Lecture 35 Torque and Angular Momentum

Torque due to Gravity

For a set of particles

EXT =

dL dt

where

L = r p and EXT = r FEXT

In the absence of external torques

= I

where i = ri Fi

EXT =

dL =0 dt

Total angular momentum is conserved

Take the y-axis vertical in the direction of gravity and the rotation axis to be along the z direction (rotation in the x-y plane as usual) and recall from the cross product that i = Z,i = rX,i FY,i - FX,i rY,i (also obtain via closest approach method) = x (-m g) - 0
i i

= g m i x i = gMx cm
i

m4

z-axis r4 x4

F4 r1 m2 F1 y

m1

So:

= Mgxcm
M = mi
i

Where:

m3 F3

r3

r2 F2

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Torque due to Gravity...

So for the purpose of figuring out the torque due to gravity, you can treat an object as though all of its mass were located at the center of mass. The total torque is force of gravity acting on the center of mass times the distance of closest approach to the line of the force

Rolling down an incline

An object with mass M, radius R, and moment of inertia I rolls without slipping down a plane inclined at an angle with respect to horizontal. What is its acceleration? Use force and torque diagrams. It has linear motion of its CM and rotation about the CM. We can treat them separately
M R I

NET = Mgx cm

M rcm xcm Mg

M = mi
i

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UIUC

Physics 1301: Lecture 35, Pg 4

Rolling down an incline

First linear motion Draw the free body diagram of the object and use F = MA : In the x direction

Rolling down an incline

We have two equations:

Mg sin - f s = MA
fs = I A R2
I M R

We can combine these to eliminate fs:

Mg sin - fs = MA N M
R

Rotation is caused by the frictional force fs Consider rotation about the CM and use = I

Mg sin I

A = MA R2

MR2 sin A = g 2 MR + I
A

For a sphere:

= Rfs = I and A = R
Rfs = I A R

y x

fs

fs = I

A R2

Mg

MR 2 sin A = g MR 2 + 2 MR 2 5

5 = g sin 7

Same as we found in lecture 32 using conservation of energy!

Physics 1301: Lecture 35, Pg 6

Velocity after a distance D

v 2 = 2 AD =
Physics 1301: Lecture 35, Pg 5

10 10 gD sin = gh 7 7

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Sliding to Rolling
A bowling ball of mass M and radius R is thrown with initial velocity v0. It is initially not rotating. After sliding with kinetic friction along the lane for an unknown distance D it finally rolls without slipping and has a new velocity vf. The coefficient of kinetic friction between the ball and the lane is . What is the final velocity, vf, of the ball? Remember things start to roll when v=R, so we need to calculate v and as a function of time

Sliding to Rolling...
While sliding, the force of friction will accelerate the ball in the -x direction: fk = -Mg = Ma so a = -g The speed of the ball is therefore v = v0 - gt (a) Friction also provides a torque about the CM of the ball which starts the ball rotating. Using = FR = I and I = 2/5MR2 for a solid sphere

= f k R = MgR =

= 0 + t =
vf= R

v0 D fk = Mg

5 g t (b) 2R
v0 D

2 MR 2 5

5 g 2R

v f= R

fk = Mg
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UIUC

Physics 1301: Lecture 35, Pg 7

5 g We have two equations: v = v0 gt (a) = t (b) 2R

Using (b) we can solve for t as a function of :
t = 2 R 5 g

Sliding to Rolling...

Marble on a sphere
A marble of radius (r=1cm) rolls from rest without slipping from the top of a large sphere of radius (R=80cm) which is held fixed. Find the angle from the top of the sphere to the point where the marble breaks contact with the sphere. Marble mass concentrated at its CoM at radius rc=R+r

The condition for rolling, not sliding is that the linear velocity equals the rotating velocity at the point of contact. Plugging t into (a) and using vf = R

2 R v f = v0 5
x

2 v f + v f = v0 5
v0 D

5 v f = v0 7

Doesnt depend on , M,R,g!!

