1

Rotation PHYS1121-1131 UNSW 2010 Session 1.

Which wins: car or ball?


Kinetic energy of a rotating body
r
1
r
2
v
1
v
2
!
m
2
m
1
Choose frame so that axis of rotation is at origin
K =
1
2
m
1
v
1
2
+
1
2
m
2
v
2
2
+ ....
=
1
2
m
1
(r
1
!
1
)
2
+
1
2
m
2
(r
2
!
2
)
2
+ ....
=
1
2

( )
" m
i
r
i
2
!
2
(cf K =
1
2
mv
2
)
Rotational analogue of mass:
Define the Moment of inertia
System of masses I = " m
i
r
i
2
Continuous body I = #
$
body
r
2
dm
I depends on total mass, distribution of mass, shape and axis of rotation. Units are kg.m
2

2

r
M


Example What is I for a hoop about its axis?
All the mass is at radius r, so I = Mr
2

For a disc: I = #
$
body
r
2
dm = ..... =
1
2
MR
2
For a sphere I = =
2
5
MR
2

Note
I = nMR
2
n is a number
= M
( )
n R
2
= Mk
2
where k = n R
I % Mk
2
defines the radius of gyration k

k is the radius of a hoop with the same I as the object in question
object I k
hoop MR
2
R
disc
1
2
MR
2
R
2


solid sphere
2
5
MR
2

2
5
R




3
Example Use a flywheel to store the K of a bus at stops. Disc R = 80 cm, M = 1 tonne. How
fast must it turn to store all the kinetic energy of a 10 t. bus at 60 km.hr
-1
?
Moving (subscript m), stopped (subscript s)
v
!


v
m
= 60 km.hr
-1
v
s
= 0 not rolling
subscripts m for moving, s for stopped
!
m
= 0 !
s
= ? rev.s
-1


K
m
= K
s

1
2
M
bus
v
m
2
=
1
2
I
disc
!
s
2

M
bus
v
m
2
=
1
2
M
disc
R
2
!
s
2
!
s
=
v
m
R

2M
bus
M
disc

= 90 rad.s
-1
= 900 rpm (revolutions per minute)


4
Rolling vs skidding:

Example A bicycle wheel has r = 40 cm. What is its angular velocity when the bicycle travels at
40 km.hr
-1
?

v =
ds
dt

=
rd&
dt

v = r! Important result
! =
v
r

=
40000 m/3600 s
0.4 m

= 28 rad.s
-1
(= 4.4 turns/second)
Axle travels at v
Point of contact stationary
Top of wheel travels 2v (see Rolling on Physclips)

5


Example. A solid sphere, a disc and a hoop roll down an inclined plane. Which travels fastest?
!
v
h
h

Rolling: point of application of friction stationary ' non-conservative forces do no work '
U
f
+ K
f
= U
i
+ K
i

0 +
(
)
*
+ 1
2
Mv
2
+
1
2
I!
2
= Mgh + 0
! =
v
R
and write I = Mk
2


1
2
Mv
2
+
1
2
Mk
2
v
2
R
2


= Mgh

1
2
v
2
(
,
)
*
-
+
1 +
k
2
R
2


= gh
v =
2gh
1 + k
2
/R
2


k
sphere
R
=
2
5
<
k
disc
R
=
1
2
<
k
hoop
R
= 1
' v
sphere
> v
disc
> v
hoop
r doesnt appear, so the result is independent of size

6
Rotational kinematics:
r is constant

If & measured in radians,
s = r&. (definition of angle)
' v =
ds
dt
= r
d&
dt
% r!
v = r! (
)
*
+
or ! =
v
r

