You are on page 1of 94

Physics 111: Lecture 17

Todays Agenda
l

Rotational Kinematics
Analogy with one-dimensional kinematics

Kinetic energy of a rotating system


Moment of inertia
Discrete particles
Continuous solid objects

Parallel axis theorem

Physics 111: Lecture 17, Pg 1

Rotation
l

Up until now we have gracefully avoided dealing with the


rotation of objects.
We have studied objects that slide, not roll.
We have assumed pulleys are without mass.

Rotation is extremely important, however, and we need to


understand it!

Most of the equations we will develop are simply rotational


analogues of ones we have already learned when studying
linear kinematics and dynamics.

Physics 111: Lecture 17, Pg 2

Lecture 17, Act 1


Rotations
l

Bonnie sits on the outer rim of a merry-go-round, and Klyde


sits midway between the center and the rim. The merry-goround makes one complete revolution every two seconds.
Klydes angular velocity is:

(a) the same as Bonnies


(b) twice Bonnies
(c) half Bonnies

Physics 111: Lecture 17, Pg 3

Lecture 17, Act 1


Rotations
l

The angular velocity w of any point on a solid object rotating


about a fixed axis is the same.
Both Bonnie & Klyde go around once (2p radians) every
two seconds.
(Their linear speed v will be different since v = wr).
w

VKlyde

1
= VBonnie
2

Physics 111: Lecture 17, Pg 4

Rotational Variables.

Spin round
blackboard

Rotation about a fixed axis:


Consider a disk rotating about
an axis through its center:
q

First, recall what we learned about


Uniform Circular Motion:

w =

dq
dt

(Analogous to v =

dx
)
dt

Physics 111: Lecture 17, Pg 5

Rotational Variables...
l
l

Now suppose w can change as a function of time:


We define the
dw d 2q
angular acceleration: a =
= 2
dt
dt
Consider the case when a
is constant.
We can integrate this to
find w and q as a function of time:

q
w

a = constant
w = w 0 + at

1
q = q0 + w 0 t + a t 2
2
Physics 111: Lecture 17, Pg 6

Rotational Variables...
a = constant
w = w 0 + at
1
q = q0 + w 0 t + at 2
2
Recall also that for a point at a
distance R away from the axis of
rotation:
x = qR
v = wR
And taking the derivative of this we find:
a = aR

v
x

q
w

Physics 111: Lecture 17, Pg 7

Summary
(with comparison to 11-D kinematics)
Angular

Linear
a = constant

a = constant

w =w

v = v 0 + at

+ at

1
q = q0 + w 0 t + at 2
2

x = x 0 + v 0t +

1 2
at
2

And for a point at a distance R from the rotation axis:


x = Rq

v = wR

a = aR

Physics 111: Lecture 17, Pg 8

Example: Wheel And Rope


l

A wheel with radius R = 0.4 m rotates freely about a fixed


axle. There is a rope wound around the wheel. Starting
from rest at t = 0, the rope is pulled such that it has a
constant acceleration a = 4 m/s2. How many revolutions
has the wheel made after 10 seconds?
(One revolution = 2p radians)

Physics 111: Lecture 17, Pg 9

Wheel And Rope...


l

Use a = aR to find a:
a = a / R = 4 m/s2 / 0.4 m = 10 rad/s2
Now use the equations we derived above just as you would
use the kinematic equations from the beginning of the
semester.
1
1
q = q0 + w 0 t + a t 2 = 0 + 0(10) + (10)(10)2 = 500 rad
2
2

= 500 rad x

1 rot
2p rad

80 rev

Physics 111: Lecture 17, Pg 10

Rotation & Kinetic Energy


l

Consider the simple rotating system shown below.


(Assume the masses are attached to the rotation axis by
massless rigid rods).
The kinetic energy of this system will be the sum of the
kinetic energy of each piece:
m4

m3

r1 m1

r4
r3

r2

m2

Physics 111: Lecture 17, Pg 11

Rotation & Kinetic Energy...


l

K =

So:

K=

1
mi v i2
2

but vi = wri

1
1 2
2
m
w
r
=
w m i ri 2
i( i)
2 i
2
i

v1

which we write as:


K=

1
I w2
2

I = mi ri

m4
v4

m3

Define the moment of inertia


about the rotation axis

r1 m1

r4

v2
r3

r2

m2

v3
I has units of kg m2.
Physics 111: Lecture 17, Pg 12

Rotation & Kinetic Energy...


l

The kinetic energy of a rotating system looks similar to that


of a point particle:
Point Particle
K =

1
mv 2
2

v is linear velocity
m is the mass.

