Chapter --- Rotational of Rigid Body

8.1 Equilibrium of a Uniform Rigid Body (2 Hours)

8.2 Rotational Kinematics (2 Hours)
8.3 Rotational Dynamics (1 Hour)
8.4 Work & Energy of Rotational Motion (2 Hours)
8.5 Conservation of Angular Momentum (1 Hour)
Chapter --- Rotational of Rigid Body

8.1 EQUILIBRIUM OF A
UNIFORM RIGID BODY
(a) Define and use torque, 
  
  r F
(b) State and use conditions for equilibrium of rigid
body: 
F  0,τ  0

A rigid body is an idealization of a solid body of finite size in

which deformation is neglected. In other words, the distance between
any two given points of a rigid body remains constant in time regardless
of external forces exerted on it.
 Chapter --- Rotational of Rigid Body

• Motion in which an entire

object moves is called
translation
• Motion in which an object
spins is called rotation
• An object can both
translate and rotate

8.1: EQUILIBRIUM OF A UNIFORM RIGID BODY

 Chapter --- Rotational of Rigid Body

• Consider a rod AB pinned

to a horizontal surface by a
pin through A (PIVOT) 5N
• When a force of 5 N is
A
applied at B, perpendicular B
to BA, the rod will turn in
anti-clockwise direction
C D
about the axis through A • The turning effect of the
force will be lessened if
instead of being applied at
B, it is applied at C or at D

8.1: EQUILIBRIUM OF A UNIFORM RIGID BODY

 Chapter --- Rotational of Rigid Body

• The point or line about

which an object turns is its
center of rotation
(PIVOT)
• A force applied far from
the center of rotation
produces a greater torque
than a force applied close
to the center of rotation
F
• Doorknobs are positioned
far from the hinges to
A door pushed at its handle provide the greatest
will easily turn and open, but amount of torque for a
a door pushed near its hinges given force
will not move as easily

8.1: EQUILIBRIUM OF A UNIFORM RIGID BODY

 Chapter --- Rotational of Rigid Body
Torque is the turning
effect produced by a force
• A torque is required to F
rotate an object
• A force is required to move
move an object object in a
a line
• Torque is created by force,
but torque also depends on
the point of application and
the direction of the force
Torque is defined as the vector
product between lever arm, r
and the force, F

 rF F

8.1: EQUILIBRIUM OF A UNIFORM RIGID BODY

 Chapter --- Rotational of Rigid Body

8.1: EQUILIBRIUM OF A UNIFORM RIGID BODY

 Chapter --- Rotational of Rigid Body

8.1: EQUILIBRIUM OF A UNIFORM RIGID BODY

 Chapter --- Rotational of Rigid Body
• Torque is created when the line of
action of a force, F does not pass
through the center of rotation
• The line of action is an imaginary line
that follows the direction of a force
and passes though its point of
application
• To get the maximum torque, the force
should be applied in a direction that
creates the greatest lever arm, r (moment
arm)
• The lever arm is the perpendicular
distance between the line of action of the
force and the center of rotation

8.1: EQUILIBRIUM OF A UNIFORM RIGID BODY

Chapter --- Rotational of Rigid Body

• Add clockwise (–)ve •  = F (r sin )

• Counterclockwise (+)ve •  = r (F sin )
• Start with single force
 Chapter --- Rotational of Rigid Body
Case 1: Consider a force is
The magnitude of the torque
is defined as the product of a applied to a metre rule which is
force and its perpendicular pivoted at one end as shown in
distance from the line of • Figures 8.1a
action of the force to the
point (rotation axis)
Pivot point
(rotation axis) 
OR F
τ  Fd
 = magnitude of the torque d
F = magnitude of the force Figure 8.1a
d = perpendicular distance τ  Fd (anticlockwise)
(moment arm)

8.1: EQUILIBRIUM OF A UNIFORM RIGID BODY

 Chapter --- Rotational of Rigid Body
• Figures 8.1b
Because of d = r sin 
Where
r : distance between the pivot
Pivot point (rotation axis) and the point
point of action of a force
 Thus
d  r sin θ F
θ   Fr sin 
OR
r   
Figure 8.1b   r F
where
τ  Fd  Fr sin θ  
(anticlockwise)  : angle between F and r

8.1: EQUILIBRIUM OF A UNIFORM RIGID BODY

 Chapter --- Rotational of Rigid Body
Case 2: Consider three forces are applied to the metre rule
which is pivoted at one end (point O) as shown in Figures 8.2.
τ1  F1d1  F1r1 sin θ1
 τ 2   F2 d 2   F2 r2 sin θ 2
F3 d 1  r1 sin θ1 τ 3  F3 d 3  F3 r3 sin θ3  0

F1 Therefore the resultant (nett)
r2 θ1 torque is
O
d 2  r2 sin θ2
θ2  r1 τ O  τ1  τ 2  τ 3
F2 Figure 8.2
τ O  F1d 1  F2 d 2
• Caution:
– If the line of action of a force is through the rotation axis
then τ  Fr sin θ and θ  0 Simulation 8.2
τ 0
8.1: EQUILIBRIUM OF A UNIFORM RIGID BODY
 Chapter --- Rotational of Rigid Body
Solution:

Calculate the net torque about

point for the two forces
applied as in the figure below

8.1: EQUILIBRIUM OF A UNIFORM RIGID BODY

 Chapter --- Rotational of Rigid Body

Determine a resultant torque of all the forces about rotation axis,

O in the following problems
a. F2  10 N
5m 5m F1  30 N

3m

O 6m
3m

10 m

F3  20 N
8.1: EQUILIBRIUM OF A UNIFORM RIGID BODY
 Chapter --- Rotational of Rigid Body
F2  10 N
5m 5m F1  30 N
a.
d1  3 m
6m
O d2  5 m

10 m

Force Torque (N m), o=Fd=Frsin


F3  20 N F1  30 3  90

F2  10 5  50
The resultant torque:

τ O  90  50  40 N m
(clockwise)
F3 0

8.1: EQUILIBRIUM OF A UNIFORM RIGID BODY

 Chapter --- Rotational of Rigid Body

b. 10 m F1  30 N

3m
6m
β O
3m
F3  20 N
5m 5m
α F4  25 N
F2  10 N

8.1: EQUILIBRIUM OF A UNIFORM RIGID BODY

 Chapter --- Rotational of Rigid Body
10 m
b. F1  30 N
3m d3 d  3 m
β 1
O
6m
β r 5m 3
sin β   0.515
F3  20 N 5m 5m
3 5
2 2

F2  10 N α F4  25 N
Force Torque (N m), o=Fd=Frsin

F1  30 3  90
 The resultant torque:
F2

0 τ O  90  51.5
F3

F3 r sin β  20 50.515   51.5 τ O  38.5 N m
(clockwise)
F4 0
8.1: EQUILIBRIUM OF A UNIFORM RIGID BODY
 Chapter --- Rotational of Rigid Body
For the each figure below, calculate the torque at point O. Given
the force applied F is 30 N and the length of the rod is 4 m.
(c) (d)
(a) (b) F
O O F
30°

60° 60°
F O O
F
2m
(e) (f) (g) (h)
F F
F
135° 2.0 m
O
O 60°
O
2.5 m 140° O
2.5 m
F
8.1: EQUILIBRIUM OF A UNIFORM RIGID BODY
 Chapter --- Rotational of Rigid Body

• Torque, 

τ  Fd

  Fr sin 
OR
  
  r F

8.1: EQUILIBRIUM OF A UNIFORM RIGID BODY

 Chapter --- Rotational of Rigid Body
Translational motion –
movement from one place to
Rotational motion – motion
another
around the fixed point

• When torque are balanced

…………….

• When torque are unbalanced

…………….

