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m1 x1 + m 2 x 2 + ...
x CM =
m1 + m 2 + ...
m1 y1 + m 2 y 2 + ...
y CM =
m1 + m 2 + ...
• Translational motion is motion of the center of
mass
• Rotational motion is motion around the center
of mass, or some other axis (if an axle or pivot is
used)
An off center
d
rotation axis
A
C E
B
D
Each of these force vectors has the same
magnitude. Which will be most effective at
causing the door to swing closed?
F
Φ
r
torque
• Torque plays the same role in rotational
motion that force plays in translational
motion
F
c osΦ
r F
• Here:
– F is the applied force
– r is the length of the moment arm
– Φ is the angle between r and F
Pivot Point r
F
r
r
Place vectors tail to tail
Use Right Hand
r
F
r
r
r r
Sweep fingers from r to F .
X r
F
F3
F4
r r r r r
τ net = ∑τ i = τ 1 + τ 2 + τ 3 + ...
Examples
F
F’
τ = (m r 2 ) α
τ = (m r ) α 2
r r v
τ net = ∑τ i = ∑ mi ri α i
2
i i
Rigid Body Acceleration
r ⎛ 2⎞r
τ net = ⎜ ∑ mi ri ⎟α
⎝ i ⎠
Moment of Inertia
• We define the moment of inertia for a
body as:
I = ∑ mi ri
2
[ kgm2 ]
i
r ⎛ 2⎞r r
τ net = ⎜ ∑ mi ri ⎟α = Iα
⎝ i ⎠
A C
B D
Translational vs. Rotational
• mass, m • moment of inertia, I
• acceleration, a • angular acceleration, α
• force, F • torque, τ
• Newton’s 2nd Law: • Newton’s 2nd Law:
r r r r
Fnet = ma τ net = Iα
A. rotates
B. translates
C. rotates and translates
Quick Quiz 21
A hockey stick is laying on very smooth,
slippery ice. You kick the end of the stick.
The stick
A. rotates
B. translates
C. rotates and translates
Static Equilibrium
• Translational equilibrium:
Fnet = ∑ F = 0
• Rotational equilibrium:
τ net = ∑τ = 0
• Therefore, a rigid body is in equilibrium if
both: r r
Fnet = 0 and τ net = 0
Example A Basic Example of Static Equilibrium
0.25m 0.05m
W = 1500 N
ΣF = FA + FB−W = 0
r Torque about
Στ = 0 which axis?
Which axis should we use when there is no rotation?
• Left end
• Centre of Mass
• Right End
The choice of pivot
point doesn’t matter
0.25m 0.05m
W = 1500 N
r
Around FA: Στ = 0
(FA )(rA ) - (W)(rW ) + (FB )(rB ) = 0
(FA )(0) - (1500)(0.75) + (FB )(1.7) = 0
(1500)(0.75)
FB = = 661 N
1.7
FA FB
1.0m to CM
0.25m 0.05m
W = 1500 N
A. increases.
B. decreases.
C. stays the same.
Calculating Moments of Inertia
1. For a collection of point masses in two
dimensions, simply sum up the miri2
terms: m2
m3
r2
m1 r3
r1
r4 m4
r5
m5
I = ∑ (m i ri ) = m1r1 + m2 r2 + m3r3 + m4 r4 + m5 r5
2 2 2 2 2 2
i
2. For a continuous mass distribution:
• break it up into many small units of mass,
Δm and sum the Δmri2 terms:
Δm
Pivot point
r2 r3 Δm
r1 Δ m
I = ∑ (Δ m ri ) → 2
I = ∫ r dm
2
Δm → 0
i
• A thin rod, rotated about one end:
1
I = ML2
3
• A thin rod, rotated about its centre:
1
I = ML2 Lower than when rotating
12 the rod around the end
because, in this case,
more mass is close to the
axis of rotation
• A cylindrical hoop, rotated about its centre:
5
Quick Quiz 23
Two spinning tops have equal radius and mass, but
whereas top B is a thin disc, top A has light spokes
connecting the hub to an outer ring. The tops are
spun by applying equal torques to the spindle. Which
spins the fastest?
Top View
a) A
b) B
c) spin at same rate
d) not enough info.
A B
Quick Quiz 24
Two spinning tops are made from uniform circular
disks with a pointed spindle inserted through the
center. The tops have the same radii and total
mass, but since they are made of different material,
top A is thicker. The tops are launched by equal
torques to the spindles. Which spins the fastest?
A B
a) A
b) B
c) spin at the same rate
d) not enough info
Adding Moments of Inertia
• Moments of inertia are scalar quantities,
so they can be added easily:
I tot = ∑ I i
i
I = (1 3) m L + 2
ML 2
14243 123
Moment of inertia Moment of inertia
of the handle of the head
Parallel Axis Theorem
• Let’s say you know the moment of inertia
of an object rotating about an axis passing
through the center of mass
• What if you want to know the moment of
inertia of that same object if it were
rotating about a different axis?
• If the two axes are parallel, it’s easy to
calculate the new moment
• Parallel axis theorem:
An off center
d
I = I CM + Md
rotation axis
2
Four T’s are made from eight identical rods of equal mass
and length. If the T’s are rotated about the dotted lines, rank
their moments of inertia from smallest to largest.
A. 3, 2, 1, 4
B. 2, 3, 1 ,4
C. 3, 2, 4, 1
D. 2, 3, 4, 1
Example: Pulleys with Mass
Two blocks A (mA = 12 kg) and
B (mB = 30 kg) are connected by
a string that passes over a
pulley with radius R = 15 cm.
The pulley is a uniform disk
whose mass is 10 kg.
TA TB
a
a
Mg
TA TB
mAg
mBg
• For mass A:
TA
ΣFA = m A a
a
TA − m A g = m A a
TA = m A ( a + g )
mAg
• For mass B:
TB
ΣFB = mB aB
mB g − TB = mB a a
TB = mB ( g − a)
mBg
• Now find the torque on the pulley:
N α
r r
Στ = Iα R
TA TB
Mg
TB = mB ( g − a ) TA = m A ( a + g )
τ = TB R − TA R + ( Mg )(0) + ( N )(0)
Iα = mB ( g − a) R − m A (a + g ) R
N
TA TB
Mg
But I=0.5MR2 for this pulley so:
(0.5MR 2 )α = mB ( g − a ) R − m A (a + g ) R
mB ( g − a ) R − m A ( a + g ) R
α= 2
0.5MR
a
and α = :
R
a mB ( g − a ) R − m A ( a + g ) R
= 2
R 0.5MR
mB ( g − a ) R 2 − m A ( a + g ) R 2
a=
0.5MR 2
mB ( g − a ) − m A ( a + g )
a=
0.5M
Rearrange and solve for a:
0.5Ma = mB g − mB a − m A a + m A g
( mB − m A ) g
a=
(0.5M + m A + mB )
a = 3.75m/s 2
A. increases
B. decreases
C. stays the same