Rotating System
1
I w2
2
w is angular velocity
I is the moment of inertia
about the rotation axis.
K=

I = mi ri 2
i
Physics 111: Lecture 17, Pg 13

Moment of Inertia
l

So K =

1
I w2
2

Inertia Rods

2
where I = mi ri
i

Notice that the moment of inertia I depends on the


distribution of mass in the system.
The further the mass is from the rotation axis, the bigger
the moment of inertia.

For a given object, the moment of inertia will depend on


where we choose the rotation axis (unlike the center of
mass).

We will see that in rotational dynamics, the moment of


inertia I appears in the same way that mass m does when
we study linear dynamics!
Physics 111: Lecture 17, Pg 14

Calculating Moment of Inertia


l

We have shown that for N discrete point masses distributed


about a fixed axis, the moment of inertia is:
N

where r is the distance from the mass


to the axis of rotation.

I = m i ri 2
i =1

Example: Calculate the moment of inertia of four point masses


(m) on the corners of a square whose sides have length L,
about a perpendicular axis through the center of the square:
m

Physics 111: Lecture 17, Pg 15

Calculating Moment of Inertia...


l

The squared distance from each point mass to the axis is:
2

2
L L
2
r = 2 =
2
2

Using the Pythagorean Theorem

2
2
2
2
2
L
L
L
L
L
so I = mi ri = m + m + m + m = 4 m
i =1
2
2
2
2
2
N

I = 2mL2

L/2
m

L
m

m
Physics 111: Lecture 17, Pg 16

Calculating Moment of Inertia...


l

Now calculate I for the same object about an axis through


the center, parallel to the plane (as shown):
L2
L2
L2
L2
L2
I = mi ri = m + m + m + m = 4 m
i =1
4
4
4
4
4
N

r
I = mL2

Physics 111: Lecture 17, Pg 17

Calculating Moment of Inertia...


l

Finally, calculate I for the same object about an axis along


one side (as shown):
N

I = mi ri = mL2 + mL2 + m0 2 + m0 2
i =1

r
I = 2mL2

Physics 111: Lecture 17, Pg 18

Calculating Moment of Inertia...


l

For a single object, I clearly depends on the rotation axis!!

I = 2mL2

I = mL2

I = 2mL2

Physics 111: Lecture 17, Pg 19

Lecture 17, Act 2


Moment of Inertia
l

A triangular shape is made from identical balls and identical


rigid, massless rods as shown. The moment of inertia about
the a, b, and c axes is Ia, Ib, and Ic respectively.
Which of the following is correct:

(a)

Ia > Ib > Ic

(b)

Ia > Ic > Ib

(c)

Ib > Ia > Ic

Physics 111: Lecture 17, Pg 20

Lecture 17, Act 2


Moment of Inertia
l

Label masses and lengths:

Calculate moments of inerta:


2

I a = m (2 L) + m (2 L) = 8 mL2
I b = mL2 + mL2 + mL2 = 3 mL2
2

I c = m (2 L ) = 4 mL2

a
L
b

So (b) is correct: Ia > Ic > Ib

L
c
m

m
Physics 111: Lecture 17, Pg 21

Calculating Moment of Inertia...


l

For a discrete collection of point


masses we found:
N

I = mi ri 2
i =1

For a continuous solid object we have to add up the mr2


contribution for every infinitesimal mass element dm.
We have to do an
integral to find I :

dm
I = r 2 dm

Physics 111: Lecture 17, Pg 22

Moments of Inertia
l

Hoop

Some examples of I for solid objects:


I = MR 2
R

I=

Thin hoop (or cylinder) of mass M and


radius R, about an axis through its center,
perpendicular to the plane of the hoop.

1
MR 2
2
Thin hoop of mass M and radius R,
about an axis through a diameter.

Physics 111: Lecture 17, Pg 23

Sphere and disk

Moments of Inertia...
l

Some examples of I for solid objects:


2
I = MR 2
5
Solid sphere of mass M and radius R,
R
about an axis through its center.

I=
R

1
MR 2
2

Solid disk or cylinder of mass M and


radius R, about a perpendicular axis
through its center.

