1

Circular Motion by Gulshan Jha Sir

CIRCULAR MOTION Radial and tangential acceleration
dv
Angular Velocity ω at
= = rate of change of speed
(i) Average Angular Velocity dt
2 2
Total Angle of Rotation v v
ωav = and =ar ω= 2
r r = 
Total time taken r r
Following three points are important regarding the above
θ − θ ∆θ
ωav =2 1 = discussion:
t 2 − t1 ∆t (i) In uniform circular motion, speed (v) of the particle is
where θ1 and θ 2 are angular position of the particle at time t1 dv
constant, i.e., = 0. Thus, at = 0 and ar = rω 2
and t2 respectively. dt
𝑑𝑑𝑑𝑑
(ii) Instantaneous Angular Velocity (ii) In accelerated circular motion, = positive, i.e., at is
𝑑𝑑𝑑𝑑
The rate at which the position vector of a particle with respect along êt or tangential acceleration of particle is parallel to
to the centre rotates, is called as instantaneous angular velocity    dv
with respect to the centre. velocity v because v = rω eˆt and at = eˆt
dt
∆θ dθ (iii) In decelerated circular motion,
𝑑𝑑𝑑𝑑
= negative and hence,
= ω lim= 𝑑𝑑𝑑𝑑
∆t → 0 ∆t dt 
tangential acceleration is anti-parallel to velocity v .
Relation between speed and angular velocity: Relation between angular acceleration and tangential

 v acceleration
v = rω is a scalar quantity  ω ≠ 
 t dv dω
at
= = r
Relative Angular Velocity dt dt
(V ) or at = rα
ω AB = AB ⊥
rAB Relations among Angular Variables
These relations are also referred as equations of rotational
here VAB⊥ = Relative velocity ⊥ to position vector AB
motion and are -
Angular Acceleration α :
Average Angular Acceleration: ω
= ω0 + α t … (1)
Let ω1 and ω2 be the instantaneous angular speeds at times t1
1
and t2 respectively, then the average angular acceleration α av is θ ω0 t + α t 2
= … (2)
2
defined as ω 2 + ω02 + 2αθ … (3)
ω2 − ω1 ∆ω
α av =
=
t2 − t1 ∆t
(ii) Instantaneous Angular Acceleration:
It is the limit of average angular acceleration as At approaches
zero, i.e.,
∆ω d ω dω
α lim = = ω
=
∆t → 0 ∆t dt dθ
Important points:
• It is also an axial vector with dimension [T-2] and unit
rad/s2
• If α = 0, circular motion is said to be uniform.
dθ d ω d 2θ
• ω
As= α =
,= ,
dt dt dt 2
i.e., second derivative of angular displacement w.r.t time
gives angular acceleration. Centripetal Force :
• α is a axial vector and direction of α is along ω if ω Concepts: This is necessary resultant force towards the centre
called the centripetal force.
increases and opposite to if is ω decreases
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mv 2 rg ( µ − tan θ )
F
= = mω 2 r Minimum safe speed vmin =
r 1 + µ tan θ
(1) A body moving with constant speed in a circle is not in DEATH WELL:
equilibrium.
(2) It should be remembered that in the absence of the
centripetal force the body will move in a straight line
with constant speed.
(3) It is not a new kind of force which acts on bodies. In fact,
any force which is directed towards the centre may
provide the necessary centripetal force.
Centrifugal Force : mv 2 µ mv 2
Centrifugal force is a fictitious force which has to be = N = , f mg= , f max
R R
applied as a concept only in a rotating frame of reference
Cyclist does not drop down when
to apply Newton's law of motion (in that frame)
FBD of ball w.r.t non inertial frame rotating with the ball. µ mv 2 gR
f max ≥ mg ⇒ ≥ mg , v ≥
R µ
WORK, POWER AND ENERGY
1. Work Done By a constant force
    
W = F ⋅ s = F ⋅ (r1 − r2 ) = Fs cos θ
= Force × displacement in the direction of force.
In cgs system, the unit of work is erg.
SIMPLE PENDULUM: In mks system, the unit of work is Joule.
1 erg = 10-7 joule
2. WORK DONE BY A VARIABLE FORCE:

