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SYLLABUS
Centre of mass of a two-particle system. Centre of mass of a rigid body, general motion of a rigid
body, nature of rotational motion, torque, angular momentum, its conservation and applications.
Moment of Inertia, parallel and perpendicular axes theorem, expression of moment of inertia for
ring, disc and sphere.
1.
RIGID BODY
A rigid body is a body with a definite and unchanged shape and size i.e. a body is said to be rigid if
the distance between any two particles of the body remains invariant.
2.
DEFINITION OF CENTRE OF MASS
The concept of centre of mass is a pure mathematical concept. If n particle having mass m 1, m2 .m
n and are placed in space (x 1, y1, z1), (x2, y2, z2) .(x n, y n, z n)
Y
then centre of mass of system is defined as (X, Y, Z) where
m1(x1,y1,z1 )
i mi xi Y = 1 i mi y i and Z = 1 i mi zi where M =
X=
0(x,
y,z)
M
M
M
O
X
mi is the total mass of the system.
Locate the point with coordinates (X, Y, Z). This point is called the
centre of mass of the given collection of the particles. If the position Z
vector of the ith particle is ri, the centre of mass is defined to have the position vector
1
RCM mi ri
M i
r
where r i x i i yi j zi k
RCM
1
M
1
M
mn (x ni yn j znk)
k(m1z1 m2 z 2 .. mzn )
i x cm j y cm k (z cm)
n
r
m
r
i
i
RCM i1
M
differentiating above
uu
r equation
uur
uur
r
m
v
m
v
......
m
v
1
1
2
2
n
n
v CM
M
Again differentiating above equation
n
uu
r
uur
uur
uur
m
A
i i
m
A
m
A
......
m
A
2
2
n n
ACM i1
1 1
M
M
3.
MOMENTUM CONSERVATION AND CENTRE-OF-MASS MOTION
We now consider the case when no net external force acts on the system. The particles of the system,
however, move only under the influence of their mutual internal forces. In this case, setting Ftot= 0
MaCM=0
thus
aCM=0
Page 1
OAB OAB(congruent)
i.e.
AOB = AOB
Adding AOB to both sides of the above equation, we get,
BOB = AOA = (say)
This implies that in a given interval of time the angular displacements of all particles of the rigid
body undergoing rotation are identical.
Page 2
5.
ANGULAR VELOCITY ()
The rate of change of angular displacement with respect to time is known as angular velocity.
Average angular velocity
2 1
=
t 2 t1
Instantaneous angular velocity
Instantaneous velocity means angular velocity at a particular dot instant. It is mathematically define
as
1 d
lim 2
at t t1
t 2 t1 t t
dt
2
1
6.
ANGULAR ACCELERATIONS ()
Angular accelerations (): The rate of change of angular vel. with respect to time is known as
angular acceleration.
Average angular acceleration:
r
r
r 2 1
t 2 t1
Instantaneous angular acceleration: Instantaneous angular acceleration means angular
acceleration. at a particular dot instant at t = t1 mathematically it is define as
r
r
r
2 1 d
limit
t1 t 2
t 2 t1
dt t t
2
7.1
1 2
t
2
t = 20 2
o = magnitude of the initial angular velocity
(t) = magnitude of the angular velocity after time t.
o = Initial angular position.
(t) = Angular position after time t.
2
Here
Page 3
Illustration 1:
Solution:
1
( rad/sec2) (16 sec2) = 8 radian.
2
n 2 rad = 8 rad
n=4
7.2
IF IS NOT A CONSTANT
If is not constant then the following equation of motion will hold
d
=
dt
d d d2
=
2
dt
d
dt
Illustration 2:
Solution:
(a) Its instantaneous angular vel. and angular accel at t = 1 sec. (b) its average
angular vel. and average angular accel. from t = 1 sec to t = 2 sec (c) its
average angular vel. and angular accel. During who time of motion.
t3
= 2t 2 4t 6
.(1)
3
d 2
t 4t 4
=
..(2)
dt
d
2t 4
=
..(3)
dt
(a) at t = 1,
= 1 rad/s
2
= 2 rad/s .
25
rad
(b) at t = 1,
1 =
3
26
rad
at t = 2,
2 =
3
26 25
2 1
3
3
t 2 t1
2 1
r 1 1
2
rad / sec
t 2 t1
3
at
t1 = t1, 1 = 1
Page 4
1rad / sec 2
2 1
(c) = 0
t = 2 sec.
