Beruflich Dokumente
Kultur Dokumente
Chapter 10
Rotational Motion
Particle on rigid object at point
p rotates throug an angle
Arc length s:
s
r
s r
in radians (rad.)
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
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
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:
Rotational Motion
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 )
?, revolution s ?, t f ?
Example:
?, 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:
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
v2 v1 60 40
4 m/s
t
5
Rotational Energy
Example:
1
1
mi vi2 mi ri 2 2
2
2
1 2
I
2
KR
Im
(J)
I mi ri
i
Example:
I mi ri
I r 2 dm
m=V dm= dV
m=A dm=dA
m=L dm=dL
dm dV
I r 2 dV
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
Torque
Fsin
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
rF sin
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
=?
T=?
a=?
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
dW F ds
W F s Fs cos
dW
Fv
dt
dW F ds
dW d
W
P
1
2
1
2
2
2
W mv f mvi
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
Rolling Motion
Rolling Motion
vCM
ds
d
R
R
dt
dt
aCM
dv
d
CM R
R
dt
dt
vP 0
vP 2vCM
Kinetic energy of
rolling motion
K=KT + KR
1
1
K Mv 2 I CM 2
2
2
Problem
Review
KR+KT