Chapter 11: Rotational Dynamics

and Static Equilibrium

Torque: The ability of a force to rotate a body
about some axis. rF Note: F  r

The torque is larger

if the force is applied
further from the axis
of rotation.
 Rotational Dynamics
• Which force has the greatest
effect on the rotation of the b
door? pivot
a
c
By convention, the sign of torque is:

<0 clockwise (cw)

>0 counter-clockwise (ccw)

 General Definition of Torque
Only the component of the force that is Fsin
perpendicular to the radius causes a torque.
F
 = r(Fsin)


Equivalently, only the perpendicular

distance between the line of force and the
axis of rotation, known as the moment arm
r, can be used to calculate the torque.
 = rF = (rsin)F
 Each force that acts on an object may cause a torque.
F1
In this figure, the three forces have
equal magnitude.
F3 r2 r1
• Which forces cause a torque?

• Which force causes the biggest

magnitude torque?
F2 pivot point • Which forces, if any, causes a positive
torque?
When discussing torques, we must identify a pivot point
(or axis of rotation).
The net torque about a point O is the sum of all torques
about O: 
 Example 1
Calculate the net torque on the 0.6-m rod about the nail
at the left. Three forces are acting on the rod as shown in
the diagram.
4N

30° 5N

0.3 m

6N
 Moment of Inertia
Recall that mass (inertia) is an object’s resistance to
acceleration. Similarly an object’s resistance to rotation
(angular acceleration) is known as moment of inertia.
For a point mass m:
I = mr2
I = moment of inertia
r = distance from the axis of rotation
For an extended object:
I =miri2
Mass near the axis of rotation resists rotation less than
mass far from the axis of rotation.
 Angular Position, 
For circular motion, the distance (arc length) s,
the radius r, and the angle  are related by:
s (t )
 (t ) 
r
 > 0 for counterclockwise
rotation from reference line

Note that  is
measured in radians:

 RAD  
 DEG
180 1 rev = 360° = 2 rad
Consider a rotating disk:

P
r s
r 
O P O

t=0 t>0
 Angular Velocity, 
Notice that as the disk rotates,  changes. We
define the angular displacement, , as:

 = f - i

which leads to the average angular speed av

  f   i
 av  
t t f  ti
 Instantaneous Angular Velocity
As usual, we can define the instantaneous
angular velocity as:

  lim
t 0 t

Note that the SI units of  are: rad/s = s-1

 > 0 for counterclockwise rotation
< 0 for clockwise rotation
If v = speed of a an object traveling around a circle of radius r
=v/r
 Walker Problem 4, pg. 297
Express the angular velocity of the second hand on a
clock in the following units: (a) rev/hr (b) deg/min and (c)
rad/s.

How long does it take for the second hand to complete one revolution?
How many degrees in one revolution?
How many radians in one revolution?
 Period
The period of rotation is the time it takes to
complete one revolution.
2
 T = period
T
2
Rearranging we have T


What is the period of the Earth’s rotation about its own axis?
What is the angular velocity of the Earth’s rotation about its
own axis?
 Angular Acceleration, 
We can also define the average angular
acceleration av:
  f  i
 av  
t t f  ti

and 
  lim
t 0 t

The SI units of  are: rad/s2 = s-2

We will skip any detailed discussion of angular acceleration,
except to note that angular acceleration is the time rate of
change of angular velocity
 Torque and Angular Acceleration
Recall Newton’s Second Law: F = ma
The net force on an object of mass m causes
a (linear) acceleration a.

Similarly, the net torque on an object with moment

of inertia I causes an angular acceleration .

 = I
 v F

Partial derivation of role of
r
torque.
• Consider a point mass m constrained to
move in a circle of radius r.
• The centripetal acceleration is ac = v2/r
• The change in speed is determined by the component of force
parallel to motion (and therefore perpendicular to the radius):
 ma|| = F = Fsin
 mr  = F
  = rF / mr2 = / I
In order for a system to not change its state of rotation, the external
torque applied to the system must be 0.
 Zero Torque and Static Equilibrium
Consider the wheel shown below. Two forces of equal
magnitude are acting on the wheel. Will the wheel
remain at rest? NO – it will rotate!
F1
The net force is zero, so there will be no linear
acceleration.

However, the sum of the torques is not

zero, so there will be an angular
acceleration.
F2
The wheel is not in static equilibrium.
Conditions for Static Equilibrium
For true static equilibrium, two conditions
must be satisfied:
 Fx  0
F  0  Fy  0
  0
For an object in equilibrium, the axis of
rotation is arbitrary (But all torques must be
evaluated about a common axis).
 Walker Problem 30, pg 341
A rigid, vertical rod of negligible mass is connected to the
floor by an axle through its lower end, as shown in the
Figure. The rod also has a wire connected between its top
and the floor. If a horizontal force F is applied at the
midpoint of the rod, find (a) the tension in the wire, and
(b) the horizontal and vertical components of force
exerted by the bolt on the rod.
 y T
F

P
mg0
Static Equilibrium:
Fx = 0 F +Tcos(180º+45º) + Px = 0
fy = 0 Py+Tsin(180º+45º)-mg = 0
 = 0 (F)(L/2) +(Tcos45º)L = 0
T = F / (2 cos45º) = F / 2
cos(180º+45º) = 1/ 2 = sin (180º+45º)
Px =  F – Tcos(180º+45º) = F – (F/2)(-1/ 2)
Px = F + F/2 = F/2
Py = mg + T/ 2 = mg + F/2  F/2
 Center of Mass and Balance
Recall that an object will hang with it center of mass
(CM) directly below the point of suspension. Now we
can understand why. If the object’s CM is not below the
point of suspension, its weight will cause a torque which
rotates the object until its CM is below the point of
suspension.

