Lesson 10

Dynamics of Rotational Motion

2
3
Goals for Chapter 10

To examine examples of torque

To see how torques cause rotational dynamics (just as linear forces
cause linear accelerations)
To examine the combination of translation and rotation
To calculate the work done by a torque
To study angular momentum and its conservation
To relate rotational dynamics and angular momentum
Torque
To make an object start rotating, a force is needed; the position and direction of the force matter
as well. The perpendicular distance from the axis of rotation to the line along which the force
acts is called the lever arm.
Torque

Here, the lever arm for FA is the distance from the knob to the hinge; the lever arm for FD is
zero; and the lever arm for FC is as shown.
Torque

The torque is defined as:

Torque

A longer lever arm

is very helpful in
rotating objects.
Rotational Dynamics; Torque and Rotational Inertia
Knowing that , we see that

This is for a single point mass; what

about an extended object?
As the angular acceleration is the
same for the whole object, we can
write:
Rotational Dynamics

F  m a  m ( R  )   (torque)  F  R  (m R 2 ) 
(a)  I  m R (b)  I   m i Ri
2 2

(moment of inertia (moment of inertia

for single particle) for a group of particles)
m2

m1

ROTATIONAL MOTION
m3
Rotational Dynamics
F  m a  m ( R  )   (torque)  F  R  (m R 2 ) 
(a)  I  m R (b)  I   m i Ri
2 2

(moment of inertia (moment of inertia

for single particle) for a group of particles)
m2

m1

ROTATIONAL MOTION
m3
Torque
A force applied at a right angle to a lever
will generate a torque.
The distance from the pivot to the point
of force application will be linearly
proportional to the torque produced.

𝜏Ԧ 𝜏Ԧ𝑧 𝐹Ԧ 𝜃
𝑟Ƹ
𝑟Ԧ𝑟Ƹ
𝐹Ԧ
𝑟Ԧ
𝜏Ԧ = 𝑟Ԧ × 𝐹Ԧ
Example
A force

F = 4iˆ  3 ˆj N acts an object at a point

located at the position  

r = 6kˆ m.

What is the torque that this force applies about the origin?
 18iˆ + 24 ˆj  N m
Lines of force and calculations of torques
The directions of torques produced will give us another
opportunity to apply the right-hand rule (RHR).

𝜏Ԧ = 𝑟Ԧ × 𝐹Ԧ
Torque

𝜏Ԧ = 𝑟Ԧ × 𝐹Ԧ
𝑁 𝑁

𝜏Ԧ = ෍ 𝑟Ԧ × 𝐹Ԧ𝑖 = ෍ 𝜏Ԧ𝑖 𝜏Ԧ = 𝑟Ԧ × 𝐹Ԧ𝑟 + 𝐹Ԧ⊥ = 𝑟Ԧ × 𝐹Ԧ⊥ 𝜏Ԧ = 𝑟Ԧ sin(∅) 𝐹Ԧ

𝑖=1 𝑖=1

𝜏Ԧ = 𝑟Ԧ 𝐹Ԧ sin(∅) 𝜏Ԧ = +𝜏Ԧ2 = 𝑟Ԧ1 × 𝐹Ԧ1 + 𝑟Ԧ2 × 𝐹Ԧ2 ≠ 0

𝜏Ԧ = 𝑟Ԧ1 × 𝐹Ԧ21 + 𝑟Ԧ2 × −𝐹Ԧ21 = 0

𝐹Ԧ 𝐹Ԧ 𝐹Ԧ
𝑂 𝑂
𝑟Ԧ1
𝑟Ԧ2
𝐹Ԧ 𝐹Ԧ
𝐹15Ԧ
Example 10.1
A weekend plumber, unable to loosen a pipe fitting, slips a piece of scrap pipe (a
"cheater") over his wrench handle. He then applies his full weight of 900 N to the
end of the cheater by standing on it. The distance from the center of the fitting to
the point where the weight acts is 0.80 m, and the wrench handle and cheater make
an angle of 19o with the horizontal (Fig. 10.5a). Find the magnitude and direction
of the torque he applies about the center of the pipe fitting.

