Notes for School Exams

Physics XI
Rotational Motion
Pranjal K. Bharti, B. Tech., IIT Kharagpur

© 2007 P. K. Bharti
All rights reserved.

www.vidyadrishti.org

2013-2015
 Rotational Motion Pranjal K. Bharti (B. Tech., IIT Kharagpur)

Rigid body Important points about angular displacement

Ideally a rigid body is a body with a perfectly definite and • Angular displacement is a scalar quantity. Infinitesimal
unchanging shape. The distances between different pairs of small angular displacements are vectors.
such a body do not change on the application of force. (Refer Resnick, Halliday).
• Denoted by ∆θ or θ
Pure Translation or Translation • S.I. unit: radian (rad)
1800 = π rad
• A body is said to have pure translational motion, if each
particle of it has same velocity/acceleration at a particular
instant of time. Angular Velocity (Ω)
v
v • Average angular velocity (∆ ω): It is defined as the time
v rate of change of angular displacement over a time
interval.
Rotational Kinematics ∆θ θ 2 − θ1
∆ω= =
• Kinematics is the study of motion without reference to the ∆t t2 − t1
forces which cause motion. • Instantaneous angular velocity (ω): It is defined as the
• Kinetics is the study of motion which relates the action of time rate of change of angular position at an instant of
forces on bodies to their resulting motions. time. Clearly,
∆θ dθ
• Kinematics and Kinetics together known as Dynamics. = ω lim =
∆t → 0 ∆t dt
• As earlier we have studied about displacement (r),
velocity (v) and acceleration (a) in the chapter kinematics; • Angular velocity is a vector quantity.
• Direction of ω is obtained using right hand thumb rule:
in the same way we shall study here about angular
Curl your fingers of right hand in such a manner that
displacement (θ), angular velocity (ω) and angular direction of curl is in the direction of sense of rotation
acceleration (α) . (i.e., clockwise or anticlockwise). Your extended thumb
will give the direction of angular velocity ω.
Angular Displacement
y y ω
• Let us consider an arbitrary shaped rigid body rotating in
counter-clockwise direction about an axis passing through
point O. Here axis of rotation AB is passing through point
O and is perpendicular to the plane of rotation. x x
• Let us consider a particle on the body at a distance r from
the axis of rotation. Clearly, this particle is moving along
a circle of radius r. Suppose at a time t, this particle was z ω z
at point P and after a time t + ∆t it is at point P’.
A A P’ Anticlockwise rotation Clockwise rotation
ω coming out of paper ω going into paper
i.e. along +ve z-axis i.e. along –ve z-axis
O O θ
P P

Important points about angular velocity

B B
At time t = t At time t = t + ∆t • Angular velocity is a vector quantity.
• Its direction is obtained by right hand thumb rule
• Clearly, during this time interval, particle P rotates • Denoted by ∆ ω (average) or ω (instantaneous)
through an angle θ from initial line OP. This angle θ is • S.I. unit: rad/s
known as angular displacement of the particle. • Another unit: rpm = revolution per minute.
• The line OP is known as reference position. Clearly, a particle has an angular displacement of 2π
• It is clear that all the particle of the body has rotated radian in one revolution.
through the same angle θ. Therefore, we can say that the
2π
whole rigid body has rotated through an angle θ. Hence, Therefore, 1rpm = rad / s
we can say that the rigid body has an angular 60
displacement θ.

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Rotational Motion Pranjal K. Bharti (B. Tech., IIT Kharagpur)

Angular Acceleration (α)

1 1
• Average angular acceleration (∆α): It is defined as the θ ωo t + α t 2
2. = (Analogous to =
s   ut + at 2 )
time rate of change of angular velocity over a time 2 2
interval. Proof:
∆ω ω2 − ω1
∆α = = From (i), we have
∆t t2 − t1 ω
= ωo + α t
• Instantaneous angular acceleration (α): It is defined as dθ dθ 

the time rate of change of angular velocity at an instant of ⇒ =ωo + α t  ω = 
time. Clearly, dt  dt 
∆ω d ω θ t
t
t2 
∫ (ω + α t ) dt ⇒ [θ ]0 = ωo [t ]0 + α  
θ
= α lim = ⇒ ∫ dθ =
t
∆t → 0 ∆t dt o
0 0  2 0
1
Important points about angular acceleration ⇒ θ = ωo t + α t 2 ...(ii)
2
• Angular acceleration is a vector quantity.
• Direction of α: 3. ω
= 2
ω0 2 + αθ
 2 (Analogous to v=
2
u 2 + as )
 2
Case I: When angular speed is increasing. Proof:
In this case angular acceleration is positive. Therefore, We know that
direction of angular acceleration is along angular velocity.
Case II: When angular speed is decreasing. d ω d ω dθ d ω
In this case angular acceleration is negative. Therefore, α= = ⋅ = ⋅ω
direction of angular acceleration is opposite to that of dt dθ dt dθ
dω
angular velocity. ∴α = ω
• Denoted by ∆ α (average) or α (instantaneous) dθ
• S.I. unit: rad/s2 θ ω
ω 2 
ω
ω 2 ω0 2
⇒ ∫ α dθ = ∫ ω d ω ⇒ α [θ ]0
θ
=   ⇒ αθ = −
Uniform angular acceleration 0 ω0  2 ω 0
2 2

