Angular Momentum

 Vectors
 Cross Product
 Torque using
vectors
 Angular
Momentum
Vector Basics
 We will be using vectors a lot in this course.Ways of writing vector notation
 Remember that vectors have both F  ma
 
magnitude and direction e.g. a, q F  ma
 You should know how to find the F  ma
components of a vector from its magnitude
and direction
ax  a cosq y
a y  a sin q 
a
ay
 You should know how to find a vector’s q
magnitude and direction from its ax x
components
a  ax2  a y2
q  tan 1 a y / ax
Projection of a Vector in Three Dimensions
 Any vector in three dimensions can be
projected onto the x-y plane.
 The vector projection then makes an angle f z
from the x axis.

 Now project the vector onto the z axis, along a
the direction of the earlier projection.
q
 The original vector a makes an angle q from the
z axis. f y

x
Vector Basics
 You should know how to generalize the case
of a 2-d vector to three dimensions, e.g. 1
magnitude and 2 directions a, q , f
z
 Conversion to x, y, z components
a x  a sin q cosf 
a
a y  a sin q sin f
q
a z  a cosq
 Conversion from x, y, z components f y
a  a x2  a y2  a z2
q  cos1 a z / a x

f  tan 1 a y / a x

 Unit vector notation:


a  a x iˆ  a y ˆj  a z kˆ
A Note About Right-Hand Coordinate Systems

 A three-dimensional coordinate
system MUST obey the right-hand z
rule.

 Curl the fingers of your RIGHT

HAND so they go from x to y. Your
y
thumb will point in the z direction.
x
Vector Math
 Vector Inverse
 Just switch direction  
A A
 
 Vector Addition A B
 Use head-tail method, or   
parallelogram method A B A

  B
A B
 Vector Subtraction 
 Use inverse, then add A
   Vector Math by Components
 B A B
 Vector Multiplication B  
B   A   Ax iˆ  Ay ˆj  Az kˆ
 Three kinds!  
 Multiplying a vector by a scalar A  B  ( Ax  Bx )iˆ  ( Ay  B y ) ˆj  ( Az  Bz )kˆ
 Scalar, or dot product  
 Vector, or cross product A  B  ( Ax  Bx )iˆ  ( Ay  B y ) ˆj  ( Az  Bz )kˆ
 
B  sA  sAx iˆ  sAy ˆj  sAz kˆ
Scalar Product of Two Vectors
 The scalar product of
two vectors is written as A  B
 It is also called the dot
product
 A  B  A B cos q
 q is the angle between A
and B
 Applied to work, this
means
W  F r cosq  F  r
Dot Product
 The dot product says something about how
parallel two vectors are.
 The dot product (scalar product) of two vectors
can be thought of as the projection of one onto
the direction of the other.
 
A  B  AB cosq

A  iˆ  A cosq  Ax 
B
 Components
( A cosq ) B 
q A
  A( B cosq )
A  B  Ax Bx  Ay B y  Az Bz
Projection of a Vector: Dot Product
 The dot product says something about how
parallel two vectors are.
 The dot product (scalar product) of two vectors
can be thought of as the projection of one onto
the direction of the other.
 
A  B  AB cosq

A  iˆ  A cosq  Ax 
B Projection is zero
 Components

p/2

  A
A  B  Ax Bx  Ay B y  Az Bz
Derivation  
 How do we show that A  B  Ax Bx  A?y B y  Az Bz
 Start with 
A  Axiˆ  Ay ˆj  Az kˆ

B  Bxiˆ  By ˆj  Bz kˆ
 
 Then A  B  ( Axiˆ  Ay ˆj  Az kˆ)  ( Bxiˆ  By ˆj  Bz kˆ)
 Axiˆ  ( Bxiˆ  By ˆj  Bz kˆ)  Ay ˆj  ( Bxiˆ  By ˆj  Bz kˆ)  Az kˆ  ( Bxiˆ  By ˆj  Bz kˆ)

 But iˆ  ˆj  0; iˆ  kˆ  0; ˆj  kˆ  0
iˆ  iˆ  1; ˆj  ˆj  1; kˆ  kˆ  1
 
 So A  B  Axiˆ  Bx iˆ  Ay ˆj  By ˆj  Az kˆ  Bz kˆ
 Ax Bx  Ay By  Az Bz
Cross Product
    