8.1: EQUILIBRIUM OF A UNIFORM RIGID BODY

 Chapter --- Rotational of Rigid Body

8.1: EQUILIBRIUM OF A UNIFORM RIGID BODY

 Chapter --- Rotational of Rigid Body

Conditions for static

equilibrium of rigid body
Vector sum of the Summation of all
forces acting on the torques about any point
body is zero on the body is zero


    τ nett  0
 F  Fnett  0
 τ x  0 ,  τ y  0,  τ z  0
 Fx  0 ,  Fy  0,  Fz  0

8.1: EQUILIBRIUM OF A UNIFORM RIGID BODY

 Example
Chapter --- Rotational of Rigid Body
What will happen if the rod
not strong enough to
support the signboard?
1m
How to prevent the rod
from rotating?
Test SF016
21 August 2017 m = 10 kg
4.15 – 5.15
Torque produce by the
force of gravity:
W = Fd = – 98.1 N m
W = mg (cw)
= 98.1 N

8.1: EQUILIBRIUM OF A UNIFORM RIGID BODY

 Chapter --- Rotational of Rigid Body
In order to prevent the rod
from rotating,
R
 = 0
2m
W + R = 0
R = – W
R = 98.1 N m (ccw)
Test SF016
21 August 2017
4.15 – 5.15 Since the pole is 2 m away
from end of the rod,
 = Fd
Add a
2R = 98.1
pole
R = 49.05 N

8.1: EQUILIBRIUM OF A UNIFORM RIGID BODY

 Chapter --- Rotational of Rigid Body
If the wire attaches to end
T of rod at 40o, how much
tension must wire provide?

40o

 = 0
Test SF016 T = – W = 98.1 N m (ccw)
21 August 2017
4.15 – 5.15 But
T = T r sin 
98.1 = T (2 sin 40o)
T = 76.3 N

8.1: EQUILIBRIUM OF A UNIFORM RIGID BODY

 Chapter --- Rotational of Rigid Body
• rod – refer to the midway
point between its end
l
CG
l l
2 2
Figure 8.3
• sphere – refer to geometric
centre

CG

Figure 8.4

8.1: EQUILIBRIUM OF A UNIFORM RIGID BODY

 Chapter --- Rotational of Rigid Body

A hanging flower basket having weight, W2 = 23 N is hung out over the

edge of a balcony railing on a uniform horizontal beam AB of length
110 cm that rests on the balcony railing. The basket is counterbalanced
by a body of weight, W1 as shown in Figure 8.5. If the mass of the
beam is 3.0 kg, calculate
(a) the weight, W1 needed,
(b) the force exerted on the beam at point O.
A 35 cm O 75 cm B

W1
W2
Figure 8.5
8.1: EQUILIBRIUM OF A UNIFORM RIGID BODY
 Chapter --- Rotational of Rigid Body

m  3 kg; W2  23 N
The free body diagram Fy = R
of the beam: R R = 0

0.20 m
A 0.35 m 0.75 m B
CG
Let point O O
 
as the W2 0.55 m  0.55 m
W1
mg
rotation
axis Fy = 23 Fy =3(9.81) Fy = -W1
= 29.4
mg= +23(0.35) W2= 29.4(0.2) W1= 0.75W1
=8.05 = 5.88 N

8.1: EQUILIBRIUM OF A UNIFORM RIGID BODY

 Chapter --- Rotational of Rigid Body

Since the beam remains at rest b.

thus the system in equilibrium.
a. Hence

τ O 0 Fy 0
R  W1  23  29.4
R  2.89  23  29.4
8.05  0.75W1  5.88 R  55.3 N
W1  2.89 N

8.1: EQUILIBRIUM OF A UNIFORM RIGID BODY

 Chapter --- Rotational of Rigid Body

Problem solving strategies for

equilibrium of a rigid body

Choose a
Sketch a convenient Apply the
Sketch a Solve the
separate coordinate condition for
simple equations
free body axes for each equilibrium
diagram of for the
diagram for body and of a rigid
the system unknowns
each body construct a body
table

F 0
τ  0
8.1: EQUILIBRIUM OF A UNIFORM RIGID BODY
 Chapter --- Rotational of Rigid Body

A floodlight of mass 20.0 kg in a park is

supported at the end of a 10.0 kg uniform
horizontal beam that is hinged to a pole
as shown in Figure 8.6. A cable at an
angle 30 with the beam helps to support
the light.
(a) Sketch a free body diagram of the
beam.
(b) Determine
(i) the tension in the cable, Figure 8.6
(ii) the force exerted on the beam by
the pole.

8.1: EQUILIBRIUM OF A UNIFORM RIGID BODY

 Chapter --- Rotational of Rigid Body
m f  20.0 kg; mb  10.0 kg
a. The free body
diagram of the beam:
 
Sy S T Ty
b. Let point O as Sx 30
the rotation axis. O CG Tx
0.5l
Wb
l
Wf

8.1: EQUILIBRIUM OF A UNIFORM RIGID BODY

 Chapter --- Rotational of Rigid Body
m f  20.0 kg; mb  10.0 kg
 
a. The free body S y S T Ty
diagram of the beam: Sx 30
O CG
0.5l Tx
Wb
b. Let point O as l
the rotation axis. Wf
Force x-comp. (N) y-comp. (N) Torque (N m), o=Fd=Frsin

mf g 0  196  196 l

mb g 0  98.1  98.10.5l   49.1l

T  T cos 30 
T sin 30  Tl sin 30   0.5Tl

S Sx Sy 0

8.1: EQUILIBRIUM OF A UNIFORM RIGID BODY

 Chapter --- Rotational of Rigid Body
b. The floodlight and beam remain at rest thus

τ
i.
O
0
 196l  49.1l  0.5Tl  0
T  490 N
ii.
F x
0
 T cos 30  S x  0
S x  424 N
F y
0
 196  98.1  T sin 30   S y  0
S y  49.1 N

8.1: EQUILIBRIUM OF A UNIFORM RIGID BODY

 Chapter --- Rotational of Rigid Body
b. ii. Therefore the magnitude of the force is
S  Sx  S y
2 2

S 4242  49.12
S  427 N
and its direction is given by

1 
Sy 
θ  tan   y
 Sx  
1  49.1  S
θ  tan   6.61
 424  x
θ  6.61

8.1: EQUILIBRIUM OF A UNIFORM RIGID BODY

 Chapter --- Rotational of Rigid Body

A
A uniform ladder AB of length 10 m and mass
5.0 kg leans against a smooth wall as shown in
Figure 8.7. The height of the end A of the
ladder is 8.0 m from the rough floor.
(a) Determine the horizontal and vertical
forces the floor exerts on the end B of
the ladder when a firefighter of mass
60 kg is 3.0 m from B.
smooth
(b) If the ladder is just on the verge of
wall B
slipping when the firefighter is 7.0 m
up the ladder. Calculate the coefficient of rough floor
static friction between ladder and floor. Figure 8.7

8.1: EQUILIBRIUM OF A UNIFORM RIGID BODY

 Chapter --- Rotational of Rigid Body
8
ml  5.0 kg; m f  60 kg sin α   0.8
10
6
a. The free body diagram of the ladder : sin β   0.6
Let point B as the rotation axis.  10
A N1
x-comp. y-comp. Torque (N m),
Force α
(N) (N) B=Fd=Frsin
β

ml g 0  49.1 49.15.0 sin β
 147

mf g 0  589
589 3.0 sin β 8.0 m CG 10 m
  1060
 N 1 10 sin α
Wl
N1 N1 0 β 3.0
 m
 8 N1 Wf N2
 β
N2 0 N2 0 5.0 m α
  B
fs  fs 0 0 6.0 m
fs

8.1: EQUILIBRIUM OF A UNIFORM RIGID BODY

 Chapter --- Rotational of Rigid Body
Consider the ladder stills in equilibrium thus

(a) (b)

τ B
0 F x
0
147  2474  8 N1  0 N 1  μs N 2  0
N1  328 N 328   μs 638   0
μs  0.514
F y
0
 49.1  589  N 2  0
N 2  638 N

8.1: EQUILIBRIUM OF A UNIFORM RIGID BODY

 Chapter --- Rotational of Rigid Body

1. Figure 8.8 below shows

the forces, F1 =10 N,
F2= 50 N and F3= 60 N
are applied to a
rectangle with side
lengths, a = 4.0 cm and
b = 5.0 cm. The angle 
is 30. Calculate the
resultant torque about
point D.
-3.7 N m

