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1
A rigid body can perform the various types of motion - from a simple translation to quite complex motions. The
various types of motion of a rigid body can be grouped as follows :
(a) Pure Translation : SA rigid body is said to be in pure translation if every particle of the rigid body
undergoes same linear displacement.
(b) Pure Rotation : A rigid body is said to have pure rotation if every particle of the rigid body moves in a
circular path, the centers of which lie on a straight line called the axis of rotation.
(c) Translation and rotation : In general a rigid body can rotate as it translates. Its motion can be treated
as a combination of translation of center of mass and rotation about an axis passing through the
center of mass
KINEMATICS OF ROTATIONAL MOTION ABOUT A FIXED AXIS OF
ROTATION
Consider a body of arbitrary shape rotating about a fixed axis O as shown in figure. In a given interval all the
particles lying on the line OA move to their corresponding positions lying on OB.
Although the particles of the body have different linear displacements, they all have the same angular
displacement
u
, which is given by
s
r
u =
...(i)
B
A
O
u
r
s
The average angular velocity of the body for a finite time interval is given by
f i
av
f i
t t t
u u
Au
e = =
A
The unit of angular velocity radian per second (rad/s).
The instantaneous angular velocity is defined as
0
lim
t
d
t dt
A
Au u
e= =
A
...(ii)
e
z
y
x
It is the rate of change of the angular position
u
with respect to time. It is a vector
quantity. The direction of angular velocity is given by the right-hand rule. We hold
the right hand such that when the fingers of the right hand curve in the sense of
rotation, the thumb points in the direction of e.
ROTATIONAL MOTION
Physics : Rotational Motion
2
The relation between linear speed and angular speed is obtained by differentiating equation (i) w.r.t time.
1 d ds
dt r dt
u
=
or
v
r
e=
or v r = e
Although all particles have the same angular velocity, their speeds increase linearly with distance from the
axis of rotation.
The average angular acceleration is defined as
f i
av
f i
t t t
e e
Ae
o = =
A
and the instantaneous angular acceleration is defined as
0
lim
t
d
t dt
A
Ae e
o = =
A
...(iii)
Angular acceleration is a vector quantity measured in rad/s
2
.
When the angular acceleration is constant, we can find the change in angular velocity by integrating
equation (iii).
d dt e= o
or
0
0
t
d dt
e
e
e= o
} } or
0
t e e = o
or
0
t e= e + o ....(iv)
Substituting the value of e in equation (ii), we get
( )
0
d dt t dt u = e = e + o
On integrating
( )
0
0
0
t
d t dt
u
u
u = e + o
} }
2
0 0
1
2
t t u u = e + o
or
2
0 0
1
2
t t u = u + e + o
....(v)
On eliminating t from equation (iv) and (v), we get
( )
2 2
0 0
2 e = e + o u u ....(vi)
The equations (iv), (v) and (vi) are called the equations of rotational kinematics for constant angular acceleration.
Physics : Rotational Motion
3
Note :
These relations can be easily compared with those in uniformly accelerated linear
motion, i.e.,
0
v v at = + ;
2
0 0
1/2 x x v t at = + ; ( )
2 2
0 0
2 v v a x x = +
, , u e o can be clockwise or anti-clockwise. We can take anti-clockwise direction as
positive and clockwise direction as negative or vice versa.
o and e are opposite if the rotating body slows down (compare with case of retardation
in linear motion).
The angular velocity and angular acceleration are actually vector quantities. We are able
to treat them as scalar quantites because we consider rotation about a fixed axis of
rotation. But if the axis of rotation is changing direction then we will have to take their
vector nature into consideration.
COMPARISION OF LINEAR MOTION AND ROTATIONAL MOTION
Linear Moti on Rotational Moti on
(i) If acceleration is 0, v =constant (i) If acceleration is 0, e =constant and u =et
and s =vt
(ii) If acceleration a =constant, (ii) If acceleration o =constant then
(i) t
2
) v u (
s
+
= (i) t
2
) (
2 1
e + e
= u
(ii)
t
u v
a
=
(ii)
t
1 2
e e
= o
(iii) v =u +at (iii) e
2
=e
1
+ot
(iv) s =ut +(1/2) at
2
(iv) u =e
1
t +1/2 ot
2
(v) v
2
=u
2
+2as (v) e
2
2
=e
1
2
+2 o u
(vi) S
nth
=u +a(2n 1)/2 (vi) u
nth
=e
1
+(2n 1)o/2
(iii) If acceleration is not constant, the (iii) If acceleration is not constant, the above
above equation will not be applicable. equation will not be applicable.
In this case, apply calculus method. In this case, apply calculus method.
(i)
dt
dx
v =
(i)
dt
du
= e
(ii)
2
2
dt
x d
dt
dv
a = =
(ii)
2
2
dt
d
dt
d u
=
e
= o
(iii) vdv =ads (iii) ede =odu
Physics : Rotational Motion
4
EXAMPLES BASED ON ROTATIONAL KINEMATICS
Example - 1 A disc starts rotating with constant angular acceleration of t rad/s
2
about a fixed axis
perpendicular to its plane and through its centre.
(a) Find the angular velocity of the disc after 4s.
(b) Find the angular displacement of the disc after 4 s.
(c) Find number of turns accomplished by the disc in 4 s.
Solution : Here
2
rad/sec o = t
0
0 e = ,
4sec t =
(a) ( )
2
0 rad/s 4 sec =4 rad/s. e= + t t
(b) ( ) ( )
2 2
1
0 rad/s 16s 8 rad.
2
u = + t = t
(c) Let the number of turns be n
( ) 2 rad=8 rad n t t
n =4 Ans.
Example - 2 A wheel mounted on a stationary axle starts moving from rest and is given the following
angular acceleration
o = 9 12t
where t is the time after the wheel begins to rotate. Find the number of revolutions that the
wheel turns before it stops (and begins to turn in the opposite direction).
Soluti on : The kinematic equations do not apply because the angular acceleration o is not constant.
We start with the basic definition :
/ o = e d dt
to write
( )
t
2
0
0 0
9 12 9 6 e e = o = =
} }
t
dt t dt t t
we find the elapsed time t between
0
0 e = and
0 e=
by substituting these values :
2
0 0 9 6 = t t
Solving for t, we obtain t =9/6 =1.50 s
From / , e= u d dt we have
0
u u ( )
2 2 3
0 0
9 6 4.5 2 = e = =
} }
t t
dt t t dt t t
Substituting
0
0 u = and 1.5 , = t s we obtain
( ) ( )
2 3
0 4.5 1.5 2 1.5 3.375 u = = rad
If n be is the number of of turns. Then
( ) 2 3.375 n t =
3.375
~0.5
2 3.14
n =
Ans.
Physics : Rotational Motion
5
Example - 3 A wheel rotates with an angular acceleration given by
3 2
4at 3bt o = where t is the time
and a and b are constants. If the wheel has initial angular speed
0
e , write the equations
for:
(i) the angular speed
(ii) the angular displacement.
Solution : (i) We know
d dt e = o
Integrating both sides, we get
( )
0
3 2
0 0
dt 4 3
t t
d at bt dt
e
e
e= o =
} } }
or
4 3
0
at bt e= e + Ans.
(ii) Also
d dt u = e
On integrating both the sides, we get
( )
4 3
0
0 0 0
t t
d dt at bt dt
u
u = e = e +
} } }
or
5 4
0
5 4
at bt
t u = e +
Ans.
Example - 4 A flywheel of radius 30 cm starts from rest and accelerates with constant acceleration of
0.5 rad/s
2
. Compute the tangential, radial and resultant accelerations of a point on its
circumference :
(a) initially at
0
and
(b) after it has made one third of a revolution.
Solution :
(a) At the start :
2
0.5 rad/s o =
,
0.3 m = R
and 0 rad/s e= e =
i
radial acceleration =
2
0m/s = e =
r
a R
tangential acceleration = = o
r
a R
( )( )
2
0.3 0.5 0.15 m/s = =
Net acceleration =
net
a
2 2 2 2 2
0 0.15 0.15 m/s = + = + =
r t
a a Ans.
(b) After ( ) 120 2 /3 u = t :
( )( )
2 2
2 0 2 0.5 2 /3 e = e + ou = + t
f i
2
rad/s
3
t
e =
f
Physics : Rotational Motion
6
( )
2 2
r
a R 2 /3 .3 /5 m/s = e = t = t
( )( )
2
0.3 0.5 0.15 m/s = o = =
t
a R
( )
2
2
2 2
0.15
25
t
= + = +
net r t
a a a
2
0.646 m/s =
Ans.
