Torque and Newtons 2

nd
Law
for Rotation
Ms. Mikaela Fudolig
Physics 71
Conceptual Exercise 1
You want to loosen a
tight bolt. Which
wrench should you
use: the shorter
wrench, or the longer
wrench? (Assume
youre not a
masochist.)
Conceptual Exercise 2
You want to loosen a tight bolt. In what
direction should you apply a force to the
wrench?
Torque
A torque is a twist.
The torque exerted on an object
depends on:
magnitude of applied force
direction of applied force
point of application of force
To twist an object more easily, apply
more torque!
How do you increase the torque?
1. Apply a force FARTHEST from the axis
of rotation.
2. Apply the force PERPENDICULAR to the
line running from the axis to the point of
application of the force.
Torque
Suppose that you
apply a force F at
a position vector
from the origin,
located at a point
on the axis
nearest to the
point of
application of F.
r
r
Torque
Then the torque exerted on the object by
the applied force is given by
r F t =
CROSS
PRODUCT
Cross Product
The cross product of two vectors A and B
has a magnitude of
sin A B AB u =
A
B
u
Cross Product
The direction of the cross product of two
vectors A and B is given by the right-
hand rule.
Cross Product
Cross products do not commute.
( ) A B B A =
HW. Find out how to get the cross
product using unit vector notation.
Example 1
Find the direction of the torque vector for
various configurations of r and F.
Newtons 2
nd
Law for Rotation
It can be derived that the net torque
satisfies
net
I t o =
I=moment of
inertia
o=angular
acceleration
Direction of Rotation
If an object starts from rest:
If torque points Rotation is
UPWARD/OUTWARD CCW
DOWNWARD/INWARD CLOCKWISE
Example 2
Y&F ex. 10.1. Find
the magnitude and
direction of the
torque the man
applies about the
pivot. In what
direction will the
wrench rotate, if the
wrench is initiallly at
rest?

Ans. 680N-m
Moment of Inertia, I
Rotational analog of mass
a measure of how hard it is to rotate an
object from rest
net
I t o =
Obtaining the moment of inertia
System of discrete objects
Continuous/extended objects
System of discrete + continuous objects
Discrete objects
2
i i
i
I m r =

DISCRETE
OBJECTS
m
i
is the mass of the i
th
particle
r
i
is the PERPENDICULAR
distance from the i
th
particle to the
axis of rotation
Example 1
Two masses m are
connected by a rod of
length L of negligible
mass. Find the
moment of inertia of
the following object
about the axis given:
Exercise 1
Two masses m are
connected by a rod of
length L of negligible
mass. Find the
moment of inertia of
the following object
about the axis given:
Exercise 2
Two masses m are
connected by a rod of
length L of negligible
mass. Find the
moment of inertia of
the following object
about the axis given:
u
Extended objects
2
I r dm =
}
EXTENDED
OBJECTS
Moment of Inertia of a system of
objects
Calculate the moment of inertia for each
particle separately, and then add to get the
moment of inertia of the system.
1 2
...
N
I I I I = + + +
Example 2
Two point masses m
are connected by a
rod of length L of
mass M. Find the
moment of inertia of
the following object
about the axis
perpendicular to the
rod and running
through its center:
2 2
1 1
12 2
I ML mL = +

Parallel-Axis theorem
Consider a rigid body of mass M, that has
a moment of inertia I
cm
about an axis
through its center of mass (aka the CM
axis).

CM
Parallel-Axis Theorem
Then the moment of inertia of the SAME
body about an axis, parallel to the CM
axis and a distance d away from it, is
CM
d
2
cm
I I Md = +
Example 3
The moment of inertia of a slender rod
with mass M and length L with an axis
through its center is I=(1/12)ML
2
.
What is the moment of inertia of the same rod
about an axis through one end of the rod?
Exercise 3
Two masses m are
connected by a rod
of length L of mass
M. Find the moment
of inertia of the
following object
about the following
axis using:
the direct method
parallel-axis theorem
The Moment of Inertia and Newtons
2
nd
Law for Rotation
Once you know the moment of inertia, you
can already apply Newtons 2
nd
Law for
Rotation.
You also need concepts on angular and linear
kinematics.
Note however that when dealing with
torque and rotation, you have to know
what signs to use
Careful: Signs not as clear as in linear motion.
Example 3
Example 3
Y&F ex.9.9. A light, flexible cable is wrapped
around a solid cylinder with mass M and radius
R. The cylinder rotates with negligible friction
about a stationary horizontal axis. The free end
of the cable is tied to an object of mass m, which
is released from rest at a distance h above the
floor. As the object falls, the cable unwinds
without stretching or slipping, turning the
cylinder.
Find the acceleration of the falling object and the
angular acceleration of the cylinder.
(Ans. a
m
=2mg/(M+2m); o
M
=2mg/[R(M+2m)]

Example 3
Y&F ex.9.9. A light, flexible cable is wrapped
around a solid cylinder with mass M and radius
R. The cylinder rotates with negligible friction
about a stationary horizontal axis. The free end
of the cable is tied to an object of mass m, which
is released from rest at a distance h above the
floor. As the object falls, the cable unwinds
without stretching or slipping, turning the
cylinder.
Find the speed of the falling object and the angular
speed of the cylinder just as the object strikes the
floor.

2 1 2
;
1 / 2 1 / 2
gh gh
v
M m R M m
e = =
+ +
Exercise 4
A solid cylinder has a mass M and radius
R. You apply a tangential force on the rim
of the cylinder, giving it an angular
acceleration o.
What is the magnitude of the force that you
exerted on the cylinder?
Would your answer change if the force werent
purely tangential?