CHAPTER 5 TORQUE ANGULAR MOMENTUM AND EQUILIBRIUM

TORQUE ANGULAR MOMENTUM AND EQUILIBRIUM

TRANSLATORY MOTION:-
If the axes of the frame of reference of the object remain always parallel to the
corresponding axes of observers frame of reference (x,y,z). In a translatory motion the
object may not be necessarily moving along a straight line.
ROTATORY MOTION (CIRCULAR MOTION):-
A body (a rigid body) is said to possess a purely rotatory motion if every
constituent particle of the body moves in a circle , the centres of which are on a straight
line called the axis of rotation.
This motion is of two kinds. (i)Spin motion (ii) Orbital motion.
AXIS OF ROTATION: - The line about which a body rotates.
SPIN MOTION:-
If the line (the axis of rotation) passes through the body itself the corresponding
motion is called the spin motion. e.g. Daily rotation of earth about its own axis, Rotation
of fly wheel about its axle, Rotating top etc.
ORBITAL MOTION:-
If the axis of rotation does not pass through the body, we call such a rotatory
motion as the Orbital motion e.g. Motion of the camel or bullock in a circular path around
the sugarcane crushing machine, motion of planets round the sun, Motion of electrons
round the nucleus etc.
TORQUE: - sin Fr F r


(moment of force)
Where r is called the moment arm of force and is defined as perpendicular
distance of the line of action of the force
F

from the centre of

rotation. We can represent the torque in determinant form.
Unit of torque is N.m. Dimension of torque and energy is same.
Torque which produces counter clockwise rotation is considered to be
positive and that producing a clockwise rotation is taken as negative. It depends upon
location of origin.
COUPLE:-
Two forces which are equal in magnitude but opposite in direction and not acting
along the same line constitute a couple. In case of couple sum of forces is zero.
couple of moment is where Fd d F

The perpendicular distanced is called the moment arm of couple.

couple the of
arm moment
couple the forming forces
the of any of Magnitude
couple a of moment
the of Magnitude

,
_

,
_

,
_

As r

is the displacement vector from

F to F -

, it is Independent of the location of origin.
Hence the moment of a given couple is independent of the location of origin.
CENTER OF MASS:-
The point at which the total mass of the body is considered to lie.
CENTER OF GRAVITY:-
The point at which the weight of the body is considered to act.
In uniform gravitational field Center of mass and Center of gravity lie at same point. In a
non uniform gravitational field center of mass and center of gravity do not lie at same
point hence body will rotate around center of mass. Center of Mass, Center of Gravity
can lie outside the body. Center of mass or gravity for rectangular block or a cube i.e.
parallelopiped lies at the intersection of diagonals.
NAME OF OBJECT POSITION OF CETNRE OF MASS
1 Uniform rod Center of rod
2 Circular plate Center of plate
3
Plate (rectangualr or
parallelopiped in shape)
Intersection of their diagonals or
intesection of the lines joining the mid
points of opposite sides (medians)
4 Triangular plate Intersection of medians
5 Rectangular block Intersection of diagonals
6 Sphere Center of sphere
7 Cylinder Mid point of the axis
8 Irregular body Cross section of the diagonals
SHAHEED RANI GHAREEB NAWAZ COACHING CENTER MITHI LM 11
z y x
F F F
z y x
k j i
F r


CHAPTER 5 TORQUE ANGULAR MOMENTUM AND EQUILIBRIUM
EQUILIBRIUM AND CONDITIONS OF EQUILIBRIUM:-
A body said to be in equilibrium if it is at rest or is moving with a uniform
velocity. A body at rest is said to be in static equilibrium, while a body in uniform motion
along a straight line is said to be in dynamic equilibrium.
STATIC EQUILIBRIUM: - Book lying on table
DYNAMIC EQUILBRIUM: - Car moving with constant velocity
FIRST CONDITION OF EQUILIBRIUM:- 0 = F , 0 = F 0 = F
y x


SECOND CONDITION OF EQUILIBRIUM:-
, 0

about any axis.

Counter clockwise or anticlockwise torque is taken as positive and clockwise
torque is taken as negative. Positive torque along +z-axis and negative torque along z-
axis.

is a axial vector (Pseudo vector)

ANGULAR MOMENTUM :- V r m l V m r p r l

It can be written in the determinant form as
Dimension of Angular momentum is [ML
2
T
-1
]
The unit of angular momentum is N.msec or J.sec same
as that of Plancks constant.
LAW OF CONSERVATION OF MOMENTUM:-
dt
l d

This equation states that the torque acting on a particle is the time rate of change
of its angular momentum. If the net external torque on the particle is zero, then above
equation reduces to
[ ] t l t tan cons l 0
dt
l d

Thus the angular momentum of a particle is conserved (constant) if the net torque acting
on it is zero.
I = m r
2
Where I is moment of inertia.
It is analog as inertia in linear motion. Its value depends upon mass and its distribution
i.e. distance from the axis.
Angular momentum:-
log ana
I l
mV P
1
]
1

Torque:- I analog of ma F
The magnitude and direction of angular momentum depend upon the choice of
the origin.
An object can have angular momentum around an axis even though it is not
actually rotating around that axis.
SHAHEED RANI GHAREEB NAWAZ COACHING CENTER MITHI LM 12
z y x
P P P
z y x
k j i
l

1
]
1

V
I m