• In chapter Kinematics we have studied about uniformly ⇒ ω  = ω0 + 2αθ

2 2
...(iii)
accelerated motion. Here we shall study about uniform
angular acceleration motion. For uniform angular Relation between angular displacement & linear distance
acceleration α = constant. • Let us consider a particle P at a perpendicular distance r
• Let us consider a particle on the rotating rigid body. Let at from the axis of rotation on a rotating body. Clearly, this
time t = 0, its initial angular position θ = 0 & initial particle moves in a circle of radius r.
angular velocity ω = ωo. • Suppose the angular displacement at an instant is θ.
• Again, let at a time t = t, its final angular position θ = θ & As a result of this rotation, particle P has also
final angular velocity ω = ω. travelled a circular arc of distance s. This distance s is the
• Then, we have three formula: linear distance moved by the particle.
• From basic Trigonometry we have,
s
1. ω
= ωo + α t (Analogous to v = u + at) θ=
r
Proof: Relation between angular velocity & linear velocity
• We know that, s = θ r
dω
α= • If we differentiate both sides with respect to time t, we get
dt
ω t t relationship between angular velocity (ω) and linear
∫ dω = ∫ α dt = α ∫ dt ⇒ [ω ]ω = α [t ]0
ω velocity (v) straight away:
⇒
t
o
ωo 0 0
ds d dθ
⇒ ω − ωo = α (t − 0) = = (θ r ) r
dt dt dt
⇒ ω = ωo + α t ...(i)
(because r is constant for a particle)
ωr
⇒v=
 ds dθ 
=
 v=
& ω
 dt dt 

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Rotational Motion Pranjal K. Bharti (B. Tech., IIT Kharagpur)

Relation between angular acceleration & tangential Moment of Inertia

acceleration (Rotational Inertia): I
• Before going into the details of moment of inertia, let us
• We know that, v = ω r have a look at concept of mass (m) of a body. Mass gives
• If we differentiate both sides with respect to time t, we get an idea of difficulty we face to move (translate) a body.
relationship between angular acceleration (α) and linear Higher the mass, it will be more difficult to translate a
tangential acceleration (at) straight away: body. Therefore mass is also known as Translational
Inertia.
dv d dω • Moment of Inertia (represented by I) or Rotational Inertia
= = (ω r ) r represents an analogous concept in rotation as presented
dt dt dt
(because r is constant for a particle) by mass in translation.
• Physically, Moment of Inertia gives an idea of difficulty
αr
⇒ at = we face to rotate a body. Higher the moment of inertia, it
will be more difficult to rotate the body. Therefore,
 ds dθ 
=
 v=
& ω Moment of Inertia is also known as Rotational Inertia.
 dt dt  • Moment of inertia depends on mass and distance from
axis of rotation. Higher the mass, higher will be moment
• Here, at is tangential acceleration in the tangential of inertia. Larger the distance from axis of rotation,
direction. larger will be moment of inertia.

Summary Moment of Inertia of a particle

• Relation between angular position & linear distance: • Suppose a particle of mass m is rotating at a perpendicular
s distance r from the axis of rotation. Then, its moment of
θ= ( in radian)
r Inertia about axis of rotation is defined as :
• Relation between angular velocity & linear velocity: I = mr2 (Moment of Inertia of a particle)
v = ωr (v along tangent)
• MI for system of particles about an axis is:
• Relation between angular accln & linear tangential accln:
I = ∑ mi ri 2 (MI for system of particles)
dv
=at   = αr . (at along tangent)
dt
• MI for a rigid body about an axis is:
v2
• Radial acceleration = = aR   ω= 2
r = ωv
r I = ∫ r 2 dm (MI of a rigid body)
(radially inward i.e., towards the axis of rotation)
• NOTE: Moment of inertia of a RING about an axis through its
1. These eqns. viz. v = ω r, at = αr & ar = ω2 r are not valid centre and perpendicular to its plane
for whole body. It is valid for a particle on the rotating
body at a perpendicular distance r from the axis of • Consider a ring of mass M, radius R and centre O.
rotation. Consider an elementary portion of the ring of dm and
2. Be careful of r. Remember r is the perpendicular distance length dx.
I
of the point of interest from the axis of rotation. dm
3. At a particular instant of time angular displacement,
angular velocity & angular acceleration of each particle R
(excluding those on axis of rotation) on a rigid body is
same but different particles has different linear
displacement, linear velocity & linear acceleration.
4. As s = θ r, v = ω r, at = α r & ar = ω2 r , therefore a
point on the rigid body, which is farther away from the • Clearly, moment of inertia of this elementary potion is
axis of rotation, has larger linear displacement, larger given by dI = R 2 dm
linear speed, larger tangential acceleration and larger • The moment of inertia (I) of the ring about this axis can
radial acceleration . be found by integrating
∴= ∫R = R 2 ∫ dm
2
5. We can write these eqns. in vector form as: I dm
        