F = Fx iˆ + Fy ˆj + Fz kˆ

ds = dxiˆ + dyjˆ + dzkˆ
x0 y0 zo
W = ∫ Fx dx + ∫ Fy dy + ∫ Fz dz
xA yA zA
T – mgcosθ = mv2/L or, T= m(gcos θ + v2/L) AREA UNDER FORCE DISPLACEMENT CURVE :
  mv 
2 2
Graphically area under the force-displacement is the work done
=Fnet (mg sin θ ) 2 +  
 L 
v4
m g 2 sin 2 θ +
L2
CONICAL PENDULUM:

The work done can be positive or negative as per the area above
r g mgL the x-axis or below the x-axis respectively.
Speed v = 2 and Tension T = 2 2 1/ 2 DIFFERENCE BETWEEN CONSERVATIVE AND NON
( L − r 2 )1/ 4 (L − r )
COSERVATIVE FORCES
CIRCULAR TURNING ON ROADS:
Centripital force are provided by following ways.
By Friction Only:
For a safe turn without sliding safe speed
v ≤ µ rg
By Banking of Roads Only v = rg tan θ
By Friction and Banking of Road Both
rg ( µ + tan θ )
Maximum safe speed Vmax =
1 − µ tan θ
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Equilibrium
Physical Situation Stable Unstable Neutral
Equilibriu Equilibriu Equilibriu
m m m
Net Force Zero Zero Zero
Potential Energy Minimum Maximum Constant
When displaced A A force Force is
mean(equilibrium) restoring will act again
position nature of which zero.
force will moves the
act on the body away
body, from mean
which position.
bridges
the body
back
WORK DONE BY CONSERVATIVE FORCES forwards
Ist format: (When constant force is given) mean
  
dw =F ⋅ dr (dr =dxiˆ + dyjˆ + dzkˆ) position
Il format: (When F is given as a function of x, y, z) In U-r graph At point B At point A At point C
  
dw = ( Fx iˆ + Fy ˆj + Fz kˆ) ⋅ (dxiˆ + dyjˆ + dzkˆ)
⇒ dw = Fz dx + Fy dy + Fz dz
IIIrd format (perfect differential format)
In F-r graph At point A At point B At point C
dw = ( yiˆ + xjˆ) ⋅ (dxiˆ + dyjˆ) ⇒ dw = ydx + xdy
ENERGY
A body is said to possess energy if it has the capacity to do work.
When a body possessing energy does some work, part of its
energy is used up. Conversely if some work is done upon an
object, the object will be given some energy. Energy and work are
mutually convertible. Work Energy Theorem
1 Wnet = ∆K
Kinetic Energy K .E. = mv 2 Work done by net force Fnet in displacing a particle equals to
2
Potential Energy W.D = –∆U the change in kinetic energy of the particles i.e.
where ∆U is change in potential energy

(W .D )c + (W .D ) N .C + (W .D )ext + (W .D ) pseudo =
∆K
Where ( W.D )c = work done by conservative force
Power Of Force
(i) Average Power :
Total work done WTotal
Gravitational Potential Energy: It is possessed by virtue of = Pav =
Total timetaken t
height. GPE = ± mgh
(ii) Instantaneous Power :
Elastic Potential Energy: It is a property of stretched or
dW
compressed springs. = Pins. rate
= of doing work done
1 dt
Elastic Potential Energy = kx 2 
2 = F= .v Fv cos θ
Relation Between Potential Energy (U) and Conservation Vertical Circular Motion
 A bob of mass m is suspended from a light string of length R as
Force ( F ) shown. if velocity at bottommost point of bob is u, then depending
(i) If U is a function of only one variable, then on the value of u following three cases are possible
dU
F= − – slope of U-r graph
dr
(ii) If U is a function of three coordinate variables x, y and z, then
 ∂U ˆ ∂U ˆ ∂U ˆ 
F= − i+ j+ k
 ∂x ∂y ∂z 
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∑m x 1 1
X COM = i =1

