m1 m2

m1=100 kg adult, m2=10 kg baby.

The seesaw starts from rest. Which direction will it rotates?

(a) Counter-Clockwise
(b) Clockwise
( )
(c) N rotation
No t ti
(d) Not enough information

Effect of a Constant Net Torque

2.3 A constant non-zero net torque is exerted on a wheel. Which of the

following quantities must be changing?

1. angular position
2. angular velocity
3. angular acceleration
4. moment of inertia
5. kinetic energy
6. the mass center location

A. 1, 2, 3
B
B. 4 5,
4, 5 6
C. 1,2, 5
D. 1, 2, 3, 4
E. 2, 3, 5

1
 Example: second law for rotation
PP10601-50: A torque of 32.0 N·m on a certain wheel causes an angular acceleration
of 25.0 rad/s2. What is the wheel's rotational inertia?

Second Law example: α for an unbalanced bar

Bar is massless and originally horizontal
Rotation axis at fulcrum point L1 N L2
Î N has zero torque +y
Find angular acceleration of bar and the linear m1g fulcrum m2g
acceleration of m1 just after you let go
τ net
Use: τ net = Itot α ⇒ α = Constraints:
Itot
Using specific numbers:
where: Itot = I1 + I2 = m1L21 + m2L22 Let m1 = m2= m
τ net = ∑ τ o,i = + m1gL1 − m2gL 2 L1=20 cm, L2 = 80 cm

What happened to sin(θ) in moment arm? gL1 − gL 2 g(0.2 - 0.8)

α= =
+
L21 L22 0.2 2 + 0.8 2
net = − 8.65 rad/s 2
Clockwise
torque
m1gL1 − m2gL 2 a1 = -α L1 = + 1.7 m/s 2
α=
m1L21 + m2L22 Accelerates UP
total I
about
What if bar is not horizontal?
pivot

2
See Saw
‰ 3.1. Suppose everything is as it was in the preceding example, but the bar is
NOT horizontal. Assume both masses are equal. Which of the following is the
correct equation for the angular acceleration?

(L1 − L 2 )
L1 N θ
A)) α= g
L21 + L22 m1g
fulcrum L2
(L1 − L 2 )
g m2g
B) α= 2
L1 + L22 cos( θ)
(L1 − L 2 )
C) α= g sin( θ)
L21 + L22

(L1 − L 2 )
D)) α= g cos(( θ)
L21 + L22

(L1 − L 2 ) g
E) α=
L21 + L22 sin( θ)

τ net = Itot α

See Saw - Solution

‰ 3.1. Suppose everything is as it was in the preceding example, but the bar is
NOT horizontal. Assume both masses are equal. Which of the following is the
correct equation for the angular acceleration?

L1 N θ
α = τnet / Itot m1g
fulcrum L2
m2g
τ net = ∑ τ o,i = + m1gL1 cos( θ) − m2gL 2 cos( θ)
Itot = I1 + I2 = m1L21 + m2L22
[m1L1 − m2L 2 ]
α= g cos( θ)
m1L21 + m2L22
For equal masses m1 – m2 = m

(L1 − L 2 ) If bar is balanced when it’s

∴ α= gcos( θ) horizontal, does that change
L21 + L22
when it is not horizontal?

3
Method for solving (complex) problems using the Second Law
Many components in the system means several (N) unknowns….
… need an equal number of independent equations
Method:
• Draw or sketch system. Adopt coordinates, name the variables, indicate
rotation axes, list the known and unknown quantities, …
• Draw
D free
f body
b d diagrams
di of
f key
k parts. Show
Sh forces
f at their
h i points
i off
application. find torques about a (common) axis
Note: can have
• May need to apply Second Law twice to each part Fnet .eq. 0
G G but τnet .ne. 0
¾ Translation:
G
∑
Fnet = Fi = ma
G G
¾ Rotation: τnet = ∑ τi = Iα
• Make sure there are enoughg (N) equations;
q there mayy be constraint
equations (extra conditions connecting unknowns)
• Simplify and solve the set of (simultaneous) equations.
• Interpret the final formulas. Do they make intuitive sense? Refer back
to the sketches and original problem
• Calculate numerical results, and sanity check anwers (e.g., right order of
magnitude?)