8.1: EQUILIBRIUM OF A UNIFORM RIGID BODY

 Chapter --- Rotational of Rigid Body

2. A see-saw consists of a uniform board of mass 10 kg and length 3.50

m supports a father and daughter with masses 60 kg and 45 kg,
respectively as shown in Figure 8.9. The fulcrum is under the centre
of gravity of the board. Determine
(a) the magnitude of the force exerted by the fulcrum on the board,
(b) where the father should sit from the fulcrum to balance the system.
1128 N; 1.31 m

8.1: EQUILIBRIUM OF A UNIFORM RIGID BODY

Chapter --- Rotational of Rigid Body
x 1.75 – x 1.75

W1=60g W1=10g W2=45g

 = 0
N = W1 + W2 + W3 1 + 2 = 0, 1 = 2
= 60g + 45g + 10g 60g(1.75 – x) = 45g(1.75)
x = 0.4375 m
= 1128 N
 d = 1.75 – 0.4375
= 1.3125 m
 Chapter --- Rotational of Rigid Body

3. A traffic light hangs from a

structure as show in Figure
8.10. The uniform aluminum
pole AB is 7.5 m long has a
mass of 8.0 kg. The mass of the
traffic light is 12.0 kg.
Determine
(a) the tension in the horizontal
masseless cable CD,
(b) the vertical and horizontal
components of the force
exerted by the pivot A on the
aluminum pole.
248 N; 197 N, 248 N

8.1: EQUILIBRIUM OF A UNIFORM RIGID BODY

Chapter --- Rotational of Rigid Body

 = 0
-12g(5.98) – 8g(2.99) + 3.80T = 0
T = 247 N 5.98 m
5.04 m T
Sx = T = 247 N
Sy = 8g + 12g = 197 N 2.99 m
7.5 m

Sy d=3.80 m

W2=8 g
Sx W1=12 g
 Chapter --- Rotational of Rigid Body

4. A uniform 10.0 N picture

frame is supported by two
light string as shown in
Figure 8.11. The horizontal
force, F is applied for
holding the frame in the
position shown.

(a) Sketch the free body diagram of the picture frame.

(b) Calculate
(i) the tension in the ropes,
(ii) the magnitude of the horizontal force, F .
1.42 N, 11.2 N; 7.20 N

8.1: EQUILIBRIUM OF A UNIFORM RIGID BODY

Chapter --- Rotational of Rigid Body

8.2 ROTATIONAL
KINEMATICS
(a) Define:
(i) angular displacement ()
(ii) average angular velocity (av)
(iii) instantaneous angular velocity ()
(iv) average angular acceleration (av)
(v) instantaneous angular acceleration ()
(b) Convert units between degrees, radian, and
revolution or rotation
Chapter --- Rotational of Rigid Body

(c) Relate and use parameters in rotational motion

with their corresponding quantities in linear
motion
2
v
s  rθ ; v  r ; at  r ; ac  r 2 
r
(d) Use equations for rotational motion with
constant angular acceleration;
ω  ω0  αt
1 2
θ  ω0t  t
2
ω  ω0  2αθ
2 2
 Chapter --- Rotational of Rigid Body

1
s  rθ f 
T
s 2r
v   r   2rf
t T
2 
   2f
t T
8.2: ROTATIONAL KINEMATICS
 Chapter --- Rotational of Rigid Body
PARAMETERS IN ROTATIONAL MOTION
Physical Definition Equation Unit
Quantity
Angular velocity
Average angular The rate of change of θ2  θ1 θ
ωav   rads-1
velocity, av angular displacement t 2  t1 t
Instantaneous The instantaneous rate of
θ dθ
angular change of angular   limit  rads-1
velocity,  displacement. t 0 t dt
Angular Acceleration
Average angular ω2  ω1 ω
acceleration, av The rate of change of  av   rads-2
angular velocity
t 2  t1 t
Instantaneous The instantaneous rate of
angular change of angular velocity ω dω
α  limit  rads-2
acceleration,  t 0 t dt

49
 Chapter --- Rotational of Rigid Body
ANALOGY OF LINEAR MOTION
WITH ROTATIONAL MOTION PARAMETERS.

Quantities Equations

Rotational Linear Rotational

Linear Relationship
Motion Motion Motion
Motion
Displacement s  r Angular
s
1
v  u  t θ
1
 ω  ω0  t
s Displacement 2 2
 1
s  ut  at 2
1
θ  ω0t  αt 2
2 2
Velocity
v  rω Angular v  u  at ω  ω0  αt
v velocity, 
Acceleration, at  r Angular v u ω  ω0
a α
a acceleration,  t t

50
 Chapter --- Rotational of Rigid Body
• Figure 8.12 shows a point P on a
rotating compact disc (CD)
• an angle through which a moves through an arc length s on
point or line has been rotated a circular path of radius r about a
in a specified direction about fixed axis through point O
a specified axis
s
θ OR s  rθ
r
θ : angular displacement
s : arc length
r : radius of the circle

Figure 8.12
• Others unit for angular
displacement is degree () and
1 revolution = 360o = 2 rad revolution (rev)

8.2: ROTATIONAL KINEMATICS

 Chapter --- Rotational of Rigid Body
Angular velocity • It is a vector quantity – Every part of
• Unit: rad s-1/ rev min-1/ rpm a rotating rigid
body has the
2  same angular
Average angular 1 rpm  rad s 
1
rad s 1 velocity
velocity, av 60 30 • Its direction
the rate of change can be
of angular θ2  θ1 θ determine
displacement ωav   by using
t 2  t1 t right hand
grip rule
θ2 : final angular displacement (rad)
θ1 : initial angular displacement (rad)
Instantaneous
angular velocity,  t : time interval
the instantaneous
rate of change of θ dθ
angular   limit 
displacement t 0 t dt

8.2: ROTATIONAL KINEMATICS

 Chapter --- Rotational of Rigid Body

The angular displacement, of the wheel is given by

 = 5t2 – t
where  in radians and t in seconds. The diameter of the wheel is
0.56 m. Determine
(a) the angle,  in degree, at time 2.2 s and 4.8 s,
(b) the distance that a particle on the rim moves during that time
interval,
(c) the average angular velocity, in rad s1 and in rev min1 (rpm),
between 2.2 s and 4.8 s,
(d) the instantaneous angular velocity at time 3.0 s.
https://sites.google.com/site/physicsflash/home/rolling

8.2: ROTATIONAL KINEMATICS

 Chapter --- Rotational of Rigid Body

(a) Substitute t1 = 2.2 s & t2 = 4.8 s in  = 5t2 – t. Convert rad

to degree

(b) From s = r, we can get s = r

θ
(c) Use equation for average angular velocity ωav 
t
dθ
(d) Solve for ω  .
dt
Substitute t = 3.0 s in 

8.2: ROTATIONAL KINEMATICS

 Chapter --- Rotational of Rigid Body

A diver makes 2.5

u0
revolutions on the way down θ0  0
from a 10 m high platform to
the water. Assuming zero
initial vertical velocity, 10 m s  10 m
calculate the diver’s average
angular (rotational) velocity θ1  2.5 rev
during a dive. water

8.2: ROTATIONAL KINEMATICS

 Chapter --- Rotational of Rigid Body
θ1  2.5  2 π  5π rad

From the diagram, Therefore the diver’s average

s  10 m angular velocity is
Thus θ1  θ 0
1 2
s  ut  gt ωav 
t
12 5π  0
 10  0  9.81t 2 
2 1.43
t  1.43 s
ωav  11.0 rad s 1

8.2: ROTATIONAL KINEMATICS

 Chapter --- Rotational of Rigid Body
• It is a vector quantity
Angular • Unit: rad s2
acceleration • Note, if:
-  is positive   is increasing
-  is negative   is decreasing
Average angular
acceleration, av: ω2  ω1 ω
 av  
the rate of change
of angular
t 2  t1 t
velocity
ω2 : final angular ve locity
ω1 : initial angular ve locity
Instantaneous t : time interval
angular
acceleration, :
ω dω
the instantaneous α  limit 
rate of change of t  0 t dt
angular velocity

8.2: ROTATIONAL KINEMATICS

 Chapter --- Rotational of Rigid Body

• If the rotation is • If the rotation is

speeding up,  and  in slowing down,  and 
the same direction have the opposite
direction


