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Lecture 33: Torque

I R

Recap: Torque
Apply a force Fi to a disk Fi will make the disk spin We can divide the force into a tangential and a radial component The radial component does not affect the spin The force that is making the disk rotate is called a torque The torque is the tangential force Ft times the lever arm r AXB=C

= I

T m a mg L

= Ft r
B

= Ft r

The torque is a vector perpendicular to the disk in the direction given by the Right Hand Rule (out of the slide)
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C
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Torque makes it spin


Suppose a tangential force Ft acts on a mass constrained to move in a circle with angular acceleration . Consider its acceleration in the tangential direction at some instant: at = r Now use Newtons 2nd Law Ft = mat = mr Multiply by r to get torque (r Ft ): r F Ft at m

Torque makes it spin


Remember r Ft = m r2 , But Moment of Inertia I = mr2 Therefore Torque: = r Ft. = I Ft r is the tangential force Ft times the lever arm r. is the moment of inertia I times the angular acceleration Rotational equivalent of F=ma at F m

= I

=r Ft = mr2

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Torque makes it spin


For a collection of many particles arranged in a rigid configuration: 2

Torque makes it spin


i

ri F i , t =
i

m i ri
I

NET = I
This is the rotational analogue of FNET = ma Torque is the rotational analogue of force: force: The amount of twist provided by a force. Moment of inertia I is the rotational analogue of mass. mass. If I is big, more torque is required to achieve a given angular acceleration. Torque has units of (kg m/s2) m = Nm.

Since the particles are connected rigidly, they all have the same .

i = I
i

m4 F4 r4 m3 F3 r3 , r2 m2 F2 r1 m1

F1

NET = I
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Torque
Consider a force on an element mi making an angle with r Recall the definition of torque:

ICQ: Torque
In which of the cases shown below is the torque provided by the applied force about the rotation axis biggest? In both cases the magnitude and direction of the applied force is the same. (a) case 1 (b) case 2 (c) same L axis case 1
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= rFt
= rF sin = ( r sin ) F

L F F

= F
= distance of closest approach
Another definition of torque = Force x Distance of closest approach of the line of the force to the rotation axis
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case 2
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ICQ: Torque
In which of the cases shown below is the torque provided by the applied force about the rotation axis biggest? In both cases the magnitude and direction of the applied force is the same. (a) case 1 (b) case 2 (c) same L axis case 1
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ICQ: Torque Solution


Torque = Fx (distance of closest approach) The applied force is the same. The distance of closest approach is the same. Torque is the same! L

F L

F L

case 2
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case 1

case 2
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Torque
= r Fsin
F So if = 0o, then = 0 r

Turning rod
A uniform rod of mass M and length L is pivoted at one end. It is held horizontal and then released. Find the angular acceleration immediately after its release. By Newtons second law

= I

Compute torque about the hinge = Fl = F00+MgL/2 = MgL/2 F r I about end of rod I = 1/3 ML2 L 1 Calculate Mg = ML 2 2 3 3g = 2L Linear acceleration (a) at the end of the rod = L = 3g/2!
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And if = 90o, then = maximum

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The Cross Product


We can describe the vector nature of torque in a compact form by introducing the cross product. Remember the dot (scalar) product multiplied two vectors to produce a scalar The cross (vector) product of two vectors is a third vector: AXB=C The magnitude of C is given by: C = AB sin The direction of C is perpendicular to the plane defined by A and B, and in the direction defined by the right hand rule, rotating from A to B.
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The Cross Product


Cartesian components of the cross product: C=AXB CX = AY BZ - BY AZ CY = AZ BX - BZ AX A A CZ = AX BY - BX AY C B

C Note: B X A = - A X B

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The Cross Product


A = (1,0,0) B = (0,2,0) C=AXB CX = AY BZ - BY AZ = 0-0 = 0 CY = AZ BX - BZ AX = 0-0 = 0 CZ = AX BY - BX AY = 2-0 = 2 C = (0,0,2) RX = PYQZ-QYPZ=3-2=1 RY = PZQX-QZPX=1-3=-2 RZ = PXQY-QXPY=2-1=1 R=(1,-2,1)
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Torque & the Cross Product:


We define torque as:

P = (1,1,1) Q = (1,2,3) R=PXQ

=rXF
agnitude of = rFsin, Direction perpendicular to plane containing r and F

X = rY FZ - FY rZ = Y = rZ FX - FZ rX = Z = rX FY - FX rY =

F y FZ - FY z z FX - FZ x x FY - FX y

r y z x

If we define r and F to be in the x-y plane

x=y=0, is in the z direction

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Comment on = I
When we write = I we are really talking about the z component of a more general vector equation. Recall that we normally choose the z-axis to be the the rotation axis and the force and radius vectors to be in the x-y plane

Torque: Example
To loosen a stuck nut, a man pulls at an angle of 45o on the end of a 50 cm wrench with a force of 200 N. What is the magnitude of the torque on the nut? If the nut suddenly turns freely, what is the angular acceleration of the wrench? (The wrench has a mass of 3 kg, and its shape 45o is that of a thin rod). F = 200 N L = 0.5 m

z = Izz
z We usually omit the z subscript for simplicity. z Iz

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Torque: Example
Torque = LFsin = (0.5 m)(200 N)(sin 45) If the nut turns freely, = I We know and we want , need to figure out I. = 70.7 Nm

ICQ: Torque
Two wheels can rotate freely about fixed axles through their centers. The wheels have the same mass, but one has twice the radius of the other. The spokes have negligible mass 45o Forces F1 and F2 are applied as shown. What is F2 / F1 if the angular acceleration of the wheels is the same? (a) 1 (b) 2 L = 0.5m
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1 1 2 I = ML2 = ( 3kg )( 0.5m) = 0.25kgm 2 3 3 So = = (70.7 Nm) / (0.25 kgm2) I


= 283 rad/s2

F = 200 N

F2 F1

(c) 4

To free a stuck nut, need bigger torque Need longer wrench or 900 application

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ICQ: Torque
Two wheels can rotate freely about fixed axles through their centers. The wheels have the same mass, but one has twice the radius of the other. The spokes have negligible mass Forces F1 and F2 are applied as shown. What is F2 / F1 if the angular acceleration of the wheels is the same? (a) 1 (b) 2 (c) 4 F2 F1 We know also so

ICQ: Torque Solution

= I
and

= FR

I = mR 2
F 2 m R 2 R = = 2 F1 m R1 R1

FR = mR 2 F = mR

Since R2 = 2 R1

F2 = 2 F1
F1

F2

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Homework
Homework problems: Chapter 9 #8,22,28,36,46,58

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