' a =
dv
dt
= r
d!
dt
% r.
a = r. (
)
*
+
or . =
a
r

Motion with constant _ ..
Analogies linear angular
displacement x & = s/r
velocity v ! = v/r
acceleration a . = a/r

v
f
= v
i
+ at !
f
= !
i
+ .t
/x = v
i
t +
1
2
at
2
/& = !
i
t +
1
2
.t
2
v
f
2
= v
i
2
+ 2a/x !
f
2
= !
i
2
+ 2./&
/x =
1
2
(v
i
+ v
f
) t /& =
1
2
(!
i
+ !
f
) t

Derivations identical - see previous. Need only remember one version

7
Example. Centrifuge, initially spinning at 5000 rpm, slows uniformly to rest over 30 s. (i) What is its
angular acceleration? (ii) How far does it turn while slowing down? (iii) How far does it turn during the first
second of deceleration? (rpm = revolutions per minute)
i) !
f
= !
i
+ .t (cf v
f
= v
i
+ at )
. =
!
f
0 !
i
t

=
0 -
5000*21 rad
60s
30s

= - 17.5 rad.s
-2
.
ii) /& =
1
2
(!
i
+ !
f
) t (cf /x =
1
2
(v
i
+ v
f
) t )
=
1
2
(0 + 5000rpm) *0.5 min
= 1,250 revolutions
iii) /& = !
i
t +
1
2
.t
2
(cf /x = v
i
t +
1
2
at
2
)
=
5000*21 rad
60 s
(1 s) 0
1
2
(17.5 rad.s
-2
).(1 s)
2

= 515 rad (= 82 turns)

8
What causes angular acceleration?
Force applied at point displaced from axis of rotation.

(Note: if F_ were only force 2 acceleration:

How does the 'turning tendency' depend on F? r? &?

To get _ ! but _a = 0, need " F_ = 0.

- F_ does not contribute to the turning about axis.
Torque. (rotational analogue of force)
Consider rotation about z axis
F sin !
F
r
r
!

Only the component F sin & tends to turn
3 = r (F sin &) (r * component of F)
or = F (r sin &) = F r (F * component of r)
where r | _ is called the moment arm



Example What is the maximum torque I apply by standing on a wheel spanner 300 mm long?
3 = r (F sin &)
max 3 = r F
= 0.3 m * 700 N = 200 Nm
if it still doesn't move: lift, use both hands or jump on it

9
The vector product.
!
c
b
a

Define |a_ x b_ | % ab sin &
a_ x b_ at right angles to a_ and b_ in right hand sense
pronounced "a cross b"
For right hand
Thumb x index = middle (remember TIM) (or North x East = down remember NED)
Turn screwdriver from a_ to b_ and (r.h.) screw moves in direction of (a_ x b_ )

k
j
i
x
y
z
r

Apply to unit vectors:
| i _ x i _ | = 1 . 1 sin 0 = 0 = j
_
x j
_
= k_ x k_
| i _ x j
_
| = 1 . 1 sin 90 = 1 = |j
_
x k_ | = |k_ x i _ |
i _ x j
_
= k_ j
_
x k_ = i _ k_ x i _ = j
_

but j
_
x i _ = - k_ k_ x j
_
= - i _ i _ x k_ = - j
_


Usually evaluate by |a_ x b_ | % ab sin &
but Vector product by components is neat

a_ x b_ = (a
x
i _ + a
y
j
_
+ a
z
k
_
)x(b
x
i _ + b
y
j
_
+ b
z
k
_
)
= (a
x
b
x
) i _ x i _ + (a
y
b
y
) j
_
x j
_
+ (a
z
b
z
) k_ x k_
+ (a
x
b
y
) i _ x j
_
+ (a
y
b
z
) j
_
x k_ + (a
z
b
x
) k_ x i _
+ (a
y
b
x
) j
_
x i _ + (a
z
b
y
) k_ x
_
j + (a
x
b
z
) i _ x k_

a_ x b_ = (a
x
b
y
- a
y
b
x
)k_ + (a
y
b
z
- a
z
b
y
) i _ + (a
z
b
x
- a
x
b
z
)j
_


a
x
b
x
i _

a
y
b
y
j _

a
z
b
z
k_

!
a
x
b
x
i

Example.
F_ = (3 i _ + 5 j
_
)N, r _ = (4 j
_
+ 6 k
_
)m; 3 = ?
3 = r _ x F_
= (r
x
F
y
- r
y
F
x
)k_ + (r
y
F
z
- r
z
F
y
) i _ + (r
z
F
x
- r
x
F
z
)j
_