v= ω × r , at =a × r, a R =ω × v.
⇒I=MR 2

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 Rotational Motion Pranjal K. Bharti (B. Tech., IIT Kharagpur)
The moment of inertia (I) of the rod about this axis can
Moment of inertia of a DISC about an axis through its L
be found by integrating between the limits x = − to
centre and perpendicular to its plane 2
L
• Consider a circular disc of mass M, radius R and centre O. x=
M 2
Then, mass per unit area = +L/2 +L/2 +L/2 +L/2
π R2 M  M M  x3 
=
∴I ∫ = ∫ x  = ∫ =
2 2 2
x dm dx  x dx  
• The disc can be assumed to be made up of a large number −L/2 −L/2  L  L −L/2
L  3 −L/2
of concentric rings. Consider one such ring of radius x
M  L   − L   M 2 L3
3 3
and an infinitesimally small thickness dx. Then, =  −    =×
Area of ring = circumference × width = 2 π x dx 3L  2   2   3L 8

I ML2
⇒I=
12

x • Quick Exercise: Find the MI of the rod about an axis

R
passing through its edge and perpendicular to rod.
dx ML2
Ans: I =
12
•
Therefore, mass of ring Hint: Integrate between the limits x = 0 to x = L
 M  M
2 (
= dm = 2π xdx ) x dx
πR  π R2 Moment of inertia of the CYLINDER about its axis of
• Using the moment of inertia of this ring about the axis symmetry
passing through its centre and perpendicular to its plane,
• Consider a cylinder of mass M, radius R and length L.
 2M  2M 3
= dI (= dm ) x 2  2 x = dx  x 2 x dx M
 R  R2 Then, mass per unit volume of the cylinder =
π R2 L
• The moment of inertia I, of the whole disc is the sum of
the moment of inertia of all such rings, which have radii
between x = 0 and x = R and is according obtained by dx
integrating the above between the limits x = 0 and x = R. R
Therefore,
I x
R
2M  x 4  2M  R 4 0 
R R
2M 3
=I ∫=
0
dI ∫0 R 2 x =
dx  =
R2  4 0
  − 
R2  4 4 
MR 2
⇒I=
2 • To find the moment of inertia of the cylinder, imagine
that the cylinder is made of a large number of coaxial
Moment of inertia of a ROD about an axis through its cylindrical shells. Consider one such cylindrical shell
centre and perpendicular to it having internal radius x and external radius x + dx.
• The cross-section of the cylindrical shell is a circular ring
• Consider a uniform straight rod AB of length L, mass M of radius x and thickness dx. Therefore, cross-sectional
and centre C. Then mass per unit length of the rod =
M area of cylindrical shell = circumference × thickness =
L 2πxdx
• Consider a small element of mass dm and length dx of the • The volume of the cylindrical shell,
rod at a distance x from the point C. The mass of V = (cross-sectional area of the shell)
M × (length of the cylinder)
elementary portion of the rod, dm = dx  V = (2πx dx) × L
L
 V = 2 π L x dx
I • Now, mass of the cylindrical shell,
dm = V × (mass per unit volume of the cylinder)
x  M 
= dm ( 2π Lxdx ) ×  2 
C πR L 
dx 2M
⇒ dm =2 x dx
L/2 R
L/2
• Since the whole mass of the cylindrical shell is distributed
at the same distance x from the symmetry axis, the
moment of inertia of the cylindrical shell about the axis of
symmetry,

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Rotational Motion Pranjal K. Bharti (B. Tech., IIT Kharagpur)
2M • The moment of inertia of the elementary portion (disc) of
= =
dI dm x2 xdx × x 2 the sphere about the axis,
R2
1 1
dI = mass × radius 2 = dm × ( AC )
2
2M
⇒ dI =2 x 3 dx 2 2
R
dI =× 3 ( R 2 − x 2 ) dx × R 2 − x 2 ) 2 = 3 ( R 2 − x 2 ) dx
• The moment of inertia of the cylinder (I) about the 1 3M 3M 2

symmetry axis can be obtained by integrating dI for all 2 4R 8R

such cylindrical shells into which the cylinder can be
divided i.e. by integrating dI between the limits x = 0 to x • The moment of inertia of the sphere (I) about this axis
= R. Thus, can be obtained by integrating dI between the limits
R R
2M 3 2M
4 R
2M  x 4  x = – R to x = + R. Thus,
= ∫= ∫0 R 2 x = ∫ x dx
3 +R +R
I dI dx   R

3 (
R − x 2 ) dx = 3 ∫ ( R 4 − 2 R 2 x 2 + x 4 ) dx
3M 2 3M
I =∫ dI =∫
2
0 R2 0 R2  4 0
−R − R 8R 8R − R
2M  R 4 
=
⇒I 2 
− 0 2
R  4  ⇒ I = MR 2
5
1
⇒ I =MR 2