MOMENT OF INERTIA
The moment of inertia (I) of a body is a measure of its rotational inertia, that is, its resistance to the change
its angular velocity. It depends on the location of the axis, that is, on how the mass of the body is distributed
relative to the axis. Thus, a body does not posses a unique moment of inertia; different axes through the
body are associated with different moment of inertia.
MOMENT OF INERTIA OF A SINGLE PARTICLE
Y
Y
P
r
Let a particle P of mass m is rotating about an axis ' YY . Then the
moment of inertia of the particle P is defined as,
2
= I mr
where r is the perpendicular distance of the particle from the axis of
rotation.
MOMENT OF INERTIA OF A SYSTEM OF PARTICLES
Let point masses
1 2 3
, , ,.......,
n
m m m m be rotating about an axis
' YY
. Then
the moment of inertia of the system about this axis is defined as,
2 2 2 2
1 1 2 2 3 3
............ = + + + +
n n
I m r m r m r m r
Y
Y
r
r
3
r
2
1
m
3
m
1
m
2
r
n
m
n
where
1 2 3
, , ,........
n
r r r r are perpendicular distances of the particles from
axis of rotation.
or
2
1 =
=
n
i i
i
I m r
MOMENT OF INERTIA OF A CONTINUOUS BODY
r
dm
Y
Y
When the distribution of mass of a system of particles is continuous, the discrete
sum
2
1 =
=
n
i i
i
I m r
is replaced by an integral. We have to calculate the sum of
contributions of infinitesimal mass elements dm shown in figure, each of which
contributes dI =r
2
dm to the total moment of inertia. The mass element should be
chosen such that all the particle on it are at the same perpendicular distance from
the axis. The moment of inertia of the whole body then takes the form
2
=
}
I r dm
Keep in mind that here the quantity r is the perpendicular distance from an axis, not the distance from an
origin. To evaluate this integral, we must express m in term of r.
Physics : Rotational Motion
7
RADIUS OF GYRATION
If M is the mass and 1 is the moment of inertia of a rigid body, then the radius of gyration (k) of body is given
by :
=
I
k
M
2
= I Mk
TABLE : MOMENT OF INERTIA OF SOME COMMON SHAPED BODIES
1 Circular Ring :
Axis passing through the center and perpendicular to the
plane of ring.
I =MR
2
R
axis
2. Hollow Cylinder :
I =MR
2
hollow
axis
3. Solid Cylinder & a Disc :
About the geometrical axis
I = MR
2
About the perpendicular axis of cylinder
2 2
12 4
| |
+
|
\ .
L R
I=M
solid
axis
4. (a) Solid Sphere :
Axis passing through the center :
I =2/5 MR
2
(b) Hollow Sphere :
Axis passing through the center :
I =2/3 MR
2
5. Thin rod of length l :
(a) Axis passing through mid-point and
perpendicular to the length :
2
12
=
l M
I
(b) Axis passing through an end perpendicular to
rod :
2
3
=
l M
I
6.
Cuboid ( ): l b h
Axis through center and parallel to the height (h) :
( )
2 2
12
= + l
M
I b
h
b
R
R
l
R
Physics : Rotational Motion
8
EXAMPLES BASED ON MOMENTUM OF INERTIA
Example 5 Many molecules have a simple diatomic , dumbbell
structure. Let us find the moments of inertia about
the four axes as shown in the figure. We treat the
bodies as point particles with mass
1
m 3 kg = and
2
m 5 kg = . Take
1
d 1m = and
2
d 2m =
d
1
d
2
m
2
D
C A B
m
1
If the spheres are treated as point particles,
themoment of inertia about axis D is zero
Solution : Axis A :
( )( ) ( )( )
2 2
2 2 2
1 1 2 2
3 1 5 2 23 .
A
I md md kg m kg m kgm = + = + =
Axis B :
( ) ( )
2
2
1 2 1 2
0 45 .
B
I m m d d kg m = + + =
Axis C :
( ) ( )
2
2
1 1 2 2
0 27 .
C
I m d d m kg m = + + =
Axis D : 0
D
I =
D
I is zero because we treated the masses as point particles. Ans.
Example 6 Four point masses lie at the corners of a rectangle with
sides of length 3 m and 4m, as shown in figure. Find the
moment of inertia about each of the diagonals.
Take M =1 kg.
A
2M M
4M
4m
3m
3M
53
o
Solution : For each mass we need its perpendicular distance from the
axis. For each axis, two of the four masses do not contribute
to the moment of inertia. The other two are at the same
distance, that is
3sin53 2.4m =
( )( ) ( )( )
2 2
2
4 2.4 2 2.4 34.6
A
I kg m kg m kgm = + =
( )( ) ( )( )
2
2 2
1 2.4 3 2.4 23.0
B
I kg m kg m kgm = + = `
Ans.
Example 7 Find the moment of inertia of a thin rod of mass M and length
L about an axis at one end and perpendicular to the rod, as
shown in figure.
Solution : The mass of an element of length dx is dm =
dx
.
x
L
dx
where
/ M L =
is the linear mass density..
The moment of inertia of the mass element that is at a distance x from the axis is
( )
2
dI x dx = . For the entire rod the moment of inertia is
3
2
0
3
L
L
I x dx
= =
}
or,
2
3
ML
I =
Ans.
Physics : Rotational Motion
9
THEOREMS ON MOMENT OF INERTIA
PARALLEL AXIS THEOREM
P
cm
d
I
cm
I
P
Let I
cm
be the moment of inertia of a body about an axis through its centre of
mass and let I
P
be the moment of inertia of the same body about another
axis which is parallel to the original one.
If d is distance between these two parallel axes and M is the mass of the
body, we can write according to the parallel axis theorem:
2
p cm
I I Md
PERPENDICULAR AXIS THEOREM
Consider a planar body (i.e. a plate of small thickness) of mass M. Let X and Y axes be two mutually
perpendicular lines in the plane of the body. The axes intersect at origin O.
Let =
x
I moment of inertia of the body about X-axis
Let =
y
I moment of inertia of the body about Y-axis
Y
X
Z
O
The moment of inertia of the body about Z-axis (passing through O and perpendicular to the plane of the
body) is given by :
z x y
I I I
The above result is known as the perpendicular axis theorem.
Note : The point of intersection of x and y axes need not lie certain the body.
Example - 8 Two spheres each of mass M and radius R/2 are connected with a
massless rod of length 2R as shown it fig. What wilI be the
moment of inertia of the system about an axis passing through the
centre of one of the sphere and perpendicular to the rod.
Solution :
2
2
2
2
MR
5
21
2
R
M
5
2
) R 2 ( M
2
R
M
5
2
I = |
.
|
\
|
+ + |
.
|
\
|
=
X
Y
Z
O
Example - 9 Two circular discs A and B of equal masses and thickness t but made of metals with
densities d
A
and d
B
(d
A
>d
B
). If their moments of inertia about an axis passing through the
centre and normal to the circular faces be I
A
and I
B
then I
A
/ I
B
=?
Solution :
2
r m
and
2
r m
2
B B
B
2
A A
A
= = I I
2
B
2
A
B
A
r
r
=
I
I
( m
A
=m
B
) ....(1)
Now m
A
=t r
A
2
t d
A
m
B
=t r
B
2
t d
B
So, t r
A
2
td
A
=t r
B
2
t d
B
or
A
B
2
B
2
A
d
d
r
r
=
....(2)
From equations (1) and (2)
A
B
B
A
d
d
=
I
I
.
As d
A
>d
B
hence I
A
<I
B
Physics : Rotational Motion
10
Example - 10 Find the moment of inertia of a circular disc or solid cylinder of radius R about the following
axes.
(a) through the centre and perpendicular to the flat surface.
(b) at the ring and perpendicular to the flat surface
Solution : (a) Figure shows that the appropriate mass
element is a circular ring of radius r and
width dr. Its area is
2 dA rdr = t
and its mass
is , dm dA = o where
/ M A o =
is the areal
mass density. The moment of inertia of this
element is
2 3
2 dI r dm r dr = = to
R
dr
r
R
For the whole body,
3 4
0
1
2
2
R
I r dr R = to = to
}
The mass of the whole disk or cylinder is
2
, M A R = o = ot
and so
2
1
2
cm
I MR =
Ans.
(b) The evolution of the moment of inertia about an axis at the rim, as in figure, by integration
is difficult. The parallel axis theorem, equation, with , = d R provides the answer with
remarkable simplicity.
2 2 2 2
1 3
2 2
= + = + =
rim cm
I I Md MR MR MR
Ans.
Example - 11 Calculate the moment of inertia of :
(a) a ring of mass M and radius R about an axis coinciding with a diameter of the ring.
(b) a thin disc about an axis coinciding with a diameter.
Solution : Let X and Y axes be along two perpendicular diameters of the ring.