M
n n

∑m y 1 1 ∑m z 1 1
Similarly, YCOM X COM = i =1
and zCOM = i =1

M M
Position of COM of two particles:
(i) If u ≥ 5 gR , bob will complete the circle/
(ii) If 2 gR < u < 5 gR , string will slack between
(iii) If u ≤ 2 gR , bob will oscillate between CAB. In this
case v = 0 but T ≠ 0.
• If u = 5 gR , bob will just will just complete the circle.
In this case, velocity at topmost point is v = gR ,
Tension in this critical case is zero at topmost point and
0 + m2 l m2 l
6 mg at bottommost point. = r1 = … (1)
m1 + m2 m1 + m2
(iv) Condition for the body to reach B: m2 l m1l
r2 =
l− = … (2)
∴ If u ≤ 2gR then the body will oscillate about m1 + m2 m1 + m2
A. m1r1 = m2 r2
Centre of mass of two particle system lie on the line joining the
centre of mass of two particle system.
Centre of Mass of a Continuous Mass Distribution
For continuous mass distribution the centre of mass can be located
by replacing summation sign with an integral sign. Proper limits
for the integral are chosen according to the situation
(v) At height h from bottom velocity of bob will be,
=v u 2 − 2 gh = xcm
∫=x dm
, ycm =
∫ y dm , z ∫ z dm
cm
∫ dm ∫ dm ∫ dm
∫ dm = M (mass of the body)
here x,y,z in the numerator is the coordinate of the centre of mass
of the dm mass.
 1 1 
M ∫M ∫
(vi) rcm = r dm
u 2 − 2 gR
2 gR < u < 5 gR then cos φ = v (a) C.O.M of a semicircular Ring ycm
2𝑅𝑅
3 gR π

It is the angle from the vertical at which tension in the

string vanishes to zero. And after that its motion is
projectile.
(vii) When u ≥ 5gR Tension at A : TA = 6mg
Tension at B : TB = 3mg (b) C.O.M of a semicircular Disc ycm
4𝑅𝑅
3π
CENTRE OF MASS
Centre of Mass of a System of ‘N’ Discrete Particles:

𝑅𝑅
(c) C.O.M. of a Hollow Hemisphere ycm
2

  
 m1r1 + m2 r2 + ... + mn rn
rcm =
m1 + m2 + .... + mn
 3𝐻𝐻
where, m1r1 is called the moment of mass of particle with respect (d) C.O.M. of mass of a solid cone =
4
to origin.
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(2) K.E. of the system is not constant it may change due to

internal force.

(3) Velocity of centre of mass is constant ( v com = constant)
but v1, v2, v3, may or may not constant. It may be change
due to internal force. from eq (2)
  
m1v1 + m2 v2 + m3 v3 + ..... = constant
This is called momentum conservation.
3𝑅𝑅
"If resultant external force is zero on the system, then the net
(e) C.O.M. of a solid Hemisphere ycm = momentum of the system must remain constant".
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Case II: When centre of mass is at rest.

Vcom = 0 then

drcom 
=⇒ 0 rcom = constant.
dt
  
i.e. r1 , r2 , r3 -.......... may or may not change
2𝐻𝐻
(f) C.O.M. of mass of triangular plate ycm = SPRING BLOCK SYSTEM:
3

2
Maximum extension x0 = v0 m
3k

CAVITY PROBLEMS:
If some mass or area is removed from a rigid body then the 2mF
xmax = x1 + x2 =
position of centre of mass of the remaining portion is obtained by k (m + M )
assuming that in a remaining part +m & -m mass is there. IMPULSE:
Velocity of C.O.M of system: Impulse of a force F acting on a body for the time interval t = t,
To find the velocity of centre of mass we differentiate equation tot = t, is defined as
(1) with respect to time  t2 
I − =∫ F dt
t1
 
I = ∫ F dt

dv 
= ∫= m dt ∫ mdv
dt
    
I = m(v2 − v1 ) = ∆P = change in momentum due to force F
 t2  
Also I Re = ∫ FRes dt = ∆P
t1
Acceleration of centre of mass of the system : -
To find the acceleration of C.O.M we differentiate equation (2) (impulse - momentum theorem)
Impulsive force:
A force, of relatively higher magnitude and acting for relatively
shorter time, is called impulsive force. An impulsive force can
change the momentum of a body in a finite magnitude in a very
short time interval. Impulsive force is a relative term. There is no
clear boundary between an impulsive and Non-Impulsive force.-

The internal forces which the particles exert on one another play N1, N3 = Impulsive; N2 = non-impulsive
absolutely no role in the motion of the centre of mass.
Case l: If F0 then we conclude:

(1) The acceleration of centre of mass is zero ( acom = 0)
If a1, a2 a3.... is acceleration of m1, m2, m3, mass in the system then
a1, a2 a3 may or may not be zero.
Both normal are Impulsive
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COEFFICIENT OF RESTITUTION (e)