C  A B B sinq B

 The cross product of two vectors says something 

about how perpendicular they are. q A
 Magnitude: 
   A sinq
C  A  B  AB sinq
y
 q is smaller angle between the vectors
 Cross product of any parallel vectors = zero j i
 Cross product is maximum for perpendicular vectors x
 Cross products of Cartesian unit vectors: k
z

i
iˆ  ˆj  kˆ; iˆ  kˆ   ˆj; ˆj  kˆ  iˆ
iˆ  iˆ  0; ˆj  ˆj  0; kˆ  kˆ  0 j k
Cross Product
 Direction: C perpendicular to both A and B
(right-hand rule)
 Place A and B tail to tail
 Right hand, not left hand
 Four fingers are pointed along the first vector A
 “sweep” from first vector A into second vector B
through the smaller angle between them
 Your outstretched thumb points the direction of
   
C A B  B  A ?
 First practice
   
A B  - B  A

   
A B  B  A ?
More about Cross Product
 The quantity ABsinq is the area of the
parallelogram formed by A and B
 The direction of C is perpendicular to the
plane formed by A and B
 Cross product is not commutative
   
A B  - B  A
 The distributive law       
A  ( B  C)  A  B  A  C
 
 The derivative of cross product
obeys the chain rule dt
 dt

d   dA   dB
A B   B  A
dt
 Calculate cross product
 
A  B  ( Ay Bz  Az B y )iˆ  ( Az Bx  Ax Bz ) ˆj  ( Ax B y  Ay Bx )kˆ
Derivation  
 How do we show that A  B  ( Ay Bz  Az B y )iˆ  ( Az Bx  Ax Bz ) ˆj? ( Ax B y  Ay Bx )kˆ
 Start with 
A  Axiˆ  Ay ˆj  Az kˆ

B  Bxiˆ  By ˆj  Bz kˆ
 
ˆ ˆ ˆ ˆ ˆ ˆ
 Then A  B  ( Axi  Ay j  Az k )  ( Bxi  By j  Bz k )
 Axiˆ  ( Bxiˆ  By ˆj  Bz kˆ)  Ay ˆj  ( Bxiˆ  By ˆj  Bz kˆ)  Az kˆ  ( Bxiˆ  By ˆj  Bz kˆ)

iˆ  ˆj  kˆ; iˆ  kˆ   ˆj; ˆj  kˆ  iˆ
 But
iˆ  iˆ  0; ˆj  ˆj  0; kˆ  kˆ  0
 
A  B  Axiˆ  By ˆj  Axiˆ  Bz kˆ  Ay ˆj  Bxiˆ  Ay ˆj  Bz kˆ
 So  Az kˆ  Bxiˆ  Az kˆ  By ˆj
Torque as a Cross Product
    The torque is the cross product of a force
  rF vector with the position vector to its point
of application
  rF sinq  r F  r F
 The torque vector is perpendicular to the
plane formed by the position vector and
the force vector (e.g., imagine drawing
them tail-to-tail)
 Right Hand Rule: curl fingers from r to F,
thumb points along torque.

Superposition:
   
 net   i   ri  Fi (vector sum)
all i all i
 Can have multiple forces applied at multiple
points.
 Direction of net is angular acceleration axis
Calculating Cross Products
Find:
   
A B Where: A  2iˆ  3 ˆj B  iˆ  2 ˆj
 
Solution: A  B  (2iˆ  3 ˆj )  (iˆ  2 ˆj ) i

 2iˆ  (iˆ)  2iˆ  2 ˆj  3 ˆj  (iˆ)  3 ˆj  2 ˆj

j k
 0  4iˆ  ˆj  3 ˆj  iˆ  0  4kˆ  3kˆ  7kˆ
Calculate torque given a force and its location
 
F  (2iˆ  3 ˆj ) N r  (4iˆ  5 ˆj )m
  
Solution:   r  F  (4iˆ  5 ˆj )  (2iˆ  3 ˆj )
 4iˆ  2iˆ  4iˆ  3 ˆj  5 ˆj  2iˆ  5 ˆj  3 ˆj
 0  4iˆ  3 ˆj  5 ˆj  2iˆ  0  12kˆ  10kˆ  2kˆ (Nm)
 Net torque example: multiple forces at a single point  z
F2
3 forces applied at point  
 F1
r  r cos( q) î  0 ĵ  r sin( q) k̂ 
F3
   r
F1  2 î F2  2 k̂ F3  2 ĵ r3 q  30 o q y

Find the net torque about the origin:

    x
net  r  Fnet  r  ( F1  F2  F3 )
set rx  rsin( q)  3sin(30 o )  1.5
 (rx î  rzk̂)  (2 î  2 ĵ  2k̂) rz  rcos( q)  3cos(30 o )  2.6

