Professional Documents
Culture Documents
Javier Junquera
Bibliografa FUENTE PRINCIPAL
Fsica, Volumen 1, 3 edicin
Raymod A. Serway y John W. Jewett, Jr.
Ed. Thomson
ISBN: 84-9732-168-5
Captulo 10
Fsica para Ciencias e Ingeniera, Volumen 1, 7 edicin
Raymod A. Serway y John W. Jewett, Jr.
Cengage Learning
ISBN 978-970-686-822-0
Captulo 10
Tips on Physics
R. P. Feynman, R. B. Leighton, y M. Sands
Ed. Pearson Addison Wesley
ISBN: 0-8053-9063-4
Captulo 3-3 y siguientes
Definicin de traslacin, rotacin y vibracin
Posicin
hat the
ve loca-
angular o posicin de rotacin
Rigid object
objects
ny situa-
Supongamos un objeto plano que gira alrededor de un eje fijo
perpendicular al objeto y que pasa por un punto O.
Coordenadas
hat the
ve loca- Rigid object
polares
objects
ny situa-
Resulta conveniente representar la posicin de una partcula mediante
sus coordenadas polares
definicin
Radiande velocidades angulares # (rad) !
"
180'
# (deg)
In rotational equations, we must
use angles expressed in radians. For example, 60 equals "/3 rad and 45 equals "/4 rad.
Dont fall into the trap of using
Because the disc in Figure 10.1 is a rigid object, as the particle moves along the cir-
angles measured in degrees in ro-
tational equations. Mientras
cle from la partcula
the reference se mueve
line, every other desde
particle on A hasta
the object rotatesB en unthe same
through
angle
tiempo #. Thus, we can associate the angle
, el vector ! with the entire rigid
correspondiente al object
radio as well as
barre
with an individual particle. This allows us to define the angular position of a rigid ob-
el ngulo que equivale al desplazamiento
y ject in its rotational motion. We choose a reference line on the object, such as a line
connecting O and angular
a chosendurante ese
particle on theintervalo
object. The de tiempo
angular position of the rigid
object is the angle # between this reference line on the object and the fixed reference
line in space, which is often chosen as the x axis. This is similar to the way we identify
" ,t f Ni la posicin angular ni el desplazamiento angular
the position of an object in translational motionthe distance x between the object
estn limitados al rango
and the reference position, which is the origin, x ! 0.
r
!,ti As (no hace in
the particle falta reiniciar
question la posicin
on our rigid object travelsangular a cero
from position ! to position
" in acada vez que
time interval $t asla
inpartcula
Figure 10.2, cruza el ejeline
the reference x).of length r sweeps out an
f angle $# ! #f % #i. This quantity $# is defined as the angular displacement of the
i
rigid object:
x Definimos la velocidad angular media como el cociente
O $# " # f % # i
entre el desplazamiento angular y el intervalo de tiempo
Figure 10.2 A particle on a The rate at which this angular displacement occurs can vary. If the rigid object spins
rotating rigid object moves from ! rapidly, this displacement can occur in a short time interval. If it rotates slowly, this dis-
to " along the arc of a circle. In placement occurs in a longer time interval. These different rotation rates can be quan-
the time interval $t ! tf % ti , the tified by introducing angular speed. We define the average angular speed & (Greek
radius vector moves through an omega) as the ratio of the angular displacement of a rigid object to the time interval
angular displacement $# ! #f % #i.
$t during which the displacement occurs:
#f % #i $#
Average angular speed &" ! (10.2)
tf % ti $t
PITFALL PREVENTION to one complete revolution.) Hence, 1 rad ! 360/2" ! 57.3 . To convert an angle in
Partcula con movimiento
10.1 Remember the
circular:
degrees to an angle in radians, we use the fact that " rad ! 180, or
definicin
Radiande velocidades angulares # (rad) !
"
180'
# (deg)
In rotational equations, we must
use angles expressed in radians. For example, 60 equals "/3 rad and 45 equals "/4 rad.
