LESSON 13

SYSTEM OF PARTICLES AND

ROTATIONAL MOTION
Centre of Mass
When we consider the motion of a system of particles, or a body (no matter how irregular its shape
is) such that the entire mass is considered to be concentrated at that point. This point is called centre of
mass (COM) of the system.

Position of centre of Mass of a System of Particles

Suppose we have a system consisting of n y m1

m2
particles of masses m1 , m2 , m3 .......... mn with
m3
r1 , r 2 .........r n as their position vectors at a given
instant of time. The position r cm of the COM of r1
r3
r2
the system at that instant is given by

m1 r1  m2 r 2  ..............  mn r n
r cm 
m1  m2  ........  mn O x

m r i 1 z
r cm  i 1
n

m
i 1
i

Now, r i  xi i  yi j  zi k

and r cm  xcm i  ycm j  zcm k

So, the Cartesian co-ordinates of the COM will be

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 m1 x1  m2 x2  m3 x3  ........mn xn
xcm 
m1  m2  ...........mn
n

m x i i
or xcm  i 1
n
…..(2)
m
i 1
i

m y i i
Similarly, ycm  i 1
n
… (3)
m
i 1
i

m z i i
zcm  i 1
n
…. (4)
m
i 1
1

Position of Centre of mass of continuous Bodies

For calculating centre of mass of a continuous body, we first divide the body into suitably chosen
infinitesimal elements. The choice is usually determined by the symmetry of the body.

Consider element dm of the body having position vector r ,

y
the quantity mi r i in equation of COM is replaced by r dm and
 mi ri dm
the discrete sum over particles , becomes integral over the
M r1
body:
1
M 
r CM  r dm …. (5)

x
In component from this equation can be written as
Suppose x, y and z are the coordinates of small elements of mass dm , we have

xcm 
 xdm   xdm ,
 dm M

ycm 
 ydm   ydm ;
 dm M

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 zcm 
 zdm   zdm … (6)
 dm M
Example : A 3.00 kg particle is located on the x-axis at x  5.00cm and 4.00 kg particle is on the
x - axis at x  3.00cm. Find the centre of mass of this two particle system.

m1  x1  m2 x2  3.00    5.00    4.00    3.00 

Solution : X cm    0.429cm
m1  m2 3.00  4.00

y  m
Example : Find the centre of mass of the four
point masses as shown in figure m3  5kg
4 m2  4kg
2

x m
4
4 3 2 1 1 2
2 m1  2kg
m4  1kg
4

Solution : The total mass M  12kg , we have

xcm 
 2kg  3m    4kg  3m    5kg  4m   1kg  3m    5
m
12kg 12

ycm 
 2kg  1m    4kg  3m    5kg  4m   1kg  2m   28 m
12kg 12

Example : The position vector of three particles of masses m1  1kg , m2  2kg and m3  3kg are

  
r 1  i  4 j  k m, r 2  i  j  k m  and 
r 3  2i  j  2k m respectively. Find the
position vector of their centre of mass.
Solution : The position vector of COM of the three particle is given by

m1 r1  m2 r 2  m3 r 3
r cm 
m1  m2  m3

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 Substituting the values

1  i  4 j  k   2 i  j  k   3  2i  j  2k 
r cm 
1 2  3
 r cm 
2
3
3i + j - k m 

Classroom Practice Paper

y
1 Three particles of masses 0.50 kg, 1.0 kg and 1.5 kg are placed at the 1.5kg
three corners of a right angled triangle of sides 3.0 cm, 4.0 cm and 5.0
cm as show in figure, located the centre of mass of the system .
3.0cm 5.0cm

x
0.50kg 1.0kg
4.0cm

y
1kg 2kg
A B
2. Four particles of masses 1 kg, 2kg, 3kg and 4kg are placed at the four
verticals A, B, C and D of a square of side 1m. Find the position of
centre of mass of the system.
4kg 3kg
 0, 0 D C x

3. Two block of masses 10 kg and 20 kg are placed on the x-axis. The first mass is moved on the axis
by a distance of 2 cm. By what distance should the second mass be moved to keep the position of
the centre mass unchanged.

Velocity of centre of Mass and Linear Momentum of A System of Particles.

Let us consider the motion of a system of n particles of individual masses m1 , m2 , m3 ...... mn and the
total mass M. We have,

m1 r1  m2 r 2  ..........  mn r n m1 r1  m2 r 2  ......  m2 r n
r cm  
m1  m2  m3  ........  mn M

or, M r cm  m1 r1  m2 r 2  ...........  mn r n

Differentiating this expression with respect to time t , we have

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 d r cm d r1 d r2 d rn
M  m1  m2  .......mn
dt dt dt dt
or, M vcm  m1 v1  m2v2  ...........mn v n

m1 v1  m2 v 2  .......mn v n
 vcm 
M
n

m v i i

or, v cm  i 1
…. (7)
M
Again, M vcm  m1 v1  m2 v 2  m3 v3  ...........  mn v n

or, M vcm  p1  p 2  .............  p n

n
 Pcm  M vcm   Pi …. (8)
i 1

Acceleration of the centre of mass and Equation of motion for A system of Particles

We have, M vcm  m1 v1  m2 v 2  ...........  mn v

Differentiating with respect to time t , we get,

M
d
dt
  d
v cm  m1 v1   m2
dt
d
dt
v 2  m3
d
dt
   
v 3  ..........  mn
d
dt
vn  
or, M a cm  m1 a1  m2 a 2  ...................  mn a n

m1 a1  m2 a 2  .............  mn a n  mi ai
 acm   … (9)
M M
also, M acm  F 1  F 2  ..............  F n

 F cm  M acm
Thus, the centre of mass of a system of particles moves as through it were a particle of mass equal
to that of the whole system with all the external forces acting on it.