= (0 - 4 m.3 N)k_ + (0 - 6 m.5 N) i _ + (6 m.3 N - 0)j
_
=
( )
-30i _ + 18j
_
- 12k_ Nm


10
F
ext
r


Example: bicycle and rider (m = 80 kg) accelerate at 2 ms
-2
. Wheel with r =
40 cm. What is torque at wheel?
F
ext
= ma
3 = rF
ext
sin & = rF
= rma = ... = 64 Nm. horizontal
Front sprocket has 50 teeth, rear has 25, what is torque applied by legs?
F
F
r
back
r
front

F
front
= F
back

r
front
r
back
=
50
25


3
front
3
back
=
r
front
F
front
r
back
F
back
= 2.
3
front
= 128 Nm horizontal why larger?
Newton's law for rotation
System of particles, m
i
, all rotating with same ! and . about same axis. r
i
is perpendicular distance from the
axis of rotation.
F
1
r
1
F
t1
!
O

3
i
% r
i
x F
i

3
i
= r
i
F
ti

where F
t
is the tangential component of F
3
i
= r
i
m
i
a
ti

3
i
= r
i
m
i
a
i

= r
i
m
i
r
i
.
i
" 3
i
= " m
i
r
i
2
.
i
but all .
i
= .
so 3
total
= I. and 3, . on axis

Newton's law for rotation
3
total
= I. compare with F
total
= ma


11
Example. What constant torque would be required to stop the earth's rotation in one revolution?
(Assume earth uniform.)
Plan: Know M, R, #
i
, #
f
, $%. Need &.
Use & = '!, where #
i
, #
f
, $% (> !
!
f
= 0, !
i
=
21
23h56min
= 7.27 10
-5
rad.s
-1
!
f
2
= !
i
2
+ 2./& (cf
v
f
2
= v
i
2
+ 2a/x)
. =
!
f
2
0 !
i
2
2/&

3 = I. =
2
5
MR
2

!
f
2
0 !
i
2
2/&


= ...
= 4 10
28
Nm


Example Mass m on string on drum radius r on a wheel with radius of
gyration k and mass M. How long does it take to turn 10 turns?
solve for a or !, use kinematic equations.

N2 for m (vertical): mg T = ma
N2 for wheel: 3 = I.
rT sin 90 = Mk
2
.
a
r

T = Ma (
)
*
+ k
r

2

mg - Ma (
)
*
+ k
r

2
= ma
a =
mg
m + M (
)
*
+ k
r
2

/& = !
i
t +
1
2
.t
2
cf /x = v
i
t +
1
2
at
2

t =
2/&
.
=
2(201 rad)(
)
*
+
1 +
M
m
(
)
*
+ k
r
2
r
g


12
Example. Rod rotates about one end. Which reaches bottom first: m or the end of the rod?
L
h
!
M
m
Mg
axis

Acceleration of end of rod is
a = L.
For rod, 3 = 4.
so a = L.
3
I

For rod about an end, I =
1
3
ML
2
.
Mg acts at c.m. so 3 = Mg
L
2

a = L.
Mg.
L
2
1
3
ML
2

=
3
2
g
Why do falling
chimneys break?