 α 
  α


8.2: ROTATIONAL KINEMATICS

 Chapter --- Rotational of Rigid Body
a. At time, t1 =2.2 s :
ω1  82.2  2.2
3 2

The instantaneous angular ω1  80.3 rad s 1

velocity,  of the flywheel is At time, t2 =4.8 s :
given by ω  8t 3  t 2 ω2  84.8  4.8
3 2

where  in radian per second

and t in seconds. ω2  862 rad s 1
Determine Therefore the average angular
acceleration is
(a) the average angular
ω2  ω1
acceleration between 2.2 s αav 
and 4.8 s, t 2  t1
(b) the instantaneous angular 862  80.3
acceleration at time, 3.0 s. 
4.8  2.2
αav  301 rad s 2
8.2: ROTATIONAL KINEMATICS
 Chapter --- Rotational of Rigid Body

b. The instantaneous angular At time, t =3.0 s

acceleration as a function
of time is
α  243.0  23.0
2

dω
α α  210 rad s 2
dt
 8t  t 
d 3 2
dt
α  24t 2  2t

8.2: ROTATIONAL KINEMATICS

 Chapter --- Rotational of Rigid Body

1. If a disc 30 cm in diameter rolls 65 m along a straight line without

slipping, calculate
(a) the number of revolutions would it makes in the process,
(b) the angular displacement would be through by a speck of gum on
its rim.
69 rev; 138 rad
2.During a certain period of time, the angular displacement of a
swinging door is described by θ  5.00  10.0t  2.00t 2
where  is in radians and t is in seconds. Determine the angular
displacement, angular speed and angular acceleration
(a) at time, t =0,
(b)at time, t =3.00 s.
5.00 rad, 10.0 rad s1, 4.00 rad s2; 53.0 rad, 22.0 rad s1, 4.00 rad
s2

8.2: ROTATIONAL KINEMATICS

 Chapter --- Rotational of Rigid Body

• When a rigid body is rotates • Point P moves in a circle of radius r

about rotation axis O, every with the tangential velocity v where
particle in the body moves in a its magnitude is given by
circle as shown ds
v and s  rθ
dt
d v  r
vr
dt
• Every particle on the rigid body has
the same angular speed
(magnitude of angular velocity) but
the tangential speed is not the
same because the radius of the
• The direction of the linear circle, r is changing depend on the
(tangential) velocity always position of the particle.
tangent to the circular path
Simulation 8.1
8.2: ROTATIONAL KINEMATICS
 Chapter --- Rotational of Rigid Body

• Point P on the rigid body dv

at  and v  rω
experiences 2 types of dt
d
at  r
acceleration:
y at  r
 dt
2
at v
 P but ac   r 2  v
a  r
ac
• resultant (linear) acceleration,
x a given by
O   
a  at  a c
• The components are tangential and its magnitude,
acceleration, at and centripetal 
acceleration, ac a  at  a c
2 2

8.2: ROTATIONAL KINEMATICS

 Chapter --- Rotational of Rigid Body

A helicopter blade has an

angular velocity of ω = 6.50
rev s-1 and an angular
acceleration of α = 1.30 rev s-2.
For points 1 and 2 on the blade
in figure above, find the
magnitudes of (a) the
tangential velocities and (b) the
tangential accelerations.

8.2: ROTATIONAL KINEMATICS

 Chapter --- Rotational of Rigid Body

6.5(2 ) rad
  40.8 rad s 1
1s
1.30(2 ) rad
  8.17 rad s 2

1s 2
For a point 1 : v  r  3(40.8)  122 m s 1
at  r  3(8.17)  24.5 m s 2

For a point 2 : v  r  6.70(40.8)  273 m s 1

at  r  6.70(8.17)  54.7 m s 2

8.2: ROTATIONAL KINEMATICS

 Chapter --- Rotational of Rigid Body

Linear motion Rotational motion

 s a  constant α  constant
 u
o
v  u  at ω  ω0  αt
v 1 2 1 2
 a s  ut  at θ  ω0t  αt
2 2
s  r v 2  u 2  2as ω2  ω02  2αθ
v  r
s  v  u t
1
θ  ω  ω0 t
1
a  r 2 2
where  in radian
8.2: ROTATIONAL KINEMATICS
 Chapter --- Rotational of Rigid Body

s
s  rθ   
r
 d ω  ω0  αt
ave  ,inst 
t dt 1 2
θ  ω0t  αt
v  r 2
 d ω  ω0  2αθ
2 2
 ave  , ins 
t dt 1
θ  ω  ω0 t
at  r 2
8.2: ROTATIONAL KINEMATICS
 Chapter --- Rotational of Rigid Body

A wheel rotates with a A particle travels in a

constant angular horizontal circle of radius
acceleration of 2.5 rad s–2. 50 cm with angular velocity
At time t = 0 , the angular 120 rpm. Its angular
velocity of the wheel is 3.0 velocity increases at a
rad s–1. Determine: constant rate to 180 rpm in
(a) the angle turned 10 s. At the 10th second
through by the wheel in determine:
the first 2 seconds. (a) the angular acceleration
(b) angular velocity at t = 2 (b) the tangential linear
s. acceleration.
11 rad, 8 rad s-1 0.628 rad s-2, 0.314 m s-1

8.2: ROTATIONAL KINEMATICS

 Chapter --- Rotational of Rigid Body

A car is travelling with a u = 17.0 m s-1, r = 0.48 m, a =

velocity of 17.0 m s1 on a 2.00 m s-2, t = 5.00 s
straight horizontal highway. The a. The initial angular velocity
wheel of the car has a radius of is u  rω0
48.0 cm. If the car then speeds 17.0  0.48ω0
up with an acceleration of 2.00 ω0  35.4 rad s 1
m s2 for 5.00 s, calculate
(a) the number of revolutions of
and the angular acceleration
the wheels during this of the wheels is given by
period,
a  rα
(b) the angular speed of the
2.00  0.48α
wheels after 5.00 s.
α  4.17 rad s 2

8.2: ROTATIONAL KINEMATICS

 Chapter --- Rotational of Rigid Body
a. By applying the equation of b. The angular speed of the
rotational motion with wheels after 5.00 s is
constant angular
acceleration, thus
ω  ω0  αt
1 2  35.4  4.17 5.00
θ  ω0t  αt
2 ω  56.3 rad s 1
 35.45.00  4.17 5.00
1 2

2
θ  229 rad
 1 rev 
θ  229 rad    36.5 rev
 2π rad 

8.2: ROTATIONAL KINEMATICS

 Chapter --- Rotational of Rigid Body

The wheels of a bicycle make 30 revolutions as the bicycle

reduces its speed uniformly from 50.0 km h-1 to 35.0 km h-1. The
wheels have a diameter of 70 cm.
(a) Calculate the angular acceleration.
(b) If the bicycle continues to decelerate at this rate, determine
the time taken for the bicycle to stop.
0.70
θ  30  2π  60π rad, r   0.35 m,
2
50.0 km  10 m  1 h 
3
u   1
  13.9 m s ,
1 h  1 km  3600 s 
35.0 km  103 m  1 h 
v     9.72 m s
1

1 h  1 km  3600 s 
8.2: ROTATIONAL KINEMATICS
 Chapter --- Rotational of Rigid Body
a. The initial angular speed of the wheels is
u  rω0
1
13.9  0.35ω0 ω0  39.7 rad s
and the final angular speed of the wheels is
v  rω
therefore 9.72  0.35ω ω  27.8 rad s 1
ω 2  ω02  2αθ
27.8  39.7   2α260π 
2 2

α  2.13 rad s
b. The car stops thus ω  0 and ω0  27.8 rad s 1
Hence ω  ω0  αt
0  27.8   2.13t
t  13.1 s
8.2: ROTATIONAL KINEMATICS
 Chapter --- Rotational of Rigid Body

A blade of a ceiling fan has a radius of 0.400 m is rotating about a

fixed axis with an initial angular velocity of 0.150 rev s-1. The
angular acceleration of the blade is 0.750 rev s-2. Determine
(a) the angular velocity after 4.00 s,
(b) the number of revolutions for the blade turns in this time
interval,
(c) the tangential speed of a point on the tip of the blade at time,
t =4.00 s,
(d) the magnitude of the resultant acceleration of a point on the
tip of the blade at t =4.00 s.

