Physics 111: Lecture 17

Todays Agenda

Rotational Kinematics
Analogy with one-dimensional kinematics

Kinetic energy of a rotating system

Moment of inertia
Discrete particles
Continuous solid objects

Parallel axis theorem

Physics 111: Lecture 17, Pg 1

Rotation

Up until now we have gracefully avoided dealing with the rotation of objects.
We have studied objects that slide, not roll.
We have assumed pulleys are without mass.

Rotation is extremely important, however, and we need to understand it!

Most of the equations we will develop are simply rotational analogues of ones we have already learned when studying linear kinematics and dynamics.

Physics 111: Lecture 17, Pg 2

Lecture 17, Act 1

Rotations

Bonnie sits on the outer rim of a merry-go-round, and Klyde sits midway between the center and the rim. The merry-go-round makes one complete revolution every two seconds.
Klydes angular velocity is:

(a) the same as Bonnies

(b) twice Bonnies
(c) half Bonnies

Physics 111: Lecture 17, Pg 3

Lecture 17, Act 1

Rotations

The angular velocity of any point on a solid object rotating about a fixed axis is the same.
Both Bonnie & Klyde go around once (2 radians) every two seconds.

(Their linear speed v will be different since v = r).

VKlyde

1
VBonnie
2

Physics 111: Lecture 17, Pg 4

Rotational Variables.

Spin round
blackboard

Rotation about a fixed axis:

Consider a disk rotating about
an axis through its center:
First, recall what we learned about
Uniform Circular Motion:

d
dt

dx
v

(Analogous to
dt )

Physics 111: Lecture 17, Pg 5

Rotational Variables...

Now suppose can change as a function of time:

We define the
angular acceleration:

d d 2

2
dt
dt

Consider the case when

is constant.
We can integrate this to
find and as a function of time:

constant
0 t

1
0 0t t 2
2
Physics 111: Lecture 17, Pg 6

Rotational Variables...
constant
0 t
0 0 t

1 2
t
2

Recall also that for a point at a distance R away from the axis of rotation:
x = R
v = R
And taking the derivative of this we find:
a = R

Physics 111: Lecture 17, Pg 7

Summary
(with comparison to 1-D kinematics)
Angular Linear

constant

0 t
1
0 0 t t 2
2

a constant
v v 0 at

x x0 v 0t

1 2
at
2

And for a point at a distance R from the rotation axis:

x = Rv = Ra = R

Physics 111: Lecture 17, Pg 8

Example: Wheel And Rope

A wheel with radius R = 0.4 m rotates freely about a fixed axle. There is a rope wound around the wheel. Starting from rest at t = 0, the rope is pulled such
that it has a constant acceleration a = 4 m/s2. How many revolutions has the wheel made after 10 seconds?
(One revolution = 2 radians)

Physics 111: Lecture 17, Pg 9

Wheel And Rope...

Use a = R to find :
= a / R = 4 m/s2 / 0.4 m = 10 rad/s2
Now use the equations we derived above just as you would
use the kinematic equations from the beginning of the
semester.
1
1
0 0 t t 2 = 0 + 0(10) + (10)(10)2 = 500 rad
2
2

500 rad x
80 rev

1 rot
2 rad

Physics 111: Lecture 17, Pg 10

Rotation & Kinetic Energy

Consider the simple rotating system shown below.

(Assume the masses are attached to the rotation axis by
massless rigid rods).
The kinetic energy of this system will be the sum of the
kinetic energy of each piece:
m4

m3

r1

r4
r3

r2

m1

m2

Physics 111: Lecture 17, Pg 11

Rotation & Kinetic Energy...

1
K

mii v i2
but
vi = r
i 2

So:

1
1 2
2
m

mi ri 2
i i
2 i
2
i

v1

which we write as:

1
K I 2
2

I mi ri 2

m4
v4

m3

Define the moment of inertia

about the rotation axis

r1

r4
r3

r2

m1

v2
m2

v3
I has units of kg m2.
Physics 111: Lecture 17, Pg 12

Rotation & Kinetic Energy...

The kinetic energy of a rotating system looks similar to that of a point particle:
Point Particle

Rotating System

1
mv 2
2

v is linear velocity
m is the mass.

1
I 2
2

is angular velocity
I is the moment of inertia
about the rotation axis.
I mi ri 2
i

Physics 111: Lecture 17, Pg 13

Moment of Inertia

So K

1
I 2
2

Notice that the moment of inertia I depends on the distribution of mass in the system.
The further the mass is from the rotation axis, the bigger the moment of inertia.

