Tickle Your Mind

 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.
 Klyde’s angular velocity is:

(a) the same as Bonnie’s

(b) twice Bonnie’s
(c) half Bonnie’s
 Tickle Your Mind
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
 Tickle Your Mind
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

a
(b) Ia > Ic > Ib
b
(c) Ib > Ia > Ic
c
Homework – Recit (10 points)
 At the back of your recit-homework for
chapter 9 & 10:
 (1)  9.15
 (2)  9.46
 (3)  10.3
 (4)  10.8
 (5)  10.13

4
Cross Product

5
Cross Product

RIGHT-HAND
RULE

6
Dynamics of
Rotational Motion

7
Outline
 Torque
 Torque and Angular Acceleration for a Rigid
Body
 Rigid Body Rotation About a Moving Axis
 Combined Translational and Rotational Energy
 Rolling Friction
 Work and Power in Rotational Motion
 Angular Momentum
 Conservation of Angular Momentum
 Gyroscopes and Precession
8
Torque

Why is it easier to open a door

nearer to the knob than
pushing it close to the hinges?
9
 Torque
 Which of these 3 equal-
magnitude forces is most
likely to loosen the tight bolt?
 For greater rotation
 Big force applied FAR from axis
of rotation
 Torque - quantitative measure
of the tendency of a force to
cause or change the rotational
For the Engg
motion of a body students, torque

  Fl
is usually termed
“moment”. 
10
Torque
 Defined with reference to a specific point.

Lever arm is the P

perpendicular
Lever arm
distance between
the line of action of Line of action
F Q
the force and the
reference point.
At point Q,
lever arm is
zero. Can you
see why?
At point P, torque = (F) (Lever arm)
At point Q, torque = 0
11
Torque
 Torque can be positive or negative.
Line of action
P
P
Lever arm Line of action
Lever arm
F

About point P (our axis of About point P (our axis of

rotation), F causes clockwise rotation), F causes
rotation. counterclockwise rotation.
 Negative torque  Positive torque

BY CONVENTION!  12
Torque

 SI Unit: N∙m
 NOT Joules if our quantity is torque!
 Unlike energy (or work), torque is a VECTOR!

13
Torque
 One way to calculate torque
Line of
action of F  
F F  
r

r  = angle between

P F and r

Lever arm

l  r sin  Hence,  
  F r sin 
14
Torque
 Another way to calculate torque
Line of  = angle between
In this action of F  F and r
case, |r| is Ftan  F
F 
the lever  r
arm
Ftan

r 
 where Ftan  F sin 
P

Since |r| is the lever arm,

hence
   
  Ftan r  r F sin 
15
Torque
 Hence the magnitude of torque can be
obtained by:
 
  Fl  F r sin 

 Torque as a VECTOR quantity can be

expressed as a cross product.
   Direction is perpendicular to
  r F both r and F
 Can be easily determined
by the RIGHT-HAND RULE
16
Torque

17
Torque
  
 Right-Hand Rule for Torque   r  F
 Rule #1: Use your right hand! 
 Rule #2: Point your four fingers to the direction
of the first vector (in this case, vector r)
 Rule #3: Curl your fingers to the direction of the
second vector (in this case, vector F)
 The direction where your thumb points is
the direction of the cross product (in this
case, ) This skill needs some practice to get
the hang of it… 
18
Torque
 Right-Hand Rule for Torque

19
 Applying a Torque
 A weekend plumber, unable to loosen a pipe fitting, slips a
piece of scrap pipe over his wrench handle. He then applies
his full weight of 900 N to the end of the pipe by standing on
it. The distance from the center of the fitting to the point
where the weight acts is 0.80 m, and the wrench handle and
pipe make an angle of 19o with the horizontal. Find the
magnitude and direction of the torque he applies about the
center of the pipe fitting.

20
Torque in Components

 A force F = (3 i + j) N acts on a wheel

whose rotation axis coincides with the z
axis; the force applied at the point x = 3 m,
y = 0. Find the torque due to this force.