Moment of inertia of a SOLID SPHERE about an axis

through its centre
• Consider a sphere of mass M, radius R and centre O. Moment of inertia of a few rigid bodies
M
Then, mass per unit volume of the sphere = 4 Body Axis Moment of Inertia
3πR
3
Thin rod of Passing ML2
• Let the moment of inertia of the sphere about the axis ZZ’ length L through I=
passing through its centre O be I. Consider the portion of centre and ⊥ 12
the sphere between two planes perpendicular to the axis at to the rod I
distance x and x + dx from its centre. This elementary
portion of the sphere will be a disc, whose centre is C;
L
radius is AC=x and thickness is dx. Therefore, volume of
the elementary portion of the cylinder,
Circular ring Passing I = M R2
V = area × thickness or hoop of through its I
( )
2
V =π × ( AC ) × dx =π ×
2
R2 − x2 × dx radius R centre and ⊥
to its plane R
=V π ( R 2 − x 2 ) dx

A Circular ring Diameter MR 2

or hoop of I=
radius R 2
R
I R
I

O x C dx
Circular disc Passing MR 2
of radius R through its I= I
centre and ⊥ 2
to its plane R
• Mass of the elementary portion of the sphere,
dm = V × mass per unit volume of the sphere
Circular disc Diameter
dm = π ( R 2 − x 2 ) dx × MR 2
M
4 of radius R I=
π R3 4
• 3

( R 2 − x 2 ) dx
3M I
=dm R
4 R3

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Rotational Motion Pranjal K. Bharti (B. Tech., IIT Kharagpur)
Body Axis Moment of Inertia Theorem of parallel axes
Right Symmetry I = MR 2
• It states that the moment of inertia of a body about
circular solid axis any axis is equal to the sum of the moment of inertia of
I
cylinder of the body about a parallel axis passing through its
radius R and centre of mass and the product of its mass and the
length L square of the distance between the two parallel axes.
According to the theorem of parallel axes,
Right Symmetry MR 2 =I I cm + Mh 2
circular axis I=
hollow 2 • Proof. Suppose the rigid body is made up of n particles of
I masses m1, m2,m3…mn at perpendicular distance r1, r2,r3,…
cylinder of
radius R and rn respectively from the axis KL passing through centre of
length L mass C of the body.
• If ri is the perpendicular distance of a particle of mass mi
Solid sphere Diameter from KL, then A K
2
of radius R I= MR 2 I i=n
I cm = ∑ mi ri 2 ...(i)
5
i =1

mi
O h ri
Hollow Diameter 2 C
sphere of I= MR 2 I
radius R 3

B L

The perpendicular distance of ith particle from the axis AB

Rectangular Symmetry M (L + B
2 2
) I
= (ri + h)
=i n=i n
plane sheet axis
= h) ∑ m (r
∑ m ( r += + h 2 + 2ri h )
2 2
12 I i i i i
=i 1 =i 1
=i n =i n=i n
⇒
= I
=i 1
∑m r i i
2 2
+h
i
=i 1 =i 1
∑ m + 2h ∑ m r i i ...(ii)

Rectangular Passing ML2

plane sheet through I= As the body is balanced about the centre of mass, the
centre and 12 algebraic sum of the moments of the weights (mg) of all
parallel to I particles about an axis passing through C must be zero
its breadth =i n=i n

i i ∴ ∑ (m g )r =
0 ⇒ g ∑ mi ri =
0
=i 1 =i 1
i=n
L
As g ≠ 0,∴ ∑ mi ri =0
Rectangular Passing i =1
ML2
plane sheet through I= i=n

12 Also, ∑ m= = total mass of the body.

M
centre and i
i =1
parallel to I ∴ From eqn.(i) &(ii),
its length B
=
I I cm + Mh 2
This proves the theorem of parallel axes.

Square plane Symmetry Ma 2

sheet axis I
6

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Rotational Motion Pranjal K. Bharti (B. Tech., IIT Kharagpur)
Theorem of perpendicular axes Torque acting on a particle
It states that the moment of inertia of a planar body
• Let us consider an inertial reference frame with origin at
(lamina) about an axis perpendicular to its plane is equal
O. Suppose at any instant, particle has a position
to the sum of its moments of inertia about two
vector r and force F is acting on it. Then, torque acting on
perpendicular axes concurrent with perpendicular axis
the particle with respect to the origin is defined as:
and lying in the plane of the body.   
According to the theorem of perpendicular axes, τ    
= r ×F
I Z= I x + IY • Torque is a vector quantity. Its direction is obtained by
right hand thumb rule. Its S. I. unit is Nm.
Proof: Suppose the lamina consists of masses m1, m2, m3, …,
Torque acting on a rigid body
mn at perpendicular distance r1, r2 ,r3, …, rn respectively from
the axis OZ. Suppose the corresponding perpendicular
• Let us consider a rigid body rotating about a fixed axis of
distances of these particles
z from the axis OY are x1, x2, x3, …., xn
rotation with origin O. Suppose we have to find out the
and from the axis OX are y1, y2, y3, …, yn respectively.
torque of a force F having position vector r about a point
O. Then, torque acting on the particle with respect to the
origin is defined as:
xi
x   
O τ    
= r ×F (Torque)
yi ri
• Let the angle between r & F be θ. Therefore, magnitude
mi of torque is,
 
