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Dynamics
8.01
W09D2
cm
total
Icm cm
S rS ,P FP
Summary: Cross Product
Magnitude: equal to the area of the parallelogram defined by
the two vectors
r r r r r r r r
A B A B sin A B sin A sin B (0 )
Direction: determined by
the Right-Hand-Rule
Torque: Magnitude and Direction
Magnitude of torque about a point S due to force
acting at point P
S rF rF sin
r
where F is the magnitude of the force FP .
A B B A
c( A B) A cB cA B
( A B) C A C B C
Cross Product of Unit Vectors
i i | i || j | sin(0) 0
i j k
i i 0
j k
i j j 0
i j k
k k 0
Components of Cross
Product
A Axi Ayj Az k
, B B i B j B k
x y z
A B ( Ay Bz Az By )i ( Az Bx Ax Bz )j ( Ax By Ay Bx )k
i j k
Ax Ay Az
Bx By Bz
Concept Question: Torque
r r
Consider two vectors r xi with x > 0 and F F i F k
r r x z
with Fx > 0 and Fz > 0 . The cross product r F
points in the
1) + x-direction
2) -x-direction
3) +y-direction
4) -y-direction
5) +z-direction
6) -z-direction
7) None of the above directions
Concept Question: Magnitude of
Torque
In the figure, a force of magnitude F is applied
to one end of a lever of length L. What is the
magnitude of the torque about the point S?
1.FL sin
2.FL cos
3.FL tan
4.None of the above
Torque due to Uniform
Gravitational Force
The total torque on a rigid body due to the
gravitational force can be determined by placing
all the gravitational force at the center-of-mass
of the object.
N N N
S,grav rS ,i Fgrav,i rS ,i mi g mi rS ,i g
i 1 i 1 i 1
1 N
totat
m
i 1
mi S ,i
r
m totat
g
RS,cm m totat g
Fixed Axis Rotational
Dynamics
Recall: Rotational Kinematics
Radius of orbit r ,i
Summary: z,S
total
I S z
Concept Question: Chrome
Inertial Wheel
A fixed torque is applied to
the shaft of the chrome
inertial wheel. If the four
weights on the arms are slid
out, the component of the
angular acceleration along
the shaft direction will
1) increase.
2) decrease.
Constraint: a Rd
g
Solve for moment of inertia: I cm mRd ( 1)
2
a
2
2s 2 gt
Time to travel distance s: a 2 I cm mRd ( 1)
t 2s
Demo: Moment of Inertia Wheel
Measuring the moment of inertia.
1
Theoretical result: I cm md Rd 2
2
Problem Solving Strategy:
Two Dimensional Rotation
Step 1: Draw free body force diagrams for each object and indicate the
point of application of each force
Step 4: Apply Newtons Second Law and Torque Law to obtain equations
Ftotal F1 F2 ... 0
total
S S ,1 S ,2 ... 0
Concept Question: Tipping
A box, with its center-of-
mass off-center as
indicated by the dot, is
placed on an inclined
plane. In which of the four
orientations shown, if any,
does the box tip over?
Problem Solving Strategy: Static
Equilibrium
Force:
1. Identify System and draw all forces and where they act on Free Body
Force Diagram
2. Write down equations for static equilibrium of the forces: sum of forces
is zero
Torque:
1. Choose point to analyze the torque about.
3. Calculate torque about that point for each force. (Note sign of torque.)
Tangential force
Ftan,i Ftan,i
Displacement vector
rS ,i r,i
2
W mi r ,i dm(rS , ) I S
2
i body
Rotational Work
Torque about S S IS
f f
d d
dWrot I S d I S d I S d I S d
dt dt
Integrate rotational work
f f
1 1
Wrot dWrot I S d I S f I S 02
2
0 0
2 2
2 2
Rotational Power
Rotational power is the time rate of doing
rotational work
dWrot
Prot
dt
Product of the applied torque with the
angular velocity
dWrot d
Prot S S
dt dt
Table Problem: Change in
Rotational Energy and Work