By symmetry
x y
I I = and
z x y
I I I = +
But we know that
2
z
I MR =
2
x y
MR I I = +
2
2
x
MR I =
2
/2
x y
I I MR = =
Similarly for a thin disc (i.e., a circular plate), I
z
=MR
2
/2, therefore moment of inertia about
a diameter is
2
1 1
2 2
I MR
| |
=
|
\ .
=
2
1
4
MR
Ans.
Physics : Rotational Motion
11
TORQUE
Torque is the rotational analog of force. Force causes
linear acceleration; torque causes angular acceleration. In
order to lift a stone by using a lever, a force is required
(see figure). The effectiveness of the force depends both
on its direction and magnitude and it is applied relative to
the pivot point.
M
F
A stoneof mass M is lifted by using alever
The turning ability of a force about an axis or pivot is
called its torque.
The torque of a force F that acts at a distance r from the origin is defined as
sin rF t = u
...(i)
u
F
x
O
y
r
r
t=( sin r u)F=r F
Where
u
is the angle between the vector r and F, as shown
in the figure.
The definition of torque {in equation (i)}may be interpreted in two ways :
(i) ( ) sin r F rF
t = u = . Here r
r
is the position vector of the point of application of the force. the
direction of the torque is perpendicular to the plane formed by
r
and
F.
NEWTONS SECOND LAW FOR ROTATORY MOTION
Since torque is a rotational analog of force, therefore, Newtons second law for rotational motion is given by
net
I t = o
It is valid in two situations :
(i) The axis is fixed in position and direction.
(ii) The axis passes through the centre of mass and is fixed in direction only.
The equation
cm cm cm
I t = o is valid even if the centre of mass is accelerating.
EXAMPLES BASED ON NEWTONS SECOND LAW FOR ROTATORY
MOTION
Example - 12 A weightless horizontal rod is free to rotate about an axis OO'. Two masses, each of 1 kg,
are placed at A and A such that, OA =OA =0.20 meter. Now a torque of 2.0 newton-
meter is applied on the system which rotates about OO'. If the masses are displaced to B
and B such that OB =OB =0.50 meter, then what will be the decrement in angular
acceleration ?
Physics : Rotational Motion
12
Solution : In the first case the moment of inertia of each, mass about OO'
=mass x ( distance from O)
2
=1 kg (0.20 m)
2
=0.04 kg-m
2
moment of inertia of the whole system about OO'
O
O
O'
O'
0.2m
0.5m
1kg
1kg
1kg
1kg (rod is weightless) is
I =2 x 0.04 =0.08 kg-m
2
Let a be the angular acceleration.
Then the torque is, t =Io
2
2
sec / rad 25
m kg 08 . 0
m N 0 . 2
=
=
t
= o
I
In the second case, the moment of inertia of each mass about OO
=1 kg (0.50 m)
2
=0.25 kg-m
2
moment of inertia of the whole system is
I =2 0.25 =0.50 kg-m
2
angular acceleration
2
sec / rad 0 . 4
50 . 0
0 . 2
= =
t
= o
I
Decrement in angular acceleration =25.-4 =21 rad/sec
2
Example - 13 Given that. j
3 i
2 r + =
and k
6 i
2 F + =
6 i
2 ( ) j
3 i
2 ( + + = t
18 k
6 j
12 i
18 ) k
( 6 ) j
( 12 + = + + =
[Note :
i i 0, i j k, j i k etc. = = = ]
Now 504 324 36 144 ) 18 ( ) 6 ( ) 12 ( | |
2 2 2
= + + = + + = t
Example - 14 A grind - stone in the form of a solid cylinder has a radius of 0.5 m and mass 50 kg.
(a) What torque will bring it from rest to an angular velocity of 300 rev/min in 10 s ?
(b) What is the kinetic energy when it is rotating at 300 rev/min ?
Solution : Let 0 rad/s, e =
i
( )
2
2 300/60 10rad/s e = t =
f
(a)
2
10 0
rad/s
10
e e
t
o = = = t
f i
t
torque required
2
1
2
| |
t = o = o
|
\ .
I MR
( )( )
2
1/ 2 50 0.5 19.6 Nm t = t = Ans.
(b) Kinetic energy of a rotating body (RKE) :
2 2 2
1 1 1
2 2 2
| |
= e = e
|
\ .
RKE I MR
( )( ) ( )
2 2 1 1
50 0.5 10
2 2
| |
= t
|
\ .
RKE =3084 J Ans.
Physics : Rotational Motion
13
Example - 15 A disc-shaped pulley has mass M 4kg = and radius R 0.5m. = It can
rotate freely on a horizontal axis, as shown in figure. A block of mass
m =2 kg hangs by a string that is tightly wrapped around the pulley.
(a) What is the angular velocity of the pulley 3s after the block is
released ?
R
m
1 (b) Find the speed of the block after it has fallen by 1.6m. Assume the
system starts from rest.
Solution : Applying Newtons second Law for the pulley
I t = o
o
T
mg
T
a
1
FBD of pulley FBD of block
For the pulley,
2
2
MR
I =
2
2
MR
TR
| |
= o
|
\ .
or
2
MR
T
o
=
...(i)
Applying Newtons second Law for the block
net
F ma =
mg T ma = ...(ii)
Since the block and the rim of the pulley have the same speed (the string does not slip), we
have a R = o . Thus, from equation (i) we find
1
2
T Ma =
...(iii)
Adding (ii) and (iii) leads to
2
mg
a
M
m
=
+
...(iv)
Putting m =2 kg; 4kg ; 0.5m M R = = ;
we get
2
5 m/s a =
(a) To find e after 3s, we use equation
0
0 30 rad/s
a
t t
R
| |
e= e + o = + =
|
\ .
Ans.
(b) To find the speed of the block we use
( )( )
2 2 2
0
2 0 2 5 / 1.6 v v ay m s m = + = +
Thus
4 / v m s =
Ans.
Physics : Rotational Motion
14
Example - 16 For the arrangement shown in the figure, the string is tightly wrapped over the pulley. Find
the acceleration of each block when released from rest. The string is not slipping over the
pulley. Mass of pulley is M and that of blocks is m
1
& m
2
.
Solution : The free body diagrams of the pulley and the blocks are shown in the figure.
Note that tensions on two sides of the pulley are different. Why ?
Applying Newtons second law on the pulley, we get
( )
1 2 1 2
T R T R T T R t = =
m
R
M
2
m
1
o
T
2
T
1
Since
2
2
MR
I
| |
t = o = o
|
\ .
Therefore,
( )
1 2
2
MR
T T R
| |
= o
|
\ .
m g
T
2
a
2
m g
T
1
a
1
1
2
or 1 2
2
MR
T T
| |
= o
|
\ .
...(i)
Applying Newtons Law on the blocks, we get
2 2 2 2
= T m g m a ...(ii)
1 1 1 1
m g T m a = ...(iii)
Since the string is tightly wrapped over the pulley, therefore,
1 2
a a R a = = o = ...(iv)
Solving equation (i), (ii), (iii) and (iv), we obtain
1 2
1 2
2
m m
a g
M
m m
(
(
=
(
(
+ +
Ans.
ROTATIONAL WORK AND ENERGY
The rotational work done by a force about the fixed axis of rotation is defined as
rot
W d = t u
}
...(i)
Where t is the torque produced by the force, and
du
is the infinitesimally small angular displacement
about the axis.
The rotational kinetic energy of a body about a fixed rotational axis is defined as
2
1
2
rot
K I = e
...(ii)
where I is the moment of inertia about the axis.
Physics : Rotational Motion
15
WORK - ENERGY THEOREM
In complete analog to the work energy theorem for the translatory motion, it can be stated for rotational
motion as :
rot rot
W K = A
The net rotational work done by the forces is equal to the change in rotational kinetic energy of the body.
CONSERVATION OF MECHANICAL ENERGY
In the absence of dissipative work done by non-conservative forces, the total mechanical energy of a system
is conserved.
0 K U A + A =
or
f f i i
K U K U + = +
EXAMPLES BASED ON ROTATIONAL WORK AND ENERGY
Example - 17 A block of mass m =4 kg is attached to a spring (k =32 N/
m) by rope that hangs over a pulley of mass 8 M kg = . If the
system starts from rest with the spring unextended, find the
speed of the block after it falls 1m. Treat the pulley as a
disc, so
2
1
I MR
2
=
.
m
k
M
Solution : Since the rim of the pulley moves at the same speed as the block, the speed of the block v
and the angular velocity of the pulley eare related by
v R = e
When the block falls by a distance x, its potential energy decreases ( )
;
g
U mgx A =
the
potential energy of the spring increases
2
1
,
2
g
U kx
| |
A = +
|
\ .
and both the block and the
pulley gain kinetic energy
2 2
1 1
,
2 2
K mv I
| |
A = + e
|
\ .
