7/8/2022

ROTATION OF RIGID BODIES

I. Torque
  
  rF
Chapter 10: DYNAMICS OF ROTATIONAL MOTION II. Angular momentum
    
Single particle L  r  p  r   mv 
Exercises: 1, 3, 5, 11, 13, 19, 23, 25, 27, 33, 35, 37, 39, 43, 45, 49
III. Newton’s second law in angular form
Linear Angular       
 prove : net  r  Fnet  r  ma  m(r  a)
Problems: 54(54), 57(58), 61(62), 63(64), 65(66), 67(68), 69(69), 75(76),  dp   dL
    
Single particle dL d   d(r  v)   dv dr  
79(80), 85(85), 87(87), 89(89), 93(93), 97(97) F  (  ma)
dt
net 
dt
 (r  mv)  m

 m r    v
dt dt dt  dt dt 
dL      
IV. Angular momentum   m  r a  v  v  m  r a 
Dang Duc Vuong  dL    dt
-System of particles: net   net  0  L   Li  const (Law of conservation of angular momentum)
Email: [Link]@[Link] dt i
-Rigid body (rotating about a fixed axis with constant angular speed ω):

   dL
L  I net 
dt

One Love. One Future. 7/8/2022 Dang Duc Vuong - SEP - HUST 1 One Love. One Future. 7/8/2022 Dang Duc Vuong - SEP - HUST 2

1 2

10.54. An experimental bicycle wheel is placed on a test stand so that it is free to turn on its axle. If a constant net torque of 10.57(58). While exploring a castle, Exena the Exterminator is spotted by a dragon who chases her down a hallway. Exena runs
5.00N.m is applied to the tire for 2.00 s, the angular speed of the tire increases from 0 to 100 rev/min. The external torque is into a room and attempts to swing the heavy door shut before the dragon gets her. The door is initially perpendicular to the wall,
then removed, and the wheel is brought to rest by friction in its bearings in 125 s. Compute (a) the moment of inertia of the so it must be turned through 90o to close. The door is 3.00 m tall and 1.25 m wide, and it weighs 750 N. You can ignore the
wheel about the rotation axis; (b) the friction torque; (c) the total number of revolutions made by the wheel in the 125-s time friction at the hinges. If Exena applies a force of 220 N at the edge of the door and perpendicular to it, how much time does it
interval. take her to close the door? 

 z  I z z  0z   z t The door is 3.00 m tall and 1.25 m wide, and it weighs 750 N
z  1
Let the direction the wheel is rotating be positive.    0  0z t  t ML2
Inertia moment: I 
2 3
n = 100 rev/min   = 10.47 rad/s 2z  20z  2 z (  0 )  z z     F.L
  I 
(a) the moment of inertia of the wheel about the rotation axis;  z
 z  F.L  I
L = 1.25 m
  I z  I   z
  z

5.00
 0.956 kg.m 2 z  
z
z  z  0z  / t 10.47  0 / 2    0  0z t  t 
2
(b) the friction torque;  fz  Iz  I  z  0z  / t1  0.956  (0 10.47) /125  0.0801 Nm  z  2(   0 ) 2(   0 )
0z  0;    0  t t   0.675s
(c) the total number of revolutions made by the wheel in the 125-s time interval. 2 z FL / I
 0  0  0rad; 
0
2z  20z 2z  20z   0z 10.47 
2z  02z  2 z (  0 )    0    z t 125  654rad  104rev   900  π/2 rad 
2 z 2(z  0 z ) / t 2 2

One Love. One Future. 7/8/2022 Dang Duc Vuong - SEP - HUST 3 One Love. One Future. 7/8/2022 Dang Duc Vuong - SEP - HUST 4

