Previous Year Questions: Rigid Dynamics

(2008-22)

Moment of Inertia

1. The flat surface of a hemisphere of radius r is cemented to one flat surface of a

cylinder of the same radius and of the same material. If the length of the cylinder
be l and the total mass be m, show that the moment of inertia of the combination
𝑙𝑙 4
� + 𝑟𝑟�
about the axis of the cylinder is given by: 𝑚𝑚𝑟𝑟 2 2 15
2𝑟𝑟
𝑙𝑙+
3

2. A uniform lamina is bounded by a parabolic arc of latus rectum 4a and a double

𝑎𝑎
ordinate at a distance b from the vertex. If 𝑏𝑏 = (7 + 4√7) , show that two of the principal
3

axis at the end of a latus rectum are the tangent and normal there.
3. Let a be the radius of the base of a right circular cone of height h and mass M.
Find the moment of inertia of that right circular cone about a line through the
vertex perpendicular to the axis.
4. A pendulum consists of a rod of length 2a and mass m; to one end of which a
𝑎𝑎
spherical bob of radius and mass 15m is attached. Find the moment of inertia
3

of the pendulum:
a. About an axis through the other end of the rod and at right angle to the rod.
b. About a parallel axis through the centre of mass of the pendulum.
𝑎𝑎
[Given: the centre of mass of the pendulum is above the centre of the sphere]
12

5. Four solid sphere A, B, C and D, each of mass m and radius a, are placed with
their centres on the four corners of a square of side b. Calculate the moment of
inertia of the system about a diagonal of the square.
6. Calculate the moment of inertia of a solid uniform hemisphere 𝑥𝑥 2 + 𝑦𝑦 2 + 𝑧𝑧 2 = 𝑎𝑎2 , 𝑧𝑧 ≥ 0 with
mass m about the OZ- axis.
7. Show that the moment of inertia of an elliptic area of mass M and semi-axis a
1 𝑎𝑎 2 𝑏𝑏2
and b about a semi-diameter of length 𝑟𝑟 is 𝑀𝑀 . Further, prove that the
4 𝑟𝑟 2
5𝑀𝑀
moment of inertia about a tangent is 𝑝𝑝2 where p is the perpendicular distance
4

from the centre of the ellipse to the tangent.

By Avinash Singh (Ex IES, B.Tech IITR) 1|Page

8. Prove that moment of inertia of triangular lamina ABC about any axis through A in its plane
𝑀𝑀
is (𝛾𝛾 2 + 𝛾𝛾𝛾𝛾 + 𝛽𝛽 2 ) where M is the mass of the lamina and 𝛽𝛽 , 𝛾𝛾 are respectively the length of
6

perpendiculars from B and C on the axis.

9. Find the moment of inertia of right circular solid cone about one of its slant side (generator)
in terms of its mass M, height H and the radius of its base as a. (15, 2022)

D’ Alembert’s Principle

1. A circular board is placed on a smooth horizontal plane and a boy runs round
the edge of it at a uniform rate. What is the motion of the centre of the board?
Explain. What happens if the mass of the board and boy are equal?
2. A uniform rod 𝑂𝑂𝑂𝑂 of length 2𝑎𝑎, free to turn its end 𝑂𝑂, revolves with angular
velocity 𝜔𝜔 about the vertical 𝑂𝑂𝑂𝑂 through 𝑂𝑂, and is inclined at a constant angle
𝛼𝛼 to 𝑂𝑂𝑂𝑂; find the value of 𝛼𝛼.
3. A particle is constrained to move along a circle lying in the vertical 𝑥𝑥𝑥𝑥 plane. With the help of
D’ Alembert Principle, show that its equation of motion is 𝑥𝑥̈ 𝑦𝑦 − 𝑦𝑦̈ 𝑥𝑥 − 𝑔𝑔𝑔𝑔 = 0, 𝑤𝑤ℎ𝑒𝑒𝑒𝑒𝑒𝑒 𝑔𝑔 is
acceleration due to gravity.

