Ch 6-2 Rotational dynamics

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6.6 Rotational dynamics

6.6.1 Kinetic energy * The kinetic energy of a rotating rigid body consisting of N particles is given by K.E. = (1/2) m1 v12 + (1/2) m2 v22 + (1/2) m3 v32 + + (1/2) mN vN2 = (1/2) m1 r12 2 + (1/2) m2 r22 2 + (1/2) m3 r32 2 + + (1/2) mN rN2 2 = =
1 2

m r
i =1

i i

1 I 2 2

The moment of inertia of an object about a certain axis is defined as

I=

m r
i =1

i i

where mi and ri are the mass and the distance from the axis of the ith particle.

For a continuous object,

I = r 2 dm

The moment of inertia depends on the mass, the shape and also the axis of rotation but not the state of motion. It measures the reluctance of an object to change its state of rotational motion. It is analogous to the inertial mass of an object which measures the reluctance of an object to change its state of translational motion.

6.6.2 Moment of inertia * Below is a list of moments of inertia of some objects. Object Rod of length L Ring of radius R Disc/cylinder of radius R Disc of radius R radius R Solid sphere of radius Diameter R (2/5) MR2 Diameter (1/4) MR2 (2/3) MR2 Hollow thin sphere of Diameter Axis Through center Through end Through center, to ring Diameter Through center, to disc Moment of inertia (1/12) ML2 (1/3) ML2 MR2 (1/2) MR2 (1/2) MR2

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Although you need not know how to work out the above moment of inertia, you need to know the factors affecting the moment of inertia. Also, you need to know the following two theorems about moment of inertia.

Perpendicular axes theorem For a lamina lying entirely in the x-y plane, the moments of inertia Ix, Iy, Iz about three mutually perpendicular axes which meet at the same point are related by Iz = Ix + Iy

Parallel axes theorem Of all axes in the same direction, the one through the center of mass has the least moment of inertia. For instance, IA = IC + MX2 e.g. Given that the moment of inertia of a uniform rod about an axis through its centre and perpendicular to the rod is (1/12)ML2. Find moment of inertia of the rod about its end. e.g. A rigid square is made of four light rods. The vertices of the square are attached with small balls of masses m, 2m, 3m and 4m as shown. X, Y, Z indicate three different rotational axes of the square and I X, IY, IZ denote the corresponding moments of inertia. Which of the following inequalities is correct? A. B. C. D. E. IX > IY > IZ IX > IZ > IY IZ > IX > IY IY > IZ > IX IZ > IY > IX 3m X 4m Y Z m 2m

e.g. The moments of inertia of a circular ring, when rotated in turn about 3 different axes, are shown in the following table: Axis XY PQ an axis through Y and perpendicular to the plane of the loop Which of the following is correct? A. B. C. D. E. * I1 > I3 > I2 I2 > I1 > I3 I3 > I1 > I2 I3 > I2 > I1 I2 > I3 > I1 Q I3 X Y Moment of inertia I1 I2 P

Radius of gyration k is defined as

k = I / M or I = Mk2

It is just another way to state the value of I.

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6.6.3 Newtons 2nd Law for rotational motion * For an object of moment of inertia I subject to an external torque T. T=I which is analogous to Newtons 2nd Law (F=ma) in translational motion.

e.g. A uniform sphere of mass 20kg and radius 0.3m is free to rotate about a vertical
axis through its center. A string, passing over a light frictionless fixed pulley, is attached at one end to a small ball of 5kg and winds around the equator of the sphere at the other. (The moment of inertia of a uniform sphere = 2/5 MR 2, where M is the mass and R is the radius.)

a. b. c.

Write down an equation relating the acceleration of the small ball and the angular acceleration of the sphere. When the small ball is released from rest, what is its acceleration? When the small ball has fallen through a distance of 1m, what is the angular velocity of the sphere?

e.g. A disc is touching a rough vertical wall and released from rest. It rolls without slipping down the wall. What is its translational speed when its center of gravity falls through a distance h? (The moment of inertia of the disc about the axis pass through its center is 1/2 MR2) A. D.
2gh

B. E.

gh

C.

3 gh 4

4 gh 3

8 gh 3

e.g. A mass m is hung from a light string wound around a flywheel of mass M and radius R. (The moment of inertia of the flywheel is (1/2) MR2.) The mass falls under the influence of gravity. Friction is negligible. a. b.

Find the acceleration a of the mass and the angular acceleration of the flywheel. The mass drops through a height h. Find the changes in the KE of the flywheel and mass. Check that the total increase in KE is equal to mgh.

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e.g. Yoyo Show that the acceleration of the yoyo is

mgr 2 a= , where I is the moment of inertia of ( I + mr 2 )

,
r

the yoyo about its center of mass. Also verify the conservation of energy after falling a height of h

mg

6.6.4 Angular Momentum Linear momentum is defined as p=mv. Analogous to this, we can also define the concept of angular momentum L as L=I The net moment of force (torque) acting on an object is equal to the rate of change of angular momentum.
T = dL dt

If the net torque acting on an object (or system of objects) is zero, then the angular momentum L is constant. This is the principle of conservation of angular momentum.

e.g. Prove the Keplers 2nd Law by the principle of conservation of momentum. e.g. A horizontal turntable is rotating freely at 33 rev min -1. When a small lump of plasticine of mass 10g falls vertically onto the turntable and sticks to it at a distance of 10cm from the axis of rotation, the speed slows down to 30 rev min -1. Calculate the moment of inertia of the turntable. e.g. The moment of inertia of a collapsing spinning star changes to one-quarter of its initial value. What is the ratio of the new rotational kinetic energy to the initial rotational kinetic energy? Where does this energy come from? The principle of conservation of momentum can also be applied to non-rigid body. For example, * Ice skaters go into rapid spinning motion by decreasing their moment of inertia. They do it by raising their arms above their heads, or folding them close to their chest * * Ballet dancers do the similar things. Moreover, they stand on tiptoe to minimum the frictional torque from the ground. Divers decrease their moment of inertia so as to perform more somersaults.

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6.6.5 SHM of rigid body We try to use the concept of torque and moment of inertia to solve the problem of simple pendulum. Take moment about point of support, the moment by tension is zero. Define anti-clockwise direction as positive and clockwise as negative. T = mgL sin (Negative sign is used because it is a clockwise moment.) By T = I and assume that is small, mgL sin = mgL = mL2 mg L
Tension

= (g/L)
= * *
g/L

as proved before.

Rigid body as an oscillator Steps are similar except the form of I is different. For small ,
mgL , I

where L is the distance of the center of mass from the point of support.
mgL I

L mg

o =

e.g. Find the natural angular frequency of a uniform rod of length 2 L and mass m pivoted at one end. Compare it with that of a simple pendulum of length L and mass m.