So whole time of motion is 2 sec.
t = 0 , 0 = 6
26
rad / s
t = 2, 2 =
3
26
6
r 2 0
8 4
3
rad / s
t 2 t0
20
6 3
t0 = 0, 0 = 4
t2 = 2, 2 = 0
0 0 4
2
2rad / s2
t 2 t0
20
8.
RELATION BETWEEN LINEAR AND ANGULAR VARIABLES
Consider a particle A of a rigid body undergoing rotation about a
, the particle A describing an arc ABA of a circle
fixed axis- n
with its centre O on the axis of rotation. Taking the origin at O, the
position vector of A,
OA .
r
OA= OA = constant (radius of the circle)
AOA = (t) (say)
The arc length, ABA,
S = r
dS d
r = r
dt
dt
The direction of the angular velocity vector be taken along the axis of rotation:
, n
being the unit vector along the axis of rotation.
= n
Then, v , instantaneous velocity of A with respect to the axis of rotation, can be written as
vA =
v r
If
dt
dt
dt
dv
d d r
r
a=
a r v
= r = 2 r
a v
9.
TORQUE
Torque of a forcerabout the axis of rotation
r
Consider a force F acting on a particle P. Choose an origin O and let r be the
position vector of the particle experiencing the force. We define the torque of
the
ur force
r r F about O as
.....(1)
P r F =r F sin q
r
r
This is a vector quantity having its direction perpendicular to r and F
according to the rule of cross product. Now consider a rigid body rotating
O
A
O1
O
Fig. (a)
Fig. (b)
Page 5
r F
= (r sin) F n
r F sin n
= b mg
The direction of torque is directed inward the
paper or in other words, rotation about O is
clockwise.
10.
mg
A
r2
m1
Let a rigid body is purly rotating about an axis AB with angular vel. w consider a general particle
m2 which is at a distance of r2 from axis of rotation.
V2 = r2.
So energy associated with this m2 is K E2
1
1
2
2 2
k E2 = m2 v 2 m2 r2
2
2
1
1
2 2
2
2
kEtotal = kE2 m2 r2 m2r2
2
2
1 2
kEtotal = I
2
Where I is called as moment of inertial of body about an given axis of rotation. In this case I is about
AB.
Moment of inerter is also called as rotational mass of object.
Illustration 4:
Solution:
Three point masses having mass 1, 2 and 3kg are placed at (1, 2, 3), (4, 0, 5)
and (1, 2, 3) find moment of inerter of the system about zaxis.
m1 = 1kg and (x1, y1, z1) = (1, 2, 3)
So r1 = distance of m1 from t axis = 12 22 5
M1 = 2kg and (x2, y2, z2) = (4, 0, 5) and distance of m2
Distance of m2 from t axis = ( 4)2 0 2 4mt
m3 = 3kg and (x3, y3, z3) = ( 1, 2, 3)
x
r
P
y
N
Y
Page
6
Solution:
The moment of inertia of a thin square plate ABCD (as shown in figure) of
uniform thickness about an axis passing through the centre O and
perpendicular to the Plane of plate is:
4
(A)
I1 + I2
(B)
I3 + I4
1
A
B
(C)
I1 + I3
(D)
I1 + I2 + I3 + I4
O
Where I1, I2, I3 and I4 are moments of inertia about axis 1,
3
2, 3 and 4 rasp. Which are in the plane of plate?
D
C
If I0 is moment of inertia of plane passing through the centre
2
and to plate, then according to the theorem of
perpendicular axes.
I0 = I 1 + I 2 = I 3 + I 4
From symmetry, I1 = I2 and I3 = I4
I0 = 2I2 = 2I3 i.e., I2 = I3
I0 = I1 + I2, I0 = I3 + I4
and I0 = I1 + I3
i.e., first three answers are correct. Ans. (A, B, C)
Illustration 6:
Y'
x
P
Y'
x
R
Page 7
2 x dx
its mass per unit area
2 . Mass of the ring
2
R
R
R2
the moment of inertia of the elementary ring about OX is
2Mx dx 2
dI
x
2
R
R
2M 3
MR2
The moment of inertia of the plate about OX is I 2 x dx
R
2
0
LAW OF ROTATION
Solution:
11.
If a body rotates purly about an axis S with angular acceleration and net torque acting on the body
about s is s.
s = I
Illustration 7:
Solution:
12.
= I
I
= Force perpendicular distance Torque is same in both the cases. But Since I
will be different due to different mass distribution about the axis.
will be different. False.
