Chapter 11

Rolling, Torque, and Angular

Momentum
11-1 Rolling as Translation and Rotation Combined

Learning Objectives
11.01 Identify that smooth 11.02 Apply the relationship
rolling can be considered as between the center-of-mass
a combination of pure speed and the angular speed
translation and pure rotation. of a body in smooth rolling.

Figure 11-2
11-1 Rolling as Translation and Rotation Combined

⚫ We consider only objects that roll smoothly (no slip)

⚫ The center of mass (com) of the object moves in a
straight line parallel to the surface
⚫ The object rotates around the com as it moves
⚫ The rotational motion is defined by:
Eq. (11-1)

Eq. (11-2)

Figure 11-3
11-1 Rolling as Translation and Rotation Combined

Figure 11-4

⚫ The figure shows how the velocities of translation and

rotation combine at different points on the wheel

Answer: (a) the same (b) less than

11-2 Forces and Kinetic Energy of Rolling

Learning Objectives
11.03 Calculate the kinetic initial energy values to the
energy of a body in smooth values at a later point.
rolling as the sum of the
translational kinetic energy of
the center of mass and the 11.06 Draw a free-body
rotational kinetic energy diagram of an accelerating
around the center of mass. body that is smoothly rolling
on a horizontal surface or up
11.04 Apply the relationship
or down on a ramp.
between the work done on a
smoothly rolling object and its
kinetic energy change.
11.05 For smooth rolling (and
thus no sliding), conserve
mechanical energy to relate
11-2 Forces and Kinetic Energy of Rolling

• 11.07 Apply the • 11.08 For smooth

relationship between rolling up or down a
the center-of-mass ramp, apply the
acceleration and the relationship between
angular acceleration. the object’s
acceleration, its
rotational inertia, and
the angle of the ramp.
11-2 Forces and Kinetic Energy of Rolling

⚫ Combine translational and rotational kinetic energy:

Eq. (11-5)

⚫ If a wheel accelerates, its angular speed changes

⚫ A force must act to prevent slip

Eq. (11-6)

Figure 11-7
11-2 Forces and Kinetic Energy of Rolling

If you take a frame, it

looks like the wheel is
rotating with axis on the
ground

Rotation axis at p
11-2 Forces and Kinetic Energy of Rolling

⚫ If slip occurs, then the motion is not smooth rolling!

⚫ For smooth rolling down a ramp:
1. The gravitational force is vertically down
2. The normal force is perpendicular to the ramp
3. The force of friction points up the slope

Figure 11-8
11-2 Forces and Kinetic Energy of Rolling

No sliding → The object is subjected to static friction

11-2 Forces and Kinetic Energy of Rolling

⚫ We can use this equation to find the acceleration of

such a body
Eq. (11-10)

⚫ Note that the frictional force produces the rotation

⚫ Without friction, the object will simply slide

Answer: The maximum height reached by B is less than that reached by A. For
A, all the kinetic energy becomes potential energy at h. Since the ramp is
frictionless for B, all of the rotational K stays rotational, and only the
translational kinetic energy becomes potential energy at its maximum height.
11-3 The Yo-Yo

Learning Objectives
11.09 Draw a free-body 11.11 For a yo-yo moving up or
diagram of a yo-yo moving down its string, apply the
up or down its string. relationship between the yo-
yo's acceleration and its
11.10 Identify that a yo-yo is
rotational inertia.
effectively an object that rolls
smoothly up or down a ramp 11.12 Determine the tension in
with an incline angle of 90°. a yo-yo's string as the yo-yo
moves up or down the string.
11-3 The Yo-Yo

⚫ As a yo-yo moves down a string, it

loses potential energy mgh but
gains rotational and translational
kinetic energy
⚫ To find the linear acceleration of a
yo-yo accelerating down its string:
1. Rolls down a “ramp” of angle 90°
2. Rolls on an axle instead of its outer
surface
3. Slowed by tension T rather than
friction
Figure 11-9
11-3 The Yo-Yo

