Rotation

PHYS1121-1131 UNSW 2010 Session 1.

Which wins: car or ball?

Kinetic energy of a rotating body

v2 r2 m2 r1 v1 ! m1

Choose frame so that axis of rotation is at origin K = 2 m1v12 + 2 m2v22 + .... = 2 m1(r11)2 + 2 m2(r22)2 + .... = 2 ( miri2) 2 Rotational analogue of mass: Define the Moment of inertia System of masses Continuous body I I =
body

1 1 1

(cf K = 2 mv2)

mi r i 2

= r2 dm Units are kg.m2

I depends on total mass, distribution of mass, shape and axis of rotation.

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M r

Example What is I for a hoop about its axis? I = Mr2

All the mass is at radius r, so

body

1 For a disc: I = r2 dm = ..... = 2 MR2

For a sphere Note I = nMR2

I =

= 5 MR2 n is a number

= M ( n R)

= Mk2

where k =

n R

I Mk2 defines the radius of gyration k k is the radius of a hoop with the same I as the object in question object I k hoop disc solid sphere MR2
1 2 2 MR 2 2 5 MR

R R 2
2 5 R

Example Use a flywheel to store the K of a bus at stops. Disc R = 80 cm, M = 1 tonne. How fast must it turn to store all the kinetic energy of a 10 t. bus at 60 km.hr-1? Moving (subscript m), stopped (subscript s)

! v

vm = 60 km.hr-1 m = 0

vs = 0

not rolling

subscripts m for moving, s for stopped

s = ? rev.s -1

Km = Ks
1 1 2 2 2 Mbusvm = 2 Idiscs

Mbusvm2 = 2 MdiscR2s2 vm s = R 2Mbus Mdisc (revolutions per minute)

= 90 rad.s-1 = 10 rev.s-1 = 600 rpm

Rolling vs skidding:

Example A bicycle wheel has r = 40 cm. What is its angular velocity when the bicycle travels at 40 km.hr-1?

ds v = dt rd = dt v = r v = r = 40000 m/3600 s 0.4 m

Important result

= 28 rad.s-1 (= 4.4 turns/second) Axle travels at v Point of contact stationary Top of wheel travels 2v (see Rolling on Physclips)

Example. A solid sphere, a disc and a hoop roll down an inclined plane. Which travels fastest?

h h

v Rolling: point of application of friction stationary non-conservative forces do no work Uf + Kf = Ui + Ki

1 1 0 + 2 Mv2 + 2 I2 = Mgh + 0

v = R

and write

I = Mk2

v2 1 1 2 2 2 Mv + 2 Mk R2 = Mgh k2 1 2 2 v 1 + R2 = gh v = 2gh 1 + k2/R2

1 2

ksphere kdisc 2 = 5 < R R = vsphere > vdisc > vhoop

khoop =1 R r doesnt appear, so the result is independent of size

<

Rotational kinematics:

r is constant If measured in radians, s = r. d ds v = dt = r dt v = r d dv a = dt = r dt a = r Motion with constant . _ Analogies linear

displacement velocity

(definition of angle) r
v or = r

r
a or = r

angular
= s/r = v/r = a/r

x v

acceleration

f = i + t = it + 2 t2 f2 = i2 + 2 = 2 (i + f) t
1 1

vf = vi + at x = vit + 2 at2
vf2 = vi2 + 2ax 1 1

x = 2 (vi + vf) t

Derivations identical - see previous.

Need only remember one version

Example. Centrifuge, initially spinning at 5000 rpm, slows uniformly to rest over 30 s. (i) What is its angular acceleration? (ii) How far does it turn while slowing down? (iii) How far does it turn during the first second of deceleration? (rpm = revolutions per minute) i) f = i + t (cf vf = vi + at ) = f i t 0 =
1

5000*2 rad 60s 30s

= - 17.5 rad.s-2. ii) = 2 (i + f) t

1
(cf

x =2 (vi + vf) t )

= 2 (0 + 5000rpm) *0.5 min = 1,250 revolutions iii) = it + 2 t2 =

1
(cf x = vit + 2 at2 )
1

5000*2 rad 1 (1 s) 2 (17.5 rad.s-2).(1 s)2 60 s = 515 rad (= 82 turns)

What causes angular acceleration? Force applied at point displaced from axis of rotation.

