Chapter 10
Rotational
Motion
about a
Fixed Axis
CONTENTS
1 Angular Quantities
2 Kinematic Equations for Uniformly Accelerated Rotational Motion
3 Rolling Motion (without slipping)
4 Vector Nature of Angular Quantities
5 Torque
6 Rotational Dynamics; Torque and Rotational Inertia (转动惯量)
7 Solving Problems in Rotational Dynamics
8 Determining Moments of Inertia
9 Angular Momentum and Its Conservation
10 Rotational Kinetic Energy
11 Rotatioinal Plus Translational Motion; Rolling
2
1 Angular Quantities
(1) A Rigid Body
A rigid body can move and rotate with all parts locked together
without any change in volume, size and shape. The relative
positions of each inner points remain unchanged.
That is to say to neglect deformations: stretching, twisting,
squeezing, etc.
A rigid body is an ideal model.
A perfectly rigid body does not exist.
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1 Angular Quantities
(2) Translational motion of a rigid body
An arbitrary straight line, combining any two points in a rigid
body, always keeps parallel for translational motion.
Every particle in a rigid body has the same translational motion.
Translational motion of a rigid body can be represented by a
point.
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1 Angular Quantities
(3) Rotational motion of a rigid body about a fixed axis
When a rigid body rotates about a fixed axis,
every particle in the body moves in a circular
path. That is to say all points on it move
through the same angle in the same time.
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1 Angular Quantities
(4) Angular coordinate
The angle that OP makes
with the +x-axis is a single
angular coordinate that
completely describes the
body’s rotational position.
(t)
Angular position
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1 Angular Quantities
(4) Angular coordinate
Angular coordinate can be positive or negative.
when we discuss rotation around a fixed axis, it’s
essential to specify the direction of positive rotation.
Normally, we choose positive angles to be measured
counterclockwise from the positive x-axis.
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1 Angular Quantities
(4) Angular coordinate
The most natural way to measure the angle is
not in degrees but in radians.
s
r
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1 Angular Quantities
(4) Angular coordinate
An angle in radians is the ratio of two lengths,
so it is a pure number, without dimensions.
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1 Angular Quantities
(4) Angular coordinate
If s = 2r , then = 2, but we will often write this
as 2 rad to distinguish it from an angle measured
in degrees or revolutions.
One radian (rad) is
defined as the angle
subtended by an arc
whose length is
equal to the radius.
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1 Angular Quantities
(4) Angular coordinate
By measuring angles in radians, we keep the relationship
between angle and distance along an arc as simple as
possible.
s r
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1 Angular Quantities
(5) Angular velocity vector
The right-hand rule for
the direction of the
angular velocity vector.
Reversing the direction
of rotation reverses
the direction of the
angular velocity vector.
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1 Angular Quantities
(5) Angular velocity vector
The angular velocity vector is perpendicular to the plane
of rotation, not in it. It’s a common error to think that an
object’s angular velocity vector points in the direction in
which some particular part of the object is moving.
Another error is to think angular velocity vector that is a
“curved vector” that points around the rotation axis in
the direction of rotation.
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1 Angular Quantities
(5) Angular velocity vector
Angular velocity is an attribute of the entire rotating
rigid body, not any one part, and there’s no such thing as
a curved vector. We choose the direction of angular
velocity vector to be along the rotation axis—
perpendicular to the plane of rotation—because that axis
is common to every part of a rotating rigid body.
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1 Angular Quantities
(5) Angular velocity vector
No part of the rotating body moves in the
direction of angular velocity vector .
If the axis of rotation is fixed in direction,
then can change only in magnitude.
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1 Angular Quantities
(5) Angular velocity vector
Describe the rotational motion in terms of
the rate of change of .
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1 Angular Quantities
(5) Angular velocity vector
Do this in an analogous way to the description
of straight-line motion.
2 1 ˆ ˆ
k k
t2 t1 t
ˆ d ˆ
lim k k
t 0 t dt
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1 Angular Quantities
(5) Angular velocity vector
A rigid body’s average angular velocity and
instantaneous angular velocity can be positive
or negative.
Suppose we choose the angle to increase in
the counterclockwise rotation.
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1 Angular Quantities
(5) Angular velocity vector
19
1 Angular Quantities
(5) Angular velocity vector
20
1 Angular Quantities
(5) Angular velocity vector
Different points on a rotating rigid body move different
distances in a given time interval, depending on how far
each point lies from the rotation axis.
But because the body is rigid, all points rotate through
the same angle in the same time. Hence at any instant,
every part of a rotating rigid body has the same angular
velocity.
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1 Angular Quantities
(5) Angular velocity vector
The number of complete
Frequency, f
revolutions (rev) per second.
f 2f
2
unit: hertz (Hz) 1 Hz = 1 rev/s = 1 s-1
Period, T
The time required for 1
one complete revolution. T
f
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1 Angular Quantities
(6) Angular acceleration
2 1
Also points
t2 t1 t
along the axis
d of rotation
lim
t 0 t dt
d d d ˆ d 2 ˆ
k 2 k
dt dt dt dt
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1 Angular Quantities
(7) Relationship between the linear quantities and the angular
quantities
ds d ( R ) d
v R R
dt dt dt
dv d (R) d
a R R
dt dt dt
v 2
(R ) 2
an R
2
R R
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1 Angular Quantities
A flywheel, r =0.2 m, a point M is on the rim.
