Lecture 3.

2
ROTATION
 Outline
• Cross product
• Rotation about a fixed axis
• Angular Velocity-Angular Acceleration
• Torque
• Equation of Rotation
• Moment of Inertia
• Kinetics Energy of Rotation
 Rotation in Reality
• Rotational motion is all around us from
molecules to galaxies.
• The earth rotates about its axis.
• Wheels, gears (sự truyền động bánh răng)
• Propellers (cánh quạt máy bay),
• Motors, a CD in its player, a pirouetting
(múa xoay tròn) ice skater, all rotate.
 Cross Product
! ! !
C = A´ B C = AB sin f

! ! ! !
A´ B = -B ´ A

Properties of the Cross Product

l Cross Product is Anti-Commutative.
l Parallel Vectors have Cross Product of zero.
! ! ! ! ! ! !
l Cross Product obeys the Distributive Law. A ´ (B + C) = A ´ B + A ´ C
! !
l Product Rule for Derivative of a Cross Product. d ! ! ! dB dA !
( A ´ B) = A ´ + ´B
dt dt dt
 Cross Product
l The Cross Product (or Vector Product) of two vectors A and B is
a multiplication of vectors where the result is a vector quantity C
with a direction perpendicular to both vectors A and B, and the
magnitude equal to ABsinf :

! ! !
C = A´ B C = AB sin f Magnitude of the cross (vector)
product of two vectors A and B

l A is the magnitude of the first vector, B is the magnitude of the

second vector and f is the angle between the two vectors.
l The direction of the cross product is perpendicular to the plane
formed by the two vectors in the product. This leaves two possible
choices which are resolved by using the Right Hand Rule.
 Cross Product
l Right-handed ! ! !
coordinate system, i´ j=k
in which:
! ! !
z
j´k = i
! ! !
k´ i = j
! ! !
k ! A ´ B = ( Ay Bz - Az By )iˆ + ( Az Bx - Ax Bz ) ˆj + ( Ax By - Ay Bx )kˆ
j
!O y
i
x
ANGULAR VELOCITY - ANGULAR ACCELERATION
A rigid body = system of particles, that the distance between any two
particles that make up the object remains fixed.

Rigid object rotates about a fixed axis D.

The trajectory of each point (except those on the axis) is a circle.
During a time dt, all points move the same angle dq
dq
w Angular speed w= (rad / s)
dt
Angular dw
Acceleration
a= (rad / s 2 )
dt
dq
During a time dt, ith particle move
M1 a distance dsi

O dq dsi = ri dq
dsi Mi(t+dt)
ri: distance from ith particle Mi to the
Mi(t+dt)
rotation axis.
 Relationship Between Angular
and Linear Quantities
dsi = ri dq
The speed of the ith particle:
dsi dq
w vi = = ri = riw
dt dt
The tangential acceleration of the ith particle :

dvi dw
ati = = ri = ari
dt dt

The centripetal acceleration of the ith particle :

! v2
O dq ait ain = = w 2 ri
ri
ri
!
ain !
dsi

vi The acceleration of the ith particle

ai = at2i + ani
2
= ri a 2 + w 4
 ! ! !
vi = w Ù ri
w ! " ! w
ait = a Ù ri
! 2!
ain = -w ri

! ! !
a w ! w !
! vi !
O ain O ain vi
!
ait ! !
a ait
The object rotates
counter-clockwise
! ! ! !
a ­­ w a ­¯ w
! ! ! !
ait ­­ vi ait ­¯ vi
The rotation is accelerated The rotation is decelerated
 ! ! !
w
vi = w Ù ri w
! ! !
ait = a Ù ri
! 2!
ain = -w ri
! !
a a
! !
O ain O ain
!
! ! ait ! ! a!
w vi w v it
i

The object rotates ! !

! !
a ­¯ w clockwise a ­­ w
! ! ! !
ait ­¯ vi ait ­­ vi
The rotation is decelerated The rotation is accelerated
 Torque
D
Consider a force Fi exerting on the
object, that can rotate about a
fixed axis.

! ! ! ! !
! F// !
Fi
F = F// + Fr + Ft
eD
! Only the tangential force
O ri ! can rotate the object
Fit
!
Fir The torque of the Force F
about a fixed point O:

! !! ! !
eD : unit _ evector t F /O =r ÙF
!! !! ! !
The torque of the Force F about the D
axis going through the point O
t F /D = (t F / O .eD ).eD
 !! ! ! ! ! ! !
t F /O = r Ù F = r Ù ( F //+ F r + Ft )
!! ! ! ! ! ! !
t F /O = (r Ù F //) + (r Ù F r ) + (r Ù Ft )
%"$" # %
!
"$" # % "$!"#
-rF// et =0 rFt eD
!! ! ! ! ! !
tF /D = ( M F / O .eD )eD = rFt eD = M F! / D
!
t

!! !!
Only the tangential force can rotate the object
tF /D =tF /D
t

!!
The torque of a parallel force F// is zero tF =0
// / D
!!
The torque of the force that has the line of
tF =0
action go through the axis is zero r /D
 DYNAMICS OF ROTATION

Let Force Fi exerts on the ith particle

Fit = mi ait = mi ria (1)
Force Fit causes a tangential acceleration aatiit
of the ith particle: aitti = ria
Multiply the eq(1). by ri ri Fit = mi ri2a (2)
Torque of Fi about the rotation axis
t i = mi ri2a (2' )
Summing over all the particles in the object
å i å i i )a
t = ( m r 2
(3)
i i
(Angular acceleration is the same for all the
particles of the object and can therefore be t = åt i I = å mi ri2
taken out of the sum) i i

t : the net torque acting on the object:

