Rotate

Mechanics Rotation - 1 David Apsley
MECHANICS, TOPIC E: ROTATION AUTUMN 2003

1. Angular kinematics
1.1 Angular velocity and angular acceleration
1.2 Analogy with linear motion
1.3 Circular motion

2. Angular dynamics
2.1 Torque
2.2 Angular momentum
2.3 The angular-momentum principle
2.4 Proof of the angular-momentum principle for arbitrary motion (optional)

3. Rigid-body rotation
3.1 Moment of inertia
3.2 Second moments and the radius of gyration
3.3 The equations of motion
3.4 Comparison of linear and rotational motion
3.5 Examples

4. Calculation of moments of inertia
4.1 Methods of calculation
4.2 Fundamental shapes
4.3 Stretching parallel to an axis
4.4 Surfaces and volumes of revolution
4.5 Change of axis

5. General motion of a rigid body (optional)
5.1 Momentum and energy of a whole system
5.2 Rolling without slipping
5.3 Rolling with slipping

Examples
Answers


1. ANGULAR KINEMATICS

1.1 Angular Velocity and Angular Acceleration

For a particle moving in a circle, or for a rigid body rotating about a fixed axis O, the
instantaneous position is defined by the angle between a radius vector and a fixed line.

The angle in radians is defined by
r s = (1)
where s is the length of arc and r is the radius. (Convention has
increasing anticlockwise when viewed from above).

Angular velocity is the rate of change of angle:

t d
d
= (2)

Angular acceleration is the rate of change of angular velocity:

t d
d
= (3)

1.2 Analogy With Linear Motion

There is a direct correspondance between linear and angular motion.

linear angular
displacement s
velocity
t
s
v
d
d
=
t d
d
=
acceleration
s
v
v
t
s
t
v
a
d
d
d
d
d
d
2
2
= = =
d
d
d
d
d
d
2
2
= = =
t t

Distance is given by the area under a v t graph.
Similarly angle is the area under a t graph.

There are analogous constant-acceleration formulae:
2 2
2
0
2 2 2
2
2
1
0
2
2
1
0
= =
+ = + =
+ = + =
as u v
t t at ut s
t at u v

r
s
P
O
t
v
s
t

Example. What is the angular velocity in radians per second of the minute hand of a clock?

1.7510
-3
rad s
-1

Example. A turbine starts from rest and has a constant angular acceleration of 0.1 rad s
-2
.
How many revolutions does it make in reaching a rotation rate of 50 rpm?

21.8 revolutions

1.3 Circular Motion

Consider a particle moving in a circle of radius r.

Since s = r and r is constant, its tangential velocity is given by
r v = (4)

The particle is accerating:
towards the centre of the circle because its direction is changing:

r
v
r a
r
2
2
= = (5a)
tangentially, if the angular velocity is changing:
& r a = (5b)

A force toward the centre is needed to maintain the centripetal acceleration and hold the
particle in a circular path.

(Note. It is very common to use a dot above to indicate differentiation w.r.t. time: & means
d /dt.)

Example. A car enters a circular curve of radius 50 m at a steady speed of 50 km hr
-1
. If there
is no banking, what coefficient of friction is necessary between the tyres and the road to
prevent the car skidding?

= 0.39
r
r
v
=
r
2
O
O
velocity
acceleration

2. ANGULAR DYNAMICS

2.1 Torque

The torque (or moment of force) T about an axis is given by:

Fr T
axis from ce lar distan perpendicu force torque
=
=
(6)

Torque is a measure of the turning effect of a force.

2.2 Angular Momentum

Angular momentum (or moment of momentum) is given by:

2
mr
mvr h
axis from distance lar perpendicu momentum momentum angular
=
=
=
(7)

(For non-circular motion, v is the circumferential component of velocity see Section 2.4.)

2.3 The Angular-Momentum Principle

Force-momentum principle:
) (
d
d
mv
t
F =
If F is the tangential component of force and r is constant (i.e. circular motion) then
) (
d
d
mvr
t
Fr =
torque = rate of change of angular momentum (8)

(In fact, (8) holds for non-circular motion, but the proof requires more effort; the interested
can see Section 2.4).

