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

3
ANGULAR VELOCITY -> change in angular position with time


av = average angular velocity
t

 d
 = lim = instantaneous angular
t →0 t dt velocity

Angular Velocity vs. Linear Velocity

v x → moving along the x − axis

x → rotating around the x − axis

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 
av =
t
ANGULAR VELOCITY as a VECTOR

5
ANGULAR ACCELERATION -> change in angular velocity with time

 average angular
 av =
t acceleration

 d instantaneous
 = lim = angular
t →0 t dt acceleration

Angular Acceleration vs. Linear Acceleration

a x → accelerating along the x − axis

 x → accelerating around the x − axis

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ANGULAR ACCELERATION as a VECTOR

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8
Straight-Line Motion Rotational Motion

a = constant  = constant

v = v0 + at  = 0 + t (1)

1 2 1 2
x = xo + vot + at  =  o + ot + t (2)
2 2
v = v0 + 2a( x − x0 )
2 2
 = 0 + 2 ( − 0 )
2 2 (3)

 v + v0    + 0 
x − x0 =  t  − 0 =  t (4)

 2   2 

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Example 1: Rotation w/ constant angular acceleration
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
rad/s2. A line PQ on the surface of the disc lies along the +x-axis at t = 0.
(a) What is the disc’s angular velocity at t = 3.00 s?
(b) What angle does the line PQ make with the +x-axis
at this time?

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Linear Displacement (Arc Length) - Angular Displacement

s = r
Linear Velocity - Angular Velocity

v = r Tangential (linear)
velocity

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Linear Acceleration - Angular Acceleration

Tangential (linear)
atan = r
acceleration

v2 Radial (centripetal)
arad = =  2r acceleration
r

Total
atot = atan
2
+ arad
2
acceleration

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Example 2: Throwing a discus
A discus thrower moves the discus in a circle of radius 80.0 cm. At a certain instant, the
thrower is spinning at an angular speed of 10.0 rad/s and the angular speed is increasing
at 50.0 rad/s2. At this instant, find the tangential and centripetal components of the
acceleration of the discus and the magnitude of the acceleration.

13
Example 3: Designing a propeller
You are asked to design an airplane propeller to turn at 2400 rpm. The forward airspeed
of the plane is to be 75.0 m/s and the speed of the tips of the propeller blades through
the air must not exceed 270 m/s (not too close to speed of sound).
(a) What is the maximum radius the propeller can have?
(b) With this radius, what is the acceleration of the propeller tip?

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 1 1
Ki = mi vi = mri 
2 2 2

Axis of m1
2 2
1 1
Ktot = m1r1  + m2 r2  + 
rotation (r1) 2 2 2 2

m2
2 2
(r2) 1
( )
Ktot =  mi ri  2
2
2

I =  mi ri = m1r1 + m2 r2 + 
2 2 2

Moment of Inertia
(Rotational Inertia)

1 2
Ktot = I Rotational Kinetic Energy
2

16
17
Example 4: Moment of Inertia for Different Rotation Axes
An engineer is designing a machine part consisting of three heavy disks linked by lightweight
struts.
(a) What is the moment of inertia of this body about an axis through the center of disk A?
(b) What is the moment of inertia about an axis through the centers of disks B and C?
(c) If the body rotates about an axis through
A perpendicular to the plane diagram, w/
angular speed of 4.0 rad/s,
what is its kinetic energy?

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Moment of Inertia of Various Bodies

19
Example 5: An unwinding cable
A light, flexible, nonstretching cable is wrapped several times around a winch drum, a solid
cylinder of mass 50 kg and diameter 0.120m, w/c rotates about a stationary horizontal axis
held by frictionless bearings. The free end of the cable is pulled w/ a constant 9.0-N force
for a distance of 2.0m. It unwinds w/out slipping and turns the cylinder. If the cylinder is
initially at rest, find its final angular speed and the final speed of the cable.

20
Prob 1. A bicycle wheel has an initial angular velocity of 1.50 rad/s. (a) If its angular acceleration is
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?

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

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
slip on the rim of the disk but turns with it.
(a) At how many rpm (rev/min) must the disk turn to raise the elevator at 25.0
cm/s?
(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?

24
Prob 4. Find the moment of inertia of the system about an axis
(a) through the center of the square, perpendicular to its plane
(b) bisecting two opposite sides of the square (an axis along AB)
(c) that passes through the centers of the upper left and lower
right spheres through point O.

Prob 5. A wagon wheel has radius of 0.300m and the rim has
mass 1.40 kg. Each of the eight spokes that lie along a
diameter and are 0.300m long has mass 0.280 kg. What is the
moment of inertia of the wheel about an axis through its
center and perpendicular to the plane of the wheel?

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-> measure of the tendency of a force to cause rotation

  
 = r F

torque r
Radial distance from
axis of rotation to
the point of action

Magnitude of Torque

 = rF sin 
Angle between radius vector and force vector

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-> measure of the tendency of
a force to cause rotation

28
   
 = r F
Note: Cross product operation obeys right hand rule.

Torque and Rotation

 
•   
Out of the page torque Into the page torque
-> counterclockwise -> clockwise rotation
rotation (positive) (negative)
Example 6: Applying a Torque
A weekend plumber, unable to loosen a pipe fitting, slips a piece of scrap pipe (a “cheater”)
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
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
the pipe fitting
 Exercises!
▪ Calculate the torque
(magnitude and direction)
about point 0 due to the
force F on each of the
cases sketched below. In
each case, the force F
and the rod both lie in
the plane of the page,
the rod has length 4.00 m
, and the force has
magnitude F = 10.0 N.

31
-> analogue of linear momentum
  
L=rp
 
= r  mv
Magnitude of angular momentum

L = mvr sin 

43
Angular momentum and moment of inertia

Li = mi vi ri (Single particle)

vi = ri
Li = mi ri 
2

L= ( m r ) i i
2
(system of particles)

L = I
44
For any system of particles, the rate of change of angular momentum of a body equals
the net torque acting on it

 L
 = t
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
45
Example 7: Anyone can be a ballerina
An acrobatic physics professor stands at
the center of a turntable, holding his arms
extended horizontally with a 5.0 kg dumbbell
in each hand. He is set rotating about a
vertical axis, making 1 revolution in 2.0s.
Find the prof’s new angular velocity if he
pulls the dumbbells into his stomach. His
moment of inertia (w/out the dumbbells) is
3.0 kg m2 when his arm are outstretched,
dropping to 2.2 kg m2 when his hands are at
his stomach. The dumbbells are 1.0m from
the axis initially and 0.20m from it at the
end.

46
Example 8: Rotational Collision
Suppose the flywheel A has a mass of 2.0 kg,
a radius of 0.20m and an initial angular speed
of 50 rad/s and that clutch plate B has a
mass 4.0 kg, a radius of 0.10 m and an initial
angular speed of 200 rad/s. Find the
common final angular speed after the disks
are pushed into contact. What happens to
the kinetic energy during this process?

47
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.

50
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 earth’s 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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