For a given object, the moment of inertia will depend on where we choose the rotation axis (unlike the center of mass).

We will see that in rotational dynamics, the moment of inertia I appears in the same way that mass m does when we study linear dynamics!

2
I

m
r

i i
where

Inertia Rods

Physics 111: Lecture 17, Pg 14

Calculating Moment of Inertia

We have shown that for N discrete point masses

distributed about a fixed axis, the moment of inertia is:
I

mi ri 2

where r is the distance from the mass

to the axis of rotation.

i 1

Example: Calculate the moment of inertia of four point masses

(m) on the corners of a square whose sides have length L,
about a perpendicular axis through the center of the square:
m

Physics 111: Lecture 17, Pg 15

Calculating Moment of Inertia...

The squared distance from each point mass to the axis is:

r 2
2

L2

Using the Pythagorean Theorem

L2
L2
L2
L2
L2
so I mi ri m m m m 4 m
i 1
2
2
2
2
2
N

I = 2mL2

L/2
m

L
m

m
Physics 111: Lecture 17, Pg 16

Calculating Moment of Inertia...

Now calculate I for the same object about an axis through

the center, parallel to the plane (as shown):
L2
L2
L2
L2
L2
I mi ri m m m m 4 m
i 1
4
4
4
4
4
N

r
I = mL2

Physics 111: Lecture 17, Pg 17

Calculating Moment of Inertia...

Finally, calculate I for the same object about an axis along

one side (as shown):
N

I mi ri mL2 mL2 m0 2 m0 2
i 1

r
I = 2mL2

Physics 111: Lecture 17, Pg 18

Calculating Moment of Inertia...

For a single object, I clearly depends on the rotation axis!!

I = 2mL2

I = mL2

I = 2mL2

Physics 111: Lecture 17, Pg 19

Lecture 17, Act 2

Moment of Inertia

A triangular shape is made from identical balls and identical rigid, massless rods as shown. The moment of inertia about the a, b, and c axes is Ia, Ib, and Ic respectively.
Which of the following is correct:

(a)

Ia > Ib > Ic

(b)

Ia > Ic > Ib

(c)

Ib > Ia > Ic

Physics 111: Lecture 17, Pg 20

Lecture 17, Act 2

Moment of Inertia

Label masses and lengths:

Calculate moments of inerta:

I a m 2 L m 2 L 8 mL2
2

I b mL2 mL2 mL2 3 mL2

I c m 2 L 4 mL2
2

a
L

So (b) is correct: Ia > Ic > Ib

L
m

b
c

m
Physics 111: Lecture 17, Pg 21

Calculating Moment of Inertia...

For a discrete collection of point

masses we found:
I

mi ri 2

i 1

For a continuous solid object we have to add up the mr2

contribution for every infinitesimal mass element dm.
We have to do an
integral to find I :

dm
I r 2 dm

Physics 111: Lecture 17, Pg 22

Moments of Inertia

Hoop

Some examples of I for solid objects:

I MR 2
R

Thin hoop (or cylinder) of mass M and

radius R, about an axis through its center,
perpendicular to the plane of the hoop.

1
MR 2
2
Thin hoop of mass M and radius R,
about an axis through a diameter.

Physics 111: Lecture 17, Pg 23

Sphere and disk

Moments of Inertia...

Some examples of I for solid objects:

2
I MR 2
5
Solid sphere of mass M and radius R,
about an axis through its center.

1
MR 2
2

Solid disk or cylinder of mass M and

radius R, about a perpendicular axis
through its center.

Physics 111: Lecture 17, Pg 24

Lecture 17, Act 3

Moment of Inertia

Two spheres have the same radius and equal masses. One is made of solid aluminum, and the other is made from a hollow shell of gold.
Which one has the biggest moment of inertia about an axis through its center?

(a) solid aluminum

(b) hollow gold

(c) same

hollow

solid

same mass & radius

Physics 111: Lecture 17, Pg 25

Lecture 17, Act 3

Moment of Inertia

Moment of inertia depends on mass (same for both) and distance from axis squared, which is bigger for the shell since its mass is located farther from the center.
The spherical shell (gold) will have a bigger moment of inertia.

