Halliday, Resnick, Walker: Chapter 11

Rotational Dynamics II
So far, we have been considering pure rotational motion i.e. (rotational) motion about a fixed axis.

Now, we will consider the general motion both translational and rotational of rigid bodies.

Rotational Dynamics II [Halliday, Resnick, Walker -- 9.3: Newtons Second Law for a System]
Energy of a System of Particles
kinetic energy:

Write ri relative to the center of mass: ri = RCM + ri ri= vector from the center of mass to mass-i

Rotational Dynamics II [Halliday, Resnick, Walker -- 9.3: Newtons Second Law for a System]
Energy of a System of Particles
kinetic energy: Write ri relative to the center of mass: ri = RCM + ri

The center of mass measured from the center of mass is zero (since the center of mass is at the origin).

Rotational Dynamics II [Halliday, Resnick, Walker -- 9.3: Newtons Second Law for a System]
Energy of a System of Particles
kinetic energy: Write ri relative to the center of mass: ri = RCM + ri

kinetic energy of a system of particles = kinetic energy of the center of mass + kinetic energy relative to the center of mass

Rotational Dynamics II
[Halliday, Resnick, Walker 11.2, 3, 4: Combined Translation and Rotation]

Combined Translation and Rotation

kinetic energy of a system of particles = kinetic energy of the center of mass + kinetic energy relative to the center of mass For a rigid body, the only possible motion relative to the center of mass is rotation.

kinetic energy of a rigid body = kinetic energy of the center of mass + kinetic energy of rotation about the center of mass

Rotational Dynamics II
[Halliday, Resnick, Walker 11.2, 3, 4: Combined Translation and Rotation]

Combined Translation and Rotation

rigid body: in general: Every possible motion of a rigid body* can be represented as a combination of translational motion of the center of mass and rotation about an axis through the center of mass.

*The proof of this is beyond the scope of the course.

Rotational Dynamics II
[Halliday, Resnick, Walker 11.2, 3, 4: Combined Translation and Rotation]

Combined Translation and Rotation

in general: Every possible motion of a rigid body can be represented as a combination of translational motion of the center of mass and rotation about an axis through the center of mass. Example: a rolling wheel*

*Small lights have been attached to the wheel one at its center, and one at its edge.

Rotational Dynamics II
[Halliday, Resnick, Walker 11.2, 3, 4: Combined Translation and Rotation]

Combined Translation and Rotation

Example: a rolling wheel

The motion can be understood as translation of the center of mass and rotation about the center of mass.

Rotational Dynamics II
[Halliday, Resnick, Walker 11.2, 3, 4: Combined Translation and Rotation]

Combined Translation and Rotation

in general: Every possible motion of a rigid body* can be represented as a combination of translational motion of the center of mass and rotation about an axis through the center of mass.

Consequently, the equations of motion of a rigid body are*

Fnet = MaCM

net = ICM

*The proof of this is beyond the scope of the course.

Rotational Dynamics II
[Halliday, Resnick, Walker 11.2, 3, 4: Combined Translation and Rotation]

Translation & Rotation and Friction

Recall: determining how friction acts take friction out and see how the object naturally moves; put friction back in to oppose the motion with no friction, an object naturally slides.

It is friction which allows combined translational and rotational motion.

Rotational Dynamics II
[Halliday, Resnick, Walker 11.2, 3, 4: Combined Translation and Rotation]

Rolling
There are two types of motion for rigid bodies: (1) sliding and (2) rolling

definition: pure rolling (or rolling without slipping) In pure rolling, there is no relative motion at the point of contact. i.e. The (linear) velocities of the points in contact are equal.

Note: A purely rolling body is at every instant as if it were fixed to the point of contact (since it does not slide).

Rotational Dynamics II
[Halliday, Resnick, Walker 11.2, 3, 4: Combined Translation and Rotation]

Rolling
important case: rolling cylinders and spheres The velocity of the point in contact with the ground, P, is zero if the cylinder/sphere exhibits pure rolling. The arc length, s, through which point P moves is s = R. [R=radius of the cylinder/sphere] Notice: O, the center of the cylinder/sphere, moves through the same distance. ds d d

vCM =

dt

dt

( R) = R

dt

= R

linear speed of the center of a (purely) rolling cylinder/sphere

Rotational Dynamics II
[Halliday, Resnick, Walker 11.2, 3, 4: Combined Translation and Rotation]

Rolling and Energy

Recall: The total work done to move a body from ri to rf is*

Ei + WNC = Ef where E = K + U
definition: pure rolling In pure rolling, there is no relative motion at the point of contact. Since there is no sliding with pure rolling, friction does not dissipate energy, WNC=0 mechanical energy is conserved with pure rolling.
*You will not be responsible for the derivation.

Rotational Dynamics II
[Halliday, Resnick, Walker 11.2, 3, 4: Combined Translation and Rotation]

Rolling and Energy

Since there is no sliding with pure rolling, friction does not dissipate energy mechanical energy is conserved with pure rolling.

Ei + WNC = Ef: WNC = 0

Ei = Ef where E = K + U

kinetic energy of a rigid body = kinetic energy of the center of mass + kinetic energy of rotation about the center of mass U = potential energy of the center of mass