Dont fall into the trap of using
Because the disc in Figure 10.1 is a rigid object, as the particle moves along the cir-
angles measured in degrees in ro-
Definimos la velocidad
cle from the reference line, everyangular media
other particle como
on the object el through
rotates cocientethe same
tational equations.
entre
angle #.el desplazamiento
Thus, we can associate angular
the angle !ywith
el intervalo de tiempo
the entire rigid object as well as
with an individual particle. This allows us to define the angular position of a rigid ob-
y ject in its rotational motion. We choose a reference line on the object, such as a line
connecting O and a chosen particle on the object. The angular position of the rigid
object is the angle # between this reference line on the object and the fixed reference
line in space, which is often chosen as the x axis. This is similar to the way we identify
" ,t f
the position of an object in translational motionthe distance x between the object
Por analoga con la velocidad de traslacin,
and the reference position, which is the origin, x ! 0.
r la velocidad angular instantnea se define como
As the particle in question on our rigid object travels from position ! to position
!,ti
" in a time interval $t as in Figure 10.2, the reference line of length r sweeps out an
f angle $# ! #f % #i. This quantity $# is defined as the angular displacement of the
i
rigid object:
x
O $# " # f % # i
Unidades: rad/s o s-1
The rate at which this angular displacement occurs can vary. If the rigid object spins
Figure 10.2 A particle on a
rotating rigid object moves from ! rapidly, this displacement can occur in a short time interval. If it rotates slowly, this dis-
to " along the arc of a circle. In placement occurs in a longer time interval. These different rotation rates can be quan-
the time interval $t ! tf % ti , the tified by introducing angular speed. We define the average angular speed & (Greek
Si vector
radius adoptamos
moves throughel convenio
an de que el eje fijo de rotacin es el eje z, entonces diremos
omega) as the ratio of the angular displacement of a rigid object to the time interval
quedisplacement
angular es positiva
$# ! #f % cuando
#i. aumente (movimiento en sentido contrario del sentido
$t during which the displacement occurs:
del reloj y negativo en caso contrario
#f % #i $#
Average angular speed &" ! (10.2)
tf % ti $t
PITFALL PREVENTION to one complete revolution.) Hence, 1 rad ! 360/2" ! 57.3 . To convert an angle in
Partcula con movimiento
10.1 Remember the
circular:
degrees to an angle in radians, we use the fact that " rad ! 180, or
definicin
Radiande aceleraciones angulares # (rad) !
"
180'
# (deg)
In rotational equations, we must
use angles expressed in radians. For example, 60 equals "/3 rad and 45 equals "/4 rad.
Dont fall into the trap of using
Because the disc in Figure 10.1 is a rigid object, as the particle moves along the cir-
angles measured in degrees in ro-
tational equations. Si
clela velocidad
from angular
the reference instantnea
line, every dethe
other particle on una partcula
object cambia
rotates through the same
angle #.aThus, we
de encan associate the
el intervalo deangle ! with the
tiempo entire
, la rigid object
partcula as una
tiene well as
with an individual particle. This allows us to define the angular position of a rigid ob-
aceleracin angular
y ject in its rotational motion. We choose a reference line on the object, such as a line
connecting O and a chosen particle on the object. The angular position of the rigid
object is the angle # between this reference line on the object and the fixed reference
Aceleracin angular media
line in space, which is often chosen as the x axis. This is similar to the way we identify
" ,t f
the position of an object in translational motionthe distance x between the object
and the reference position, which is the origin, x ! 0.