Physics 111: Lecture 17, Pg 24

Lecture 17, Act 3


Moment of Inertia
l

Two spheres have the same radius and equal masses. One
is made of solid aluminum, and the other is made from a
hollow shell of gold.
Which one has the biggest moment of inertia about an axis
through its center?
(a) solid aluminum

(b) hollow gold

(c) same

hollow

solid

same mass & radius


Physics 111: Lecture 17, Pg 25

Lecture 17, Act 3


Moment of Inertia
l

Moment of inertia depends on mass (same for both) and


distance from axis squared, which is bigger for the shell since
its mass is located farther from the center.
The spherical shell (gold) will have a bigger moment of
inertia.
ISOLID < ISHELL
hollow

solid

same mass & radius


Physics 111: Lecture 17, Pg 26

Moments of Inertia...
l

Rod

Some examples of I for solid objects (see also Tipler, Table 9-1):
I=

1
ML2
12
Thin rod of mass M and length L, about
a perpendicular axis through its center.

1
I = ML2
3
Thin rod of mass M and length L, about
a perpendicular axis through its end.

Physics 111: Lecture 17, Pg 27

Parallel Axis Theorem


l
l

Suppose the moment of inertia of a solid object of mass M


about an axis through the center of mass, ICM, is known.
The moment of inertia about an axis parallel to this axis but
a distance D away is given by:

IPARALLEL = ICM + MD2

So if we know ICM , it is easy to calculate the moment of


inertia about a parallel axis.

Physics 111: Lecture 17, Pg 28

Parallel Axis Theorem: Example


l

Consider a thin uniform rod of mass M and length D. Figure


out the moment of inertia about an axis through the end of
the rod.
D=L/2
M
CM
2
IPARALLEL = ICM + MD
x
L

We know ICM =

So

1
ML2
12

IEND

IEND

ICM

1
L 2 1

2
= ML + M = ML2
2
12
3

which agrees with the result on a previous slide.


Physics 111: Lecture 17, Pg 29

Connection with CM motion


l

Recall what we found out about the kinetic energy of a


system of particles in Lecture 15:
1
1
2
K NET = mi ui2 + MVCM
1 42 2 43
124 2 43
KREL
KCM

For a solid object rotating about its center of mass, we


now see that the first term becomes:
K REL =

1
mi u i 2
2

1
K REL = w 2 mi ri 2
2
K REL =

Substituting ui = w ri
but

mi ri

= ICM

1
ICM w 2
2
Physics 111: Lecture 17, Pg 30

Connection with CM motion...


l

So for a solid object which rotates about its center or mass


and whose CM is moving:
K NET =

1
1
2
ICM w 2 + MVCM
2
2

VCM

w
We will use this formula more in coming lectures.

Physics 111: Lecture 17, Pg 31

Recap of todays lecture


l

Rotational Kinematics
Analogy with one-dimensional kinematics

Kinetic energy of a rotating system


Moment of inertia
Discrete particles
Continuous solid objects

Parallel axis theorem

Physics 111: Lecture 17, Pg 32

Physics 111: Lecture 18


Todays Agenda
l

More about rolling

Direction and the right hand rule

Rotational dynamics and torque

Work and energy with example

Physics 111: Lecture 17, Pg 33

Rotational v.s. Linear Kinematics


Angular

Linear

a = constant

a = cons tan t

w = w 0 + at

v = v 0 + at

1 2
q = q0 + w 0 t + a t
2

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

And for a point at a distance R from the rotation axis:


x = qR

v = wR

a = aR

Physics 111: Lecture 17, Pg 34

Roll objects

Rolling Motion
l

Cylinders of different I rolling down an inclined plane:

R
M
h

down ramp

v=0
w=0
K=0

DK = - DU = Mgh

1 2 1
K = I w + Mv 2
2
2

v = wR

Physics 111: Lecture 17, Pg 35

Rolling...
l

If there is no slipping:

2v

v
Where v = wR

In the lab reference frame

In the CM reference frame

Physics 111: Lecture 17, Pg 36

Rolling...
1 2 1
K = I w + Mv 2
2
2
K=

So:

Use v = wR and I = cMR2 .

