ROTATIONAL DYNAMICS ROTATIONAL DYNAMICS RIGID BODY ‘System of particle which does not change its shape under the influence of ordinary external force and dis- tance between the particle does not change with respect to time. (i) No body in universe is perfectly rigid. However the bodies in which strain effect is quite negligible under the influence of external force may be said to be rigid bodies e.g, earth, billiard ball etc. (ii) The internal structure of a rigid body and its shape and size do not change in state of motion. ROTATORY MOTION A body rotating about a fixed axis then every particle of the body moves in circle axis ct Rtation and the centres of all these circles lie at axis of rotation. ¥| =velocity of i particle of mass m, f= position vector of i particle R= perpendicular distance of i" particle from axis of rotation, All particles of rigid body moves with same angular velocity @ . LargerR > Larger vy less Ro > Less v, MOMENT OF FORCE OR TORQUE If a hinged or suspended or pivoted body tends to rotate under the action of force, it said to be acted on by a torque The moment of a force or the torque, about an axis of rotation is equal to the product of the force and perpendicular distance of the line of the action of the force from axis of rotation. Ais of Rotation F ‘The magnitude of torque will be c=F.b =Frsin@, b=rsin @is known as lever arm or moment arm, Unit: M.K.S.: Nem C.GS. : dyne-cm mension : ML*T= Fig Boy Vector form 1=rxF =rF sin @ fi, where is angle between f and F and fi is unit vector perpendicular to the plane of ¢ and F Torque is an axial vector i.e. its direction is always perpendicular the plane containing vector r and F in accordance with right hand rule.ROTATIONAL DYNAMICS If the torque rotates the body in anticlock wise direction, the torque is positive and if the torque rotates the body in clock-wise direction, the torque will be negative. Torque is Minimum. Torque is Maximum When [sin 6| = min = 0 When [sin 0] = max = 1 Le. 0= 0° or 180° ie., 0= 90° i.e., F is collinear with ¢ , F isorthogonal to ; And «,,,= 0 And tag, = Fr Ifa body is acted upon by more than one torque, the total torque is the vector sum of each torque. t Et Fat Fett tettn t= y a Rotational equilibrium 3° for 1- Moment of inertia with respect to axis of rotation Angular acceleration with respect to axis of rotation. a where J is angular momentum. The more is the value of b, the more will be torque and easier to rotate the body. (i) The handle of screw driver is taken thick. (li)In villages the handle of flour-mill is placed near the circumference. (ii) The handle of handpump is kept-long (iv) The rinch used for opening the tap, is kept-long, reconst. ie. Frrsin@ = const. Const sind . longer the arm and greater sin @, lesser will be the force required for producing desired rota- tional effect. ‘COUPLE OF FORCES When two forces equal in magnitude but opposite in direction acting at two different points of a body they form couple. This couple tries to rotate body. t=F.b b=dsineROTATIONAL DYNAMICS MOMENT OF INERTIA OF RIGID BODY It is the property of a body due to which it opposes any change in its state of rest or uniform rotation. Analytically for a particle of mass m rotating in a circle of radius R, moment of inertia of a particle of mass m about the axis of rotation is given by mR? serocesftY So for a body made up of number of particles (discrete distribution) of masses m,, m,. .etc. at distance, r,.... ete. respectively from the axis of rotation, then moment of inertia of all these particles are m,r2, m,r2, ... and moment of intertia of body (I) is the algebric sum of moment of inertia of all these particles— my f2t my e2 tot meet mgt = SIM? (2) m,= mass of ith particle r,= distance of ith particle from axis of rotation While for a continuous distribution of mass, treating the element of mass dm as particle at position r from axis of Rotation, dl me, ie, 1s fedm (3) Itis a scalar quantity Unit | MAK.S. : kg-m?, C.GS. + gm-cm* Dimension : M'LET? Moment of inertia depends on the following factors i) Mass of body il) Mass distribution of body or shape, size and density of body. ili) On the position of the axis of rotation. The more is the distribution of mass with respect to axis of rotation the more will be moment of inertia. Moment of inertia does not depend on the following factors. (i)Angular velocity (o) (i) Angular Accaleration (a) (i) Torque (3) (iv) Angular Momentum (J) PHYSICAL SIGNIFICANCE OF MOMENT OF INERTIA: Comparision of the expression for rotational motion with corresponding relations for translatory motion as given in table I, we get moment of inertia plays same role in rotatory motion as mass in translatory motion, c., if body has large moment of inertia, itis dificult to start rotation or to stop iti rotating. Large moment of inertia also helps in keeping the motion uniform, Due to this reason stationary engines are provided with flywheels having large moment of inertia.ROTATIONAL DYNAMICS % Inertia for rotational motion is moment of inertia. Translatory motion Rotatory motion Force Torque Work Work Power Power Peto Translation K.E. Rotational KE. LinearMomentum p= mv Angular Momentum Theorems of M.I. 1. Perpendicular axes theorem : [Only for laminar bodies] az The sum of moments of inertia of a laminar body about any two mutually perpendicular axes in its plane is equal to its moment of inertia about an axis perpendicular to its plane and passing through the point intersection of the first two axes. 5 x T=l+hy % This theorem works only for two dimensional object only. (Circular disk, ring, table top etc.) 2. Parallel axes theorem : (For all types of bodies] According to this principle, the moment of inertia of a rigid body about any axis is equal to the sum of its moment of inertia about a parallel axis through its centre of mass and the product of the mass of the body and the square of the distance between the two axes. z 1=1, +Md Ex. The diameter of fiywheel increases by 1%. Find the percentage increase in moment of inertia about axis of symmetry. Sol. The moment of inertia of flywheel is given by, I= MR* Taking log, log I= logM + 2logR This formula is valid for the] increament only up to 5% di Differentiating, > =0+2-—R> aI % change in moment of inertia= —- * 100= 2% 1% = 2%ROTATIONAL DYNAMICS Ex. The moment of inertia of sphere is 20 kg-m* about the diameter. Find the moment of inertia about any tangent. Sol. According to the theorem of parallel axes, we have 2 jg * Mat = = MRE + MRE (:d=R) 2 be 20=70 kgm* (Given = MR® =20) Ex. Ifthe moment of inertia ofa disc about an axis tangentially and parallel to its surface be 1, what willbe the moment of inertia about the axis tangential but perpendicular to the surface. Sol. According to the theorem of parallel axes, the moment of inertia of the disc about an axis tangentially and parallel to the surface is given by- MRE are = © are Iss] 5 The moment of inertia of the disc about an axis tangential but perpendicular to the surface is given by 2 5 ue [ue] 8, = 2 + MRE Bla Ex. Find the moment of inertia of a uniform semicircular wire of mass M and radius r about a line perpendicular to the plane of the wire through the centre. bm, Sol. st=8me > wire Ex. Two uniform, thin identical rods each of mass M and length Lare joined so as to form a cross as shown in fig. Find the moment of inertia of the cross about a bisector line AC. Sol. Moment of inertia of cross about axis passing through O and perpendicualr to the plane of rods. _ ML? ML? 12°12 With the help of theorem of perpendicular axes Ge = elROTATIONAL DYNAMICS Ex. Aweightless horizontal rod is free to rotate about an axis OO. Two masses, each of 1 kg are placed at Aand A such that their distances from axis is 0.20 meter, Now a torque of 2.0 newton-meter is applied on the system Which rotates about OO’. If the masses are displaced to B and B’ such that their distances from axisis 0.50 meter, then find the decrement in angular acceleration. Sol. Inthe first case the moment of inertia of each mass about OO" = mass x (distance from OO’? = 1kg * (0.20 my? = 0.04 kg —_m* *. moment of inertia of the whole system about OO" (od is weightless) is 1=2* 0.04 = 0.08 kg—m? “SBT Let « be the angular acceleration es Then the torque is, =la 20 = 2-29. 