I: Moment of Inertia
t = Ia
Equation of Rotation
 MOMENT OF INERTIA
ri is the distance of the ith particle
I = å mi ri2 (system of particles) from the rotation axis D
i
r is the distance of the mass
I = ò r 2 dm (continuous object) element dm from the rotation axis
D

D
r1 D

r
r1 m1
dm
ri
mN
mi
 Moment of Inertia
of Homogenous Rigid Objects about the axis through the Center of Mass

D D D
Solid Hoop or thin R1
R Hollow
cylinder/disk cylindrical cylinder
1 R shell
I CM = mR 2 R2 1
I CM = mR 2 I CM = m( R12 + R22 )
2 2

D D Thin D Sheet
Solid sphere
spherical
R 2 R shell
I CM = mR 2 b 1
5 2 I CM = m(a 2 + b 2 )
I CM = mR 2 a 12
3

DCM Thin rod D Through the end

Thin rod
1
I CM = mL2 1
12 I D = mL2
3
L
L
 The Parallel-Axis Theorem (Steiner- Huygens)
The moment of inertia about an axis is equal to the sum of moment of
inertia about an axis through the center of mass Icm and Md2

I D = ICM + md 2
d : distance between through parallel axes D and D cm

D DCM
I D = I CM + md 2
1
I CM = mR 2 , d = R
2
1 3
I D = mR + mR = mR 2
2 2
2 2
 Kinetic Energy of Rotation
The kinetic energy of a rotating object is the sum of the kinetic
energies of the individual particle in the object.
The kinetic energy of a mass element mi is
1
Ki = mi vi2
2
Summing over all the elements and using vi = riω gives

1 1 1 æç 2ö
K rot = å Ki = å mi vi = å mi ri w = ç å mi ri ÷÷w 2
2 2 2

i i 2 i 2 2è i ø
1 2
K rot = Iw KInectic Energy of Rotation
2
Example 1
Two blocks are connected by a string that passes over a pulley of radius
R and moment of inertia I. The block of mass m1 slides on a frictionless,
horizontal surface; the block of mass m2 is suspended from the string .
Find the acceleration a of the blocks and the tensions T1 and
T2 assuming that the string does not slip on the pulley.

Example 2
A uniform thin stick of length L and mass M is pivoted at one end. It is
held horizontal and released ( Figure 9-24). Assume the pivot is
frictionless. Find (a) the angular acceleration of the stick immediately
after it is released, and (b) the force F0 exerted on the stick by the pivot
at this time.

Example 3
A 4-kg block resting on a frictionless horizontal ledge is attached to a
string that passes over a pulley and is attached to a hanging 2-kg block
(Figure 9-45 ). The pulley is a uniform disk of radius 8 cm and mass 0.6
kg. (a) Find the speed of the 2-kg block after it falls from rest a distance of
2.5 m. (b) What is the angular velocity of the pulley at this time?
Example 1
Two blocks are connected by a string that passes over a pulley of radius
R and moment of inertia I. The block of mass m1 slides on a frictionless,
horizontal surface; the block of mass m2 is suspended from the string .
Find the acceleration a of the blocks and the tensions T1 and
T2 assuming that the string does not slip on the pulley.

1 1 N T1 T’1

T’2

T2
P1
2 2

+ m1 moves right P2
+ m2 moves down
+ Pulley rotates clockwise
+ The magnitude of acceleration :a1 = a2 = a
+ The magnitude of the tensions:T1 = T’1 , T2 = T’2
 1 N T1 T’1
Applying Newton’s 2nd law and projecting
T’2 (1) and (2) on the direction of motion :
! ! ! !
T2 m1a1 = P1 + N + T1 (1)
P1 ! ! !
2
m2 a2 = P2 + T2 (2)
m1a1 = T1 (3)
P2
m2 a2 = m2 g - T2 (4)
Equation of rotation of pulley Ia = T2' R - T1' R (5)
Relationship between a and a a = aR (6)
a
I = T2' - T1' (7)
R2
æ I ö m2 g
(3)+(4)+(7) ç m1 + m2 + 2 ÷a = m2 g a=
è R ø m1 + m2 + I / R 2
m1m2 g
(3) T1 = m1a1 =
m1 + m2 + I / R 2
m1 + I / R 2
(4) T2 = m2 g - m2 a = 2
m2 g
m1 + m2 + I / R
Example 2
A uniform thin stick of length L and mass M is pivoted at one end. It is
held horizontal and released ( Figure 9-24). Assume the pivot is
frictionless. Find (a) the angular acceleration of the stick immediately
after it is released, and (b) the force Fo exerted on the stick by the pivot
at this time.
Fo
Applying the Newton’s 2nd law for the CM gives:
D CM
macm = mg - Fo (1)
1 2 P L
I D = mL Eq. of rotation: I Da = mg (2)
3 2
1 2 L 3g 2
mL a = mg a = ( rad / s )
3 2 2L
Remark Just after the
stick is released, the L 3
pivot exerts an upward acm = a = g
force equal to one-
2 4
fourth the weight of t he 1
stick. (1) Fo = mg - macm = mg
4
Ex 3 . A 4-kg block resting on a frictionless horizontal ledge is attached to
a string that passes over a pulley and is attached to a hanging 2-kg block
The pulley is a uniform disk of radius 8 cm and mass 0.6 kg. (a) Find the
speed of the 2-kg block after it falls from rest a distance of 2.5 m. (b) What
is the angular velocity of the pulley at this time?

From Ex 9-7 m2 g
a=
1 N T1 T’1 m1 + m2 + I / R 2
T’2 The motion of m2 is linear with
constant acceleration
T2
P1
v 2 - vo2 = 2as
2 !
=0
P2
The speed v = 2as
the angular velocity of the pulley w = v/R