Motion in Two Dimension

1. The ends of a heavy rod of length 2a are rigidly attached to two light rings
which can respectively slide on the thin smooth fixed horizontal and vertical
wires 𝑂𝑂𝑥𝑥 𝑎𝑎𝑎𝑎𝑎𝑎 𝑂𝑂𝑦𝑦 . The rod starts at an angle 𝛼𝛼 to the horizon with an angular

3𝑔𝑔(1 − 𝑠𝑠𝑠𝑠𝑠𝑠 𝛼𝛼)

velocity � and moves downwards. Show that it will strike
2𝑎𝑎

𝑎𝑎 𝜋𝜋 𝛼𝛼 𝜋𝜋
the horizontal wire at the end of time 2 � log � − � cot .
2𝑔𝑔 8 4 8

2. A circular cylinder of radius 𝑎𝑎 and radius of gyration 𝑘𝑘 rolls without slipping

inside a fixed hollow cylinder of radius 𝑏𝑏. Show that the plane through axes
𝑘𝑘 2
moves in a circular pendulum of length (𝑏𝑏 − 𝑎𝑎) �1 + �.
𝑎𝑎 2

Lagrange’s Equation of Motion

1. A uniform rod of mass 3𝑚𝑚 and length 2𝑙𝑙 has its middle point fixed and a mass
𝑚𝑚 is attached to one of its extremity. The rod, when in a horizontal position is
set rotating about a vertical axis through its centre with an angular velocity
2𝑔𝑔
� . Show that the heavy end of the rod will fall till the inclination of the rod to
𝑙𝑙

the vertical is cos −1 (√2 − 1).

2. A perfectly rough sphere of mass m and radius b, rests at the lowest point of a
fixed spherical cavity of radius a. To the highest point of the movable sphere is

By Avinash Singh (Ex IES, B.Tech IITR) 2|Page

 attached a particle of mass m' and the system is disturbed. Show that the
7
4𝑚𝑚′ + 𝑚𝑚
oscillations are the same as of a simple pendulum of length (𝑎𝑎 − 𝑏𝑏) 5
𝑎𝑎 .
𝑚𝑚+𝑚𝑚′ �2− �
𝑏𝑏

3. Obtain the equations governing the motion of a spherical pendulum.

4. Two equal rod AB and BC, each of length l, smoothly jointed at B, are
suspended from A and oscillate in a vertical plane through A. Show that that the
2𝜋𝜋 6
periods of normal oscillation are 𝑤𝑤ℎ𝑒𝑒𝑒𝑒𝑒𝑒 𝑛𝑛2 = �3 ± � 𝑔𝑔/𝑙𝑙
𝑛𝑛 √7

5. A hoop with radius 𝑟𝑟 is rolling without slipping, down an inclined plane of

length 𝑙𝑙 and with angle of inclination 𝜙𝜙; Assign appropriate generalized
coordinates to the system. Determine the constraints, if any. Write down the
Lagrangian equations for the system. Hence or otherwise determine the velocity
of the hoop at the bottom of the inclined plane.
6. Two uniform rods AB, AC each of mass m and length 2a, are smoothly hinged
together at A and move on a horizontal plane. At time t, the mass centre of the
rod is at the point (𝜉𝜉, 𝜂𝜂) referred to fixed perpendicular axes 𝑂𝑂𝑥𝑥 , 𝑂𝑂𝑦𝑦 in the plane,
and the rods make angles 𝜃𝜃 ± 𝜙𝜙 𝑤𝑤𝑤𝑤𝑤𝑤ℎ 𝑂𝑂𝑥𝑥 . Prove that the kinetic energy of the
1 1
system is 𝑚𝑚 �𝜉𝜉̇ 2 + 𝜂𝜂̇ 2 + � + sin2 𝜙𝜙 � 𝑎𝑎2 𝜃𝜃̇ 2 + � + cos 2 𝜙𝜙 � 𝑎𝑎2 𝜙𝜙̇ 2 �. Also derive
3 3