PROPERTY 1: If a rigid body is moving in general motion i.e. neither pure rotation nor pure
translation. Then if we consider two point on rigid body A and B. Then vel. of A along AB will be
same as vel. of B along AB.
VA
VB
VA cos = VB cos
B
Illustration 8:
Solution:
V1 cos(90 )
V1 cos(90 ) = Vcos
V1
90
Page
V cos 8
Solution:
M1 R1 I1
a
B
1
O
A
M2 R 2 I2
2
A2
F.B.D of A
N
1
T mg
TR1 = I1 1
F.B.D of B
.(1)
m2 g
m2g T = m2A2
.(2)
F.B.D of B from frame of reference of centre of B
T
m2 A 2
m2 g
13.
TR = I22
. (3)
accel. of A in down ward direction = accel. of B in downward direction = accel.
of C in down ward
R11 = A2 R2 2
...(4)
MOTION OF ROUND OR SPHERICAL OBJECT ON HORIZONTAL SURFACE
r
r
VOe V0i ; VS O R0i
r
r
r
VS e VSO VO e
= (VO RO) i
If vel. of point S is in forward direction with respect to contact surface then body is called is in
forward rolling.
If vel. of point S is in backward direction with respect to contact surface then it is called as in bock
ward slipping.
And if vel. of point S is 0 then the body is called as in rolling.
So,
VO Ro > 0 VO > Ro forward slipping
VO Ro < 0 VO < Ro backward slipping
VO Ro = 0 Rolling.
Point to be not iced
Suppose a round or spherical object to moving on earth and it is rolling. If at any time t = t its linear
acceleration is A and angular acceleration is . Then for further rolling
A = R
14.
ROTATIONAL WORK AND ENERGY
The rotational work done by a force about the fixed axis of rotation is defined as
Wrot = d
Where is the torque produced by the force, and d is the infinitesimally small angular
displacement about the axis.
The rotational kinetic energy of a body about a fixed rotational axis is defined as
1
K rot I2
2
where I is the moment of inertia about the axis.
WorkEnergy Theorm
In complete analog to the work energy theorem for the translatory motion, it can be stated for
rotational motion as:
Wrot = Krot
The net rotational work done by the forces is equal to the change in rotational kinetic energy of the
body.
Conservation of Mechanical Energy
In the absence of dissipative work done by nonconservative forces, the total mechanical energy of a
system is conserved.
K U 0
or
Kf + Uf = Ki + Ui
15.
ANGULAR MOMENTUM OF A PARTICLE ABOUT A POINT AND ABOUT AN
AXIS
L0 r p
L0 = rp sin = r p
where r = r sin = OA
where L
= unit vector along axis zz.
Lzz = L 0 .L
Page 10
RELATION
BETWEEN TORQUE AND ANGULAR MOMENTUM
L r p
dL
d r dp
p r
v mv r F
dt
dt
dt
r
=0+
ext
dL
ext
dt
r (mv)
F ma ,
is applied to rotation.
dL
0.
dt
= constant
Therefore, the angular momentum of the particle remains invariant in the absence of any net external
torque.
16.
Expressions for moment of inertia of bodies of regular shapes about particular axes of
rotation:
Shape of body
Axis of Rotation
(3/2) MR2
2 MR2
(1/2) MR2
any diameter
(1/4) MR2
(5/4) MR2
(3/2) MR2
any diameter
(2/5) MR2
(7/5) MR2
Page 11
(1/2) MR2
own axis
through centre perpendicular to
length
R2 L2
4 12
R2 L2
4
3
ML2/12
ML2/3
MB2/3
(ii)
ML2/3
MB2 ML2
or
12
12
L2 B2
M
12
(v)
L2 B2
12 3
L2 B2
3 12
B2 H2
or
12
H2 L2
M
or
12
L2 B2
12
M
(ii)
H2 B2
3 12
L2 H2
M
or
3 12
M
B2 L2
3 12
Page 12
mV 3
2g
(D)
mV 3
2 2g
2.
The ratio of Earths orbital angular momentum (about the sun) to its mass is 4.4 10 15 m2/s.
The area enclosed by Earths orbit approximately ..m2
(A)
(B)
6.94 1022 m2
7.94 10 22 m2
(C)
(D)
6.94 1020 m2
7.94 10 20 m2
3.
According to Keplers second law, the radius vector to a planet from the sun sweeps out equal
areas in equal intervals of time. This law is a consequence of the conservation of
(A)
Angular momentum
(B)
linear momentum
(C)
Energy conservation
(D)
All are correct.
4.