∅ = 90 + 19 = 109 𝜏Ԧ = 𝑟Ԧ 𝐹Ԧ sin(∅)
𝑟 = 0.8 m 𝜏Ԧ = 0.8m 900N sin(109)
𝐹 = 900 N
𝜏Ԧ = 0.8m 851.97N
𝜏Ԧ = 𝑟Ԧ × 𝐹Ԧ
𝜏Ԧ = 𝑟Ԧ sin(∅) 𝐹Ԧ 𝜏Ԧ = 680.77Nm
𝜏Ԧ = 0.8m sin 109 900N
𝜏Ԧ = 0.756m 900N
𝜏Ԧ = 680.77Nm 16
Example 10.1

17
Torque
𝐹𝑡𝑎𝑛 = 𝑚 𝑎𝑡𝑎𝑛
Torque;

𝜏Ԧ = 𝑟Ԧ × 𝐹Ԧ𝑡𝑎𝑛 = 𝑚 𝑟Ԧ × 𝑎Ԧ𝑡𝑎𝑛

M = ෍ 𝑚𝑖
𝑖=1

𝑁 𝑁

𝜏Ԧ = ෍ 𝜏Ԧ𝑖 = ෍ 𝑚𝑖 𝑟Ԧ𝑖 × 𝑎Ԧ 𝑖−𝑡𝑎𝑛

𝑖=1 𝑖=1
𝑎 = 𝑅𝛼
𝑁 𝑁

𝜏Ԧ = ෍ 𝜏Ԧ𝑖 = ෍ 𝑚𝑖 𝑟𝑖 2 × 𝛼Ԧ𝑖−𝑡𝑎𝑛
𝑖=1 𝑖=1 18
Internal Forces

𝐹Ԧ12 = 𝐹Ԧ21
𝐹Ԧ12 = −𝐹Ԧ21
Action-reaction pairs

𝜏Ԧ = ෍ 𝜏Ԧ𝑖 = 𝜏Ԧ1 + 𝜏Ԧ2 = 𝑟Ԧ1 × 𝐹Ԧ21 + 𝑟Ԧ2 × 𝐹Ԧ12

𝑖=1

𝜏Ԧ = 𝑟Ԧ1 × 𝐹Ԧ21 + 𝑟Ԧ2 × −𝐹Ԧ21 = 0

Example 10.2

Figure 10.9a shows the same situation that we analyzed in Example 9.8 (Section 9.4)
using energy methods. A cable is wrapped several times around a uniform solid
cylinder that can rotate about its axis. The cylinder has diameter 0.12 m and mass 50 F=9N
kg. The cable is polled with a force of 9 N. Assuming that the cable unwinds without d=0.12m
stretching or slipping, what is its acceleration? (This torque is positive as it tends to 50kg
cause a counterclockwise rotation.) From Example 9.8, the moment of inertia of the
1
cylinder about the rotation axis is 𝐼 = 2 𝑚𝑟 2 . Hence Eq. (10.7) gives us the angular
acceleration of the cylinder:

𝜏 𝐹𝑅
2𝐹 2 9𝑁
𝐹
𝑁
𝛼= 𝛼= = = = 6 rad/s 2
1
𝐼 𝑚𝑅2 𝑚𝑅 50kg 0.06 m
2

𝑚g 𝑎 = 𝑅𝛼 𝑎 = 0.06 m 6 rad/s2 = 0.36 m/s 2

20
 Example 10.3

Let us revisit the situation that we analyzed

in Example 9.9 (Section 9.4) using energy ෍ 𝐹𝑦 = 𝑚𝑔 + −𝑇 = 𝑚𝑎𝑦
methods. This time, find the acceleration of
the block of mass m. 1
෍ 𝜏𝑧 = 𝑅𝑇 = 𝐼𝛼𝑧 = 𝑀𝑅2 𝛼𝑧
𝑅 2
𝑀 1 𝑔
𝑚𝑔 + 𝑀𝑎𝑦 = 𝑚𝑎𝑦 𝑎𝑦 =
2 𝑀
1+
2𝑚
𝑚𝑔 𝑔
𝑚 𝑇 = 𝑚𝑔 − 𝑚𝑎𝑦 = 𝑚 =
𝑀 𝑀
1+ 1+
2𝑚 2𝑚
ℎ