Lagrange’s equation of motion for the system if an external force with

components [𝑋𝑋, 𝑌𝑌] along the axes acts at A.
1
7. Suppose the Lagrangian of a mechanical system is given by 𝐿𝐿 = 𝑚𝑚 �𝑎𝑎𝑥𝑥̇ 2 + 2𝑏𝑏𝑥𝑥̇ 𝑦𝑦̇ + 𝑐𝑐𝑦𝑦̇ 2 −
2

1
𝑘𝑘(𝑎𝑎𝑥𝑥 2 + 2𝑏𝑏𝑏𝑏𝑏𝑏 + 𝑐𝑐𝑦𝑦 2 )� 𝑤𝑤ℎ𝑒𝑒𝑒𝑒𝑒𝑒 𝑎𝑎, 𝑏𝑏, 𝑐𝑐, 𝑚𝑚(> 0), 𝑘𝑘(> 0) are constants and 𝑏𝑏 2 ≠ 𝑎𝑎𝑎𝑎. Write down the
2

Lagrangian equations of motion and identify the system.

8. Obtain the Lagrangian equation for the motion of a system of two particles of unequal masses
connected by an inextensible string passing over a small smooth pulley.
9. A particle at a distance r from the centre of force moves under the influence of the central
𝑘𝑘
force 𝐹𝐹 = − , where k is constant. Obtain the Lagrangian and derive the equations of motion.
𝑟𝑟 2

(10, 2022)

Hamiltonian Equations

1. A sphere of radius a and mass m rolls down a rough plane inclined at an angle
𝛼𝛼 to the horizontal. If x be the distance of the point of contact of the sphere from
a fixed point on the plane, find the acceleration by using Hamilton’s equation.
2. Obtain the equations governing the motion of a spherical pendulum.
3. Find the equation of motion of a compound pendulum using Hamilton’s
equations.
4. Solve the plane pendulum problem using the Hamiltonian approach and show
that H is a constant of motion.
By Avinash Singh (Ex IES, B.Tech IITR) 3|Page
 𝑃𝑃2
5. A Hamiltonian of a system with one degree of freedom has form 𝐻𝐻 = 2𝛼𝛼 − 𝑏𝑏𝑏𝑏𝑏𝑏𝑒𝑒 −𝛼𝛼𝛼𝛼 +
𝑏𝑏𝑏𝑏 𝑘𝑘
𝑞𝑞 2 𝑒𝑒 −𝛼𝛼𝛼𝛼 (𝛼𝛼 + 𝑏𝑏𝑒𝑒 −𝛼𝛼𝛼𝛼 ) + 𝑞𝑞 2 , where 𝛼𝛼, 𝑏𝑏, 𝑘𝑘 are constant, q is the generalized coordinate and p is
2 2

the corresponding generalized momentum.

a. Find a Lagrangian corresponding to this Hamiltonian.
b. Find an equivalent Lagrangian that is not explicitly dependent on time.
6. Consider a single free particle of mass m, moving in space under no forces. If
the particle starts from the origin at 𝑡𝑡 = 0 and reaches the position (𝑥𝑥, 𝑦𝑦, 𝑧𝑧) at
time 𝜏𝜏, find the Hamilton’s characteristic function S as a function of 𝑥𝑥, 𝑦𝑦, 𝑧𝑧, 𝜏𝜏 .
7. Using Hamilton’s equation, find the acceleration for a sphere rolling down a
rough inclined plane, if 𝑥𝑥 be the distance of the point of contact of the sphere
from a fixed point on the plane.
8. By writing down the Hamiltonian, find the equations of motion of a particle of mass m
constrained to move on the surface of a cylinder defined by 𝑥𝑥 2 + 𝑦𝑦 2 = 𝑅𝑅 2 , 𝑅𝑅 is a constant. The
particle is subject to a force directed towards the origin and proportional to the distance r of
the particle from the origin given by 𝐹𝐹⃗ = 𝑘𝑘 𝑟𝑟⃗, 𝑘𝑘 is a constant.