From the conservation of mechanical energy,
0 K U A + A =
,
2
2 2
1 1 1
0
2 2 2
v
mv I kx mgx
R
| |
+ + =
|
\ .
2 2
1 1
0
2 2 2
M
m v kx mgx
| |
+ + =
|
\ .
Note that radius R of the pulley was not needed. We need only shape of the pulley.
Putting 4 ; 8 ; 32 / ; 1 m kg M kg k N m x m = = = =
Physics : Rotational Motion
16
( )( ) ( )( )( )
2
2
1 8 1
4 32 1 4 10 1 0
2 2 2
v
| |
+ + =
|
\ .
2
4 16 40 0 v + =
or
2.4 m/s v =
Ans.
ROTATIONAL POWER
In complete analog with the linear motion, the instantaneous rotational power is defined as
.
rot
rot
dW
P
dt
= = t e
EXAMPLES BASED ON ROTATIONAL POWER
T
R
Example - 18 A motor rotates a pulley of radius 25 cm at a constant angular speed
of 20 rpm. A rope around the pulley lifts a 50 kg block, as shown in
figure. What is the power output of the motor ?
Solution : The tension in the rope is equal to the weight since there is no
acceleration.
Thus,
500 T N =
.
Therefore, ( )( ) 500 0.25 125 . TR Nm t = = =
Angular velocity,
2
60
N t
e=
or
( ) 2 20 2
/
60 3
rad s
t t
e= =
The power required is
( )
2
125 rad/s 260
3
P Nm N
t | |
= te= =
|
\ .
Ans.
ROLLING MOTION
Rolling motion is defined as the combination of translational motion and rotational motion.
i.e. v
e
v
e
e
+
Pure translation Pure rotation
= v
e
Rolling motion
e
In a pure rolling motion a wheel rotates about its center and the centre moves linearly so that while the
wheel makes one full revolution, its centre covers a distance equal to its circumference.
2 s R = t
Physics : Rotational Motion
17
If T be the time period of one revolution, then dividing both the
sides by T, we get
2 s
R
T T
t | |
=
|
\ .
2t
When a wheel of radius R rolls without
slipping slipping at angular velocity
, the speed of its centre is e .
C
v R = e
R
v
C
v
C
or
C
v R = e
Where e is the angular velocity of the wheel about its centre of
mass, and
C
v 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
c
v v v' = +
where
c
v
= =
Ans.
Example - 21 A rigid body of radius of gyration k and radius R rolls (without slipping) down a plane inclined
at an angle
u
with horizontal. Calculate its acceleration and the frictional force acting on it.
Solution : When the body is placed on the inclined plane, it tries to slip down and hence a static friction
f acts upwards. This friction provides a torque which causes the body to rotate. Let a be the
linear acceleration of centre of mass and o be the angular acceleration of the body..
From free body diagram :
s
i
n
u
m
g
N
f
c
o
s
u
m
g
u
e
for linear motion parallel to the plane
sinu = mg f ma
for rotation around the axis through centre of mass
Physics : Rotational Motion
19
net torque = ( )
2
o = o I fR mk
As there is no slipping, the point of contact of the body with plane is instantaneously at rest.
= e v R
and
= o a R
Solve the following three equations for a and f :
sinu = mg f ma
2
= o fR mk
= o a R
2
2
sin
1
u
=
+
g
a
k
R
and
2
2
sin
1
u
=
+
mg
f
R
k
=
2
sin
1
mg
MR
I
=
+
We can also derive the condition for pure rolling (rolling without slipping) ;
to avoid slipping, the friction must be static in nature, whose maximum value is
s
N
= s
s
f N
2 2
sin
cos
1 /
u
s u
+
s
g
mg
R k
2
2
tan
1
u
>
+
s
R
k
2
tan
1
MR
I
>
+
This is the condition on
s
so that the body rolls without slipping. Ans.
Example - 22 A solid cylinder rolls down an inclined plane of height h and inclination
u
. Calculate its
speed at the bottom of the plane using acceleration-method and energy-method. Also
calculate the time taken to reach bottom.
Solution : Energy Method :
v
u
e
h
Let , e v be the velocity of centre of mass and the
angular velocity of cylinder respectively at the bottom
of the plane.
As the cylinder rolls down :
loss in G.P.E =gain in translation KE +gain in rotational KE
2 2
1 1
2 2
= + e mgh mv I
As the cylinder is rolling without slipping,
= e v R
( )
2 2 2 2
1 1
/2 /
2 2
= + mgh mv mR v R
2 2
1 1
2 4
mv mv = +
4
3
=
gh
v
Ans.
Physics : Rotational Motion
20
Acceleration Method :
From the result of last example (using
2 2
/2 = k R
)
acceleration of the cylinder is :
sin 2
sin
1
3
1
2
u
= u
+
g
g
using
2 2
2 = + v u
as down the plane (taking downward direction positive)
0 2
sin
= +
u
h
v a
2 4
2 sin
3 sin 3
| |
= u =
|
u
\ .
h gh
Time to reach bottom =t
4
0
3
2
sin
3
= =
u
gh
v u
a
g
2h 1
g sin
=
u
Ans.
Example - 23 A solid cylinder of mass 4 = m kg and radius
10 = R
cm has two ropes wrapped around it, one
near each end. The cylinder is held horizontally by fixing the two free ends of the cords to the
hooks on the ceiling crush that both the cord are exactly vertical. The cylinder is released to
fall under gravity. Find the tension in the cords when they unwind and the linear acceleration of
the cylinder.
2T
mg
mg
T T
Solution : Let a linear acceleration and
o =angular acceleration of the cylinder..
for the linear motion of the cylinder
2 = mg T ma
for the rotational motion :
net torque =
o I
( )
2
2 1/2 = o TR mR
Physics : Rotational Motion
21
Suppose centre of cylinder falls with acceleration a, so the angular acceleration about its axis
would be
a
R
=
Combining the three equations, we get :
2
m
mg ma a = +
2
2
6.53 m/s
3
= =
g
a
6.53
2
= =
mg ma
T N
Ans.
Example - 24 A wheel of moment of inertia I and radius r is free to rotate about its
centre as shown in figure. A string is wrapped over its rim and a block
of mass m attached to the free end of the string. The system is
released from rest. Find the speed of the block as it descends through
a height h.
m
Solution : Let the speed of the block be v when it descends through a height h. So is the speed of the
string and hence of a particle at the rim of the wheel. The angular velocity of the wheel is v/r
and its kinetic energy at the instant is ( )
2 1
/ .
2
I v r
Using the principle of conservation of
energy, the gravitational potential energy lost by the block must be equal to the kinetic energy
gained by the block and the wheel. Thus,
2
2
2
1 1
2 2
v
mgh mv I
r
= +
or,
1/2
2
2
/
mgh
v
m I r
(
=
(
+
. Ans.
ANGULAR MOMENTUM
ANGULAR MOMENTUM OF A PARTICLE
Angular momentum of a particle about a point O is defined as
L r p =
...(i)
where p
of a system of particles is the vector sum of the angular momenta of the individual
particles.
i.e. 1 2
1
..........
n
n i
i
L L L L L
=
= + + + =
ANGULAR MOMENTUM OF A RIGID BODY
r
P
v P
A
B
(b) (a)
Suppose a particle is moving in a circle of radius r and at
some instant the speed of the particle is v (figure a). What is
the angular momentum of the particle about the axis of the
circle ?
As the origin may be chosen anywhere on the axis, we choose it at the centre of the circle. Then r
is
along a radius and v
is perpendicular to v
and . l r p mvr = =
Also r p
is perpendicular to r
and
p
with respect
to the centre of mass frame and
i
v
( ) ( )
, 0 , 0
.
i i cm i cm
i
m r r v v = + +
Here,
0
r
and , ,
0.
i i cm cm cm
i
mv MV = =
Thus,
( )
, , 0 0 i i cm i cm
i
L m r v Mr v = +
0 0
.
cm
L Mr v = +
The first term
cm
L
represents the angular momentum of the body as seen from the centre-of mass frame.
The second term
0 0
Mr v
equals the angular momentum of the body if it is assumed to be concentrated
at the centre of mass that is translating with the velocity
0
v
.
NEWTONS SECOND LAW IN ANGULAR FORM
Newtons second law for a particle can be written in angular form as
net
dL
dt
t =
where
net
t
I
I
0.5 rad/s =
Ans.