Example: Torque and Angular Acceleration of a Wheel

Analysis approach:

ƒ Break into two sub-systems

‰ wheel is accelerated angularly by tension T
‰ block is accelerated linearly by weight mg, with tension
opposing

ƒ Free body diagrams shown

r

ƒ The wheel is rotating and so we apply

Στ = Ια a
‰ The tension supplies the torque via tangential force

ƒ The mass is moving in a straight line, so apply

Newton’s
Newton s Second Law
ΣFy = may = mg -T
ƒ How to connect the two problems above? mg
‰ Need a constraint linking linear acceleration to α
a = αr

4
Application of Method using the Second Law
• Cord wrapped around disk, hanging weight
• Cord does not slip or stretch Æ constraint
• Disk’s rotational inertia slows accelerations
• Let m = 1.2 kg, M = 2.5 kg, r =0.2 m
•For
Findmass
acceleration
m: of mass m, find α for disk

T ∑ Fy = ma = mg − T r
y
mg T = m (g − a) Unknowns: T, a
support force
a
at axis “O” has
FBD for disk, with axis at “o”: zero torque
1 2
N ∑ τ0 = + Tr = Iα I=
2
Mr

Tr m(g − a)r
α= = 1 Unknowns: a, α mg
T Mg I Mr 2
2
from “no
So far: 2 Equations, 3 unknowns ÆNeed a constraint: a = + αr slipping”
Substitute and solve: assumption

2mgr 2mαr 2 mg
α= - α= (= 24 rad/s 2 )
Mr 2 Mr 2 r(m + M/2) α proportional
to g
m 2mg
α(1 + 2 ) = a=
mg
(= 4.8 m/s 2 )
M Mr (m + M/2)

Example: Heavy pulley Atwood’s machine

application of Newton’s 2nd Law
Given the numerical values:
• m1= 5.0 kg,
• m2= 5.5 kg r
• r = 0.2 m,
• M = 6.0
6 0 kg O
• I = 0.20 kg-m2 M, I

a) Find the accelerations of the hanging

weights. Are they up or down?
b) Find the angular acceleration of the pulley.
Is it CW or CCW? m2
c) Find the tensions in each cord.
d) H
How llong does
d it ttake
k th
the 5
5.5
5 kg
k weight
i ht to
t m1
fall 0.6 m from rest?

Strategy:
Apply Newton’s Second Law (linear and rotational form)
to all three bodies, connected by constraints. Make sure there
are as many independent equations as there are unknowns

5
Heavy pulley Atwood’s machine: solution
Apply Second Law:
N
(I) Fnet = ∑ F i = ma (each component)

= ∑ τi = I α α
(II) τ net (pulley) r
If I = 0 problem simplifies O
M, I
For m1 use I:
T1
m 1 a 1 = T1 - m 1g y
a1 y Mg
1. T1 = m 1 ( a 1 + g) m1g
m2
• positive α Æ negative a1 (down)
m1
For m2 use I again:
m 2 a 2 = T2 - m 2 g T2 • choose y positive up for
both masses
2. T2 = m 2 ( a 2 + g) a2 • CCW rotation Æ positive α
m2g
• positive α Æ positive a2 (up) • Free fall if T1 or T2 = 0
Constraints: cord cannot stretch or slip Note: if I = 0, then T1 = T2.
Result using 1 & 2 becomes:
a 2 = − a1 only 2 of these
are independent m1 - m 2
a2 = g
a 2 = + αr a1 = − αr m1 + m 2

Atwood’s solution, continued

For the Pulley use II: N
τ net = + T1r − T2ri = I α NOTE:
α
r T1 ≠ m 1g
( T1 − T2 ) r
3. α = O
M, I T2 ≠ m 2 g
I
T T
• p
positive α Æ T1 > T2 1 2
M
Mg
Check ability to solve:
• 5 unknowns: a1, a2, T1, T2, α
• Have 5 independent equations: 1,2,3 and 2 constraints OK!
Solution: Begin eliminating unknowns (tension equations)
I α = T1r − T2ri = (m 1g + m 1a 1 - m 2 a 2 - m 2 g)r = (m 1 - m 2 )gr + (m 1 + m 2 )a 1r a 2 = − a1
I α - (m 1 + m 2 )a 1r = (m 1 - m 2 )gr I α + (m 1 + m 2 ) α r 2 = (m 1 - m 2 )gr a 1 = − αr

Result:
l (m 1 − m 2 ) g r Net torque of hanging weights
interpretation α=
is simple I + (m 1 + m 2 ) r 2 Total moment of Inertia

Limiting case:
(m 1 − m 2 ) g m1 - m 2
Let I Æ 0: α→ a1 = − αr = − g
massless (m 1 + m 2 ) r m1 + m 2
pulley Negative if m1 > m2:

6
Atwood’s solution, numerical evaluation

( 5 . 0 − 5.5 ) ( 9 .8) (0.2)

α= (b) α = - 1.58 rad/s 2 ( CW )
0.20 + ( 5 . 0 − 5.5 ) 0.2 2

(a) a 1 = - α r = + 0.32 m/s 2 (up)

a 2 = - a 1 = − 0.32
0 32 m/s 2 (down)

T1 = 5.0 (9.8 + 0.32) (c) T1 = 506 N. (a 1 increases tension)

T2 = 5.5 (9.8 − 0.32) T2 = 521 N. (a 2 decreases tension)

How long does m2 take to fall 0.6 m from rest?

1 2d
d= a 2t 2 (d) t= = 1.94 s
2 a2