3 4
 7/8/2022

10.61(62). The mechanism shown in Fig. is used to raise a crate of supplies from a ship's hold. The crate 10.63(64). A block with mass m = 5.00 kg slides down a surface inclined 36.9o to
has total mass 50 kg. A rope is wrapped around a wooden cylinder that turns on a metal axle. The the horizontal (Fig.). The coefficient of kinetic friction is 0.25. A string attached
cylinder has radius 0.25 m and moment of inertia I = 2.9 kg.m2 about the axle. The crate is suspended to the block is wrapped around a flywheel on a fixed axis at O. The flywheel
from the free end of the rope. One end of the axle pivots on frictionless bearings; a crank handle is has mass 25.0 kg and moment of inertia 0.500 kg.m2 with respect to the axis of
attached to the other end. When the crank is turned, the end of the handle rotates about the axle in a rotation. The string pulls without slipping at a perpendicular distance of 0.200
vertical circle of radius 0.12 m, the cylinder turns, and the crate is raised. What magnitude of the force m from that axis. (a) What is the acceleration of the block down the plane? (b)
F applied tangentially to the rotating crank is required to raise the crate with an acceleration of 0.80 What is the tension in the string
m/s2? (You can ignore the mass of the rope as well as the moments of inertia of the axle and the     
For the block w  n  T  f k  ma  mg sin   T   k (mg cos )  ma
crank)
For the crate T  mg  ma  T  m(a  g) For the flywheel    I   TR  I  TR=I a  T  Ia
a  R R R2
For the cylinder (a) the acceleration of the block
 Fd  TR  I a R Ia Ia mg sin    k (mg cos )
   I  a  R   Fd=TR+I
R
FT +
d R.d mg sin   2   k (mg cos  )  ma  a 
I
 1.12m/s 2
 R m 2
Magnitude of the force F: (b) The tension in the string R
R Ia Ia
F  m(a+g) +  1200N flywheel
d R.d T  2  14.0N
R

One Love. One Future. 7/8/2022 Dang Duc Vuong - SEP - HUST 5 One Love. One Future. 7/8/2022 Dang Duc Vuong - SEP - HUST 6

5 6

10.65(66). A lawn roller in the form of a thin-walled, hollow cylinder with mass M is pulled horizontally with a constant 10.67(68). A solid disk is rolling without slipping on a level surface at a constant speed of 2.50 m/s. (a) If the disk rolls up a
horizontal force F applied by a handle attached to the axle. If it rolls without slipping, find the acceleration and the friction 30.0o ramp, how far along the ramp will it move before it stops? (b) Explain why your answer in part (a) does not depend on
force. either the mass or the radius of the disk.
Take position 1 to be the location of the disk at the base of the
Inertia moment: I  MR 2
ramp and 2 to be where the disk momentarily stops before
rolling back down
 z  I z  Ffr .R F .R 2 F
 a  R z  fr 2  fr
  z  Conservation of energy 1 1 1 1 v 
2

 z  Ffr .R  I MR M
2
1
2 2
2
K  mv  I   I   I  
1
2 R
0
2
A
2
A
1

F U 0 1

F  Ffr  Ma  a  K U W K U W 0
2M 1 1 other 2 2 other

F K 0 2 A
Ffr  Ma  0
2 U  mgd sin30
2 1 23 2 2
I  mR  mR  mR
A

13 v 2
2
3v 0
2
2 2
  mR   mgd sin 30  d 
1
2
 0.957m 1
0
22 R 4g sin30
The mass M enters both in the linear inertia and in the gravity force so divides out. The mass M and radius R enter
in both the rotational inertia and the gravitational torque so divide out.

One Love. One Future. 7/8/2022 Dang Duc Vuong - SEP - HUST 7 One Love. One Future. 7/8/2022 Dang Duc Vuong - SEP - HUST 8

7 8
 7/8/2022

10.69. The Yo-yo. A yo-yo is made from two uniform disks, each with mass m and radius R, connected by a light axle of 10.75(76). A solid, uniform ball rolls without slipping up a hill, as shown in the Fig. At the 2
top of the hill, it is moving horizontally, and the it goes over the vertical cliff, (a) How far
radius b. A light, thin string is wound several times around the axle and then held stationary while the yo-yo is released from
from the foot of the cliff does the ball land, and how fast it is moving just before it
rest, dropping as the string unwinds. Find the linear acceleration and angular acceleration of the yo-yo and the tension in the
lands?(b) Notice that when the ball lands, it has a greater translational speed than when it
string. was at the bottom of the hill. Does this mean that the ball somehow gained energy?
1 1 Explain!
Inertia moment of yo-yo: I  mR 2  mR 2  mR 2 1 3
2 2 Apply conservation of energy to the motion of the ball as it rolls up the hill. After the ball leaves the edge of the cliff it moves in projectile
 Tb  I a Ia motion and constant acceleration equations can be used.
   I   a  b  Tb=I b  T  b 2 (1) The moment arm for T is b
1 1 1 12
2
(a) Conservation of energy  v  7
K 1  mv12  I 012  mv12   mR 2  1   mv 12
For the yo-yo with acceleration of the yo-yo is a: 2 2 2 2 5  R  10
U1  0 10
  W 0  v 2  v 12  gh  15.26 m/s
 F  m totala   2m  g  T   2m  .a  T  2m(g  a) (2) K U W
1 1 1
other
K U
1 2 1 2 1 2
other
 v 
2 7 2 2 2
7 2

