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RIGID BODY -> definite shape & size

ANGLE (Angular Displacement/Position)
-> measured in degrees, radians, revolutions

1 rev 2 rad 360

Angular displacement vs. Arc Length

s r

ANGULAR VELOCITY -> change in angular position with time ANGULAR ACCELERATION -> change in angular velocity with time

average angular
av average angular velocity av
t t acceleration

Angular Velocity vs. Linear Velocity

Angular Acceleration vs. Linear Acceleration
vx moving along the x axis
ax accelerati ng along the x axis
x rotating around the x axis
x accelerati ng around the x axis

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Straight-Line Motion Rotational Motion

a constant constant

v f vi at f i t (1)

1 2 1
x f xi vi t at f i i t t 2 (2)
2 2

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Example 1. Rotation w/ constant angular acceleration Linear Displacement (Arc Length) - Angular Displacement
You have just finished watching a movie on DVD and the disc is slowing to a stop. The ang
ular velocity of the disc at t = 0 is 27.5 rad/s and its angular acceleration is constant at -10.0 s r
rad/s2. A line PQ on the surface of the disc lies along the +x-axis at t = 0.
Linear Velocity - Angular Velocity
(a) What is the discs angular velocity at t = 3.00 s?
(b) What angle does the line PQ make with the +x-axis v r Tangential (linear)
at this time? velocity

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Example 4. Bicycle gears

Linear Acceleration - Angular Acceleration
How are the angular speeds of the two bicycle sprockets related to the radius and
Tangential (linear) number of teeth of the sprocket?
atan r
acceleration

v2 Radial (centripetal)
arad 2r acceleration
r

Total
atot atan
2
arad
2
acceleration

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Prob 1. A bicycle wheel has an initial angular velocity of 1.50 rad/s. (a) If its angular acceleration is -> measure of the tendency of a force to cause rotation
constant at 0.300 rad/s2, what is its angular velocity at t = 2.50 s? (b) Through what angle has the
wheel turned between t = 0 and t = 2.50 s?
Prob 2. The rotating blade of a blender turns with constant angular acceleration of 1.50 rad/s2.
(a) How much time does it take to reach an angular velocity of 36.0 rad/s, starting from rest?
(b) Through how many revolutions does the blade turn in this time interval?
r

Prob 3. In a charming 19th century hotel, an old-style elevator is connected to rF sin

a counterweight by a cable that passes over a rotating disk 2.50 m in diameter.
The elevator is raised and lowered by turning the disk, and the cable does not torque
Angle between
slip on the rim of the disk but turns with it.
Radial distance from radius vector
(a) At how many rpm (rev/min) must the disk turn to raise the elevator at 25.0
cm/s? axis of rotation to and force
the point of action vector
(b) To start the elevator moving, it must be accelerated at 1/8 g. What must
be the angular acceleration of the disk in rad/s2?
(c) Through what angle (in radians and degrees) has the disk turned when it
has raised the elevator 3.25m between floors?

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Example 1. Applying a Torque

A weekend plumber, unable to loosen a pipe fitting, slips a piece of scrap pipe (a cheater)
r F over his wrench handle. He then applies his full weight of 900 N to the end of the cheater
by standing on it. The distance from the center of the fitting to the point where the
Note: Cross product operation obeys right hand rule. weight acts is 0.80m, and the wrench handle and cheater make an angle of 19o with the
horizontal. Find the magnitude and direction of the torque he applies about the center of
Torque and Rotation the pipe fitting

Out of the page torque Into the page torque
-> counterclockwise -> clockwise rotation
rotation (positive) (negative)

-> analogue of linear momentum For any system of particles, the rate of change of angular momentum of a body equals
the net torque acting on it

L

Magnitude of angular momentum t
L mvr sin
CONSERVATION of ANGULAR MOMENTUM
If the net torque on a system is zero, then the angular momentum is constant (conserved)

Li L f
I i i I f f
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Example 10. Rotational Collision PRECESSION -> happens when the axis of a rotating rigid body changes direction
Suppose the flywheel A has a mass of 2.0 kg,
a radius of 0.20m and an initial angular speed GYROSCOPE
of 50 rad/s and that clutch plate B has a
-> anything that undergoes precession
mass 4.0 kg, a radius of 0.10 m and an initial
angular speed of 200 rad/s. Find the (Ex. Earth)
common final angular speed after the disks a
re pushed into contact. What happens to the
kinetic energy during this process?

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1. Net Force must be zero

Ftot 0

2. Net Torque must be zero tot 0

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Prob 1. Calculate the net torque about point O for the two
forces applied. The rod and both forces are in the plane of
the page.
Prob 2. A grindstone in the shape of a solid disk with diam
eter 0.520m, and a mass of 50.0 kg is rotating at 850
rev/min. You press an ax against the rim with a force of
160 N, and the grindstone comes to rest in 7.50 s. Find the
coefficient of friction between the ax and the grindstone.
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Prob 3. A hollow, spherical shell w/ mass 2.00 kg rolls without slipping down a 38.0o slope. (a) Find
the acceleration, the frictional force, and the minimum coefficient of friction needed to prevent
slipping. (b) How would your answers change if the mass were doubled?
Prob 4. Find the magnitude of the angular momentum of the second hand on a clock about an axis
through the center of the clock face. The clock hand has a length of 15.0 cm and mass 6.00g. Take
the second hand to be a slender rod rotating w/ constant angular velocity about one end.
Prob 5. Suppose that an asteroid travelling straight toward the center of the earth were to collide
with our planet at the equator and bury itself just below the surface. What would have to be the
mass of this asteroid, in terms of the earths mass M, for the day to become 25.0% longer than it
presently is as a result of this collision? Assume that the asteroid is very small compared to the
earth and that the earth is uniform throughout.
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