r
!,ti As the particle in question on our rigid object travels from position ! to position
" in a time interval $t as in Figure 10.2, the reference line of length r sweeps out an
f angle $# ! #f % #i. This quantity $# is defined as the angular displacement of the
i
rigid object:
Por analoga con la aceleracin de traslacin,
O
x la aceleracin angular $instantnea
# " #f % #i se define como
Figure 10.2 A particle on a The rate at which this angular displacement occurs can vary. If the rigid object spins
rotating rigid object moves from ! rapidly, this displacement can occur in a short time interval. If it rotates slowly, this dis-
to " along the arc of a circle. In placement occurs in a longer time interval. These different rotation rates can be quan-
the time interval $t ! tf % ti , the tified by introducing angular speed. We define the average angular speed & (Greek
radius vector moves through an omega) as the ratio of the angular displacement of a rigid object to the time interval
angular displacement $# ! #f % #i. Unidades:
occurs: rad/s o s
2 -2
$t during which the displacement
#f % #i $#
Average angular speed &" ! (10.2)
tf % ti $t
Partcula con movimiento circular:
direccin de velocidad y aceleracin angular
No se ha asociado ninguna direccin con la velocidad angular ni la aceleracin angular
En el caso de rotacin alrededor de un eje fijo, la nica direccin que permite especificar
de forma unvoca el movimiento de rotacin es la direccin a lo largo del eje
Por convenio, se considera que el sentido de Por convenio, se considera que el sentido de
es saliente con respecto al plano en el diagrama es entrante con respecto al plano en el diagrama
cuando la rotacin es en el sentido contrario a cuando la rotacin es en el sentido de las
las agujas del reloj agujas
S EC TI O N 10.1 Angular Position, Velocity, and Acceleration 295
del reloj
En el caso de rotacin alrededor de un eje fijo, la nica direccin que permite especificar
de forma unvoca el movimiento de rotacin es la direccin a lo largo del eje
Como
sugiere que
Y adems
Podemos integrar esta expresin directamente para calcular la velocidad angular final
Cinemtica de rotacin:
cuerpo rgido con aceleracin angular constante
!f " !i # $t vf " vi # at
%f " %i # !i t # 12 $t 2 1
x f " x i # vi t # 2at 2
!f 2 " !i 2 # 2$(%f & %i ) vf 2 " vi 2 # 2a(x f & x i )
%f " %i # 12(!i # !f )t 1
x f " x i # 2(vi # vf )t
y Because
Unapoint P inde
partcula Figure 10.4 moves
un cuerpo rgidoin enarotacin
circle, these linea
mueve
ways tangent toen
theuncircular
crculopath
de radio r alrededor
and hence del tangential
is called eje z
v of the tangential velocity of the point P is by definition the tan
Dado que la partcula se mueve en una trayectoria
where s is thecircular,
distancesutraveled by this point measured along t
vector velocidad es siempre
P ing that s ! r # (Eq.perpendicular
10.1a) and noting that r is constant, we obta
a la trayectoria
s (a menudo se denomina velocidad
r ds tangencial)
d#
u v! !r
x El mdulo de la velocidad tangencial dt viene dt dado por
O
Because d#/dt ! $ (see Eq. 10.3), we see that
y Because
Unapoint P inde
partcula Figure 10.4 moves
un cuerpo rgidoinenarotacin
circle, the
se linea
mueve
ways tangent toen
theuncircular
crculopath
de radio r alrededor
and hence del tangential
is called eje z
v of the tangential velocity of the point P is by definition the tan
where sElismdulo
the distance
de la traveled by tangencial
velocidad this point measured along t
de la partcula
P ing that es r # (Eq.
s !igual a la10.1a) and de
distancia noting that r is al
la partcula constant, we obta
eje de giro
r s multiplicada por la velocidad angular de la partcula
ds d#
u v! !r
x dt dt
O
Because d#/dt ! $ (see Eq. 10.3), we see that
Quick Quiz 10.6 Consider again the merry-go-round situation in Quick Quiz
10.5. When the merry-go-round is rotating at a constant angular speed, Andys tangen-
tial speed is (a) twice Charlies (b) the same as Charlies (c) half of Charlies (d) impos-
Energa cintica rotacional
Supongamos que podemos considerar el objeto
como un conjunto de partculas que rotan
alrededor del eje z con una velocidad angular
La energa cintica total del slido rgido vendr dada por la suma de las energas
cinticas de todas las partculas que lo componen
Momento de inercia
El momento de inercia se define como
El papel de lo juega
Esto va a ocurrir cada vez que comparemos una ecuacin del movimiento
lineal con su correspondiente anlogo en el movimiento rotacional
Analogas
Diferencias
Es una propiedad intrnseca del objeto Depende de la eleccin del eje de rotacin
(asumiendo velocidades no relativistas) (no hay un valor nico del momento de inercia
de un objeto).
No slo depende de la masa, sino de cmo est
distribuida la masa alrededor del eje de giro.
Es un escalar Es un tensor
Clculo del momento de inercia
en un sistema discreto
Sistema discreto
ecome
2
- la energa2 cintica
2
de rotacin con respecto a dicho eje.