96 rad/sec? 7 008 In the second case, the moment of inertia of each mass about OO" = 1kg * (0.50 m)?= .25 kg-m* *. moment of inertia ofthe whole system is 1= 20.25 = 0.50 kg-m? 20 angular acceleration 0" ' O radisect Hence decrementin angular acc = 25~4= 21 rad/sec? Ex. Two identical spheres each of mass 1.20 kg and radius 10.0 cm are fixed at the ends of alight rod so that the separation between the centres is 50.0 cm. Find the moment of inertia ofthe system about an axis perpendicular tothe rod passing through its middle point- Sol. Consider the diameter of one of the spheres parallel to the given axis, The moment of inertia ofthis sphere about the diameter is (1.20 kg) (0.1 me = 4.8 «10° ko-m* Its moment of inertia about the given axisi obtained by using the parallel axes theorem. Thus, I= 1, +me = 4.8 « 10° kgm? + (1.20 kg) (0.25 m? 8 «10° kgem* + 0,075 kgem* = 79.8 x 10° kgs’, The moment of inertia ofthe second sphere is also the same so that the moment of inertia of the system = 2 % 79.8 x 10° kg-m? = 0.160 korn.ROTATIONAL DYNAMICS Ex. Four solid spheres each of mass m and radius r are located with their centre on four corners of a square of side a. What is the moment of inertia of the system about an axis (a) along any diagonal and (b) along any side of the square? 2 Sol. (a) The moment of inertia of spheres A and B about their common diameter AB = & mr® each. Also the 2 moment of inertia of spheres C and D about an axis passing through heir centre and parallel to AB = = mr° each. The distance of this axis (shown by broken lines) from the diagonal AB = a/ V2 . From the parallel axes theorem, the moment of inertia of sphere C and D about diagonal AB is Hence the moment of inertia of the system of four spheres about diagonal AB is Mlof A about AB + MI of B about AB + MI of C about AB + Ml of D about AB 2g (©) MLL. of sphere A about side AD = M1. of sphere D about side AD = — mr. Using the parallel axes theorem, 2 ML of sphere © about AD = M.1. of sphere B about AD = = mr? + mar. The M.I. of the system of four sphere about side AD is Ij = MI of Aabout AD + MI of D about AD + MI of B about AD + MI of C about AD 2 (22,4 ’) (22,4 124 2 meee (2m? + ma?) , (2m? + tmar mgm (5 2 5 20) oe m(2q2 4202 me + 2 mat = m(Sr +20)ROTATIONAL DYNAMICS FORMULAE FOR THE MOMENT OF INERTIA OF REGULAR BODIES Shape of Axis of Rotation Figure Moment of | Radius of body Inertia(1) | Gyration (K) (1) Circular Ring) (a) Passes through MR? R M:Mass | the centre and R: Radius) perpendicularto the plane bla R (b) About its Diameter = MR? esas i" + Pa inits own plane (c)Abouta tangential axis perpendicular to its own plane (6) Abouta tangential axis in its own plane (2) Circular disc | (a) Passing through the M: Mass centre and perpendiculat oni R:Radius | tothe plane n|D (b) About Diametric axis (c) About a tangential axis in the plane of discROTATIONAL DYNAMICS (3) Cylinderical (About tango! 8 yee axis perpendicular to the plane of disc about its I> MR? shell(orthin pipe) geometrical axis (4) Solid Cylinder About ts geometrical & M: Mass axis Jf ae R: Radius L: Length (5) Solid sphere M: Mass R: Radius (6) Thin rod [thickness is negligible wrt. length] (a) About its axis OR diameter which is passing through centre. 