Lecture 32: Rolling and Torque

1 1 2 K NET = ICM 2 + MVCM 2 2

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Rolling Motion
Rolling ball and/or disk Viewed when slipping or not in contact with the ground: If there is no slipping, point in contact with the ground is at rest

Kinetic Energy and CM motion

The kinetic energy of a wheel or ball rolling without slipping is

K= Ic2

Ic is the moment of inertia about the point of contact with the ground

By the parallel axis theorum

Ic=Icm+MR2
The kinetic energy of the rolling system is

K = (Icm+MR2)2 = Icm 2+ MVcm2

v = R
Rolling with slipping and friction later
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Total KE is the sum of the rotational kinetic energy about its center of mass plus the linear kinetic energy of the center of mass

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Kinetic Energy and CM motion

So for a solid object which rotates about its center or mass and whose CM is moving:

Rolling Motion
Cylinders of different I rolling down an inclined plane:

K NET
VCM

1 1 2 = ICM 2 + MVCM 2 2

R M h

vi = 0 i = 0 Ki = 0

E i = P .E . = M gh
1 1 I f 2 + Mv f 2 2 2
vf = f R

Ef = K f =

The energy is shared between rotation and translation. If I is large, more energy is in the rotation, the linear velocity is small If I is small, v is large
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Rolling...
For hoop/open cylinder I = MR2

Hoop, cylinder, sphere

Given the moments of Inertia Hoop
2

1 1 I 2 + Mv 2 , v = R 2 2 1 1 1 K = MR 2 2 + Mv 2 = Mv 2 2 2 K =
By conservation of energy

I = MR2 I = 2/5 MR2

1 Mv 2

Cylinder I = MR2
2

= Mv

Sphere

Which will get to the bottom of the slope first? a) Hoop b) Cylinder c) Sphere d) All arrive together

Initial PE = Final KE

M v 2 = M gh

vhoop = gh

v is independent of mass and radius , all cylinders roll with the same velocity

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Hoop, cylinder, sphere

Given the moments of Inertia Hoop Sphere I = MR2 Cylinder I = MR2 I = 2/5 MR2 Which will get to the bottom of the slope first? a) Hoop b) Cylinder c) Sphere d) All arrive together Solid cylinder

Rolling
I = ()MR2

K=

1 1 I 2 + Mv 2 2 2

K =

1 1 1 1 3 MR 2 2 + Mv 2 = Mv 2 + Mv 2 = Mv 2 4 2 4 2 4

Conservation of energy, KE = PE

3 Mv 4

= Mgh

vcylinder =

4 gh 3
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Rolling...
For sphere I = (2/5)MR2

Summary of Rolling
K= 1 1 I 2 + Mv 2 2 2
Use v = R and I = cMR2 . hoop: disk: etc... c=1 c = 1/2

K=

1 1 I 2 + Mv 2 2 2
10 gh 7

K =

1 1 7 M R 2 2 + M v 2 = Mv2 5 2 10
Higher I leads to lower velocity.

1 1 1 K = cMR 2 2 + Mv 2 = ( c + 1 ) Mv 2 2 2 2
So:

sphere: c = 2/5

v sphere =

I=2/5MR2

1 ( c + 1 ) M v 2 = M gh 2

v = 2 gh

1 c+1

v hoop =
vcylinder =

gh
4 gh 3

I=MR2 The rolling speed is always lower than the speed of frictionless sliding since the kinetic energy is shared between CM motion and rotation.

I=(1/2)MR2

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ICQ: Rotations
A bowling ball (uniform solid sphere) rolls along the floor without slipping. What is the ratio of its rotational kinetic energy to its translational kinetic energy? (a)
1 5

ICQ: Rotations
A bowling ball (uniform solid sphere) rolls along the floor without slipping. What is the ratio of its rotational kinetic energy to its translational kinetic energy? (a)
1 5

(b) 2
5

(c)

1 2

(b) 2
5

(c)

1 2

Recall that I = MR 2 for a solid sphere about an axis through its CM:
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2 5

Recall that I = MR 2 for a solid sphere about an axis through its CM:

2 5

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ICQ: Rotations Solution

The total kinetic energy is partly due to rotation and partly due to translation (CM motion). K=
1 I 2
2

ICQ: Rotations
A ball and box have the same mass and are moving with the same velocity across a horizontal floor. The ball rolls without slipping and the box slides without friction. They encounter an upward slope in the floor. Which one makes it farther up the hill before stopping? (a) ball (b) box (c) same

1 MV 2

rotational K

translational K

Since it rolls without slipping: V =

R
2

1 I 2 K ROT = 2 1 K TRANS MV 2 2

2 2 MR 5 = M 2R2

2 5

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ICQ: Rotations
A ball and box have the same mass and are moving with the same velocity across a horizontal floor. The ball rolls without slipping and the box slides without friction. They encounter an upward slope in the floor. Which one makes it farther up the hill before stopping? (a) ball (b) box (c) same

ICQ: Rotations Solution

The ball and box will stop when their initial kinetic energies have been converted to gravitational potential energy (mgH). 1 The initial kinetic energy of the box is K = mv2 2 1 2 1 2 The initial kinetic energy of the ball is K = mv + I 2 2 Since the ball has more initial kinetic energy, it will go higher! bigger v

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Rotation Variables as Vectors

In general, the rotation variables are vectors (have direction) What does direction of a rotation mean? Only sensible direction is perpendicular to plane of rotation. If the plane of rotation is in the x-y plane, then the convention is y Counter ClockWise rotation from x to y axis is in the + z direction ClockWise rotation from y to x axis is in the - z direction
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The Right Hand Rule

To figure out in which direction the rotation vector points, curl the fingers of your right hand the same way the object turns, and your thumb will point in the direction of the rotation vector! y x z We normally pick the z-axis to be the rotation axis as shown.

x z y x z
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= z = z = z
We often omit the subscripts as we define the rotation to be in the x-y plane
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ICQ: Rotations
A ball rolls without slipping across the floor, and then starts up a ramp as shown below. In what direction does the angular acceleration vector point when the ball is on the ramp? (a) down the ramp (b) into the screen (c) out of the screen

ICQ: Rotations
A ball rolls without slipping across the floor, and then starts up a ramp as shown below. In what direction does the angular acceleration vector point when the ball is on the ramp? (a) down the ramp (b) into the screen (c) out of the screen

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ICQ: Rotations Solution

When the ball is on the ramp, the linear acceleration a is always down the ramp (gravity) The rolling is slowing The angular acceleration is therefore counter-clockwise. Using your right hand rule, is out of the screen!

Torque
Apply a tangential force F to a disk The result is that the spin (angular velocity) of the disk changes The force creates a torque on the disk.

If F is tangential to the disk, the magnitude of the torque is

= Fr
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Torque
If F is not tangential to the disk We can divide the force into a tangential and a radial component The radial component does not affect the spin

= Ft r

The torque is the tangential force Ft times the lever arm r

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