If F ext  0, then vcm  constant. Thus, if the net external force on a system of particles is zero, the
velocity of the centre of mass remains constant.
Distinction Between centre of mass and centre of gravity
The position of the centre of mass of a system depends only upon the mass and position of each
constituent particle,

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  mi r i
i.e., r CM  …. (i)
 mi
The location of G, the centre of gravity of the system, depends however upon the moment of the
gravitational force acting on each particle in the system (about any point, the sum of the momentum for
all the constituent particles is equal to the moment for the whole system concentrated at G).
Hence, if g i is the acceleration vector due to gravity of a particle P, the position vector r G of the
centre of gravity of the system is given by


r G   mi g i   r i  mi g i  …. (ii)

It is only when the system is in a uniform gravitational field, where the acceleration due to gravity
(g) is the same for all particles, that equation (ii)

 mi r i
Becomes r G   r CM
 mi
In this case, therefore the centre of gravity and the centre of mass coincide.
If, however the gravitational field is not uniform and gi is not constant then, in general equation (ii)
cannot be simplified and rG  rCM .
Thus, for a system of particles in a uniform gravitational field, the centre of mass and the centre of
gravity are identical points but in a variable gravitational field, the centre of mass and the centre of
gravity are in general, two points.

Example : A 20 kg particle has a velocity  2.0i  3.0 j  m/s and 3.00 kg particle has a velocity

1.0i  6.0 j  m/s . Find the velocity of the centre of mass and total momentum, of the
system.
m1v1  m2v2
Solution : VCM 
m1  m2


  
2.0  2.0i  3.0 j  3.00 1.0i  6.0 j 
5


= 1.4i + 2.4j m/s
Total momentum of the system  5 1.4i  2.4 j 
 
= 7.0i + 12.0j kg - m/s

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Example : Figure shown two block of masses 5 kg and 2 kg placed
14m/s
on a frictionless surface and connected by a spring. An
external kick gives a velocity 14 m/s to the 5 kg block in 5kg 2kg
the direction of lighter one. Deduce the velocity gained by
the centre of mass.
m1v1  m2v2
Solution : VCM 
m1  m2

5  14  2  0
  10m/s
5 2
Example : Two block of equal masses m are connected by
an unstretched spring and the system is kept at
m m F
rest on a frictionless horizontal surface. A
constant force F is applied on one of the
blocks pulling it away from the other as shown
in figure. Find the position of the centre of mass
at time t .
Solution : Considering both the masses as the system. F is the net external forces on the system.
The acceleration of the centre of mass is given by
F F
aCM  
M 2m
The position of the centre of mass at time t is

1 Ft 2
X CM  aCM t 2 
2 4m
Example : A man of mass m is standing over a plank of
mass M . The plank is resting on a
frictionless surface as shown in figure. If the
man starts moving with a velocity v with
respect to plank towards right. Find the
velocity with which plank will starts
moving.
Solution : Consider man and plank as a system. There is no net external force acting on the system so
liner momentum of system will remain conserved.
If plank starts moving with velocity V towards left, then the velocity of man will be
 v  V  with respect to surface towards right.
Initial linear momentum of system  0
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 Final linear momentum of system  m  v  V   MV .

From conservation of momentum for the system

m  v  V   MV  0

mv
V=
m+M

Classroom Practice Paper

4. Two particles A and B initially at rest move towards each other under a mutual force pf attraction.
What is the speed of centre of mass at the instant when the speed of A is v and the speed of B is 2 v?
5. Two particles of mass 2 kg and 1 kg are moving along the same line with speed 2 m/s and 5 m/s
respectively. What is the speed of centre of mass of the system if both the particle are moving (i) in
same direction and (ii) in opposite direction?

Rotational Motion of A Rigid Body About A Fixed Axis

In circular motion, we have already studied the rotation of a point mass. Presently, we are going to
analyses the rotation of a right body about a fixed axis.
A ‘rigid body’ is defined as an object that has fixed size and shape. In other words, the relative
positions of its consutituent particles remain constant. In practice, a right body does not exist it is an
useful idealisation.

Fixed axis of rotation means an axis that is at rest in some inertial
frame of reference.
axis
Let us consider the example of a disc of radius R and mass M
rotating about a fixed passing through its centre perpendicular to its plane
as shown.
This rotating disc can be imagined as a group of infinite point masses
revolving in different circles. The points, which are at different distances
from the axis, are moving with different speeds in circle of different radii,
and the centers of all circles lie on a straight line called the axis of rotation.
The particles lying on the axis of rotation remain stationary.