Example A car is doing work at a rate of 20 kW and travelling at 100 kph. Wheels are r = 30 cm. What is
the (total) torque applied by the drive wheels?
P = Fv, so by analogy: P = 3!
Wheels are rolling so ! =
v
r

' 3 =
P
!
=
Pr
v

=
2 10
4
W 0.3 m
10
5
m/3600 s

= 220 Nm

(not equal to torque on tail shaft or at flywheel)

Important note: There is not a lot of rotational mechanics in our syllabus: we dont have angular
momentum. So the following material is not in the syllabus. Im including it, however, because some of you will
certainly come across it later. As youll see, there are lots of analogies with linear mechanics so, except for the vector
product, it is not tricky.

13
Angular momentum
p
r
O

For a particle of mass m and momentum p_ at position r _ relative to origin O of an
inertial reference frame, we define angular momentum (w.r.t.) O

L_ = r _ x p_
or = rp sin %

Example What is the angular momentum of the moon about the earth?
L = | r _ x p_ |
= rp sin &
5 rmv sin 90
= mr
2
!
= (7.4 10
22
kg) (3.8 10
8
m)
2

21
27.3 24 3600 s

= 2.8 10
34
kg m
2
s
-1
Direction is North


Example Two trains mass m approach at same speed v, travelling antiparallel, on tracks separated by
distance d. What is their total angular momentum, as a function of separation, about a point halfway
between them?

L
1
= r
1
x p
1


= r
1
x mv
1

|L
1
| = (d/2)mv (clockwise on my diagram)
|L
2
| = (d/2)mv (also clockwise)
= dmv independent of separation

14
Newton 2 for angular momentum:
" 3 % r _ x F_ = r _ x
d
dt
p_

d
dt
L_ =
d
dt
(r _ x p_)
= (
)
*
+ d
dt
r _ x p_ + r _ x
d
dt
p_ Remember: Order important in vector multiplication!
= v_ x mv_ + 3
" 3 =
d
dt
L_
Newton 2
in rotation


Question: A top balances on a sharp point. Why doesn't it fall over? (Qualitative treatment only.)
L
W
r

3 =
d
dt
L_
d L_ // 3
but 3 is horizontal
so dL_ is perpendicular to g _
Also boomerangs, frisbees, satellites
Systems of particles
Total angular momentum L_
L_ = " (r _
i
x p_
i
)

d
dt
L_ = "
d
dt
(r _
i
x p_
i
)
= " 3
i
= " 3
i internal
+ " 3
i external
Internal torques cancel in pairs (Newton 3)
' " 3
ext
=
d
dt
L_ cf F_
ext
=
d
dt
P_
where " 3
ext
is the sum of all external torques.
(This equation derived for inertial frames but it is also true for other frames if centre of mass is taken as origin.)
Consequence:
If " 3
ext
= 0,
d
dt
L_ = 0.
Conservation of angular momentum of isolated system

15
Example Circular motion of ball on string. What happens to the speed of the ball as the string is
shortened? (Neglect air resistance).
m
2
m
1
!
R
tube
string
F
F


Tension does do work, but it doesn't exert torque (3 // r) ' angular momentum conserved.
L_ = r _ x p_
= rp sin &
= rmv sin &


Example: Person on rotating seat holds two 2.2 kg masses at arms'
length. Draws masses in to chest. What is /!? Is K conserved?
Rough estimates: k
person
about long axis 6 15 cm
I
p
= Mk
2
= ~ 70 kg. (.15 m)
2

include moving
part of chair

I
p
~ 1.6 kgm
2

I
m
= mr
2
5 2.2 kg. (0.8 m)
2

I
m
5 1.4 kgm
2
(arms extended)
I
m
' = mr'
2
5 2.2 kg. (0.2 m)
2

5 0.1 kgm
2
(arms in)

No external torques 2

L
i
= L
f

(I
p
+ 2I
m
)!
i
= (I
p
+ 2I'
m
)!
f


!
f
!
i
=
I
p
+ 2I
m
I
p
+ 2I'
m
~ 2.4

K
f
K
i
=
1
2
(I
p
+ 2I
m
)!
f
2
1
2
(I
p
+ 2I'
m
)!
f
2
= 2.4
Arms do work: Fds = ma
centrip
.ds

16
Example Space-walking cosmonaut (m = 80 kg, k = 0.3 m about short axes) throws a 2 kg ball (from
shoulder) at 31 ms
-1
(v_ displaced 40 cm from c.m.). How fast does she turn? Is this a record?
40 cm
c.m.
!