ISOLID < ISHELL

hollow

solid

same mass & radius

Physics 111: Lecture 17, Pg 26

Moments of Inertia...

Rod

Some examples of I for solid objects (see also Tipler, Table 9-1):
I

1
ML2
12

Thin rod of mass M and length L, about

a perpendicular axis through its center.

1
I ML2
3

Thin rod of mass M and length L, about

a perpendicular axis through its end.

Physics 111: Lecture 17, Pg 27

Parallel Axis Theorem

Suppose the moment of inertia of a solid object of mass M about an axis through the center of mass, ICM , is known.
The moment of inertia about an axis parallel to this axis but a distance D away is given by:

IPARALLEL = ICM + MD2

So if we know ICM , it is easy to calculate the moment of inertia about a parallel axis.

Physics 111: Lecture 17, Pg 28

Parallel Axis Theorem: Example

Consider a thin uniform rod of mass M and length D. Figure out the moment of inertia about an axis through the end of the rod.
IPARALLEL = ICM + MD2

D=L/2
x

CM

L
1
2
I

We know CM 12 ML

So

IEND

ICM

IEND

1
L

2
ML M
2
12

1
ML2
3

which agrees with the result on a previous slide.

Physics 111: Lecture 17, Pg 29

Connection with CM motion

Recall what we found out about the kinetic energy of a

system of particles in Lecture 15:
1
1
2
K NET mi ui2 MVCM
2
2

KREL

KCM

For a solid object rotating about its center of mass, we

now see that the first term becomes:
1
Substituting ui ri
K REL mi ui 2
2
2
1
but mi ri ICM
K REL 2 mi ri 2
2
1
K REL ICM 2
2
Physics 111: Lecture 17, Pg 30

Connection with CM motion...

So for a solid object which rotates about its center or mass and whose CM is moving:

K NET

1
1
2
ICM 2 MVCM
2
2

VCM

We will use this formula more in coming lectures.

Physics 111: Lecture 17, Pg 31

Recap of todays lecture

Rotational Kinematics
Analogy with one-dimensional kinematics

Kinetic energy of a rotating system

Moment of inertia
Discrete particles
Continuous solid objects

Parallel axis theorem

Physics 111: Lecture 17, Pg 32

Physics 111: Lecture 18

Todays Agenda

More about rolling

Direction and the right hand rule

Rotational dynamics and torque

Work and energy with example

Physics 111: Lecture 17, Pg 33

Rotational v.s. Linear Kinematics

Angular Linear

= constant

a cons tan t

= 0 + t

v = v 0 + at

1 2
= 0 + 0 t + t
2

1
x = x 0 + v 0 t + at 2
2

And for a point at a distance R from the rotation axis:

x = Rv = Ra = R

Physics 111: Lecture 17, Pg 34

Roll objects

Rolling Motion

Cylinders of different I rolling down an inclined plane:

R
M
h

down ramp

v=0
= 0
K=0

K = - U = Mgh

1 2 1
K = I + Mv 2
2
2

v = R

Physics 111: Lecture 17, Pg 35

Rolling...

If there is no slipping:

In the lab reference frame

2v

v
Where v = R

In the CM reference frame

Physics 111: Lecture 17, Pg 36

Rolling...
1 2 1
K = I + Mv 2
2
2
K=

So:

Use v = R and I = cMR2 .

1
1
1
c MR 2 2 + Mv 2 = ( c + 1) Mv 2
2
2
2

1
( c + 1) Mv 2 = Mgh
2

hoop:

c=1

disk:

c = 1/2

sphere: c = 2/5
etc...

v = 2 gh

1
c +1

The rolling speed is always lower than in the case of simple sliding
since the kinetic energy is shared between CM motion and rotation.
We will study rolling more in the next lecture!
Physics 111: Lecture 17, Pg 37

Direction of Rotation:

In general, the rotation variables are vectors (have direction)

If the plane of rotation is in the x-y plane, then the convention is
CCW rotation is in
the + z direction

CW rotation is in
the - z direction

y
x
z

y
x
z
Physics 111: Lecture 17, Pg 38

Direction of Rotation:
The Right Hand Rule
y

To figure out in which direction the rotation vector points, curl the fingers of your right hand the same way the object turns, and your thumb will point in the direction of the rotation vector!

We normally pick the z-axis to be the rotation axis as shown.