1
1
1
c MR 2 w 2 + Mv 2 = ( c + 1)Mv 2
2
2
2

1
( c + 1)Mv 2 = Mgh
2

hoop:

c=1

disk:

c = 1/2

sphere: c = 2/5
etc...

v = 2 gh

1
c +1

The rolling speed is always lower than in the case of simple sliding
since the kinetic energy is shared between CM motion and rotation.
We will study rolling more in the next lecture!
Physics 111: Lecture 17, Pg 37

Direction of Rotation:
l
l

In general, the rotation variables are vectors (have direction)


If the plane of rotation is in the x-y plane, then the convention
is
y
CCW rotation is in
the + z direction

x
z

y
CW rotation is in
the - z direction

x
z
Physics 111: Lecture 17, Pg 38

Direction of Rotation:
The Right Hand Rule
y
l

To figure out in which direction the rotation


vector points, curl the fingers of your right
hand the same way the object turns, and
your thumb will point in the direction of the
rotation vector!

x
z
y

We normally pick the z-axis to be the


rotation axis as shown.
q = qz
w = wz
a = az

x
z

For simplicity we omit the subscripts


unless explicitly needed.
Physics 111: Lecture 17, Pg 39

Example:
l

A flywheel spins with an initial angular velocity w 0 = 500 rad/s.


At t = 0 it starts to slow down at a rate of 0.5 rad/s2. How long
does it take to stop?

Realize that a = - 0.5 rad/s2.

Use

w = w 0 + at
t =-

So in this case

t=

to find when w = 0 :

w0
a
500 rad/ s
2

0.5 rad/ s

=1000 s =16.7 min

Physics 111: Lecture 17, Pg 40

Lecture 18, Act 1


Rotations
l

A ball rolls across the floor, and then starts up a ramp as


shown below. In what direction does the angular acceleration
vector point when the ball is on the ramp?
(a) down the ramp
(b) into the page
(c) out of the page

Physics 111: Lecture 17, Pg 41

Lecture 18, Act 1


Solution
l

When the ball is on the ramp, the linear


acceleration a is always down the ramp (gravity).

The angular acceleration is therefore counter-clockwise.

Using your right hand rule, a is out of the page!

a
a

Physics 111: Lecture 17, Pg 42

Rotational Dynamics:
What makes it spin?
l

Suppose a force acts on a mass constrained to move in a


circle. Consider its acceleration in the ^
q direction at some
instant:
^
r
^
aq = ar
q
F

^
l Now use Newtons 2nd Law in the q
direction:
Fq = maq = mar
Multiply by r :
rFq = mr2a

Fq
aq

r
a

Physics 111: Lecture 17, Pg 43

Rotational Dynamics:
What makes it spin?
rFq = mr2a

use

= mr 2

= Ia
l

Define torque: t = rFq.


tis the tangential force Fq
times the lever arm r.

^
q
F
Fq

t = Ia
l

Torque has a direction:


+ z if it tries to make the system
spin CCW.
- z if it tries to make the system
spin CW.

^
r

aq

r
a

Physics 111: Lecture 17, Pg 44

Rotational Dynamics:
What makes it spin?
l

So for a collection of many particles


arranged in a rigid configuration:

ri Fi ,q = mi ri a i
i {
i 123
ti
I

Since the particles are connected rigidly,


they all have the same a.
ti = I a
i

tNET = Ia

m4
F4

F1

m3
F3

r1 m1

r4
r3

r2

m2
F2

Physics 111: Lecture 17, Pg 45

Rotational Dynamics:
What makes it spin?
tNET = Ia
l
l

This is the rotational analogue


of FNET = ma
Torque is the rotational analogue of force:
The amount of twist provided by a force.
Moment of inertia I is the rotational analogue of mass.
If I is big, more torque is required to achieve a given
angular acceleration.
Torque has units of kg m2/s2 = (kg m/s2) m = Nm.

Physics 111: Lecture 17, Pg 46

Torque
l

Recall the definition of torque:


t = rFq
= r F sin f

Fr f F

= r sin f F
t = rpF
rp = distance of closest approach
l

Equivalent definitions!

f
Fq
f

rp
Physics 111: Lecture 17, Pg 47

Torque
t= r Fsin f
l

So if f = 0o, then t = 0

And if f = 90o, then t = maximum

F
r

F
r

Physics 111: Lecture 17, Pg 48

Lecture 18, Act 2


Torque
l

In which of the cases shown below is the torque provided by the


applied force about the rotation axis biggest? In both cases the
magnitude and direction of the applied force is the same.

