Physics 211: Lecture 22

Today’s Agenda
● Angular Momentum:
➨ Definitions & Derivations
➨ What does it mean?
● Rotation about a fixed axis
➨ L = Iω
➨ Example: Two disks
➨ Student on rotating stool
● Angular momentum of a freely moving particle
➨ Bullet hitting stick
➨ Student throwing ball

Physics 211: Lecture 22, Pg 1

 Lecture 22, Act 1
Rotations
A girl is riding on the outside edge of a merry-go-round turning with constant ω . She holds a ball at rest in her hand and releases it. Viewed from above, which of the paths shown below will the ball follow after she lets it go?
●

(a) (b)
(c)

(d)

Physics 211: Lecture 22, Pg 2

 Lecture 22, Act 1
Solution
● Just before release, the velocity of the ball is tangent to the
circle it is moving in.

Here force must be

radial, a normal force
from the person’s hand
and equal to mω R
2
ω

Physics 211: Lecture 22, Pg 3

 Lecture 22, Act 1
Solution
●
After release it keeps going in the same direction since there are no forces acting on it to change this direction.

this is correct answer

Physics 211: Lecture 22, Pg 4

p = mv
Angular Momentum:
Definitions & Derivations
● We have shown that for a system of particles

Momentum is conserved if
dp
FEXT = CM
dt FEXT = 0

● What is the rotational version of this??

● The rotational analogue of force F is torque τ = r × F

● Define the rotational analogue of momentum p to be

angular momentum L = r × p for a SINGLE

PARTICLE
● r is vector from some origin to the particle with
momentum p. Physics 211: Lecture 22, Pg 5
 Definitions & Derivations...
Why is this the right definition…..

First consider the rate of dL d

= ( r × p)
●
change of L: dt dt
d  dr × p  +  r × dp 
( r × p ) 
=  
 

dt dt dt 

= v × ( mv ) = 0
So although r keeps changing, that doesn’t change L.
r r
dL r d p r r r
So = r× = r× F = τ
dt dt
L changes only because of the torque τ on the particle.

Physics 211: Lecture 22, Pg 6

 Conservation of Angular Momentum
● What happens in a system with more than one particle?
(say two) Do internal forces create a net torque?
B
FAB
So long as
A the direction of the forces FAB = - FBA are along
the line connecting the particles,
the torque A exerts on B is exactly opposite to
the torque B exerts on A. (they add nothing to
the sum of all torques acting on all parts of
system (try the calculation!) use dist of closest approach
to calc τ

So the TOTAL L of A and B doesn’t change.

This NEW PRINCIPLE says that
in closed systems L is conserved.
Physics 211: Lecture 22, Pg 7
 Conservation of total angular momentum
in a many particle system (solar system, spinning top…)
● Define the total angular momentum to r r r r r
be the sum of the angular momenta of li = ri × pi = ri × mi vi
each part of a many body system
➨ Must be careful about math (same
origin) r r r r
LTOTAL = ∑ li = ∑ ri × pi
i i
● Total angular momentum of a system
is changed by the total torque acting
on the system
d r d r r
LTOTAL = ∑ li = ∑τ i ≡ τ TOTAL
● New conservation law we obtain from dt i dt i
Newton’s laws: = τ EXT
➨ If there are no torques, then LTOTAL is r r r
conserved LTOTAL ≠ RCM × PCM
➨ LTOTAL is changed by torques
What total
angular momentum is NOT!
Physics 211: Lecture 22, Pg 8
 Angular momentum of a rigid body
about a fixed axis: Rolling chain
Consider a rigid distribution of point particles rotating in the x-y plane around the z axis, as shown below. The total angular momentum around the origin is the sum of the angular momenta of each particle:
●

L = ∑ ri × pi = ∑ mi ri × v i = ∑ mi ri v i k̂ (since ri and vi are

i i i
perpendicular)
v1
We see that L is in the z direction. m2
j
Using vi = ω ri , we get r2
v2 i r1 m1
ω
L = ∑ mi ri ω kˆ
2

i r3
m3 v3
=
LIω Analogue of p = mv!!

Physics 211: Lecture 22, Pg 9

 Angular momentum of a rigid body
about a fixed axis:
● In general, for an object rotating about a fixed (z) axis we can write LZ = I
ω (where we usually choose the z-axis to be the rotation axis)

● The direction of LZ is given by the

right hand rule (same as ω ).
z
● We will omit the Z subscript for simplicity,
and write L = I ω LZ = I ω

ω
Physics 211: Lecture 22, Pg 10
 Example: Two Disks

● A disk of mass M and radius R rotates around the z axis

with angular velocity ω i. A second identical disk, initially
not rotating, is dropped on top of the first. There is friction
between the disks, and eventually they rotate together with
angular velocity ω f.
This is just like the
inelastic collisions we
z z studied earlier!