τ   
= r ×F
y
⇒τ =rF sin θ
i=n
∴ I x= m y + m2 y + m3 y + ...m3 y =
2
1 1
2
2
2
3
2
n ∑m y
i =1
i
2
i ...(i) • We can write this as τ = F (r sinθ).
• If we draw a line perpendicular to force F from point O,
i=n
I y = m1 x12 + m2 x22 + m3 x32 + ...mn xn2 = ∑ mi xi2 . ..(ii) we find its length is also r sinθ using little Trigonometry.
i =1 • This perpendicular line of length r⊥ = r sinθ is also known
i=n as lever arm or moment arm of torque. Therefore,
I z = m1r12 + m2 r22 + m3 r32 + ...mn r32 = ∑ mi ri 2 ...(iii)
i =1 τ= F × r⊥ (Torque) r⊥
Adding eqns. (i) and (ii) ,we get O 
=i n=i n =i n where r⊥ = lever arm  r θ 
I +I =
x y =∑m y + ∑m x =
2
i i
=i 1 =i 1
=∑ mi ( yi2 + xi2 ) 2
i i
=i 1
 F

As is clear from figure, ri=

2
xi2 + yi2 • Therefore, to find torque, we draw a perpendicular from
i=n the point (about which torque is acting) to the line (or
∴ Ix +
= Iy ∑ m=
r
i =1
i i
2
Iz extended line) of action of force. Then we find its length
(lever arm). Finally we take product of lever arm and
Hence I=
z Ix + I y , magnitude of force to get the magnitude of torque.
which proves the theorem of perpendicular axes.

Radius of Gyration (k) Newton’s 2nd Law of Rotation

• Radius of gyration (k) is the distance from the required • Newton’s 2nd law of rotation is quite analogues to the
axis such that if the total mass of the body were Newton’s 2 nd law of motion (translation). Newton’s 2 nd
concentrated at that distance, the moment of inertia law of rotation states that the total external torque acting
would be the same as for the actual body (which could on a rigid body about an axis of rotation in an inertial
have an arbitrary distribution of mass). frame of reference is directly proportional to the
• The radius of gyration (k) of a body of mass m about an
axis, is defined by the equation i. Moment of Inertia I of the rigid body about that axis,
and
I Angular acceleration α of the particle .
I = mk2 ⇒ k = ii.
m  
where, I = MI of the object about the given specified axis
∴ τ=
Iα (Newton’s 2nd Law of Rotation)
and k = radius of gyration.

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Rotational Motion Pranjal K. Bharti (B. Tech., IIT Kharagpur)
 
• Important points to note about τ = I α :
Angular momentum of a rigid body
1. Frame of reference should be inertial.
2. It is valid only for rigid body. Not valid for particle or • Let us consider a rigid body rotating about a fixed axis of
system of particles. rotation in an inertial frame of reference. Let us consider
3. τ = total external torque acting on a rigid body about an the angular velocity of rigid body
axis of rotation. at a particular instant be ω. Also, assume MI of the rigid
4. This eqn. can be applied only about two axis in a rigid body about axis of rotation be I.
body: • Then, angular momentum L of the rigid body
a) About axis of rotation (if known) about this fixed axis is defined as:
b) About an axis passing through centre of mass (if axis L=Iω (Angular momentum)
of rotation is unknown).
5. Torque τ and Moment of Inertia I should be calculated • Clearly, angular momentum L direction is along the
about same axis of rotation. direction of ω.
• Important things to note about L = I ω :
Kinetic energy in fixed axis of rotation 1. Frame of reference should be inertial.
• Kinetic Energy of the rigid body 2. This eqn. will be applicable about a fixed axis of rotation.
rotating about fixed axis is given by: 3. Angular momentum L and Moment of Inertia I should be
calculated about same fixed axis of rotation.
KE = ½ Iω2 (Kinetic Energy)
Torque & angular momentum
• KE = ½ Iω2 is not a new kind of kinetic energy.
Actually, it is the sum of kinetic energies ½ mv2 of all the • We know that total external torque acting on a rigid body
particles on the rigid body. is given by:
 
τ = Iα

Work & Power  d ω
• But, α =
• Work done by applied torque: dt
• Therefore, we have
Suppose a rigid body is undergoing fixed axis rotation. If 
  d ω d 
it undergoes an angular displacement from initial angular = τ  I=α I =
dt dt
( )
Iω
position θ1 to the final angular position θ2 under the action 
of torque τ, then work done by this torque is given by:  dL
θ2 ⇒  τ =
dt
W = ∫ τ dθ
 