Iz " 2Ma and KR " Ma #
y
Las dos esferas de masa m que estn situadas en el
m eje y no contribuyen a Iy
b m M
M M
x b
a a a
b
O
m
a b
M m
(b)
Las dos esferas de masa m no se mueven alrededor
del eje y y, por tanto, no tienen energa cintica
(a)
Clculo del momento de inercia
en un sistema discreto
Sistema discreto
which are the same as the answers in part (A). If the masses
m of the two red spheres in Figure 10.8 are negligible, then
these spheres can be removed from the figure and rotations
Ejemplo:
about the y and cuatro
z axes are pequeas
equivalent. esferas estn
unidas a las cuatro esquinas de un marco de masa
despreciable que est situado sobre el plano xy.
Si la rotacin se produce alrededor del eje z con celeridad angular , calcular:
- el momento de inercia Iz con respecto al eje z
- la energa cintica de rotacin con respecto a dicho eje.
x b
a
O
a b
Momento de inercia de un anillo con respecto a un eje perpendicular que pasa por su centro
10.5 Uniform Thin Hoop
Iz ! ! r 2 dm ! R 2 ! dm ! MR 2
! r 2 dm ! ! L/2
#L/2
x2
M
L
dx !
M
L
!L/2
#L/2
x 2 dx L
Clculos de momentos
ment of inertia is the same as that of a sin-
ss M located a distance R from the axis of
de
Figure 10.9 inercia:
(Example 10.5) The mass elements dm of a
uniform hoop are all the same distance from O.
Momento de inercia de un varilla uniforme con respecto a un eje perpendicular a la barra que
Uniform Rigid Rod
pasa por su centro de masas
ment of inertia of a uniform rigid rod of
M (Fig. 10.10) about an axis perpendicular y y
xis) and passing through its center of mass.
M
dm ! " dx ! dx
L x
O
xpression for dm into Equation 10.17, with
x
m! !L/2
#L/2
x2
M
L
dx !
M
L
!L/2
#L/2
x 2 dx L
z
Dividimos el cilindro en muchas cortezas cilndricas
dr de radio , grosor , y altura
r
R
El volumen de cada corteza es igual al rea de su
seccin transversal multiplicada por la altura
L
14/04/15 15:09
Los momentos de inercia de slidos rgidos con una geometra simple (alta simetra) son
relativamente fciles de calcular si el eje de rotacin coincide con un eje de simetra.
Sin embargo, los clculos de momentos de inercia con respecto a un eje arbitrario puede ser
engorroso, incluso para slidos con alta simetra.
Teorema: Entonces podemos conocer el momento de inercia con respecto a cualquier otro eje
paralelo al primero y que se encuentra a una distancia D
Teorema de Steiner: demostracin S EC TI O N 10.5 Calculation of Moments of Inertia 305
y
dm
x, y
z
Axis
through
y r Rotation CM
axis
y y
CM
xCM, yCM
O CM
yCM
D
x
O x
xCM x
x
element is a distance r ! x 2 # y 2 from the z axis, the moment of inertia about the
Tomemos un elemento
z axis is de masa situado en las coordenadas
I! ! r 2 dm ! ! (x 2 # y 2)dm
However, we can relate the coordinates x, y of the mass element dm to the coordinates of
this same element located in a coordinate system having the objects center of mass as its
La distancia desde este elemento al eje de rotacin (eje z) es
origin. If the coordinates of the center of mass are x CM, y CM in the original coordinate
system centered on O, then from Figure 10.12a we see that the relationships between the
unprimed and primed coordinates are x ! x" # x CM and y ! y" # yCM. Therefore,
I!!
Y el momento de inercia con
[(x" # xrespecto al eje z vale
) # (y" # y ) ]dm CM
2
CM
2
The first integral is, by definition, the moment of inertia about an axis that is parallel
to the z axis and passes through the center of mass. The second two integrals are zero
because, by definition of the center of mass, !x"dm ! !y"dm ! 0. The last integral is sim-
ply MD 2 because !dm ! M and D 2 ! x CM2 # yCM2. Therefore, we conclude that
Teorema de Steiner: demostracin S EC TI O N 10.5 Calculation of Moments of Inertia 305
y
dm
x, y
z
Axis
through
y r Rotation CM
axis
y y
CM
xCM, yCM
O CM
yCM
D
x
O x
xCM x
x
(a) (b)
Tomemos un elemento de (a)masa
Figure 10.12 situado
The parallel-axis theorem: en
if the moment lasabout
of inertia coordenadas
an axis
perpendicular to the figure through the center of mass is ICM, then the moment of
inertia about the z axis is Iz ! ICM # MD 2. (b) Perspective drawing showing the z axis
(the axis of rotation) and the parallel axis through the CM.
