Angular Momentum - Physics F111 BITS Pilani

Dr. G.
Amaranath, BITS Pilani, Dubai Campus

ANGULAR MOMENTUM
AND
FIXED AXIS ROTATION

Contents:
1. Angular Momentum
2. Torque
3. Moment of Inertia
4. Parallel Axes Theorem
5. The Dynamics of Pure Rotation
6. Rolling Motion
7. Problems

Chapter : 6
Dr. G. Amaranath, BITS Pilani, Dubai Campus
In first 4 chapters, the concepts (force, linear momentum
and centre of mass) to handle the translatory motion of
have been developed.
In this chapter, the techniques / concepts to handle
the rotational motion of solid bodies will be
developed. They are
(1)Torque (t)
(2)Angular momentum (L)
(3)Moment of inertia (I)

Introduction
Motion / displacement of a rigid body translation of the
centre of mass and rotation of the body about centre of
mass (one possible way and it is not the only way)
Introduction
Angular momentum (L) :
of a particle:
Definition: L = r X P, where L is the angular momentum
of a particle which has a momentum P and position vector r
with respect to a given coordinate system.
Unit: kgm
2
s
-1
No special names for these units.
Magnitude - rpsinu
Direction - perpendicular to the plane containing both r & P
- dictated by the right hand rule.

Angular momentum
If r and P lie on XY plane, then L is in the Z direction.
If the rotation is anticlockwise then L is said to be +ve
If the rotation is clockwise then L is said to be -ve
Angular momentum (L):
Method: 1

L
z
= r
P = r P

Method:2
Method:3

L
z
=(xP
y
-yP
x
)k =
0
0
y x
p p
y x
k j i
Angular momentum
Angular momentum of a sliding block: A block of mass m
sliding freely in the x-direction with a velocity V = Vi as shown
below. What is the angular momentum L
A
about A and its
angular momentum L
B
about the origin B?
About the origin A:
Angular momentum:
About origin B:

r
B
= xi lj

L
B
= mr
B
X V

L
B
=

L
B
= mlv k
L depends on the choice of the origin.
Angular momentum
0 0
0
v
l x
k j i

About the point A : the conical pendulum is in steady circular
motion with constant angular
velocity e.

P = MV = Mre (V = r e)
L
A
= r X P
= r Mre k
= M r
2
e k
The direction of L is
along the Z axis.
L is constant both in magnitude and direction in this case.
Angular momentum of the
conical Pendulum:
About the point B: L
B
= ,r

X P, = , r

, , P, = l Mre
Here L is constant in magnitude but
not in direction.
Angular momentum of the
conical Pendulum:
One more example:
The torque (t) due to force F which acts on a particle at
position r is defined by

t = r X F =

, t, = ,r
, , F, = ,r, , F
,

The direction of torque will be perpendicular to both r and F.
Given by the Right Hand Rule.
Torque depends on the origin we choose, whereas force not.
Both are always perpendicular to each other.

Torque (t):
z y x
F F F
z y x
k j i
There can be a torque on a system with zero net force and
there can be force with zero net torque as shown below.

Torque is the rate of change of angular momentum.
Toque:
dt
dL
=
dt
dL
=
A small block of mass m sliding in the X direction with velocity V = Vi.
When the block slows down because of frictional force
f = -fi, find the torque on the block about B.

L
B
= mr
B
X V = mlV k, which is constant if v is const.
hence torque about B is ZERO, if there is no friction.

when friction is present,
t
B
= r
B
X f = - lf k

t = can also be used

Torque on a sliding block:
dt
dL
Torque on conical pendulum
About A: T is the tension in the string. For uniform circular
motion, T coso - Mg = 0
the total force on the bob is radially
inward F = -T sino

The torque about A is t
A
= r
A
X F = 0
since r
A
and F are both in the dir.

hence = 0 and so L
A
= constant.

r
r
dt
dL
About B: t
B
= r
B
X F
, t
B
, = l coso F = l coso T sino
= Mgl sino (since,T coso = Mg)
The direction of t
B
is tangential to the
line of motion of M.
t
B
= Mgl sino
where is the unit tangential vector
in the plane of motion.

t
B
t
B

Torque on conical pendulum:

When a body is rotating about Z axis,
Where
j
is the perpendicular distance from the axis of rotation
to the particle m
j
of the rigid body
and e is the angular velocity.