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 The time period T  and the angular velocity   of revolution 
2  R

   are the same for each point as all of them complete one
 T 
revolution in same time interval.
Linear speeds of different points on the disc are different. For
example, a point at a distance ' r ' from the axis is rotating with speed P
r while a point on the circumference of the disc is rotating with
speed R . Points on the axis are at rest. Points on the circumference r
have maximum tangential velocities.
Angular Displacement
The figure illustrates a rigid object of arbitrary shape y
confined to the xy plane and rotating about a fixed axis through
O perpendicular to the plane of the figure. A particle on the object
at P is at a fixed distance r from the origin and rotates in a circle P
of radius r about O . In fact, every particle on the object r s
undergoes circular motion about O . It is convenient to represent 
the position of P with its polar coordinates  r ,   . In this o
x
representation, the only coordinate that changes with time is the
angle ,; r remains constant. (In rectangular coordinates, both
x and y vary in time.) As the particle moves along the circle from
the positive x  axis    0  to P, it moves through an arc length s,
which is related to the angular position  through the relationship.
s  r
s
 …. (11)
r
It is important to note the unit of  in equation (11). The angle  is the ratio of an arc length and
the radius of the circle and, hence, is a pure number. However, we commonly give  the artificial unit
radian (rad).
y
Angular Velocity and Angular Acceleration
As the particle under consideration on the rigid body travels from Q
P to Q in a time t , the radius vector sweeps out an angle
  2  1 , which equals the angular displacement. We define the P
average angular speed  (omega) as the ratio of this angular
displacement to the time interval t :
2
1
O x

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 2  1 
  …. (12)
t2  t1 t
In analogy to linear speed, the instantaneous angular speed , is defined as the limit of the ratio in
equation (12) as t approaches zero:
 d 
  lim  …. (13)
t  0 t dt
Angular speed has units of radian per second, or rad/s.
If the instantaneous angular speed of an object changes from 1 to 2 in the time interval t , the
object has an angular acceleration. The average angular acceleration  (alpha) of a rotating object is
defined as the ratio of the change in the angular speed to the time interval t ,

2  1 
Average angular acceleration    …. (14)
t2  t1 t

In analogy to linear acceleration, the instantaneous angular acceleration is defined as the limit of the
ratio  / t as t approaches zero:
Instantaneous angular acceleration
 d 
  lim  …. (15)
t  0 t dt

Angular acceleration has unit of ' rad/s 2 . Note that  is positive when  is increasing in time and
negative when  is decreasing in time.
 When rotating about fixed axis, every particle on a rigid object has same angular speed and the
same angular acceleration.
Rotational Kinematics
In the study of linear motion, we found that the simplest form of accelerated motion to analyze is
motion under constant linear acceleration. Likewise, for rotational motion about a fixed axis, the simplest
accelerated motion to analyze is the motion under constant angular acceleration. Therefore, we next
develop kinematics relationship for rotational motion under constant angular acceleration. If we write
Equation (15) in the form d   dt and let   0 at t0  0

We can integrate this expression directly to get:

  0  t    Constant  …. (16)

Likewise, substituting Equation 16  into Equation 13 and integrating once (with initial angular
position   0 at t0  0 ), we get

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 1
  0  0t  t 2 …. (17)
2
If we eliminate t from Equation (16) and (17), we get

2  02  2    0  …. (18)

Notice that these kinematic expressions for rotational motion under constant angular acceleration
are of the same form as those for linear motion under constant linear acceleration with the substitutions
x  , v   and a  . Table given below compares the kinematic equation for rotational and linear
motion. Furthermore, the expressions are valid for both rigid body rotation and particle motion about a
fixed axis
A comparison of Kinematics Equation for Rotational and Linear motion Under Constant
Acceleration

Rotational motion with constant angular Linear motion with constant acceleration
acceleration
  0  t v  v0  at
1 1
  0t  t 2 s  v0t  at 2
2 2
2  02  2  v2  v02  2a s

Relationship between angular and linear quantities

In this section we derive some useful relationship between the angular speed and acceleration of a
rotating rigid object and the linear speed and acceleration of an arbitrary point in the object. In order to do
so, we musk keep that when object rotates about a fixed axis as, every particle of the object moves in a
circle the centre of when is the axis of rotation.

We can relate the angular speed of the rotating object to the tangential speed of a point P on the
object. Since P moves in a circle, the linear velocity vector v is always tangent to the circular path, and
hence called tangential velocity. The magnitude of the tangential velocity of the point P is by
delimitation, ds / dt , where is the distance traveled by the point measured along the circular path.
Recalling that s  r (Eq. 10) and noting that r is constant,

We get

ds d
v r  r …. (19)
dt dt

Relationship between linear and angular speed, v  r 

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 That is, the tangential speed of a point on a rotating rigid object equals the distance of that point
from the axis rotation multiplied by the angular speed. Therefore, although every point on the rigid object
has the same angular speed, not every point has the same linear speed.