21
Test your understanding in 12 min!
 You’re tightening a car’s wheel nuts after
changing a flat tire. The instructions specify a
tightening torque of 95 N∙m to ensure the nuts
won’t come loose. If your 45-cm-long wrench
makes a 67o angle with the horizontal, with what
force must you pull horizontally to produce the
required torque?`

22
Torque and Angular
Acceleration for a
Rigid Body
Rotational Analog of Newton’s
2nd Law

23
Torque and Angular Acceleration
for a Rigid Body
 Rotational Version of Newton’s Second
Law:
 z  I z
 The net torque on a rigid body equals the
body’s moment of inertia about the rotation
axis times its angular acceleration.

24
An Unwinding Cable
 A cable is wrapped several times around a uniform solid
cylinder that can rotate about its axis. The cylinder has
diameter 0.120 m and mass 50 kg. The cable is pulled
with a force of 9.0 N for a distance of 2.0 m. Assuming
that the cable unwinds without stretching or slipping,
what is the final velocity?

25
An Unwinding Cable II
 Find the
velocity of
the object of
mass m after
it has
dropped a
height h.

26
Rigid-Body Rotation
About a Moving Axis
What if, aside from the body
moving, the axis of rotation
also moves?!
27
Rigid-Body Rotation About a
Moving Axis

 Every possible motion of a rigid body can

be represented as a combination of
translational motion of the center of mass
and rotation about an axis through the
center of mass.

28
Combined Translation and
Rotation: Energy Relations
 KE is a combination of translation and
rotation! 
If object translates If object rotates

1 2 1 I 2
K trans  2
Mvcm K rot  2 cm

Hence if there is both

translation and rotation:
K tot  K trans  K rot

29
Combined Translation and
Rotation: Energy Relations



 Fext  Macm z  I cm z

 Valid even when axis of rotation moves!

 Conditions
 Axis through the center of mass must be an
axis of symmetry.
 Axis must not change direction.

30
Non-Slip Condition

 When object rolls without slipping

'
v1  vcm  R
31
Non-Slip Condition

 Hence for ROLLING WITHOUT SLIPPING

vcm  R
 How does this happen?
 Due to friction
 Contact point is at rest
 Friction force does no work! 

32
Rolling Downhill

33
Rolling Downhill
 A solid ball of M and radius R starts from
rest and rolls without slipping down a hill;
its center of mass drops a total distance h.
Find the ball’s speed at the bottom of the
hill.

Which reaches the bottom first? A

solid sphere with radius R or
another solid sphere with radius
2R?

34
Work and Power in
Rotational Motion

35
Work and Power in Rotational
Motion
 The total work done by the torque during
an angular displacement from 1 to 2
2
W    z d
1

 If torque applied is CONSTANT

W   z  2  1    z 
Looks similar to
W = Fs! 

36
Work and Power in Rotational
Motion

Does the force applied by the child do work? 

37
Work and Power in Rotational
Motion
 Rotational Analog of Work-KE Theorem:

Wtot  I  I
1
2
2
2
1
2
2
1

Its form is still: Wtot = Kf – Ki! 

 The change in rotational KE of a rigid body

equals the work done by forces exerted
from outside the body.
38
Work and Power in Rotational
Motion
 Power associated with work done by
torque:

P   z z
Looks similar to P = Fv! 

39
Child and Merry-Go-Round
 A playground merry-go-round has radius of 2.40
m and a moment of inertia of 2100 kgm2 about a
vertical axle through its center, and turns with
negligible friction.
A child applies an 18.0-N force tangentially to the
edge of the merry-go-round for 15.0 s. If the merry-
go-round is initially at rest, what is its angular speed
after this 15.0-s interval?
 How much work did the child do on the merry-go-
round?
 What is the average power supplied by the child?

40
Calculating Power from Torque
 An electric motor exerts a constant torque
of 10 N∙m on a grindstone mounted on its
shaft. The moment of inertia of the
grindstone about the shaft is 2.0 kg∙m2.
 Ifthe system starts from rest, find the work
done by the motor in 8.0 seconds and the
kinetic energy at the end of this time.
 What was the average power delivered by the
motor?