The motion equation of M is t 4t
2
Find: the velocity and acceleration of M after 1 second.
d
Solution 2t 4(rad/s) v r 0.4t 0.8(m/s)
dt
At t =1s 2 rad/s v 0.4m/s 3rad
Angular d a r 0.2m (2rad/s ) 0.4 m/s
2 2
2 rad/s 2 v 2
acceleration dt an 2 r (2rad/s) 2 0.2m 0.8 m/s 2
r
a
Acceleration a a an 0.89 m/s
2 2 2
tan 0.5 26.6
an 25
1 Angular Quantities
At t=1s 3rad v 0.4m/s a 0.4 m/s2 an 0.8 m/s2
a
2 2
a a a 0.89 m/s 2
tan 0.5 26.6
n
an
a 0 Acceleration points
2
a 0.89 m/s behind the normal.
Firstly it rotates counterclockwise
v 0.4m/s an and its speed is decreasing. At t=2s,
v=0, after that it will change the
speed is decreasing rotation direction to clockwise. But
angular acceleration has no change.
Along the clockwise direction it
speeds up then.
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2 Kinematic Equations for Uniformly Accelerated Rotational Motion
Kinematic equations for uniformly
accelerated rotational motion
dx dv
x x(t ) v a
dt dt
replaced by
d d
(t )
dt dt
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2 Kinematic Equations for Uniformly Accelerated Rotational Motion
Fixed-Axis Rotation Straight-Line Motion
with Constant Angular with Constant Linear
Acceleration Acceleration
0＋ t v v0 at
1 2 1 2
0 0t t x x0 v0t at
2 2
2 2
0 2 ( 0 )
2 2
v v0 2a( x x0 )
0 v v0
v
2 2
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2 Kinematic Equations for Uniformly Accelerated Rotational Motion
Solution
29
2 Kinematic Equations for Uniformly Accelerated Rotational Motion
Solution
30
3 Rolling Motion (without slipping)
The rolling motion of a ball or wheel is familiar in everyday life:
a ball rolling across the floor, or the wheels and tires of a car or
bicycle rolling along the pavement.
Rolling without slipping depends on static friction between the
rolling object and the ground. The friction is static because the
rolling object's point of contact with the ground is at rest at each
moment.
Rolling without slipping involves both rotation and translation.
There is a simple relation between the linear speed v of the axle
and the angular velocity ω of the rotating wheel or sphere: v = rω.
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3 Rolling Motion (without slipping)
Fig. (a) shows a wheel rolling to the right without slipping.
At the instant shown, point P on the wheel is in contact with
the ground and is momentarily at rest. (If P was not at rest,
the wheel would be slipping.) The velocity of the axle at the
wheel's center C is v.
Fig. (b) we have put ourselves in the reference frame of the
wheel—that is, we are moving to the right with velocity v
relative to the ground. In this reference frame the axle C is
at rest, whereas the ground and point P are moving to the
left with velocity -v as shown.
This relationship is valid only
if there is no slipping.
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4 Vector Nature of Angular Quantities
increase same direction
decrease opposite direction
33
4 Vector Nature of Angular Quantities
Counterclockwise
upward
If and
increase same direction upward
decrease opposite direction downward
the wheel is
slowing down
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4 Vector Nature of Angular Quantities
Clockwise
If and
increase same direction downward
decrease opposite direction upward
the wheel is
downward slowing down
35
5 Torque
Forces acting on a body can affect its
translational motion.
Which aspects of a force determine how
effective it is in causing or changing rotational
motion?
The magnitude and direction of the force are
important, but so is the point on the body
where the force is applied.
36
5 Torque
A wrench is
being used
to loosen a
tight bolt.
Which of these three
equal magnitude forces
is most likely to loosen
the tight bolt?
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5 Torque
The quantitative measure of the tendency of a force to
cause or change a body’s rotational motion is called torque.
The torque of the
force is defined as: r F
A right-hand rule gives
the direction of the torque.
38
5 Torque
Torque is what causes rotation.
The torque depends on the magnitude and direction
of the force, and the point where the force acts.
It also depends on the location of the axis.
There are only two directions of the torque in the
rotational motion about a fixed axis.
39
5 Torque
(a) A pair of equal and opposite
forces that do not act along the
same line exert a torque on an
object;
(b) There is no torque only if
the same pair of forces act
along the same line.
40
5 Torque
or moment arm 41
5 Torque
Top view of a door. Applying the same
force with different lever arms, rA and rB,
if rA = 3rB, then to create the same
effect (angular acceleration), FB needs to
be three times FA.
42
5 Torque
Forces acting at
different angles at
the doorknob.
Lever arm is defined as
the perpendicular distance
from the axis of rotation
to the line of action of F.
43
5 Torque
44
5 Torque
Two thin cylindrical wheels of radii R1=0.3 m and R2=0.5
m are attached to each other on an axle that passes
through the center of each. Calculate the net torque on
the two-wheel system due to the two forces, each of
magnitude 50 N.
Solution
rF
R1 F1 R2 F2
45
5 Torque
Solution Take outward as positive
R1 F1 sin 90 R 2 F2 sin 60
0 0
0 .3 50 0 .5 50 0 .866
6 . 7 m N into the page
The net torque acts to accelerate the
rotation of the wheel in the clockwise
direction.
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5 Torque
A square metal plate 0.180 m on each side is pivoted about an
axis through point O at its center and perpendicular to the plate.
Calculate the net torque about this axis due to the three forces
shown in the figure if the magnitudes of the forces are F1 = 18.0 N,
F2 = 26.0 N, and F3 = 14.0 N. The plate and all forces are in the
plane of the page.
Solution Take outward as positive
1 2 3
r1 F1 r2 F2 r3 F3
(0.090m)(18.0 N) (0.090m)(26.0 N) 2 (0.090m)(14.0 N)
1.62N m 2.34N m 1.78N m
2.50N m out of the page
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