2 Torque

TORQUE
marco.arciaga@gmail.com
Torque is the ability of a
force to rotate an object.
Translation and Rotation
• Forces determine translational motion.
 Torques determine rotational motion.

Torque vector
Magnitude of torque
𝜏 = 𝑟𝐹 sin 𝜙
𝑟Ԧ is the position where 𝐹Ԧ is applied 𝜙 is the angle between 𝑟Ԧ and 𝐹Ԧ

(as measured from the rotation axis) when they are drawn tail-to-tail
Torque direction: RHR
Equilibrium
• First condition (TRANSLATIONAL)
∑𝐹Ԧ = 0
• Second condition (ROTATIONAL)
∑𝜏Ԧ = 0
Quick Question
The figure shows a force P being applied
to one end of a lever of length L.
(a) What is the magnitude of the torque

of this force about point A?
i. 𝑃𝐿 sin 𝜃
ii. 𝑃𝐿 cos 𝜃
iii. 𝑃𝐿 tan 𝜃
(b) What is the direction of this torque?

Cheater
To loosen a pipe fitting, a plumber slips a piece of scrap pipe
Example 2
(a “cheater”) over his wrench handle. He stands on the end of
the cheater, applying his 900-N weight at a point 0.80 m from
the center of the fitting. The wrench handle and cheater
make an angle of 19° with the horizontal. Find the magnitude
and direction of the torque he applies about the center of the
fitting.
𝜏 = 0.80m 900N sin 109o
= 680 N ⋅ m
Direction is out of the page.
Mobile
A mobile is constructed of light
rods, light strings, and beach
souvenirs as shown in the figure.
If m4 = 12.0 g, find values for of
m1, m2, and m3.
Newton’s 2nd law for rotation
𝜏Ԧnet = 𝐼 𝛼Ԧ
𝐼 is the moment of inertia (or the rotational mass)
𝐼 = ∑𝑚𝑖 𝑟𝑖2 for discrete particles (point particles)
𝐼 = ‫ 𝑟 ׬‬2 𝑑𝑚 for continuous mass distribution (extended objects)
Parallel Axis Theorem
It is easiest to rotate an object about its center of mass.
2
𝐼 = 𝐼cm + 𝑀𝑑
𝑀 is the mass of the rotating object
𝐷 is the distance of the axis of rotation from cm
Moment of Inertia
Moment of Inertia
An Unusual Baton
Newton’s 2nd law for rotation
A 16 kg block is attached to a cord
that is wrapped around the rim of a
flywheel of diameter 0.40 m and
hangs vertically. The rotational inertia
of the flywheel is 0.50 kg∙m2. When
the block is released from rest and
the cord unwinds, what is the
acceleration of the block?
𝑎 = 5.5 m/s2 , downward

Rotational Kinetic Energy
1 2
𝐾rot = 𝐼𝜔
2
Translational and Rotational Motion
Linear Angular
𝑣Ԧ 𝜔
𝑎Ԧ 𝛼Ԧ
𝐹Ԧ 𝜏Ԧ
𝑚 𝐼
∑𝐹Ԧ = 𝑚𝑎Ԧ ∑𝜏Ԧ = 𝐼 𝛼Ԧ
Kinematical equations Kinematical equations
𝑑 𝑝Ԧ 𝑑𝐿
𝐹Ԧnet = 𝜏Ԧnet =
𝑑𝑡 𝑑𝑡
1 1
𝐾trans = 𝑚𝑣 2 𝐾rot = 𝐼𝜔2
2 2
𝑝Ԧ = 𝑚𝑣Ԧ 𝐿 = 𝐼𝜔
𝑝Ԧ𝑖 = 𝑝Ԧ𝑓 𝐿𝑖 = 𝐿𝑓
Applying cross product
A metal bar is in the xy-plane with one end of the bar at
the origin. A force 𝐹Ԧ = 7.00 N 𝒊Ƹ + −3.00 N 𝒋Ƹ is
applied to the bar at the point 𝑥 = 3.00 m, 𝑦 = 4.00 m.
What are the magnitude and direction of the torque with
respect to the origin produced by 𝐹?Ԧ
37.0 N-m, –z direction

Yo-yo
Linear Angular
1 1 2
𝐾trans = 𝑚𝑣 2 𝐾rot = 𝐼𝜔
2 2
𝑊 = ‫𝑥𝑑𝐹 ׬‬ 𝑊 = ‫𝜃𝑑𝜏 ׬‬
1 1 1 2 1 2
𝑊net = 𝑚𝑣𝑓 − 𝑚𝑣𝑖2
2
𝑊net = 𝐼𝜔𝑓 − 𝐼𝜔𝑖
2 2 2 2
Power from Torque
1 2
Δ𝜃 = 𝜔0 𝑡 + 𝛼𝑡 = 160 rad
2
W = 𝜏 Δ𝜃 = 1600 J
𝑊
𝑃ave = = 200 W
𝑡
Angular Momentum
𝐿 = 𝐼𝜔
Angular Momentum
𝐿 = 𝐼𝜔
What can change angular momentum?
𝑑𝐿
∑𝜏Ԧ =
𝑑𝑡
A nonzero net torque changes angular momentum.
Angular Momentum Conservation
A nonzero net torque changes angular momentum.
If the net torque is zero what happens to angular momentum?
𝐼𝑖 𝜔𝑖 = 𝐼𝑓 𝜔𝑓
Conservation of Angular Momentum
Satellite
When a satellite is orbiting the earth, it is 𝑟𝑝 away when it is closest and
it moves at speed 𝑣𝑝 . When it is farthest it is located at 𝑟𝑎 . What is its
speed then?
𝑟𝑝 𝑣𝑝
𝑣𝑎 =
𝑟𝑎
Monkey
A 3.00-m-long, 240-N, uniform rod at the zoo is held in a
horizontal position by two ropes at its ends as shown below. The
left rope makes an angle of 150° with the rod and the right rope
makes an angle 𝜃 with the horizontal. A 90-N monkey hangs
motionless 0.50 m from the right end of the rod as he carefully
studies you. Calculate the tensions in the two ropes and the
angle 𝜃. (Hint: Draw a free-body diagram of the rod first.)
Scales
A uniform beam, of length L and mass m = 1.8 kg, is at rest on
two scales. A uniform block, with mass M = 2.7 kg, is at rest on
the beam, with its center a distance L/4 from the beam’s left
end. What do the scales read?
𝑆right = 15 N
𝑆left = 29 N
Static Equilibrium
The figure shows a safe (mass M = 430 kg) hanging by a rope
(negligible mass) from a boom (a = 1.9 m and b = 2.5 m) that
consists of a uniform hinged beam (m = 85 kg) and horizontal
cable (negligible mass).
(a) What is the tension Tc in the cable?
(b) Find the magnitude F of the
net force on the beam from
the hinge.
𝑇𝑐 = 6093 N
𝐹 = 7900 N

2 Torque

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TORQUE

 Torques determine rotational motion.

𝑟Ԧ is the position where 𝐹Ԧ is applied 𝜙 is the angle between 𝑟Ԧ and 𝐹Ԧ

(a) What is the magnitude of the torque

(b) What is the direction of this torque?

𝑎 = 5.5 m/s2 , downward

37.0 N-m, –z direction

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