 2rx î  î  2rx î  ĵ  2rx î  k̂  2rzk̂  î  2rzk̂  ĵ  2rzk̂  k̂

net  0  2rxk̂  2rx () ĵ  2rz ĵ  2rz () î  0 i
oblique rotation axis
 net   3i  2.2 ĵ  5.2k̂ through origin
j k
Here all forces were applied at the same point.
For forces applied at different points, first calculate
the individual torques, then add them as vectors,
i.e., use:    
net   i   ri  Fi (vector sum)
all i all i
February 18, 2011
Angular Momentum
 Same basic techniques that were used in linear
motion can be applied to rotational motion.
 F becomes 
 m becomes I
 a becomes 
 v becomes ω
 x becomes θ
 Linear momentum defined as p  mv
 What if mass of center of object is not moving, but it
is rotating?
 Angular momentum L  I
Angular Momentum I
 Angular momentum of a rotating rigid object
  
L  I 
L


 L has the same direction as 

 L is positive when object rotates in CCW
 L is negative when object rotates in CW
 Angular momentum SI unit: kgm2/s

 Calculate L of a 10 kg disc when  = 320 rad/s, R = 9 cm = 0.09 m

 L = I and I = MR2/2 for disc
 L = 1/2MR2 = ½(10)(0.09)2(320) = 12.96 kgm2/s
Angular Momentum II
 Angular momentum of a particle
L  I  mr 2  mv r  mvr sin f  rp sin f
 Angular momentum of a particle
    
L  r  p  m(r  v )
 r is the particle’s instantaneous position vector
 p is its instantaneous linear momentum
 Only tangential momentum component contribute
 r and p tail to tail form a plane, L is perpendicular to this
plane
Angular Momentum of a Particle in Uniform Circular
Motion
Example: A particle moves in the xy plane in a circular path of
radius r. Find the magnitude and direction of its angular
momentum relative to an axis through O when its velocity is v.
 The angular momentum vector points
out of the diagram
 The magnitude is
L = rp sinq = mvr sin (90o) = mvr
 A particle in uniform circular motion has O
a constant angular momentum about an
axis through the center of its path
Angular momentum III
 Angular momentum of a system of particles
     
Lnet  L 1  L 2  ...  L n  
all i
Li  
all i
ri  p i

 angular momenta add as vectors

 be careful of sign of each angular momentum

for this case:

      
Lnet  L1  L2  r1  p1  r2  p2

| Lnet |   r1 p1 - r 2 p2
 Example: calculating angular momentum for particles

Two objects are moving as shown in the figure . What is their total
angular momentum about point O?

      
Lnet  L1  L2  r1  p1  r2  p2 m2

Lnet  r1mv1 sin q1  r2 mv2 sin q 2

 r1mv1  r2 mv2
 2.8  3.1 3.6  1.5  6.5  2.2
 31.25  21.45  9.8 kgm2 / s
m1
Angular Momentum and Torque
 Net torque acting on an object is equal to the time rate
of change of the object’s angular momentum
   0 I  I0
   I  I  I( )
t t t
 Angular momentum is defined as

change in angular momentum L

  
time interval t
 Analog in impulse
p
F
L t
 
t
 SUMMARY
Translation Rotation
   
Force F Torque   r F
Linear   Angular   
Momentum p  mv l  r p
Momentum
Kinetic 1 Kinetic
Energy K 2
mv 2
Energy K
1 2

2

Systems and Rigid Bodies

  
Linear P   pi  Mv cm Angular   
Momentum Momentum L   L i  i i
 

 for rigid bodies about common 

fixed axis
Second  dP Second  dLsys
Fnet  net 
Law dt Law dt

Momentum conservation - for closed, isolated systems

 
Psys  constant L sys  constant
Apply separately to x, y, z axes
1. The wire AE is stretched between the corners A and E of a bent plate.
Knowing that the tension in the wire is 435 N, determine the moment
about O of the force exerted by the wire (a) on corner A, (b) on corner
E.
2. The 6-m boom AB has a fixed end A. A steel cable is
stretched from the free end B of the boom to a Point C
located on the vertical wall. If the tension in the cable is 2.5
kN, determine the moment about A of the force exerted by
the cable at B.
3. The frame ACD is hinged at A and D and is supported
by a cable that passes through a ring at B and is attached
to hooks at G and H. Knowing that the tension in the cable
is 450 N, determine the moment about the diagonal AD of
the force exerted on the frame by portion BH of the cable.