Mechanics 1.3.

13-01/05 Moment of inertia and angular acceleration

Dynamics

What you can learn about

Angular velocity Rotary motion Moment Moment of inertia of a disc Moment of inertia of a bar Moment of inertia of a mass point

Principle:
A moment acts on a body which can be rotated about a bearing without friction. The moment of inertia is determined from the angular acceleration.

Tasks:
From the angular acceleration, the moment of inertia is determined as a function of the mass and of the distance from the axis of rotation. 1. of a disc,

Set-up of experiment P2131305 with pivot bearing

2. of a bar, 3. of a mass point.

What you need:

Experiment P2131305 with precision pivot bearing Experiment P2131301 with air bearing
Tripod base -PASSPrecision pivot bearing Inertia rod Turntable with angular scale Aperture plate for turntable Air bearing Holding device with cable release Precision pulley Blower 230 V/50Hz Pressure tube, l = 1.5 m Light barrier with counter Power supply 5 V DC/2.4 A with 4 mm plugs Supporting blocks, 10, 20, 30, 40 mm Slotted weights, 1 g, polished Slotted weights, 10 g, coated black Slotted weight, 50 g, coated black Weight holder, 1g, silver bronzing Silk thread on spool, l = 200 mm Support rod -PASS-, square, l = 1000 mm Support rod -PASS-, square, l = 400 mm Right angle clamp -PASSBench clamp -PASSConnecting cord, 32 A, 1000 mm, red Connecting cord, 32 A, 1000 mm, blue Adapter, BNC-plug/socket 4 mm. Capacitor 100 nF/250V, G1 Circular level Weight holder for slotted weights Measuring tape, l = 2 m 02002.55 2 1 02419.00 1 02417.03 1 1 02417.02 1 2 02417.05 1 1 02417.01 1 02417.04 1 1 11201.02 1 1 13770.97 1 11205.01 1 11207.30 1 1 11076.99 1 1 02070.00 1 03916.00 20 20 02205.01 10 10 02206.01 2 2 02407.00 1 1 02412.00 1 1 02028.55 1 02026.55 1 1 02040.55 3 2 02010.00 2 2 07363.01 1 07363.04 1 07542.26 1 39105.18 1 02122.00 1 02204.00 1 09936.00 1

Complete Equipment Set, Manual on CD-ROM included Moment of inertia and angular acceleration P2131301/05
28 Laboratory Experiments Physics

Moment of inertia of a mass point as a function of the square of its distance from the axis of rotation. PHYWE Systeme GmbH & Co. KG D - 37070 Gttingen

Moment of inertia and angular acceleration

LEP 1.3.13 -01

02407.00 02412.00 02002.55 02028.55 02026.55 02040.55 02010.00 1 1 2 1 1 3 2

Related topics Angular velocity, rotary motion, moment, moment of inertia of a disc, moment of inertia of a bar, moment of inertia of a mass point. Principle A moment acts on a body which can be rotated about a bearing without friction. The moment of inertia is determined from the angular acceleration. Equipment Turntable with angle scale Aperture plate for turntable Air bearing Inertia rod Holding device w. cable release Precision pulley Blower Pressure tube, l = 1.5 m Light barrier with Counter Power supply 5 V DC/2.4 A Supporting blocks, set of 4 Slotted weight, 1 g, natur. colour Slotted weight, 10 g, black Slotted weight, 50 g, black

Weight holder 1 g Silk thread, 200 m Tripod base -PASSSupport rod -PASS-, square, l = 1000 mm Support rod -PASS-, square, l = 400 mm Right angle clamp -PASSBench clamp, -PASS-

02417.02 02417.05 02417.01 02417.03 02417.04 11201.02 13770.97 11205.01 11207.30 11076.99 02070.00 03916.00 02205.01 02206.01

1 1 1 1 1 1 1 1 1 1 1 20 10 2

Tasks From the angular acceleration, the moment of inertia are determined as a function of the mass and of the distance from the axis of rotation. 1. of a disc, 2. of a bar, 3. of a mass point. Set-up and procedure The experimental set-up is arranged as shown in Fig. 1. The rotary bearing, with the blower switched on, is alignet horizontally with the adjusting feet on the tripod. The release trip must be so adjusted that it is in contact with the inserted sector mark in the set condition. The precision pully is clamped so that the thread floats horizontally above the rotating plane and is aligned with the pulley.