2
K  mv  I   mv   mR    mv 2

2b 2 g
2 2 0 2 2 2
Ia 2mg 2mg 2 2 2 2 5  R  10
(1)(2)  T  2  2m(g  a)  a   2
 2 U 2  mgh
b I mR R  2b 2
 2m  2m (b) Consider the projectile motion of the ball, from just after it leaves the top of the cliff until just before it lands. Take y + to be upward.
b2 b2
Use the vertical motion to find the time in the air:
a 2bg 1 v v
Angular acceleration of the yo-yo    2 xx v t a t v t 2
3x 2 v  v v 2 2

b R  2b 0
2
0x x 2 ground  y  0  t  2.39s 3x 3x 3y

The tension in the string: (R / b) 2 1 1  x  36.5m

1
T  2m(g  a)  2mg y  y  v t  a t  28  gt 2 2 v  0  g(2.39)  23.4m/s v  28.0m/s > 15.26 m/s
3y
2  (R / b) 2 0
2
0y
2
y 2 3

One Love. One Future. 7/8/2022 Dang Duc Vuong - SEP - HUST 9 One Love. One Future. 7/8/2022 Dang Duc Vuong - SEP - HUST 10

9 10

(b) 2 10.79(80). In a spring gun, a spring of force constant 400 N/m is compressed 0.15 m. When fired, 80.0% of the elastic potential
3 = 2 energy stored in the spring is eventually converted into the kinetic energy of a 0.0590-kg uniform ball that is rolling without
slipping at the base of a ramp. The ball continues to roll without slipping up the ramp with 90.0% of the kinetic energy at the
bottom converted into an increase in gravitational potential energy at the instant it stops. (a) What is the speed of the ball's
center of mass at the base of the ramp? (b) At this position, what is the speed of a point at the top of the ball? (c) At this
At the bottom of the hill: 1 3
position, what is the speed of a point at the bottom of the ball? (d) What maximum vertical height up the ramp does the ball
1 1 2 1 12   2 2 2 2
move?
K  mv  I   mv   mR   
1 1 0 1 1 1
1 1 2 2 2
2 2 2 25   Energy  mv  mR  Force constant of the spring is, k= 400 N/m
 2 10 1 1
v2
U 0 1  Compressed distance is, x=0.15m; The mass of the ball is, m=0.059 kg
Let the radius of the ball be R; The moment of inertia of the ball is, I= (2/5)mR2
At the top of the hill: v2 and  2 Let the angular speed of the ball at the base of the ramp be  v1
The rotation rate doesn’t change while the ball is in the air, after it leaves the top of the cliff, so just before it lands  3=  2 Then, the linear speed of the ball at the base of a ramp is, v1=R
At the ground, when it lands: 1 2
U  kx  4.50J  K  80%.U  3.60J (b)  at the top of the ball v  2v1  18.7m/s
el
2 1 el
10K 1
1 1 1 1 2   v1   9.34m/s 2
2 2
K  mv  I   mv   mR    2
1
2
1
2
1 1 1 1 2  v  7 7m
1
2 3
2 0
2 3
2 5 3
  Energy  mv  mR 
2 2 2 2
1
2
K  mv  I   mv   mR    mv
1 0
2
1
2
1
2 1 2
1
(c)  at the bottom of the ball v  0 m/s
2 10 3 2 2 2 2 2 5  R  10
U 0 
1  (d) What maximum vertical height up
v 25.0 v 15.26 90%  3.6
   1
;       v  v
2
1
R R
3
R
2
R
2 1 3 1
U  90%K  mgh  h 
2 1
 5.6m
0.059  9.81
One Love. One Future. 7/8/2022 Dang Duc Vuong - SEP - HUST 11 One Love. One Future. 7/8/2022 Dang Duc Vuong - SEP - HUST 12

