BAB 6

GERAK ROTASI TERHADAP

SUMBU TETAP

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6-1 KUANTITAS SUDUT

l = Rq
1 putaran = 360o = 2p rad
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 Frekuensi

• Jumlah putaran per sekon.

• 1 putaran/s = 2p rad/s.
• 1 Hz (Hertz) = 1 putaran/s.

w
f= ; w = 2pf
2p
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 Example 6-1
Hard drive.
The platter of a hard disk of a computer rotates at
5400 rpm (revolutions per minute). (a) What is the
angular velocity of the disk? (b) If the reading head
of the drive is located 3.0 cm from the rotation axis,
what is the speed of the disk below it? (c) What is the
linear acceleration of this point? (d) If the disk took
3.6 s to spin up to 5400 rpm from rest, what was the
average acceleration?

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 6-2 PERSAMAAN KINEMATIKA UNTUK
GERAK MELINGKAR BERATURAN

Besaran sudut Besaran Linier

q = wo t + ½ at2 x = vot + ½ at2
w = wo + at v = vo + at
w2 = wo2 + 2aq v2 = vo2 + 2ax

Persamaan ini hanya valid untuk a dan a konstan.

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 Example 6-2

Hard drive again.

Through how many revolutions did the hard drive in
example 6-1 turn to reach 5400 rpm during its
acceleration period? Assume a constant angular
acceleration.

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 6-3 GERAK MENGGELINDING (tanpa
slip/tergelincir)
• Gerak menggelinding tanpa slip bergantung pada gaya gesekan
statik antara benda dengan lantai.
• Gerak menggelinding meliputi gerak translasi dan rotasi

VERY IMPORTANT CONCEPT!

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 Example 6-3

Bicycle.
A bicycle slows down uniformly from vo = 8.40 m/s
to rest over a distance of 115 m. Each wheel has an
diameter of 68.0 cm. Determine (a) the angular
velocity of the wheels at the initial instant (t = 0), (b)
the total number of revolutions each wheel rotates
before coming to rest, (c) the angular acceleration of
the wheel, and (d) the time it took to come to a stop.

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Menentukan arah kecepatan sudut menggunakan
aturan tangan kanan

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 6-4 TORKA

• Torka (t ) merupakan besaran fisis yang

menyebabkan benda berotasi.
• Analog dengan gaya (F) yang menyebabkan benda
bergerak translasi.

F t

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Torka merupakan besaran vektor yang didefinisikan oleh:
t=RxF
Besar torka:

t = R F┴ = RFsinq

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Dua metode ini
ekuivalen.

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 Example 6-4
Torque on a compound wheel.

Two thin cylindrical wheels, of

radii R1 = 30 cm and R2 = 50 cm,
are attached to each other.
Calculate the net torque on the two-
wheel system due to the two forces
shown, each of magnitude 50 N.

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 6-5 DINAMIKA ROTASI; TORKA DAN
INERSIA ROTASI
• Percepatan linier:
 berbanding lurus dengan gaya.
 konstanta kesebandingan adalah massa.
• Percepatan sudut:
 berbanding lurus dengan torka.
 konstanta kesebandingan adalah momen inersia.

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 Menentukan Momen Inersia

Untuk sistem benda diskrit:

dimana ri adalah jarak tegak lurus benda mi ke sumbu

rotasi.

Untuk benda kontinu:

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 Example 6-5
Pulley and bucket.
Consider the pulley in the figure. We have
a bucket of weight 15.0 N (mass = 1.53
kg) hanging from the cord, which we
assume not to stretch or slip on the pulley.
(a) Calculate the angular acceleration a of
the pulley and the linear acceleration a of
the bucket. (b) Determine the angular
velocity w of the pulley and the linear
velocity v of the bucket at t = 3.00 s if the
pulley (and bucket) start form rest at t = 0.

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 Example 6-6
Two Weights on a Bar: Different Axis, Different I.
Two small “weights” of mass 5.0 kg and 7.0 kg are mounted 4.0 m apart on a
light rod (whose mass can be ignored). Calculate the moment of inertia of the
system (a) when rotated about an axis half way between the weights, and (b)
when the system rotates about an axis 0.50 m to the left of the 5.0 kg mass.

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 Example 6-7

Hollow cylinder.
Show that the moment of inertia of a uniform hollow
cylinder of inner radius R1, outer radius R2, and mass
M, is I = ½ M(R12 + R22), as stated in the figure d, if
the rotation axis is through the center along the axis
of symmetry.

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The Parallel-Axis and Perpendicular-Axis
Theorems
Parallel-Axis Theorem: if the moment of inertia I is
the moment of inertia of a body of total mass M about
any axis, and ICM is the moment of inertia about an
axis passing through the center of mass and parallel to
the first axis but a distance h away, then

I = ICM + Mh2

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 Example 6-8

Parallel axis.
Determine the moment of inertia of a solid cylinder
of radius Ro, and mass M about an axis tangent to its
edge and parallel to its symmetry axis.

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The Parallel-Axis and Perpendicular-Axis
Theorems
• Perpendicular-Axis Theorem: can be applied only
to plane figures—that is, to two-dimensional bodies,
or of bodies whose thickness can be neglected
compared to other dimensions.
• This theorem states that the sum of the moments of
inertia of a plane body about any two perpendicular
axes in the plane of the body is equal to the moment
of inertia about an axis through their point of
intersection perpendicular to the plane of the object.
• That is if the figure is in the xy plane:
Iz = Ix + Iy.
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 Example 6-12

Perpendicular axis.
Determine the moment of inertia of a thin circular
coin (a cylinder) about an axis through its center in
the plane of the coin.