Equation (8) is the precise rotational analogue of the momentum principle for linear motion:
force = rate of change of momentum

For single particles the torque/angular-momentum relation offers no advantage over the
force/momentum principle. However, it is invaluable in the treatment of systems of particles
and, in particular, rigid-body rotation, to which it may be applied by summing over all
masses in the system. The torque is then the sum of the moments of the external forces alone,
since the internal forces between particles are equal and opposite and cancel in pairs.

In the absence of any external torque, a direct corollary is:
The Principle of Conservation of Angular Momentum

The angular momentum of an isolated system remains constant.
r
F
axis

r
v
m
axis

Example. (Ohanian) The original Ferris wheel built by George Ferris had radius 38 m and
mass 1.910
6
kg. Assuming that all of its mass was uniformly distributed along the rim of the
wheel, if the wheel was initially rotating at 0.05 rev min
-1
, what constant torque would stop it
in 30 s? What force exerted on the rim of the wheel would have given such a torque?

Torque = 4.7910
5
N m; force = 12600 N.

2.4 Proof of the Angular-Momentum Principle For Arbitrary Motion (Optional)

For a particle of mass m,
sin
mv r
mv r h
=
=

i.e. only the circumferential component of velocity, v
,
contributes to the angular momentum. The radial component
v
r
has no moment about the axis. Similarly for the torque
when the force vector is split into circumferential and radial
components.

Using the definition of a vector product, both angular
momentum and torque may be represented by vectors oriented along the axis of rotation:
angular momentum: sin mv r h = or v r h m = (9a)
torque: sin F r T = or F r T = (9b)

Differentiating the first, using the product rule,
F r 0 F r v v v r v
r h
+ = + = + = m m
t
m
t t
) (
d
d
d
d
d
d

T
h
=
t d
d
(torque = rate of change of angular momentum) (10)

r
v
r
r
O
O
v
r
s
i
n
v
P
P

3. RIGID-BODY ROTATION

3.1 Moment of Inertia

Example. A bicycle wheel and a flat disk have the
same mass, the same radius and are spinning at the
same rate. Which has the greater angular momentum
and kinetic energy?

For rotating rigid bodies, different particles lie at different radii and hence have different
velocities. Particles at greater radius move faster and contribute relatively more to the bodys
angular momentum and kinetic energy. Thus, the angular momentum or kinetic energy
depends on the distribution of mass relative to the axis.

The total angular momentum and kinetic energy may be obtained by summing over
individual particles of mass m at radius r.

Angular Momentum
) (
) (
2
=
=
=
mr
r r m
mvr H

Kinetic Energy
2 2
2
1
2
2
1
2
2
1
) (
) (
=
=
=
mr
r m
mv K

The quantity

=
2
mr I (11)

is the moment of inertia (or second moment of mass) of the body about the specified axis.

With this definition,
angular momentum I H = (12)
kinetic energy
2
2
1
I K = (13)
(c.f. momentum p = Mv and kinetic energy
2
2
1
Mv K = for linear motion).

Moment describes the disposition of mass about the selected axis (it is weighted more
strongly to masses at greater radii). Inertia refers to a resistance to a change in motion. In
this sense, the moment of inertia fulfils the same role for rotational motion as the mass of a
body in translational motion.

r
r
m

Example revisited. For a hoop (a close approximation to the bicycle wheel) all the mass is
concentrated at the same radius R. Hence

2 2 2
MR mR mr I = = =

For a flat disk it turns out (see later) that the moment of inertia is MR
2
. Other things being
equal, the disk will have half the angular momentum and half the kinetic energy of the hoop.
The reason is that some of its mass is at a smaller radius and is moving more slowly.

3.2 Second Moments and the Radius of Gyration

We have defined the moment or first moment of any quantity by
first moment = quantity distance
Similarly,
second moment = quantity (distance)
2

For an extended body the distance varies, we must sum over constituent parts:
mass of moment second mr I = =
2
(14)

In your hydraulics and structures courses next semester you will come across an exactly
analogous quantity the second moment of area in connection with hydrostatic forces on
dams and resistance to bending of beams, respectively.