(Note: if F were only force acceleration: _ How does the 'turning tendency' depend on F? r? ?
To get but _ = 0, need F = 0. _ a _

- F does not contribute to the turning about axis. _

Torque. (rotational analogue of force) Consider rotation about z axis

F sin ! r r ! F

Only the component F sin tends to turn = r (F sin ) (r * component of F) or = F (r sin ) = F r (F * component of r) where r_ is called the moment arm |

Example What is the maximum torque I apply by standing on a wheel spanner 300 mm long? = r (F sin ) max = r F = 0.3 m * 700 N = 200 Nm
if it still doesn't move: lift, use both hands or jump on it

The vector product.

c ! b a

Define |a x b | ab sin _ _ _ _ a x b at right angles to a and b in right hand sense _ _ pronounced "a cross b" For right hand Thumb x index = middle (remember TIM) (or North x East = down Turn screwdriver from a to b and (r.h.) screw moves in direction of (a x b ) _ _ _ _
z r k j i x y

remember NED)

Apply to unit vectors:

|_ x _ | i i |_ x _ | i j
but

= 1 . 1 sin 0 = 0 = _ x _ = k x k j j _ _

= 1 . 1 sin 90 = 1 = |_ x k | = |k x _ | j _ _ i _ x_ =k i j _ j _ i k x_ = _ _ i j _ x k =_ j i _ k x _=-_ _ j i _ xk =-_ i _ j _ x_ =-k

Usually evaluate by |a x b | ab sin _ _ but Vector product by components is neat _ _ a x b = (ax _ + ay _ + az k )x(bx _ + by _ + bz k ) i j i j _ _ = (axbx) _ x _ + (ayby) _ x _ + (azbz) k x k i i j j _ _ + (axby) _ x _ + (aybz) _ x k + (azbx) k x _ i j j _ _ i + (aybx) _ x _ + (azby) k x _ + (axbz) _ x k j i _ j i _ _ _ a x b = (axby - aybx)k + (aybz - azby)_ + (azbx - axbz)j _ i _ ax bx _ i Example. F = (3 _ + 5 _ )N, _ = (4 _ + 6 k )m; _ i j r j _ ! = _ xF r _ ay by _ j az bz k _
ax bx i

=?

= (rxFy - ryFx)k + (ryFz - rzFy)_ + (rzFx - rxFz)j _ i _ = (0 - 4 m.3 N)k + (0 - 6 m.5 N)_ + (6 m.3 N - 0)j = (-30_ + 18j - 12k) Nm _ i i _ _ _

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Example: bicycle and rider (m = 80 kg) accelerate at 2 ms-2. Wheel with r = 40 cm. What is torque at wheel?
r F ext

Fext = ma = rFext sin = rF = rma = ... = 64 Nm. horizontal Front sprocket has 50 teeth, rear has 25, what is torque applied by legs? F F rback r front rfront 50 rback = 25

Ffront = Fback

front rfrontFfront = rbackFback = 2. back front = 128 Nm horizontal

why larger?

Newton's law for rotation System of particles, mi, all rotating with same and about same axis. ri is perpendicular distance from the axis of rotation.
! O F t1 r1 F1

ri x Fi

i = ri Fti where Ft is the tangential component of F i = ri miati i = rimiai = rimirii

i
so

miri2i
= I

but all i = and , on axis

total

Newton's law for rotation total = I compare with Ftotal = ma

Example. What constant torque would be required to stop the earth's rotation in one revolution? (Assume earth uniform.)
Plan: Know M, R, i, f, . Need . Use = , where i, f, >

11

2 f = 0, i = 23h56min = 1.72 10-4 rad.s-1 f2 = i2 + 2

= (cf v f2 = vi2 + 2ax)

f2 i2 2
2

= I = 5 MR2 = ...

f2 i2 2

= 4.1 1028 Nm Example Mass m on string on drum radius r on a wheel with radius of gyration k and mass M. How long does it take to turn 10 turns?
solve for a or , use kinematic equations.

N2 for m (vertical): N2 for wheel:

mg T = ma = I a rT sin 90 = Mk2. r k 2 T = Ma r

k 2 mg - Ma r = ma a = mg k2 m + M r
1 cf x = vit + 2 at2
1

= it + 2 t2 t = 2 =

M k2 2(20 rad)1 + m r r g

Example. Rod rotates about one end. Which reaches bottom first: m or the end of the rod?
m L axis ! Mg M h

12

Acceleration of end of rod is a = L For rod, = so a = L. I

1

For rod about an end, I = 3 ML2. L Mg acts at c.m. so = Mg 2 L Mg. 2

a = L. 1

2 3 ML

3 Why do falling = 2 g chimneys break? Example A car is doing work at a rate of 20 kW and travelling at 100 kph. Wheels are r = 30 cm. What is the (total) torque applied by the drive wheels? P = Fv, so by analogy: P = Wheels are rolling so P Pr = = v 2 104 W 0.3 m = 105 m/3600 s = 220 Nm
(not equal to torque on tail shaft or at flywheel)

v =r

Important note:

There is not a lot of rotational mechanics in our syllabus: we dont have angular momentum. So the following material is not in the syllabus. Im including it, however, because some of you will certainly come across it later. As youll see, there are lots of analogies with linear mechanics so, except for the vector product, it is not tricky.