In orbit so no ext torques so L_ conserved
L_
i =
L_
f =
L_
ball
+

L_
cos

0 = r _ x mv_ 0 I!
= rmv 0 Mk
2
!
! =
rmv
Mk
2

= 3.4 rad.s
-1

= 33
1
3
r.p.m.
(Yes, it must be a record)
Questions
Can a docking spacecraft rotate without using rockets?

Can a cat, initially with L = 0, rotate while falling so as to land on its feet?


17
Summary Analogies: linear and rotational kinematics

Linear Angular
displacement x angular displacement & = s/r
velocity v angular velocity ! = v/r
acceleration a angular acceleration . = a/r

kinematic equations
v
f
= v
i
+ at !
f
= !
i
+ .t
/x = v
i
t +
1
2
at
2
/& = !
i
t +
1
2
.t
2
v
f
2
= v
i
2
+ 2a/x !
f
2
= !
i
2
+ 2./&
/x =
1
2
(v
i
+ v
f
) t /& =
1
2
(!
i
+ !
f
) t
Analogies: linear and rotational mechanics

mass m rotational inertia I
I = "m
i
r
i
2
I = #
$
r
2
dm
Work & energy
W = #
$
F_.ds _ W = #
$
3.d&
K =
1
2
Mv
2
K =
1
2
I!
2

force F_ torque 3 % r _ x F_
momentum angular momentum
p_ = m v_ L_ = m r _ x v_
Newton 2:
F_ =
d
dt
p_ = m a_ 3 =
d
dt
L_ = I ._
if m const if I const
Momentum p % mv
Newton 1&2 F
ext
=
d
dt
p
Conservation law:
If no external forces act momentum conserved
If m constant, F
ext
=
d
dt
p =
d
dt
(mv) = ma
F
r
!
axis

p
r
!
axis

F
ext
(r sin &) =
d
dt
(p r sin &)

18
Angular momentum L % (r sin &) mv
only consider one axis
Newton for rotation 3
ext
=
d
dt
L
Conservation law:
If no external torques act
angular
momentum
conserved
If I constant, 3
ext
=
d
dt
L =
d
dt
I! = I.
I defined for a collection of particles
Conservation of p_ and L_ :
If no external (
)
*
+ forces
torques
act on a system,
its (
)
*
+

momentum
angular momentum
is conserved.

Conservation of mechanical energy: if non-conservative forces and torques do no work, mechanical energy
is conserved
Example Particle mass m moves with
r _ = (At) i _ + B j
_
+
(
)
*
+
Ct -
1
2
gt
2
k_
(i) What is p_ for the mass? (ii) What is its L_ about the origin? (iii) what torque 3 acts on it? (iv) What is
the shape of this motion?
i) p_ = m v_ = m
d
dt
r _
= m
( )
A i _ + (C - gt) k_
ii) L_ = r _ x p_ recall:

r
x
r
y
r
z
r
x
p
x
p
y
p
z
p
x
i _ j
_
k_ i _

= (r
x
p
y
- r
y
p
x
)k_ + (r
y
p
z
- r
z
p
y
) i _ + (r
z
p
x
- r
x
p
z
)j
_

L_ = - BmA k_ + Bm(C-gt) i _ +

(
)
*
+
(
)
*
+
Ct -
1
2
gt
2
mA - Atm(C-gt) j
_

= B(C-gt)m i _ +
1
2
Amgt
2
j
_
- ABm k_
(iii) 3 =
d
dt
L_ = - Bmg i _ + Amgt j
_