The coefficient of restitution is defined as the ratio of the impulses Head on inelastic collision
of reformation and deformation of either body. (a) In an inelastic collision, the colliding particles do not
regain their shape and size completely after collision.
(b) Some fraction of mechanical energy is retained by the
colliding particles in the form of deformation potential
energy. Thus, the kinetic energy of the particles no
longer remains conserved.
Line of Motion
(c) However, in the absence of external forces, law of
The line passing through the centre of the body along the direction
conservation of linear momentum still holds good.
of resultant velocity.
(d) (Energy loss)perfectly Inelastic > (Energy loss)Partial inelastic
Line of Impact
(e) 0 < e < 1
The line passing through the common normal to the surfaces in
(iii) Oblique collision (both elastic and inelastic)
contact during impact is called line of impact. The force during
collision acts along this line on both the bodies.
Direction of Line of impact can be determined by:
(a) Geometry of colliding objects like spheres, discs, wedge etc.
(b) Direction of change of momentum.
If one particle is stationary before the collision then the line of
impact will be along its motion after collision.
velocity of seperation along line of impact
𝑒𝑒 =
of approach along line of impact velocity

Conservation of Linear Momentum

(i) For a single mass or single body If net force acting on the body
is zero. Then,

p = constant
 Variable Mass
or v = constant (if mass = constant) (1) We now consider those mass is variable, i.e., those in
(ii) For a system of particles or system of rigid bodies which mass enters or leaves the system. A typical case is
If net external force acting on a system of particles or system of that of the rocket from which hot gases keep on escaping
 
rigid bodies is zero, then, P CM = constant or VCM = constant thereby continuously decreasing its mass.
COLLISION    dm 
(2) Magnitude of thrust force is given by, =Fr vr  ± 
In every type of collision only linear momentum remains constant  dt 
Head on elastic collision  
Note: Direction of Ft is parallel to vr if mass of system is
In this case linear momentum and kinetic energy both are
dm  
conserved. After solving two conservation equations. we get increasing or is positive. Direction of Ft is antiparallel to vr
dt
dm
if mass of system is decreasing or is negative.
dt
(3) Based on this fact velocity of rocket at time t is given by
m 
V = u – gt + v, ln  0 
 m
value of g has been assumed constant in above equation.
(4) If mass is just dropped from a moving body then the
mass which is dropped acquires the same velocity as that
of the moving body.

Hence, vr = 0 or no thrust force will act in this case.
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Rotation by Gulshan Jha Sir

ROTATION =
1 1 1 2
m1v12 + m2 v22 + ...... = Iω
RIGID BODY: 2 2 2
Rigid body is defined as a system of particles in which distance Where I = Moment of Inertia
between each pair of particles remains constant (with respect to
= m1r12 + m2 r22 + ...
time) that means the shape and size do not change, during the
motion. Eg. Fan, Pen, Table, stone and so on. ω = angular speed of body
Combined translational and Rotational Motion
A body is said to be in translational and rotational motion if all
the particles rotates about an axis of rotation and the axis of
rotation moves with respect to the ground.
MOMENT OF INERTIA
Moment of inertia depends on :
(i) density of the material of body
(ii) shape & size of body
(iii) axis of rotation
Moment of Inertia of Rigid Bodies

If the above body is rigid

VA cos θ1 = VB cos θ 2
TYPES OF MOTION OF RIGID BODY
Types of Motion of Rigid body

I = ∫ r 2 dm
Pure Translational Pure Rotaional Combined Translational &
Motion Motion Rotational Motion
Where the integral is taken over the system
Pure Translational Motion
Two Theorems
(i) Theorem of parallel axes

   
Fext = m1a1 + m2 a2 + m3 a3 + ...
 
Fext = Ma
   
P = m1v1 + m2 v2 + m3 v3 + ....
Pure Rotational Motion: I I CM + mr 2 or I 2= I1 + mr 2
=

(ii) Theorem of perpendicular axes

I=
z Ix + I y
Total Kinetic Energy
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Moment of Inertia of different body: (v) Square slab

(i) Thin rod

ma 2
2 2 I= I= I=
ml ml 1 2 3
12
I1 0,=
= I2 , I3
=
12 3
ma 2
I 4 = I1 + I 3 =
ml 2 ml 2 6
=I4 = sin 2 θ , I 5 sin 2 θ
12 3 (vi) Solid sphere
(ii) Circular disc