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 6-6 MOMENTUM SUDUT DAN
HUKUM KEKEKALAN MOMENTUM
SUDUT

Momentum linier: p = mv
Momentum sudut: L = Iw

. sudut adalah kg m2/s.

Satuan SI untuk momentum

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Momentum sudut vs Momentum
linier

dL
S t = Ia =
dt

dp
SF = ma =
dt

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Hukum Kekekalan Momentum Sudut
Law of Conservation of Angular Momentum
The total angular momentum of a rotating
body remains constant if the net external
torque acting on it is zero.

When there is zero net torque acting on a body, and

the body is rotating about a fixed axis or about an
axis through its CM such that the direction doesn’t
change, we can write
Iw = Iowo = constant
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I besar, ω kecil I kecil, ω besar

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 Example 6-13

Running on a circular platform.

Suppose a 60-kg person stands at the edge of a 6.0-m-
diameter circular platform, which is mounted on
. bearings and has a moment of inertia of
frictionless
1800 kg m2. The platform is at rest initially, but
when a person begins running at a speed of 4.2 m/s
(with respect to the ground) around its edge, the
platform begins to rotate in the opposite direction.
Calculate the angular velocity of the platform.

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 Conceptual Example 6-14
Spinning bicycle wheel.
Your physics teacher is holding a spinning bicycle
wheel standing on a stationary frictionless turntable.
What will happen if the teacher suddenly flips the
bicycle wheel over so that it is spinning in the
opposite direction?

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Student

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 6-7 Energi Kinetik Rotasi

Linear Kinetic Energy: K = ½ mv2

Rotational Kinetic Energy: K = ½ Iw2

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 Work

Linear work: W = ½ mv22 – ½ mv12 = DK

Rotational Work: Wrot = ½ Iw22 – ½ Iw12 = DKrot

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 Example 6-16

Rotating rod.
A rod of mass M is pivoted on a frictionless hinge at
one end. The rod is held at rest horizontally and then
released. Determine the angular velocity of the rod
when it reaches the vertical position, and the speed of
the rod’s tip at this moment.

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6-8 Rotational Plus Translational
Motion

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 The Equations

Kinetic Energy = KCM + Krot

2
K = ½ MvCM + ½ ICMw2

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 Example 6-17

Sphere rolling down an incline.

What will be the speed of a solid sphere of mass M
and radius Ro when it reaches the bottom of an incline
if it starts from rest at a vertical height H and rolls
without slipping? Compare to the result of sliding
down the incline.

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 Conceptual Example 6-18

Who’s fastest?
Several objects roll without slipping down a vertical
incline of height H, all starting from rest at the same
moment (See figure.). In what order do they reach
the bottom?

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 Homework Problem 1

(a) A 0.35-m diameter grinding wheel rotates at 2500

rpm. Calculate its angular velocity in rad/s. (b) What
is the linear speed and acceleration of a point on the
edge of the grinding wheel?

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 Homework Problem 2

A rotating merry-go-round makes one complete

revolution in 4.0 s. (a) What is the linear speed of a
child seated 1.2 m from the center? (b) What is her
acceleration?

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 Homework Problem 3

A person exerts a force of 38 N on the end of a door

96 cm wide. What is the magnitude of the torque if
the force is exerted (a) perpendicular to the door and
(b) at a 60.0o angle to the face of the door?

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 Homework Problem 4

A wheel of diameter 27.0 cm is constrained to rotate

in the xy plane, about the z axis, which passes through
its center. A force F = (-31.0i + 38.6j) acts at a point
on the edge of the wheel that lies exactly on the x axis
at a particular instant. What is the torque about the
rotation axis at this instant?

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 Homework Problem 5

Calculate the moment of inertia of the array of point

objects, shown, about (a) the vertical axis, and (b) the
horizontal axis. Assume the objects are connected by
very light wires. About which axis would it be harder
to accelerate this array? M = 3.1 kg and m = 1.8 kg.

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 d1 d2

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 Homework Problem 6

A .84-m-diameter solid sphere can be rotated about

an axis through its center by a torque of 10.8 mN
which accelerates it uniformly from rest through a
total of 180 revolutions in 15.0 s. What is the mass of
the sphere?

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 Homework Problem 7

(a) What is the angular momentum of a 2.8-kg

uniform cylindrical grinding wheel of radius 18 cm
when rotating at 1500 rpm? (b) How much torque is
required to stop it in 7.0 s?

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 Homework Problem 8

A person stands, hands at the side, on a platform that

is rotating at a rate of 1.30 rev/s. If the person now
raises his arms to the horizontal position, the speed of
rotation decreases to 0.80 rev/s. (a) Why does this
occur? (b) By what factor has the moment of inertia
of the person changed?

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 Homework Problem 9

Two masses, m1= 35.0 kg and m2 = 38.0 kg, are

connected are connected by a rope that hangs over a
pulley, as shown. The pulley is a uniform cylinder of
radius 0.30 m and mass 4.8 kg. Initially m1is on the
ground and m2 rests 2.5 m above the ground. If the
system is released, use conservation of energy to
determine the speed of m2 just before it strikes the
ground. Assume the pulley bearing is frictionless.

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 Homework Problem 10

A thin, hollow 60.0-g section of pipe of radius 10.0

cm starts rolling (from rest) down a 21.5o incline 5.60
m long. (a) If the pipe rolls without slipping, what
will be its speed at the base of the incline? (b) What
will be the total kinetic energy at the base of the
incline? (c) What minimum value must the
coefficient of static friction have if the pipe is not to
slip?

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