2𝑔ℎ
𝑣𝑦 2 = 𝑣0𝑦 2 + 2𝑎𝑦 ℎ 𝑣=
1 + 𝑀/2𝑚
21
Rolling with and without slipping

Rolling with slipping may be calculated. Slipping makes things worse

(for driving and calculations).
Rolling without slipping

𝜃 𝑠 = 𝑅𝜃

Translational+Rotational Motion

1 1 1 1 1
𝐾 = 𝑀𝑣𝑐𝑚 + 𝐼𝑐𝑚 𝜔2
2
= 𝑀𝑅 𝜔 + 𝐼𝑐𝑚 𝜔 = (𝐼𝑐𝑚 + 𝑀𝑅2 )𝜔2
2 2 2
2 2 2 2 2
1 2
𝐼 = 𝐼𝑐𝑚 + 𝑀𝑅2 𝐾 = 𝐼𝜔
2
23
Rotational Kinetic Energy

The kinetic energy of a rotating object is given by

By substituting the rotational quantities, we find that the rotational kinetic energy can be written:

A object that has both translational and rotational motion also has both
translational and rotational kinetic energy:
Rotational Plus Translational Motion; Rolling

In (a), a wheel is rolling without

slipping. The point P, touching
the ground, is instantaneously
at rest, and the center moves
with velocity v.
In (b) the same wheel is seen
from a reference frame where C
is at rest. Now point P is
moving with velocity – v .
The linear speed of the wheel is
related to its angular speed:
Rotational Kinetic Energy
When using conservation of energy, both rotational and translational kinetic energy must
be taken into account. All these objects have the same potential energy at the top, but
the time it takes them to get down the incline depends on how much rotational inertia
they have.
Since the part of the potential energy transformed into rotational
kinetic energy will be larger, less energy is left to the
translational kinetic energy, so the body will travel slower.
The race of objects with different moments
 Example 10.4
A primitive yo-yo is made by wrapping a string several times around a solid cylinder with mass M and radius R (Fig.). You
hold the end of the string stationary while releasing the cylinder with no initial motion. The string unwinds but does not slip or
stretch as the cylinder drops and rotates. Use energy considerations to find the speed Vcm of the center of mass of the solid
cylinder after it has dropped a distance h.

1 1 1
𝑅 𝐼𝑐𝑚 = 𝑀𝑅2 𝑀𝑣𝑐𝑚 + 𝐼𝑐𝑚 𝜔2 = 𝑀𝑔ℎ
2
𝑣𝑐𝑚 = 0 2 2 2
𝑀
𝜔=0 1 1
1 1 𝑀𝑣𝑐𝑚 + 𝑀𝑅2 𝜔2 = 𝑀𝑔ℎ
2
𝐾 = 𝑀𝑣𝑐𝑚 + 𝐼𝑐𝑚 𝜔2
2
2 4
2 2
ℎ 2𝑣𝑐𝑚 2 + 𝑣𝑐𝑚 2 = 4𝑔ℎ
𝐾1 + 𝑈1 = 𝐾2 + 𝑈2 3 2
𝑣𝑐𝑚 =? 𝑣 = 𝑔ℎ
1 1 4
0 + 0 = 𝑀𝑣𝑐𝑚 + 𝐼𝑐𝑚 𝜔2 − 𝑀𝑔ℎ
2 4
2 2 𝑣= 𝑔ℎ
3
28
 Combined Translation and Rotation: Dynamics

We can also analyze the combined translational and rotational motions of a rigid body from the standpoint
of dynamics

The rotational motion about the center of mass is described by the rotational analog of Newton’s second law,

But in fact, above Eq. is valid even when the axis of rotation moves, provided the following two conditions
are met

1. The axis through the center of mass must be an axis of symmetry.

2. The axis must not change direction.
29
Example 10.6

For the primitive yo-yo in Example 10.4 (Fig. 10.18a), find the downward acceleration of the cylinder and the
tension in the string.

