Quiz 5 (Ch.

7)
Relations between angular and
Gravitational force
linear quantities:
s = r∆θ
Chapter 8
m1m1
v t = rω
Fg = G
r2
at = rα
Rotational Equilibrium
Centripetal force and centripetal
acceleration:
and
Fc = mac Rotational Dynamics
v2
ac = = rω 2
r 1 2

Linear Motion Rotational Motion

„ Forces cause accelerations „ Forces cause accelerations
„ Point of the force application does not „ Point of the force application does
matter - gives the same linear matter - gives different angular
acceleration to the object acceleration to the object
„ Object has dimensions, need to find the
„ Object moves as if all of its mass is
position of the point where mass is
concentrated at a single point concentrated
r r
Β
F F
Β
Α Α
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Force vs. Torque Example: Hinged Door

„ Forces cause accelerations
„ Torques cause angular
accelerations
„ Torque and force are related „ The door is free to rotate about an axis
„ Torque determines the through O
There are three factors that determine the
“effectiveness” of the force in „
effectiveness of the force in opening the door:
producing angular acceleration „ The magnitude of the force
„ The position of the application of the force
„ The angle at which the force is applied
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 Effect of Position and Angle Definition of Torque
„ Torque, τ, is the tendency of a force
to rotate an object about some axis :
„ τ = r F sin θ
„ When the force is parallel to the position „ F is the force
vector, no rotation occurs „ r is the length of the position vector
„ When the force is at some angle, the „ θ is the angle between the force and the
perpendicular component causes the position vector
rotation „ SI unit is N.m
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Lever Arm Example: Problem #1

„ τ = 40.0 Nm r
„ r = 30.0 cm F
θ
„ The lever arm, d, is the perpendicular distance „ Fmin -? r
from the axis of rotation to a line drawn along
the direction of the force
r
„ d = r sin θ

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Example: Problem #5 Torque and Work

„ m = 5 kg O „ Torque is a vector, defined as a
“cross” product
„ l = 2.0 m r r r
„ θ = 5.0ο
Lever arm „ τ = F × r = F r sin θ
l l sinθ „ zero when force is parallel to position vector

„ Work is scalar, defined as a “dot”

„ τ -? r product r
Fg r
„ W = F ⋅ ∆r = F ∆r cos θ
„ zero when force is perpendicular to displacement
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2
 Direction of Torque Right Hand Rule
„ Torque is a vector quantity „ Point the fingers
in the direction of
„ The direction is perpendicular to the
the position
plane determined by the position vector
vector and the force
„ Curl the fingers
„ If the turning tendency of the force is toward the force
counterclockwise, the torque will be vector
positive „ The thumb points
„ If the turning tendency is clockwise, in the direction of
the torque will be negative the torque
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Net Torque Equilibrium

„ The net torque is the sum of all the „ First Condition of Equilibrium
The net external force must be zero
torques produced by all the forces
„
r
ΣF = 0 or
added as vectors r r
ΣFx = 0 and ΣFy = 0
„ If the net torque is zero, the object’s
rate of rotation doesn’t change „ This is a necessary, but not sufficient,
condition to ensure that an object is in
„ Remember to account for the direction complete mechanical equilibrium
of the tendency for rotation „ This is a statement of translational
„ Counterclockwise torques are positive equilibrium
„ Clockwise torques are negative
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Torque and Equilibrium Equilibrium Example

„ To ensure mechanical equilibrium, „ The woman, mass
m, sits on the left
you need to ensure rotational end of the see-saw
equilibrium as well as translational „ The man, mass M,
sits where the see-
„ The Second Condition of saw will be balanced
Equilibrium states „ Apply the Second
Condition of
„ The net external torque must be zero Equilibrium and
r
Στ = 0 solve for the
unknown distance, x

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3
Axis of Rotation Center of Gravity
„ If the object is in equilibrium, it does „ The force of gravity acting on an
not matter where you put the axis of
rotation for calculating the net torque
object must be considered
„ The location of the axis of rotation is „ In finding the torque produced by
completely arbitrary the force of gravity, all of the
Often the nature of the problem will suggest
weight of the object can be
„
a convenient location for the axis
„ When solving a problem, you must specify considered to be concentrated at a
an axis of rotation single point
„ Once you have chosen an axis, you must
maintain that choice consistently throughout the
problem
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Calculating the Center of Calculating the Center of

Gravity Gravity, cont.
„ The object is divided „ We assume the object is free to
up into a large
number of very small rotate about its center
particles of weight „ The torque produced by each
(mg)
particle about the axis of rotation
Each particle will
is equal to its weight times its
„

have a set of
coordinates lever arm
indicating its location
„ For example, τ1 = m1 g x1
(x,y)

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Calculating the Center of Coordinates of the Center

Gravity, cont. of Gravity
„ We wish to locate the point of „ The coordinates of the center of
application of the single force gravity can be found from the sum
whose magnitude is equal to the of the torques acting on the
weight of the object, and whose individual particles being set equal
effect on the rotation is the same to the torque produced by the
as all the individual particles. weight of the object
„ This point is called the center of Σmi xi Σmi y i
xcg = and ycg =
gravity of the object Σmi Σmi
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4
 Center of Gravity of a
Example: Problem #8 Uniform Object
„ l = 0.1 nm „ The center of gravity of a
„ θ = 106o homogenous, symmetric body
„ mO /mH= 16 must lie on the axis of symmetry.
„ Often, the center of gravity of such
an object is the geometric center
„ xcg-?
of the object.
„ ycg-?

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Experimentally Determining
Example: Problem #10 the Center of Gravity
„ l1 = 49.7 cm l1 „ The wrench is hung
freely from two different
Ο pivots
„ m = 50.0 g
„ The intersection of the
„ d = 10.0 cm lines indicates the center
„ l2 = 39.2 cm l2 of gravity
„ A rigid object can be
d Ο balanced by a single
force equal in magnitude
„ M-? mg to its weight as long as
Mg the force is acting
upward through the
object’s center of gravity
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Notes About Equilibrium
„ A zero net torque does not mean
the absence of rotational motion
„ An object that rotates at uniform
angular velocity can be under the
influence of a zero net torque
„ This is analogous to the translational
situation where a zero net force does not
mean the object is not in motion
Solving Equilibrium
Problems
„ Draw a diagram of the system
„ Include coordinates and choose a rotation
axis
„ Isolate the object being analyzed and
draw a free body diagram showing all
the external forces acting on the object
„ For systems containing more than one
object, draw a separate free body diagram
for each object

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5
 Example of a Free Body
Problem Solving, cont. Diagram (Forearm)
„ Apply the Second Condition of
Equilibrium
„ This will yield a single equation, often with
one unknown which can be solved
immediately
„ Apply the First Condition of Equilibrium „ Isolate the object to be analyzed
„ This will give you two more equations „ Draw the free body diagram for that object
„ Solve the resulting simultaneous „ Include all the external forces acting on the object

equations for all of the unknowns

„ Solving by substitution is generally easiest
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Example of a Free Body Example of a Free Body

Diagram (Beam) Diagram (Ladder)
„ The free body
diagram includes
the directions of
the forces Fig 8.12, p.228

The weights act

Slide 17

„
The free body diagram shows the normal force
through the „
and the force of static friction acting on the
centers of gravity ladder at the ground
of their objects „ The last diagram shows the lever arms for the
forces

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