ANGULAR IMPULSE
The angular impulse of a torque in a given time interval is defined as
2
1
.
t
t
J dt = t
} ... (1)
If t be the resultant torque acting on a body, hence
,
dL
dt
t =
Now frame equation (1)
2
1
L
L
dL
J dt dL
dt
= =
} }
Integrating this
2 1
. J L L =
Thus. the change in angular momentum is equal to the angular impulse of the resultant torque.
Physics : Rotational Motion
26
EXAMPLES BASED ON ANGULAR IMPULSE
O
F
h
Example - 27 A billiard ball, initially at rest, is given a sharp impulse
by a rod. The rod is held horizontally at a height h
above the center of the ball. The ball immediately
beings to roll without slipping after the impact.
Calculate the height h in terms of the radius of the
ball.
Solution : The horizontal force creates a linear impulse and angular impulse.
Linear impulse =change in linear momentum
0 =
}
Fdt mv
...(i)
angular impulse about CM =change in angular momentum
0 t = e
}
dt I
But
t = Fh
0 = e
}
Fh dt I
...(ii)
dividing (ii) and (i) we get :
2
2
2
5
5
e
e
= = =
e
mr
I
h r
mv mr
Ans.
POINTS TO REMEMBER
2 2
T R cm cm
1 1
KE KE KE Mv I
2 2
= + = + e
2
2
cm 2
1 k
Mv 1
2 R
(
= +
(
( ) R V
cm
e =
. Motion of a body rolling down an incline plane:
cm 2 2
2gh
v
1 k R
=
+
[
cm
v is the velocity at the bottom of the incline]
2 2
cm
R k 1
sin g
a
+
u
=
g
h
R
k
1 2
sin
1
t
2
2
d
|
|
.
|
\
|
+
u
=
[
d
t is the time of descent]
where h is the height of the incline plane,
u
is the angle of inclinction and K is the radius of gyration.
The final velocity is independent of the inclination of the plane and depends only height h through which
the body descends. Acceleration and time depend on the inclination. Greater the inclination, greater will
be the acceleration and lesser will be the time of descent
Physics : Rotational Motion
27
Note :
cm cm
a , V and
d
t depends only on radius of gyration and are independent of mass of
the bodies.
cm
V is inversely related to radius of gyration. Greater the radius of gyration, lessor will
be the velocity. For instance, if a ring, cylinder and sphere simultaneously start rolling
down an inclined plane sphere will reach the bottom first and with greatest velocity and
ring in the last with least velocity as
sphere cylinder ring
k k k > >
Angul ar momentum
(a) Angular momentum of a single particle:
v m r L
e e t
o = = = rad s rad s
t
The torque that can produce this deceleration is
( )
2 2
2 /
36 18
t t | |
= o = =
|
\ .
r I kg m rad s N m
Ans.
Example - 5 Four particles each of mass m are kept at the four corners of a square of edge a. Find the
moment of inertia of the system about a line perpendicular to the plane of the square and
passing through the centre of the square.
Solution : The perpendicular distance of every particle from the given line is
/ 2. a
The moment of
inertia of one particle is, therefore, ( )
2
2
1
/ 2
2
m a ma =
The moment of inertia of the system
is , therefore,
2 2
1
4 2
2
ma ma =
.
m
m
m
m
/
2
a
Physics : Rotational Motion
30
Example - 6 A wheel of radius 10 cm can rotate freely about its centre as shown
in figure. A string is wrapped over its rim and is pulled by a force of
5.0 N. It is found that the torque produced an angular acceleration
2.0 rad/s in the wheel. Calculate the moment of inertia of the wheel.
5.0 N
Solution : The forces acting on the wheel are (i) W due to gravity, (ii) N due to
the support at the centre and (iii) F due to tension. The torque of W
and N are separately zero and that of F is F.r. The net torque is
( ) ( ) 5.0 . 10 5.0 N cm N m t = =
The moment of inertia is
2
2
0.50
0.25 .
2 /
N m
I kg m
rad s
t
= = =
o
Ans.
Example - 7 A string is wrapped around the rim of the wheel of moment of inertia 0.20 kg-m
2
and radius 20
cm. The wheel is free to rotate about its axis. Initially, the wheel is at rest. The string is now
pulled by a force of 20 N. Find the angular velocity of the wheel after 5.0 seconds.
Solution : The torque applied to the wheel is
( )( ) . 20 0.20 4.0 F r N m N m t = = =
The angular acceleration produced is
2
2
4.0
20 rad/s
0.20
N m
I kg m
t
o = = =
= = =
and ( )
2
0
1
sin45
2
y v t gt =
( )
2 2 2
0 0 0
2 1
2 2 2
= =
v v v
g g g
The angular momentum of the particle at time t about the origin is
L r p mr v = =
( ) ( )
x y
m ix jy iv jv = + +
( ) y x
m kxv kyv =
( ) ( )
2 2
0 0 0 0
1 2 2 1
2 2 2 2
v v v v
mk
g g
( | |
=
( |
( \ .
3
0
2 2
mv
k
g
=
=
kg-m
2
The kinetic energy is
( )( )
2 5 2 2 2
1 1
8.0 10 100rad /
2 2
K I kg m s
= e =
=
3
4.0 10 J
= = L Iw kg m
3 2 3
8.0 10 / 8.0 10
= = kg m s J s Ans.
Example - 13 Two blocks of mass M and m are connected by a light string going over a pulley of radius r. The
pulley is free to rotate about its axis which is horizontal. The moment of inertia of the pulley
about the axis is I. The system is released from rest. Find the angular momentum of the
system when the mass M has descended through a height h. The string does not slip over the
pulley.
Solution : The situation is shown in figure. Let the speed of masses be v at time t. This
will also be the speed of a point on the rim of the wheel and hence the angular
velocity of the wheel at time t will be v/r. If the height descended by the mass
M is h, the loss in the potential energy of the masses plus the pulley system
is Mgh-mgh. The gain in kinetic energy is
2
2 2
1 1 1
.
2 2 2
v
Mv mv I
r
| |
+ +
|
\ .
m
M
r
1
As no energy is lost,
( )
2
2
1
2
I
M m v M m gh
r
| |
+ + =
|
\ .
or,
( )
2
2
2 M m gh
v
I
M m
r
=
+ +
The angular momentum of the mass M is Mvr and that of the mass m is mvr in the same
direction. The angular momentum of the pulley is
/ I Iv r e=
. The total angular momentum is
( )
( )
2
2
2 M m gh I I
M m r v M m r
I
r r
M m
r
( ( | |
+ + = + +
| ( (
\ .
+ +
( )
2
2
2
I
M m M m r gh
r
| |
= + +
|
\ .
. Ans.
Physics : Rotational Motion
34
Example - 14 A uniform rod of mass m and length l is kept vertical with a hinge at the lower end. It is slightly
pushed to let it fall down under gravity. Find the its angular speed when the rod is passing
through its lowest position, Neglect any friction at the clamp. What will be the linear speed of
the free end at
this instant?
l
l
Solution : As the rod reaches its lowest position, the centre of mass is lowered by the distance l. It
gravitational potential energy is decreased by mgl. As no energy is lost against friction, this
should be equal to the increase in the kinetic energy. As the rotation occurs about the horizontal
axis through the hinged end, the moment of inertia is
2
/3 I ml =
.
2
1
2
I mgl e =
2
2
1
2 3
ml
mgl
| |
e =
|
\ .
or
6g
l
e=
The linear speed of the free end is
6 . v l gl = e= Ans.
Example - 15 A uniform rod of mass M and length a lies on a smooth horizontal plane. A particle of mass m
moving at a speed v perpendicular to the length of rod strikes it a distance a/4 from the centre
and stops after the collision. Find
(a) the velocity of the centre of the rod and
(b) the angular velocity of the rod about its centre just after the collision.
Solution : The situation is shown in figure. Consider the rod
and the particle together as the system. As there is
no external on the system force, the linear
momentum of the system will remain constant. Also
there is no resultant external torque on the system
and so the angular momentum of the system
about any line will remain constant.
A a
a/4
V
r
o
A
e
(a) (b)
Suppose the velocity of the centre of the rod is V and the angular velocity about the centre
is e.
(a) The linear momentum before the collision is mv and that after the collision is MV.
Thus,
,
m
mv MV or V v
M
= =
(b) Let A be the centre of the rod when it is at rest. Let AB be the line perpendicular to the
plane of the figure. Consider the angular momentum of the system about AB. Initially the
Physics : Rotational Motion
35
rod is at rest. The angular momentum of the particle about AB is
( ) /4 L mv a =
After the collision, the particle comes to rest. The angular momentum of the rod about A
is
0 cm
L L Mr V = +
As
0
|| , r V
0
0. r V =
Thus,
cm
L L =
Hence the angular momentum of the rod about AB is
2
.
