Contents Rigid Body Rotational Motion Cause & Consequence Moment of Inertia Kinetic Energy Angular Momentum Conservation Principle Parallel & Perpendicular Axes Theorems Radius of Gyration Rolling Motion Prof. Sameer Sawarkar 2 Rigid Body: A body which does not undergo any appreciable deformation under the action of external forces, i.e. the intermolecular distances remain constant when subjected to external forces. 3 Prof. Sameer Sawarkar Rigid Body: A body which does not undergo any appreciable deformation under the action of external forces, i.e. the intermolecular distances remain constant when subjected to external forces. 4 Prof. Sameer Sawarkar Rigid Body: A body which does not undergo any appreciable deformation under the action of external forces, i.e. the intermolecular distances remain constant when subjected to external forces. 5 Prof. Sameer Sawarkar A B C Rigid Body: A body which does not undergo any appreciable deformation under the action of external forces, i.e. the intermolecular distances remain constant when subjected to external forces. 6 Prof. Sameer Sawarkar No body is truly rigid nor elastic or plastic. The state is always referred to as rigid/elastic/plastic in context with the magnitude and range of external forces. A B C 7 Prof. Sameer Sawarkar Rotational Motion: A body is said to be purely rotating when all the constituents of the body are moving in circular motions, with centers of their paths lying on a fixed straight line called axis of rotation. e, o 8 Prof. Sameer Sawarkar Rotational Motion: A body is said to be purely rotating when all the constituents of the body are moving in circular motions, with centers of their paths lying on a fixed straight line called axis of rotation. e, o A B 9 Prof. Sameer Sawarkar The axis of rotation may lie within the body or without the body e, o 10 Prof. Sameer Sawarkar Examples: Motion of table/ceiling fan blades Motion of Turbine rotor Motion of gear wheels Spinning Motion of planets Opening of doors/window panels Motion of hands of clock etc. Prof. Sameer Sawarkar 11 CAUSE & CONSEQUENCE in Rotational Motion 12 Prof. Sameer Sawarkar Force produces translation i.e. linear acceleration, a Couple Moment produces rotation i.e. angular acceleration, o F a F F o d 13 Prof. Sameer Sawarkar t o Rigid body subjected to torque t
Rotating about a fixed axis with angular acceleration o 14 Prof. Sameer Sawarkar t o 1 n 2 R 1 R 2 R n Consider n particles of the body in circular motion with masses m 1 , m 2 , , m n .
R 1 , R 2 , , R n are the radii. 15 Prof. Sameer Sawarkar t o R 1 R 2 R n a 1 a n a 2 Linear tangential accelerations of constituents; a 1 , a 2 , , a n
Using a T = Ro
a 1 = R 1 o a 2 = R 2 o
a n = R n o (1) Prof. Sameer Sawarkar 16 t o R 1 R 2 R n a 1 a n a 2 F 1 F 2 F n a 1 = R 1 o, a 2 = R 2 o, , a n = R n o _(1)
Using Newtons II Law; F = ma
F 1 = m 1 a 1 = m 1 R 1 o F 2 = m 2 a 2 = m 2 R 2 o
F n = m n a n = m n R n o (2) Prof. Sameer Sawarkar 17 F 1 F 2 F n t o R 1 R 2 R n a 1 a n a 2 t 1 t n F 1 F 2 F n F 1 = m 1 R 1 o, F 2 = m 2 R 2 o, F n = m n R n o _(2)
Using definition of torque; t = d*F t 1 = R 1 F 1 = R 1 (m 1 R 1 o)
t 1 = m 1 R 1 2 o t 2 = m 2 R 2 2 o
t n = m n R n 2 o (3) Prof. Sameer Sawarkar 18 F 1 F 2 F n t o R 1 R 2 R n a 1 a n a 2 t 1 t n F 1 F 2 F n t 1 = m 1 R 1 2 o, t 2 = m 2 R 2 2 o, t n = m n R n 2 o _(3)
Sum of all individual constituent torques must be equal to the externally applied original torque.
