Chapter 4

RIGID BODY IN MOTION

Vector nature of angular velocity and
angular momentum

dr d
 r sin 
dt dt

Direction of velocity is tangential to the circle



dr
dt
r (t ) 
r r (t  t ) r (t )


dr d dA
 nˆ  r    r  A
dt dt dt
 Find the velocity of a particle
rotating in a vertical plane
z  r cos 
 sin  sin  
r  r eˆx  eˆy  cos  eˆz 
r sin   
x
z 2 2
2
 r sin 
y dr
r
r
2
dt
45o y
x
 
 eˆx  eˆy
 2 2

dr  cos  cos  
   r  r   eˆx  eˆy  sin  eˆz 
dt  2 2 
 RECAP

dr d
 r sin 
dt dt

Direction of velocity is tangential to the circle



dr
dt
r (t ) 
r r (t  t ) r (t )


dr d dA
 nˆ  r    r  A
dt dt dt
 Find the velocity of a particle
rotating in a vertical plane as shown
in figure below
dr
r ?
dt
z


r

45o y
x


Plan for today!
dr
v r
dt

L  r  mv

L   I  

   I  
 Angular momentum of a rigid body
dr
L  r p pm  m   r 
dt

L   r j  m j   rj 
N
r2 r3

j 1

r1
  x eˆx   y eˆy  z eˆz

eˆx eˆy eˆz

r j  m j    rj  ?
  rj   x  y  z
xj yj zj
 Angular momentum of a rigid body

L   r j  m j   rj 
N

j 1

Lx   m j  y 2j  z 2j  x  m j x j y j y  m j x j z jz 
N

j 1

Let us introduce moment of Inertias


I xx   m j y 2j  z 2j  I xy   m j x j y j I xz   m j x j z j

Lx  I xxx  I xy y  I xzz

 Angular momentum of a rigid body

Lx  I xxx  I xy y  I xzz

Ly  I yx x  I yy y  I yz z

rj
Lz  I zxx  I zy y  I zzz

Different from what you learned!

Matrix Equation  Lx   I xx I xy I xz    x 
    
L
  y   I yx I yy I yz    y 
L  I I zz   z 
 z   zx I zy

 L   I  
 Angular momentum of a rigid body

 Lx   I xx I xy I xz    x 
    
 Ly    I yx I yy I yz    y 
L  I I zz   z 
 z   zx I zy

rj
 L   I   Equivalent to p  mv
?
 I xx I xy I xz 
 
 I    I yx I yy I yz  Moment of Inertia Matrix
 I zx I zy I zz 

 Moment of Inertia Matrix

Lx  I xxx  I xy y  I xzz

Ly  I yx x  I yy y  I yz z
Lz  I zxx  I zy y  I zzz
The fact that I is a matrix
means that L⃗ and ω⃗ do
not necessarily point in
the same direction.
 Moment of Inertia Matrix

 I xx I xy I xz  
I xx   m j y 2j  z 2j 
 
 I    I yx I yy I yz  For a continuous medium,
 I zx I zz 
 I zy
 
I xx   y 2  z 2 dm

  y2  z 2 dm 

  xydm   zxdm

 I      xydm   z 2
 x 2
dm   yzdm 

  zxdm
   yzdm     
2 2
x y dm

 Moment of Inertia Matrix

  y2  z 2 dm 

  xydm   zxdm

 I      xydm   z 2
 x 2
dm   yzdm 

  zxdm
   yzdm     
2 2
x y dm


• We observe that the quantity in the integrand of diagonal terms is

precisely the square of the distance to the x, y and z axis, respectively.
They are analogous to the moment of inertia used in two-dimensional
case.

• Off diagonal elements in the inertia matrix are a

measure of the imbalance in the mass distribution.
 Moment of Inertia Matrix

  y2  z 2 dm 

  xydm   zxdm

 I      xydm   z 2
 x 2
dm   yzdm 

  zxdm
   yzdm     
2 2
x y dm


For symmetric object, Ixy will be zero

• Off diagonal elements in the inertia matrix are a

measure of the imbalance in the mass distribution.
 Angular momentum and Torque

 Lx   I xx I xy I xz    x    x   I xx I xy I xz    x 
         
 Ly    I yx I yy I yz    y   y    I yx I yy I yz    y 
L  I I zz   z     I I zz    z 
 z   zx I zy  z   zx I zy

 z  I zx x  I zy y  I zz z

Torque and angular acceleration may not

be in the same direction!!!.
Chapter 4 (Lecture 4….)
RIGID BODY IN MOTION
  Lx   I xx I xy I xz    x 
    
dr  Ly    I yx I yy I yz    y 
v r
dt L  I I zz   z 
 z   zx I zy
  y2  z 2 dm 

  xydm   zxdm

L  r  mv  I      xydm   z 2
 x 2
dm   yzdm 

  zxdm
    yzdm   x 2
 y 2
dm 

L   I  
  x   I xx I xy I xz    x 
    

  y   I yx I yy I yz    y 
   I      I
 z   zx I zy I zz    z 
 Moment of Inertia Matrix
  y2  z 2 dm 

  xydm   zxdm

 I      xydm   z  x dm  yzdm 
2 2

  zxdm
    yzdm   x 2
 y 2
dm 


• We observe that the quantity in the integrand of diagonal terms is

precisely the square of the distance to the x, y and z axis, respectively.
They are analogous to the moment of inertia used in two-dimensional
case.

• Off diagonal elements in the inertia matrix are a

measure of the imbalance in the mass distribution.
Torque and angular acceleration may not be in the same
direction!!!.
Consequence of off-diagonal terms in Moment of
Inertia matrix

If the off-diagonal
terms are not zero,
ωx and ωy will not
remain zero. There
Z will be angular
acceleration in x and
Lz  I zxx  I zy y  I zzz y direction.The
wheel will tend to
 z  I zx x  I zy y  I zz z wobble!
Consequence of off-diagonal terms in Moment of
Inertia Matrix
So, the off-diagonal
elements really mean that
any attempt to rotate the
body by applying a torque
about a given axis will not
result in a rotation about
just that axis and there will
be rotation around the
Z other axes as well.

Lz  I zxx  I zy y  I zzz Off diagonal elements

represents coupling of
 z  I zx x  I zy y  I zz z rotation about one axis
with other!!
Is Moment of Inertia a Scalar? Vector?
Or …. ????