෍ 𝐹𝑦 = 𝑀𝑔 + −𝑇 = 𝑀𝑎𝑐𝑚−𝑦

𝑣𝑐𝑚 = 0
𝑅 1
𝑀 𝜔=0 ෍ 𝜏Ԧ𝑧 = 𝑇𝑅 = 𝐼𝑐𝑚 𝛼𝑧 = 𝑀𝑅2 𝛼𝑧
2
𝑇 =?
−𝑇 = −𝑀𝑔 + 𝑀𝑎𝑐𝑚−𝑦
ℎ 𝑎𝑐𝑚−𝑦 =?
1
𝑇𝑅 = 𝑀𝑅𝑎𝑐𝑚−𝑦
2
𝑎𝑐𝑚−𝑦 = 𝑅𝛼𝑧 2 1
𝑎𝑐𝑚−𝑦 = 𝑔 𝑇 = 𝑀𝑔
3 3
30
Consider the acceleration of a rolling sphere (rolling friction)

Rolling down (a) a perfectly rigid surface and (b) a deformable surface. The deformation
in part (b) is greatly exaggerated 𝜔 .
more realistic situation
𝑦
𝑅 𝑛 ෍ 𝜏Ԧ𝑧 = 𝑓𝑠 𝑅 − 𝑛𝑑
𝑓𝑠
𝑥 𝜔 𝑦
𝑀𝑔
𝑅
𝑑
𝑛
𝑓𝑠
෍ 𝜏Ԧ𝑧 = 𝑓𝑠 𝑅 𝑥
𝑀𝑔
In Fig.a a perfectly rigid sphere is rolling down a perfectly
rigid incline. The line of action of the normal force passes As a result, the normal force now exerts a torque that
through the center of the sphere, so its torque is zero; opposes the rotation. In addition, there is some sliding of
there is no sliding at the point of contact, so the friction the sphere over the surface due to the deformation,
force does no work. causing mechanical energy to be lost.
Why Does a Rolling Sphere Slow Down?

A rolling sphere will slow down and stop rather than roll
forever. What force would cause this?
If we say “friction”, there are problems:
The frictional force has to
act at the point of contact;
this means the angular
speed of the sphere would
increase.
Gravity and the normal force
both act through the center
of mass, and cannot create a
torque.
Why Does a Rolling Sphere Slow Down?

The solution: No real sphere is perfectly rigid. The bottom will

deform, and the normal force will create a torque that slows the
sphere.
Work and Power in Rotational Motion

When a torque does work on a rotating rigid body, the kinetic energy changes by an
amount equal to the work done. 𝜃2
𝑑𝑊 = 𝐹𝑡𝑎𝑛 𝑅𝑑𝜃 = 𝜏𝑑𝜃 𝑊𝜏 = න 𝜏𝑧 𝑑𝜃
𝜃1

𝑑𝑠 Constant torque; 𝑊𝜏 = 𝜏𝑧 (𝜃2 − 𝜃1 ) = 𝜏𝑧 Δ𝜃

𝑑𝜃 𝑑𝜔𝑧 𝑑𝜃
𝑅 𝜏𝑧 𝑑𝜃 = 𝐼𝛼𝑧 𝑑𝜃 = 𝐼 𝑑𝜃 = 𝐼 𝑑𝜔𝑧 = 𝐼𝜔𝑧 𝑑𝜔𝑧
𝐹𝑡𝑎𝑛 𝑑𝑡 𝑑𝑡
𝑂
𝜃2
1 1
𝑊𝜏 = න 𝐼𝜔𝑧 𝑑𝜔𝑧 = 𝐼𝜔𝑧2 − 𝐼𝜔𝑧1 2
2
𝜃1 2 2

What about the power associated with work done by a torque acting 𝑑𝑊𝜏 𝑑𝜃
on a rotating body? When we divide both sides of Eq. by the time 𝑃= = 𝜏𝑧 = 𝜏𝑧 𝜔𝑧
interval dt during which the angular displacement occurs
𝑑𝑡 𝑑𝑡 34
35
Example 10.8 Example 10.9