= z
= z
= z

For simplicity we omit the subscripts unless explicitly needed.

x
z

x
z

Physics 111: Lecture 17, Pg 39

Example:

A flywheel spins with an initial angular velocity 0 = 500 rad/s. At t = 0 it starts to slow down at a rate of 0.5 rad/s2. How long does it take to stop?

Realize that = - 0.5 rad/s2.

Use

0 t
t

So in this case

to find when = 0 :

500 rad / s
0.5 rad / s

1000 s 16.7 min

Physics 111: Lecture 17, Pg 40

Lecture 18, Act 1

Rotations

A ball rolls across the floor, and then starts up a ramp as shown below. In what direction does the angular acceleration vector point when the ball is on the ramp?

(a) down the ramp

(b) into the page
(c) out of the page

Physics 111: Lecture 17, Pg 41

Lecture 18, Act 1

Solution

When the ball is on the ramp, the linear

acceleration a is always down the ramp (gravity).

The angular acceleration is therefore counter-clockwise.

Using your right hand rule, is out of the page!

Physics 111: Lecture 17, Pg 42

Rotational Dynamics:
What makes it spin?

Suppose a force acts on a mass constrained to move in a

^
circle. Consider its acceleration in the direction
at some

instant:
a = r
^

Now use Newtons 2nd Law in the ^

direction:
F = ma = mr

F
a

Multiply by r :
rF = mr2

^
r

Physics 111: Lecture 17, Pg 43

Rotational Dynamics:
What makes it spin?
rF = mr 2use

Define torque: = rF .
is the tangential force F
times the lever arm r.

Torque has a direction:

+ z if it tries to make the system
spin CCW.
- z if it tries to make the system
spin CW.

= I

= mr 2

^
r

= I

Physics 111: Lecture 17, Pg 44

Rotational Dynamics:
What makes it spin?

ri Fi , mi ri i

So for a collection of many particles

arranged in a rigid configuration:

Since the particles are connected rigidly,

they all have the same .
i I
i

NET I

m4
F4

F1

m3
F3

r1

r4
r3

r2

m1

m2
F2

Physics 111: Lecture 17, Pg 45

Rotational Dynamics:
What makes it spin?
NET = I

This is the rotational analogue

of FNET = ma

Torque is the rotational analogue of force:

The amount of twist provided by a force.
Moment of inertia I is the rotational analogue of mass.
If I is big, more torque is required to achieve a given
angular acceleration.
Torque has units of kg m2/s2 = (kg m/s2) m = Nm.

Physics 111: Lecture 17, Pg 46

Torque

Recall the definition of torque:

= rF
= r F sin

Fr F

= r sin F
= rpF
rp = distance of closest approach

Equivalent definitions!

r
rp

Physics 111: Lecture 17, Pg 47

Torque
= r Fsin

So if = 0o, then = 0

And if = 90o, then = maximum

F
r

F
r

Physics 111: Lecture 17, Pg 48

Lecture 18, Act 2

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

case 2
Physics 111: Lecture 17, Pg 49

Lecture 18, Act 2

Solution

Torque = F x (distance of closest approach)

The applied force is the same.

The distance of closest approach is the same.
Torque is the same!

F
L

F
L

case 1

case 2
Physics 111: Lecture 17, Pg 50

Torque and the

Right Hand Rule:

The right hand rule can tell you the direction of torque:
Point your hand along the direction from the axis to the
point where the force is applied.
Curl your fingers in the direction of the force.
Your thumb will point in the direction
of the torque.
F
y
r
x

z
Physics 111: Lecture 17, Pg 51

The Cross Product

We can describe the vectorial nature of torque in a compact

form by introducing the cross product.
The cross product of two vectors is a third vector:

AXB=C

The length 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.

Physics 111: Lecture 17, Pg 52

The Cross Product

Cartesian components of the cross product:

C=AXB
B
CX = AY BZ - BY AZ
CY = AZ BX - BZ AX
CZ = AX BY - BX AY

A
C

Note: B X A = - A X B
Physics 111: Lecture 17, Pg 53

Torque & the Cross Product:

So we can define torque as:

=rXF
= rF sin

X = rY FZ - FY rZ = y FZ - FY z
Y = rZ FX - FZ rX = z FX - FZ x
Z = rX FY - FX rY = x FY - FX y

y
z

Physics 111: Lecture 17, Pg 54

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.)
z = Izz

z
Iz
z

We usually omit the

z subscript for simplicity.

