Physics - 1

Rotational motion - kinematics

dynamics
 Introduction
• A rotation is a circular movement of an object (particle)
around a center (or point) of rotation

• A three-dimensional object rotates always around an

imaginary line called a rotation axis.

• If the axis is within the body, and passes through its

center of mass the body is said to rotate upon itself, or
spin
 Kinematics
• Angular velocity is a vector quantity which specifies the angular speed
of an object and the axis about which the object is rotating.

• Angular velocity is usually represented by the symbol omega (Ω or ω).

The direction of the angular velocity vector is perpendicular to the
plane of rotation, in a direction which is usually specified by the right-
hand rule, measured in radians per second.
Its magnitude is called the rotational speed

∆θ • ∆θ - angular displacement
ωaver =
∆t
dθ
ω=
dt
2π v
ω = 2πf = =
T r
 Kinematics
• Angular acceleration is the rate of change of angular velocity
– Average angular acceleration (rad/s2)
∆ω
ε =
∆t r
– Angular acceleration ε
r
r dω
ε=
dt
ω = ω0 ± εt r
ε
1 2
θ = θ 0 + ω0t ± εt
2
Kinematical equations for constant
angular acceleration
 Kinematics
r
• Relating linear and angular kinematics
ε
– Relation between linear and angular speed
r
∆s r∆θ ∆θ v
v = lim = lim = r lim = rω
∆t →0 ∆t ∆t →0 ∆t ∆t →0 ∆t

r v r
v =ω×r
– Centripetal (radial) acceleration

v2
an = = rω 2
r
– Tangential acceleration

= (rω ) = rε
dv d
aτ =
dt dt
 Dynamics of rotational motion
• Torque, also called moment or moment of force is the tendency of a
force to rotate an object (particle) about an axis (Nm).

ϕ
r r r
Mi ri Fi

r r r
M i = ri × Fi d

r∧r
M i = ri Fi sin( ri Fi ) = dFi
r∧r
d = ri sin( ri Fi ) = ri sin ϕ
d - the length of the lever arm
r r
M = ∑ Mi
 Dynamics of rotational motion
• Z- component of the torque
r r
M zi = (r × F ) z

M zi = Fτi Ri

M z = ∑ M zi

M
 Moment of inertia
• Moment of inertia (kgm2) is the name given to rotational inertia, the
rotational analog of mass for linear motion. The moment of inertia
must be specified with respect to a chosen axis of rotation.

F
aτ = ,
m
dv d
aτ = = ( Rω ) = Rε
dt dt
Mz
F F FR
ε =ε R = = , 2 , M z = FR ε=
mR m mR Iz
I z = mR 2
d ( I zω )
Moments of inertia of any object can be = Mz
built up from a collection of point masses! dt
 Angular momentum
Lz = ω I z v
Lz = mR 2 = vmR
v R
ω= I z = mR 2
R
• The angular momentum L of a particle about a given origin:
r r r r r
Li = ri × pi Li = ωI z i
• The angular momentum of a system of particles (e.g. a rigid body) is
the sum of angular momenta of the individual particles
r r
L = ωI
• Angular momentum is described as the rotational analog of linear
momentum. Derived SI units of angular momentum are newton metre
seconds (N—m—s or kg—m2s−1) or joule seconds.
 Moment of inertia of a rigid body
• Consider a rigid body rotating with angular velocity ω around a
certain axis z. The body consists of N point masses mi whose
distances to the rotation axis are denoted Ri.

miω 2 Ri2 ω 2
2
mi vi
Wk = ∑ =∑ = ∑ i i
m R 2

i 2 i 2 2 i
• Moment of inertia of the body (with respect to the
specified axis of rotation) is a purely geometric
characteristic of the object, as it depends only on its
shape and the position of the rotation axis: R
N
I z = m1 R1 + m2 R2 + m3 R3 + ... + mN RN = ∑ mi Ri2
2 2 2 2 i

i =1 r
• Moment of inertia of a continuous solid body i

rotating about a known axis can be calculated

by replacing the summation with the integral:

dI z = R 2 dm = ρR 2 dV I z = ∫ ρR 2 dV = ρ ∫ R 2 dV
V V
 Moment of inertia of a rigid body
• Examples:
– Thin rod of mass m and length ℓ, rotating around the axis which
passes through its center and is perpendicular to the rod.
– Let Oz be the axis of rotation, and Ox the axis along the rod.
– If ρ is the density, and s the cross-section of the rod (so that m
= ρℓs), then the volume element for the integral formula will be
equal to dV = s—dx, where x changes from −½ℓ to ½ℓ. The
moment of inertia can be found by computing the integral:
 Moment of inertia of a rigid body
• Parallel axis theorem
– the parallel axis theorem or Huygens-Steiner theorem can be used to
determine the moment of inertia of a rigid body about any axis, given the
moment of inertia of the object about the parallel axis through the object's
centre of mass and the perpendicular distance (r) between the axes.

I z = I c + ml 2

r r 2 2 rr
′ ′ ′
Ri = (l + Ri ) = l + 2l Ri + Ri
2 2

N rNN r N
I z = ∑ mi Ri = l ∑ mi + 2l ∑ mi Ri′ + ∑ mi Ri′
2 2 2

i =1 i =1 i =1 i =1
N r
∑ mi Ri′ = 0
i =1
 Moment of inertia of a rigid body
• Perpendicular axis theorem
– the perpendicular axis theorem (or plane figure theorem) can be used to
determine the moment of inertia of a rigid object that lies entirely within a
plane, about an axis at right angles to the plane, given the moments of
inertia of the object about two perpendicular axes lying within the plane.
The axes must all pass through a single point in the plane.

bi

ai

Iz = Ix + Iy
 Moment of inertia of a rigid body
Common moments of inertia

The principal axis with the highest moment of inertia is sometimes

called the figure axis or axis of figure.
The principal axes of a body, are a cartesian coordinate system whose
origin is located at the center of mass
 Angular momentum conservation law
• The relationship between the net external torque and the angular
acceleration is of the same form as Newton's second law and is
sometimes called Newton's second law for rotation.

r r r r d ( I zω ) d r r
Li = ωI z i L = ωI = Mz L=M
dt dt
• In the absence of an external torque, the angular momentum of a
body remains constant. The angular momentum of an isolated system
remains constant in both magnitude and direction.

d d
L z = ( I zω ) = 0 Lz = I zω = const.
dt dt
d r r
L=0 L = const.
dt
 Angular momentum conservation law
• Examples

If the masses are The moment of inertia is

pulled in, the moment large with the masses
of inertia is held out. For a given
considerably angular momentum, the
decreased. angular velocity is
Conservation of relatively low.
angular momentum
dictates that the
angular velocity must
increase.
 Gyroscope
• One typical type of gyroscope is made by suspending a relatively
massive rotor inside three rings called gimbals. Mounting each of
these rotors on high quality bearing surfaces insures that very little
torque can be exerted on the inside rotor.

the angular
momentum of the
rotor maintains not
only its magnitude,
but also its direction in
space in the absence
of external torque!
 Gyroscope
• Precession is a change in the orientation of the rotation
axis of a rotating body
– precession occurs when the axis of rotation differs slightly from
an axis about which the object can rotate stably: a maximum or
minimum principal axis.
– the gyroscope will precess in the direction shown because of the
torque exerted by gravity on the gyroscope.