θ1
(because, angular momentum L = I ω )
Special case: • Hence, total external torque acting on a rigid body is
Work done by a constant torque: W = τθ equal to time rate of change in angular momentum of the
• Average Power: rigid body.
Work done
Pavg = P = work done / time taken Conservation of angular momentum
time
• Instantaneous power (power) is given by • It states that if no external torque acts on a system, the
dW angular momentum of the system remains constant.
=P = τω
dt • Consider a system of two bodies on which no external
• Work Kinetic Energy Theorem: torque acts. As such, the system is said to be isolated from
2 2

the surroundings. Thus, if L be the angular momentum of
W = K – K = ½ Iω – ½ Iω
2 1 2 1 the two bodies at any instant, then in absence of external
torque

Angular momentum of a particle L = constant
 
• Let us consider an inertial reference frame with origin at ⇒ L1 = L2

O. Suppose a particle of mass m at position vector r is Proof:
 
moving with velocity v with at an instant. Then, angular  dL
 We know that τ = .
momentum L of the particle with respect to the origin is dt
defined as: 
Therefore, in the absence of external torque, τ = 0 , we
   
L= r × p
     (Angular momentum)  dL 
τ = 0⇒L=
have, = constant
• Angular momentum is a vector quantity. Its direction is dt
obtained by right hand thumb rule.

9 Concept, JB 20, Near Jitendra Cinema, City Centre, Bokaro Mb: 7488044834
Rotational Motion Pranjal K. Bharti (B. Tech., IIT Kharagpur)

Physical meaning of Angular Momentum Deduction of Kepler’s second law of planetary motion
Let us consider a particle rotating in XY plane about Z-axis. • Consider a planet moving around the sun in elliptical
Suppose that at any instant, particle is at point A, whose 
  orbit. Let r be position vector of the planet w.r.t. the sun
position vector is OA = r and after a small time interval Δt; 
  and F be gravitational force on the planet due to the sun.
it reaches point B, whose position vector is r + ∆ r . The • The force on the planet always acts along the line joining
displacement of the particle is small time Δ t is given by the centres of the planet and the sun and is directed
      
( )
AB = r + ∆ r − r = ∆ r
Z
towards the sun. As a result, the vectors
   r and F are
 parallel vectors and c hence τ =r × F =0.
If v is velocity of particle  C • Hence angular momentum is conserved. We know that,
at point A, then the small ∆r  ∆A

displacement covered in O   Y L = 2m
∆t
time Δ t may be expressed r + ∆r
as
 • Since angular momentum of the planet is a constant
  r B vector,
X   
∆ r = v∆t ∆A
A
∆ r =
L
= a constant vector
Draw a line OC parallel ∆t 2m
and equal to AB. Then, • Therefore, areal velocity of the planet must always remain
  constant. It is exactly what Kepler predicted about
OC = ∆ r planetary motion in 1602, i.e. the line joining the planet to
 
Area of parallelogram OABC= r × ∆ r the sun sweeps out equal areas in equal intervals of time.
It is known as the Kepler’s second law of planetary
1  motion.
=
or area of triangle OAB r × ∆r
2
The area of the triangle OAB represents the area swept by the General Motion (Combined Motion)
position vector of the particle in time interval Δ t. If the area
 • General Motion (Combined Motion) is a motion
swept is represented by ∆ A, then composed of both translation as well as rotation.
 1   1  
( ) ( )
• Suppose we are studying a General Motion of a rigid
∆=
A r × ∆ r= r × v∆t body in an inertial frame whose origin is at a point O.
2 2
  Suppose at a particular instant of time, it has

 p
If p is linear momentum of the particle, then v = angular velocity ω and linear velocity of its
m 
centre of mass with respect to O is vcm . Let us
Therefore, the above equation becomes
  assume that the position vector of its centre
 1  p 
∆A 1  
∆ A=
2
r × ∆t ⇒ =
m ∆t 2m
( r× p) •
of mass wrt to O be r and MI about point O be I0.
Then, we can express KE and angular momentum of the
   rigid body in combined motion in this frame as:
Since r × p = L, angular momentum of the particle about Z-
axis, we have 1 1
  =KE    I cm ω 2 + mvcm 2
∆A L 2 2
=    
∆t 2m =L I cm ω  + r × mv cm

 ∆A
⇒L= 2m
∆t

∆A
Now, = time rate, at which the area is swept by the
∆t
position vector of the particle and is called areal velocity of
the particle. Thus, geometrically, the angular momentum of a
particle is equal to twice the product of its mass and areal
velocity i.e.
angular momentum = 2 (mass × areal velocity)

