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Rotational Kinematics
Analogy with one-dimensional kinematics
Rotation
l
VKlyde
1
= VBonnie
2
Rotational Variables.
Spin round
blackboard
w =
dq
dt
(Analogous to v =
dx
)
dt
Rotational Variables...
l
l
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
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
v = wR
a = aR
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
m3
r1 m1
r4
r3
r2
m2
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
1
I w2
2
I = mi ri
m4
v4
m3
r1 m1
r4
v2
r3
r2
m2
v3
I has units of kg m2.
Physics 111: Lecture 17, Pg 12
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
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So K =
1
I w2
2
Inertia Rods
2
where I = mi ri
i
I = m i ri 2
i =1
The squared distance from each point mass to the axis is:
2
2
L L
2
r = 2 =
2
2
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
r
I = mL2
I = mi ri = mL2 + mL2 + m0 2 + m0 2
i =1
r
I = 2mL2
I = 2mL2
I = mL2
I = 2mL2
(a)
Ia > Ib > Ic
(b)
Ia > Ic > Ib
(c)
Ib > Ia > Ic
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
L
c
m
m
Physics 111: Lecture 17, Pg 21
I = mi ri 2
i =1
dm
I = r 2 dm
Moments of Inertia
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Hoop
I=
1
MR 2
2
Thin hoop of mass M and radius R,
about an axis through a diameter.
Moments of Inertia...
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I=
R
1
MR 2
2
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
(c) same
hollow
solid
solid
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.
We know ICM =
So
1
ML2
12
IEND
IEND
ICM
1
L 2 1
2
= ML + M = ML2
2
12
3
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
1
1
2
ICM w 2 + MVCM
2
2
VCM
w
We will use this formula more in coming lectures.
Rotational Kinematics
Analogy with one-dimensional kinematics
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
v = wR
a = aR
Roll objects
Rolling Motion
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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
Rolling...
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If there is no slipping:
2v
v
Where v = wR
Rolling...
1 2 1
K = I w + Mv 2
2
2
K=
So:
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
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
x
z
y
x
z
Example:
l
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
a
a
Rotational Dynamics:
What makes it spin?
l
^
l Now use Newtons 2nd Law in the q
direction:
Fq = maq = mar
Multiply by r :
rFq = mr2a
Fq
aq
r
a
Rotational Dynamics:
What makes it spin?
rFq = mr2a
use
= mr 2
= Ia
l
^
q
F
Fq
t = Ia
l
^
r
aq
r
a
Rotational Dynamics:
What makes it spin?
l
ri Fi ,q = mi ri a i
i {
i 123
ti
I
tNET = Ia
m4
F4
F1
m3
F3
r1 m1
r4
r3
r2
m2
F2
Rotational Dynamics:
What makes it spin?
tNET = Ia
l
l
Torque
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Fr f F
= r sin f F
t = rpF
rp = distance of closest approach
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Equivalent definitions!
f
Fq
f
rp
Physics 111: Lecture 17, Pg 47
Torque
t= r Fsin f
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So if f = 0o, then t = 0
F
r
F
r
(a) case 1
(b) case 2
(c) same
L
axis
case 1
case 2
Physics 111: Lecture 17, Pg 49
F
L
F
L
case 1
case 2
Physics 111: Lecture 17, Pg 50
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
AXB=C
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A
C
A
C
Note: B X A = - A X B
Physics 111: Lecture 17, Pg 53
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
Comment on t = Ia
l
az
Example
l
L = 0.5 m
Example
Wrench w/ bolts
= 70.7 Nm
45o
F = 200 N
L = 0.5m
a
Physics 111: Lecture 17, Pg 57
Work
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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
DK =
DK = WNET
1 2
I w f - w i2 = WNET
2
F
Physics 111: Lecture 17, Pg 60
WNET = W = 62.8 J = DK = I w 2
Flywheel, pulley,
& mass
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
w2
w1
(b) disk 2
(c) same
F
1
I w2
2
w2
w1
So since I1 = I2
w1 = w 2
F
F
d
Physics 111: Lecture 17, Pg 64
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
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
x
z
y
x
z
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
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
P=
dW
dq
= t = tw
dt
dt
T
Starting at rest, how long does it take
for the mass to fall a distance L.
m
a
mg
L
t = TR = Ia
Realize that a = aR
TR = I
mR
a =
g
2
mR + I
a
R
T
m
a
mg
L
Flywheel
w/ weight
R
1 2
L = at
2
where
t=
2L
a
mR 2
a =
g
2
mR + I
T
m
a
mg
L
M
R
F
Top view
Physics 111: Lecture 17, Pg 76
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
F 2
t
2M
(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
M
a
R
F
Physics 111: Lecture 17, Pg 79
Rolling
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Rolling...
l
l
Rf = I
A
R
f =I
R
q
Mg
R2
Rolling...
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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
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
MgH =
3
MV 2
4
3
gH = V 2
4
V =
4
gH
3
Sliding to Rolling
l
w
vf= wR
v0
f = mMg
D
Physics 111: Lecture 17, Pg 86
Sliding to Rolling...
l
l
l
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
w=
t=
2 Rw
5 mg
w
x
vf= wR
v0
f = mMg
D
Physics 111: Lecture 17, Pg 88
1
5
(b)
2
5
(c)
1
2
1
1
I w 2 + MV 2
2
2
rotational
translational
1
1
I w 2 + MV 2
2
2
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
(Since I =
1
MR 2 for a disk)
2
x
M
a
R
T2
T1
m2
m1
a
m1g
m2g
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
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