Fig. 1: Experimental set-up for investigating the moment of inertia of bodies.

PHYWE series of publications Laboratory Experiments Physics PHYWE SYSTEME GMBH & Co. KG D-37070 Gttingen

P2131301

LEP 1.3.13 -01

Moment of inertia and angular acceleration

While using the bar, the fork type light barrier is positioned in such a way that, the end of the bar, lying opposite to the angular screen standing just in front of the light path, is held by the holder. While using the turntable, before the beginning of the experiment, the pin of the holder through the bore hole near the edge fixes the turntable. The fork type light barrier is positioned such that, the screen connected to the turntable, is in front of the light ray. Whenever the holder is released, the light barrier must be interrupted at that moment. The measurement is done in the following manner: 1. Measurement of the angular velocity v: Set the light barrier selection key at and press the Reset button Release the holder to start the movement flow The light barrier measures at first, the initial darkening time which is of no great importance. During the flow movement, press the Reset button after the screen has attained end velocity but before the screen passes the light barrier. The time measured now, t is used for the measurement of angular velocity (w is the angle of the used rotary disc shutter) v = w /t 2. Measurement of angular acceleration a: The experiment is repeated under the same conditions, required for the measurement of angular velocity. However, the light barrier key must be set at and the Reset button is pressed. The time t indicated is the time for the acceleration. According to a = v /t the acceleration is obtained. Note It is to be noted, that the supporting block stops the weight holder used for acceleration at that moment, when the screen enters the path of light of the fork type light barrier. More acceleration should not be effected during the measurement of t.

Fig. 2: Moment of a weight force on the rotary plate. where IZ is the Z-component of the principal inertia tensor of the body. For this case, equation (1) reads TZ IZ dv . dt

The moment of the force F (see Fig. 2) T =r gives for S r F S F:

TZ = r m g, so that the equation of motion reads mgr = IZ dv dt IZ a.

From this, one obtains IZ = mgr . a

The moment of inertia IZ of a body of density r (x, y, z) is IZ = r (x, y, z) (x2 + y2) dx dy dz

Theory and evaluation The relationship between the angular momentum T of a rigid body in the stationary coordinate system with its origin at the centre of gravity, and the moment T acting on it, is S T d S L dt (1)

a) For a flat disc of radius r and mass m, one obtains IZ = 1 m r2. 2

From the data of the disc 2r = 0.350 m m = 0.829 kg one obtains IZ = 12.69 103 kgm2. The mean value of the measured moment of inertia is IZ = 12.71 103 kgm2.

The angular momentum is expressed by the angular velocity v and the inertia tensor I from L = I v , that is, the reduction of the tensor with the vector. In the present case,v has the direction of a principal inertia axis (Z-axis), so that L has only one component: LZ = IZ v

P2131301

PHYWE series of publications Laboratory Experiments Physics PHYWE SYSTEME GMBH & Co. KG D-37070 Gttingen

Moment of inertia and angular acceleration

LEP 1.3.13 -01

b) For a long rod of mass m and length l, one obtains IZ = 1 ml2. 12

From the data for the rod m = 0.158 kg l = 0.730 m one obtains IZ = 7.017 103 kgm2. The mean value of the measured moment of inertia is IZ = 6.988 103 kgm2. c) For a mass point of mass m at a distance r from the axis of rotation, one obtains IZ = m r2. For the measurements, a distance r = 0.15 m was selected. From the regression line to the measured values of Fig. 3, with the exponential statement Y = A X B + I0 (I0 is the moment of inertia of the rod), the exponent B = 1.00 0.02 is obtained. The measurement was carried out with m = 0.2 kg. From the regression line to the measured values of Fig. 4, B = 1.93 0.03 is obtained. (see (2)) Note The pivot pin is not taken into account for the theoretical calculation of the moment of inertia, since with a mass of 48 g, it has a moment of inertia of only 4.3 106 kgm2. The support face and bar retaining ring are balanced by the sector mask and plug, so that a uniform mass distribution can be assumed for the bar over its whole length. Fig. 4: Moment of inertia of a mass point as a function of the square of its distance from the axis of rotation. (see (2))

Fig. 3: Moment of inertia of a mass point as a function of the mass.