Physics 111: Lecture 17, Pg 55

Example

To loosen a stuck nut, a (stupid) 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

Physics 111: Lecture 17, Pg 56

Example

Wrench w/ bolts

Torque = LFsin = (0.5 m)(200 N)(sin 45)

If the nut turns freely, = I

We know and we want , so we need to figure out I.

1
1
I ML2 3 kg 0.5 m 2 0.25 kgm 2
3
3

= 70.7 Nm

45o
F = 200 N
L = 0.5m

So = / I = (70.7 Nm) / (0.25 kgm2)

= 283 rad/s2

Physics 111: Lecture 17, Pg 57

Work

Consider the work done by a force F acting on an object

constrained to move around a fixed axis. For an infinitesimal
angular displacement d:
dW = F.dr = FR dcos()
= FR dcos(90-)
= FR dsin()
= FR sin() d
dW = d

dr = R d

axis

We can integrate this to find: W =

Analogue of W = F r
W will be negative if and have opposite signs!

Physics 111: Lecture 17, Pg 58

Work & Kinetic Energy:

K = WNET

Recall the Work/Kinetic Energy Theorem:

This is true in general, and hence applies to rotational

motion as well as linear motion.

So for an object that rotates about a fixed axis:

1 2
I f i2 WNET
2

Physics 111: Lecture 17, Pg 59

Example: Disk & String

A massless string is wrapped 10 times around a disk of mass M = 40 g and radius R = 10 cm. The disk is constrained to rotate without friction about a fixed axis though its center. The string is pulled with a force F = 10 N until
it has unwound. (Assume the string does not slip, and that the disk is initially not spinning).
How fast is the disk spinning after the string has unwound?

F
Physics 111: Lecture 17, Pg 60

Disk & String...

The work done is W =

The torque is = RF (since = 90o)
The angular displacement is
2 rad/rev x 10 rev.
R

So W = (.1 m)(10 N)(20rad) = 62.8 J

Physics 111: Lecture 17, Pg 61

Disk & String...

1 2
WNET = W = 62.8 J = K I
2
Recall thatIfor a disk about

Flywheel, pulley,
& mass

its central axis is given by:

1
I MR 2
2
1 1
2
2
So K MR W
2 2

4W

2
MR

4 62 .8 J

.04 kg .1

= 792.5 rad/s

Physics 111: Lecture 17, Pg 62

Lecture 18, Act 3

Work & Energy

Strings are wrapped around the circumference of two solid disks and pulled with identical forces for the same distance.
Disk 1 has a bigger radius, but both have the same moment of inertia. Both disks rotate freely around axes though their centers, and start at rest.
Which disk has the biggest angular velocity after the pull ?

(a) disk 1

(b) disk 2
(c) same
F

Physics 111: Lecture 17, Pg 63

Lecture 18, Act 3

Solution

The work done on both disks is the same!

W = Fd

The change in kinetic energy of each will

therefore also be the same since W = K.
But we know K

1
I 2
2

So since I1 = I2

= 2

F
d
Physics 111: Lecture 17, Pg 64

Spinning Disk Demo:

We can test this with our big flywheel.

negligible
1 2 1
W K I mv 2 in this case
2
2

In this case,

2W
I

I = 1 kg - m2
W = mgh = (2 kg)(9.81 m/s2)(1 m) = 19.6 J

= 6.26 rad/s ~ 1 rev/s

Physics 111: Lecture 17, Pg 65

Recap of todays lecture

More about rolling

Direction and the right hand rule

Rotational dynamics and torque

Work and energy with example

Physics 111: Lecture 17, Pg 66

Physics 111: Lecture 19

Todays Agenda

Review
Many body dynamics
Weight and massive pulley
Rolling and sliding examples
Rotation around a moving axis: Puck on ice
Rolling down an incline
Bowling ball: sliding to rolling
Atwoods Machine with a massive pulley

Physics 111: Lecture 17, Pg 67

Review: Direction & The Right Hand Rule

y

To figure out in which direction the rotation vector points, curl the fingers of your right hand the same way the object turns, and your thumb will point in the direction of the rotation vector!

We normally pick the z-axis to be the rotation axis as shown.

= z
= z
= z

For simplicity we omit the subscripts unless explicitly needed.

x
z

x
z

Physics 111: Lecture 17, Pg 68

Review: Torque and Angular Acceleration

NET = I

This is the rotational analogue

of FNET = ma
Torque is the rotational analogue of force:
The amount of twist provided by a force.
Moment of inertia I is the rotational analogue of mass
If I is big, more torque is required to achieve a given angular acceleration.