The string applied a tension on the yo-yo;

The gravitational force pull the yo-yo down
The torgue arise from the tension attached to the yoyo
11-3 The Yo-Yo

⚫ Replacing the values in 11-10 leads us to:

Eq. (11-13)

Example Calculate the acceleration of the yo-yo

o M = 150 grams, R0 = 3 mm, Icom = Mr2/2 = 3E-5 kg m2
o Therefore acom = -9.8 m/s2 / (1 + 3E-5 / (0.15 * 0.0032))
= - .4 m/s2
11-4 Torque Revisited

Learning Objectives
11.13 Identify that torque is a 11.16 Use the right-hand rule
vector quantity. for cross products to find the
direction of a torque vector.
11.14 Identify that the point
about which a torque is
calculated must always be
specified.
11.15 Calculate the torque due
to a force on a particle by
taking the cross product of
the particle's position vector
and the force vector, in either
unit-vector notation or
magnitude-angle notation.
11-4 Torque Revisited

⚫ Previously, torque was defined only for a rotating body

and a fixed axis
⚫ Now we redefine it for an individual particle that moves
along any path relative to a fixed point
⚫ The path need not be a circle; torque is now a vector
⚫ Direction determined with right-hand-rule

Figure 11-10
11-4 Torque Revisited

⚫ The general equation for torque is:

Eq. (11-14)

⚫ We can also write the magnitude as:

Eq. (11-15)

⚫ Or, using the perpendicular component of force or the

moment arm of F:
Eq. (11-16)

Eq. (11-17)
11-4 Torque Revisited

Answer: (a) along the z direction (b) along the +y direction (c) along the +x
direction
11-4 Torque Revisited

Example Calculating net torque:

Figure 11-11
11-5 Angular Momentum

Learning Objectives
11.17 Identify that angular or magnitude-angle notation.
momentum is a vector
quantity.
11.20 Use the right-hand rule
11.18 Identify that the fixed
for cross products to find the
point about which an angular
direction of an angular
momentum is calculated
momentum vector.
must always be specified.
11.19 Calculate the angular
momentum of a particle by
taking the cross product of
the particle's position vector
and its momentum vector, in
either unit-vector notation
11-5 Angular Momentum

⚫ Here we investigate the

angular counterpart to linear
momentum
⚫ We write:
Eq. (11-18)

⚫ Note that the particle need not

rotate around O to have
angular momentum around it
⚫ The unit of angular momentum
is kg m2/s, or J s
Figure 11-12
11-5 Angular Momentum

⚫ To find the direction of angular momentum, use the

right-hand rule to relate r and v to the result
⚫ To find the magnitude, use the equation for the
magnitude of a cross product:
Eq. (11-19)

⚫ Which can also be written as:

Eq. (11-20)

Eq. (11-21)
11-5 Angular Momentum

⚫ Angular momentum has meaning only with respect to

a specified origin
⚫ It is always perpendicular to the plane formed by the
position and linear momentum vectors

Answer: (a) 1 & 3, 2 & 4, 5

(b) 2 and 3 (assuming counterclockwise is positive)
11-6 Newton's Second Law in Angular Form

Learning Objectives
11.21 Apply Newton's second law in angular form to relate the
torque acting on a particle to the resulting rate of change of the
particle's angular momentum, all relative to a specified point.
11-6 Newton's Second Law in Angular Form

⚫ We rewrite Newton's second law as:

Eq. (11-23)

⚫ The torque and the angular momentum must be

defined with respect to the same point (usually the
origin)
11-6 Newton's Second Law in Angular Form

⚫ We rewrite Newton's second law as:

Eq. (11-23)

⚫ The torque and the angular momentum must be

defined with respect to the same point (usually the
origin)

⚫ Note the similarity to the linear form:

Eq. (11-22)
11-6 Newton's Second Law in Angular Form

Answer: (a) F3, F1, F2 & F4 (b) F3 (assuming counterclockwise is positive)

