DYNAMICAL TORQUE AND STATIC EQUILIBRIUM Cause of Rotation

Learning Objectives Consider two equal but opposite forces acting on a stick
After you complete the homework associated with this
as shown
lecture, you should be able to:
Explain what torque is, and give examples that show it is Y 3P
F ext = 0
related to force but differs from it.
Describe how torque changes rotational motion in a way We see
analogous to how force changes linear motion.
Explain how the sign and magnitudes of torque C 3P
F ext = m P
a CM Y Pa CM = 0 in this case
components are determined in rotational situations.
Calculate changes in motion of objects due to torques.
C but object will begin to rotate about its CM
Determine the forces that act on a static structure if it
does NOT change its translational or rotational state. C This rotation is caused by TORQUE (symbol P
)

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Angular Momentum Torque Causes Change in Rotational State

C Linear momentum P P is the fundamental descriptor of Changes in rotational motion are

translational motion. It is changed by forces.
caused by the torque P vector. It is
C Angular momentum P L is the fundamental descriptor of
rotational motion. It is changed by torques. not a force, but is related to force.
Torque is a vector, and thus has a direction. This
Angular Momentum of a Rigid Body comes from fundamental definition of torque as the
The total angular momentum of a rigid body (all components
r with force vector P
cross product of position vector P F:
P ) rotating about a symmetry
have same angular velocity
axis is: L P = Pr P
F
PL = I axis P
We get its direction from the right-hand-thumb rule,

PL is in the same direction as angular velocity P . and its magnitude from r P

=|P F | = r F sin()

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 TORQUE AND ANGULAR MOMENTUM Angular Acceleration of Rigid Bodies
C The time rate of change of a systems total angular Consider an rigid object that can rotate about an
momentum VECTOR equals the net external torque axis of symmetry, which we will label the z-axis. It has
VECTOR acting on it.
rotational inertia I about this axis. We have
P
dL
Pnet ' PL = I P
' Pnet ext ' j Pext
P
dL and
dt
dt If Iz is constant, taking z-component of these gives us
d (Lz ) d (I z ) d z
net , z ' ' ' I
Torques produce change in angular momentum in a dt dt dt

way analogous to how forces change linear momentum! 3z = I z <==> 3 Fx = M ax

rotational linear

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LINE OF ACTION AND MOMENT ARM Choosing Positive Direction of Rotational Components
1) In your diagram, put a dot
The torque due to force P
F is a function of P
F and the
at the point about which
r where is P
position vector P F applied about point O. you will calculate
rotational quantities. If the
Important
Important: object is rotating, pick the
rz is called the axis of rotation.
moment arm 2) Draw a curved arrow (labelled z) around this
point to show the sense of a positive rotation
= |P
| = magnitude of torque = r F sin() This defines direction of z-axis and you can use it to
= r [ F sin() ] = r Fz = F [ r sin() ] = F rz determine signs of z-components.
DEMO : wrench turns bolt

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 Survival Methods for Determining z Example: A disk of mass M and radius R rotates on a
If a force tends to produce a positive rotation (i.e., in the frictionless axis through its center. A block of mass m is
attached to a string that is wound around the disks inner
direction of the curved z-axis arrow), then the
core of radius r. What is the linear acceleration of the
corresponding torques z-component z is positive. block?
If a force tends to produce a negative rotation (i.e., in the
direction of the opposite the curved arrow), then the
corresponding torques z-component z is negative.

1z = + F1 r1z = + F1 d1
= + F1z r1 (positive)

2z = S F2 r2z = S F2 d2
= S F2z r2 (negative)

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Form free-body of block 3z = I z where I = MR2

3Fx = (ST) + (+ mg) = m ax T,z + V

S,z + V
Fg,z = I z

one equation with (+ r T) + 0 + 0 = I z

2 unknowns (T and ax )
But r z = ax (rolling without slipping)
Get torques from extended free-body diagram
of the disk r T = Iz [ ax / r]
Because the disk does
not translate, we could get the multiplying by r: r 2 T = Iz a x
magnitude of the support force P
S r2 @ [force-eq on block]: (S r2 T) + r2 m g = r2 m ax
from 3P
F = MP
a = 0. But why bother?
adding to get rid of T: r2 m g = [r2 m + I ] ax
Since the moment arms of PS &P F g are both zero,
they produce zero torques and thus do not affect
ax = m r2 g
Then solve:
the rotational dynamics! [mr2 + 12 MR2 ]

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 STATIC EQUILIBRIUM Example of an odd-shaped beam
An object will not change its rotation if 3P
o = 0
L A ball of mass M is
Y IP
= 3 P o = 0 Y P = 0 Y no rotation change suspended from an
T?
Thus, for motionless object to remain motionless: free oddly shaped beam
m pivot of mass m. The
3P
F ext = 0 (no translation) odd support
and beam
beam can freely
3P
o = 0 Y 3 (o)z = 0 (no rotation) rotate about a pivot
M D support.
CAUTION : Remember to EXPLICITLY indicate a ref
point and draw a labeled curved arrow around it What is tension T in the cable?
for the choice of positive rotation. What (reactance) support force P
S does the pivot supply?

Demo
Demo: Static Equilibrium of a Simple Beam

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If we just want T, we could get it directly

from torque eq because PS produces zero
torque about O. But let us not see it for
the moment, and do the "drill". Note the
tension force P
T lies along the strut, but
support force P
S has unknown direction.

Vx + V
3Fx = Tx + W w x + Sx = 0
= (+T cos ) + Sx = 0
3 Fy = Ty + Wy + wy + Sy = 0
= +T sin + (SMg) + (Smg) + Sy = 0
Hint
Hint: If you choose an origin O that lies along the line 2 equations in 3 Unknowns: T , Sx , Sy Y look for another equation
of action of a force, that forces moment arm is 3Oz = Tz + Wz + wz + V
Sz = (ST rz) + ( + MgD) + ( + mg[L]) = 0
zero. Thus it will not contribute the sum of = S T (L sin ) + M g D + m g L = 0
torques, which simplifies the algebra. T = [ M g D + m g L ] / [L sin ] , then go above to get Sx and Sy

note: Tz = ST rz = STz L = S (T sin ) L (both the same)

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