10 Concept, JB 20, Near Jitendra Cinema, City Centre, Bokaro Mb: 7488044834
Rotational Motion Pranjal K. Bharti (B. Tech., IIT Kharagpur)
Pure Rolling Motion
• Kinetic energy in pure rolling:
• A combined motion where point of contact remains at rest
with respect to the contacting surface is known as Pure Kinetic energy of rolling disc (or cylinder or sphere) is
Rolling Motion or Rolling without slipping. 1 1 1
=
KE = I oω 2   I cm ω 2 + mvcm 2
• Pure rolling is a kind of combined motion where point of 2 2 2
contact does not moves wrt to the surface of contact but • Angular momentum pure rolling:
still, the body as a whole translates with some velocity.
• The motion where point of contact has some velocity with Angular momentum of rolling disc (or cylinder or sphere)
respect to the contacting surface is known as slipping or about point O (i.e., about axis of rotation) is
skidding.     
L= o Io ω
=   I cm ω + r × mv cm
ω where, Io = Moment of Inertia about axis passing through
point O.

vcm and, r = position vector of centre of mass wrt O.

• As the point of contact O has zero velocity wrt to surface,

therefore disc has an instantaneous axis of rotation which
passes through lowest point O. Thus we can virtually
think rolling as a fixed axis rotation about lowest point
O. Now, we can apply all equations about this
instantaneous axis of rotation as same as that rotation
about a fixed axis.
• Fundamental Equation of Pure Rolling:
Let us assume surface is stationary as in the most of the
practical cases. Clearly the velocity of centre of mass of
the disc wrt point O is v = ω R
cm

ω, α

vcm , acm
R

Similarly, acceleration of centre of mass a =α R

cm

• Fundamental Equation of Pure Rolling

vcm = ω R
a =α R
cm

• The velocity and acceleration of a point increases as it

moves upward from the surface during pure rolling
pmotion.
• As we can assume virtually Rolling as a fixed axis of
rotation about the lowest point, therefore, we can use
same eqn. of KE and angular momentum as that of fixed
axis of rotation.

11 Concept, JB 20, Near Jitendra Cinema, City Centre, Bokaro Mb: 7488044834
Rotational Motion Pranjal K. Bharti (B. Tech., IIT Kharagpur)

Physics Classes by Pranjal Sir About P. K. Bharti Sir (Pranjal Sir)

(Admission Notice for XI & XII - 2014-15)
Batches for Std XIIth
Batch 1 (Board + JEE Main + Advanced): (Rs. 16000)
Batch 2 (Board + JEE Main): (Rs. 13000)
Batch 3 (Board): (Rs. 10000)
Batch 4 (Doubt Clearing batch): Rs. 8000
• B. Tech., IIT Kharagpur (2009 Batch)
• H.O.D. Physics, Concept Bokaro Centre
• Visiting faculty at D. P. S. Bokaro
• Produced AIR 113, AIR 475, AIR 1013 in JEE -
Advanced
• Produced AIR 07 in AIEEE (JEE Main)
Address: Concept, JB 20, Near Jitendra Cinema, Sec 4,
Bokaro Steel City
Ph: 9798007577, 7488044834
Email: pkbharti.iit@gmail.com
Website: www.vidyadrishti.org

Physics Class Schedule for Std XIIth (Session 2014-15) by Pranjal Sir

Sl. Main Chapter Topics Board level JEE Main Level JEE Adv Level
No.
Basics from XIth Vectors, FBD, Work, Energy, 3rd Mar to 4th Apr 14
Rotation, SHM

1. Electric Charges and Coulomb’s Law 5th & 6th Apr 5th & 6th Apr 5th & 6th Apr
Fields Electric Field 10th & 12th Apr 10th & 12th Apr 10th & 12th Apr
Gauss’s Law 13th & 15th Apr 13th & 15th Apr 13th & 15th Apr
Competition Level NA 17th & 19th Apr 17th & 19th Apr
2. Electrostatic Potential Electric Potential 20th & 22nd Apr 20th & 22nd Apr 20th & 22nd Apr
and Capacitance Capacitors 24th & 26th Apr 24th & 26th Apr 24th & 26th Apr
Competition Level NA 27th & 29th Apr 27th & 29th Apr, 1st, 3rd
& 4th May
PART TEST 1 Unit 1 & 2 4th May NA NA
NA 11th May 11th May
3. Current Electricity Basic Concepts, Drift speed, 6th, 8th, 10th, 13th 6th, 8th, 10th, 13th 6th, 8th, 10th, 13th May
Ohm’s Law, Cells, Kirchhoff’s May May
Laws, Wheatstone bridge,
Ammeter, Voltmeter, Meter
Bridge, Potentiometer etc.
Competition Level NA 15th & 16th May 15th, 16th, 17th, 18th &
19th May
PART TEST 2 Unit 3 18th May NA NA
NA 20th May 20th May
SUMMER BREAK 21st May 2013 to 30th May 2013
4. Moving charges and Force on a charged particle 31st May, 1st & 3rd 31st May, 1st & 3rd 31st May, 1st & 3rd Jun
Magnetism (Lorentz force), Force on a Jun Jun
current carrying wire,
Cyclotron, Torque on a current
carrying loop in magnetic field,
magnetic moment
Biot Savart Law, Magnetic field 5th, 7th & 8th Jun 5th, 7th & 8th Jun 5th, 7th & 8th Jun
due to a circular wire, Ampere
circuital law, Solenoid, Toroid
Competition Level NA 10th & 12th Jun 10th, 12th, 14th & 15th Jun
PART TEST 3 Unit 4 15th Jun NA NA
NA 22nd Jun 22nd Jun
5. Magnetism and Matter 17th, 19th & 21st 17th, 19th & 21st Not in JEE Advanced
Jun Jun Syllabus
6. Electromagnetic Faraday’s Laws, Lenz’s Laws, 24th, 26th & 28th 24th, 26th & 28th 24th, 26th & 28th Jun