12
Ma
L I = e= e
Thus,
2
4 12
mva Ma
= e
or,
3mv
Ma
e=
Ans.
Example - 16 A cylinder is released from rest from the top of an incline of inclination
u
and
length l. If the cylinder rolls without slipping, what will be its speed when it reaches the
bottom ?
Solution : Let the mass of the cylinder be m and its radius r. Suppose the liner speed of the cylinder
when it reaches the bottom is v. As the cylinder rolls without slipping, its angular speed about
its axis is
/ . v r e=
The kinetic energy at the bottom will be
2 2
1 1
2 2
K I mv = e +
2 2 2 2 2 2
1 1 1 1 1 3
.
2 2 2 4 2 4
mr mv mv mv mv
| |
= e + = + =
|
\ .
This should be equal to the loss of potential energy which is mgl sin
u
. Thus,
2
3
sin
4
mv mgl = u
or
4
sin
3
v gl = u
Ans.
Example - 17 A sphere of mass m rolls without slipping on an inclined plane of inclination
. u
Find the linear
acceleration of the sphere and the force of friction acting on it. What should be the minimum
coefficient of static friction to support pure rolling ?
Solution : Suppose the radius of the sphere is r. The forces acting on
the sphere are shown in figure. They are (a) weight mg, (b)
normal force N and (c) friction f.
u
mg
N
f
Let the linear acceleration of the sphere down the plane be a. The equation for the linear
motion of the centre of mass is
sin mg f ma u = ....(i)
As the sphere rolls without slipping, its angular acceleration about the centre is a/r. The
equation of rotational motion about the centre of mass is,
Physics : Rotational Motion
36
t = o I
2
2
5
a
fr mr
r
| || |
=
| |
\ .\ .
2
5
f =
ma. ....(ii)
From (i) and (ii),
5
sin
7
a g = u
and
2
sin
7
f mg = u
The normal force is equal to mg cos
u
as there is no acceleration perpendicular to the incline.
The maximum friction that can act is, therefore, cos mg u, where
is the coefficient of
static friction. Thus, for pure rolling
2
cos sin
7
mg mg u > u
or
2
tan .
7
> u
Ans.
Example - 18 On the flat surface of a disc of radius a, a small circular hole of radius b is made with its
centre at a distance c from the centre of the disc. If mass of the uncut disc is M, calculate
the moment of inertia of the cut disc about the axis of the circular hole.
Solution : The disc is shown in figure.
C axis
a
b
O
1
Let m be the mass of the cut out portion of the disc, then
2
2
Mb
m
a
=
We know that moment of inertia of a disc about an axis passing through its centre and
perpendicular to its plane is given by
2
1
2
Ma
Let
1
I be the moment of inertia of the uncut disc about an axis passing through
1
O and
perpendicular to the plane of disc. Then applying theorem of parallel axes, we have
2 2
1
1
2
I Ma Mc = +
If
2
I be the moment of inertia of the cut-off portion about an axis passing through and
perpendicular to its plane, then
Physics : Rotational Motion
37
Moment of inertia of the holed disc about an axis passing through O
1
and perpendicular to its
plane
Example - 19 A body of radius R and mass m is rolling horizontally without slipping with speed v. It then
rolls smoothly up a hill rising upto a maximum height h. It is given that
2
3
4
=
v
h
g
. What is
the bodys rotational inertia?
Solution : f (retardation up the plane) =
2
2
1
| |
+
|
\ .
g sin
k
R
From
2 2
0
2 = v v f s , where s is measured along the inclined plane.
2
2
2
2
1
=
+
g sin h
v
sin k
R
( ) = h s sin
or,
2
2
2 2
2 2
2 2 3
4
1 1
= =
+ +
gh g v
v
g k k
R R
2
=
R
k
The rotational inertia of the body is
2 2
1
2
I mk mR .
Example - 20 A 10-m-long uniform ladder rests against a wall and makes an angle of 60
0
with the horizontal
floor. If it just starts to slip from this position, find its instantaneous axis of rotation.
Solution : When the rod begins to slip, its position changes from time to time. At any instant, two
successive positions (one a little before that instant and the other a little later) can be
represented by the rotation of the rod about the certain point called the instantaneous
centre.
At any instant, the end A slides along the vertical direction, while the end B slides along
the horizontal. This motion may be imagined to be rotation about some point
' O
as
follows:
= u cos OA
;
( )
u
= = u
1
sin
d d
v OA
dt dt
= u sin OB
;
( )
u
= = u
2
cos
d d
v OB
dt dt
Physics : Rotational Motion
38
A v
1
B
v
2
10m
60
O
u
O
Clearly, = e u = e
1
. sin . ' v O A
and, = e u =e
2
cos . ' v O B
if,
= ' O A OB
and
= ' O B OA
.
At any position of the rod, the instantaneous centre is the point of intersection of the
vertical line through the lower end and the horizontal line through the upper end. Therefore,
the coordinates of the instantaneous centre of rotation are 10 cos 60
0
and 10 sin 60
0
or 5
m and
5 3
m.
Physics : Rotational Motion
39
LEVEL - I
1. The moment of inertia of a ring about its perpendicular geometrical axis is I, then its moment of inertia
about its diameter will be
(1)
2I
(2)
2
I
(3) I (4)
4
I
2. The angular momentum and moment of inertia are respectively
(1) Vector and tensor quantities (2) Scalar and vector quantities
(3) Vector and vector quantities (4) Scalar and scalar quantities
3. A rigid body is rotating with variable angular velocity (a-bt) at any instant of time t. The total angle
subtended by it before coming to rest will be - (a and b are constants)
(1)
( )
2
a b a
(2)
2
2
a
b
(3)
2 2
2
a b
b
(4)
2 2
2
a b
a
4. A ring of mass M is rolling down an inclined plane. The length of this plane is L and it makes an
angle u with the horizontal. The velocity of the centre of mass of the ring at the centre of the plane will be
(1)
sin
2
gL u
(2)
2
sin
3
gL u
(3) 2 sin gL u (4) 0
5. The moment of inertia of a thin square plate ABCD of uniform thickness
about an axis passing through its centre and perpendicular to its plane
will be
(1)
1 2
I I + (2)
1 3
I I
O
D
2
3
1
4
A
(3)
1 2 4
I I I + + (4)
1 2 3
I I I + +
6. If the earth shrinks to half of its radius without change in mass, the duration of the day will be
(1) 48 hour (2) 24 hour
(3) 12 hour (4) 6 hour.
7. How can we differentiate between a solid sphere and a hollow sphere of the same material and of a same
size without weighing ?
(1) By determining their moment of inertia about their central axes.
(2) By rolling them simultaneously on an inclined plane.
(3) By rotating them about a common axis of rotation.
(4) By applying equal torque on them.
EXERCI SES
Physics : Rotational Motion
40
8. The curve for the moment of inertia of a sphere of constant mass M versus its radius will be -
(1)
I
R
(2)
I
R
(3)
O
I
R
(4)
O
I
R
9. The moment of inertia of an annular disc of mass M about an axis passing through its centre and
perpendicular to its plane will be -
(1) ( )
2 2
1 2
2
M
r r +
(2) ( )
2 2
1 2
2
M
r r
r
2
r
1
O
(3) ( )
2 2
1 1
2
M
r r
(4) ( )
+
3 3
2 1
2
M
r r
10. The curve between log
e
L and log
e
p is (L is the angular momentum and p is the linear momentum).
(1)
logp
l
o
g
L
(2)
logp
l
o
g
L
(3)
logp
l
o
g
L
(4)
logp
l
o
g
L
11. The relation between the linear velocity and angular velocity is
(1)
v r = e
(2)
v r = e
(3)
v r e =
(4)
r v e =
12. The work done by a constant torque t in rotating a body from angle
1
u to an angle
2
u will be
(1)
( )
1 2
t
u u
(2) ( ) t u u
2 1
(3) Zero (4)
( )
1 2
u u
t
13. A girl sits near the edge of a rotating circular platform. If the girl moves from circumference toward the
centre of the platform. Then the angular velocity of the platform will
(1) decrease (2) increase
(3) remain same (4) become zero
14. A constant torque acting on a uniform circular wheel changes its angular momentum from A
0
to 4A
0
in 4
seconds. The value of torque is
(1)
0
4A (2)
0
12A
(3)
0
A (4)
0
3 / 4 A
Physics : Rotational Motion
41
15. According to the theorem of parallel axes I=I
cm
+Md
2
, the graph between I and d will be
(1)
O
I
d
(2)
O
I
d
(3)
I
d
(4)
I
d
16. A solid cylinder of mass M and radius R rolls an inclined plane of height h. The velocity of its centre of
mass at the bottom of the plane will be
(1)
4g
h
(2)
3
4
gh
(3)
4
3
gh
(4) 2gh
17. If the rotational kinetic energy of a body is increased by 300% then the percentage increase in its
angular momentum will be
(1) 600% (2) 150%
(3) 100% (4) 1500%
18. The dimensions of Planks constant h are equivalent to those of
(1)
L
(2)
P
(3) E (4)
F
19. An earth satellite is moving around the earth in circular orbit. In such case, what is conserved ?
(1) velocity (2) linear momentum
(3) angular momentum (4) none of these
20. Which of the following quantities plays same role in rotational dynamics as is played by mass in linear
dynamics ?