We can relate the angular acceleration of the rotating rigid object to the tangential acceleration of
the point P by differentiating v w.r.t. time

dv d
at  r  r …. (20)
dt dt

Relationship between tangential linear acceleration and angular acceleration at  r

i.e., the magnitude of the tangential component of the linear acceleration of a point on a rotating
rigid object equals the distance of that point from the axis of rotation multiplied by the angular
acceleration.
y
Previously, we found in circle motion that a point rotating in a
circular path has a radial component of acceleration of magnitude
v 2 / r directed toward the centre of rotation. Since v  r  for the
point P on the rotating object, we can express the magnitude of the v
centripetal acceleration as
P
v2 r
ar   r 2
… (21)
r 
x
O

The total linear acceleration of the point is a  at  ar . Therefore, the magnitude of the total linear
acceleration of the point P on the rotating rigid object is

a  at2  ar2  r 2  2  r 24   2  4 …. (22)

Example : A wheel rotates with a constant angular acceleration of 3.50 rad / s 2 . if the angular speed
of the wheel is 2.00 rad/s at t0  0, (a) what angle does the wheel rotate through in 2.00 s?
(b) What is the angular speed at t  2.00s ?
Solution : For constant angular acceleration
1  rad  1 rad 
  0t  t 2   2.00   2.00s    3.50 2   2.00s   11.0rad
2
(a)
2  s  2 s 
 rad 
(b)   0  t  2.00 rad/s   3.50 2   2.00s   9.00 rad/s
 s 

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Example : A wheel of radius R rotates about a fixed axis passing through its centre and
perpendicular to its plane. If the angular speed  is constant then find the linear speeds
and linear accelerations of the points located at t  0, r  R/2 and r  R, where the
positions of points are measured from the centre of the wheel.
dv v2
Solution : For the point at r  0 has zero linear speed, aT   0, ar   0 and a  0
dt R
Rω
For the point at r  R / 2 has linear speed v  , linear acceleration equal to the
2
v2 Rω 2
centripetal acceleration  (the tangential acceleration is zero since  is
 R/2  2
constant)
For the point on the rim at r  R has a linear speed v = Rω and a linear acceleration
a = Rω 2

Example : The turntable of a record player rotates initially at the rate 30 rev/min and takes 20.0 s to
come to rest. (a) What is the angular acceleration of the turntable, assuming the
acceleration is uniform? (b) How many rotations does the turntable, assuming make before
coming to rest? (c) if the radius of the turntable is 14.0 cm, what are the magnitudes of the
radial and tangential components of the linear acceleration of a point on the rim at t  0?
Solution : (a) Recalling that 1 rev  2 rad, we see that the initial angular speed is

 rev  rad  1 min 

0   33.0  2    3.46 rad/s
 min  rev  60 s 

Using   0  t and the fact that   0 at t  20s

0 3.46 rad/s
We get,     0.173 rad/s 2
t 20.0 s
Where the negative sign indicates that  is decreasing.
(b) Using Equation (17), we find that the angular displacement in 20.0 s is

1  rad  1 rad 
  0t  t 2   3.46   20s    0.173 2   20   34.6rad
2

2  s  2 s 

This corresponds to 34.6 / 2  rev, or 5.50 rev.

(c) Tangential acceleration  r   14  0.173  2.42 cm/s 2

2
 rad 
radial acceleration, ar  r  14.0cm   3.46
2
0   168 cm/s
2

 s 

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 Classroom Practice Paper

6. A wheel starts rest and rotates with constant angular acceleration to an angular speed of 12.0 rad/s
in 3.00s. Find the magnitude of the angular acceleration of the wheel and the angle in radians
7. A racing car travels on a circular track of radius 250 m. If the car moves with a constant linear speed
of 45.0 m/s. Find its angular speed and the magnitude and direction of its acceleration.
8. A flywheel of radius h20 cm starts from rest, and has a constant angular acceleration of 60 Rad/s 2 .
Fine
(a) The magnitude of the net acceleration of a point on the rim after 0.15s.
(b) The number of revolutions completed in 0.25s.

Kinetic energy of a rotating Body and moment

Kinetic Energy
Let us consider a right object as a collection of small particles and assume that the object rotates
about the fixed z-axis with an angular speed . Each particle has kinetic energy determined by its mass
and speed. If the mass of the l th particle is mi and its speed is vi , its kinetic energy is

1
Ki  mi vi2
2
Z
To proceed further, we recall that although every particle in the rigid
object has the same angular speed , the individual linear speeds depend
on the perpendicular distance ri from the axis of rotation according to the y  ri 
expression vi  ri . The total energy of the rotating rigid object is the sum n mi
O y
of the kinetic energies of the individual particles:
1 1
K r   ki   mi vi2  mi ri 2 2 x
2 2

Kr 
1
2
  mi ri 2  2

Here,  mi ri 2 is a physical quantity known as momentum of inertia (l)

l   mi ri 2

KESHAV KOTHARI PHYSICS

 Using this notation, we can express the energy of the rotating rigid body as: Rotational Kinetic
1
Energy  / 2 …. (23)
2
1 2
Although we commonly refer to the quantity l as the rotational kinetic energy, it is not a new
2
form of energy. It is ordinary kinetic energy, because it was derived from a sum over individual kinetic
energies of the particles contained in the rigid object. However, this form of the energy is a convenient
one when dealing with rotational motion, provided we known how to calculate l . It is important that you
1
recognize the analogy between kinetic energy associated with linear motion, mv 2 and rotational motion,
2
1 2
l . The quantities l and  in rotational motion are analogous to m and v in linear motion,
2
respectively. (ln fact, l takes the place of m every time we compare a linear-motion equation to its
rotational counterpart.)