The moment of inertia of a ring about one of its diameters is I. What will be its moment of
inertia about a tangent parallel to the diameter?
(A)
4I
(B)
2I
3
I
(C)
(D)
3I
2
5.
A uniform cube of side a and mass m rests on a rough horizontal table. A horizontal force F is
applied normal to one of the faces at a point that is directly above the centre of the face, at a
height 3a/4 above the base. The minimum value of F for which the cube begins to topple
about the edge is (Assume that the cube does not slide).
3
2
C
B
mg
mg
(A)
(B)
F
2
3
4
1
3a / 4
mg
mg
(C)
(D)
D
5
6
A
6.
B
an angle 30 with vertical rod and disc is rotating with angular
30
O
vel. as shown in fig. Then what will be the vel. of A.
90 30 60
mg
7.
30
Page 13
OB r / 2
(A)
(C)
Rw
2 3
Rw
5 3
8.
9.
10.
11.
12.
13.
Vo
Vo
Vo
Vo
Vo
Vo
Vo
Vo
Vo
Vo
Vo
Vo
Page 14
14.
15.
For above angle of , the maximum value of force F for which it will remains in equilibrium
mg
mg
F
F
(A)
(B)
(cos sin )
(cos sin )
mg
mg
F
F
(C)
(D)
(cos sin )
(cos sin )
16.
Let at 1 body is in equilibrium then if > 1 then direction and magnitude of friction on
ground will be (if rolling is taking place I = mrR/2 about centre)
F(cos 1)r
fr
(A)
bark ward
(r 2R)
F(cos 2)r
fr
(B)
bark ward
(r 2R)
F(cos 2)r
fr
(C)
bark ward
(r 2R)
F(cos 2)r
fr
(D)
bark ward
(r 2R)
17.
for 180,
18.
F
k where K 1Kg/N. Then direction and magnitude of friction force
250m
2
4R
2
on contact surface will be I mR Consider r
3
5
(A)
F/15
(B)
F/25
(C)
F/20
(D)
none of these
. Then the friction force, linear and angular acceleration of spool will be
2
(moment of inertia of spool about centre = I)
(A)
0, F/M, Fr/I
(B) 0, 0, Fr/I
(C)
0, 0, 0
(D)
none of these
F Mg and
19.
20.
Page 15
21.
22.
23.
24.
L
M
J = MV
The torque on a body about a given point is found to be equal to A L where A is constant
vector, and L is the angular momentum of the body about that point. From this it follows that
dL
(A)
is perpendicular to L at all instants of time
dt
(B)
the component of L in the direction of A does not change with time.
(C)
the magnitude of L does not change with time.
(D)
L does not change with time
(A)
A, B, C
(B)
A, C, D
(C)
B, C, D
(D)
A, B, C, D
A particle is confined to rotate in a circular path decreasing linear speed, then which of the
following
r is correct?
(A)
L (angular momentum ) is conserved rabout the centre
(B)
only direction of angular momentum L is conserved
(C)
It spirals towards the centre
(D)
Its acceleration is towards the centre
25.
A thin circular ring of mass M and radius r is rotating about its axis with a constant angular
velocity , Two objects, each of mass m, are attached gently to the opposite ends of a
diameter of the ring. The wheel now rotates with an angular velocity
M
(M 2m )
(A)
(B)
(M m )
(M 2m )
M
(M 2m )
(C)
(D)
(M 2 m)
M
26.
Two point masses of 0.3 kg and 0.7kg are fixed at the ends of a rod of length 1.4 m and of
negligible mass. The rod is set rotating about an axis perpendicular to its length with a
uniform angular speed. The point on the rod through which the axis should pass in order that
the work required for rotation of the rod is minimum is located at a distance of
(A)
0.42 m from mass of 0.3 kg
(B)
0.70 m from mass of 0.7 kg
(C)
0.98 m from mass of 0.3 kg
(D)
0.98 m from mass of 0.7 kg
27.
A mass m is moving with a constant velocity along a line parallel to the xaxis, away from
the origin. Its angular momentum with respect to the origin
(A)
is zero
(B)
remains constant
(C)
goes on increasing
(D)
goes on decreasing.
Page 16
28.
29.
30.
V
O
Page 17
B
A
A
D
B
C
A
C
A
B
11.
12.
13.
14.
15.
16.
17.
18.
19.
20.
C
D
A
C
D
D
B
B
B
A
21.
22.
23.
24.
25.
26.
27.
28.
29.
30.
C
A
A
B
C
C
B
C
C
A
Page 18