Si ahora escogemos un sistema de coordenadas con origen en el centro de masas del
element is a distance r ! x # y from the z axis, the moment of inertia about the
2 2
However, we can relate the coordinates x, y of the mass element dm to the coordinates of
this same element located in a coordinate system having the objects center of mass as its
origin. If the coordinates of the center of mass are x CM, y CM in the original coordinate
system centered on O, then from Figure 10.12a we see that the relationships between the
unprimed and primed coordinates are x ! x" # x CM and y ! y" # yCM. Therefore,
The first integral is, by definition, the moment of inertia about an axis that is parallel
to the z axis and passes through the center of mass. The second two integrals are zero
because, by definition of the center of mass, !x"dm ! !y"dm ! 0. The last integral is sim-
ply MD 2 because !dm ! M and D 2 ! x CM2 # yCM2. Therefore, we conclude that
O: R
!Apliacin
! del teorema de Steiner
r 2 dm ! R 2 dm ! MR 2
M
dm ! " dx ! dx
L x
O
xpression for dm into Equation 10.17, with
x
m! !L/2
#L/2
x2
M
L
dx !
M
L
!
L/2
#L/2
x 2 dx L
F sin
F 10.6 Torque
La lnea de accin de una
fuerza es una lnea r
Why are a doors hinges and its
imaginaria colineal con el Imagine trying to rotate a door b
vector fuerza y que se O F cos
r the door surface but at various
extiende hasta al infinito en Line of
ambas direcciones d rapid rate of rotation for the door
action
plying it near the hinges.
If you cannot loosen a stubbor
Figure 10.13 The force F has a effort to loosen the bolt? You may
greater rotating tendency about O slip a pipe over the existing wren
as F increases and as the moment
La tendencia de una fuerza a hacer que un cuerpo gire alrededor de door.
un eje seare
mide
with the You more succe
arm d increases. The component
mediante una magnitud vectorial denominada par (o momento
F sin " tends to rotate the wrench dooraxial)
or thede la fuerza
bolt) by applying the f
about O. When a force is exerted on a r
El par es la causa de los cambios producidos en el movimiento rotate about that
de rotacin axis. The
y juega un tende
measured by
papel en la dinmica de rotacin anlogo a las fuerzas en la dinmica de atraslacin
vector quantity cal
will consider only its magnitude h
PITFALL PREVENTION Consider the wrench pivoted
Momento (o par o torque) de una fuerza
Consideremos la llave inglesa que puede girar alrededor de un eje que pasa por .
La fuerza aplicada puede formar un ngulo con respecto al vector posicin
que indica
306el punto de
C HAPTE aplicacin
R 10 Rotation ofde la fuerza
a Rigid Object About a Fixed Axis
F sin
F 10.6 Torque
r Hasta ahora hemos definido
Why are a doors hinges and el
its
mdulo, pero el
Imagine trying tomomento de b
rotate a door
O F cos theuna
doorfuerza es un
surface butvector
at various
r
Line of rapid rate of rotation for the door
d action
plying it near the hinges.
If you cannot loosen a stubbor
Figure 10.13 The force F has a effort to loosen the bolt? You may
greater rotating tendency about O slip a pipecomo
over the existing wren
Definimos el mduloas del momento
F increases and asasociado
the moment por la fuerza
with the door. You are more succe
arm d increases. The component
F sin " tends to rotate the wrench door or the bolt) by applying the f
about O. When a force is exerted on a r
rotate about that axis. The tende
El momento de la fuerza solo queda definido cuando se especifica un measured by a vector aquantity
eje de referencia cal
partir del
cual se determina la distancia entre el pivote y el punto dewill consider de
aplicacin onlylaits magnitude h
fuerza
PITFALL PREVENTION Consider the wrench pivoted
Interpretacin de la frmula del mdulo del momento (I)
Consideremos la llave inglesa que puede girar alrededor de un eje que pasa por .