(1) moment of inertia (2) torque
(3) angular velocity (4) none of these
21. Which of these statements in not correct ?
(1) Moment of inertia depends on shape and size of the body
(2) Moment of inertia depends on choice of axis
(3) Moment of inertia does not depend on mass of the body
(4) None of these
Physics : Rotational Motion
42
22. The angular momentum of a system of particle is not conserved.
(1) when net external force acts upon the system
(2) when an net external torque is acting upon the system
(3) when a net external impulse is acting upon the system
(4) none of these
23. If a force acts on a body, whose action line does not pass through its centre of gravity, then the body will
experience
(1) angular acceleration (2) linear acceleration
(3) no acceleration (4) none of these
24. The graph between the angular momentum L and angular velocity e will be
(1)
L
e
(2)
L
e
(3)
L
e
(4)
L
e
25. The correct relation connecting the quantities ,
r
P e
and t
is ( ) Rotational Power
r
P =
(1)
r
P = e t
(2)
r
P = t e
(3) .
r
P = t e
(4)
r
P = e o
26. A thin wire of length l and mass m is bent in the form of a semicircle (Figure). Its moment of inertia about
an axis joining its free ends will be
(1) zero (2)
2
ml
z
O
m
z
(3)
2
2
ml
t
(4)
2
2
2
ml
t
27. About which axis in the following figure the moment of inertia of the rectangular lamina is the
maximum ?
(1) 2 (2) 3
4
1
3
2
(3) 4 (4) 1
28. The angle covered by a body in n
th
second is
(1) ( )
0
2 1
2
n
o
e +
(2) ( )
0
2 1
2
n
o
e
(3) ( )
0
1
2
n
o
e +
(4) ( )
0
1
2
n
o
e + +
29. The direction of
t
is
(1) parallel to the plane of
r
and
F
and
F
and
P
and
P
+ I
(3)
2 / 1
2
mr 2
mgh 2
(
+ I
(4) gh 2
3. Two point masses of 0.3 kg and 0.7 kg are fixed at the ends of a rod of length 1.4 m and of negligible
mass. The rod is set rotating about an axis perpendicular to its length with a uniform angular speed. The
point on the rod through which the axis should pass in order that the work required for rotation of the rod
is minimum. is located at a distance of
(1) 0.4 m from mass of 0.3 kg (2) 0.98 m from mass of 0.3 kg
(3) 0.70 m from mass of 0.7 kg (4) 0.98 m from mass of 0.7 kg
4. A disc of mass M and radius R is rolling with angular speed e on a horizontal plane as shown. The
magnitude of angular momentum of the disc about the origin O is
(1) e
2
MR
2
1
(2) MR
2
e
e
M
y
O
x
(3) e
2
MR
2
3
(4) 2MR
2
e
5. A thin circular ring of mass M and radius r is rotating about its axIs with a constant angular velocity e.
Two objects each of mass m are attached gently to the opposite ends of a diameter of the ring. The ring
will now rotate with an angular velocity
(1)
m 2 M
) m 2 M (
+
e
(2)
m 2 M
M
+
e
(3)
m M
M
+
e
(4)
M
) m 2 M ( + e
6. Let be the moment of inertia of a uniform square plate about an axis AB that passes through its centre
and is parallel to two of its sides. CD is a line in the plane of the plate that passes through the centre of
the plate and makes an angle u with AB. The moment of inertia of the plate about the axis CD is then
equal to
(1) (2) sin
2
u
(3) cos
2
u (4) cos
2
u/2
Physics : Rotational Motion
47
7. In a rectangle ABCD (BC =2AB). The moment of inertia along which
axis will be minimum
(1) BC (2) BD
A B
E
H F
C D
G
(3) HF (4) EG
8. Two spheres each of mass M and radius R/2 are connected with a
massless rod of length 2R as shown in the-figure. What will be the
moment of inertia of the -system about an axis passing through the
centre of one of the spheres and perpendicular to the rod
(1)
2
MR
5
21
(2)
2
MR
5
2
2R
R
/
2
P
M
Y
M
Q
Y
(3)
2
MR
2
5
(4)
2
MR
21
5
9. A uniform solid cylinder rolling without slipping along a horizontal plane
with angular speed e suddenlycomes into contact with a plane inclined
at an angle
u
as shown in the figure. Which of the following values of
u
could possibly bring the cylinder immediately to rest on impact?
e
1
u
(1)
0
90
(2)
0
60
(3)
0
120
(4)
0
30
10. Four particles each of mass m are placed at the corners of a square of side length l. The radius of
gyration of the system about an axis perpendicular to the square and passing through its centre is
(1)
2
l
(2)
2
l
(3)
l
(4) l ) 2 (
11. An equilateral triangle ABC formed from a uniform wire has two small identical beads initially located at
A. The triangle is set rotating located at A. The triangle is set rotating about the vertical axis AO. Then the
beads are released from rest simultaneously and allowed to slide down, one along AB and the other
along AC as shown. Neglecting frictional effects, the quantities that are conserved as the beads slide
down, are
(1) Angular velocity and total energy (kinetic and potential)
A
g
B O C
(2) Total angular momentum and total energy
(3) Angular velocity and moment of inertia about the axis of rotation
(4) Total angular momentum and moment of inertia about the axis of rotation
12. A thin wire of length L and uniform linear mass density is bent into a circular loop with centre at O as
shown. The moment of inertia of the
loop about the axis XX is
(1)
2
3
8
L
t
(2)
2
3
16
L
t
(3)
2
3
16
L 5
t
(4)
2
3
8
L 3
t
90
O
X
X
Physics : Rotational Motion
48
13. A small spherical metal ball of mass m is put at the point A of
a loop track and the vertical distance of A from the lower most
point of track is 8 times the radius R of the circular part. The
angular momentum of ball when it rolls at the point B to a
height R in the circular track, about the center of the track will
be :
B
R
nR
A
8R
(1)
( )
1
3
2
10 m gR
(2)
( )
1
3
2
4.9 m gR
(3)
( )
1
3
2
1.4 m gR
(4)
( )
1
3
2
5 m gR
.
14. A ball slides without friction down an inclined chute from a
height h and then moves in a loop of radius R. What is the
pressure exerted by the ball on the chute at a point B where
the radius drawn from the centre of the loop to the point B
makes an angle o with the vertical? The mass of the ball is
m and height
5
2
h R
| |
=
|
\ .
. Consider the size of the ball to be
|
o
O R
C
B
A
h=5/2R
negligible compared to other dimensions
(1) ( ) 1 cos mg o (2) ( ) 2 1 cos mg o
(3) ( ) 3 1 cos mg o (4) ( ) 1 cos mg + o .
15. Two discs of same thickness but of different radii are made of two different materials such that their
masses are same. The densities of the materials are in the ratio 1 : 3. The moments of inertia of these
discs about the respective axes passing through their centres and perpendicular to their'planes will be in
the ratio
(1) 1 : 3 (2) 3 : 1
(3) 1 : 9 (4) 9 : 1
16. Three rings each of mass M and radius R are arranges shown in the
figure. The moment of inertia of the system about YY will be
(1) 3 MR
2
(2) 3/2 MR
2
Y
Y
(3) 5 MR
2
(4) 7/2 MR
2
17. A uniform rod of length 2L is placed with one end in contact with the horizontal and is then inclined at an
angle to the horizontal and allowed to fall without slipping at contact point. When it becomes horizontal.
