roll down an inclined plane:
#1 Ring:
#2 Disk
#3 Solid cylinder 1
#4 Solid cylinder 2
A.
B.
C.
D.
E
E.

mass = m,
mass = m,
mass = m/2
mass = m/4

A hollow ball and a solid ball roll without slipping down an

inclined plane. Which ball reaches the bottom of the incline
fi t?
first?

radius = R
radius = R
radius = R/4
radius = R/4

A.
A
B.
C.
D.

Fastest: 2 only; slowest: 1

Fastest: 1 only; slowest: 2,3,4
Fastest: 2 only; slowest: 3,4
Fastest: 2,3,4; slowest: 1
F t t 1 only;
Fastest:
l slowest:
l
t 2

The solid ball reaches the bottom first

first.
The hollow ball reaches the bottom first.
Both balls reach the bottom at the same time.
We cant determine this without information about the
mass.

Clicker 10-25

Torque

Clicker Question

Torque is the rotational analog of

force, and results from the application
of one or more forces.
Torque is relative to a chosen
rotational axis.
The magnitude of the torque is
defined as force times lever arm,
which is the perpendicular distance
f
from
the
th axis
i off rotation
t ti to
t the
th line
li
along which the force acts

rF
F sin
i r F rF
F

Clicker 10-26

You are using a wrench

1
2

to loosen
l
a rusty nut.
Which arrangement will
be the most effective in
loosening the nut?
3

(SI unit:
it Nm)
N )
5) all are equally effective

Torque is a vector quantity: A force

produces a torque in either ccw or cw
direction

Clicker 10-28

Slide 10-27

Clicker Question

Newtons Second Law for Rotation

For a single point mass
undergoing circular motion,

If you are trying to loosen a stubborn screw from a

piece of wood with a screwdriver and fail
fail, you should
find a screwdriver for which the handle is

Ft mat mr
rFt mr 2

I
1.
2.

The result can be generalized to

extended object and multiple forces
to give the rotational analog
off Newtons
N
Second
S
dL
Law:

longer
fatter

I
Clicker 10-29

Slide 10-30

Example

Clicker Question

A bucket of mass m drops into a well, its rope unrolling from

a cylinder of mass M and radius R. Whats its acceleration?
For the bucket:
Fnet = mg
mgT
T = ma

A uniform stick is p
pivoted at p
point O. Initially
y the stick is held in
the horizontal position, with coin 1 resting at position P1, where
OP1 = L/2, and coin 2 resting at position P2, where OP2 = L. It
can be shown that the angular acceleration of the stick is =
3g/2L when it is released from rest. Are the coins expected to
stay on the stick immediately after the release of the stick?

For the cylinder:

= RT = I = I(a/R)
I( /R)
Here

1
2

MR

Solve the two equations to get

mg
m 12 M
Slide 10-31

Clicker Question

Both coins will stay on

Coin 1 will detach and coin 2 will stay
y on
Coin 1 will stay on and coin 2 will detach
Both coins will detach

Clicker 10-32

Summary

A long rod is pivoted (without friction) at one end

end. It is released
from rest at A in a horizontal position and swings down, passing
positions B and C. Compare the angular acceleration at B and
C.

4.

1.
2.
3.
4.

Rotational motion in one dimension is exactly analogous to

linear motion in one dimension.
Linear and angular motion:
Analogies between rotational and linear quantities:

B > C
B = C
B < C
There is not enough information
Clicker 10-33

Slide 10-34