11 12
 7/8/2022

10.85. A 5.00-kg ball is dropped from a height of 12.0 m above one end of a uniform bar that pivots at its center. The bar has 10.87. A uniform rod of length L rests on a frictionless horizontal surface. The rod pivots about a fixed frictionless axis at one end. The rod is
initially at rest. A bullet traveling parallel to the horizontal surface and perpendicular to the rod with speed v strikes the rod at its center and
mass 8.00 kg and is 4.00 m in length. At the other end of the bar sits another 5.00-kg ball, unattached to the bar. The dropped
becomes embedded in it. The mass of the bullet is one-fourth the mass of the rod. (a) What is the final angular speed of the rod? (b) What is the
ball sticks to the bar after the collision. How high will the other ball go after the collision?
ratio of the kinetic energy of the system after the collision to the kinetic energy of the bullet before the collision?
IDENTIFY: Apply conservation of energy to the motion of the first ball before the collision and
v2 IDENTIFY: Apply conservation of angular momentum to the collision. The external force acts at the axis, it produces no torque and angular
to the motion of the second ball after the collision. Apply conservation of angular momentum to h momentum is conserved.
the collision between the first ball and the bar.
1
The ball is dropped from a height of h: mgh  mv12  v1  2gh v1
2 
Use conservation of angular momentum: system ball+ bar
Before the collision: L1  I bar0  mv1  L   mv1L 2
2 2 1 L 
Immediately after the collision the bar and both balls are rotating together. L 2  I bar  Ball 1   ML2  2m    1
 12  2  
2

mv1L  1 L  12mv1 12m
L1  L 2    ML2  2m    1  1   2gh  3.027rad / s
2  
 12 2  ML  6mL ML  6mL before the collision after the collision 1 1 2 2
K  m v  Mv K 3
L
  L  m vr  I  L  I  I  1
2
b
8 2

Just after the collision the second ball has linear speed: v2  1.    6.055m / s 1 b b rod 1 2 rod b 2

K 19
2 1 1 L 1   ML M  L   2
2
1 3 1

1 v2 m  M  L  Mv   2
L   ML  m r     2
    K  I  I  
2 rod b
Mv 2
2
2

the height the second ball goes mgh 2  mv 22  h 2  2

 1.87 m
b
4 1
4  2
2
3   3
b b
4 2 
2 2
2 152
2 h
6 v
Mechanical energy is lost in the inelastic collision and some of the final energy is in the rotation of the bar with the first ball L L  
1 2 2 The collision is inelastic and K2<K1
19 L
stuck to it. As a result, the second ball does not reach the height from which the first ball was dropped.

One Love. One Future. 7/8/2022 Dang Duc Vuong - SEP - HUST 13 One Love. One Future. 7/8/2022 Dang Duc Vuong - SEP - HUST 14

13 14

10.89. A target in a shooting gallery consists of a vertical square wooden board, 0.250 m on a side and with mass 0.750 kg,
(c) What minimum bullet speed would be required for the board to swing all the way over after impact?
that pivots on a horizontal axis along its top edge. The board is strock face-on at its center by a bullet with mass 1.90 g that is
traveling at 360 m/s and that remains embedded in the board. (a) What is the angular speed of the board just after the bullet's Apply conservation of energy as in part (b), except now we want ycm,2 = h = 0.250 m.
Solve for the ω after the collision that is required for this to happen.
impact? (b) What maximum height above the equilibrium position does the center of the board reach before starting to swing
1  M m  2 2

down again? (c) What minimum bullet speed would be required for the board to swing all the way over after impact?  M  m  gh    
2

2 3 4 
(a) Apply conservation of angular momentum to the collision between the bullet
2  M  m  gh
and the board   15.34 rad / s
 M  m 
2 2

   
Just before the collision L  m vr  I   mv 1 b b board 0  3 4 
1 2
2
 
   3   m 2   
2
Just after the collision L  I  I   M 2 board b 1 1
   
L  L    5.46 rad/s

1 2 1

(b) What maximum height: Apply conservation of energy to the motion of the board after the collision L  m vr  I   mv
1 b b board 0  2I
2 mv  I  v   1010 m/s
1  
2
2 m
K U W K U
1 1 other 2 2 L  I  I    I   M  m     2
2 board b
1 1  M m  2 2
3  2 
K  I  I   
1 board
b 1
2 2
1 1  M  m 
2 2
2 2 3 4   M  m  gh   2
1  
2

    h  3.17cm
1
I   M  m     0.01565 kgm
2 2
U   M  m  gy  0 W 0 2 3 4 
3 2 
1 cm ,1 other