11-7 Angular Momentum of a Rigid Body

Learning Objectives
11.22 For a system of 11.23 Apply the relationship
particles, apply Newton's between the angular
second law in angular form momentum of a rigid body
to relate the net torque rotating around a fixed axis
acting on the system to the and the body's rotational
rate of the resulting change inertia and angular speed
in the system's angular around that axis.
momentum.
11.24 If two rigid bodies rotate
about the same axis,
calculate their total angular
momentum.
11-7 Angular Momentum of a Rigid Body

⚫ We sum the angular momenta of the particles to find

the angular momentum of a system of particles:
Eq. (11-26)

⚫ The rate of change of the net angular momentum is:

Eq. (11-28)

⚫ In other words, the net torque is defined by this

change:
Eq. (11-29)
11-7 Angular Momentum of a Rigid Body

⚫ Note that the torque and angular momentum must be

measured relative to the same origin
⚫ If the center of mass is accelerating, then that origin
must be the center of mass
⚫ We can find the angular momentum of a rigid body
through summation:

Eq. (11-30)

⚫ The sum is the rotational inertia I of the body

11-7 Angular Momentum of a Rigid Body
11-7 Angular Momentum of a Rigid Body
11-7 Angular Momentum of a Rigid Body

This relationship is always true,

regardless of the choice of rotation axis
𝑑𝑝റ
റ The relationship is
Similar to 𝑑𝑡 = 𝐹,
always true, regardless of the choice of
coordinate system.

Each particles can be subjected to different external force. However

the internal force always cancelled out!
 11-7 Angular Momentum of a Rigid Body

Eq. (11-30)

⚫ Therefore this simplifies to:

Eq. (11-31)

Table 11-1

Figure 11-15
11-7 Angular Momentum of a Rigid Body

Answer: (a) All angular momenta will be the same, because the torque is the
same in each case (b) sphere, disk, hoop
11-7 Angular Momentum of a Rigid Body
•36 Figure 11-43 shows three rotating, uniform disks that are coupled by belts. One belt
runs around the rims of disks A and C. Another belt runs around a central hub on disk A
and the rim of disk B. The belts move smoothly without slippage on the rims and hub.
Disk A has radius R; its hub has radius 0.5000R; disk B has radius 0.2500R; and disk C has
radius 2.000R.Disks B and C have the same density (mass per unit volume) and
thickness. What is the ratio of the magnitude of the angular momentum of disk C to
that of disk B?

Tips:
VA = VB = Vc;
wA = 2wC,
wA = wB . Thus, wB = 4wC

2 2
LC (½ )RC h RC C
= = 1024
LB (½ )RB2 h RB2 B
11-7 Angular Momentum of a Rigid Body
11-7 Angular Momentum of a Rigid Body
Figure 11-45 shows a rigid structure consisting of a circular hoop of radius R and mass
m, and a square made of four thin bars, each of length R and mass m. The rigid
structure rotates at a constant speed about a vertical axis, with a period of rotation of
2.5 s. Assuming R = 0.50 m and m = 2.0 kg, calculate
(a) the structure’s rotational inertia about the axis of rotation and
(b) its angular momentum about that axis.

(a) For the hoop, we use the parallel-axis theorem to obtain

1 3
I1 = I com + mh2 = mR 2 + mR 2 = mR 2 .
2 2

Of the thin bars (in the form of a square), the member along the
rotation axis has (approximately) no rotational inertia about that
axis (since it is thin), and the member farthest from it is very
much like it (by being parallel to it) except that it is displaced
by a distance h; it has rotational inertia given by the parallel
axis theorem:

I 2 = I com + mh2 = 0 + mR2 = mR2 .