In linear motion, the centre of mass is that point at which the same concentrated mass would
have the same first moment:
= mx x M
In rotational motion we define the radius of gyration k as that radius at which the same
concentrated mass would have the same second moment:

= =
2 2
mr I Mk (15)

Example. The moment of inertia of a hoop, mass M and radius R is MR
2
. The radius of
gyration is R because all the mass is concentrated at this radius.

Example. The moment of inertia of a circular disc, mass M and radius R, is MR
2
; hence the
radius of gyration is R/2. This is smaller because mass is distributed over radii less than R.

3.3 The Equations of Motion

For rigid-body rotation the equation of motion is the angular momentum equation:

momentum angular of change of rate torque
I
t t
H
T
=
= = ) (
d
d
d
d
(16)

where:
T is the sum of the moments of external forces about the fixed axis;
I is the moment of inertia about that fixed axis;
is the angular velocity.

If we integrate this with respect to time we obtain an impulse equation:

momentum angular in change time torque
I I t T
=
=
1 2
2
1
) ( ) ( d
(17)

The LHS of the above is often called the angular impulse.

Alternatively we can integrate (16) with respect to angle to obtain an energy equation. First
rewriting it as
) (
d
d
d
) ( d
d
d
d
) ( d
) (
d
d
2
2
1
I
I
t
I
I
t
T = = = =
Integrating with respect to angle gives:

energy kinetic in change angle torque done work
I I T
=
=
) (
) ( ) ( d
1
2
2
1
2
2
2
1
2
1
(18)

3.4 Comparison of Linear and Rotational Motion

linear angular
displacement x
velocity v
inertia m I
effective location centre of mass radius of gyration
momentum
mv p =
I h =
kinetic energy
2
2
1
mv K =
2
2
1
I K =
equation of
motion
force = rate of change of momentum
) (
d
d
mv
t
F =
torque = rate of change of angular momentum
) (
d
d
I
t
T =
impulse
impulse (force time) = change of
momentum
1 2
2
1
) ( ) ( d mv mv t F =

angular impulse (torque time) = change of
angular momentum
1 2
2
1
) ( ) ( d I I t T =

energy
work done (force distance) = change
of kinetic energy
1
2
2
1
2
2
2
1
2
1
) ( ) ( d mv mv x F =

work done (torque angle) = change of
kinetic energy
1
2
2
1
2
2
2
1
2
1
) ( ) ( d I I T =

3.5 Examples

Example. A bucket of mass M is fastened to one end of a light inextensible rope. The rope is
coiled round a windlass in the form of a circular cylinder (radius r, moment of inertia I)
which is left free to rotate about its axis. Prove that the bucket descends with acceleration
2
1
Mr
I
g
+
.

M
Mg
r

Example. A flywheel whose axial moment of inertia is 1000 kg m
2
rotates with an angular
velocity of 300 rpm. Find the angular impulse which would be required to bring the flywheel
to rest. Hence, find the frictional torque at the bearings if the flywheel comes to rest in 10 min
under friction alone.

Angular impulse = 3.1410
4
N m s; torque = 52.4 N m

Example. A flywheel of radius 50 cm is attached to a shaft of radius 10 cm, the combined
assembly having a moment of inertia of 500 kg m
2
. Long cables are wrapped around flywheel
and shaft in opposite directions and are attached to masses of 10 kg and 20 kg respectively,
which are initially at rest as shown. Calculate:
(a) how far the 10 kg mass must drop in order to raise the 20 kg mass by 1 m;
(b) the angular rotation rate of the shaft at this point.