Tutorial Sheet: Rigid Dynamics

Moment of Inertia

1. A solid body of density 𝜌𝜌, is in shape of solid formed by the revolution of the cardioid 𝑟𝑟 =
𝑎𝑎(1 + cos 𝜃𝜃) about the initial line; show that its moment of inertia about a straight line
352
through the pole perpendicular to the initial line is 𝜋𝜋𝜋𝜋𝑎𝑎5 .
105

2. Find the moment of inertia of a right circular cylinder about a straight line through its centre
of gravity perpendicular to axis.
3. Show that for a thin hemi-spherical shell of Mass M and radius a, the moment of inertia
2
about any line though the vertex is 𝑀𝑀𝑎𝑎2 .
3

4. If 𝛼𝛼, 𝛽𝛽, 𝛾𝛾 𝑏𝑏𝑏𝑏 the distances of the vertices of the triangle of mass m from any straight line in its’s
1
plane, show that the moment of inertia of the triangle about this line is 𝑚𝑚 (𝛼𝛼 2 + 𝛽𝛽 2 + 𝛾𝛾 2 +
6

𝛼𝛼𝛼𝛼 + 𝛽𝛽𝛽𝛽 + 𝛾𝛾𝛾𝛾). Hence deduce that if h be the distance of the centre of inertia of the triangle
1
from the line, then MI about this line = 𝑚𝑚(𝛼𝛼 2 + 𝛽𝛽 2 + 𝛾𝛾 2 + 9ℎ2 ).
12

Motion in Two Dimensions

1. A uniform solid cylinder is placed with its axis horizontal on a plane, whose inclination to the
horizon is 𝛼𝛼, show that the least coefficient of friction between it and the plane, so that it may

By Avinash Singh (Ex IES, B.Tech IITR) 4|Page

 1
roll and not slide is tan 𝛼𝛼. If the cylinder be hollow, and of small thickness, the least value is
3

1\2 tan 𝛼𝛼.

2. A cylinder rolls down a smooth plane whose inclination to the horizontal is 𝛼𝛼, unwrapping, as
it goes, a fine string fixed to the highest point of the plane; find its acceleration and the
tension of the string.
3. A circular cylinder, whose centre of inertia is at a distance c from axis, rolls on a horizontal
plane. If it be just started from a position of unstable equilibrium. Show that the normal
4𝑐𝑐 2
reaction of the plane when the centre of mass is in its lowest position is �1 + (𝑎𝑎−𝑐𝑐)2 +𝑘𝑘 2 � times

its weight, where k is the radius of gyration about an axis through the centre of mass.
4. A uniform rod is held at an inclination 𝛼𝛼 to the horizon with one end in contact with a
horizontal table whose coefficient of friction is 𝜇𝜇. If it be then released show that it will
3 sin 𝛼𝛼 cos 𝛼𝛼
commence to slide if 𝜇𝜇 < � �.
1+sin2 𝛼𝛼

5. A uniform straight rod slides down in a vertical plane its end being in contact with smooth
planes, one horizontal and the other vertical. If it started from rest at an angle 𝛼𝛼 with the
horizontal, discuss the motion.
6. A circular plate rolls down the inner circumference of a rough circle under the action of
gravity, the planes of both the plate and the circle being vertical. When the line joining their
centres is inclined at an angle 𝜃𝜃 to the vertical, show that the friction between the bodies is
1
sin 𝜃𝜃 times the weight of the plate.
3

7. A solid homogeneous sphere is rolling on the inside of a fixed hollow sphere, the two centres
always in the same vertical plane. Show that the smaller sphere will make complete
34
revolution if, when it is in lowest position, the pressure on it is greater than 𝑡𝑡𝑡𝑡𝑡𝑡𝑡𝑡𝑡𝑡 its own
7

weight.

Conservation of Momentum and Energy

1. A heavy circular disk is revolving in a horizontal plane about the centre which is fixed. An
1
insect of mass 𝑡𝑡ℎ that of the disk walks from the centre along a radius and flies away. Show
𝑛𝑛
𝑛𝑛
that the final angular velocity is times the original angular velocity of the disk.
𝑛𝑛+2

2. A small insect moves along a uniform bar of mass equal to itself and of length 2a, the ends of
2𝑎𝑎
which are constrained to remain on the circumference of a fixed circle whose radius is . If
√3

the insect starts from the middle point of the bar and moves along the bar with relative
1 𝑉𝑉𝑉𝑉
velocity V, show that the bar in time t will turn through an angle tan−1 � � .
√3 𝑎𝑎