7 (b) About Tangential MR? a) Passing through centre of mass and perpendicular tolength b) Passing thruogh its one 4 end and perpendicular to Axis. al?ROTATIONAL DYNAMICS (7)Rectangular | a) about an axis passing plate through CM and a=Length | perpendicularto side b= width its plane M= mass b) about an axis passing through CM and perpendicular to side in its plane ©) about an axis passing through CM and | to its plane (a) Moment of inertia of square plate (b) Moment of inertia of cube : 0ROTATIONAL DYNAMICS SPECIAL POINT (c) In a triangle, M.I. will be maximum relative to smallest side. If AC > BC > AB Tho & lec s Ip (d) In triangle, M.I. will be maximum relative to that perpendicular axis which passes through least angle. Greater the mass away from axis of rotation, more will be M.I. If 0, <0, < 05 L>L>1, hiys 1s 1 11ROTATIONAL DYNAMICS RADIUS OF GYRATION Itis the distance whose square when multiplied with the mass of the body gives the moment of inertia of the body about the given axis. For a body of mass M, if K is radius of gyration I= Mke o k= fi k=|45 Through this concept a real body (perticularly i-regular) is replaced by a point mass for dealing its rotational motion. e.g., in case of a solid sphere rotating about an axis through its centre of mass. cf 2 So instead of solid sphere we can assume a point mass M at a distance (r/3) from the axis of rotation for dealing the rotational motion of the solid sphere. K depends on (i) axis of rotation (i) distribution of mass of body og K does not depend on (i) Mass of the body —_ (ii) Position of body aK (ii) On all angular physical quantity se radius of gyration does not depends on the mass of rigid body. Graphical relation between log K and log I. Angular momentum The moment of linear momentum of a moving particle with respect to axis of rotation is known as angular momentum. Itis a vector quantity, which is often represented by L or J. Itis an axial vector (i.e. always perpendicular to the plane of motion) Angularmomentum — J=rxp - (mv) =m (tv) o Jerpsinof Bis angle between r and v fi is unit vector perpendicular to plane of r and v The direction of angular momentum is perpendicular to the plane of r and v and it given by right hand serew rule, re J=0 (Minimum) Ite=907, Jemyr (Maximum) S.. Unit of J is Jule * sec (same as that of Planck's const.) Dimension : M'L‘T aROTATIONAL DYNAMICS If direction of rotation is anticlockwise, angular momentum is taken positive and if direction of rotation is clockwise, angular momentum is taken negative. The angular momentum of a system of particles is equal to the vector sum of angular momentum of each particle J 1 +d2 + Jo+.. Yi Relation between angular momentum and angular velocity J=lo | -Moment of inertia with respect to axis of rotation co Angular velocity due to angular momentum J-The moment of momentum which is causing rotational motion The rate of change of angular momentum is equal to the torque applied on the body. za at Inrotational motion angular momentum has equal importance as linear momentum in linear motion If torque acting ofa particle is zero then constant Which implies that the angular momentum remians conserved when no external torque acts on the body. LAW OF CONSERVATION OF ANGULAR MOMENTUM If no external torque is acting upon a body rotating about an axis, then the angular momentum of the body remains constant that is, J=l0 = constant Proof : Fora rigid body, rotating about a given axis, Now, for a rigid body, rotating about a given axis, I remains constant. 7-192 alo) _ dd at dt at If the external torque acting on the body, 7. 42-0, and hence J = constant For the equation J = Io, it can be seen that if J remains constant, « increases when I decreases and vice versa, If changed to|,, then, in the absence of an external torque, « will change to o,, such that 1a, = he, This is the law of conservation of angular momentum, Example : ())A point mass is tied to one end of a cord whose other end passes through a vertical hollow tube, caught in one hand. The point mass is being rotated in a horizontal circle. The cord is then Pulled down so that the radius of the circle reduces. Here the force on the point mass due to cord is radial and hence the torque about the center of rotation is zero therefore, the angular momentum must remain constant as the cord shortend. As cord is pulled down, the point mass rotates faster than before. The reason is that by shortening the radius of the circle, the moment of inertia of point mass about axis of rotation decreases 10210 171, soo,! w+ zm 1 Final kinetic energy of system = = >(I +mMR?) 0? 