10 cm
50 cm
10 kg
20 kg

(a) 5 m; (b) 1.08 rad s
-1

Example. (Examination, January 2003)
A 15 kg mass hangs in the loop of a light inextensible cable, one end of the cable being fixed
and the other wound round a wheel of radius 0.3 m and moment of inertia 0.9 kg m
2
so that
the lengths of cable are vertical (see Figure). The mass is released from rest and falls, turning
the wheel. Neglecting friction between the mass and the loop of cable and between the wheel
and its bearings, find:
(a) a relationship between the downward velocity of the mass, v, and the angular velocity
of the wheel. ;
(b) the downward acceleration of the mass;
(c) the speed of the mass when it has fallen a distance 2 m;
(d) the number of turns of the wheel before it reaches a rotation rate of 300 rpm.

15
kg

(a)
r
v 2
= ; (b) 2.68 m s
-2
; (c) 3.27 m s
-1
; (d) 4.41

Example. A square plate of mass 6 kg and side 0.2 m is suspended vertically from a
frictionless hinge along one side. It is struck dead centre by a lump of clay of mass 1 kg
which is moving at 10 m s
-1
horizontally and remains stuck (totally inelastic collision). To
what height will the bottom of the plate rise after impact?
(Moment of inertia of a square lamina, side a and mass M, about one side, is
2
3
1
Ma )

0.162 m

4. CALCULATION OF MOMENTS OF INERTIA

4.1 Methods of Calculation

The moment of inertia I depends on both:
the distribution of mass;
the axis of rotation.

Some common methods of calculating I are as follows.

Method 1. First Principles
Use
mass of moment second mr I = =
2

For individual particles this can be done by direct summation. For continuous bodies
an integration is necessary.

Method 2. Combination of Fundamental Elements (Hoop, disk and rod)

hoop surface of revolution
cylindrical shell

First principles disc solid of revolution
solid cylinder

rod
rectangular lamina

Method 3. Combination of Smaller Entities

Break down into simpler elements whose moments of inertia are known.

In applying any of these methods, extensive use may be
made of two further principles:

(I) If a shape is simply stretched parallel to an axis then the
moment of inertia is unchanged since the relative
disposition of mass about the axis is not changed. e.g.
hoop cylindrical shell
disc solid cylinder
rod rectangular lamina

(II) Calculations may be perfomed first about some convenient (typically symmetry) axis;
the moment of inertia about the actual axis is then determined by one of two
techniques for changing axes the parallel-axis and perpendicular-axes theorems.

hoop/disc cylinder
rod rectangle

4.2 Fundamental Shapes

4.2.1 Hoop

For a hoop (mass M and radius R), rotating about its symmetry axis, all the
mass is concentrated at the single distance R from the axis. Hence,
(hoop, mass M, radius R, about axis of symmetry)
2
MR I = (19)

4.2.2 Disc

Consider the moment of inertia of a circular disc, mass M and radius R, about its axis of
symmetry.

The disc can be broken down into sub-elements, mass m, which are
hoops of radius r and thickness r. Let be the mass per unit area.
mass: r r m 2 =
radius: r

Sum over all elements (evaluating I and M eliminates ):
2
4
0
3 2
2
d 2
R M
R r r r m I
R
=
= = =

Hence,
2
2
1
R
M
I
=
(disc, mass M, radius R, about axis of symmetry)
2
2
1
MR I = (20)

4.2.3 Rod

Consider the moment of inertia of a rod, mass M and length L, about its axis of symmetry.

The rod can be broken down into sub-elements of mass m = x ( is the mass per unit
length), at distance x from the axis.

Summing over all elements:

3
12
1
2 /
2 /
2 2
d L x x x m I
L
L
= = =

L M =
. Hence,

2
12
1
L
M
I
=
(rod, mass M, length L, about axis of symmetry)
2
12
1
ML I = (21)

R
r
r

x
L
x

4.3 Stretching Parallel to an Axis

The distribution of mass about the axis and hence the moment of inertia is not changed by
stretching parallel to the axis of rotation without change of mass. Hence, for the axes shown:

hoop cylindrical shell:
2
MR I =
disc solid cylinder:
2
2
1
MR I =
rod rectangular lamina:
2
12
1
Ma I =

(Note that in the last case the axis is in the plane of the
lamina.)

There is no dependence on the dimension parallel to the axis
of rotation except in so far as it determines the total mass M.

