7/1/2008

AdhiHarmoko S

OntangAnting MomentofInertia Energy

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Passengerundergouniformcircularmotion (circularpathat constantspeed) Therefore,theremustbea: centripetalacceleration,ac. Thereforetheremustbea centripetalforce,Fc. itisdirectedtowardthecirclescenter itdepends onspeedandsizeofcircle:

WhenOntangAntingisturning: accelerationistowardthecenterofcircle(inward) sofictitiousforceisoutward. Thisisfictitiousforceiscalledcentrifugalforce Centrifugalforceisanexperienceofinertia:ItisNOTareal force.

ac =v2/r Fc =mxac =mxv2/r

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Dufanduduk dibangkupalingluarpadapermainanontang anting,andDufiduduk ditengahtengahantaradufandantitik tengah.Ontangantingbergerakmembuatsatuputaranpenuh setiapduadetik. KecepatanangularDufisamadengan

(a) Dufan (b) DuakaliDufan (c) SetengahDufan

Kecepatanangular padasembarangtitikpadabendapejal yangberputarpadapusatyangtetapadalahsama. Dufan&Dufiberputarsekali(2 radians)selamaduadetik

(Kecepatanlinierdufandandufi v akanberbedakarenav=r).
1 VDufi = VDufan 2

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Rotationaboutafixedaxis: Consideradisk rotatingabout anaxisthroughitscenter: First,recallwhatwelearnedabout UniformCircularMotion:

d = dt v= (Analogousto) dx dt

Nowsuppose canchangeasafunction oftime: Wedefinetheangularacceleration:

=
d d 2 = dt dt 2

Considerthecasewhen isconstant. Wecanintegratethisto find and asafunctionoftime:

= constant = 0 + t = 0 + 0 t + t 2
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1 2

v
= constant = 0 + t = 0 + 0t + t 2
1 2

Angular
= constant

Linier
a = constant

= 0 + t
= 0 + 0t + t 2
1 2

v = v0 + at
1 x = x 0 + v0 t + at 2 2

RecallalsothatforapointatadistanceR awayfromtheaxisof rotation: x=R v=R Andtakingthederivativeofthiswefind: a=R

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AndforapointatadistanceR fromtherotationaxis:

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Considerthesimple rotatingsystemshownbelow.(Assume the massesareattachedtotherotationaxisbymassless rigidrods). Thekineticenergyofthissystemwillbethesumofthekinetic energyofeachpiece:

So:

1 K = m ivi2 i 2
K=

butvi =ri

1 1 mi (ri )2 = 2 2 mi ri 2 2 i i

v1 v2 r1 r2 m1

whichwewriteas: m4 r4 m3 r1 m1
I = mi ri
i 2

m4 v4 r4 m3 v3 r3

1 K = I 2 2

m2

r3

r2 m2
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Definethemomentofinertia momentofinertia abouttherotationaxis

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Thekineticenergyofarotatingsystemlooks similartothatofa pointparticle: PointParticle

1 K = mv 2 2

1 K = I 2 2

I = mi ri
i

RotatingSystem
1 K = I 2 2

NoticethatthemomentofinertiaI depends onthedistribution ofmassinthesystem. Thefurtherthemassisfromtherotationaxis,thebiggerthe momentofinertia. Foragivenobject,themomentofinertiawill dependonwhere wechoose therotationaxis(unlikethecenterofmass). Wewillseethatinrotationaldynamics,themomentofinertia I appearsinthesamewaythatmassm doeswhenwestudylinear dynamics!
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vislinearvelocity . misthemass

isangularvelocity Iisthemomentofinertia abouttherotationaxis

I = mi ri 2
i

Wehaveshown thatforN discretepointmasses distributed aboutafixedaxis,themomentofinertiais: wherer isthedistancefromthe 2 I = mi ri masstotheaxisofrotation i Example:Calculatethemomentofinertiaoffourpointmasses (m)onthecornersofasquarewhosesides havelengthL,about aperpendicular axisthroughthecenterofthesquare: m L m m
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Thesquareddistancefromeachpointmasstotheaxisis:
2 L L r 2 = 2 = 2 2 2

UsingthePythagoreanTheorem

so

I = mi ri 2 = m
i =1

L2 L2 L2 L2 L2 + m + m + m = 4m 2 2 2 2 2

m m L m

L/2 m r m
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Now calculate I for the s ame object about an axis through the center, parallel to the plane (as s hown):
I = mi ri = m
2 i =1 N

Finally,calculateI forthesameobjectaboutanaxisalongone side(asshown):

I = mi ri 2 = mL2 + mL2 + m 02 + m0 2
i =1 N

L2 L2 L2 L2 L2 + m + m + m = 4m 4 4 4 4 4

r m L m m
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r m L m m
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Forasingleobject,I clearlydepends ontherotationaxis!!

Foradiscretecollectionofpointmasseswefound:
I = mi ri
i

m
L

Foracontinuous solid objectwehavetoaddupthemr2 contributionforeveryinfinitesimal masselementdm.

Wehavetodoan

dm r

integraltofind I :
I = r 2dm
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SomeexamplesofI forsolidobjects: Thinhoop (orcylinder) ofmassM andradiusR,aboutanaxisthrough itscenter,perpendicular tothe R planeofthehoop.

I = MR
2

SomeexamplesofI forsolidobjects: SolidsphereofmassM andradiusR,about anaxisthroughitscenter. R

2 I = MR 2 5

Thinhoop ofmassM andradiusR, aboutanaxisthroughadiameter.

1 I = MR2 2

SoliddiskorcylinderofmassM andradius R,aboutaperpendicularaxisthroughits center.