8.2: ROTATIONAL KINEMATICS

 Chapter --- Rotational of Rigid Body
r  0.400 m, ω0  0.150  2π  0.300π rad s 1 ,
α  0.750  2π  1.50π rad s 2
a. Given t = 4.00 s, thus
ω  ω0  αt ω  0.300π   1.50π 4.00
ω  19.8 rad s 1
b. The number of revolutions of the blade is
1 2
θ  ω0t  αt
2
 0.300 4.00  1.50 4.00
1 2

2
θ  41.5 rad
 1 rev 
θ  41.5 rad    6.61 rev
 2π rad 

8.2: ROTATIONAL KINEMATICS

 Chapter --- Rotational of Rigid Body
c. The tangential speed of a d. The magnitude of the
point is given by resultant acceleration is
v  rω
 0.40019.8 a  ac  at
2 2

v  7.92 m s 1 2
v 2

    rα 2

 r 
 7.92 
2
2

    0.400 1.50π 2

 0.400 
a  157 m s 2

8.2: ROTATIONAL KINEMATICS

 Chapter --- Rotational of Rigid Body

A coin with a diameter of 2.40 cm is dropped on edge on a

horizontal surface. The coin starts out with an initial angular
speed of 18 rad s1 and rolls in a straight line without slipping. If
the rotation slows down with an angular acceleration of
magnitude 1.90 rad s2, calculate the distance travelled by the
coin before coming to rest.
ω0  18 rad s 1 ω  0 rad s 1

d  2.40  10 2
m α  1.90 rad s 2

The radius of s
the coin is r  d  1.20  10  2 m
2
8.2: ROTATIONAL KINEMATICS
 Chapter --- Rotational of Rigid Body
The initial speed of the point at the edge the coin is
u  rω0
 
u  1.20  10 2 18
u  0.216 m s 1
and the final speed is v  0 m s 1
The linear acceleration of the point at the edge the coin is given
by a  rα
 
a  1.20  10 2  1.90
a  2.28  10 2 m s 2
Therefore the distance travelled by the coin is
v 2  u 2  2as

0  0.216  2  2.28  10 2 s
2

s  1.02 m
8.2: ROTATIONAL KINEMATICS
 Chapter --- Rotational of Rigid Body

Calculate the angular velocity of

a. the second-hand, ω  0.11 rad s 1
3 1
b. the minute-hand and ω  1.74  10 rad s
4 1
c. the hour-hand, ω  1.45  10 rad s
of a clock. State in rad s-1.
d. What is the angular acceleration in each case?

Use
2π
ω
T

8.2: ROTATIONAL KINEMATICS

 Chapter --- Rotational of Rigid Body

1. A disk 8.00 cm in radius rotates at a constant rate of 1200 rev min-1

about its central axis. Determine
(a) its angular speed,
(b) the tangential speed at a point 3.00 cm from its centre,
(c) the radial (centripetal) acceleration of a point on the rim,
(d) the total distance a point on the rim moves in 2.00 s.
126 rad s1; 3.77 m s1; 1.26  103 m s2; 20.1 m

2. A 0.35 m diameter grinding wheel rotates at 2500 rpm. Calculate

(a) its angular velocity in rad s1,
(b) the linear speed and the radial/ centripetal acceleration of a point
on the edge of the grinding wheel.
262 rad s1; 46 m s1, 1.2  104 m s2

8.2: ROTATIONAL KINEMATICS

 Chapter --- Rotational of Rigid Body
3. A rotating wheel required 3.00 s to rotate through 37.0 revolutions.
Its angular speed at the end of the 3.00 s interval is 98.0 rad s-1.
Calculate the constant angular acceleration of the wheel.
13.6 rad s2

4. A wheel rotates with a constant angular acceleration of 3.50 rad s2.

(a) If the angular speed of the wheel is 2.00 rad s1 at t =0, through
what angular displacement does the wheel rotate in 2.00 s.
(b) Through how many revolutions has the wheel turned during this
time interval?
(c) What is the angular speed of the wheel at t = 2.00 s?
11.0 rad; 1.75 rev; 9.00 rad s1

8.2: ROTATIONAL KINEMATICS

 Chapter --- Rotational of Rigid Body
5. A bicycle wheel is being tested at a repair shop. The angular
velocity of the wheel is 4.00 rad s-1 at time t = 0 , and its
angular acceleration is constant and equal 1.20 rad s-2. A
spoke OP on the wheel coincides with the +x-axis at time t =
0 as shown in Figure 8.13.
y
(a) What is the wheel’s angular
velocity at t = 3.00 s?
(b) What angle in degree does P x
O
the spoke OP make with
the positive x-axis at this time? Figure 8.13

0.40 rad s1; 18

8.2: ROTATIONAL KINEMATICS

Chapter --- Rotational of Rigid Body

8.3 ROTATIONAL DYNAMICS

(a) Define and determine the moment of inertia of a

rigid body about an axis,
n
I m r
i 1
i i
2

(b) State and use the formulae for torque,

τ  Iα
 Chapter --- Rotational of Rigid Body

• Figure 8.14 shows a rigid body

about a fixed axis O with angular 
m1
velocity, 
mn r1
• is defined as the sum of the
products of the mass of each rn r2 m2
particle and the square of its Or m3
3
respective distance from the
rotation axis Figure 8.14
n
I  m1r12  m2 r22  m3 r32  ...mn rn2  i 1
mi ri2

I : moment of inertia of a rigid body about rotation axis

m : mass of particle
r : distance from the particle to the rotation axis

8.3: ROTATIONAL DYNAMICS

 Chapter --- Rotational of Rigid Body


Two particles of mass 5 kg & 7 2m 2m
kg are mounted 4.0 m apart on
a light rod (whose mass is 4m
negligible). Calculate the m1 = 5 kg m2 = 7 kg
moment of inertia of the
system when rotated about an n
axis passing halfway between from : I   mi ri 2

the masses. i 1

 m1r 1  m2 r 2
2 2

 (5)(2) 2  (7)(2) 2
I  48 kg m 2

8.3: ROTATIONAL DYNAMICS

 Chapter --- Rotational of Rigid Body

the property of an object to resist changes in its rotational state

of motion.
-- depends on its mass & the distribution of mass with respect to
the axis of rotation.
mass close to axis of rotation,
small moment of inertia, easy
to start rotating

mass further from axis, greater

moment of inertia, harder to
start rotating

8.3: ROTATIONAL DYNAMICS

 Chapter --- Rotational of Rigid Body

Four spheres are arranged in a rectangular shape of sides 250 cm

and 120 cm as shown in Figure 8.15.
2 kg 3 kg

60 cm
A B
O
60 cm
Figure 8.15
5 kg 250 cm 4 kg
The spheres are connected by light rods . Determine the moment
of inertia of the system about an axis
(a) through point O,
(b) along the line AB.
8.3: ROTATIONAL DYNAMICS
 Chapter --- Rotational of Rigid Body
m1  2 kg; m2  3 kg; m3  4 kg; m4  5 kg
a. rotation axis about point O,
m1 m2
Since r1= r2= r3= r4= r
thus r1 r2 0.6 m
1.25 m
r 0.6  1.25
2 2
 1.39 m
r4
O
r3
m4 m3
and the connecting rods are light therefore
I O  m1r12  m2 r22  m3 r32  m4 r42
I O  r m1  m2  m3  m4   1.39 2  3  4  5
2 2

I O  27.0 kg m 2
8.3: ROTATIONAL DYNAMICS
 Chapter --- Rotational of Rigid Body
b. rotation axis along the line AB,
m1 m2

r1 r2
A B
r4 r3

m4 m3
r1= r2= r3= r4= r = 0.6 m therefore
I AB  m1r12  m2 r22  m3 r32  m4 r42
I AB  r 2 m1  m2  m3  m4 
I AB  0.6 2  3  4  5
2

I AB  5.04 kg m 2
8.3: ROTATIONAL DYNAMICS
 Chapter --- Rotational of Rigid Body
Hoop/ ring/ thin Solid cylinder/
cylindrical shell disk
Uniform rod/
long thin rod CM
with rotation
CM CM axis through the
centre of mass
1
I CM  MR 2
I CM
1
 MR 2 I CM  ML2
2 12
Solid Sphere Hollow Sphere/ thin spherical shell