Angular momentum
p O r

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For a particle of mass m and momentum p at position _ relative to origin O of an _ r inertial reference frame, we define angular momentum (w.r.t.) O

or

L = _ xp _ r _ = rp sin

Example What is the angular momentum of the moon about the earth? L= |_ xp | r _ = rp sin rmv sin 90 = mr2 = (7.4 1022 kg) (3.8 108 m)2 27.3 24 3600 s = 2.8 1034 kg m2 s-1 Direction is North
2

Example Two trains mass m approach at same speed v, travelling antiparallel, on tracks separated by distance d. What is their total angular momentum, as a function of separation, about a point halfway between them?

L1 = r1 x p1 = r1 x mv1 |L1| |L2| = (d/2)mv (clockwise on my diagram) = (d/2)mv (also clockwise) = dmv independent of separation

Newton 2 for angular momentum:

14

d _ x F = _ x dt p r _ r _

d d _ _ _ dt L = dt (r x p) d d = dt _ x p + _ x dt p r _ r _ = v x mv + _ _ d = dt L _
Remember: Order important in vector multiplication!

Newton 2 in rotation

Question: A top balances on a sharp point. Why doesn't it fall over? (Qualitative treatment only.)
L

but

d = dt L _

r W

d L // _

is horizontal
Also boomerangs, frisbees, satellites

so dL is perpendicular to _ _ g

Systems of particles Total angular momentum L _ L = (r i x p i) _ _ _ d d _ _ _ dt L = dt (r i x pi) = i

= i internal + i external

Internal torques cancel in pairs (Newton 3)

d ext = dt L _

cf

d F ext = dt P _ _

where

ext

is the sum of all external torques.

(This equation derived for inertial frames but it is also true for other frames if centre of mass is taken as origin.)

Consequence: d _ dt L = 0. Conservation of angular momentum of isolated system If ext = 0,

Example Circular motion of ball on string. What happens to the speed of the ball as the string is shortened? (Neglect air resistance).
! R tube F m1

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F string m2

Tension does do work, but it doesn't exert torque L = _ xp _ r _ = rp sin = rmv sin

( // r) angular momentum conserved.

Example: Person on rotating seat holds two 2.2 kg masses at arms' length. Draws masses in to chest. What is ? Is K conserved?

Rough estimates: kperson about long axis 15 cm Ip = Mk2 = ~ 70 kg. (.15 m)2 Ip ~ 1.6 kgm2 Im = mr2 2.2 kg. (0.8 m)2 Im 1.4 kgm2 (arms extended) Im' = mr'2 2.2 kg. (0.2 m)2 0.1 kgm2 (arms in) No external torques Li = Lf (Ip + 2Im)i = (Ip + 2I'm)f f Ip + 2Im i = Ip + 2I'm ~ 2.4 Kf Ki
1 2 2 (Ip + 2Im)f = 1 2 2 (Ip + 2I'm)f include moving part of chair

= 2.4

Arms do work:

Fds = macentrip.ds

Example Space-walking cosmonaut (m = 80 kg, k = 0.3 m about short axes) throws a 2 kg ball (from shoulder) at 31 ms-1 (v displaced 40 cm from c.m.). How fast does she turn? Is this a record? _
40 cm c.m. !

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In orbit so no ext torques so L conserved _ L i = L f = L ball + L cos _ _ _ _ 0 = _ x mv r _ rmv = Mk2 = 3.4 rad.s-1 = 33 3 r.p.m.
(Yes, it must be a record) 1

= rmv Mk2

Questions Can a docking spacecraft rotate without using rockets? Can a cat, initially with L = 0, rotate while falling so as to land on its feet?

Summary Analogies: linear and rotational kinematics Linear displacement velocity acceleration Angular angular displacement angular velocity angular acceleration

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x v a

= s/r = v/r = a/r

kinematic equations vf = vi + at x = vit + 2 at2

vf2 = vi2 + 2ax 1 1

f = i + t = it + 2 t2 f2 = i2 + 2 = 2 (i + f) t
1 1

x = 2 (vi + vf) t Analogies: linear and rotational mechanics mass m

rotational inertia I I = miri2 I = r2dm W = .d K = 2 I2 torque

1

Work & energy _ _ W = F.ds K = 2 Mv2 F _

1

force

_ xF r _

momentum p =mv _ _ Newton 2:

angular momentum L = m_ xv _ r _

d d F = dt p = m a _ _ _ = dt L = I _ _ if m const Momentum p mv Newton 1&2 Conservation law: If no external forces act If m constant,
axis

if I const

d Fext = dt p momentum conserved

d d Fext = dt p = dt (mv) = ma
axis

F !