PHYWE series of publications Laboratory Experiments Physics PHYWE SYSTEME GMBH & Co. KG D-37070 Gttingen

P2131301

LEP 1.3.13 -01

Moment of inertia and angular acceleration

P2131301

PHYWE series of publications Laboratory Experiments Physics PHYWE SYSTEME GMBH & Co. KG D-37070 Gttingen

Moment of inertia and angular acceleration

LEP 1.3.13 -05

Related Topics Rotation, angular velocity, torque, angular acceleration, angular moment, moment of inertia, rotational energy. Principle A known torque is applied to a body that can rotate about a fixed axis with minimal friction. Angle and angular velocity are measured over the time and the moment of inertia is determined. The torque is exerted by a string on a wheel of known radius with the force on the string resulting from the known force of a mass in the earth's gravitational field. The known energy gain of the lowering mass is converted to rotational energy of the body under observation. Tasks 1. Measure angular velocity and angle of rotation vs. time for a disc with constant torque applied to it for different values of torque generated with various forces on three different radii. Calculate the moment of inertia of the disc. 2. Measure angular velocity and angle of rotation vs. time and thus the moment of inertia for two discs and for a bar with masses mounted to it at different distances from the axis of rotation. 3. Calculate the rotational energy and the angular momentum of the disc over the time. Calculate the energy loss of the weight from the height loss over the time and compare these two energies.

Equipment Tripod -PASSPrecision bearing Inertia rod Turntable with angle scale Aperture plate for turntable Connecting cord, l = 150 cm, red Connecting cord, l = 150 cm, blue Light barrier with Counter Adapter, BNC plug/4 mm socket Foil capacitor in casings G1, 0.1 F Power supply 5 V DC/2.4 A Precision pulley Right angle clamp PASSSupport rods PASS- l = 400 mm Bench clamp -PASSSilk thread, l = 200 m Circular level Weight holder, 10 g Weight holder, 1 g Slotted weight, 1 g, Slotted weight, 10 g, black Slotted weight, 50 g, black Holding device with cable release Measuring tape, l = 2 m

02002.55 02419.00 02417.03 02417.02 02417.05 07364.01 07364.04 11207.30 07542.26 39105.18 11076.99 11201.02 02040.55 02026.55 02010.00 02412.00 02122.00 02204.00 02407.00 03916.00 02205.01 02206.01 02417.04 09936.00

1 1 1 2 1 1 1 1 1 1 1 1 2 1 2 1 1 1 1 20 10 2 1 1

Fig.1: Experimental set up with turntable

PHYWE series of publications Laboratory Experiments Physics PHYWE SYSTEME GMBH & Co. KG D-37070 Gttingen

P2131305

LEP 1.3.13 -05

Moment of inertia and angular acceleration

Set-up and procedure 1. Set the experiment up as seen in Fig.1. Connect the light barrier with counter according to Fig.2 to the cable release. Adjust the turntable to be horizontal it must not start to move with an imbalance without other torque applied. Fix the silk thread (with the weight holder on one end) with the screw of the precision bearing or a piece of adhesive tape to the wheels with the grooves on the axis of rotation.Wind it several times around one of the wheels enough turns, that the weight may reach the floor. Be sure the thread and the wheel of the precision pulley and the groove of the selected wheel are well aligned. Place the holding device with cable release in a way that it just holds the turntable on the sector mask and does not disturb the movement after release. Note down the angle w from the point of release to the point where the aperture plate enters the beam of the light barrier and the radius ra of the selected wheel with groove. Measure the time t1 necessary for the turntable to rotate about the angle w by setting the mode selection switch of the light barrier to the symbol " ". Press the reset button on the light barrier. Release the holder the clock should start counting. To enable the counter to stop on the interruption of the light beam, the cable release has to be pushed back into it's holding position. After pushing the cable release back the counter should stop, when the mask enters the light beam. Measure the time necessary for the angle w + 2p by pushing the release back only after the mask has completed a whole turn and has passed again and so on for two and more turns. (Catch the mask by hand before it hits the holder.) Measure the angular velocity v after a rotation about the angle w by measuring the time t2 that the mask needs to pass the light barrier: Set the mode selection switch to the symbol " " and after releasing the holder the counter starts counting. Press the reset button before the mask enters the light barrier. Then the counter starts when the mask enters the light beam and counts as long as the light beam is interrupted. If the measured time was t2 and the sector mask covers the angle 15, then the radian of this angle is w = 2 p 15/360 and the frequency or angular velocity v = w/t2. You may press the reset button after one or more passes of the mask measuring the angular velocity after more than one turn of the rotation.