11-7 Angular Momentum of a Rigid Body
Now the two members of the square perpendicular to the axis have the same
rotational inertia (that is I3 = I4). We find I3 using Table 10-2(e) and the parallel-
axis theorem:

1 R FG IJ 2
1
I 3 = I com + mh = mR 2 + m
H K = mR 2 .
2

12 2 3
Therefore, the total rotational inertia is
19
I1 + I 2 + I 3 + I 4 = mR 2 = 16
. kg  m2 .
6
(b) The angular speed is constant:
 2
= = = 2.5 rad s.
t 2.5
L = I total = 4.0 kg  m2 s.
11-8 Conservation of Angular Momentum

Learning Objectives
11.25 When no external net torque acts on a system along a
specified axis, apply the conservation of angular momentum to
relate the initial angular momentum value along that axis to
the value at a later instant.
11-8 Conservation of Angular Momentum

⚫ Since we have a new version of Newton's second law,

we also have a new conservation law:
Eq. (11-32)

⚫ The law of conservation of angular momentum

states that, for an isolated system,
(net initial angular momentum) = (net final angular
momentum)

Eq. (11-33)
11-8 Conservation of Angular Momentum

⚫ Since these are vector equations, they are equivalent

to the three corresponding scalar equations
⚫ This means we can separate axes and write:

⚫ If the distribution of mass changes with no external

torque, we have: Eq. (11-34)
11-8 Conservation of Angular Momentum

Example Angular momentum conservation

⚫ A student spinning on a stool: rotation speeds up when arms
are brought in, slows down when arms are extended
⚫ A springboard diver: rotational speed is controlled by tucking
her arms and legs in, which reduces rotational inertia and
increases rotational speed
⚫ A long jumper: the angular momentum caused by the torque
during the initial jump can be transferred to the rotation of the
arms, by windmilling them, keeping the jumper upright

Figure 11-18
 11-8 Conservation of Angular Momentum
Example how to swing:
⚫ Remember, it is when 𝜏റ𝑛𝑒𝑡 = 0, even when 𝐹റ𝑛𝑒𝑡 ≠ 0, the
angular momentum is conserved!

• A guy is swinging from position 1 to 2. As

he reaches position 2, he immediately
𝑟𝑐𝑜𝑚,2 raise himself by standing up on the swing
(position 3)
𝑟𝑐𝑜𝑚,1
• The moment he is standing up, the net
𝑣𝑖 1 3
force applied to the system 𝐹റ𝑛𝑒𝑡 ≠ 0.
2 2 • But 𝜏റ𝑛𝑒𝑡 = 𝑟റ × 𝐹റ = 0 (𝐹റ𝑛𝑒𝑡 is parallel to 𝑟)
റ
• 𝑳𝒊 = 𝑳𝒇 ; 𝑰𝒊 𝝎𝒊 = 𝑰𝒇 𝝎𝒇
𝒗𝒊 𝒗𝒇
𝑴𝒓𝟐𝒊 = 𝑴𝒓𝟐𝒇 As the centre of mass is raised, the
𝒓𝒊 𝒓𝒇
velocity at the minimum point
𝒓𝒊 𝒗𝒊 = 𝒓𝒇 𝒗𝒇
increases
 11-8 Conservation of Angular Momentum
Example Kepler 2nd law of motion

Eg. Fg experienced by
planet due to Sun
1
∆𝐴 = 𝑟റ ∙ (∆𝑟𝑠𝑖𝑛𝛼);
റ
2
1
∆𝐴 = 2 𝑟റ ∙ (𝑟∆𝜃);
റ
∆𝜃 → 0;
∆𝜃 → 0; 1
d𝐴 = 2 𝑟 2 𝑑𝜃;

For a given time constant, the area is the same!

→when the comet is closer to the Sun, it travel
faster than when it was further from the sun
Examples

A hoop (I = MR2) of mass 2.0 kg and radius 0.50 m is rolling at a center-of-mass

speed of 15 m/s. An external force does 750 J of work on the hoop. What is the new
speed of the center of mass of the hoop?
A: 24 m/s
Examples

Two identical disks, with rotational inertia I (= 1/2 MR2), roll without slipping across
a horizontal floor and then up inclines. Disk A rolls up its incline without sliding. On
the other hand, disk B rolls up a frictionless incline. Otherwise the inclines are
identical. Disk A reaches a height 12 cm above the floor before rolling down again.
Disk B reaches a height above the floor of:
A: 8 cm
Examples

