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2023 Spring PH141-Chapter 11

Chapter 11 discusses rotational vectors and angular momentum, highlighting the vector nature of angular quantities such as angular velocity, acceleration, and torque. It explains the conservation of angular momentum and introduces concepts like precession and the right-hand rule for determining the direction of angular vectors. The chapter emphasizes the relationship between torque and angular momentum through vector cross products and the implications of these principles in various physical scenarios.

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5 views

2023 Spring PH141-Chapter 11

Chapter 11 discusses rotational vectors and angular momentum, highlighting the vector nature of angular quantities such as angular velocity, acceleration, and torque. It explains the conservation of angular momentum and introduces concepts like precession and the right-hand rule for determining the direction of angular vectors. The chapter emphasizes the relationship between torque and angular momentum through vector cross products and the implications of these principles in various physical scenarios.

Uploaded by

yulisnice
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Download as PDF, TXT or read online on Scribd
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Chapter 11:

Rotational Vectors and Angular Momentum


 Angular quantities as vectors, with
direction as well as magnitude
• Angular velocity
• Angular acceleration
• Torque
 Vector cross products for torque and
angular momentum
 Angular momentum, rotational analog of
linear momentum
 Conservation of angular momentum in
one direction
 Precession
Direction of the Angular Velocity Vector
 Right-hand rule: Curl the fingers of your right hand in the direction of
rotation, and your thumb points in the direction of the angular velocity vector

Angular velocity vector 𝝎𝝎


Direction of the Angular Acceleration
 Angular acceleration points in the direction of the change in the angular
velocity :

Angular acceleration vector 𝜶𝜶


Direction of the Torque Vector
 Torque is expressed using the vector cross product:
• Magnitude: 𝑟𝑟𝑟𝑟𝑠𝑠𝑠𝑠𝑠𝑠𝜃𝜃
• Direction perpendicular to both 𝑟𝑟⃗ and 𝐹𝐹⃗
• Right hand rule for direction
• Torque  angular acceleration
Vector and cross product
  
τ= r ×F τ = rF sin θ
Cross product: coordinate notation
[Calculation #1: coordinate notation]
Cross products of unit vectors
iˆ × ˆj = kˆ 𝚥𝚥̂ × 𝚤𝚤̂ = −𝑘𝑘� iˆ × iˆ = 0
ˆj × kˆ = iˆ 𝑘𝑘� × 𝚥𝚥̂ = −𝚤𝚤̂
kˆ × iˆ = ˆj 𝚤𝚤̂ × 𝑘𝑘� = −𝚥𝚥̂ : due to the skew-symmetry
Cross product: matrix notation
 It can also be represented by the determinant of a formal matrix

Cofactor expansion gives:

iˆ ˆj kˆ
  a2 a3 a a3 a1 a2 ˆ
a × b = a1 a2 a3 = ˆi − 1 ˆj + k
b2 b3 b1 b3 b1 b2
b1 b2 b3
Got It?
 The figure shows four pairs of force and radius vectors and
eight torque vectors. Which numbered vector goes with each
pair of force-radius vectors?
Angular Momentum
 For a single particle, angular momentum is a vector given by the
cross product of displacement vector from the rotation axis with the
linear momentum:

 For a particle in a circular path, L = mvr, and is perpendicular to


the circle.
 For sufficiently symmetric objects, is the product of rotational
inertia and angular velocity:

𝐿𝐿 = 𝑚𝑚𝑚𝑚𝑟𝑟𝑘𝑘� = 𝑚𝑚𝑟𝑟 2 𝜔𝜔𝑘𝑘� = 𝑚𝑚𝑟𝑟 2 𝜔𝜔


Got it? 11.3
For three moving particles with the same speed, Which describes
correctly the magnitudes of their angular momenta, assuming the
rotational axis passing through the point P?

𝐿𝐿1 , 𝐿𝐿2 , 𝐿𝐿3 ?