41
Engine Power and Torque

 The power output of an automobile is

advertised to be 1.49  105 W at 628 rad/s.
What is the corresponding torque?

42
Angular Momentum

The rotational analog of linear

momentum

43
Angular Momentum of a Particle
 Rotational
Analog of
Linear
Momentum
    
L  r  p  r  mv

44
Angular Momentum of a Rigid Body
For a particle in a rigid body:
Li  mi vi ri
 mi  ri  ri  mi ri 2
For ALL the particles in a
rigid body:

L   Li 
  m r   I
i i
2

45
Angular Momentum of a Rigid Body
 Rotational Analog of Linear Momentum
 
L  I
 Valid
for a rigid body rotating around a
SYMMETRY AXIS
 Rotational Analog of Newton’s 2nd Law

 dL
  dt
46
Angular Momentum of a Rigid Body
 
Ltot  I

47
Angular Momentum of a Rigid Body

48
Angular Momentum
 A weightlifter’s barbell consists of two solid
sphere 25-kg masses (rsphere = 10 cm) on
the ends of a 15-kg rod 1.6 m long. The
weightlifter holds the rod at its center and
spins it at 1.0 rad/s about an axis
perpendicular to the rod. What is the
magnitude of the barbell’s angular
momentum? (Irod,cm = 1/12 ML2, Isphere = 2/5
MR2)
49
Conservation of
Angular Momentum
Why does an ice skater spin
faster when she pulls her
arms in?
50
Conservation of Angular
Momentum
 Like in conservation of linear momentum,
conservation of angular momentum
happens when
 Hence,
 dL  
  dt  0 Li  L f

 When the net external torque acting on a

system is zero, the total angular
momentum of the system is constant.
51
Conservation of Angular
Momentum
 When a skater spins
 External Forces? Does it cause torque?
 What is his angular momentum?
 Do we have an axis of symmetry? If yes, L  I
 Since there is no external torque,
Li  L f What happens
then if he pulls his
I i i , z  I f  f , z arms in? 

52
Conservation of Angular
Momentum

53
Conservation of Angular
Momentum

Angular velocity
increases as the
diver goes into a
tuck position! 

54
Anyone can be a Ballerina
 An acrobatic
physics professor
(in figure) holds a
5.0 kg dumbbell in
each hand. He is
set rotating about 0.20 m
a vertical axis, 1.0 m
making one
revolution in 2.0 s.
 Find the prof’s new
angular velocity if
he pulls the
dumbbells in.

Iprof = 3.0 kg∙m2 Iprof = 2.2 kg∙m2

55
 A Rotational “Collision”
 A flywheel A has a mass of
2.0 kg, a radius of 0.20 m
and initial angular speed of
50 rad/s. A clutch plate B
has mass of 4.0 kg, radius
of 0.10 m and initial
angular speed of 200
rad/s. The two disks are
pushed together such that
they rub against each
other and eventually reach
a common final angular
speed.
 Find the final angular speed.
 What happens to the KE
during this process?
56
 Angular Momentum in a Crime Bust
 A door 1.00 m wide, of TOP VIEW
mass 15 kg, is hinged at
one side so that it can
rotate without friction
about a vertical axis. It is
unlatched. A bullet with a
mass of 10 g and a speed
of 400 m/s is fired into the
exact center of the door
as shown. Find the
angular speed of the door
just after the bullet
embeds itself in the door.
(Idoor,about edge = 1/3Md2)
57
Test your understanding in 10 min!
 You apply equal torques to two different
cylinders, one of which has a moment of inertia
twice as large as the other cylinder. Each
cylinder is initially at rest. After one complete
rotation, which cylinder has the greater kinetic
energy? Which has greater angular momentum?
 A ball is attached to one end of a piece of string.
You hold the other end of the string and whirl the
ball in a circle around your hand. If the ball
moves at a constant speed, is its linear
momentum p constant? Is its angular
momentum L constant? Explain.
58
End of Lecture

59