Happy Holidays! Happy New Year!

Important Reminders Complete Description of Motion

Welcome back!
Lectures will be M 11-12, T&W 10-12, F 11-12. For an extended object, all of the equations learned
Today last fall apply exactly without approximations to the
Check schedule on web for new times and rooms
motion of the center of mass.
Intro to angular motion for some recitations (all are still on Thursday).
This is true whether or not an object is also rotating.
Switching of recitations will be permitted if you have
Important Concepts a conflict with another IAP activity. The two motions (linear position of the center of
mass and rotation around the center of mass) can
Equations for angular motion are mostly identical to those Contact your tutor about session scheduling
for linear motion with the names of the variables changed. be considered separately, except for kinetic energy
Students working with Stephane Essame reassigned. where everything gets lumped into one equation.
Location where forces are applied is now important.
Mastering Physics due this Wednesday at 10pm.
Pset due this Friday at 11am.
8.01L IAP 2006 1/9/2006 8.01L IAP 2006 1/9/2006 8.01L IAP 2006 1/9/2006

Kinematics Variables Vector Nature of Angular Motion First Strange Feature of Angular Motion

Position x Angle Most of the problems we will consider will involve What is the vector associated with angular motion?
Velocity v Angular velocity only motion about a single axis, effectively 1-D
The only unique direction in the problem is the axis,
Acceleration a Angular acceleration 1-D is still a vector (up/down or left/right, for example). but again, there are two directions along the axis.
Force F Torque For the two directions of rotation, use clockwise (CW) and
The vector for any angular quantity (, , , , J)
counter-clockwise (CCW).
Mass M Moment of Inertia I points along the axis with the direction given by a
The choice of which one is positive is arbitrary but you right-hand-rule.
Momentum p Angular Momentum L need to be consistent throughout a problem.
Fingers curl in direction of , , , , J, thumb points in the
d" d! d 2" However, CW and CCW do not a really specify a direction of the vector
!= #= = 2 unique direction, so where is the vector?
dt dt dt

8.01L IAP 2006 1/9/2006 8.01L IAP 2006 1/9/2006 8.01L IAP 2006 1/9/2006

1
 Kinematics of Angular Motion Constraints/Connections between Linear
and Angular Motion
All equations are exactly identical to those for linear
motion but with the variables renamed. For all points on a rigid object and for any axis
considered, the value of and are identical.
If a is constant: v = v0 + at x = x0 + v0t + 12 at 2
For a point a distance R from the axis of a rotating
object, the path traveled and the angle are related
If is constant: ! = ! 0 + " t # = # 0 + ! 0t + 2 " t
1 2
by S=R, which implies that v=R, and a=R.
Tangential acceleration of a point a distance R from
the axis of a rotating object is R.
Radial acceleration of a point a distance R from the
axis of a rotating object is v2/R.
8.01L IAP 2006 1/9/2006 8.01L IAP 2006
Rolling Without Slipping
For an object rolling without slipping, the point in
contact with the ground has a speed of exactly zero
so that it is not sliding along the ground.
Use relative velocity concepts to show that the
center of mass of the wheel must be moving with a
velocity given by v=R and an acceleration a=R.
The same constraints apply for a string on a pulley
that is not slipping. In this case, v and a are for the
end of the string and and are for the pulley.
1/9/2006 8.01L IAP 2006 1/9/2006

Torque More Ways to Think of Torque Conditions for Equilibrium

!
How do you make something rotate? Very intuitive! Magnitude of the force times the component of the Same as before: !F = 0
Larger force clearly gives more twist. distance perpendicular to the force (aka lever arm). Its totally irrelevant where the forces are applied to an
Magnitude of the radial distance times the object, only their direction and magnitude matters.
Force needs to be in the right direction (perpendicular to a
line to the axis is ideal). component of the force perpendicular to the radius. This gives one independent equation per dimension.
The twist is bigger if the force is applied farther away Direction from Right-Hand-Rule for cross-products
from the axis (bigger lever arm). !
! ! ! and can also be thought of as clockwise (CW) or Additional condition: !" = 0
In math-speak: ! = r " F ! = r F sin(# ) counter-clockwise (CCW).
This is true for any axis. However, if all of the forces are
F in the same plane (the only type of problem we will
Torque is out consider in this class), you only get one additional
Axis of the page For torque, gravity acts at the center of mass. independent equation by considering rotation.
r
8.01L IAP 2006 1/9/2006 8.01L IAP 2006 1/9/2006 8.01L IAP 2006 1/9/2006