5ROTATIONAL DYNAMICS Ex. _ If the earth were suddenly to shrink to half its size (its mass remaining const) what would be the length of. a day. 2 2uype, 28 2y (RY 2e 0, = Le, Emr? x 2% = 2y( 8) oe sian we amt 2(T ee, Ex. Inwhich of the following cases, it is most difficult to rotate the rod? ===- Cy Sol. (c) as lis maximum. Ex. _Athinmeter scales kept vertical by placing its one end on floor keeping the end in contact stationary itis allowed to fall. Find the velocity of its upper end when it hit the floor. o Cc) 1e? me Sol. mgh = where w, [Loss is PE. = Rotational K.E.] é 2 Nie mg 1_ mi? v2 — “272% 3 “@ Vav80F Ex. Aparticle is moving in x-y plane and the components of its velocity along x and y axis are v, and v,. Find the angular momentum about the origin Sol; We eis wit oncutar oniortuntora vermont =PxP =P namtmradtea ij k i jk . em|x y zl=m[x y 0) =mavy-yw Jk Vv Vy Ve vy Wo Ex. Aring of mass 10 kg and diameter 0.4 m is rotating about its geometrical axis at 1200 rot./min. Find its moment of inertia and angular momentum. Sol. ML. of aring about its geometrical axis = M.I. of ring an axis passing through its centre and _perpen- dicular to its plane. MR2= 10 (0.2)? = 10 * 0.04 = 0.4 kg-m? 2nn 2n x 1200 Now Angular momentum, J = 1,o=1 ——™ = 0.4 x “= 60.24 J-see. Ex. homogeneous rod AB of length Land mass M is pivoted at the centre O in such a way that it can rotate freely in a vertical plane. The rod AB is initially in horizontal position. An insect § of same mass falls vertically with a speed V at the point c, midway between points O and B. Immediately after the insect falls, the angular velocity of the system is. Sol. By Lawof conservation of angular momentum (mee =a )® Eales aco +a) Me (LY olan 2{4+3 12V Mae ( 48 Jo > 8ST Cats o 2a 6ROTATIONAL DYNAMICS WORK DONE IN ROTATORY MOTION When a body rotates under action of torque then work is done by torque. If cis uniform and body rotates by an angle 8 then Work done = <8 But if cdepends on 8 for example in case of twi ing awire, == c6 where cis const Then work done aW= Asiiding a olling > sliding V oling ft sliding rolling Special Note : If body is sliding on inclined plane. k? Then Re =0 v=,/2gh a=gsin0 t= 2s gsind Velocity Acceleration Time 2gh gsind Rolling ak 7 R? R 2s Sliding y2gh gsin@ gsine Rolling z aes k2 k k oS Sliding bese a ae 20ROTATIONAL DYNAMICS The various forces acting on the rolling down body are : (i) The weight (Mg) of the body in the vertically downward direction. (i) Normat reaction (N) of the surface of the plane on the body which acts normal to the inclined plane. (ii) The force of friction (f, which acts opposite to the direction of motion of the body. Mg sin 0-f= Ma | gsino Mg sin 6—f [= oere | al 1+ TR? [Mg cos 0} = Mg sin 0 R? RP 14 Re (For dise and eylinder 4° = 2] The condition for rolling motion of the cylinder along the inclined plane without slipping 1 2 ytand B= tan Ex. When a sphere of moment of inertia ‘I’ rolls down an inclined plane then percentage of rotational kinetic enegy to its total kinetic energy will be. Ex. A solid sphere of mass 0.1 kg and radius 20 cm. rolls down an inclined 1.4 m. in length [0 = sin~* (1/10)] starting from rest its final velocity will be. a x9.Bx1x5x ya (2gbsin® _ [2x9Bxtx5xt1.4 sin | KEV 10x7 A misec 3 a aROTATIONAL DYNAMICS Ex. solid disc of mass 16 kg and diameter 0.5 m, itis free to rotate about its own axis. Find out required torque that will increase, its angular velocity from zero to 120 rot/min in 8 sec. Ho, - 2nin, - 1.2 sou, rotaaln=a) co ang tee 5 eats 2a( G20) «MO won (295) 60x8. 2 60x8) Ex. Two masses m, = 12 kg and m, = 8 kg are attached to the ends of a cord which passes over a pulley of an At wood's machine. The mass of the pulley is M = 20 kg and its radius R = 0.2m. Calculate (i) the tension in the cord (ii) the acceleration of the system. Sol. Since the pulley has finite mass, the tension on the sides of the string T, and T, are not equal Acceleration a of the larger mass m, in the downward direction is given by mg-T.