K  0 U   M  m  gy   M  m  gh
2 2 cm,2

One Love. One Future. 7/8/2022 Dang Duc Vuong - SEP - HUST 15 One Love. One Future. 7/8/2022 Dang Duc Vuong - SEP - HUST 16

15 16
 7/8/2022

10.93. A horizontal plywood disk with mass 7.00 kg and diameter 1.00 m pivots on frictionless bearings about a vertical axis 10.97. Recession of the Moon. Careful measurements of the earth-moon separation indicate that our satellite is presently
through its center. You attach a circular model-railroad track of negligible mass and average diameter 0.95 m to the disk. A moving away from us at approximately 3.0 cm per year. Neglect any angular momentum that the moon might be transferred
1.20-kg, battery-driven model train rests on the tracks. To demonstrate conservation of angular momentum, you switch on the from the earth to the moon. Calculate the rate of change (in rad/s per year) of the moon's angular velocity around the earth
train's engine. The train moves counterclockwise, soon attaining a constant speed of 0.600 m/s relative to the tracks. Find the (consult Appendix E and the astronomical data in Appendix F). Is its angular velocity increasing or decreasing? (Hint: If L =
magnitude and direction of the angular velocity of the disk relative to the earth. constant, then dL/dt = 0.)
IDENTIFY : Apply conservation of angular momentum to the system consisting of the disk and Treat the moon as a point mass so L= Iω =mr2ω, where r is the distance of the moon from the center of the earth.
train: L1=L2; in an inertial frame attached to the earth. Conservation of angular momentum says dL/dt =0.
Before you switch on the train’s engine; both the train and the platform are at rest: L1  0 dL d  2rdr 2 d  d 2 dr
Switch on the train’s engine: L 2  L train  Ldisk

dt dt
 
mr 2   m  
 dt
r 0
dt  dt

r dt
The angular velocity of the train relative to the disk:  rel dr
 3.0 cm/year = 3.0 102 (m/year)
The angular velocity of the train relative to the earth:  t t  rel  d dt
The angular velocity of the disk relative to the earth:  d r  3.84  108 (m)
The period of the moon’s orbital motion is T= 27.3 day =2.36 x 106 s   = 2.66 x 10-6 rad/s
 
L train  I t t  m t R 2t (rel  d ) 1   
m t R 2t rel
1 2
L disk  Id d   md R d  d
 
 m t R t2 (rel  d )   md R d2  d  0  d 
2  1
 0.30 rad/s d

2  2.66  106
 
3.0 10 2  4.2  10 16 rad/s per year
m t R 2t  m d R d2 dt 3.84 10 8
2  2
The minus sign tells us that the disk is rotating clockwise relative to the earth

One Love. One Future. 7/8/2022 Dang Duc Vuong - SEP - HUST 17 One Love. One Future. 7/8/2022 Dang Duc Vuong - SEP - HUST 18

17 18

[Link]
10.97. A falling bicycle. The moment of inertia of the front wheel of a bicycle about its axle is 0.085 kg.m2, its radius is 0.33
m, and the forward speed of the bicycle is 6.00 m/s. With what angular velocity must the front wheel be turned about a vertical
axis to counteract the capsizing torque due to a mass 50.0 kg located 0.045 m horizontally to the right or left of the line of
contact of wheels and ground?
I = 0.085 kg.m2; R = 0.33 m
v = 6.00 m/s; M = 50.0 kg; d = 0.045 m
 
The expression for torque is given by,   F  d    F.d
F is the force due to weight of mass
d is the perpendicular distance from the axis of rotation:
The torque due to the centripetal force is given by,
dL dL L L d
  .  d  .L  .(I) 
dt L dt dt dt 

Fd Mgd
  .I  Fd      12.7rad / s
I I.(v / R)

One Love. One Future. 7/8/2022 Dang Duc Vuong - SEP - HUST 19 7/8/2022 Thank Dang
you for- SEPyour
Duc Vuong - HUST attentions!20
19 20