La fuerza aplicada puede formar un ngulo con respecto al vector posicin
que indica
306el punto de
C HAPTE aplicacin
R 10 Rotation ofde la fuerza
a Rigid Object About a Fixed Axis
F sin
F 10.6 Torque
Solo la componente
perpendicular provoca un giro
Whyalrededor del hinges
pivote and its
r
are a doors
Imagine trying to rotate a door b
O F cos the door surface but at various
r
Line of La componente
rapid rate of de lafor
rotation fuerza
the door
d action paralela a no
plying it near the hinges.
contribuir al giro alrededor del
If you cannot loosen a stubbor
punto de pivote, porque su lnea
Figure 10.13 The force F has a effort to loosen the bolt? You may
greater rotating tendency about O de accin pasa justamente a
slip
travs a pipe over the
del punto delexisting
pivotewren
as F increases and as the moment
with the door. You are more succe
arm d increases. The component
F sin " tends to rotate the wrench door or the bolt) by applying the f
about O. When a force is exerted on a r
rotate about that axis. The tende
El mdulo del momento de la fuerza es el producto de la distancia measured by ade
al punto vector quantity cal
aplicacin
de la fuerza multiplicada por la componente perpendicular will consider only its magnitude h
de la fuerza
PITFALL PREVENTION Consider the wrench pivoted
Interpretacin de la frmula del mdulo del momento (II)
Consideremos la llave inglesa que puede girar alrededor de un eje que pasa por .
La fuerza aplicada puede formar un ngulo con respecto al vector posicin
que indica
306el punto de
C HAPTE aplicacin
R 10 Rotation ofde la fuerza
a Rigid Object About a Fixed Axis
F sin
F 10.6 Torque
r
Why are a doors hinges and its
Imagine trying to rotate a door b
O F cos the door surface but at various
r
Line of rapid rate of rotation for the door
d action
plying it near the hinges.
If you cannot loosen a stubbor
Figure 10.13 The force F has a effort to loosen the bolt? You may
greater rotating tendency about O slip a pipe over the existing wren
as F increases and as the moment
Si asociamos la funcin with the door. You are more succe
arm d increases. The seno a la distancia
component
F sin " tends to rotate the wrench door or the bolt) by applying the f
about O. When a force is exerted on a r
rotate about that axis. The tende
A la magnitud se la denomina brazo del momentomeasured (o brazo byde apalanca) de la cal
vector quantity
fuerza y representa la distancia perpendicular entre el eje de rotacin y la lnea
will consider onlyde
itsaccin de h
magnitude
PITFALL PREVENTION Consider the wrench pivoted
ing the force. The dashed line extending f
the line of action of F.) From the right tria
Moment arm its hypotenuse, we see that d # r sin ". Th
Momento de un sistema de fuerzas lever arm) of F.
In Figure 10.13, the only component of
component perpendicular to a line drawn
Si dos o ms fuerzas estn actuando sobre un cuerpo rgido, cada
cation una
of the de ellas
force. tiene una
The horizontal compon
cierta tendencia a producir un movimiento de rotacin alrededor through O,del haspunto de pivote
no tendency to produce
From the definition of torque, we see tha
F1
creases and as d increases. This explains t
door if we push at the doorknob rather than
to apply our push as closely perpendicular
d1 the doorknob will not cause the door to rot
If two or more forces are acting on a ri
O
produce rotation about the axis at O. In t
d2 clockwise and F1 tends to rotate it counte
sign of the torque resulting from a force is
is counterclockwise and is negative if the t
in Figure 10.14, the torque resulting from
F2
and equal to $ F1d1; the torque from F2 is n
Active Figure 10.14 The force F1 torque about O is
Si el cuerpo est inicialmente en
tends to rotate the object reposo:
counterclockwise about O, and F2
tiende a hacer girar el cuerpo tends
en el to rotate it clockwise.
