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Chapter 10

Instructor : Dr. Iyad Saadeddin

Chapter 10: Rotation of Rigid


Objects About a Fixed Axis

Angular position, velocity, acceleration


Constant angular acceleration
Rotational kinetic energy
Moments of inertia
Torque
Work, power and energy
Rolling motion

Rotational Motion
Particle on rigid object at point
p rotates throug an angle

Arc length s:

s
r

s r

in radians (rad.)

Full circle = 360 = 2 rad.


2 rad 1 revolution ()
Degree
180

rad.

??

(rad)

180

(deg)

= 22/7 = 3.14

Angular Quantities
Angular
displacement:
Average
angular speed:
Instantaneous
angular speed:

f i

f i

lim
t 0

t f ti

(Rad/s)= s -1
t

t
dt

i
Average angular
f

acceleration:
t f ti
t
Instantaneous
angular
accel eration:

lim
t 0

(Rad.)

Angular Velocity
As particle moves
from angular position
?i to ?f

(Rad/s)= s -1

(Rad/s)= s -2

(Rad/s)= s -2
t
dt

All particles of a rigid object rotate at the same angular


displacement, speed and acceleration.

Angular velocity , is
a vector.
For rotation about a
fixed axis, the
direction of the
velocity is along the
axis of rotation.
Use the right hand
rule to determine
direction.

For rotation
counterclockwise
()
+ve

For rotation
clockwise (
) -ve

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Rotational Kinematics
For rotational motion with constant rotational acceleration
The equations of motion are similar in to the equation of
motion in one dimension (1D);
Only do the following symbol replacement
2
= 7200
rev/min

90
R=6 cm

v
a

Rotational Kinematics

Example:

Linear (1D) Motion

Rotational Motion

with constant linear acceleration, a

with constant rotational acceleration,

v f vi at

f i t

x f xi 12 (vi v f )t

f i 12 ( i f )t

x f xi x 12 (vi v f )t

f i 12 (i f )t

1
2

x f xi x (vi v f )t

1
x vi t a t 2
2
2

v f vi 2a( x f xi )

3.50 rad s 2

1
i t t 2
2
2

f i 2 ( f i )

3.5rad / s 2 , ti 0s, t 2.00 rad s , t f 2.00 s


i

?, revolution s ?, t f ?

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Example:

Angular and Linear Quantities

3.5rad / s 2 , ti 0 s, t 2.00 rad s , t f 2.00s


i

?, revolutions ?, t f ?

1 rev.
11 rad
1.75 rev.
2 rad .

Arc length s:

s r

Tangential speed
of a point P:

v r

Tangential acceleration
of a point P:

at r

Centripetal acceleration
for rotation object:

v2
ar
r 2
r
2

a ar at2

Example:

Example:

A race car accelerates uniformly from a speed of 40 m/s


to 60 m/s in 5 s around a circular track of radius 400 m.
When the car reaches a speed of 50 m/s find the
Centripetal acceleration,
Angular speed,
Tangential acceleration,
And the magnitude of the total acceleration.

At v = 50 m/s find ac=?, =?,

at =?,

at =?,

v 2 (50) 2
ac

6.25 m/s2
r
400
v 50
v r
0.125 rad/s
r 400
v2 v1 at t at

v1=40 m/s, v2=60m/s, and t=5s


At v = 50 m/s find ac=?, =?,

v1=40 m/s, v2=60m/s, and t=5s

v2 v1 60 40

4 m/s
t
5

a ac2 at2 6.252 4 2 7.42 m/s 2

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Rotational Energy

Example:

A rigid object made up of a collection of i


particles with mass mi has a rotational
kinetic energy of:

1
1
mi vi2 mi ri 2 2

2
2

1 2
I
2

KR

Im

(J)

where I is the moment of inertia:

I mi ri
i

Spheres of mass m has I=0 because r=0, they lie on y-axis

(kg.m2) (for collection of particles)


r is the distance from rotational axis

Example:

Calculating Moments of Inertia


for collection of particles:

I mi ri

For an extended, rigid object:

I r 2 dm

m=V dm= dV
m=A dm=dA
m=L dm=dL

dm dV

I r 2 dV

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Moments of Inertia of Various


Objects

Example:

Extended object

ICM : Moment of
inertia about an axis
of rotation through
the center of mass

; dL=dx because
L is on x-axies

Parallel Axis Theorem

Torque
Fsin

If ICM is known, the moment of inertia through a


parallel axis of rotation a distance D away from
the center of mass is:

I I CM MD 2

Fcos

I I CM MD 2
2

Is angle between F
and r directions

1
L 1
ML2 M ML2
12
3
2

Consider a rigid object about a pivot point () .


A force is applied to the object.
This force causes the object to rotate having what is
called Torque .

rF sin

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Torque
Torqueand Angular Acceleration

Example:
Two forces T1 and T2 are applied as shown

Ft mat

at r Ft r

For rotation
counterclockwise
()
+ve

I mr 2

For rotation
clockwise (
) -ve

Example:A uniform rod of length L and mass M is attached


as shown. The rod is released from rest in the horizontal
position. What are the initial angular acceleration of the rod
and the initial translational acceleration of its right end?
a=? and at=?
* The rode will move like pendulum
under the effect of F g=Mg

=?
T=?

a=?

?Extended object look at the CM


solution

T=?
a

L
rF sin rF ( ) Mg
2

L
but I ( ) Mg
2
( L / 2) Mg 3g

2
I
1 / 3ML
2L

at

The translational
acceleration is

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Work, Power and Energy


Work in linear motion

dW F ds
W F s Fs cos

dW
Fv
dt

Work in rotational motion

dW F ds
dW d
W
P

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Work - Kinetic Energy Theorem


The work-kinetic energy theorem for linear motion:

1
2

1
2

2
2
W mv f mvi

External work done on an object changes its kinetic energy

and for rotational motion:

1
2

Rolling Motion
Pure rolling motion:
object rotating at
angular speed
with No slipping
occurs

1
2

2
2
W I f I i

External rotational work done on an object changes its


rotational kinetic energy

Rolling Motion

Rolling Motion

The linear speed of


the center of mass

vCM

ds
d
R
R
dt
dt

The linear acceleration


of the center of mass

aCM

Pure rolling motion is a superposition of pure


translation and pure rotation motions

dv
d
CM R
R
dt
dt

While the angular velocity (and acceleration)


of any point of the object is the same, the
linear speed changes.

vP 0
vP 2vCM

Kinetic energy of
rolling motion

K=KT + KR
1
1
K Mv 2 I CM 2
2
2

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Problem

Review

KR+KT

Linear quantities have analogous angular


counterparts.
Torque is the tendency of a force to rotate
an object.
The total kinetic energy of a rotating object
has to include its rotational kinetic energy.
Pure rolling motion is the superposition of
pure translational and pure rotational
motion.

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