2
I1 = mR 2
mR 2 mR 2 5
I=
1 I=
2 , I 3 = I1 + I 2 =
4 2
7
I1 mR 2 =mR 2
I 2 =+
5 3 5
I4 =I 2 + mR 2 = mR 2 , I 5 =I 3 + mR 2 =mR 2
4 2 m = mass of sphere
(iii) Circular ring (vii) Hollow sphere

mR 2
I1 = I 2 + , I 3 = I1 + I 2 = mR 2 2
2 I1 = mR 2
5
3
I4 =I 2 + mR 2 =mR 2 , I 5 =I 3 + mR 2 =2mR 2 5
2 I1 mR 2 =mR 2
I 2 =+
3
(iv) Rectangular slab
Torque about point:
   
Torque of force F about a point τ = r × F -
Torque about axis:
  
τ= r ×F

Where τ = torque acting on the body about the axis of
mb 2 ma 2 rotation
=I1 = , I2 
12 12 r = position vector of the point of application of force about
m 2 the axis of rotation.
I 3 = I1 + I 2 = (a + b 2 ) 
12 F = force applied on the body
   
τ net = τ 1 + τ 2 + τ 3 + ...
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Body is in Equilibrium horizontal surface. Velocity of its centre of mass is Vcom and
We can say rigid body is in equilibrium when it is in its angular speed is ω as shown in figure. We divide our
(a) Translational equilibrium problem in two parts
  
i.e., Fnet = 0 Fnet x = 0 and Fnet y = 0 and (b) Rotational

equilibrium τ net = 0, i.e., torque about any point is zero
ANGULAR MOMENTUM
Angular momentum of a particle about a point
(1) Pure Rotational + (2) Pure Translational about centre of
mass.

  
L= r × P ⇒ L = r p sin θ
 
L = r⊥ P, L= P⊥ × r Acceleration of a point on the circumference of the body in

Angular Momentum of a rigid body rotating about a R+T motion:

fixed axis The net acceleration of different points on the rigid body.

L = Iω
Here, I is the moment of inertia of the rigid body about axis.
Note: Angular momentum about axis is the component of

I ω along the axis. In most of the cases angular momentum

about axis is Iω.

CONSERVATION OF ANGULAR
MOMENTUM:
 
 dL  dL
or τ net = Now, suppose that τ net = 0 then = 0 , so that
dt dt

L = constant. Angular momentum of a rigid body in combined rotation and

ANGULAR IMPULSE translation

The angular impulse of a torque in a given time interval is

t2 
defined as ∫t1
τ dt

 dL   t2 
τ = dL of
∴τ dt = ∫ τ dt Let O be a fixed point in an inertial frame of reference.
dt t1
   
  Angular momentum of the body about O is L =Lcm + M (r0 × v0 )
= angular impulse = L2 − L1
UNIFORM PURE ROLLING
COMBINED TRANSLATIONAL AND
Pure rolling means no relative motion (or no slipping at point of
ROTATIONAL MOTION OF A RIGID BODY:
contact between two bodies.)
To understand the concept of combined translational and
VP =VQ or v – Rω = 0 or v = Rω
rotational motion we consider a uniform disc rolling on a
If vp > vQ or v > Rω, the motion is said to be forward slipping
 4

Now, suppose an external force is applied to the rigid body, the Toppling
motion will no longer remain uniform. The condition of pure
rolling on a stationary ground is,
a = Rα
Thus, v = Rω, a Rα is the condition of pure rolling on a stationary
ground. Sometime it is simply said rolling.
Pure rolling when force Fact on a body: Torque about E
Fb = (mg) a
𝐹𝐹𝐹𝐹
Or 𝑎𝑎 =
𝑚𝑚𝑚𝑚

For increases

a = linear acceleration, α = angular acceleration from linear

motion:
F + f = Ma
from rotational motion: Fx - fR = 1α
F ( R + x) F ( x − RC )
a = , f
MR(C + 1) R(C + 1) Fb + N(a - x) = mg a

Pure Rolling on an Inclined Plane: If x = a

Fmaxb = mga
𝑚𝑚𝑚𝑚𝑚𝑚
𝐹𝐹 max =
𝑏𝑏

g sin θ
a=
1+ c
So body which have low value of C have greater
acceleration
Note: We can represent the moment of inertia of a different
rigid body in a following way.
I = CMR 2
Value of C = 1 for circular ring(R)
1
𝐶𝐶 = for circular disc (D) and solid cylinder (S.C.)
2
2
𝐶𝐶 = for Hollow sphere (H.S),
3
2
𝐶𝐶 = for solid sphere (S.S)
5