12 Concept, JB 20, Near Jitendra Cinema, City Centre, Bokaro Mb: 7488044834
Rotational Motion Pranjal K. Bharti (B. Tech., IIT Kharagpur)
Induction A.C. Generator, Motional Emf, Jun Jun
Induced Emf, Eddy Currents, Self
Induction, Mutual Induction
Competition Level NA 29th Jun & 1st Jul 29th Jun, 1st, 3rd & 5th Jul
PART TEST 4 Unit 5 & 6 6th Jul NA NA
NA 13th Jul 13th Jul
7. Alternating current AC, AC circuit, Phasor, 8th, 10th & 12th Jul 8th, 10th & 12th Jul 8th, 10th & 12th Jul
transformer, resonance,
Competition Level NA 15th July 15th & 17th July
8. Electromagnetic Waves 19th & 20th July 19th & 20th July Not in JEE Advanced
Syllabus
PART TEST 5 Unit 7 & 8 27th Jul 27th Jul 27th Jul
Revision Week Upto unit 8 31st Jul & 2nd 31st Jul & 2nd 31st Jul & 2nd Aug
Aug Aug
Grand Test 1 Upto Unit 8 3rd Aug 3rd Aug 3rd Aug
9. Reflection 5th & 7th Aug 5th & 7th Aug 5th & 7th Aug
Refraction 9th & 12th Aug 9th & 12th Aug 9th & 12th Aug
Prism 14th Aug 14th Aug 14th Aug
Optical Instruments 16th Aug 16th Aug Not in JEE Adv
Syllabus
Ray Optics
Competition Level NA 19th & 21st Aug 19th, 21st, 23rd, 24th Aug
10. Huygens Principle 26th Aug 26th Aug 26th Aug
Interference 28th & 30th Aug 28th & 30th Aug 28th & 30th Aug
Diffraction 31st Aug 31st Aug 31st Aug
Polarization 2nd Sep 2nd Sep 2nd Sep
Wave Optics Competition Level NA 4th & 6th Sep 4th, 6th, 7th, 9th, 11th Sep
PART TEST 6 Unit 9 & 10 14th Sep 14th Sep 14th Sep
REVISION ROUND 1 (For JEE Main & JEE Advanced Level): 13th Sep to 27th Sep
Grand Test 2 Upto Unit 10 28th Sep 28th Sep 28th Sep
DUSSEHRA & d-ul-Zuha Holidays: 29th Sep to 8th Oct
11. Dual Nature of Photoelectric effect etc 9th & 11th Oct 9th & 11th Oct 9th & 11th Oct
Radiation and Matter

Grand Test 3 Upto Unit 10 12th Oct 12th Oct 12th Oct
12. Atoms 14th & 16th Oct 14th & 16th Oct 14th & 16th Oct

13. Nuclei 18th & 19th Oct 18th & 19th Oct 18th & 19th Oct
X-Rays NA 21st Oct 21st & 25th Oct
PART TEST 7 Unit 11, 12 & 13 26th Oct NA NA
14. Semiconductors Basic Concepts and Diodes, 26th, 28th, 30th Oct 26th, 28th, 30th Oct Not in JEE Adv
transistors, logic gates & 1st Nov & 1st Nov Syllabus
15. Communication System 2nd & 4th Nov 2nd & 4th Nov Not in JEE Adv
Syllabus

PART TEST 8 Unit 14 & 15 9th Nov 9th Nov NA

Unit 11, 12 & 13 Competition Level NA 8th, 9th & 11th Nov 8th, 9th, 11th, 13th & 15th
Nov
PART TEST 9 Unit 11, 12, 13, X-Rays NA 16th Nov 16th Nov
Revision Round 2 Mind Maps & Back up classes 18th Nov to 18th Nov to Board 18th Nov to Board
for late registered students Board Exams Exams Exams
(Board Level)
Revision Round 3 18th Nov to JEE 18th Nov to JEE 18th Nov to JEE

(XIth portion for JEE)

30 Full Test Series Complete Syllabus Date will be published after Oct 2014

13 Concept, JB 20, Near Jitendra Cinema, City Centre, Bokaro Mb: 7488044834
Rotational Motion Pranjal K. Bharti (B. Tech., IIT Kharagpur)

14 Concept, JB 20, Near Jitendra Cinema, City Centre, Bokaro Mb: 7488044834