Physics 111: Lecture 17, Pg 69

Lecture 19, Act 1

Rotations

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.
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

Physics 111: Lecture 17, Pg 70

Lecture 19, Act 1

Solution
We know
but

FR

so FR mR 2
F mR

Since R2 = 2 R1

I mR 2

and

F2 mR2 R2

F1 mR1 R1
F2
2
F1

F2
F1

Physics 111: Lecture 17, Pg 71

Review: Work & Energy

The work done by a torque acting through a displacement is given by:

The power provided by a constant torque is therefore given by:

dW
d

dt
dt

Physics 111: Lecture 17, Pg 72

Falling weight & pulley

A mass m is hung by a string that is

wrapped around a pulley of radius R
attached to a heavy flywheel. The moment
of inertia of the pulley + flywheel is I. The
string does not slip on the pulley.

I
R

T
Starting at rest, how long does it take
for the mass to fall a distance L.

m
a

mg
L

Physics 111: Lecture 17, Pg 73

Falling weight & pulley...

For the hanging mass use F = ma

mg - T = ma
For the pulley + flywheel use = I
= TR = I
a
TR

I
Realize that a = R
R
Now solve for a using the above
equations.

mR

I
R

T
m
a

mg
L

mR I

Physics 111: Lecture 17, Pg 74

Flywheel

Falling weight & pulley...

Using 1-D kinematics (Lecture 1) we

can solve for the time required for the
weight to fall a distance L:

w/ weight

I
R

1 2
L at
2

where

2L
a

mR 2

mR I

mg
L

Physics 111: Lecture 17, Pg 75

Rotation around a moving axis.

A string is wound around a puck (disk) of mass M and radius R. The puck is initially lying at rest on a frictionless horizontal surface. The string is pulled with a force F and does not slip as it unwinds.
What length of string L has unwound after the puck has moved a distance D?

M
R
F
Top view
Physics 111: Lecture 17, Pg 76

Rotation around a moving axis...

The CM moves according to F = MA

F
M

1 2
F 2
D

At

t
The distance moved by the CM is thus
2
2M
=

The disk will rotate about

its CM according to = I
So the angular displacement is

1
I MR 2
2

RF
2F
=
=
I 1
MR
MR 2
2

1 2
F 2
t
t
2
MR

R
F
Physics 111: Lecture 17, Pg 77

Rotation around a moving axis...

So we know both the distance moved by the CM and the angle of rotation about the CM as a function of time:

F 2
t
2M

Divide (b) by (a):

(a)
2

D R

F 2
t
MR

R 2 D

(b)
The length of string
pulled out is L = R:
L 2D

F
D

L
Physics 111: Lecture 17, Pg 78

Comments on CM acceleration:

We just used = I for rotation about an axis through the CM even though the CM was accelerating!
The CM is not an inertial reference frame! Is this OK??
(After all, we can only use F = ma in an inertial reference frame).

YES! We can always write = I for an axis through the CM.

This is true even if the CM is accelerating.
We will prove this when we discuss angular momentum!

R
F
Physics 111: Lecture 17, Pg 79

Rolling

An object with mass M, radius R, and moment of inertia I

rolls without slipping down a plane inclined at an angle
with respect to horizontal. What is its acceleration?

Consider CM motion and rotation about

the CM separately when solving this
problem (like we did with the last
problem)...

I
M

Physics 111: Lecture 17, Pg 80

Rolling...

Static friction f causes rolling. It is an unknown, so we must solve

for it.
First consider the free body diagram of the object and use FNET =
MACM :
In the x direction

Mg sin - f = MA

Now consider rotation about the CM

and use = I realizing that
= Rf and A = R

x
Rf I

A
R

f I

Mg

R2

Physics 111: Lecture 17, Pg 81

Rolling...

We have two equations:

We can combine these to eliminate f:

Mg sin - f = ma

f I

A
R2

MR 2 sin
A=g
MR 2 + I

I
A

For a sphere:
MR 2 sin
A=g
2
2
MR + MR 2
5

5
= gsin
7

Physics 111: Lecture 17, Pg 82

Lecture 19, Act 2

Rotations

Two uniform cylinders are machined out of solid aluminum. One has twice the radius of the other.
If both are placed at the top of the same ramp and released, which is moving faster at the bottom?