t = t 1 + t 2 + + t n
t = m 1 R 1 2 o + m 2 R 2 2 o + + m n R n 2 o t = (m i R i 2 ) o i = 1, 2, , n. Prof. Sameer Sawarkar 19 Translational Motion Rotational Motion t = (m i R i 2 )*o F = m*a F t a o m m i R i 2
Quantity m i R i 2 is called as Moment of Inertia of rotating body about the defined axis of rotation. Prof. Sameer Sawarkar 20 Moment of Inertia (m i R i 2 ) about a given axis of rotation is defined as the sum of product of mass of each constituent and square of its distance from the axis of rotation. Moment of Inertia (abbreviated as MI, denoted by I) represents inertia in rotational motion i.e. reluctance of a rigid body to undergo angular acceleration. Larger the MI, more difficult it is to change the state of the body (to accelerate/decelerate). Prof. Sameer Sawarkar 21 With regular geometric boundaries, where division in discrete shapes is possible, MI is expressed as; I = m i R i 2
With irregular geometric boundaries, where division in elemental shapes is necessary, MI is expressed as; I = }R 2 dm Prof. Sameer Sawarkar 22 I = ](m i , R i 2 ) MI represents mass distribution of the rotating rigid body. Rotational motion depends not just upon total mass but upon mass distribution!! Prof. Sameer Sawarkar 23 Prof. Sameer Sawarkar 24 Moment of Inertia I = m i R i 2 or I = }R 2 dm Unit: kg-m 2 Dimensions: [L 2 M 1 T0]
Prof. Sameer Sawarkar 25 KINETIC ENERGY in Rotational Motion 26 Prof. Sameer Sawarkar e Rigid body rotating about a fixed axis with angular velocity e 27 Prof. Sameer Sawarkar e 1 n 2 R 1 R 2 R n Consider n particles of the body in circular motion with masses m 1 , m 2 , , m n .
R 1 , R 2 , , R n are the radii. 28 Prof. Sameer Sawarkar e R 1 R 2 R n V 1 V n V 2 Linear tangential velocities of constituents; V 1 , V 2 , , V n
Using V = Re
V 1 = R 1 e V 2 = R 2 e
V n = R n e (1) 29 Prof. Sameer Sawarkar e R 1 R 2 R n V 1 V n V 2 V 1 = R 1 e, V 2 = R 2 e, , V n = R n e _(1)
KE = mV 2 = m(R 2 e 2 ) of each constituent.
U 1 = m 1 R 1 2 e 2
U 2 = m 2 R 2 2 e 2
U n = m n R n 2 e 2
(2) 30 Prof. Sameer Sawarkar e R 1 R 2 R n V 1 V n V 2 U 1 = m 1 R 1 2 e 2 , U 2 = m 2 R 2 2 e 2 , U n = m n R n 2 e 2 _(2)
Total KE of the rotating rigid body; U = U 1 + U 2 + + U n
U = m 1 R 1 2 e 2 + m 2 R 2 2 e 2 + + m n R n 2 e 2
U = (m i R i 2 )e 2 U = Ie 2
Prof. Sameer Sawarkar 31 ANGULAR MOMENTUM in Rotational Motion Prof. Sameer Sawarkar 32 V, mV L R m Angular Momentum: Property possessed by a rotating body by virtue of its angular velocity. Defined as; moment of linear momentum. i.e. L = R*P = R*(mV) Like linear momentum, angular momentum is a vector. Unit: kg-m 2 /s, Dimensions: [L 2 M 1 T -1 ] Prof. Sameer Sawarkar 33 P L R m Vector relation between linear momentum and angular momentum: From scalar relation; L = R*P and using Right-hand rule; P R L = R 34 Prof. Sameer Sawarkar e Rigid body rotating about a fixed axis with angular velocity e 35 Prof. Sameer Sawarkar e 1 n 2 R 1 R 2 R n Consider n particles of the body in circular motion with masses m 1 , m 2 , , m n .
R 1 , R 2 , , R n are the radii. 36 Prof. Sameer Sawarkar e R 1 R 2 R n V 1 V n V 2 Linear tangential velocities of constituents; V 1 , V 2 , , V n
Using V = Re
V 1 = R 1 e V 2 = R 2 e
V n = R n e (1) 37 Prof. Sameer Sawarkar e, L R 1 R 2 R n V 1 V n V 2 V 1 = R 1 e, V 2 = R 2 e, , V n = R n e _(1)
Linear momentum P = mV for each constituent.
Angular momentum for each constituent; L = R*P = RmV = Rm(Re) = mR 2 e
L 1 = m 1 R 1 2 e L 2 = m 2 R 2 2 e
L n = m n R n 2 e (2) 38 Prof. Sameer Sawarkar e, L R 1 R 2 R n V 1 V n V 2 L 1 = m 1 R 1 2 e, L 2 = m 2 R 2 2 e, L n = m n R n 2 e
_(2)
Total angular momentum of the rotating rigid body; L = L i , i = 1, 2, , n.