(a) case 1

(b) case 2
(c) same

L
axis
case 1

case 2
Physics 111: Lecture 17, Pg 49

Lecture 18, Act 2


Solution
l

Torque = F x (distance of closest approach)


The applied force is the same.
The distance of closest approach is the same.
Torque is the same!

F
L

F
L

case 1

case 2
Physics 111: Lecture 17, Pg 50

Torque and the


Right Hand Rule:
l

The right hand rule can tell you the direction of torque:
Point your hand along the direction from the axis to the
point where the force is applied.
Curl your fingers in the direction of the force.
Your thumb will point in the direction
of the torque.
F
y
r
x
t
z
Physics 111: Lecture 17, Pg 51

The Cross Product


l

We can describe the vectorial nature of torque in a


compact form by introducing the cross product.
The cross product of two vectors is a third vector:
B

AXB=C
l

The length of C is given by:


C = AB sin f

A
C

The direction of C is perpendicular to


the plane defined by A and B, and in
the direction defined by the right hand
rule.
Physics 111: Lecture 17, Pg 52

The Cross Product


l

Cartesian components of the cross product:


C=AXB
B
CX = AY BZ - BY AZ
CY = AZ BX - BZ AX
CZ = AX BY - BX AY

A
C

Note: B X A = - A X B
Physics 111: Lecture 17, Pg 53

Torque & the Cross Product:


l

So we can define torque as:

t= r X F
= rF sin f

tX = rY FZ - FY rZ = y FZ - FY z
tY = rZ FX - FZ rX = z FX - FZ x
tZ = rX FY - FX rY = x FY - FX y

r
y
z

Physics 111: Lecture 17, Pg 54

Comment on t = Ia
l

When we write t = Ia we are really talking about the z


component of a more general vector equation. (Recall that
we normally choose the z-axis to be the the rotation axis.)
tz = Izaz
tz
Iz
z

We usually omit the


z subscript for simplicity.

az

Physics 111: Lecture 17, Pg 55

Example
l

To loosen a stuck nut, a (stupid) man pulls at an angle of


45o on the end of a 50 cm wrench with a force of 200 N.
What is the magnitude of the torque on the nut?
If the nut suddenly turns freely, what is the angular
acceleration of the wrench? (The wrench
has a mass of 3 kg, and its shape
45o
is that of a thin rod).
F = 200 N

L = 0.5 m

Physics 111: Lecture 17, Pg 56

Example

Wrench w/ bolts

Torque t = LFsin f = (0.5 m)(200 N)(sin 45)

If the nut turns freely, t = Ia


We know t and we want a, so we need to figure out I.
1
1
I = ML2 = (3 kg)(0.5 m)2 = 0.25 kgm2
3
3

= 70.7 Nm

45o
F = 200 N

L = 0.5m

So a = t / I = (70.7 Nm) / (0.25 kgm2)


a = 283 rad/s2

a
Physics 111: Lecture 17, Pg 57

Work
l

Consider the work done by a force F acting on an object


constrained to move around a fixed axis. For an
infinitesimal angular displacement dq:

dW = F.dr = FR dq cos(b)
= FR dq cos(90-f)
= FR dq sin(f)
= FR sin(f) dq
dW = tdq

l
l
l

F
f

dq

dr = R dq

axis

We can integrate this to find: W = tq


Analogue of W = F Dr
W will be negative if t and q have opposite signs!
Physics 111: Lecture 17, Pg 58

Work & Kinetic Energy:


l

Recall the Work/Kinetic Energy Theorem:

This is true in general, and hence applies to rotational


motion as well as linear motion.

So for an object that rotates about a fixed axis:

DK =

DK = WNET

1 2
I w f - w i2 = WNET
2

Physics 111: Lecture 17, Pg 59

Example: Disk & String


l

A massless string is wrapped 10 times around a disk of


mass M = 40 g and radius R = 10 cm. The disk is
constrained to rotate without friction about a fixed axis
though its center. The string is pulled with a force F = 10 N
until it has unwound. (Assume the string does not slip, and
that the disk is initially not spinning).
How fast is the disk spinning after the string has
unwound?
R

F
Physics 111: Lecture 17, Pg 60

Disk & String...


l

The work done is W = t q


The torque is t = RF (since f = 90o)
The angular displacement q is
2p rad/rev x 10 rev.
R

So W = (.1 m)(10 N)(20p rad) = 62.8 J


1 4 4 2 4 43 14 2 43
t
q

Physics 111: Lecture 17, Pg 61

Disk & String...