Example. (Examination, January 2002)

flywheel
shaft
40 cm
10 cm
30 cm
6 cm
outer steel rim
(part (b))

(a) A flywheel consists of an aluminium disc of diameter 40 cm and thickness 6 cm,
mounted on an aluminium shaft of diameter 10 cm and length 30 cm as shown. Calculate the
moment of inertia of flywheel + shaft.

(b) To increase the moment of inertia a steel rim is fixed to the outside of the flywheel.
Calculate the outer radius of the steel rim required to double the moment of inertia of the
assembly.

(c) If the flywheel is initially rotating at 100 rpm, calculate the constant frictional braking
force which needs to be applied to the outside of the steel rim in part (b) if the flywheel is to
be brought to rest in 30 seconds.

For this question you may require the following information.
Density of:- aluminium: 2650 kg m
-3
; steel: 7850 kg m
-3
.
Moment of inertia of a solid cylinder of radius R and mass M about its axis:
2
2
1
MR .

(a) 0.407 kg m
2
; (b) 21.5 cm; (c) 1.32 N
hoop/disc cylinder
rod rectangle
R
a
b

4.4 Surfaces and Volumes of Revolution

Moments of inertia for surfaces and volumes of revolution may be deduced by summing over
infinitesimal hoops and discs, respectively.

y
x
s

Surface of Revolution

Sub-elements are hoops of radius y and thickness s. Let be the mass per unit area.
mass: s y m 2 =
moment of inertia: s y my 2
3 2
=

Sum over all elements (evaluating both I and M can be used to eliminate if desired):

s y m M
s y my I
d 2
d 2
3 2
= =
= =
(22)

To do the integrations it is necessary to specify the bounding curve y = y(x) and integrate with
respect to x rather than arc length s:
x
x
y
s d )
d
d
( 1 d
2
+ = (23)
Example. Cone, height h and base radius R (= h tan ) about its axis of symmetry.

From the geometry:

cos / d d
) / (
x s
h x R y
=
=

Hence,

2 cos
) / (
2 . d
cos
) / (
2 .
4 cos
) / (
2 . d
cos
) / (
2 .
2
0
4 3
0
3
3
h h R
x x
h R
M
h h R
x x
h R
I
h
h
= =
= =

Thus,

2
2
1
2 2
2
1
) / ( R h R h
M
I
= =
Hence,

2
2
1
MR I =
h
R
x

Volume of Revolution

Sub-elements are discs of radius y and thickness x. Let be the mass per unit volume.
mass: x y m .
2
=
moment of inertia: x y y m
2
.
4 2
2
1
=

Sum over all elemental masses and moments of inertia:

x y m M
x y my I
d
d
2
2
4 2
2
1
= =
= =
(24)

Example. Solid sphere, mass M and radius R about an axis of symmetry.

For a solid sphere,
2 2 2
R y x = + . Hence,
2 2 2
x R y = between R x = . Thus,

3
3
4
5 2 2 2
15
8
d ) (
2
R M
R x x R I
R
R
=
= =

Hence,

2
5
2
R
M
I
=
whence

2
5
2
MR I =

4.5 Change of Axis

4.5.1 Parallel-Axis Rule

If the moment of inertia of a body of mass M about an axis through its centre of mass is I
G
,
then the moment of inertia about a parallel axis A is given by
2
Md I I
G A
+ =
where M is the mass of the body and d is the distance between axes.

Proof. Take (x,y,z) coordinates relative to the centre of mass, with
the z direction parallel to the axes of rotation. By Pythagoras,

+ = =
+ = =
)] ) ( ) [(
) (
2 2
2
2 2 2
A A A
G
y y x x m AP m I
y x m mr I

Expanding the last of these,
0 0
2 2 ) ( ) (
) 2 2 (
2
2 2 2 2
2 2 2 2
+ =
+ + + =
+ + + =

Md I
my y mx x y x m y x m
y yy y x xx x m I
G
A A A A
A A A A A

with the last two terms vanishing because there are no moments about the centre of mass.
G
(0,0)
d
P(x,y)
A(x ,y )
A A

Corollary 1. The corresponding radii of gyration are related by
2 2
G
2
A
d k k + =

Corollary 2. For a set of parallel axes, the smallest moment of inertia and radius of gyration
are for the axis through the centre of mass.