The angular momentum of the j
particle is L = r X mV
L=mVxdistance to Z axis = mV
L = m(e) = (m
2
) e

Moment of Inertia (I)
j j j
r V = =

The total angular momentum of the body is L
Z
= E(m
2
) e = Ie
where I = E(m
2
) and I is called MOMENT OF INERTIA
I depends on the distribution of mass in the body and the
location of the axis of rotation.

For a continuously distributed matter,I=
= perpendicular distance from the axis of rotation.
dm = density X d(volume)

A body can have infinite moments of inertia!!!

Moment of inertia
} }
+ = )dm y (x dm
2 2 2
Uniform thin hoop: mass M; radius R
Axis: Through the centre & perpendicular to the plane of hoop.
As the hoop is thin, dm = ds
where = M / 2tR and = R

MI of some simple objects:
mass M; radius R
Axis : Through the centre & perpendicular to the plane of disk.
Divide the disk in series of thin hoops with
radius , width d and MI, dI.
dA = 2t d and its mass is

MI of Uniform disk
mass M; length L
Axis : Through the mid point and perpendicular to the stick.

MI of uniform stick
mass M; length L
Axis : Through one end and perpendicular to the stick.

MI of uniform stick:
MI of uniform sphere
1. Slice up the solid sphere into infinitesimally thin solid cylinders.
2. Sum from the left to the right.
We know that the moment of inertia for a solid cylinder is

Moment of inertia for a hoop: I = r
2
dm
Hence,
Finding dm,
Now, dA is the area of the ring
Note: 2r is the circumference of the hoop while R d is the thickness of the
hoop (its dx in the above picture). The R d comes from the equation for arc
length: S = R.
There is a right-angle triangle with angle at the centre of the circle.
hence, substituting the equation for dA and the equation above into the
equation for dm, we have:
Substituting the equation above and the equation for r into the equation
for dI, we have:

Moment of inertia of a thin
spherical shell:
Integrating with the proper limits, (from one end to the other)

Now, at this point, we will use the substitution: u = cos . Hence,

Moment of inertia of a hollow
sphere or spherical shell:
Perpendicular Axes Theorem: I
z
= I
x
+ I
y

Used for PLANE BODIES only.
X and Y axes lie on the plane of the body
Z axis is perpendicular to the plane of the
body.
Parallel Axes Theorem:
I = I
cm
+ Md
2
where I
cm
is the MI of the
body about its centre of mass
M is the total mass of the body
d is the perpendicular distance between
the two parallel axes.
Theorems:
Applications of Theorems:
MI of cylinder: MI of thin disc: MI of thin rod:
MI of common regular shaped
objects:
Find the acceleration a for the arrangement shown below.
Atwoods machine with a
massive pulley:
Rolling motion:
1. Angular Momentum:
First term is due to the rotation of the
body about its centre of mass (SPIN) and
the second term, due to motion of centre
of mass w.r.to the origin (ORBITAL).

Daily rotation of earth-SPIN
Annual rotation about Sun-
ORBITAL Angular momentum

Angular momentum of a Rolling Wheel:
(a) about the centre of mass is L
0
= - I
0
e = - Mb
2
e
,
the
n negative sign indicates that L
0
is
directed into the plane of the paper.

(b) The L of the CM of wheel about origin is (RXMV)
z
= - MbV
The total angular momentum is L
z
= - Mb
2
e - MbV
= - Mb
2
e - Mb.be
L
z
= - 1.5 Mb
2
e

2. Torque:

The first term is the torque about the CM due to various
external forces, and the second term is the torque due to
the total external force acting at the centre of mass.

According to this eqn, rotational motion about CM depends on
the torque about the CM, independent of translational motion.

(3) Kinetic energy (K):

The first term corresponds to the kinetic energy of SPIN,
while the last term arises due to the ORBITAL CENTRE OF
MASS MOTION.