2 2
CM I CM  MR 2 I CM  MR 2
5 CM 3

8.3: ROTATIONAL DYNAMICS

 Chapter --- Rotational of Rigid Body

• Consider a force, F acts

on a rigid body freely
pivoted on an axis
through point O as
shown

• The body rotates in the

anticlockwise direction
and a nett torque is
produced

8.3: ROTATIONAL DYNAMICS

 Chapter --- Rotational of Rigid Body
• A particle of mass, m1 of distance r1 from the rotation axis O
will experience a nett force F1 . The nett force on this particle
is F1  m1a1 and a1  r1α
F1  m1r1α
The torque on the mass m1 is    
 1  r1 F1 sin 90
Nett torqu e , I 
•
 1  m1r1 2

is analogous to the
• The total (nett) torque on the rigid body is given by
  mNett
r   m r   ...  m r 
2 2
force,  F  ma
1 1 2 2 n n
2

 n
2
n

    mi ri  and  m r  I
 i 1  i 1
i i
2

  I
8.3: ROTATIONAL DYNAMICS
 Chapter --- Rotational of Rigid Body

Forces, F1 = 5.60 N and F2 = 10.3

N are applied tangentially to a
disc with radius 30.0 cm and the
mass 5.00 kg as shown in Figure
8.16. Calculate,
(a) the nett torque on the disc.
(b) the magnitude of angular
acceleration influence by the
disc.
Use the moment of inertia, Figure 8.16

1
I CM  MR 2
2

8.3: ROTATIONAL DYNAMICS

 Chapter --- Rotational of Rigid Body

R  0.30 m; M  5.00 kg
a. The nett torque on the disc is
   1   2
   RF1  RF2  R F1  F2 
  0.30 5.60  10.3
  1.41 N m
b. By applying the relationship between torque and angular
acceleration,
1 2
   I   2 
   MR

1 2
1.41   5.00 0.30  
2 
  6.27 rad s 2
8.3: ROTATIONAL DYNAMICS
 Chapter --- Rotational of Rigid Body

A wheel of radius 0.20 m is mounted on a frictionless horizontal axis.

The moment of inertia of the wheel about the axis is 0.050 kg m2. A
light string wrapped around the wheel is attached to a 2.0 kg block that
slides on a horizontal frictionless surface. A horizontal force of
magnitude P = 3.0 N is applied to the block as shown in Figure 8.17.
Assume the string does not slip on the wheel.

Figure 8.17
(a) Sketch a free body diagram of the wheel and the block.
(b) Calculate the magnitude of the angular acceleration of the wheel.

8.3: ROTATIONAL DYNAMICS

 Chapter --- Rotational of Rigid Body

R  0.20 m; I  0.050 kg m 2 ; P  3.0 N; m  2.0 kg

a. Free body diagram: for block,

for wheel,

 
 N a
 T  
S  T P

W 
Wb

8.3: ROTATIONAL DYNAMICS

 Chapter --- Rotational of Rigid Body

b. For wheel,  τ  Iα
Iα
RT  Iα T (1)
R
For block,
 F  ma P  T  ma (2)

By substituting eq. (1) into eq. (2), thus

 Iα 
P     ma and a  Rα
R
 Iα 
P     mRα
R
 0.050α 
  2.0 0.20 α
2
3.0   α  4.62 rad s
 0.20 
8.3: ROTATIONAL DYNAMICS
 Chapter --- Rotational of Rigid Body

An object of mass 1.50 kg is suspended from a rough

pulley of radius 20.0 cm by light string as shown in
Figure 8.1. The pulley has a moment of inertia 0.020
kg m2 about the axis of the pulley. The object is
released from rest and the pulley rotates without
encountering frictional force. Assume that the string R
does not slip on the pulley. After 0.3 s, determine
(a) the linear acceleration of the object,
(b) the angular acceleration of the pulley,
(c) the tension in the string, 1.50 kg
(d) the linear velocity of the object, Figure 8.18
(e) the distance travelled by the object.

8.3: ROTATIONAL DYNAMICS

 Chapter --- Rotational of Rigid Body

a. Free body diagram :


S
 τ  Iα a
for pulley,  RT  Iα and α  R
a
 RT  I  R 
 T  
W Ia
T 2 (1)
R
for block, 
T

a  F  ma
mg  T  ma (2)

mg

8.3: ROTATIONAL DYNAMICS

 Chapter --- Rotational of Rigid Body
R  0.20 m; I  0.020 kg m 2 ; m  1.50 kg; u  0; t  0.3 s

a. By substituting eq. (1) into eq. (2), thus

 Ia 
mg   2   ma
R 
 0.020a 
1.509.81     1.50a
2 
a  7.36 m s 2
 0.20  
b. By using the relationship between a and , hence
a  Rα
7.36  0.20α
2
α  36.8 rad s

8.3: ROTATIONAL DYNAMICS

 Chapter --- Rotational of Rigid Body
c. From eq. (1), thus Ia
T 2 T
0.020 7.36 
R 0.202
T  3.68 N
d. By applying the equation of liner motion, thus
v  u  at
v  0  7.360.3 v  2.21 m s 1
(downwards)
e. The distance travelled by the object in 0.3 s is
1 2
s  ut  at
2
s  0  7.360.3
1
s  0.331 m
2

8.3: ROTATIONAL DYNAMICS

 Chapter --- Rotational of Rigid Body

8.3: ROTATIONAL DYNAMICS

 Chapter --- Rotational of Rigid Body
1. Figure 8.19 shows four
masses that are held at the
corners of a square by a
very light frame. Calculate
the moment of inertia of the
system about an axis
perpendicular to the plane
(a) through point A, and
(b) through point B.
0.141 kg m2; 0.211 kg m2

Figure 8.19

8.3: ROTATIONAL DYNAMICS

 Chapter --- Rotational of Rigid Body
2. A 5.00 kg object placed on a frictionless
horizontal table is connected to a string
that passes over a pulley and then is
fastened to a hanging 9.00 kg object as 2.00 m s 2
in Figure 8.20. The pulley has a radius
of 0.250 m and moment of inertia I. The T1
block on the table is moving with a
constant acceleration of 2.00 m s2. T2
(a) Sketch free body diagrams of both
objects and pulley.
(b) Calculate T1 and T2 the tensions in
the string.
(c) Determine I. Figure 8.20
ANS: 10.0 N, 70.3 N; 1.88 kg m2

8.3: ROTATIONAL DYNAMICS

Chapter --- Rotational of Rigid Body

8.4 WORK AND ENERGY OF

ROTATIONAL MOTION
(a) Solve problems related to: (b) Solve problems related to
 rotational kinetic principle of conservation
of mechanical energy for
energy, rolling motion without
1 2 slipping
K r  Iω
2
 work,
W  τθ
 power,
P  τω
 Chapter --- Rotational of Rigid Body

• Consider a rigid body • The rigid body has a rotational kinetic

rotating about the energy which is the total of kinetic
axis OZ energy of all the particles in the body is
Z
given by
v1 m1 1 1 1
Kr  m1v12  m2 v22  ...  mn vn2
mn r1 2 2 2
vn rn r2 v2 1 1 1
K r  m1r1 ω  m2 r2 ω  ...  mn rn2 ω 2
2 2 2 2

Or m2 2 2 2
v3
 
3
1 2
m3 K r  ω m1r12  m2 r22  ...  mn rn2
2
1 2 n   n
2
• Every particle in the K r  ω  mi ri  and   mi ri   I
 2

body is in the circular 2  i 1   i 1 

motion about point 1 2
O. K r  Iω
2
8.4: WORK & ENERGY OF ROTATIONAL MOTION
 Chapter --- Rotational of Rigid Body

• From the formula for • For rolling body without

translational kinetic energy, slipping, the total kinetic
Ktr energy of the body, K is
given by
1 2
K tr  mv K  K tr  K r
2
• After comparing both K tr : translational kinetic energy
equations thus K r : rotational kinetic energy

 is analogous to v
I is analogous to m

8.4: WORK & ENERGY OF ROTATIONAL MOTION

 Chapter --- Rotational of Rigid Body

A solid sphere of radius 15.0 cm and mass 10.0 kg rolls down an

inclined plane make an angle 25 to the horizontal. If the sphere
rolls without slipping from rest to the distance of 75.0 cm and
the inclined surface is smooth, calculate
(a) the total kinetic energy of the sphere,
(b) the linear speed of the sphere,
(c) the angular speed about the centre of mass.