1
2

WNET = W = 62.8 J = DK = I w 2

Flywheel, pulley,
& mass

Recall that I for a disk about


its central axis is given by:
1
I = MR 2
2
1 1

So DK = MR 2 w 2 = W

2 2
w=

4W
=
2
MR

4 (62 .8 J )
2

(.04 kg )(.1)

M
w

w = 792.5 rad/s

Physics 111: Lecture 17, Pg 62

Lecture 18, Act 3


Work & Energy
l

Strings are wrapped around the circumference of two solid disks


and pulled with identical forces for the same distance.
Disk 1 has a bigger radius, but both have the same moment of
inertia. Both disks rotate freely around axes though their
centers, and start at rest.
Which disk has the biggest angular velocity after the pull ?
(a) disk 1

w2

w1

(b) disk 2
(c) same
F

Physics 111: Lecture 17, Pg 63

Lecture 18, Act 3


Solution
l

The work done on both disks is the same!


W = Fd

The change in kinetic energy of each will


therefore also be the same since W = DK.
But we know DK =

1
I w2
2

w2

w1

So since I1 = I2
w1 = w 2
F

F
d
Physics 111: Lecture 17, Pg 64

Spinning Disk Demo:


I
l

We can test this with our big flywheel.


W = DK =

1 2 1
I w + mv 2
2
2

w=

In this case,

negligible
in this case

2W
I

I = 1 kg - m2
W = mgh = (2 kg)(9.81 m/s2)(1 m) = 19.6 J

w = 6.26 rad/s ~ 1 rev/s


Physics 111: Lecture 17, Pg 65

Recap of todays lecture


l

More about rolling

Direction and the right hand rule

Rotational dynamics and torque

Work and energy with example

Physics 111: Lecture 17, Pg 66

Physics 111: Lecture 19


Todays Agenda
l
l
l
l
l
l
l
l

Review
Many body dynamics
Weight and massive pulley
Rolling and sliding examples
Rotation around a moving axis: Puck on ice
Rolling down an incline
Bowling ball: sliding to rolling
Atwoods Machine with a massive pulley

Physics 111: Lecture 17, Pg 67

Review: Direction & The Right Hand Rule


y
l

To figure out in which direction the rotation


vector points, curl the fingers of your right
hand the same way the object turns, and
your thumb will point in the direction of the
rotation vector!

x
z
y

We normally pick the z-axis to be the


rotation axis as shown.
q = qz
w = wz
a = az

x
z

For simplicity we omit the subscripts


unless explicitly needed.
Physics 111: Lecture 17, Pg 68

Review: Torque and Angular Acceleration


tNET = Ia
l
l

This is the rotational analogue


of FNET = ma
Torque is the rotational analogue of force:
The amount of twist provided by a force.
Moment of inertia I is the rotational analogue of mass
If I is big, more torque is required to achieve a given
angular acceleration.

Physics 111: Lecture 17, Pg 69

Lecture 19, Act 1


Rotations
l

Two wheels can rotate freely about fixed axles through their
centers. The wheels have the same mass, but one has twice
the radius of the other.
Forces F1 and F2 are applied as shown. What is F2 / F1 if the
angular acceleration of the wheels is the same?

(a) 1
F2

(b) 2
(c) 4

F1

Physics 111: Lecture 17, Pg 70

Lecture 19, Act 1


Solution
We know
but

t= I a

t = FR

so FR = mR 2a
F = mR a

Since R2 = 2 R1

I = mR 2

and

F2 mR 2a R2
=
=
F1 mR1a R1
F2
=2
F1

F2
F1

Physics 111: Lecture 17, Pg 71

Review: Work & Energy


l

The work done by a torque t acting through a displacement


q is given by:
W = tq

The power provided by a constant torque is therefore given


by:

P=

dW
dq
= t = tw
dt
dt

Physics 111: Lecture 17, Pg 72

Falling weight & pulley


l

A mass m is hung by a string that is


wrapped around a pulley of radius R
attached to a heavy flywheel. The moment
of inertia of the pulley + flywheel is I. The
string does not slip on the pulley.