A cylinder of radius R = 6.0 cm is on a rough horizontal surface. The coefficient of

kinetic friction between the cylinder and the surface is 0.30 and the rotational
inertia for rotation about the axis is given by MR2/2, where M is its mass. Initially it
is not rotating but its center of mass has a speed of 7.0 m/s. After 2.0 s the speed of
its center of mass and its angular velocity about its center of mass, respectively, are:
A: 1.1 m/s, 196 rad/s
Examples

The coefficient of static friction between a certain cylinder and a horizontal floor is
0.40. If the rotational inertia of the cylinder about its symmetry axis is given by I =
(1/2)MR2, then the maximum acceleration the cylinder can have without sliding is:
A: 0.8 g
11-8 Conservation of Angular Momentum

Answer: (a) decreases (b) remains the same (c) increases

11-9 Precession of a Gyroscope

Learning Objectives
11.26 Identify that the 11.27 Calculate the precession
gravitational force acting on rate of a gyroscope.
a spinning gyroscope causes
11.28 Identify that a
the spin angular momentum
gyroscope's precession rate
vector (and thus the
is independent of the
gyroscope) to rotate about
gyroscope's mass.
the vertical axis in a motion
called precession.
11-9 Precession of a Gyroscope

⚫ A nonspinning gyroscope, as
attached in 11-22 (a), falls
⚫ A spinning gyroscope (b) instead
rotates around a vertical axis
⚫ This rotation is called precession

Figure 11-22
11-9 Precession of a Gyroscope

⚫ The angular momentum of a (rapidly spinning)

gyroscope is:
Eq. (11-43)

⚫ The torque can only change the direction of L, not its

magnitude, because of (11-43)
Eq. (11-44)

⚫ The only way its direction can change along the

direction of the torque without its magnitude changing
is if it rotates around the central axis
⚫ Therefore it precesses instead of toppling over
11-9 Precession of a Gyroscope

https://www.youtube.com/watch?v=8H98BgRzpOM
https://www.youtube.com/watch?v=ty9QSiVC2g0
 11-9 Precession of a Gyroscope

As the gyroscope is slightly tilted, 𝜏റ becomes finite and

perpendicular to 𝐿
𝜏റ = 𝑟 × 𝑀𝑔റ = 𝑟𝑀𝑔𝑠𝑖𝑛𝜃 𝑑𝐿
The precession is always on a horizontal plane: 𝜏റ = ; 𝑑𝐿 = 𝑟𝑀𝑔𝑠𝑖𝑛𝜃𝑑𝑡
𝑑𝑡

𝑑𝐿 𝑟𝑀𝑔𝑠𝑖𝑛𝜃𝑑𝑡 𝑑𝜑 𝑟𝑀𝑔 𝑟𝑀𝑔

𝑑𝜑 = = 𝜔𝑝 = = =
𝐿𝑠𝑖𝑛𝜃 𝐿𝑠𝑖𝑛𝜃 𝑑𝑡 𝐿 𝐼𝜔
11-9 Precession of a Gyroscope

⚫ The precession rate is given by:

Eq. (11-46)

⚫ True for a sufficiently rapid spin rate

⚫ Independent of mass, (I is proportional to M) but does
depend on g
⚫ Valid for a gyroscope at an angle to the horizontal as
well (a top for instance)
11 Summary

Rolling Bodies Torque as a Vector

Eq. (11-2) ⚫ Direction given by the right-
hand rule
Eq. (11-5)
Eq. (11-14)
Eq. (11-6)

Angular Momentum of a Newton's Second Law in

Particle Angular Form

Eq. (11-23)
Eq. (11-18)
11 Summary

Angular Momentum of a Angular Momentum of a

System of Particles Rigid Body
Eq. (11-31)

Eq. (11-26)

Eq. (11-29)

Conservation of Angular Precession of a Gyroscope

Momentum
Eq. (11-46)
Eq. (11-32)

Eq. (11-33)