(a) gravitational torque = 0

(b) gravitational torque rotates
the paintbrush
 Base of Support
An object at rest on a surface is in equilibrium (will not
tip over) if its center of mass is above the base of support.
The base of support is the area bounded by whatever is
touching the floor.

The shaded area between

the legs of the table is the
base of support.

Why isn’t it possible to touch your toes if you are

standing flush against a wall?
 Walker Problem 38, pg. 342
A baseball bat balances 71.1 cm from one end. If a
0.560-kg glove is attached to that end, the balance point
moves 24.7 cm toward the glove. Find the mass of the
bat.
 Angular Momentum
For linear momentum:
p = mv

For rotational motion, we define an angular

momentum:
L = r mv = mr2 = I
The SI units of angular momentum are kg·m2/s
 Walker Problem 54, pg. 343
Two gerbils run in place with a linear speed of 0.45 m/s
on an exercise wheel that is shaped like a hoop. Find the
angular momentum of the system if each gerbil has a
mass of 0.33 kg and the exercise wheel has a radius of 9.5
cm and a mass of 5.0 g.
All mass is at radius r = 0.095m
V=0.45 m/s I = mr2 = (0.005 + 2*0.33)kg (0.095m)2
I = 0.00600 kg m2
L=I
= v/r = (0.45 m/s) / (0.095 m) = 4.74/s
L = (0.00600 kg m2) (4.74 /s)
L = 0.028 kg m2/s
 Recall that Ft = p
For rotational motion:
t = L
Conservation of Angular Momentum
If    0 then Li  L f
With zero external torque, Angular momentum is constant, even
if internal forces cause a change in the distribution of mass.
• Elliptic orbits (chap. 12): L = constant
• Ice skater moving arms in, radius shrinks, Moment of inertia
I shrinks, L = I = constant, w increases.
 Walker Problem 61, pg. 343
A student sits at rest on a piano stool that can rotate
without friction. The moment of inertia of the student-
stool system is 4.1 kg·m2. A second student tosses a 1.5-
kg mass with a speed of 2.7 m/s to the student on the
stool, who catches it at a distance of 0.40 m from the axis
of rotation. What is the resulting angular speed of the
student and the stool? Assume that the velocity of the
mass, before it is caught, is tangential to a circle of radius
0.4 m from the axis of rotation.
 Walker Problem 63, pg. 343
A turntable with a moment of inertia of 5.4  10-3 kg·m2
rotates freely with an angular speed of 33.33 rpm. Riding
on the rim of the turntable, 15 cm from the center, is a 1.3-
g cricket. (a) If the cricket walks to the center of the
turntable, will the turntable rotate faster, slower, or at the
same rate? Explain. (b) Calculate the angular speed of the
turntable when the cricket reaches the center.
 Kinetic energy of rotation
What is the kinetic energy of a mass m traveling at speed v
in a circle of radius r?
K = (1/2) m v2 = (1/2) mr2 (v/r) 2 = (1/2) I 2

Kinetic energy of rotation = (1/2) I 2 = L2 / (2I)

This is not a new form of energy, just a re-labeling (or

alternate formula) for kinetic energy.
 Quiz
• Two masses, 1kg and 0.5 kg,are balanced
on a fulcrum at radii 0.20m and 0.40 m,
1kg 0.5kg
respectively.
• Now the lighter mass is hung from the same
position as before, but with a string of
length 0.20 m.
• Choose the correct answer:
1. The 0.5 kg mass swings down (longer
length = larger torque)
2. The system remains balanced (torques
don’t change)
1kg
3. The 0.5 kg mass swings up (it is lighter
than the 1kg mass).
0.5kg
 Gravitational Torque
y
• Gravity generates a torque as if the entire
x
force were concentrated at the Center-of-
Mass.
• Consider a discrete set of point masses m1,
m2,
m1g
• Gravitational torque acting on each mass is x- m3g
coordinate times force of gravity (since
gravity is perpendicular to x-direction)
• Torque = x1 m1 g + x2 m2 g + …
• = (x1 m1 + x2 m2 )g = XCM Mg
 Gravitational Potential Energy
• Single mass U = mgh
• Mass distribution U = mgyCM
Stability
• An object in equilibrium is stable, if any
tiny displacement (rotation or translation)
causes the center of gravity to rise.
 Gravitational Stability
• Stable
– CM rises

• Unstable
– CM falls
 Angular Momentum
For linear momentum:
p = mv

For rotational motion, we define an angular

momentum:
L = r mv = mr2 = I
The SI units of angular momentum are kg·m2/s
 Recall that Ft = p
For rotational motion:
t = L
Conservation of Angular Momentum
If    0 then Li  L f
With zero external torque, Angular momentum is constant, even
if internal forces cause a change in the distribution of mass.
• Elliptic orbits (chap. 12): L = constant
• Ice skater moving arms in, radius shrinks, Moment of inertia
I shrinks, L = I = constant, w increases.
 Kinetic energy of rotation
What is the kinetic energy of a mass m traveling at speed v
in a circle of radius r?
K = (1/2) m v2 = (1/2) mr2 (v/r) 2 = (1/2) I 2

Kinetic energy of rotation = (1/2) I 2 = L2 / (2I)

This is not a new form of energy, just a re-labeling (or

alternate formula) for kinetic energy.
 Hurricane
• Coriolis Force =
Conservation of
Angular Momentum
• Pressure differential
• (1000mBar outside-
882 mBar inside
Wilma)