1. Take measurements with different accelerating weights ma up to 100 g. Note down measurement values with the thread running in different grooves, i.e. different radii ra for the accelerating torque adjust the position of the precision pulley to align thread and groove and wheel of the pulley (thread has to be horizontal). Choose especially the weight on the end of the thread ma S S S F is constant e.g.ma = ra such that the torque T 60 g for ra = 15 mm and ma = 30 g for ra = 30 mm and ma = 20 g for ra = 45 mm, each time the torque being T = magr = 8.83 mNm with earth's gravitational acceleration g = 9.81 N/kg = 9.81 m/s2. Also choose a weight with which you take a measurement for each groove radius. You may also take a measurement with no weight ma. Start the turntable by a shove with the hand. Nearly unaccelerated movement should be observable. Also measure the angular velocity after converting a defined amount of potential energy to rotational energy by allowing the weight ma to pass only a given height before touching the ground. 2. Record measurements with two turntables mounted on the precision bearing with weight values used on the single turntable and with double the weight used on the single turntable for comparison. Remove the turntables and mount the inertia rod to the precision bearing and the two weight holders symmetrically to the rod with both the same distance to the axis ri. Take measurements with various masses mi at constant ri and also with constant masses mi at varied ri (both masses of course still mounted symmetrically) accelerated with the same weight ma (or with the same series of weights for high precision). Theory and evaluation S The angular momentum J of a single particle at place S r S , mass m and momentum S m S is with velocity n p n defined as S J S r S p

S S and the torque T from the force F is defined as S T S r S F ,

with torque and angular momentum depending on the origin S of the reference frame. The change of J in time is Fig. 2: Connection of the light barrier (Lb). S dJ dt and with dS r dt and Newtons's law S F S dp dt S p S n mS n 0 d S 1 r dt S2 p dS r dt S p S r dS p dt

is the equation of motion becomes S S dJ T dt

(1).

P2131305

PHYWE series of publications Laboratory Experiments Physics PHYWE SYSTEME GMBH & Co. KG D-37070 Gttingen

Moment of inertia and angular acceleration

LEP 1.3.13 -05

S For a system of N particles with center of mass R c.m. and S S is total linear momentum P a mi n i S J a mi 1 r i
S 1 N

S R c.m. 2 S J c.m.

S ni

N S a mi R c.m. i 1

S ni

S R c.m.

S P.

The coordinate axes can allways be set to the "principal axes of inertia" so that none but the diagonal elements of the matrix Ik,k 0. In this experiment only a rotation about the z-axis can occur v ez v with the unit vector ez . The energy is and S ez vz then 1 E I v2 (5) 2 z,z The torque T = ma (ga)ra is nearly constant in time since the acceleration a = a ra of the mass ma used for accelerating the rotation is small compared to the gravitational acceleration g = 9.81 m/s2 and the thread is always tangential to the wheel with ra. So with (1), (2) and (3) T Iz,z d2w dt2 ma gra T t Iz,z (6)

Now the movement of the center of mass is neglected, the origin set to the center of mass and a rigid body assumed with S r i Sj fixed. The velocity of particle i may be written as r S S with vector of rotation S v r n
i i