its angular velocity Will be
(1)
L
sin g 3 o
= e
(2)
o
= e
sin g 3
L 2
(3)
L
sin g 6 o
= e
(4)
o
= e
sin g
L
18. One quarter sector is cut from a uniform circular disc of radius R. This sector
has mass M. It is made to rotate about a line perpendicular to its plane and
passing through the centre of the original disc. Its moment of inertia about the
axis of rotation is
(1)
2
MR
2
1
(2)
2
MR
4
1
(3)
2
MR
8
1
(4)
2
MR 2
19. A ball rolls without slipping. The radius of gyration of the ball about an axis passing through its centre of
mass is K. If radius of the ball be R, then the fraction of total energy associated with its rotational energy
will be
(1)
2 2
2
K R
R
+
(2)
2
2
K
R
(3)
2
2 2
K
K R +
(4)
2
2 2
R
K R +
Physics : Rotational Motion
49
20. A smooth sphere A is moving on a frictionless horizontal plane with angular speed e and center of mass
velocity v . It collides elastically and head-on with an identical sphere B at rest. Neglect friction every-
where. After the collision their angular speeds are e
A
and e
B
respectively. Then
(1) e
A
<e
B
(2) e
A
=e
B
(3) e
A
=e (4) e =e
B
21. A rigid horizontal smooth rod AB of mass 0.75 kg and length 40
cm can rotate freely about a fixed vertical axis through its mid point
O. Two rings, each of mass 1 kg are at rest at a distance of 10 cm
from O on both sides of the rod. The rod is set into rotation with an
angular velocity of 30 rad/s. When the rings reach the ends of the
rod, then angular velocity of the ring is
B
Vertical
axis
A
O
(1) 10 rad/sec (2) 15 rad/sec
(3) 20 rad/sec (4) 25 rad/sec
22. A solid cylinder of mass M and radius R rolls without slipping down an inclined plane of length L and
height h. What is the speed of its centre of mass when the cylinder reaches its bottom
(1)
gh
4
3
(2)
gh
3
4
(3) gh 4 (4) gh 2
23. A thin circular ring of mass M and radius r is rotating about its axis with a constant angular velocity e.
Four objects each of mass m, are kept gently to the opposite ends of two perpendicular diameters of the
ring. The angular velocity of the ring will be
(1)
m 4 M
M
+
e
(2)
M
) m 4 M ( e +
(3)
(M 4m)
M 4m
e
+
(4)
m 4
Me
24. A uniform bar of length 6 a and mass 8 m lies on a smooth horizontal
table. Two point masses m and 2 m moving in the same horizontal
plane with speed 2v and v respectively strike the bar (see figure) and
stick to the bar after collision at distances a & 2a, respectively from
the centre of the rod as shown in figure. The angular velocity about
the centre of mass denoted by
c
e satisfies rod as shown in figure.
The angular velocity about the centre of mass denoted by
c
e satisfies
m
2v
2m
v
2a
a
(1) 0
c
e = (2)
3
5
c
v
a
e =
(3)
5
c
v
a
e =
(4) none of the above.
25. A cubical block of side a is moving with a velocity v on a smooth
horizontal plane as shown in the figure. It hits a ridge at point O. The
angular speed of the block after it hits O is:
O
(1)
3
4
v
a
(2)
3
2
v
a
(3)
3
2
v
a
(4) zero
Physics : Rotational Motion
50
SELF ASSESSMENT
1. Two identical particles move towards each other with velocity 2v and v respectively. The velocity of
centre of mass is [AIEEE 2002]
(1) v (2) v/3
(3) zero (4) v/2
2. A particle of mass m moves along line PC with velocity v as shown in
figure. What is the angular momentum of the particle about P ?
[AIEEE 2002]
(1)
mvl
(2) mvL
r
C
l
O
L
P
Y
X
(3) zero (4) mvr
3. A thin and circular 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 e. If the another disc of same
dimensions but of mass M/4 is placed gently on the first disc co-axially, then the new angular velocity of
the system is [AIEEE 2002]
(1) e
4
5
(2)
e
3
2
(3)
e
5
4
(4) e
2
3
4. The initial angular velocity of a circular disc of mass M is
1
e . A small sphere of mass m is attached
gently on edge of the disc. The final angular velocity of the disc will be [AIEEE 2002]
(1)
( )
1
M m
M
+ e
(2)
( )
1
M m
m
+ e
(3) 1
4
M
M m
| |
e
|
+
\ .
(4) 1
2
| |
e
|
+
\ .
M
M m
5. A solid sphere. a hollow sphere and a ring are released from top of an inclined plane (frictionless) so
that they slide down the plane. Then maximum acceleration down the plane is for (no rolling)
[AIEEE 2002]
(1) Solid sphere (2) hollow sphere
(3) Ring (4) All same
6. The angular momentum of a system of particles is not conserved when [AIIMS 2002, AFMC 2002]
(1) net external force acts on the system (2) net external torque acts on the system
(3) net external impulse acts on the system (4) none of these
7. Two spherical bodies of mass M and 5 M and radii R and 2 R respectively are released in free space with
initial separation between their centres equal to 12 R. If they attract each other due to gravitational force
only, then the distance covered by the smaller body just before collision is [AIEEE 2003]
(1) 2.5 R (2) 4.5 R
(3) 7.5 R (4) 1.5 R
8. Let F
and
T
19. The moment of inertia of a uniform semicircular disc of mass M and radius r about a line perpendicular
to the plane of the disc through the centre is [AIEEE 2005]
(1)
2
2
Mr
5
(2)
2
1
Mr
4
(3)
2
1
Mr
2
(4)
2
Mr
20. A solid sphere of radius R is moulded into a solid disc of radius r and thickness t. The moment of inertia
of the disc about an axis perpendicular to the cross section of the disc and passing through circumference
is equal to the moment of inertia of the sphere about its diameter. The value of r (in terms of R) is
[IIT 2006]
(1)
2
R
15
(2)
2
15
R
(3)
1
2
R (4)
1
5
R
21. A small ball starts rolling from position A down the fixed hemispherical surface (see figure) to position C.
There is friction on path AB while path BC is frictionless. If K
A
, K
B
, K
C
represent kinetic energy of the ball
and h
A
, h
B
, h
C
height of the ball at points A, B and C, then [IIT 2006]
A
B
C
h
C
h
A
(1)
A C A C
h h , K K = > (2)
A C C A
h h , K K < >
(3)
A C A C
h h , K K > < (4)
A C C A
h h ,K K
Physics : Rotational Motion
53
22. A solid cylinder of mass m rolls down a fixed incline of angle q. If F be
the magnitude of friction force acting on the cylinder, then [IIT 2006]
u
(1) F is dissipative.
(2) F =m mg cos q.
(3) F helps rotational but opposes translatory motion.
(4) F mgsin
23. A force of -F
k
acts on O, the origin of the coordinate system. The
torque about the point (1, -1) is [AIEEE 2006]
x
y
z
O
(1)
( ) F i j (2)
( ) F i j
(3)
( ) F i j + (4)
( ) F i j +
24. A thin circular ring of mass m and radius R is rotating about its axis with a constant angular velocity
w. Two objects each of mass M are attached gently to the opposite ends of a diameter of the ring.
The ring now rotates with an angular velocity e' = [AIEEE 2006]
(1)
( 2 )
m
m M
e
+
(2)
( 2 ) m M
m
e +
(3)
( 2 )
( 2 )
m M
m M
e
+
(4)
( )
m
m M
e
+
25. Four point masses, each of value m, are placed at the corner of a square ABCD of side
. The moment
of inertia of this system about an axis passing through A and parallel to BD is [AIEEE 2006]
(1)
2
m
(2)
2
2m
(3)
2
3m (4)
2
3m
Physics : Rotational Motion
54
KEY
LEVEL - I
1. (2) 2. (1) 3. (2) 4. (1) 5. (1)
6. (4) 7. (2) 8. (1) 9. (1) 10. (2)
11. (2) 12. (2) 13. (2) 14. (4) 15. (4)
16. (3) 17. (3) 18. (1) 19. (3) 20. (1)
21. (3) 22. (2) 23. (1) 24. (1) 25. (3)
26. (4) 27. (3) 28. (1) 29. (2) 30. (2)
31. (3) 32. (3) 33. (1) 34. (1) 35. (1)
36. (4) 37. (3) 38. (3) 39. (4) 40. (1)
41. (2) 42. (3) 43. (3) 44. (3) 45. (3)
46. (3) 47. (3) 48. (1) 49. (4) 50. (1)
LEVEL - II
1. (3) 2. (2) 3. (2) 4. (3) 5. (2)
6. (1) 7. (4) 8. (1) 9. (3) 10. (1)
11. (2) 12. (4) 13. (1) 14. (3) 15. (2)
16. (4) 17. (1) 18. (1) 19. (3) 20. (3)
21. (1) 22. (2) 23. (1) 24. (1) 25. (1)
SELF ASSESSMENT
1. (4) 2. (3) 3. (3) 4. (4) 5. (4)
6. (2) 7. (3) 8. (4) 9. (4) 10. (4)
11. (1) 12. (1) 13. (4) 14. (1) 15. (1)
16. (2) 17. (2) 18. (3) 19. (3) 20. (1)
21. (3) 22. (3) 23. (3) 24. (1) 25. (4)