3. A circular plate rotate about an axis through its centre perpendicular to its plane with
angular velocity 𝜔𝜔. This axis is set to free and a point, in the circumference of the plate is
1
fixed, show that the resulting angular velocity is 𝜔𝜔.
3

By Avinash Singh (Ex IES, B.Tech IITR) 5|Page

4. A sphere of radius b, rolls without slipping down the cycloid 𝑥𝑥 = 𝑎𝑎(𝜃𝜃 + sin 𝜃𝜃); 𝑦𝑦 = 𝑎𝑎(1 − cos 𝜃𝜃). It
starts from rest with its centre on the horizontal line 𝑦𝑦 = 2𝑎𝑎. Show that velocity of its centre
10
when at its lowest point is given by 𝑣𝑣 2 = 𝑔𝑔(2𝑎𝑎 − 𝑏𝑏).
7

Lagrangian and Hamiltonian Equations

1. Set up the Lagrangian for a simple pendulum and obtain an equation describing the motion.
2. Use Lagrange’s equation to find the differential equation for a compound pendulum which
oscillates in a vertical plane about a fixed horizontal axis.
3. A particle Q moves on a smooth horizontal circular wire of radius ‘a’ which is free to rotate
about a vertical axis through a point O, distance c from the centre C. If the ∠ 𝑄𝑄𝑄𝑄𝑄𝑄 = 𝜃𝜃, show
that 𝑎𝑎𝜃𝜃̈ + 𝜔𝜔̇ (𝑎𝑎 − 𝑐𝑐 cos 𝜃𝜃) = 𝑐𝑐𝜔𝜔2 sin 𝜃𝜃 where 𝜔𝜔 is the angular velocity of the wire.
4. A uniform rod, of mass 3m and length 2l, has its middle point fixed and a mass m attached at
one extremity. The rod when in horizontal position is set rotating about a vertical axis
2𝑛𝑛𝑛𝑛
through its centre with an angular velocity equal to � 𝑙𝑙
. Show that the heavy end of the rod

will fall till the inclination of the rod to the vertical is cos−1�√𝑛𝑛2 − 1 − 𝑛𝑛� and will then rise.
5. A uniform rod, of length 2a, which has one end attached to a fixed point by a light
5
inextensible string of length 𝑎𝑎, performing small oscillations in vertical plane about its
12

position of equilibrium. Find the position at any time, and show that the period of its
5𝑎𝑎 𝑎𝑎
principal oscillations are 2𝜋𝜋 � 𝑎𝑎𝑎𝑎𝑎𝑎 𝜋𝜋� .
3𝑔𝑔 3𝑔𝑔

6. A uniform rod, of mass 5m and length 2a, turns freely about one end which is fixed, to its
other extremity is attached one end of a light string, of length 2a, which carries at its other
end a particle of mass m, show that the period of the small oscillations in a vertical plane are
2𝑎𝑎 20𝑎𝑎
the same as those of simple pendulums of length and .
3 7

7. At the lowest point of a smooth circular tube, of mass M and radius a, is placed a particle of
mass M’, the tube hangs in a vertical plane from its highest point, which is fixed, and can
turn freely in its own plane about this point. If the system be slightly displaced, show that the
2𝑎𝑎 𝑀𝑀𝑀𝑀𝑔𝑔−1
periods of the two independent oscillations. Of the system are 2𝜋𝜋 � 𝑔𝑔 𝑎𝑎𝑎𝑎𝑎𝑎 2𝜋𝜋� 𝑀𝑀+𝑀𝑀′ .

8. Use Hamilton’s equations to find the equations of motion of a projectile in space.

9. Using cylindrical coordinates, write the Hamiltonian and Hamilton’s equations for a particle
of mass ‘m’ moving on the inside of a frictionless cone 𝑥𝑥 2 + 𝑦𝑦 2 = 𝑧𝑧 2 tan2 𝛼𝛼.



By Avinash Singh (Ex IES, B.Tech IITR) 6|Page