2
I CM  mR 2
5

8.4: WORK & ENERGY OF ROTATIONAL MOTION

 Chapter --- Rotational of Rigid Body

R  0.15 m; m  10.0 kg
s  0.75 m R

h  s sin 25
v CM 25
a. From the principle of conservation of energy,
E  E
i f

mgh  K
K  mgs sin 25
   
K  10.0 9.81 0.75 sin 25 

K  31.1 J
8.4: WORK & ENERGY OF ROTATIONAL MOTION
 Chapter --- Rotational of Rigid Body
b. The linear speed of the sphere is given by
K  K tr  K r 1 2 1 2 v
K  mv  Iω and ω
2 2 R
2
1 2 12 2  v 
K  mv   mR  
2 25  R 
7
K  mv 2
10
31.1  10.0v 2
7
v  2.11 m s 1
10
c. By using the relationship between v and , thus
v  Rω 2.11  0.15ω
ω  14.1 rad s 1
8.4: WORK & ENERGY OF ROTATIONAL MOTION
 Chapter --- Rotational of Rigid Body

The pulley in the Figure 8.21 has a

radius of 0.120 m and a moment of
inertia 0.055 g cm2. The rope does not
slip on the pulley rim. Calculate the
speed of the 5.00 kg block just before it
5.00 kg
strikes the floor.
(Given g = 9.81 m s2)
7.00 m
2.00 kg

Figure 8.21

8.4: WORK & ENERGY OF ROTATIONAL MOTION

 Chapter --- Rotational of Rigid Body
m1  5.00 kg; m2  2.00 kg; R  0.120 m; h  7.00 m
The moment of inertia of the pulley,
  
 
3 4 2
I  0.055 g  1 cm 
10 kg 10 m
2
   5.5  10 9
kg m 2
 1 cm 2 
 1 g  

m1 m2 v

7.00 m 7.00 m
m2 v m1

Initial E i  U1 Final E f K tr 1  K tr 2  K r  U 2
8.4: WORK & ENERGY OF ROTATIONAL MOTION
 Chapter --- Rotational of Rigid Body
By using the principle of conservation of energy, thus

E  E
i f

U 1  K tr 1  K tr 2  K r  U 2
1 1 1 2
m1 gh  m1v  m2 v  Iω  m2 gh
2 2
2 2 2
2
1 v
m1  m2 gh  v m1  m2   I  
1 2
2 2 R
 
2
 v 
5.00  2.009.817.00  v 5.00  2.00  5.5  10 9
1 2 1
 
2 2  0.120 
v  7.67 m s 1

8.4: WORK & ENERGY OF ROTATIONAL MOTION

 Chapter --- Rotational of Rigid Body
• Consider a tangential force,
F acts on the solid disc of • The work done by the
radius R freely pivoted on tangential force is given by
an axis through O as shown
in Figure 8.22. dW  Fds and ds  Rdθ
dW  FRdθ
θ2

d
ds  dW   τdθ
θ1
R  θ2

R F W τdθ
O
θ1

Figure 8.22

8.4: WORK & ENERGY OF ROTATIONAL MOTION

 Chapter --- Rotational of Rigid Body
• If the torque is constant thus • Work-rotational kinetic
energy theorem states
W  K r  K r  f  K r i
2
W    d
1

W    2   1  1 2 1 2
W  Iω  Iω0
2 2
W  
τ : torque
Δθ : change in angular displacement
W : work done

is analogous to the W  Fs

8.4: WORK & ENERGY OF ROTATIONAL MOTION

 Chapter --- Rotational of Rigid Body

• From the definition of • Caution :

instantaneous power,
– The unit of kinetic
dW energy, work and
P and dW  τdθ power in the
dt
τdθ dθ rotational
P and ω kinematics is same as
dt dt their unit in
P  τω translational
kinematics
is analogous to
P  Fv

8.4: WORK & ENERGY OF ROTATIONAL MOTION

 Chapter --- Rotational of Rigid Body

A horizontal merry-go-round has a radius of 2.40 m and a

moment of inertia 2100 kg m2 about a vertical axle through its
centre. A tangential force of magnitude 18.0 N is applied to the
edge of the merry-go- round for 15.0 s. If the merry-go-round is
initially at rest and ignore the frictional torque, determine
(a) the rotational kinetic energy of the merry-go-round,
(b) the work done by the force on the merry-go-round,
(c) the average power supplied by the force.
(Given g = 9.81 m s2)


R  2.40 m F

8.4: WORK & ENERGY OF ROTATIONAL MOTION

 Chapter --- Rotational of Rigid Body
R  2.40 m; I  2100 kg m 2 ; F  18.0 N;
t  15.0 s; ω0  0
a. By applying the relationship between nett torque and angular
acceleration, thus
 τ  Iα
RF  Iα 2.4018.0  2100α
α  2.06  10 2 rad s 2
Use the equation of rotational motion with uniform angular
ω  ω0  αt
 
acceleration,
ω  0  2.06  10 2 15.0
ω  0.309 rad s 1
Therefore the rotational kinetic energy for 15.0 s is
1 2
K r  2100 0.309
1
K r  Iω 2
2 2
K r  100 J
8.4: WORK & ENERGY OF ROTATIONAL MOTION
 Chapter --- Rotational of Rigid Body
b. The angular displacement,  for 15.0 s is given by
1 2
θ  ω0t  αt
2
1
2
 
θ  0  2.06  10  2 15.0
2

θ  2.32 rad
By applying the formulae of work done in rotational motion, thus
W  τθ W  RFθ
W  2.4018.02.32
W  100 J
c. The average power supplied by the force is
W 100
Pav  Pav 
t 15.0
Pav  6.67 W
8.4: WORK & ENERGY OF ROTATIONAL MOTION
Chapter --- Rotational of Rigid Body

8.5 CONSERVATION OF
ANGULAR MOMENTUM
(a) Define and use the formulae of angular
momentum,

L  Iω

(b) State and use the principle of conservation of

angular momentum
 Chapter --- Rotational of Rigid Body

• is defined as the product of the angular velocity of a body

and its moment of inertia about the rotation axis
OR
L  I is analogous to the p  mv
L : angular momentum
I : moment of inertia of a body
ω : angular velocity of a body
• It is a vector quantity
  
unit of L  kg m 2 s 1  kg m 2 s 1
• Note: Angular momentum for a particle
  
Lrp L  mr v L  mr2 
p = mv v=rω

8.5: CONSERVATION OF ANGULAR MOMENTUM

 Chapter --- Rotational of Rigid Body

A light rigid rod 1.0 m in length rotates in the xy plane about a

pivot through the rod’s center. 2 particles of masses 4 kg & 3 kg
are connected to its end. Determine the angular momentum of the
system about the origin at the instant the speed of each particle is
5.0 m s–1. (Neglect the mass of light rod )

Using : L  m r v
For this particles system :
L  m1r 1v1  m 2 r 2v 2
 (4)(0.5)(5)  (3)(0.5)(5)
 17.5 kg m 2 s 1
8.5: CONSERVATION OF ANGULAR MOMENTUM
 Chapter --- Rotational of Rigid Body

• states that a total • Therefore

angular momentum of 
 dL
a closed system about 
τ
dt
0
an rotation axis is 
constant
dL  0 and dL  L - L f i
 
OR I  constant L  L
i f

If the  τ 0
• Newton’s second law of motion in term of linear
 momentum is
 

dp 
F  Fnett 
 

dt dL
hence we can write the Newton’s second law in angular τ  τ nett 
form as dt
8.5: CONSERVATION OF ANGULAR MOMENTUM
 Chapter --- Rotational of Rigid Body

As the man pull in his arms,

this action reduces his
rotational inertia I from its
initial value to a smaller value.
Since angular momentum of
the system (L=Iω) is
conserved, his rate of rotation
ω increases.

8(6) = 4 (12)
-- this principle is used by athletes, acrobats &
gymnasts.