1 I = MR2 2

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SomeexamplesofI forsolidobjects: ThinrodofmassM andlengthL,abouta perpendicularaxisthroughitscenter. L

I= 1 MR 2 12

Twosphereshavethesameradiusandequalmasses.Oneis madeofsolid aluminum,andtheotherismadefromahollow shellofgold. Whichonehasthebiggestmomentofinertiaaboutanaxis throughitscenter? (a)solid aluminum (b)hollow gold (c)same

ThinrodofmassM andlengthL,abouta perpendicularaxisthroughitsend. L

1 I = MR2 3

solid

hollow

samemass&radius
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Momentofinertiadepends onmass(sameforboth) and distancefromaxissquared,whichisbiggerfortheshell sinceits massislocatedfartherfromthecenter. Thesphericalshell (gold)willhaveabiggermomentofinertia I SOLID<I SHELL

Supposethemomentofinertiaofasolid objectofmassM aboutanaxisthroughthecenterofmass,ICM,isknown. Themomentofinertiaaboutanaxisparalleltothisaxisbuta distanceD awayisgivenby:

solid

hollow

SoifweknowICM ,itiseasytocalculatethemomentofinertia aboutaparallelaxis.

samemass&radius
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ConsiderathinuniformrodofmassM andlengthD.Figureout themomentofinertiaaboutanaxisthroughtheendoftherod. D=L/2 M L Weknow So

ICM = 1 ML2 12
2

Supposeaforceactsonamassconstrainedtomoveinacircle. ^ Consideritsaccelerationinthedirectionatsomeinstant:
a =r

I PARALLEL=I CM +MD2

CM x I CM

^ NowuseNewtons2ndLawinthedirection:

^ F F a r m

^ r

I END

F =ma =m r

IEND =

1 1 L ML2 + M = ML2 12 3 2

Multiplybyr : rF =mr2
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whichagreeswiththeresultonaprevious slide.
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rF =mr2

use

=
Definetorque: =rF . isthetangentialforceF timestheleverarmr. ^
= I

Soforacollectionofmanyparticles arrangedinarigidconfiguration: ^ r Sincetheparticlesareconnectedrigidly, theyallhavethesame m4 m

2 mi ri ri Fi , = { i { i

F F a r

Torquehasadirection: +z ifittriestomakethesystem spinCCW. zifittriestomakethesystem spinCW.

F1 r2 r1 m1

i = I
i

F4

r4 m3 F3

NET = I

r3

m2 F2
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NET = I
ThisistherotationalanalogueofFNET =ma Torqueistherotationalanalogueofforce: Theamountoftwistprovided byaforce. Momentofinertia Iistherotationalanalogueofmass. Iistherotationalanalogueofmass. IfI isbig,moretorqueisrequiredtoachieveagivenangular acceleration. Torquehasunitsofkgm2 /s2 =(kgm/s2 )m=Nm

Recallthedefinition oftorque:
= r F = r F sin = r sin F

Fr

= rp F

rp =distanceofclosestapproach Equivalentdefinitions

rp
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= r sin F
Soif =0o,then =0 r F

Inwhichofthecasesshownbelowisthetorqueprovidedbythe appliedforceabouttherotationaxisbiggest?Inbothcasesthe magnitudeanddirectionoftheappliedforceisthesame. (a)case1 (a) (b)case2 (b) (c)same (c) L axis L F F

Andif =90o,then =maximum

F r

case1

case2

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Torque=F x(distanceofclosestapproach) Theapplied forceisthesame. Thedistanceofclosestapproachisthesame

Torqueisthe same!

ConsidertheworkdonebyaforceF actingonanobject F constrainedtomovearoundafixedaxis.Foraninfinitesimal angulardisplacementd:

dW=F dr =FRd cos() F

R d axis

F dr=Rd

L F L L F

=FRd cos(90) =FRd sin() =FRsin()d dW= d

case1

case2
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Wecanintegratethistofind:W= AnalogueofW =F r W willbenegativeif and haveoppositesigns!

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RecalltheWork/Kinetic EnergyTheorem: K=WNET Thisistrueingeneral,andhenceappliestorotationalmotionas wellaslinearmotion. Soforanobjectthatrotatesaboutafixedaxis:

1 K = I 2 i2 = WNET f 2

Amassless stringiswrapped10times aroundadiskofmass M=40g andradiusR=10cm.Thedisk isconstrainedtorotate withoutfrictionaboutafixedaxisthoughitscenter.Thestringis pulledwithaforceF=10Nuntilithasunwound.(Assume the stringdoesnotslip,andthatthedisk isinitially notspinning). Howfastisthedisk spinning afterthestringhasunwound?

F
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TheworkdoneisW= Thetorqueis =RF(since =90o) Theangulardisplacement is 2 rad/revx10rev So W=(.1m)(10N)(20 rad)=62.8J

1 WNET =W=62.8J=K = I 2 2

Recallthat I foradiskaboutitscentralaxisisgivenby
1 I = MR 2 2

11 K = MR 2 2 = W 22

4W = MR 2

4(62.8 J ) (.04kg )(. 1)2

=792.5rad/s

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Stringsarewrappedaroundthecircumferenceoftwosolid disks andpulledwithidenticalforcesforthesamedistance. Disk1hasabiggerradius,butbothhavethesamemomentof inertia.Bothdisks rotatefreelyaroundaxesthoughtheir centers,andstartatrest. Whichdisk hasthebiggestangularvelocityafter thepull? 2 1 (a)disk 1 (b)disk 2 (c)same

Theworkdoneonbothdisks isthesame! W=Fd Thechangeinkineticenergyofeachwillthereforealsobethe samesince W=K Butweknow SosinceI 1 =I 2

1 K = I 2 2

F
d
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AdhiHarmoko S

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