𝐿𝐿1 = 𝐿𝐿2 ≠ 0, 𝐿𝐿3 = 0


Torque and Angular Momentum
 The angular momentum of a system

𝐿𝐿 = � 𝐿𝐿𝑖𝑖 = � 𝑟𝑟⃗𝑖𝑖 × 𝑝𝑝⃗𝑖𝑖 After differentiating each side,

𝑑𝑑𝐿𝐿 𝑑𝑑𝑝𝑝⃗𝑖𝑖 𝑑𝑑 𝑟𝑟⃗𝑖𝑖 𝑑𝑑 𝑟𝑟⃗𝑖𝑖


= � 𝑟𝑟⃗𝑖𝑖 × + × 𝑝𝑝⃗𝑖𝑖 Here, × 𝑝𝑝⃗𝑖𝑖 = 𝑣𝑣⃗𝑖𝑖 × 𝑚𝑚𝑣𝑣⃗𝑖𝑖 = 0
𝑑𝑑𝑑𝑑 𝑑𝑑𝑑𝑑 𝑑𝑑𝑑𝑑 𝑑𝑑𝑑𝑑

𝑑𝑑𝑝𝑝⃗𝑖𝑖
= � 𝑟𝑟⃗𝑖𝑖 × = � 𝑟𝑟⃗𝑖𝑖 × 𝐹𝐹⃗𝑖𝑖 = � 𝜏𝜏⃗𝑖𝑖 = 𝜏𝜏⃗𝑛𝑛𝑛𝑛𝑛𝑛_𝑒𝑒𝑒𝑒𝑒𝑒 + 𝜏𝜏⃗𝑛𝑛𝑛𝑛𝑛𝑛_𝑖𝑖𝑖𝑖𝑖𝑖
𝑑𝑑𝑑𝑑
=0
𝑑𝑑𝐿𝐿
𝜏𝜏⃗𝑛𝑛𝑛𝑛𝑛𝑛_𝑒𝑒𝑒𝑒𝑒𝑒 =
𝑑𝑑𝑑𝑑 Rotational analog, Newton’s second law
Conservation of Angular Momentum
 When there’s no external force,
𝑑𝑑𝐿𝐿
𝜏𝜏⃗𝑛𝑛𝑛𝑛𝑛𝑛_𝑒𝑒𝑒𝑒𝑒𝑒 = =0 𝐿𝐿 = 𝐼𝐼 × 𝜔𝜔 = 𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐
𝑑𝑑𝑑𝑑
Conservation of Angular Momentum
 Is the rotational
kinetic energy,
conserved or not?
The kinetic energy of
angular motion gets
bigger after the event.

 Where does the energy to rotate turntable come from?


The student does work. When she flips the moving wheel,
she exerted forces that result in torques on her body and the
turntable.
Conservation of Angular Momentum
 A large disk is initially rotating on a frictionless shaft of negligible
radius. Another small disk, initially not rotating, is then dropped freely
down onto it. The two disks then rotate together at a common rotational
speed. Which of the following statements is true?
A. The total mechanical energy is conserved
throughout the process.
B. The total angular momentum is conserved
throughout the process.
C. Both the mechanical energy and angular
momentum are conserved throughout the
process.
Analog of totally inelastic collision
D. Neither the mechanical energy nor angular
momentum is conserved throughout the process.

How much is the initial kinetic energy lost to friction?


Use the conservation law of angular momentum 𝐿𝐿 = 𝐼𝐼𝜔𝜔 and
1
the formula for the rotational kinetic energy, 𝐼𝐼𝜔𝜔2 .
2
Gyroscope
Gyroscope: a device used for measuring or maintaining
orientation and angular velocity.

 Angular momentum conservation -


• The rotor will maintain its spin axis direction
regardless of the orientation of the outer frame.
Optional
Gyroscope

MEMS gyroscope

Optical gyroscope
Precession

Zero gravity?
Precession
 Three-dimensional phenomenon involving rotational motion
• Precession occurs when a torque acts on a rotating object,
changing the direction but not the magnitude of its angular
momentum vector.
• As a result the rotation axis undergoes circular motion:
Precession of a gyroscope by
a torque produced by gravity
Solar gravity exerts a torque on
the equatorial bulge, causing
Earth's rotation axis to precess
Got it 11.5
Suppose you push horizontally at right angles to the shaft of a
spinning gyroscope as shown in the figure. Which way will
the shaft move?

A. The shaft will move upward.


B. The shaft will move downward.
C. The shaft will move in the
direction of the push.
A. The shaft will move opposite to
the direction of the push.
Torque and angular momentum

𝝉𝝉 = 𝒓𝒓 × 𝑭𝑭

(Veritasium.com) Torque and angular momentum


https://www.youtube.com/watch?v=ty9QSiVC2g0
Torque and angular momentum - bicycling

𝜏𝜏⃗ = 𝑟𝑟⃗ × 𝐹𝐹⃗𝑔𝑔

 The bicycle is perfectly vertical


• No torque by gravitational force

 The bicycle tips to the rider’s left


• The torque toward the rear
• Rotating about a front-to-back
axis and gaining angular
momentum toward the rear
Antigravity wheel?

(Veritasium.com) Movie: Antigravity wheel


https://www.youtube.com/watch?v=GeyDf4ooPdo

Antigravity wheel explained https://www.youtube.com/watch?v=tLMpdBjA2SU


Optional
Tippe top
Optional
Tippe top

This top raises its position of the center of mass.


Does this violate the conservation of energy?
What about the conservation of angular momentum?
Optional
Tippe top

Slow Motion Video of a Tippe Top with


explanation

The unusual behavior of the top can be fully described by


considering dry friction forces at the contact point. wikipedia
Chapter 11 Summary
 Rotational quantities are vectors whose direction is generally
associated with the direction of the rotation axis.

 The vector cross product provides a compact representation for torque


and angular momentum:
 Angular momentum, rotational analog of linear momentum
For symmetry objects,
 In the absence of a net external torque, a system's angular momentum
is conserved. 𝑑𝑑𝐿𝐿
= 𝜏𝜏⃗𝑛𝑛𝑛𝑛𝑛𝑛 = 0 𝐿𝐿 = 𝑐𝑐𝑜𝑜𝑜𝑜𝑜𝑜𝑜𝑜.
𝑑𝑑𝑑𝑑

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