T
Starting at rest, how long does it take
for the mass to fall a distance L.

m
a

mg
L

Physics 111: Lecture 17, Pg 73

Falling weight & pulley...

For the hanging mass use F = ma


mg - T = ma
For the pulley + flywheel use t = Ia

t = TR = Ia
Realize that a = aR

TR = I

Now solve for a using the above


equations.
2

mR

a =
g
2
mR + I

a
R

T
m
a

mg
L

Physics 111: Lecture 17, Pg 74

Flywheel

Falling weight & pulley...


l

Using 1-D kinematics (Lecture 1) we


can solve for the time required for the
weight to fall a distance L:

w/ weight

R
1 2
L = at
2

where

t=

2L
a

mR 2
a =
g
2
mR + I

T
m
a

mg
L

Physics 111: Lecture 17, Pg 75

Rotation around a moving axis.


l

A string is wound around a puck (disk) of mass M and


radius R. The puck is initially lying at rest on a frictionless
horizontal surface. The string is pulled with a force F and
does not slip as it unwinds.
What length of string L has unwound after the puck has
moved a distance D?

M
R
F
Top view
Physics 111: Lecture 17, Pg 76

Rotation around a moving axis...


A=

The CM moves according to F = MA

The distance moved by the CM is thus D =

The disk will rotate about


its CM according to t = Ia

So the angular displacement is q =

M
1
I = MR 2
2

a=

F
M

1 2
F 2
At =
t
2
2M

t
RF
2F
=
=
I 1
MR
MR 2
2

1 2
F 2
at =
t
2
MR

R
F
Physics 111: Lecture 17, Pg 77

Rotation around a moving axis...


l

So we know both the distance moved by the CM and the


angle of rotation about the CM as a function of time:
D=

F 2
t
2M

Divide (b) by (a):

(a)
q 2
=
D R

q=

F 2
t
MR

Rq = 2 D

(b)
The length of string
pulled out is L = Rq:
L = 2D

q
F

F
D

L
Physics 111: Lecture 17, Pg 78

Comments on CM acceleration:
l

We just used t = Ia for rotation about an axis through the CM


even though the CM was accelerating!
The CM is not an inertial reference frame! Is this OK??
(After all, we can only use F = ma in an inertial reference
frame).

YES! We can always write t = Ia for an axis through the CM.


This is true even if the CM is accelerating.
We will prove this when we discuss angular momentum!

M
a

R
F
Physics 111: Lecture 17, Pg 79

Rolling
l

An object with mass M, radius R, and moment of inertia I


rolls without slipping down a plane inclined at an angle q
with respect to horizontal. What is its acceleration?

Consider CM motion and rotation about


the CM separately when solving this
problem (like we did with the last
problem)...
I
M

Physics 111: Lecture 17, Pg 80

Rolling...
l
l

Static friction f causes rolling. It is an unknown, so we must


solve for it.
First consider the free body diagram of the object and use
FNET = MACM :
In the x direction Mg sin q - f = MA
M

Now consider rotation about the CM


and use t = Ia realizing that
t= Rf and A = aR

Rf = I

A
R

f =I

R
q

Mg

R2

Physics 111: Lecture 17, Pg 81

Rolling...
l

We have two equations:

We can combine these to eliminate f:

Mg sin q - f = ma

f =I

A
R2

MR 2 sin q
A=g
MR 2 + I

I
A

For a sphere:
MR 2 sin q
A=g
2
2
MR + MR 2
5

5
= gsin q
7

Physics 111: Lecture 17, Pg 82

Lecture 19, Act 2


Rotations
l

Two uniform cylinders are machined out of solid aluminum.


One has twice the radius of the other.
If both are placed at the top of the same ramp and released,
which is moving faster at the bottom?

