MOMENT OF INERTIA AND TORQUE

MOMENT OF INERTIA
 the name given to rotational inertia, the rotational analog of mass for linear motion. It appears in the
relationships for the dynamics of rotational motion. The moment of inertia must be specified with
respect to a chosen axis of rotation.
 defined as a measure of an object’s resistance to changes to its rotation.

TORQUE
 Rotational equivalent of Force – produces angular acceleration the measure of the turning effect of a
rigid body. It is operationally defined as the product of a perpendicular force and the length of its
lever arm from the pivot or axis of rotation. Lever arm is a measure of a distance from the force
applied to the pivot the measure of the turning effect of a rigid body. It is operationally defined as the
product of a perpendicular force and the length of its lever arm (measure of a distance from the force
applied to the pivot) from the pivot or axis of rotation.
or

r⊥ ⃗
τ⃗ =⃗ F

Where:

r ⊥ =⃗r sinθ
⃗

r ⊥ = moment arm or lever arm

⃗

θ=angle between direction of ⃗r ∧direction of ⃗

F
Moment arm- perpendicular distance between the line of action of the force and
the axis of rotation.

ROTATIONAL KINEMATICS
 always produces angular motion

 describes the relationships between the angle of rotation, angular velocity, angular acceleration, and
time

Linear Motion Rotational Motion

x=displacement θ=angular displacement (theta)

v=velocity ω=angular velocity (omega)
a=acceleration α =angular acceleration (alpha)

ANGULAR DISPLACEMENT

 measures angle traveled (θ)

 unit: Radian
π
Degree × =rad
180

If: angle only is given

or
s
θ=
r
Where:
s=arc length
r =radius
DERIVATIVES
ANGULAR ACCELERATION
x ( f )=t 2 +t 3
 unit: rad/s2
v=2 t+3 t
2
∆ω
α=
∆t
a=2+6 t
Where:
 to get angular velocity, get the derivative of
∆ ω=change∈angular velocity
angular displacement
 to get angular acceleration, get the derivative of ∆ t=change∈time
angular velocity

ANGULAR VELOCITY TANGENTIAL

 unit: rad/s  Tangential velocity (m/s)

∆θ V t =rω
ω=
∆t  Centripetal acceleration/radial acceleration-
Where: towards the center (m/s2)
2
a c =r ω
∆ θ=change ∈angular displacement
 Tangential acceleration (m/s2)
∆ t=change∈time a t=rα

MOTION WITH CONSTANT ANGULAR ACCELERATION

ωi +ω f
1. θ= t
2
2. ω f =ωi +αt
1 2
3. θ=ωi t + α t
2
1 2
4. θ=ω f t− α t
2
EQUILIBRIUM
TRANSLATIONAL EQUILIBRIUM

∑ ⃗F =0=⃗
ma ⇒ ⃗a =0
 Object is not moving
 BUT not all objects in TE are not necessarily “not moving” as
long as its velocity is constant, so the acceleration is 0.
 ex: car moving at constant velocity

ROTATIONAL EQUILIBRIUM

∑ ⃗τ =0=I ⃗α ⇒ ⃗α =0
 At rest (not rotating) or
 Constant angular velocity
 ex: fan at rest; fan rotating at constant angular velocity

STATIC EQUILIBRIUM

∑ ⃗τ =0 about any axist of rotation

 At rest and not rotating
NEWTON’S LAW OF UNIVERSAL GRAVITATION
UNIVERSAL GRAVITATION
 Every particle in the universe attracts every other particle with a force that is directly proportional to
the product of the masses and inversely proportional to the square of the distance between them.

m1 m2
F=G
r2
Where:
G=gravitational constant ( Henry Cavendish ,1798)

6.673 ×10−11 Nm2

G=
kg 2
m1=mass of object 1

m2=mass of object 2

KEPLER’S LAW

FIRST LAW SECOND LAW

 All planets move in elliptical orbits with the  A line drawn from the sun to any planet will
sun at one focus. sweep out equal areas in equal times.

THIRD LAW

 The square of the orbital period of any planet is proportional to cube

of the average distance from the sun to the planet.

2 3
T =Ka
−19 2
2.97 ×10 s
For orbit around the sun , K=K s= 3
m

4 π2
Ks=
GM s
 SIMPLE HARMONIC MOTION
SIMPLE HARMONIC MOTION
 a very common type of periodic motion

 a type of periodic motion where the restoring force is proportional to the displacement of the body
from its equilibrium position
 this restoring force act in a direction opposite that of the displacement

 Note that the amount of spring is negligible to the amount of stretching for compressing force

 An external force can cause an object, like a spring, to stretch or compressed by a certain
displacement x. This force is numerically equal to the restoring force but opposite in direction. Thus,
F=kx

Proportionality Constant (k)

 what we call the force constant of the spring.