8.5: CONSERVATION OF ANGULAR MOMENTUM

 Chapter --- Rotational of Rigid Body

• Ice skater starting to spin

slowly with her arms
outstretched.
• As she pulls her arms inward,
when she pulls her arms in
close to her body she suddenly
spins much faster &
consequently her moment
inertia I (I = m r 2  r ↓ I ↓ ).
• Since I ω = constant, if I
decrease, thus ω must increase,

8.5: CONSERVATION OF ANGULAR MOMENTUM

 Chapter --- Rotational of Rigid Body

A raw egg and a hard-boiled egg are rotating about the same axis
of rotation with the same initial angular velocity. Explain which
egg will rotate longer.

The answer is hard-boiled egg.

8.5: CONSERVATION OF ANGULAR MOMENTUM

 Chapter --- Rotational of Rigid Body
• If the I is increases hence its
angular velocity,  will
Reason decreases.
Raw egg:
• When the egg spins, its yolk
I  constant
Hard-boiled egg :
being denser moves away • The position of the yolk of a
from the axis of rotation and hard-boiled egg is fixed.
then the moment of inertia When the egg is rotated, its
of the egg increases because moment of inertia does not
of the principle of increase and then its angular
conservation of angular velocity is constant.
momentum, Therefore the egg continues
to spin.
I  mr 2

8.5: CONSERVATION OF ANGULAR MOMENTUM

 Chapter --- Rotational of Rigid Body

Sport diving

As the diver falls, at different

Before diver hits water, he
position, he has energy of: straightens his body, I increases,
1 1 ω decreases.
E  mgh  mv 2  I 2
2 2
8.5: CONSERVATION OF ANGULAR MOMENTUM
 Chapter --- Rotational of Rigid Body

A 200 kg wooden disc of radius 3.00 m is rotating with angular speed

4.0 rad s-1 about the rotation axis as shown in Figure 8.23. A 50 kg bag
of sand falls onto the disc at the edge of the wooden disc.

ω0 
R R

Before Figure 8.23 After

Calculate,
(a) the angular speed of the system after the bag of sand falling onto
the disc. (treat the bag of sand as a particle)
(b) the initial and final rotational kinetic energy of the system. Why the
rotational kinetic energy is not the same?
(Use the moment of inertia of disc is 1 MR 2 )
2
8.5: CONSERVATION OF ANGULAR MOMENTUM
 Chapter --- Rotational of Rigid Body

R  3.00 m; ω0  4.0 rad s 1 ; mw  200 kg; mb  50 kg

a. The moment of inertia of the disc,
I w  mw R  200 3.00
1 2 1 2

2 2
I w  900 kg m 2

The moment of inertia of the bag of sand,

I b  mb R2
 
 50 3.00 2

I b  450 kg m 2
By applying the principleof conservation
 of angular momentum,
L  L
i f
I w ω0  I w  I b ω
9004.0  900  450ω
ω  2.67 rad s 1
8.5: CONSERVATION OF ANGULAR MOMENTUM
 Chapter --- Rotational of Rigid Body
b. The initial rotational kinetic energy,
K r i  I wω0  9004.02
1 2 1
2 2
K r i  7200 J
The final rotational kinetic energy,
K r  f  I w  I b ω  900  4502.67 
1 2 1 2

2 2
K r  f  4812 J
thus K r i  K r  f
It is because the energy is lost in the form of heat from the
friction between the surface of the disc with the bag of sand

8.5: CONSERVATION OF ANGULAR MOMENTUM

 Chapter --- Rotational of Rigid Body

A student on a stool rotates freely with an angular speed of 2.95

rev s1. The student holds a 1.25 kg mass in each outstretched
arm that is 0.759 m from the rotation axis. The moment of inertia
for the system of student-stool without the masses is 5.43 kg m2.
When the student pulls his arms inward, the angular speed
increases to 3.54 rev s1.
(a) Determine the new distance of each mass from the rotation
axis.
(b) Calculate the initial and the final rotational kinetic energy of
the system.

8.5: CONSERVATION OF ANGULAR MOMENTUM

Chapter --- Rotational of Rigid Body
m  1.25 kg; ω0  18.5 rad s 1 ; I ss  5.43 kg m 2 ;
rb  0.759 m; ω  22.2 rad s 1 ;
0 

rb rb
m m
ra ra

Before After
 Chapter --- Rotational of Rigid Body
2.95 rev  2 rad  1
0     18.5 rad s
1 s  1 rev 
3.54 rev  2 rad  1
    22.2 rad s
1 s  1 rev 
a. The moment of inertia of the system initially is
I i  I ss  I m 
I i  I ss  mrb  mrb
2 2

 I ss  2mrb
2

I i  5.43  21.250.759  6.87 kg m 2

2

The moment of inertia of the system finally is

I f  I ss  2mra
2

 5.43  21.25ra
2

I f  5.43  2.5ra
2

8.5: CONSERVATION OF ANGULAR MOMENTUM

 Chapter --- Rotational of Rigid Body
a. The moment of inertia of the system initially is
I i  I ss  I m 
I i  I ss  mrb  mrb
2 2

 I ss  2mrb
2

I i  5.43  21.250.759  6.87 kg m 2

2

The moment of inertia of the system finally is

I f  I ss  2mra
2

 5.43  21.25ra
2

I f  5.43  2.5ra
2

By using the principle of conservation of angular momentum,

thus Li  Lf
I i ω0  I f ω
 
6.87 18.5  5.43  2.5ra 2 22.2
ra  0.344 m
8.5: CONSERVATION OF ANGULAR MOMENTUM
 Chapter --- Rotational of Rigid Body
b. The initial rotational kinetic energy is given by
K r i 1
 I i ω0
2

2
 6.87 18.5
1 2

2
K r i  1.18  103 J
and the final rotational kinetic energy is
K r  f 1
 I f ω2
2
1
2

 5.43  2.50.344 22.2
2

2

K r  f  1.41  10 J
3

8.5: CONSERVATION OF ANGULAR MOMENTUM

 Chapter --- Rotational of Rigid Body
Linear Motion Relationship Rotational Motion
d
v
ds v  r 
dt dt
dv d
a a  r 
dt n
dt
m I   mi ri 2 I
i 1

 F  ma   rF sin    I
p  mv L  rp sin  L  I
W  Fs W  
P  Fv P  
8.5: CONSERVATION OF ANGULAR MOMENTUM
 Chapter --- Rotational of Rigid Body

1. A woman of mass 60 kg stands at the rim of a horizontal

turntable having a moment of inertia of 500 kg m2 and a radius
of 2.00 m. The turntable is initially at rest and is free to rotate
about the frictionless vertical axle through its centre. The
woman then starts walking around the rim clockwise (as
viewed from above the system) at a constant speed of 1.50 m
s1 relative to the Earth.
(a) In what direction and with what value of angular speed does
the turntable rotate?
(b) How much work does the woman do to set herself and the
turntable into motion?
0.360 rad s1 ,U think; 99.9 J

8.5: CONSERVATION OF ANGULAR MOMENTUM

 Chapter --- Rotational of Rigid Body
2. Determine the angular momentum of the Earth
(a) about its rotation axis (assume the Earth is a uniform solid
sphere), and
(b) about its orbit around the Sun (treat the Earth as a particle
orbiting the Sun).
MEarth = 6.0 x 1024 kg, R = 6.4 x 106 m, r =1.5 x 108 km
7.1 x 1033 kg m2 s1; 2.7 x 1040 kg m2 s1
3. Calculate the magnitude of the angular momentum of the
second hand on a clock about an axis through the centre of the
clock face. The clock hand has a length of 15.0 cm and a mass
of 6.00 g. Take the second hand to be a thin rod rotating with
angular velocity about one end. (Given the moment of inertia
of thin rod about the axis through the CM is )
1 4.71 x 106 kg m2 s1
ML2
12

8.5: CONSERVATION OF ANGULAR MOMENTUM

Chapter --- Rotational of Rigid Body

THE END.
Next Chapter…
CHAPTER 9 :
Simple Harmonics Motion
Chapter --- Rotational of Rigid Body
Chapter --- Rotational of Rigid Body
Chapter --- Rotational of Rigid Body
Chapter --- Rotational of Rigid Body
Chapter --- Rotational of Rigid Body
Chapter --- Rotational of Rigid Body