! ! # !1 $ !2
tiende a hacer girar el cuerpo en el sentido
sentido de las agujas del reloj contrarioTorque
At the Active Figures link al de should not bedel
las agujas confused
reloj with
at http://www.pse6.com, you motion, as described by Newtons second l
can change the magnitudes, tional motion, but the effectiveness of the
Por convenio: signo negativodirections, and points of Por convenio: signo
both the forces and positivo
the moment arms of
application of forces F1 and F2
to see how the object torque. Torque has units of force times lengt
accelerates under the action of be reported in these units. Do not confuse t
the two forces. but are very different concepts.
No se debe confundir momento con fuerza
Por tanto, podemos imaginar las fuerzas que se ejercen sobre el cuerpo
rgido como si fueran ejercidas sobre partculas individuales del mismo.
Como y
Ahora sumamos los momentos ejercidos sobre todas las partculas del cuerpo rgido
Segunda ley de Newton en las rotaciones
Par neto sobre todas las partculas En el modelo de cuerpo rgido, todas
del cuerpo rgido las partculas tienen la misma
aceleracin angular
Como el par neto debido a las
fuerzas internas se anula (ver tema
de Sistemas de partculas), entonces
el trmino de la izquierda queda
reducido al par externo neto
Como
El trabajo realizado en el
movimiento de rotacin es igual
al producto del par por el
desplazamiento angular
Trabajo y energa en el movimiento de rotacin
A partir de la segunda ley de Newton para las rotaciones
TR 2 mg % T
(3) a " R# " "
I m
mg mg
Figure 10.20 (Example 10.12) An object hangs from a cord (4) T"
1 $ (mR 2/I )
wrapped around a wheel.
tial acceleration than the portion below it. (The tangential
acceleration of a given point on the smokestack is propor-
tional to the distance of that portion from the base.) As
T Como
Because the el objeto yconnected
la rueda by a cordestn
Equations (1) and (2) have three unknowns: #, a, and T.
object and wheel are that conectados por una cuerda que no
resbala, latangential
aceleracin lineal
does not slip, the linear acceleration of the suspended
object is equal to the acceleration of a point on del objeto suspendido es igual a la
of the aceleracin tangencial de un punto en el borde de la rueda.
m the rim of the wheel. Therefore, the angular acceleration #
wheel and the linear acceleration of the object are
related by a " R #. Using this fact together with Equations
(1) and (2), we obtain
La aceleracin angular
TR
de la rueda y la aceleracin lineal del objeto
mg % T 2
(3) a " R# "
m estn relacionados por
"
I
mg mg
Figure 10.20 (Example 10.12) An object hangs from a cord (4) T"
1 $ (mR 2/I )
wrapped around a wheel.
El pndulo fsico
Consideremos un cuerpo rgido que pivota en un punto situado a una distancia de su
centro de masas
mg
Figure 15.18 A physical pendu-
lum pivoted at O.
La fuerza gravitacional produce un momento que siempre hace que el ngulo tienda hacia la
posicin de equilibrio (es un momento restaurador).
El pndulo fsico
Consideremos un cuerpo rgido que pivota en un punto situado a una distancia de su
centro de masas
La fuerza gravitacional produce un momento que siempre hace que el
ngulo tienda hacia la posicin de equilibrio (es un momento restaurador).
O
Pivot Si suponemos que los ngulo son pequeos (y estn medidos en rad)
d
CM
d sin
es la constante de torsin
(Como la ley de Hooke para los muelles, pero ahora aplicado a rotaciones)
De nuevo, la ecuacin del oscilador armnico simple con una frecuencia y periodos iguales a
ng on the center of mass rather than on a point on the rim of the rolling object. As
we see in Figure 10.26, the center of mass moves in a straight line. If an object such
as a cylinder rolls without slipping on the surface (we call this pure rolling motion), we
Movimiento de rodadura de cuerpos rgidos
can show that a simple relationship exists between its rotational and translational
motions.
Consider a uniform cylinder of radius R rolling without slipping on a horizontal
Supongamos un objeto redondo que rueda sin deslizar sobre una superficie.
urface (Fig. 10.27). As the cylinder rotates through an angle %, its center of mass
moves a linear distance s ! R%Ejemplo, un Therefore,
(see Eq. 10.1a). cilindrotheque rueda
linear speed segn
of the cen-una trayectoria recta.
er of mass for pureElrolling
eje de rotacin
motion is given bypermanece paralelo a su orientacin inicial en el espacio
ds d%
vCM ! !R ! R" (10.25)
dt dt
where " is the angular speed of the cylinder. Equation 10.25 holds whenever a cylin-
der or sphere rolls without slipping and is the condition for pure rolling motion.