 It is a force needed to produce a unit of elongation or compression of the spring and has a unit of N/m

 measure of the stiffness of the spring

 a small value of k indicates that the spring can be easily stretched or compressed.

 springs with lesser spring constants will have greater displacements than those with larger
spring constants for the same amount of force applied.
 PENDULUM
SIMPLE PENDULUM
 another mechanical system that exhibits periodic motion

 consists of a particle-like bob of mass m suspended by a light string of length L that is fixed at the
upper end

When ϴ is small, a simple pendulum oscillates in simple harmonic motion

about the equilibrium position. ϴ = 0. The restoring force is –mg sinϴ, the
component of the gravitational force tangent to the arc.
The motion occurs in the vertical plane and it is driven by the gravitational
force. We shall show that, provided the angle is small (less than about
10°), the motion is very close to that of simple harmonic oscillator.
The forces acting on the bob are the force T exerted by the string and the
gravitational force mg. The tangential component mg sin ϴ. of the
gravitational force always acts toward ϴ=0, opposite the displacement of
the bob from the lowest position.
Therefore, the tangential component is a restoring force, and we can apply
Newton’s second law for motion in the tangential direction:

d2 s
F t=−mg sinϴ=m
d t2

where s is the bob’s position measured along the arc and the
negative sign indicates that the tangential force acts toward the
equilibrium (vertical) position

The period of the motion is

T =2 π
√ L
g

Based on the equation, the period of a simple pendulum is governed by the following laws.
1. The period of simple pendulum is directly proportional to square root of its length.
2. The period is inversely proportional to square root of the acceleration due to gravity.
3. The period is not dependent of the mass of the bob.
4. The period is independent of the angular amplitude if angular displacement is small, say less than or
equal to 100 .
PHYSICAL PENDULUM
Consider a rigid object pivoted at a point O that is a distance d from the center of mass.
The gravitational force provides a force about an axis through O, and the
magnitude of that torque is mgd sinϴ., where ϴ is as shown in Figure3.4.
Using the rotational form of Newton’s second law τ=Iα, where I is the
moment of inertia about the axis through O, we obtain
2
d θ
−mgd sinθ=I
dt 2
The negative sign indicates that the torque about O tends to decrease θ.
That is, the gravitational force produces a restoring torque.

A physical pendulum pivoted at O

The period of the motion is

T =2 π
√ I
mgL
One can use this result to measure the moment of inertia of a flat
rigid object. If the location of the center of mass—and hence the value of
d—is known, the moment of inertia can be obtained by measuring the
period. Finally, note that Equation 3.6 reduces to the period of a simple
pendulum (Equation 3.5) when I =m d 2 – that is, when all the mass is
concentrated at the center of mass.
 MECHANICAL WAVES
 Wave is a periodic disturbance that travels through matter or space and transfers energy, not matter,
from one location to another. The repetitive motion called vibration, causes the formation of waves.
Therefore, wave is also considered as a simple harmonic motion.
 Waves come in different types and forms such as the mechanical waves and the electromagnetic
waves.

MECHANICAL WAVES
 disturbances that transfer energy through a medium.

 cannot propagate through a vacuum.

 Medium- the matter through which the mechanical waves travel. The medium can be any state of
matter (solid, liquid or gas).
 There are two main types of mechanical waves based on the direction of the displacement of the
particles of the medium through which the waves travel: longitudinal waves and transverse waves.

TRANSVERSE WAVE
 The particles of the medium are displaced perpendicular to the direction in which a wave travels.

 The medium’s particles oscillate up and down about their individual equilibrium positions at right
angle to the direction of the wave propagation.
 Examples:

 ripples on the surface of water

 vibrations in a guitar string

 seismic S-waves

LONGITUDINAL WAVE
 The particles of the medium are displaced parallel to the direction in which a wave travels.

 The medium’s particles oscillate back and forth about their individual equilibrium positions along the
same direction of wave propagation.
 Examples:

 sound waves

 seismic P-waves

 ultrasound waves

SINUSOIDAL WAVE
 produced when a periodic wave is in simple harmonic motion
Characteristics of a Periodic Wave:

Amplitude The maximum displacement of a particle on the

( A) medium from the equilibrium position.

Wavelength The distance between two successive crests or

( λ) throughs.

Frequency The number of waves that pass a particular point

(f ) for every one second

Period (T ) The time required for one complete wave to pass a

particular point.

Crest highest point or the peak of a transverse wave.

Trough lowest point on a transverse wave

 Wave Function for a Sinusoidal Wave

When sinusoidal waves travel through a medium, every particle in

the medium undergoes simple harmonic motion with the same frequency
and is displaced from its equilibrium as a function of both position (x) and
time (t).

Equation 1

y ( x , t )= A sin( kx ± ωt +ϕ )
Where:

y=displacement of the particle∈the medium(Unit : m)

A=Amplitude(Unit :m)
k =wave numer (Unit :rad /m)
ω=angular frequency of the wave(Unit :rad /s)
ϕ =phase constant

Equation 2: (sinusoidal wave moving in +x direction)

y ( x , t )= A sin(kx+ ωt+ ϕ)

If the displacement ( y ) of the wave is zero at t=0 and x=0 , then ϕ =0.
Equation 2 is reduced to:

Equation 3: (sinusoidal wave moving in +x direction)

y ( x , t )= A sin(kx+ ωt)
When a transverse harmonic wave travels in the negative x-direction, the
equation will become:

Equation 4: sinusoidal wave moving in -x direction

y ( x , t )= A sin( kx−ωt )

Steps in Finding the Characteristics of a Sinusoidal Wave

1. To get the sinusoidal wave’s amplitude, wavelength, period, frequency, speed, direction and wave
number, write down the wave function in the form:

2. The amplitude can be taken directly from the equation and is equal to A .

3. Derive the period of the wave from the angular frequency, thus, you will get,
 2π
T=
ω

1
4. Use f = to get the frequency of the wave.
T
2π
5. The wave number can be found using the equation: k = .
λ
2π
6. The wavelength can be derived from the wave number λ=
k
w
7. The speed of the wave is: v=
k