(a) bigger one

(b) smaller one
(c) same

Physics 111: Lecture 17, Pg 83

Lecture 19, Act 2

Solution

Consider one of them. Say it has radius R, mass M and falls a height H.

MgH

Energy conservation: - U = K
but

1
I MR 2
2

and

1
1
I 2 MV 2
2
2

V
R

2
1 1
1
2 V
MgH MR 2 MV 2
R
2 2
2

MgH

1
1
3
MV 2 MV 2 MV 2
4
2
4

Physics 111: Lecture 17, Pg 84

Lecture 19, Act 2

Solution
So:

MgH

3
MV 2
4

3
gH V 2
4
V

4
gH
3

So, (c) does not depend on size,

as long as the shape is the same!!

Physics 111: Lecture 17, Pg 85

Sliding to Rolling

Roll bowling ball

A bowling ball of mass M and radius R is thrown with initial

velocity v0. It is initially not rotating. After sliding with
kinetic friction along the lane for a distance D it finally rolls
without slipping and has a new velocity vf. The coefficient of
kinetic friction between the ball and the lane is .
What is the final velocity, vf, of the ball?

vf= R

v0

f = Mg

D
Physics 111: Lecture 17, Pg 86

Sliding to Rolling...

While sliding, the force of friction will accelerate the ball in

the -x direction: F = -Mg = Ma so a = -g
The speed of the ball is therefore v = v0 - gt (a)

Friction also provides a torque about the CM of the ball.

Using = I and remembering that I = 2/5MR2 for a solid
sphere about an axis through its CM:
5 g
5g
2
2

t
=
t (b)
=
= MgR = MR
0
2
R
2R
5

v f= R

v0

f = Mg

D
Physics 111: Lecture 17, Pg 87

Sliding to Rolling...

We have two equations:

v v 0 gt (a)

5g
t (b)
2R
t

2 R
5 g

Using (b) we can solve for t as a function of

Plugging this into (a) and using vf = R (the condition for

rolling without slipping):
5
Doesnt depend
vf v0
7
on , M, g!!

vf= R

v0

f = Mg

D
Physics 111: Lecture 17, Pg 88

Lecture 19, Act 3

Rotations

A bowling ball (uniform solid sphere) rolls along the floor without slipping.
What is the ratio of its rotational kinetic energy to its translational kinetic energy?

1
(a)
5

2
(b)
5

1
(c)
2

2
5

Recall that I MR 2 for a solid sphere about

an axis through its CM:
Physics 111: Lecture 17, Pg 89

Lecture 19, Act 3

Solution

The total kinetic energy is partly due to rotation and partly due to translation (CM motion).

1
1
2

MV 2
I

K=
2
2

rotational

translational

Physics 111: Lecture 17, Pg 90

Lecture 19, Act 3

Solution
K=

1
1
I 2 MV 2
2
2

Since it rolls without slipping:

rotational

Translational

K ROT
KTRANS

V
R

2
1 2
2
2 V
I
MR 2
5
R 2
2

2
1
2
5
MV
MV
2

Physics 111: Lecture 17, Pg 91

Atwoods Machine with Massive Pulley:

A pair of masses are hung over a

massive disk-shaped pulley as shown.
Find the acceleration of the blocks.
For the hanging masses use F = ma
-m1g + T1 = -m1a

x
M

-m2g + T2 = m2a

I
For the pulley use = I
R
a 1
T1R - T2R I R 2 MRa

(Since I

1
MR 2 for a disk)
2

T2

T1

m2

m1
a
m1g

m2g

Physics 111: Lecture 17, Pg 92

Large and small pulleys

Atwoods Machine with Massive Pulley...

We have three equations and three unknowns (T1, T2 , a). Solve for a.
-m1 g + T1 = -m1a

(1)

-m2 g + T2 = m2 a

(2)

T1 - T2

(3)

x
M

1
Ma
2

m1 m 2
a
g
m1 m 2 M 2

R
T2

T1

m2

m1
a
m1g

m2g

Physics 111: Lecture 17, Pg 93

Recap of todays lecture

Review
Many body dynamics
Weight and massive pulley
Rolling and sliding examples
Rotation around a moving axis: Puck on ice
Rolling down an incline
Bowling ball: sliding to rolling
Atwoods Machine with a massive pulley

Physics 111: Lecture 17, Pg 94