CHAPTER 10 SUMMARY

S
Torque: When a force F acts on a body, the torque of t = Fl (10.2) Frad 5 F cos f
that force with respect to a point O has a magnitude S S S l 5 r sin f
T r : F (10.3) S
f f 5 lever arm
given by the product of the force magnitude F and the F
S
lever arm l. More generally, torque is a vector T equal to S
r
S
the vector product of r (the position
S
vector of the point Ftan 5 F sin f O
at which the force acts) and F . (See Example 10.1.) S S S
t5r3F

y
a tz = Iaz
Rotational dynamics: The rotational analog of (10.7) F F n
Newtons second law says that the net torque acting
R R
on a body equals the product of the bodys moment of x
inertia and its angular acceleration. (See Examples 10.2 M
and 10.3.) Mg

Combined translation and rotation: If a rigid body is K = 12 Mvcm2 + 12 Icm v2 (10.8)

both moving through space and rotating, its motion can
S S R
a Fext M a cm
be regarded as translational motion of the center of mass (10.12)
plus rotational motion about an axis through the center vcm 5 0
M v50
a tz = Icm az (10.13) 1
of mass. Thus the kinetic energy is a sum of translational
and rotational kinetic energies. For dynamics, Newtons vcm = Rv (10.11) h v
second law describes the motion of the center of mass, (rolling without slipping)
and the rotational equivalent of Newtons second law 2
describes rotation about the center of mass. In the case of vcm
rolling without slipping, there is a special relationship
between the motion of the center of mass and the rota-
tional motion. (See Examples 10.410.7.)

Work done by a torque: A torque that acts on a rigid u2

body as it rotates does work on that body. The work can W = tz du (10.20)
be expressed as an integral of the torque. The work Lu1 S
Ftan
energy theorem says that the total rotational work done W = tz1u2 - u12 = tz u (10.21) ds
on a rigid body is equal to the change in rotational (constant torque only) du
R
S R
kinetic energy. The power, or rate at which the torque Ftan
does work, is the product of the torque and the angular Wtot = 12 Iv22 - 12 Iv12 (10.22)
O
velocity (See Example 10.8.)
P = tz vz (10.23)

S S S S S S
Angular momentum: The angular momentum of a par- L r : p r : mv (10.24) L
ticle with respect to point O is the vector product of the (particle)
S S
particles position vector r relative to O and its momen- S S
v
S S
tum p mv. When a symmetrical body rotates about a L IV (10.28)
stationary axis of symmetry, its angular momentum is (rigid body rotating
the product of its moment of inertia and its angular about axis of symmetry)
S
velocity vector V . If the body is not symmetrical or the
rotation 1z2 axis is not an axis of symmetry, the compo-
nent of angular momentum along the rotation axis is
Ivz . (See Example 10.9.)

S
Rotational dynamics and angular momentum: The net dL
S
external torque on a system is equal to the rate of aT dt
(10.29)
change of its angular momentum. If the net external
torque on a system is zero, the total angular momentum
of the system is constant (conserved). (See Examples
10.1010.13.)

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