Example. The M.I. for a rod of mass M and length L about an axis through its centre and
normal to the rod is
2
12
1
ML I
G
= . Hence the M.I. about a parallel axis through the end of the
rod is

2
3
1
2
4
1
12
1
2
2
1
G A
) (
) (
ML
ML
L M I I
=
+ =
+ =

4.3.2 Perpendicular-Axis Rule

Important note. Applicable to plane laminae only. However, can often be combined with
stretching parallel to the axis to give 3-d shapes.

If a plane body has moments of inertia I
x
and I
y
about two perpendicular axes Ox and Oy in
the plane of the body, then its moment of inertia about an axis Oz, perpendicular to the plane,
is given by:
y x z
I I I + =

Proof. By Pythagoras,
2 2 2
y x r + =
Hence
y x z
I I I
my mx mr
+ =
+ =

2 2 2

Example. Rectangular lamina, sides a and b, about an axis through the centre, perpendicular
to the lamina

From the earlier examples, the moments of inertia about axes in the plane of the lamina are

2
12
1
2
12
1
, Ma I Mb I
y x
= =

Hence,
) (
2 2
12
1
b a M I I I
y x z
+ = + =

y
x
x
z
r
y
G A
1
2 L
1
2 L

x
z
y
b
a

Example. Find the radius of gyration of the square-frame lamina shown about an axis along
one side.

0.1 m
0.1 m
0.5 m
0.5 m
axis
axis

0.301 m

5. GENERAL MOTION OF A RIGID BODY (Optional)

The motion of a rigid body which is allowed to rotate as well as translate can be decomposed
into:
re of mass o the cent relative t

f the body rotation o
orce external f resultant under the
of mass the centre motion of

It may be shown (optional exercise) that, for a system of particles (e.g a rigid body):

(1) The centre of mass moves like a single particle of mass M under the resultant of the
external forces:
t
M
d
dV
F = where
t d
dx
V =

(2) The relation torque = rate of change of angular momentum:
t d
dh
T =
holds about a point which is either:
fixed, or
moving with the centre of mass

(3) The total kinetic energy can be written as the sum:
kinetic energy of the centre of mass (
2
2
1
V M )
+
kinetic energy of motion relative to the centre of mass

For a rigid body, the only possible motion relative to the centre of mass is rotation
about the centre of mass and hence:

=
+ =
mass of centre
KE about rotational
mass of centre of
KE nal translatio
energy kinetic total
I MV K
2
G
2
1
2
2
1

5.2 Rolling Without Slipping

Consider a body with circular cross-section rolling along a
plane surface. If the body rolls without slipping then the
distance moved by the point of contact must equal the length
of arc swept out:
r s =

Hence the linear and angular velocities are related by:
d
d
r
t
r v = =

Remember that the instantaneous point of contact with the plane has zero velocity, hence the
friction force does no work.
v
r


The total kinetic energy is given by
2 2
2
1
2
2
1
2
2
1
) (
KE) l (rotationa KE) linear (
I mr
I mv
K
+ =
+ =
+ =

A common example is of a spherical or cylindrical body rolling down an inclined plane. The
forces on the body are its weight Mg, the normal reaction force N and the friction force F.

v

mg
N
F

The relevant momentum and angular-momentum equations are derived from:
Force = mass acceleration for movement of the centre of mass:
(along slope):
t
v
M F Mg
d
d
sin =
(normal to slope): 0 cos = Mg N
Torque = rate of change of angular momentum about the centre of mass:

t
I Fr
d
d
=
Note that it is the friction force which causes the body to rotate.

Example. (Ohanian) A piece of steel pipe of mass 360 kg rolls down a ramp inclined at 30 to
the horizontal. What is the acceleration if the pipe rolls without slipping? What is the
magnitude of the friction force that acts at the point of contact between the pipe and ramp?