The power output of an automobile engine is advertised An electric motor exerts a constant torque of 10 Nm on a
to be 200 hp at 6000 rpm. What is the corresponding grindstone mounted on its shaft. The moment of inertia of the
torque? grindstone about the shaft is 2.0 kg m2. If the system starts from
𝑃 = 200 hp 𝜔 = 6000 rev/s rest, find the work done by the motor in 8 seconds and the
kinetic energy at the end of this time. What was the average
power delivered by the motor?
746 W ෍ 𝜏Ԧ𝑧 = 𝐼 𝛼Ԧ𝑧
𝑃 = 200 hp = 1.49 × 105 W
1 hp
1 1
Δ𝜃 = 𝛼𝑧 𝑡 = 5 rad/s 2 (8s)2 = 160 rad
2
2 2
6000 rev/𝑚𝑖𝑛 2𝜋 rad 1 min
𝜔= = 628 rad/s 𝑊 = 𝜏𝑧 Δ𝜃 = 10 Nm 160 rad = 1600 J
1 min 1 rev 60 s
𝜔𝑧 = 𝛼𝑧 𝑡 = 5 rad/s 2 8s = 40 rad/s
𝜏𝑧 = 𝑃/𝜔𝑧
1 1
1.49 × 105
W 𝐾 = 𝐼𝜔𝑧 = 2 kgm2 40 rad/s = 1600 J
2
𝜏𝑧 = = 237 Nm 2 2
628 rad/s
1600 W
𝑃= = 200 W
8𝑠
Rotational Kinetic Energy
The torque does work as it moves the wheel through an angle θ:
Question 10.28

The engine delivers 175 hp to an aircraft propeller at 2400 rev/min. (a) How much torque does the
aircraft engine provide? (b) How much work does the engine do in one revolution of the propeller?

𝜏𝑧 𝜃2
Power: 𝑃 = 𝐹 𝑣 = 𝜔𝑧 𝑟 = 𝜏𝑧 𝜔𝑧
𝑟 𝑊𝜏 = න 𝜏𝑧 𝑑𝜃
𝜃1
746 W
𝑃 175 HP
𝜏𝑧 = = 1 HP
𝜔𝑧 2400 rev 1 min 2π rad Constant Force Constant Torque
min 60 s 1 rev
𝑊𝜏 = 𝜏𝑧 Δ𝜃
𝜏𝑧 = 519 Nm
𝑊𝜏 = 519 NM2π rad = 3260 J

38
Question 10.64

A block with mass m = 5 kg slides down a surface inclined 36.90 to the horizontal.
The coefficient of kinetic friction is 0.25. A string attached to the block is wrapped M = 25 kg
around a flywheel on a fixed axis at O. The flywheel has mass M=25 kg and
moment of inertia 0.5 kg m2 with respect to the axis of rotation. The string pulls 𝑚 = 5 kg
without slipping at a perpendicular distance of 0.2 m from that axis. (a) What is
the acceleration of the block down the plane? (b) What is the tension in the string?

𝛽
𝑇 𝑦
𝑛 𝑛 − 𝑚𝑔 cos 𝜃 = 0
𝐹 𝑛
𝑅 𝑓𝑘 𝑎 𝑓𝑘 = 𝜇𝑘 𝑛 = 𝜇𝑘 𝑚𝑔 cos 𝜃
𝛼𝑧
𝜃
𝑥 𝑚𝑔 sin 𝜃 − 𝑇 − 𝑓𝑘 = 𝑚𝑎
𝑀𝑔 𝑀𝑔
𝑇𝑅 = 𝐼𝛼𝑧 ෍ 𝐹 = 𝑚𝑎 𝑚𝑔((sin 𝜃 − 𝜇𝑘 cos 𝜃 ) − 𝑇 = 𝑚𝑎

