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Angular Motion
Angular Motion Definitions
First, lets discuss the rotation of rigid body about a fixed axis.
We will usually select the origin of our x-y plane to be in the same as
the plane that the rotating object occupies and the origin O
corresponded to the location of the axis of rotation.
Then, if we pick a point on the rotating object and draw a line from
this point to the origin it will make an angle with the x-axis. This
angle is called the angular position.
Angle in radians is the ratio of two lengths, so it is a pure number (NO dimensions).
Angular Motion Definitions
1 2
1 2
dt
d
t
t
z
0
lim
At any instant, every part of a rotating rigid body has the same angular
velocity. The angular velocity is positive if the body is rotating in the
direction of increasing and negative if it is rotating in the direction of
decreasing .
1 2
1 2
dt
d
t
z z
t
z
0
lim
z
>0 and
z
>0
Slowing down
z
>0 and
z
<0
Speeding up
z
<0 and
z
<0
Constant Angular Acceleration
t
z z
z
2
0 z z
z av
t
1
=0, angular acceleration is constant and
equal to average value for any interval:
t
z z z
+
0
Constant angular acceleration ONLY
0
0
t
z av
t
z z
) (
2
1
0 0
+
Constant angular
acceleration ONLY
Constant Angular Acceleration
r v
Relation between linear
and angular speed
Relating Linear and Angular Kinematics
r
dt
d
r
dt
dv
a
tan
Tangential acceleration of a
point on a rotating body
r
dt
d
r
dt
dv
a
tan
+ +
i
i i
r m r m r m I
2 2
2 2
2
1 1
...
Definition of
moment of inertia
The rotational kinetic energy of a solid object rotating about an axis for
which its rotational inertia is I with angular velocity is expressed as
2
2
1
I K
Rotational kinetic energy of a rigid body
Notice the similarity between this formula and the formula for the kinetic
energy of a point mass m moving with speed v
The greater is the moment of inertia, the greater the kinetic energy of a
rigid body rotating with a given angular speed
Rotational Kinetic Energy
1
1
1
I K
List the unknown and known quantities, including the coordinates and
velocities at each point. Decide which unknowns are your target variables.
In these situations, remember that the point on the pulley that contacts the
rope has the same linear speed as the rope, provided the rope doesnt slip
on the pulley.
You can then take advantage of Equations which relate the linear speed and
tangential acceleration of a point on a rigid body to the angular velocity and
angular acceleration of the body.
Rotational Energy. Problems
Problem-Solving Strategy
Write expressions for the initial and final kinetic and potential energies (K
1
,
K
2
, U
1
and U
2
) and the non-conservative work W
other
(if any).
Its helpful to draw bar graphs showing the initial and final values of K, U,
and E=K+U.
Consider two axes, both parallel to z-axis, one through the center of
mass and the other through a point P.
Mass element m
i
has coordinates (x
i
, y
i
) with respect to an axis of
rotation through the center of mass and to the plane of the slide. The
mass element has coordinates (x
i
-a, y
i
-b) with respect to the parallel
axis through point P.
x
cm
= y
cm
= z
cm
=0
Moment of inertia I
cm
about axis through O:
+
i
i i i cm
y x m I ) (
1 1
Parallel-Axis Theorem
Moment of inertia I
cm
about axis through P:
+
i
i i i P
b y a x m I )] ) ( ) [(
2 2
For a continuous distribution of mass the sum of the masses times the
square of the distances to the axis of rotation which defines the moment
of inertia become an integral.
dm r I
2
dV V r I
dV
dm
) ( ,
2
dV r I const
2
dz dy dx dV
Limits of integral are determined by the shape and
dimensions of the body
Inertia Calculations
Uniform thin rod, axis to length
,
_
) )( (
1
1
1
1
1
1
1
1
1
R R R R
L
+
) (
1
1
1
1
R R L V ) (
1
1
1
1
1
1
R R M I +
Inertia Calculations
If cylinder is solid, R
1
=0, R
2
=R:
The volume is
The mass is
Inertia Calculations
R
dx x R I
1
1 1 1
) (
1
) 1 (
1
1 1
1
R I
1
1
1
R V M
1
1
1
MR I