KESHAV KOTHARI PHYSICS

Momentum of Inertia Axis of rotation

If a particle of mass ' m ' is at a distance ' r ' from an axis of

rotation. Its moment of inertia  l  about the axis is given by the
product of the mass and the square of its distance from the axis. r1
Thus, m1
m3
l  mr 2 …. (24) r3

For a discrete system of particles as shown, the moment of m2

inertia is defined as l   mi ri , where mi is the mass of the i th r2

particle; and ri is the perpendicular distance of i th particle from the

m4 r4
axis of the rotation.
m5
r5

For a continuous system, the mass element should be chosen

such that all the particles on it are at the same perpendicular
distance from the axis. The moment of inertia of the whole body is
given by
l   r 2 dm, …. (25) dm
r

Where r is the perpendicular distance of the element dm

from the axis.
Role of moment of inertia in rotational moment
(a) Physical Significance
According to Newton’s first law of motion, every body maintains its state of rest or uniform
translational motion unless some external forces is applied on it to change that state. In other words, a
force is necessary to change the motion of the body, that is, to produce a linear acceleration in it. This
property of bodies is called inertia. The greater is the mass of body, the greater is the force required to
produce a given linear acceleration init. Thus the mass of a body is a measure of its inertia. Similarly, if
the rotational motion of a body about an axis is to be changed, that is, if an angular acceleration is to be
produced, a torque (moment of force) about that axis must be applied.
The body is, therefore, said to possess a moment of inertia. The greater is the moment of inertia, the
greater is the torque to produce a given acceleration in the body.
Thus, moment of inertia plays the same role in the rotational motion as mass plays in
translational motion.
 It is a scalar quantity.
 It has dimensions  ML  and Sl unit
2
kg  m 2

KESHAV KOTHARI PHYSICS

(b) Radius of gyration (k):
As a measure of the way in which the mass of rotating rigid body is distributed with respect to the
axis of rotation, we can define a new parameter, the radius of gyration. It is related to the moment of
inertia and the total mass of the body.
l
K  l  MK 2 …. (26)
m
(c) Theorem of axis of moment of inertia
(i) Theorem of parabola axes
Let the moment of inertia  l  of an object about an axis through its centre
of mass be lCM . The M. l. of the body about any other axis parallel to the first is
given by
l  lCM  Mh2 , …. (27)
Where M the total is mass of the object and h is the perpendicular
distance between the two parallel axes.
Proof: Let l be the moment of inertia of the rigid body about an axis AB as shown; lCM be the
moment of inertia about a parallel axis CD passing through its centre of mass. Let the distance between
AB and CD be h.
Let us consider a particle P of mass m at a distance r from CD. Its distance from AB is
 r  h  , and its moment of inertia about it m  r  h 
2

Hence the M. l. of the lamina about AB is given by

l   m  r  h
2

  m  r 2  h2  2hr 

  mr 2   mh2   2mhr ….. (i)

Since h is a constant, it can be put outside  .
l  mr 2  h2  m  2h  mr
Now,  mr 2  lCM , where lCM is the moment of inertia of the lamia about CD. h 2  m  h 2 M ,
where M is the total mass of the lamia, and  mr  0 because the sum of the moments of all the mass
particles of a body about an axis through the centre of mass of the body is zero.
Hence making theses substitutions in equation (i), we get l  lCM  Mh2
(ii) Theorem of perpendicular axes
This theorem is applied for calculation of moment of inertia of a laminar object. By a laminar body
we mean that can be treated as two dimensional, such as a large figure cut from a thin sheet of plywood.
KESHAV KOTHARI PHYSICS
Let the z axis be perpendicular to a laminar body and run through any point O
in the plane of the body. Let the moment of inertia of the body about that axis
be lz . Let the x and y be two mutually perpendicular axes lying in the plane
of the body with the origin at the point O as shown in figure. Let the moment
of inertia about the x and y axes to be l x and l y . The perpendicular axis
theorem states that
lz  lx  l y …. (28)
Proof: Let OZ be the perpendicular to the plane of the lamina about
which the moment of inertia is to be taken. Let OX and OY be two mutually perpendicular axes in the
plane of lamina. Let us consider a particle P of mass m at a distance ' r ' from OZ .
The M. l. of this particle about OZ  mr 2 . Therefore, the M. l.  lz  of the whole lamina about OZ
is given by
lz   Mr 2

But r 2   x 2  y 2  , where x and y the distances of P from OX

and OY respectively,


 lz   m x 2  y 2 
  mx 2   my 2
or, lz  lx  l y
Results Moments of Inertia of Some Rigid objects
Table of moment of Inertia
Moment of
S. No. Body Dimension Axis
Inertia
Through its centre and
1. Circular ring Radius r
perpendicular to its plane Mr 2

Through its centre and Mr 2

2. Circular disc Radius r
perpendicular to its plane 2
Right circular solid Radius r and About the generating Mr 2
3.
cylinder length axis 2
Through its centre and  r2 2

Radius r and
4. Solid cylinder perpendicular to its M  
length
length  4 12 
2
5. Uniform solid sphere Radius R About a diameter MR 2
5

KESHAV KOTHARI PHYSICS

 2
6. Hollow sphere Radius R About a diameter MR 2
5
Through its centre and
7. Thin uniform rod Length 2 M 2
perpendicular to its
length 3

Thin rectangular sheet Through its centre and  a 2 b2 

8. Sides a and b M  
(lamina or block) perpendicular to its plane  12 12 
Example : A spherical solid ball of mass 1 kg and radius 3 cm is rotating about an axis passing
through its centre with an angular velocity of 50 radian/second. Find the kinetic energy of
rotation.
Solution : Kinetic energy of rotation
1 2 1 2 
/     MR 2  2  MR 22  1  3 102    50   0.45j
1 1 2

2

2 2 5  5 5
Example : Figure represents a disc of mass M and radius R lying in XY -plane Y
with its centre on X  axis at a distance b from the origin. Then find
the moment of inertia of the about Y  axis.