(a) bigger one


(b) smaller one
(c) same

Physics 111: Lecture 17, Pg 83

Lecture 19, Act 2


Solution
l

Consider one of them. Say it has radius R, mass M and falls


a height H.
Energy conservation: - DU = DK
but

1
I = MR 2
2

and

MgH =

w=

1
1
I w 2 + MV 2
2
2

V
R

2
1 1
1
2 V
MgH = MR 2 + MV 2
R
2 2
2

MgH =

1
1
3
MV 2 + MV 2 = MV 2
4
2
4

Physics 111: Lecture 17, Pg 84

Lecture 19, Act 2


Solution
So:

MgH =

3
MV 2
4

3
gH = V 2
4
V =

4
gH
3

So, (c) does not depend on size,


as long as the shape is the same!!

Physics 111: Lecture 17, Pg 85

Sliding to Rolling
l

Roll bowling ball

A bowling ball of mass M and radius R is thrown with initial


velocity v0. It is initially not rotating. After sliding with
kinetic friction along the lane for a distance D it finally rolls
without slipping and has a new velocity vf. The coefficient of
kinetic friction between the ball and the lane is m.
What is the final velocity, vf, of the ball?

w
vf= wR

v0

f = mMg

D
Physics 111: Lecture 17, Pg 86

Sliding to Rolling...
l
l
l

While sliding, the force of friction will accelerate the ball in


the -x direction: F = -mMg = Ma so a = -mg
The speed of the ball is therefore v = v0 - mgt (a)
Friction also provides a torque about the CM of the ball.
Using t = Ia and remembering that I = 2/5MR2 for a solid
sphere about an axis through its CM:

2
t = mMgR = MR 2 a
5

5mg
a=
2R

w = w 0 + at =

5 mg
t (b)
2R

w
x

v f= wR

v0

f = mMg

D
Physics 111: Lecture 17, Pg 87

Sliding to Rolling...
v = v 0 - mgt (a)

5mg
t (b)
2R

We have two equations:

Using (b) we can solve for t as a function of w:

Plugging this into (a) and using vf = wR (the condition for


rolling without slipping):
5
Doesnt depend
vf = v0
7
on m, M, g!!

w=

t=

2 Rw
5 mg

w
x

vf= wR

v0

f = mMg

D
Physics 111: Lecture 17, Pg 88

Lecture 19, Act 3


Rotations
l

A bowling ball (uniform solid sphere) rolls along the floor


without slipping.
What is the ratio of its rotational kinetic energy to its
translational kinetic energy?
(a)

1
5

(b)

2
5

(c)

1
2

Recall that I = 2 MR 2 for a solid sphere about


5

an axis through its CM:


Physics 111: Lecture 17, Pg 89

Lecture 19, Act 3


Solution
l

The total kinetic energy is partly due to rotation and partly


due to translation (CM motion).
K=

1
1
I w 2 + MV 2
2
2

rotational

translational

Physics 111: Lecture 17, Pg 90

Lecture 19, Act 3


Solution
K=

1
1
I w 2 + MV 2
2
2

Since it rolls without slipping: w =

rotational

Translational

V
R

K ROT
K TRANS

1 2
2
2 V
Iw
MR 2
5
R = 2
= 2
=
2
1
2
MV
5
MV
2

Physics 111: Lecture 17, Pg 91

Atwoods Machine with Massive Pulley:


l

A pair of masses are hung over a


massive disk-shaped pulley as shown.
Find the acceleration of the blocks.
For the hanging masses use F = ma
-m1g + T1 = -m1a
-m2g + T2 = m2a
a
=
I
For the pulley use t = Ia
R
a 1
T1R - T2R= I = MRa
R 2

(Since I =

1
MR 2 for a disk)
2

x
M
a
R
T2

T1

m2

m1
a
m1g

m2g

Physics 111: Lecture 17, Pg 92

Large and small pulleys

Atwoods Machine with Massive Pulley...


l

We have three equations and three


unknowns (T1, T2, a). Solve for a.

x
-m1g + T1 = -m1a

(1)

M
a

-m2g + T2 = m2a
T1 - T2 =

1
Ma
2

(2)
(3)

m1 - m 2

a =
g
m1 + m 2 + M 2

T2

T1

m2

m1
a
m1g

m2g

Physics 111: Lecture 17, Pg 93

Recap of todays lecture


l
l
l
l
l
l
l
l

Review
Many body dynamics
Weight and massive pulley
Rolling and sliding examples
Rotation around a moving axis: Puck on ice
Rolling down an incline
Bowling ball: sliding to rolling
Atwoods Machine with a massive pulley

Physics 111: Lecture 17, Pg 94

You might also like