AA

Summary of the results:
Disk on Ice: A disk of mass M and radius b is pulled with
constant force F by a thin tape wound around its
circumference. The disk slides on ice without friction.
Find the acceleration of the CM.
The torque about the CM of the disk
t
0
= bF = I
0
o

Acceleration a =

Example 6.15 page:264
0
I
bF
=
M
F
Disk rolling down a plane: A uniform disk of radius b and
mass M rolls without slipping down a plane inclined at an
angle u. Find its acceleration along the plane. Also find the
velocity on reaching the bottom and the time taken to reach
the bottom.

Example 6.16; Page 265
The translation of the CM along the plane is given by
W sinu - f = Ma ----------------------(1)
where f is the frictional force.
The rotation of the CM is given by t = bf = I
0
o---------(2)
For the rolling without slipping, we have, a = bo -----(3)
using the value of f from (2) in (1) we get,
W sinu - I
0
(a/b) = Ma
Using I
0
= Mb
2
and o = (a/b) in the above
We get
a = (2/3) g sinu
Velocity : ( energy method is used)
using the W-E theorem,

Where l = h/sin| is the displacement of the CM.
The energy equation for rotational motion is

or f b u = I
0
e
2

For rolling motion without slipping, bu = l hence,

Eliminating f we get,

A 3000 lb car is parked on a 30
0
slope, facing uphill. The
centre of mass of the car is halfway between the front and
rear wheels and is 2ft above the ground. The wheels are 8 ft
apart. Find the normal force exerted by the road on the front
and on the rear wheels.
Given,
M = 3000 lb
u = 30
0
l = 8 ft

d = 2 ft
N
f
= ? and N
r
= ?

Problem 6.5 page 279

N
r
and N
f
are the normal reactions
on rear and front wheels
d is the distance from CG to the ground
l is the distance between the two tyres
mg is the weight of the car acting
vertically downwards and is resolved
in to mgcosu and mgsinu as shown in the diagram.

N
r
and mgsinu tend to rotate the car in ACW direction whereas
N
f
tend rotate in the CW direction about a point on the
ground(2ft below the CM)

As there is no rotation of the car, the net torque = 0

As the car is neither moving in upward no in the downward
direction, the net force should be zero.
N
r
+ N
f
= mg cosu ---------------(2)
solving (1) and (2) for N
r
and N
f
we get

r f
r f
N + mgdsin = N
2 2
-2mgdsin
N - N = (1)
r f
cos dsin cos dsin
N = mg - and N = mg +
2 2
| | | |
| |
\ . \ .

For vertical equilibrium of the cylinder,
0 0 0 0
2 2 1 1
2 1
sin 45 sin 45 sin 45 sin 45
2 (1 ) (1 ) (1)
mg N N N N
mg N N

+ = + +
= + +
For horizontal equilibrium of the cylinder,

Solving for N
1
and N
2
we get,

Torque is t = ( f
1
+ f
2
) R = R (N
1
+ N
2
)

0 0 0 0
1 2 1 2
2 1
cos 45 cos 45 cos 45 cos 45
0 (1 ) (1 ) (2)
N N N N
N N

= + +
= +
1 2
2 2
mg(1+) mg(1-)
N = and N =
2(1+ ) 2(1+ )
2
mgR 2
= = 5.7m
(1+ )

We know that

Length of the tape is

2 2 2
Fr t Fr t
L = Vdt = rdt = dt =
I 2I
} } }
rFt
t =
I I
t e o = =
2
2
2
2
2LI
t =
Fr
substituting t in equation, and simplifying, we get,
2FL
I = 400 kgm
e
=
(a) When the stick is released, there are
TWO forces acting on it, gravity at the
midpoint and the normal force at point B.
Using B as origin, , clockwise.

(b)
mg
=
2
2
2
m
= I =
3
m 3
2 3 2
B
mg g
o o
o o = =
(c)

(d) Vertical force at B =
3g 3g
a = r = . =
2 2 4
3mg mg
mg -
4 4
=
Afsdfsd

Dfdsfsd


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Dr. G.

Amaranath, BITS Pilani, Dubai Campus

Dr. G. Amaranath, BITS Pilani, Dubai Campus

Dr. G. Amaranath, BITS Pilani, Dubai Campus

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