39
Question 10.64
(a) What is the acceleration of the block down the plane? (b) What is the tension in the string?

𝑇𝑅 = 𝐼𝛼𝑧 𝑚𝑔((sin 𝜃 − 𝜇𝑘 cos 𝜃 ) − 𝑇 = 𝑚𝑎

𝑎 𝐼 𝑎 𝐼𝑎
𝑎 = 𝑟𝛼 𝜏 = 𝐼𝛼 = 𝐼 𝑇𝑅 = 𝐼𝛼𝑧 ve 𝑇= = 2
𝑟 𝑅𝑅 𝑅
𝐼𝑎
M = 25 kg 𝑚𝑔((sin 𝜃 − 𝜇𝑘 cos 𝜃 ) − 2 = 𝑚𝑎
𝑅
𝑚 = 5 kg
𝑚𝑔((sin 𝜃 − 𝜇𝑘 cos 𝜃 )
𝑎=
𝑚 + 𝐼/𝑅2

𝛽 𝑎 = 1.12 m/s 2

𝐼𝑎 0.5 kg m2 2 = 14 N
𝑇= 2= 1.12 m/s
𝑅 (0.2 m)2
 Question 10.70
A thin-walled, hollow spherical shell of mass m and radius r starts from rest and rolls without slipping down
the track shown in Fig. 10.57. Points A and B are on a circular part of the track having radius R. The
diameter of the shell is very small compared to h0 and R, and rolling friction is negligible. (a) What is the
minimum height h0 for which this shell will make a complete loop-the-loop on the circular part of the track?
(b) How hard does the track push on the shell at point B, which is at the same level as the center of the
circle? (c) Suppose that the track had no friction and the shell was released from the same height h0 you
found in part (a). Would it make a complete loop-the loop? How do you know? (d) In part (c), how hard does
the track push on the shell at point A, the top of the circle? How hard did it push on the shell in part (a)?

𝑆𝑝ℎ𝑒𝑟𝑖𝑐𝑎𝑙 𝑠ℎ𝑒𝑙𝑙 𝑣2 𝑣𝐴
෍ 𝐹 = 𝑚𝑎 𝑛 + 𝑚𝑔 = 𝑚
𝑅
𝐴 𝑛
𝑅
𝐵
ℎ𝑜 𝑣2 𝑀𝑔
𝑅 0 + 𝑚𝑔 = 𝑚 𝑣 2 = 𝑔𝑅
𝑅
(Tepe noktasından düşmeden geçebilmesi için
normal kuvvetin değer pozitif olmalı yanı temas 𝐾1 + 𝑈1 + 𝑊𝑑𝑖ğ𝑒𝑟 = 𝐾𝐴 + 𝑈𝐴
41
kesilmemelidir.)
Question 10.70
(a) What is the minimum height h0 for which this shell will make a complete
loop-the-loop on the circular part of the track? (b) How hard does the track push
𝑣 on the shell at point B, which is at the same level as the center of the circle?

𝐼
𝑆𝑝ℎ𝑒𝑟𝑖𝑐𝑎𝑙 𝑠ℎ𝑒𝑙𝑙 2
2 5 𝐼0 = 𝑚𝑟 2
𝐼 = 𝐼0 + 𝑚𝑑 = 𝑚𝑟 + 𝑚𝑟 = 𝑚𝑟 2
2 2 2
3
3 3 𝐴
𝐾1 + 𝑈1 + 0 = 𝐾𝐴 + 𝑈𝐴 𝐵 𝑣 = 𝜔𝑟
1 ℎ𝑜
0 + 𝑚𝑔ℎ0 = 𝐼𝜔𝐴 2 + 𝑚𝑔2𝑅
𝑅 𝑣 2 = 𝑔𝑅
2
15 5 17
𝑚𝑔ℎ0 = 𝑚𝑅2 𝑔𝑅/𝑅2 + 𝑚𝑔2𝑅 ℎ0 = 𝑅 + 2𝑅 = 𝑅
23 6 6
5 2 2
17
𝐾1 + 𝑈1 + 0 = 𝐾𝐵 + 𝑈𝐵 𝑚𝑔ℎ0 = 𝑚𝑅 𝜔𝐵 + 𝑚𝑔𝑅 and ℎ0 = 𝑅
6 6
5
𝑚𝑔ℎ0 = 𝑚𝑅 2 𝑣𝐵 2 /𝑅2 + 𝑚𝑔𝑅
6 42
Question 10.70
(b) How hard does the track push on the shell at point B, which is at the same level as the center of the
circle? (c) Suppose that the track had no friction and the shell was released from the same height h0 you
found in part (a). Would it make a complete loop-the-loop? How do you know? (d) In part (c), how hard
does the track push on the shell at point A, the top of the circle? How hard did it push on the shell in part
(a)?