R
x
Solution : Y-axis is parallel to a diameter of disc. Moment of inertia of disc O
about a diameter is using perpendicular axis theorem. b

lZ  l X  lY

MR 2 MR 2
 2lD  lD 
2 4
By theorem of parallel axis, moment of inertia of disc about Y  axis is
MR 2  R2 
l  lC  Mb 2   Mb 2  M  + b2 
4  4 
Example : The moment of inertia of a thin spherical shell of mass M and radius R about a diameter
2
is MR 2 . Find its radius of gyration K about a tangent.
3
Solution : Moment of inertia of a thin spherical shell about a tangent is
2
 MR 2  MR 2 from parallel axis theorem
3
5MR 2 5
MK  2
,K  R
3 3
KESHAV KOTHARI PHYSICS
Example : Find the moments of inertia of a system of two B A C
point masses attached by a massless rod like a
dumbbell about four axes as shown in figure. We
treat the bodies as point particles with mass m1  3
kg and m2  5kg . Take d1  1m and d 2  2 m in m1
m2
D
d1 d2
figure.

Axis A: l A  m1d12  m2 d22   3kg 1m    5kg  2m   23kgm2

2 2
Solution :

Axis B: lB  m1  0   m2  d1  d 2   45kg m2
2

Axis C: lC  m1  d1  d2   m2  0   27kgm2
2

Axis D: lD  0
l D is zero because we treated the masses as point particles and perpendicular distances are
equal to zero

Classroom Practice Paper

y
9. The four particles in figure are connected by the rigid rods of
negligible mass. The origin is at the centre of the rectangle. If the 3.00kg 2.00kg
system rotates in the xy plane about the z-axis with an angular speed of
6.00 rad/s, calculate (a) the moment of inertia of the system about the
z-axis and (b) the rotational energy of the system. 6m x

4m
2.00kg 4.00kg
y

10. Three particle are connected by rigid rods of negligible mass lying along the 4kg y  3m
y-axis shown in the figure. If the system rotates about the x-axis with an
angular speed of 2.00 rad/s, find the moment of inertia about the x-axis and  0, 0 
x
the total rotational energy.
2kg y  2m

3kg y  4m

KESHAV KOTHARI PHYSICS

Torque, Work, Power and Energy
Torque (Moment of Force)
When a force is exerted on a rigid object pivoted about an
axis, the object tends to rotate about that axis. The tendency of
a force to rotate an object about some axis is measured by a
quantity called torque  (Greek latter tau). Consider a rigid
body pivoted on the axis through O. We define the magnitude
of the torque associated with the force F by the expression.
  r  F  rF sin   F  d …. (31)
Where r is the distance between the pivot point and the point of application of F and d is the
perpendicular distance from the pivot point to the line of action F . This quantity d is called the moment
arm (or lever arm) of F . The moment arm represents the perpendicular distance from the rotation axis
to the line of action of F , and direction of torque can be obtained from the definition of cross product.
It is very important that you recognise torque that is defined only when reference axis is specified.
Torque is the product of a force and the moment arm of that force, and moment arm is defined only in
time of the axis of rotation.
Relationship between torque and angular acceleration
Consider a particle of mass m rotating in a circle of radius r under the influence of tangential
force Ft as in figure and a central (radial) force FC . The central force must be present to keep the particle
moving in its circular path. The tangential force provides a tangent acceleration at and Ft  mat

The torque about the centre of the circle due to Ft is Ft

  Ft r   mat  r m

Since the tangential acceleration is related to the angular acceleration through Fr

the relation at  r
r
The torque can be expressed as
  m r  r   mr 2  

  l …. (32)
Work done in Rotational Motion

We again restrict our discussion to rotation about a fixed axis.

Consider a rigid object pivoted at O as shown. Suppose a single external
force F is applied at P. The work done by F as the object rotates
through an infinitesimal distance ds  rd  in a time dt is

dW  F .d s   F sin   rd 

KESHAV KOTHARI PHYSICS

 Where F is  is the tangential component of F, or, in other words, the component of the force
along the displacement. Note from figure that radial component of F dose no work because it is
perpendicular to the displacement.
Since the magnitude of the torque due to F about O is defined to be rF sin  , we can write the
work done for the infinitesimal rotation as
dW   d 
If  is constant then
W   …. (33)
work done  torque  angular displacement
Power Delivered to A rigid object rotating about a fixed axis
dW d
The rate at which work is being done by F as the object rotates about the fixed axis is 
dt dt
Since dW/dt is the instantaneous power P delivered by the force, and since d /dt  , this
expression reduces to
dW
P   …. (34)
dt
The expression P   is analogous to P  Fv in the case of linear motion, and the expression
dw  d  is analogous to dW  Fx dx
The work and energy in Rotational Motion
In linear motion, we found the energy concept, and in particular the work-energy theorem,
extremely useful in describing the motion of a system. The energy concept can be equally useful in
describing rotational motion. From what we learned of linear motion, we expect that for rotation of a
symmetric object about a fixed axis. The work done by external forces equal to the change in the
rotational kinetic energy.
To shown that is in fact the case, let us begin with   l. Using the chain rule from the calculus,
we can express the torque as
d d d d
  l  l l l 
dt d  dt d
Rearranging this expression and noting that d   dW , we get
d   dW  ld 
Integrating this expression, we get for the total work done
 
1 1
W   d    ld   2 l
2
 l0 …. (35)
0 0
2
KESHAV KOTHARI PHYSICS
 Where the angular speed change from 0 to  as the angular displacement changes from  0 to .