Linear acceleration = 2.45 m s
-2
; friction force = 883 N

Example. (Synge and Griffiths) A wheel consists of a thin rim of mass M and n spokes each
of mass m, which may be considered as thin rods terminating at the centre of the wheel. If the
wheel is rolling with linear velocity v, express its kinetic energy in terms of M, m, n, v.

Kinetic energy
2
3
2
) ( v nm M + =

5.3 Rolling With Slipping

For a body which is rolling along a surface the condition for
no slip is that the instantaneous point of contact is not
moving; that is, the linear translation velocity of the centre of
mass (v) must be equal and opposite to that of the relative
velocity of a point on the rim which is rotating (r ). Hence.
slipping occurs v r

Generally friction will act to oppose slipping. The relevant coefficient of friction is
k
or
s

according as slipping does or does not occur. If a spinning body is placed on a surface then it
is the friction force which initiates its forward motion.

Friction law:
N F =

The nature of motion (slipping or non-slipping) and the linear and rotational accelerations
depend (amongst other things) on the ratio I/Mr
2
and the friction coefficient = F
max
/N.

Example. (Synge and Griffiths) A hollow spherical ball of radius 5 cm is set spinning about a
horizontal axis with an angular velocity of 10 rad s
-1
. It is then gently placed on a horizontal
plane and released. If the coefficient of friction between the ball and the plane is 0.34, find
the distance traversed by the ball before slipping ceases.
[Moment of inertia of a spherical shell mass M and radius r is
2
3
2
Mr ].

6 mm
v
r

Examples

Q1. (Ohanian)
A car accelerates uniformly from rest to 80 km hr
-1
in 6 s. The wheels are of radius 30 cm.
What is the angular acceleration of the wheels?

Q2.
A uniform rod of length 0.5 m is free to rotate in a vertical plane about an axis at one end. If
it is released from a horizontal position, find its angular velocity when it passes through the
vertical position.

Q3.
A flywheel of radius 40 cm is attached to a shaft of radius
20 cm, the combined assembly having a moment of inertia of
20 kg m
2
. Long cables are wrapped around flywheel and shaft in
opposite directions and are attached to blocks of mass of 10 kg
and 50 kg which are initially at rest as shown. Find the angular
velocity after the 50 kg mass has moved a distance 1 m.

Q4.
Find the moment of inertia of a thin rod of mass M and length l about an axis through the
centre inclined at an angle with respect to the rod.

Q5. (Ohanian)
Find the moment of inertia of a flywheel of mass M
made by cutting four large holes of radius r out of a
uniform disk of radius R. The holes are centred at a
distance R/2 from the centre of the flywheel.

R
r
R
2

4
0
c
m
10 kg
50 kg
2
0
c
m


Q6.
A uniform plane lamina is formed from two 1 m 0.5 m
rectangular plates fused in the form of an inverted T as
shown. Find the radius of gyration about the axis marked O.

(The M.I. of a rectangular lamina, mass m and sides a and b,
about an axis through its centre and normal to its plane is
) (
2 2
12
1
b a m + ).

Q7.
Find the radius of gyration of the flat ring shown about
an axis tangential to the perimeter.

Q8.
A hoop rolls down an inclined ramp. The coefficient of static friction between the hoop and
the ramp is
s
. If the ramp is very steep, the hoop will slip while rolling. Show that the critical
angle of inclination at which slipping first occurs is given by tan = 2
s
.
0.5 m
0.25 m
0.75 m
0.5 m
1 m
O
0.3 m
0.2 m
axis of
rotation

Answers

A1. 12.3 rad s
-2

A2. = 7.67 rad s
-1

A3. = 4.99 rad s
-1

A4. sin
2 2
12
1
Ml

A5.
] ) ( 4 1 [
] ) ( 4 ) ( 2 1 [
2
1
2
2 2
2
R / r
R / r R / r
MR

A6. 0.797 m

A7. 0.35 m

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Mechanics Rotation - 1 David Apsley

MECHANICS, TOPIC E: ROTATION AUTUMN 2003

re of mass o the cent relative t

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