S v

dS w dt

(2) v1t 2 1S v S2 . ri w1t 2 v 1t w 1t 02

constant throughout the body. Then S J S a mi r i S 1b S J S2 c S ni S a mi r i

ma gra t Iz,z 1 ma gra 2 t 2 Iz,z

v1t

02

(7)

02

w1t

02

With S a

SS S b1a c 2

S 1 S S 2 is c a b

1 T 2 t (8). 2 Iz,z

The potential energy of the accelerating weight is 182 1 m2g2r2 172 1 a a t2 I v2 , 2 Iz,z 2 z,z

S 2 a mi 1 v r i SS ri v xi vx z2 2 i

S 1 S S 2 2 with ri ri v yi vy zi vz

E = magh(t) = -magw(t) ra

and Jz vz a mi 1r2 i vz a mizixi vy a miziyi .

The inertial coefficients or moments of inertia are defined as Ix,x Ix,y Ix,z and with the matrix I a mi 1ri
2

x2 2 i

(3)

a mi xi yi a mi xi zi 5Ik,l 6 it is S J v I S S dv is then dt (4)

thus verifying (4). If a weight mi is mounted to a rod in a distance ri to the fixed axis z, which is the axis of rotation perpendicular to the rod, with the rod lying along the y-axis, then are the coordinates of the weight (0, ri,0). According to (3) the moment of inertia about the z-axis is Iz,z mi r2 , about the x-axis Ix,x mi r2 i i and about the y-axis it is Iy,y, = 0. For evaluation both the speed vs. angle (v calculated by t2) and the time vs. angle (using t1) values may be used to determine Iz,z. The time t1 values are more precise in case the movement is still accelerated while the mask passes the light barrier. Fig. 3 shows t1 in dependance on torque T for fixed Iz,z, i.e. the moment of inertia of the turntable, and fixed w(t1) = 215 = 3.75 rad. The slope of the curve in the bilogarithmic plot is 0.519 compared to theoretical 0.5, since it follows from (8) that B 2w1t1 2 Iz,z T

and for the rotational acceleration S a S T S dJ dt S dv I dt

a I S

t1

The rotational energy is 1 1 S m n2 m 1v E 2a i i 2a i

S 22 ri

1 I v v 2 k,l k l

Sum convention: sum up over same indices using

1S a

S S b 21 c

S d2

S S 1 S S 2 1 b d 2 a c

S S 1S d 2 1 b S 2 . a c

PHYWE series of publications Laboratory Experiments Physics PHYWE SYSTEME GMBH & Co. KG D-37070 Gttingen

P2131305

LEP 1.3.13 -05

Moment of inertia and angular acceleration

Fig. 3: Bilogarithmic plot of t1 vs. T torque Fig. 4 shows a bilogarithmic plot of angle vs. time with constant Iz,z (of the turntable): With both values of torque the slope of the curve is nearly 2 as predicted by (8).

Fig. 5: Bilogarithmic plot of v vs. time t1 theoretical Iz,z = Irod + mi ri2 The linear dependence on mi . can be seen.

Fig. 4: Bilogarithmic plot of w vs. time t1 for different torques

Fig. 6: Measured and theoretical values of Iz,z in dependence on ri2

Fig. 5 shows a bilogarithmic plot of angular velocity vs. time with constant Iz,z (of the turntable): With all three values of torque the slope of the curve is nearly 1 as predicted by (7). Fig. 6 shows the Iz,z values calculated from the measured t1 values that the bar needed to reach 185 = 3.23 rad with a torque applied of 3.09 mNm (ra = 15 mm, ma = 21 g, g = 9.81 m/s2), according to (8): Iz,z T t2 1 2w

- compared to the theoretical values, according to (3): Iz,z = , Irod + mi ri2 Irod = 72 kg cm2. Two weights of 100 g each were mounted at ri from the axis of rotation the plot shows a good . linear dependence on ri2 Fig. 7 shows measured Iz,z values in dependence on the weight mi mounted to the bar at ri = 20 cm in comparison to Fig. 7: Measured and theoretical values of Iz,z in dependence on mi

P2131305

PHYWE series of publications Laboratory Experiments Physics PHYWE SYSTEME GMBH & Co. KG D-37070 Gttingen