The magnitude of the linear acceleration of the center of mass for pure rolling
motion is
dvCM d%
Movimiento de rodadura de cuerpos rgidos
Supongamos un objeto redondo que rueda sin deslizar sobre una superficie.
Ejemplo, un cilindro que rueda segn una trayectoria recta.
El eje de rotacin permanece paralelo a su orientacin inicial en el espacio
Velocidades de traslacin de
varios puntos del cilindro y del
centro de masas
P
2vCM La velocidad de traslacin de cualquier punto sigue una
direccin perpendicular a la lnea que une ese punto con
el punto de contacto
Q
vCM
CM
v CM
CM CM v=0
Como la distancia de a es el doble que
la distancia de al centro de masas, el
v CM
v = R
punto tiene una celeridad con respecto a
P P
igual a
(a) Pure translation (b) Pure rotation
P
= 2v CM
v = v CM + R
CM v = v CM
v=0
P
(c) Combination of translation and rotation
re 10.29 The motion of a rolling object can be modeled as a combination of pure
lation and pure rotation.
Movimiento de rodadura de cuerpos rgidos
Supongamos un objeto redondo que rueda sin deslizar sobre una superficie.
Ejemplo, un cilindro que rueda segn una trayectoria recta.
El eje de rotacin permanece paralelo a su orientacin inicial en el espacio
CM v CM CM v=0
Si no existiera la fuerza de rozamiento, el
objeto simplemente se deslizara sin rodar
v CM
v = R Si la fuerza de rozamiento es suficientemente grande,
P P
(a) Pure translation (b) Pure rotation entonces el objeto rueda sin deslizar
P
= 2v CM
v = v CM + R
La fuerza de rozamiento es esttica. El punto P est
en reposo relativo con respecto al suelo
CM v = v CM
CM v CM CM v=0
CM v = v CM
v=0
P
(c) Combination of translation and rotation
re 10.29 The motion of a rolling object can be modeled as a combination of pure
lation and pure rotation.
Movimiento de rodadura de cuerpos rgidos
Supongamos un objeto redondo que rueda sin deslizar sobre una superficie.
Ejemplo, un cilindro que rueda segn una trayectoria recta.
El eje de rotacin permanece paralelo a su orientacin inicial en el espacio
CM v CM CM v=0
P
= 2v CM
v = v CM + R
CM v = v CM
Supongamos unaThe
esfera
term 12que
I CM"rueda sin deslizar
2 represents en un
the rotational plano
kinetic inclinado.
energy of the cylinder about its cen
Supongamos
of mass, and theque
termparte
1
2
desde
Mv CM el reposo.
2 represents the kinetic energy the cylinder would have
were just translating through space without rotating. Thus, we can say that the to
Cul es la celeridad del centro de masas cuando llega al punto inferior?
kinetic energy of a rolling object is the sum of the rotational kinetic energy ab
the center of mass and the translational kinetic energy of the center of mass.
We can use energy methods to treat a class of problems concerning the rolling
M tion of an object down a rough incline. For example, consider Figure 10.30, wh
R
shows a sphere rolling without slipping after being released from rest at the top of
incline. Note that accelerated rolling motion is possible only if a friction force is
sent between the sphere and the incline to produce a net torque about the cente
mass. Despite the presence of friction, no loss of mechanical energy occurs because
x
h contact point is at rest relative to the surface at any instant. (On the other hand, if
vCM sphere were to slip, mechanical energy of the sphereinclineEarth system would
lost due
Para to the nonconservative
el sistema formado por force of kinetic
la esfera friction.)
y la Tierra, y definiendo el cero
Using thepotenciales
de energas ! Rla
fact that vCM en for pure
" base delrolling
planomotion, we can
inclinado, express Equa
el teorema de
Active Figure 10.30 A sphere
rolling down an incline. 10.28 as conservacin de la energa nos da
Mechanical energy of the
sphereinclineEarth system is
1
K ! 2 ICM ! R "
vCM 2 1
# 2MvCM 2
conserved if no slipping occurs.
Sistema discreto
Sistema continuo