Rolling round the sphere, the marble requires force towards center=mv2/rc Resolving forces towards centre mv2/rc = mgcos - N Marble leaves when N=0 or mv2/rc=mgcos v2/rc=gcos

mv2/rc mg

vf= R

f = Mg

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Physics 1301: Lecture 21, Pg 10

Marble on a sphere
Apply conservation of energy at this point. Loss of PE = mgh = mg(rc-rccos) = mgrc(1-cos) Gain of KE = mv2+ I2 = mv2 + 2/5mr2 2 = 7/10mv2 PE = KE 7/10mv2 =mgrc(1-cos) v2/rc=10g(1-cos)/7 From last slide, condition for leaving sphere is Substituting for v2/rc 10g(1-cos)/7=gcos cos=10/17 v2/rc=gcos
h N

ICQ: Translational v rotational KE

For a disk of mass M, radius R which is rolling without slipping, which is greater, its translational or rotational Kinetic Energy?

mv2/r mg

( I=2/5mr2 v=r)

a) Its translational kinetic energy is greater b) Its rotational kinetic energy is greater c) They are equal d) The answer depends on the radius e) The answer depends on the mass v = R M I= MR2
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=540

Independent of m,R,r,g!!
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Translational v rotational KE
For a disk of mass M, radius R which is rolling without slipping, which is greater, its translational or rotational Kinetic Energy? a) Its translational kinetic energy is greater b) Its rotational kinetic energy is greater c) They are equal d) The answer depends on the radius e) The answer depends on the mass

Translational v Rotational KE
Translational KE = Mv2 Rotational KE= I2 I= MR2 R=v (rolling not slipping) Rotational KE = MR22 = Mv2 Answer a)

v = R M I= MR2 v = R M

I= MR2

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Angular Momentum
We will see that the concept of of angular momentum allows us to study a wide variety of systems such as: Planetary and lunar motion Spinning tops, gyroscopes Nuclear and particle physics Many other moving systems
FEXT =

Angular Momentum
We have shown that for a system of particles

dp dt

Linear Momentum is conserved if

FEXT = 0

What is the rotational version of this?? The rotational analogue of force F is torque = r F Define the rotational analogue of momentum p to be the angular momentum L = r p
Adam Hart-Davis Physics 1301: Lecture 21, Pg 15 Physics 1301: Lecture 21, Pg 16

Angular Momentum
Consider the rate of change of L:

Angular Momentum
dL dp =r dt dt
Recall that F E X T =
dp dt

dL d = (r p ) dt dt
d dr dp (r p) = p + r dt dt dt
= (v mv ) =0

dL = r FEXT dt EXT

Which finally gives us:

EXT =

dL dt

So

dL dp =r dt dt

Analogue of FEXT =

dp dt
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What does it mean?

Angular momentum of a rigid body about a fixed axis

Consider a rigid distribution of point particles rotating in the x-y plane around the z axis, as shown below. The total angular momentum around the origin is the sum of the angular momenta of each particle:

EXT

dL = dt

where

L = r p and EXT = r FEXT

EXT = dL =0 dt

In the absence of external torques

L = ri pi = mi ri v i = mi ri vi k
i i i

(since ri and vi are perpendicular) v1 m2 v2 r2 m3 r3 j i r1 m1 v3

We see that L is in the +z direction. Total angular momentum is conserved Using vi = ri , we get
2 L = m i ri k i

Just as in the absence of external forces linear momentum is conserved

L=I
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Analogue of p = mv
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Angular momentum of a rigid body about a fixed axis:

In general, for an object rotating about a fixed (z) axis we can write LZ = I The direction of LZ is given by the right hand rule (same as ). We will omit the Z subscript for simplicity, and write L = I z

Example: Two Disks

A disk of mass M and radius R rotates around the z axis with angular velocity i. A second identical disk, initially not rotating, is dropped on top of the first. There is friction between the disks, and eventually they rotate together with angular velocity f. z z

LZ = I

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f
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Example: Two Disks

First realize that there are no external torques acting on the two-disk system. Angular momentum will be conserved! Initially, the total angular momentum is due only to the disk on the bottom:

Example: Two Disks

Finally, the total angular momentum is due to both disks spinning:

L f = I1 1 + I 2 2
z 2

Li = I 1 1 =

1 MR 2 i 2
i

1 = 2 = f
I1 = I 2 = 1 MR 2
2
2

2 1

L f = MR f

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Example: Two Disks

Conservation of Angular Momentum Li = Lf

Homework
Read Chapter 10, sections 1-6 Do homework problems Chapter 9 # 55 and Chapter 10 # 11,18,33

1 MR 2 i = MR 2 f 2
1 f = i 2

KE difference =1/2 Iii2-1/2 Iff2 =1/4 Iii2 An inelastic collision, since E is not conserved (friction)! Lf

Li

f
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