=m,a awww) Acceleration a of the smaller mass m, in the upward direction is given by T,-mg=ma sve) " lech MR? Moment of inertia of the pulley is given by T= It cis the angular acceleration produced in the pulley, then (T,—T,) R rl LA) : f Buta= 5 in mgt (3) combining eq’. (1), (2) and (3) we get a-i=m)o _ (12-8198) _ 49.8 +M 4248420 30 memes 124845 21.31 mis? Tt T, further, eq". (1) gives m, (ga) = 12[9.8- 1.31] f fr = 12{6.49] ~ 102. From eqt. (2) al ™m my iD m, (a+ a)=8 (9.8 + 1.31) 1 y mg mg = oftt.t1] Free body diagram = 88.9Newton. of BlocksROTATIONAL DYNAMICS ‘CONCEPTUAL EXAMPLES: x. The cap of the pen can be easily opened with the help of two fingers than with one finger. Why? Si. With two ingore eony to applycascoupla thet rotates the cap: With onafinger, tie difval ta psduos the required torque Ex. When there is no extemal torque acting ona rotating body, which ofthe following quantities can change? () Angular acceleration (ii) Angular momentum, (iii) Angular speed. Sol, ()) The relation betwosn torque and angular acceleration is Since r= 0 .a=0 Hence, angular acceleration will not change, when external torque acting the body is zero. (i) The lation between torque and anger momentum isgiventy «= 92 When +=0 s or J= constant. Hence, angular momentum of the body does not change, if external torque acting on the body is zero. (iii) Since J constant, if : = 0 then J is constant. Tero) engulf Co WL hea Ho he bony cr. Ex. How will you distinguish between a hard boiled egg and a raw egg by spinning each on a table top? Sol. A hard-boiled egg spins much faster and longer than a raw egg. This is on account of the fact that a hard AL 9 FSV. BIANE: BUE Ta. ARGOUNTL OLIN ce Tene aeRO TN STA rotating as soon asthe egg is made fo spin. These laud contents retard the motion ofthe solid shell and thus act like a brake. Further, the viscous forces acting in the liquid contents of the raw egg are also sepanedier sedaclig iespiliaymaden. Ex. {fall the ice on the polar caps of the earth melts, how will its affect the duration of the day? Sol, When ice melts the water will go much ferther away from the axis of rotation, twill increase the MLL of earth. According to the law of conservation of angular momentum (I = constant), angular velocity of the — Now o=2% 1228 As o decreases, co T wil increase. Thus, duration ofthe dey will become longer Ex. Two discs of same mass and thickness are made of materials having different densities. Which one of them Lave oor? Sah, SHeRKaBer NAN OMNES aoe nF, tp, = a0, tp, rea x thickness x Density] Ay 5 Awe 2 Pe oo Be2t Hoe ret Peo Ly Tye 2 ° 3M This shows that M.L. of disc with less density will be larger. BROTATIONAL DYNAMICS COMPARISON OF TRANSLATIONAL MOTION AND ROTATIONAL MOTION [Translational Motion (Linear motion) Rotational Motion ( Angular motion) [> Newton's First Law Lawof Inertia > Newton's Second Law : The rate of change of momentum of a body Is proportional to the external force applied tobody, F-92 dt ow: fg? F=mov (F-m} |e Equation of motion (For uniform ace.) veutat S=utt Kat? ¥ Translational Inertia is mass (m) Linear momentum P=mV Work done vy When F = constant w-F.s Forvawying F faw=[F ds ‘neti Nya > Kinotic Energy = 5m v aw be Power P= SM P=F.V kee Work Energy theorem Work done W > Linear impulse aB => Newton’s First Law Law of Rotational Inertia => Newton's Second Law : ‘The rate of change of angular momentum of a body is proportional to the external torque applied to body => Equation of motion (For uniform angular ace.) o=o,tat OF ott kat oF = 02+ 200 6, +% (2n— 1) n= 0,4 > (20-1) => Rotational inertia is M.I. (I) => Angular momentum To => Work done when 7 = constant w=i.d Forvaning ? [aw = [2d 7 => Rotational kinetic Energy pie power P=oW . > Power P=2W - P=t.0. => Work Energy theorem 4, 2 => Rotational impulse 4 Te? p10 Work done W Ad= iat