17 5 2
11
𝑚𝑔𝑅( − 1) = 𝑚𝑣𝐵 2 𝑣𝐵 = 𝑔𝑅
𝑅 6 6 5
𝑣𝐵 2 𝑣𝐵 2 11
𝑛 ෍ 𝐹 = 𝑚𝑎 ve 𝑛𝐵 = 𝑚 𝑛𝐵 = 𝑚 = 𝑚𝑔 𝑛𝐴 = 0
𝑣𝐵 𝑅 𝑅 5
𝑀𝑔 (Sürtünme olmazsa, yuvarlanma olmayacak ve tüm kinetik enerji öteleme kinetik
enerjinden oluşacaktır. Bu durumda 𝑣𝐴 hızı ilk durumdan daha büyük olacaktır ve 𝑛𝐴 =
0 olacağından 𝑚 yolunu tamamlayacaktır.)
1 2
17 5
2
0 + 𝑚𝑔ℎ0 = 𝑚𝑣𝐴 + 𝑚𝑔2𝑅 and ℎ0 = 𝑅 𝑣𝐴 = 𝑔𝑅
2 6 3
𝑣𝐴 2 2
𝑛𝐴 = 𝑚 − 𝑚𝑔 = 𝑚𝑔
𝑅 3 43
Question 10.83
A uniform, solid cylinder with mass M and radius 2R rests on a horizontal tabletop. A
string is attached by a yoke to a frictionless axle through the center of the cylinder so
that the cylinder can rotate about the axle. The string runs over a disk-shaped pulley
with mass M and radius R that is mounted on a frictionless axle through its center. A
block of mass M is suspended from the free end of the string (Fig. 10.62). The string
doesn't slip over the pulley surface, and the cylinder rolls without slipping on the
tabletop. Find the magnitude of the acceleration of the block after the system is
released from rest.
𝑣 = 𝜔𝑅 𝑅
1
𝐼0 = 𝑚𝑟 2 𝑲𝟏 + 𝑼𝟏 + 𝑾𝒐𝒕𝒉𝒆𝒓 = 𝑲𝟐 + 𝑼𝟐
2
𝑣 = 𝜔2𝑅 2𝑅
1 1 1
1 0 = 2𝑀𝑣 + 𝐼𝑅 𝜔𝑅 + 𝐼2𝑅 𝜔2𝑅 2 − 𝑀𝑔𝑦
2 2
𝐼𝑅 = 𝑀𝑅2 2 2 2
2

1 1 2
11 2 2
11 1
𝐼2𝑅 = 𝑀(2𝑅)2 0 = 𝑀𝑣 + 𝑀𝑅 (𝑣/𝑅) + 𝑀(2𝑅) (𝑣/2𝑅) + 𝑀𝑣 2 − 𝑀𝑔𝑦
2 2
2 2 22 22 2
Question 10.83

1 2
11 2 2
11 1
0 = 𝑀𝑣 + 𝑀𝑅 (𝑣/𝑅) + 𝑀(2𝑅) (𝑣/2𝑅) + 𝑀𝑣 2 − 𝑀𝑔𝑦
2 2
2 22 22 2

1 1 1 1 3
𝑀𝑔𝑦 = 𝑀𝑣 + 𝑀𝑣 + 𝑀𝑣 + 𝑀𝑣 = 𝑀𝑣 2
2 2 2 2
2 2 4 4 2

2
Constant acceleration 𝑣 2 = 𝑣𝑜 2 + 2𝑎(𝑥 − 𝑥0 ) 𝑣𝐴 2
= 𝑔𝑦
3
2
𝑣2 𝑔𝑦
𝑥 − 𝑥0 = 𝑦 a= = 3
= 𝑔/3
2𝑦 2𝑦
𝑣0 = 0
45