Energy not conserved

Ang mom conserved

ω i ω f

Physics 211: Lecture 22, Pg 11

 Example: Two Disks

● First realize that there are no external torques acting on the two-
disk system.
➨ Angular momentum will be conserved!

● Initially, the total angular momentum

is due only to the disk on the bottom:
z

2
1
Li = I1 ω1 = MR ωi
2

2 1
ω 0

Physics 211: Lecture 22, Pg 12

 Example: Two Disks
● First realize that there are no external torques acting on the two-disk system.
➨ Angular momentum will be conserved!

● Finally, the total angular momentum is due

to both disks spinning:

Lf = I1 ω1 + I2 ω2 = MR 2ωf
2
1
ω f

Physics 211: Lecture 22, Pg 13

 Example: Two Disks
Wheel rim
1 drop
● Since Li = Lf MR 2ωi = MR 2ωf
2
An inelastic collision, Initially:
1
ωf =
2
ωi since E is not (
KE = 12 12 MR 2 ωinitial
2
)
conserved (friction)!
finally:
z z (
KE = 12 12 2MR 2 ω 2final )
KE = 1
4 ( 1
2 MR 2 ) ωinitial
2

Li Lf ½ KE lost
But L is
unchanged
What about
ω f ω f other cases?

Physics 211: Lecture 22, Pg 14

 General inelastic joining of I1 rotating and
I2 which is initially at rest
● Angular momentum is conserved
initial Linitial = I1ωinitial I1
L final = Linitial ω final = ωinitial
final L final = ( I1 + I 2 )ω final I1 + I 2

● How much KE is lost?

KEinitial = 12 I1ωinitial
2

KE final = 12 ( I1 + I 2 )ω 2final
2
I
KE final = 12 ( I1 + I 2 ) 1
ω 2
initial
( I1 + I 2 ) 2
I1 1 I1
= 2 I1ω initial =
2
KE final KE initial
I1 + I 2 I1 + I 2
Physics 211: Lecture 22, Pg 15
 Example: Rotating Table

● A student sits on a rotating stool with his arms extended and a

weight in each hand. The total moment of inertia is Ii, and he is
rotating with angular speed ω i. He then pulls his hands in
toward his body so that the moment of inertia reduces to If.
What is his final angular speed ω f?

ω i
ω f

Ii If

Physics 211: Lecture 22, Pg 16

 Student on stool
Example: Rotating Table...
Drop mass from stool
● Again, there are no external torques acting on the student-
stool system, so angular momentum will be conserved.
➨ Initially: Li = Iiω i ω f Ii
=
➨ Finally: Lf = If ω f ω i If

ω i
ω f

Ii If

Li Lf

Physics 211: Lecture 22, Pg 17

 Lecture 22, Act 2
Angular Momentum
A student sits on a freely turning stool and rotates with constant angular velocity ω 1. She pulls her arms in, and due to angular momentum conservation her angular velocity increases to ω 2. In doing this her kinetic energy:
●

(a) increases (b) decreases (c) stays the same

ω 1
ω 2

I1 I2

L L

Physics 211: Lecture 22, Pg 18

 Lecture 22, Act 2 Dig deeper:
Solution Can you identify the
force she applies to
1 2 L2
● K = Iω = (using L = Iω ) do this work?
2 2I
How about
● L is conserved (it doesn’t change):
calculating the work?
I2 < I1 K2 > K1 K increases!

ω 1
ω 2

I1 I2

L L

Physics 211: Lecture 22, Pg 19

 Lecture 22, Act 2
Solution
● Since the student has to force her arms to move toward her
body, against the normal force necessary for uniform circular
motion, she must be doing positive work!
● The work/kinetic energy theorem states that this will increase
the kinetic energy of the system!

ω 1
ω 2

I1 I2

L L

Physics 211: Lecture 22, Pg 20

 Angular Momentum of a
Freely Moving Particle
● We have defined the angular momentum of a particle about
the origin as L = r × p

● This does not demand that the particle is moving in a circle!