19


Torsional pendulum.
Useful way of comparing unknown I with that of a simple object (e.g. rod).
Object with I is suspended on wire. The wire, when twisted, produces
a restoring torque 3 = - 7&
3 = I. = I
d
2
&
dt
2


d
2
&
dt
2
=
3
I
= -
7
4
&
solution is:
& = &
m
sin (8t + 9) where 8 =
7
I

Period
T =
21
8
= 21
I
7

where ) is the
const of the wire

' for two different objects,
T
2
2
T
1
2
=
I
1
I
2




Example. String round drum (r) on spool (R). What is the critical angle &
which determines direction of motion?


a) If it slides (kinetic friction F_
k
) it moves right.
b) If it rolls (static friction F_
s
) it moves left.
N2 vertical: T sin & + N = W (i)
N2 horizontal: T cos & = F
fr
(ii)
N2 rot
n
about centre Tr = F
fr
R (iii)
At point of sliding, F
fr
=
s
N (iv)
Unknowns: T, %, F
fr
, N. Substitute (iv):
(ii) 0> T cos &
c
=
s
N
(iii) 0> Tr =
s
NR
: 0 0>cos &
c
=
r
R



20




Simple pendulum.


Mass m, suspended on light string. Radius of mass r << M ' treat as particle.
N2 in vertical: mg = T cos &
N2 in horizontal: T sin & = ma = 0 m
d
2
x
dt
2

If & << 1, sin & 5 & 5
x
L
, cos & 5 1.
m
d
2
x
dt
2
= - T sin & = - mg
x
L


d
2
x
dt
2
= - T sin & = 0
g
L
x
solution is:
x = x
m
sin (!t + 9) where ! =
g
L

Period T =
21
!
= 21
L
g




Physical pendulum.


Object, mass m, rotational inertia I, free to rotate.
N2 for rotation: 3 = 4.
0 mg h sin & = I
d
2
&
dt
2

If & << 1,
d
2
&
dt
2
= 0
mgh
I
sin &

d
2
&
dt
2
5 0
mgh
I
&
solution is:
& = &
m
sin (!t + 9) where ! =
mgh
I

Period
T =
21
!
= 21
I
mgh

(put all mass at c.m.I = mk
2
= mh
2
* previous result)

21

Example.
Disc, mass m, radius R, suspended at
point h from centre. What is T for this
pendulum?

Period
T =
21
!
= 21
I
mgh

Parallel axis theorem:
I
new
= I
cm
+ mh
2

=
1
2
mR
2
+ mh
2

T = 21

1
2
R
2
+ h
2
gh

(if h>> R, get 2+
h
g
as for simple pendulum
if h = 0, T (> ,)


Example. Object mass m suspended by two strings as shown. Find T
1
and
T
2
.
It's not accelerating vertically so
N2 0> " F
y
= ma
y
= 0
' T
1
+ T
2
- mg = 0 (i)
It's not accelerating horizontally so
N2 0> " F
x
= ma
x
= 0
' 0 = 0 not enough equations
It's not rotationally accelerating so:
N2 0> " 3

= I. = 0
& about c.m.
clockwise
' 3
1
+ 3
2
= T
2
D 0 T
1
d = 0
T
1
+
d
D
T
1
- mg = 0
T
1
=
mg
1 + d/D
T
2
=
mg
1 + D/d



i) A cyclist travels round a corner with a radius of 20 m, travelling at
30 kilometers per hour, on a horiztonal road surface. Showing your
working, determine the angle at which he should and the bicycle lean
towards the centre of the turn, so as not to fall over. (The cyclist does not
change his angle with respect to the bicycle as he rounds the corner, he is
always symetrically positioned with respect to the plane of symmetry of the
bicycle.)
ii) If the coefficients of kinetic and static friction between the tyres and the road are 0.8 and 1.0 respectively,
what is the maximum speed at which the cyclist can take this corner?