L = m 1 R 1 2 e
+ m 2 R 2 2 e
+ + m n R n 2 e
L = (m i R i 2 )e
L = Ie Prof. Sameer Sawarkar 39 PRINCIPLE OF CONSERVATION OF ANGULAR MOMENTUM Prof. Sameer Sawarkar 40 ( ) ( ) L dt d I dt d dt d I I = = = = e t e o t , 0 = t L If then is constant. In absence of an external torque, the angular momentum of the system remains constant Prof. Sameer Sawarkar 41 Applications of Principle of Conservation of Angular Momentum Prof. Sameer Sawarkar 42 PARALLEL AXES THEOREM PERPENDICULAR AXES THEOREM Prof. Sameer Sawarkar 43 Rigid body with mass M Purely rotating about an axis through C.M. MI = I G (known) I G G Prof. Sameer Sawarkar 44 I P It is desired that MI about a parallel axis at a distance h through P i.e. I P be found. I G G P h Prof. Sameer Sawarkar 45 I P G P Assume elemental mass dm at an arbitrary point Q. I G Q G P h Prof. Sameer Sawarkar 46 I P Construction
I G G P Q (dm) S h Prof. Sameer Sawarkar 47 I P I G G P Q (dm) S h I G = }QG 2 dm I P = }QP 2 dm QP 2 = PS 2 + SQ 2 = (PG + GS) 2 + SQ 2 = PG 2 + 2PG*GS + (GS 2 + SQ 2 ) QP 2 = PG 2 + 2PG*GS + QG 2
Prof. Sameer Sawarkar 48 I P I G G P Q (dm) S h QP 2 = PG 2 + 2PG*GS + QG 2 Multiplying throughout by dm and integrating; }QP 2 dm = } PG 2 dm + 2PG } GSdm + } QG 2 dm }QP 2 dm = I P } QG 2 dm = I G } PG 2 dm = PG 2 }dm = Mh 2 } GSdm = 0, G being the center of mass of the body. Prof. Sameer Sawarkar 49 I P Substituting; I P = I G + Mh 2 I G G P Q (dm) S h MI of a rigid body about any axis is equal to sum of its MI about a parallel axis through center of mass and product of mass of body and square of the distance between two parallel axes. Prof. Sameer Sawarkar 50 Rigid with mass M Laminar body (thickness very small compared to surface area) Prof. Sameer Sawarkar 51 System of 3 mutually perpendicular axes through any point O. X and Y in the plane of the lamina, Z being perpendicular to the plane. O X Y Z Prof. Sameer Sawarkar 52 Imagine elemental mass dm at a distance r from Z axis. O X Y Z r dm Prof. Sameer Sawarkar 53 Moment of inertia of the lamina @ Z axis; I Z = } r 2 dm O X Y Z r dm I Z Prof. Sameer Sawarkar 54 Construction perpendiculars on X and Y axes from elemental mass. O X Y Z r dm I Z x y Prof. Sameer Sawarkar 55 MI of lamina about X axis; I X = } y 2 dm MI of lamina about Y axis; I X = } x 2 dm O X Y Z r dm I Z x y I Y I X Prof. Sameer Sawarkar 56 r 2 = x 2 + y 2 Multiplying throughout by dm and integrating; } r 2 dm = } x 2 dm + } y 2 dm Substituting; O X Y Z r dm I Z x y I Y I X I Z = I X + I Y Moment of inertia of a lamina about an axis perpendicular to its plane is equal to sum of its moments of inertia about two mutually perpendicular axes in the plane of lamina and concurrent with that axis. Prof. Sameer Sawarkar 57 RADIUS OF GYRATION 58 Prof. Sameer Sawarkar Radius of Gyration (K) w.r.t. the given axis of rotation is the theoretical distance at which, when entire mass of the body is assumed to be concentrated, gives same MI (of idealized point mass system) as that of the original rigid body. If MK 2 = }R 2 dm, then K is the radius of gyration. I = }R 2 dm I = MK 2 M K Prof. Sameer Sawarkar 59 I G = MR 2 I G = MK 2 K
M REAL SYSTEMS IDEALIZED SYSTEMS I G = 2MR 2 /5 I G = MK 2 K
M MK 2 = MR 2 K = R/\2 MK 2 = 2MR 2 /5 K = R*\(2/5) Prof. Sameer Sawarkar 60 Thank You!