➨ We will show that this particle has a constant angular
momentum!
y

Physics 211: Lecture 22, Pg 21

 Angular Momentum of a
Freely Moving Particle...
● Consider a particle of mass m moving with speed v along
the line y = -d. What is its angular momentum as
measured from the origin (0,0)?

x
d m

Physics 211: Lecture 22, Pg 22

 Angular Momentum of a
Freely Moving Particle...
● We need to figure out L = r × p
● The magnitude of the angular momentum is:
L = r × p = rp sin θ = p[ r sin θ] = pd =

p x ( distan ce of closest approach )

● Since r and p are both in the x-y plane, L will be in the z

direction (right hand rule): LZ = pd
y

x
d r
θ p=mv
θ

Physics 211: Lecture 22, Pg 23

 Angular Momentum of a
Freely Moving Particle...
●
So we see that the direction of L is along the z axis, and its magnitude is given by LZ = pd = mvd.

●
L is clearly conserved since d is constant (the distance of closest approach of the particle to the origin) and p is constant (momentum conservation).

x
d

Physics 211: Lecture 22, Pg 24

 Example: Bullet hitting stick

● A uniform stick of mass M and length D is pivoted at the

center. A bullet of mass m is shot through the stick at a
point halfway between the pivot and the end. The initial
speed of the bullet is v1, and the final speed is v2.
➨ What is the angular speed ω F of the stick after the
collision? (Ignore gravity)

M
ω F
D
m D/4

v1 v2

initial final
Physics 211: Lecture 22, Pg 25
 Example: Bullet hitting stick...

● Conserve angular momentum around the pivot (z) axis!

● The total angular momentum before the collision is due
only to the bullet (since the stick is not rotating yet).

D
Li = p x (dis tance of closest approach ) = mv1
4

D
m D/4

v1

initial
Physics 211: Lecture 22, Pg 26
 Example: Bullet hitting stick...

● Conserve angular momentum around the pivot (z) axis!

● The total angular momentum after the collision has
contributions from both the bullet and the stick.

D
+ IωF where I is the moment of inertia
➨
Lf = mv 2
4 of the stick about the pivot.

ω F

D/4

v2

final
Physics 211: Lecture 22, Pg 27
 Example: Bullet hitting stick...
1
● Set Li = Lf using I= MD 2
12

D D 1 3m
mv1 = mv 2 + MD 2 ω F ωF = ( v1 − v 2 )
4 4 12 MD

M
ω F
D
m D/4

v1 v2

initial final
Physics 211: Lecture 22, Pg 28
 Example: Throwing ball from stool

● A student sits on a stool which is free to rotate. The

moment of inertia of the student plus the stool is I. She
throws a heavy ball of mass M with speed v such that its
velocity vector passes a distance d from the axis of
rotation.
➨ What is the angular speed ω F of the student-stool
system after she throws the ball?

M
v
ω F d
I I

top view: initial final

Physics 211: Lecture 22, Pg 29
 Example: Throwing ball from stool...

● Conserve angular momentum (since there are no external

torques acting on the student-stool system):
➨ Li = 0
Mvd
➨ Lf = 0 = Iω F - Mvd ω F =
I

Do you understand
the minus sign?
M
v
ω F d
I I

top view: initial final

Physics 211: Lecture 22, Pg 30
 Lecture 22, Act 3
Angular Momentum
A student is riding on the outside edge of a merry-go-round rotating about a frictionless pivot. She holds a heavy ball at rest in her hand. If she releases the ball, the angular velocity of the merry-go-round will:
●

(a) increase (b) decrease (c) stay the same

2
ω
ω 1

Physics 211: Lecture 22, Pg 31

 Lecture 22, Act 3
Solution
The angular momentum is due to the girl, the merry-go-round and the ball. LNET = LMGR + LGIRL + LBALL
●

Initial:
v
LBALL = I ω = mR 2   = mvR
 R ( )
Final: LBALL = mvR same

v v
m m
R
ω ω

Physics 211: Lecture 22, Pg 32

 Lecture 22, Act 3
Solution
Since LBALL is the same before & after, ω must stay the same to keep “the rest” of LNET unchanged.
●

ω ω

Physics 211: Lecture 22, Pg 33

 Lecture 22, Act 3
Conceptual answer
Since dropping the ball does not cause any forces to act on the merry-go-round, there is no way that this can change the angular velocity.
●
Just like dropping a weight from a level coasting car does not affect the speed of the car.
●

2
ω
ω

Physics 211: Lecture 22, Pg 34

 Recap of today’s lecture
● Angular Momentum: (Text: 10-2)
➨ Definitions & Derivations
➨ What does it mean?
● Rotation about a fixed axis (Text: 10-2)
➨ L = Iω
➨ Example: Two disks
➨ Student on rotating stool
● Angular momentum of a freely moving particle
(Text: 10-2)
➨ Bullet hitting stick
➨ Student throwing ball

● Look at textbook problems Chapter 10: # 49, 9, 19, 47, 66

Physics 211: Lecture 22, Pg 35