The net work done by the external forces in rotating a symmetric rigid object about a fixed axis
equals the change in the object’s rotational energy

Example : The angular velocity of a body is w  2iˆ  3 ˆj  4kˆ. A torque r  rˆ  2 ˆj  3kˆ acts on it. The
rotational power is (consider Sl units only)

Solution :   
P  r .  2iˆ  3 ˆj  4kˆ . iˆ  2 ˆj  3kˆ , P  20W

Example : To maintain a motor at a uniform angular speed of 200 rad/s, an engine needs to transmit a
torque of 180 N-m. What is the power of the engine required?
Solution :   200 rad/s,

  180 Nm

Power  torque  angular speed

 180  200  360000 W  36kW

Classroom Practice Paper

11. Five masses 2kg, 5kg, 6kg, 3kg and 40 kg are placed at the corners A, B, C, D and the centre O of a
square frame of side 0.4m. It is to be rotated about an axis passing through the centre O and
perpendicular to the plane of frame. Calculate the torque required to produced an angular

acceleration of rad / s 2 .
8
12. A motor turns at 20 revolutions per second. It supplies a torque of 75 Nm. What is the horse power
delivered by the motor (given 746 W = 1hp)
13. A wheel of radius 20 cm can rotate freely about its centre as shown in figure. A
string wrapped over its rim gets pulled by a force of 8 N. It is found that the
torque produces an angular acceleration of 3.2 rad/s 2 in the wheel. What is the
moment of inertia of the about axis of the rotation?
8N

14. A body is rotating about an axis with angular speed 0 . Find the work done by the torque required
to increases its angular speed upto 40 . (Moment of inertia about axis of rotation is l).

KESHAV KOTHARI PHYSICS

Angular momentum and Newton’s second law for Rotational Motion
Angular Momentum of a particle y
Let us consider a particle P of mass m whose position vector is
r with respect to the origin O of an inertial reference frame. Let
p   mv  be the linear momentum of the particle. Then, the angular m v
momentum L of the particle about the origin O is defined as a P
r
L  r  p  r p sin  …. (36) d  r sin 

O x
 It is an axial-vector having direction along z-axis

 Its magnitude is L  rp sin   pd , where  is the angle between r and p ; and d  r sin ,
perpendicular distance of p from the axis of rotation

Hence, for a single particle in motion, angular momentum L  (Linear momentum) 

(perpendicular distance of line of motion of the particle from the centre or axis of rotation.

 As torque  r  F  is defined as the ‘moment of force’, angular momentum is also referred as

‘moment of linear momentum’.
 In cartesian co-ordinates, angular momentum is given by
L  r  p  r  mv  m  r  v 

iˆ ˆj kˆ
i.e., L  x y z
vx vy vz

Angular momentum of a rotating body

The figure represents a rigid body rotating about an axis passing through O and perpendicular to its
plane. Let a particle of mass m be at P at a distance ' r ' from the axis of rotation. If the angular velocity
of the body of the is  , then the linear velocity of the mass m in a direction perpendicular to OP is
v   r .
The linear momentum of the mass y

p  mv  m   r 

The angular momentum of this particle about the axis of rotation v

r P
 r  p  r  m   r   mr 2 O x

The angular momentum L of the body is given by L   mr 2

z
or, L   mr 2
KESHAV KOTHARI PHYSICS
 or, L  l, …. (37)
the momentum of inertia of the about the axis of rotation,
 L is also vector and its direction is same that of 
 The equation L  l is the rotational analogue of  p  mv  .
Newton’s Second law for rotational Motion
In linear motion the resultant force on a particle equals to time rate of change of its linear
momentum, similarly the resultant torque acting on a particle equals the time rate of change of its angular
momentum.
dp
 rF  r
dt
Let is differentiate equation L  r  p with respect to time using
dL d dp dr
 r  p  r    p
dt dt dt dt
The last term on the right in the above equation is zero.
dr
Because v  is parallel to p.
dt
dL
Therefore  
dt
Prince of Conservation of Angular momentum
dL
Newton’s second law for rotational motion is  
dt
If the net torque on a body is zero, then
dL
0
dt
i.e., L  constant …. (38)
Thus, in a absence of external torque, the total angular momentum of the system is constant. This is
principle of conservation of angular momentum.
Example : Establish relation between angular momentum and rotational kinetic energy.
Solution : Angular momentum L  l
1
Rotational kinetic energy  l 2
2

1  l
2
L2
Ek   or L  2lEk
2 l 2l
KESHAV KOTHARI PHYSICS
Example : A thin uniform disc of mass M and radius R is rotating in a horizontal plane about an axis
passing through its centre and perpendicular to its plane with an angular velocity .
Another disc of same dimensions but of mass M/4 is placed gently on the first disc co-
axially. Calculate the angular speed of the system.