p !

d Fext (r sin ) = dt (p r sin )

Angular momentum L (r sin ) mv d ext = dt L angular momentum conserved

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only consider one axis

Newton for rotation Conservation law: If no external torques act If I constant,

d d ext = dt L = dt I = I I defined for a collection of particles

Conservation of p and L : _ _ forces If no external torques act on a system, momentum its angular momentum is conserved. Conservation of mechanical energy: if non-conservative forces and torques do no work, mechanical energy is conserved Example Particle mass m moves with
1 _ = (At) _ + B _ + Ct - 2 gt2 k r i j _

(i) What is p for the mass? (ii) What is its L about the origin? (iii) what torque acts on it? (iv) What is _ _ the shape of this motion? i) ii) d p = m v = m dt _ _ _ r = m (A _ + (C - gt) k) i _ L = _ xp _ r _
recall:

ry rz py pz j _ _ k = (rxpy - rypx)k + (rypz - rzpy)_ _ i

rx px _ i

rx px _ i + (rzpx - rxpz)j _

L = - BmA k + Bm(C-gt)_ + _ _ i
1 Ct - 2 gt2 mA - Atm(C-gt) _ j

= B(C-gt)m _ + 2 Amgt2 _ - ABm k i j _ (iii)

d = dt L _

= - Bmg _ + Amgt _ i j

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Torsional pendulum.
Useful way of comparing unknown I with that of a simple object (e.g. rod).

Object with I is suspended on wire. The wire, when twisted, produces a restoring torque = - d2 = I = I dt2 d2 2 = I = - dt solution is: = m sin (t + ) where = Period 2 T = = 2 I
where is the const of the wire

T22 I1 for two different objects, T 2 = I2 1

Example. String round drum (r) on spool (R). What is the critical angle which determines direction of motion?

a) b)

If it slides (kinetic friction F k) it moves right. _ If it rolls (static friction F s) it moves left. _ T sin + N = W T cos = Ffr (ii) Tr = FfrR (i) (iii) (iv)

N2 vertical: N2 horizontal: N2 rotn about centre At point of sliding,

Ffr = sN Unknowns: T, , Ffr, N. Substitute (iv): (ii) > T cos c = sN (iii) > Tr = sNR r >cos c = R :

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Simple pendulum.

Mass m, suspended on light string. Radius of mass r << M treat as particle. N2 in vertical: mg = T cos d2x N2 in horizontal: T sin = ma = m dt2 x If << 1, sin L , cos 1.

d2x x m dt2 = - T sin = - mg L d2x g dt2 = - T sin = L x solution is: x = xm sin (t + ) where = Period 2 T = = 2 L g g L

Physical pendulum.

Object, mass m, rotational inertia I, free to rotate. N2 for rotation: = d2 mg h sin = I dt2 If << 1, d2 mgh 2 = I sin dt d2 mgh 2 I dt solution is: = m sin (t + ) where = Period 2 T = = 2 I mgh
(put all mass at c.m.I = mk2 = mh2 previous result)

mgh I

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Example. Disc, mass m, radius R, suspended at point h from centre. What is T for this pendulum? Period 2 T = = 2 Parallel axis theorem: Inew = Icm + mh2 = 2 mR2 + mh2 T = 2
1 2 2 2R +h 1

I mgh

gh
(if h>> R, get 2 h g as for simple pendulum if h = 0, T > )

Example. Object mass m suspended by two strings as shown. Find T1 and T2.

It's not accelerating vertically so N2 > Fy = may = 0 T1 + T2 - mg = 0 (i) It's not accelerating horizontally so N2 > Fx = max = 0 0 = 0 not enough equations It's not rotationally accelerating so: N2 > = I = 0
about c.m. clockwise

1 + 2 = T 2 D T 1 d = 0

d T1 + D T1 - mg = 0 mg T1 = 1 + d/D mg T2 = 1 + D/d

i) A cyclist travels round a corner with a radius of 20 m, travelling at 30 kilometers per hour, on a horiztonal road surface. Showing your working, determine the angle at which he should and the bicycle lean towards the centre of the turn, so as not to fall over. (The cyclist does not change his angle with respect to the bicycle as he rounds the corner, he is always symetrically positioned with respect to the plane of symmetry of the bicycle.) ii) If the coefficients of kinetic and static friction between the tyres and the road are 0.8 and 1.0 respectively, what is the maximum speed at which the cyclist can take this corner?