 MR 2 
Solution : Initial angular momentum   
 r 

 MR 2 MR 2 

Final angular momentum    '
 2 8 

 MR 2  MR 2   MR 2 
From conservation of angular momentum     '   
 2 8   2 

Classroom Practice Paper

15. A turntable rotates about a fixed vertical axis making one revolution in 10s. The moment of inertia
of the turntable about the axis 1200 kg m 2 . A man of mass 80 kg initially standing at the centre of
the turntable, runs out along a radius. What is the angular velocity of the turntable when the man is
2m from the centre?
16. A solid cylinder of mass 20 kg rotates about its axis with angular speed 100 rad/s. The radius of the
cylinder is 0.25m. What is the magnitude of the angular momentum of the cylinders about its axis?
17. A child stands at the centre of turntable with his two arms outstretched. The turntable is set rotating
with frequency of 40 rpm. How much is the frequency of revolution of the child if he holds his hand
2
back and there by reduces his moment of inertia to times of the initial value.
5

Rolling motion
In case of rolling motion of a body rotates about an axis and the of rotation also moves. In rolling
motion, the body has combined transitional and rotational motion.
 
In case of combined translation and rotating motion.
If the object rolls across a surface in such a way that there
R Vcm Vcm
is no relative motion between the object and the surface at
the point of contact, then motion is called rolling without
slipping. 2 R
 after one revolution 
KESHAV KOTHARI PHYSICS
 In a pure rolling motion, a wheel rotates about its centre of and the mass centre of mass moves
linearly so that it covers a distance equal to its circumference in one complete rotation. That is,
s  2R
If T be the time period of one revolution, then dividing both the sides by T , we get

s  2 
 R
T T 
or, Vcm  R, …. (39)

Where  is the angular velocity of the wheel about its centre of mss, and Vcm is the linear velocity
of the centre of mass.
Since rolling is a combination of translation of the centre and rotation about the centre therefore,
velocity of any point on the rim is the vector sum.

V  Vcm  V ', …. (40)

Where Vcm is the velocity of the centre of mass, and V , is the velocity of the particle with respect to
the centre of mass.

R
R 2 2 Vcm R
R Vcm

Vcm Vcm Vcm

1 3  1  1 Vcm
3 3
R
R R
0 R 0 Vcm 0 Vcm

It is obvious from the above figure, at the top point 2 of the wheel these two velocities are in the
same direction, so V2  2Vcm  2R and at the bottom point O, they are in the opposite directions, so
V0  0.

Since the rolling motion is a combination of linear velocity of the centre and rotational motion about
the centre. Therefore, the total kinetic energy of a rolling body is given by
1 1
K total  mVcm2  lcm 2 ,
2 2
1 2 1
Where Vcm is the translation kinetic energy and lcm 2 is the rotational kinetic energy about the
2 2
centre of mass
In pure rolling, Vcm  R
KESHAV KOTHARI PHYSICS
 1  1 
 Ktotal  m  R 2  l2 
2  2 
1
or, K total  lcm  mR 2  2
2

Using parallel axes theorem, the term lcm  mR 2  l 

1 2
 K total  l …. (41)
2
Example : A hoop of mass m and radius R rolls without shipping with velocity v0 . Find its kinetic
energy.
Solution : Method I

mvcm  I cm 2  mv02   mR 2  2
1 2 1 1 1
K total 
2 2 2 2
v0  R, we have
1 2 1 2
K total  mv0  mv0 or, Ktotal  mv02
2 2
Method II
1
K total  l p 2
2

Here, l p  l  mR 2

Or, l p  mR 2  mR 2  2mR 2  K total 

1
2
 2mR 2  2

Or, Ktotal  mR22  mv02

A
Example : A disc rotating about its axis with angular speed 0 is 0
C
placed lightly (without any translational push) on a perfectly
R/2
frictionless table. The radius of the disc is R what are the
linear velocities of the point A, B and C on the disc shown in
figure. B

Solution : Linear velocity of A  0 R

1
Linear velocity of C  0 R
2
Linear velocity of B  0 R

KESHAV KOTHARI PHYSICS

Example : A solid sphere of mass m and radius R rolls without sliding with constant velocity of
Vcm . Calculate what fraction of the total kinetic energy of the sphere is rotational.
Solution : The rolling sphere has translatory as well as rotatory kinetic energy.
2
For sphere rolling moment of inertia lcm  mR 2
5
1
 Translational K.E.  mVcm2
2
1 1 2 V
2
1
Rotational kinetic energy  lcm 2    mR 2  cm2  mVcm2
2 2 5 R 5
1 1 7
Total kinetic energy  mVcm2  mVcm2  mVcm2
2 5 10
1
mVcm2
5 2
Fraction 
1 1
mVcm2  mVcm2 7
2 5
Example : A wheel of perimeter 220cm rolls on a level road at a speed of 9 km/h. How many
revolutions does the wheel make per second?
Solution : As the wheel rolls on the rod, v  r
v 9km / hr 2 9 105
    rad/s
r 220cm / 2 220  3600
900 25
 rev / s  rev/s
22  36 22

KESHAV KOTHARI PHYSICS