Physics 1D03 1

Rolling Motion
Combined translational and rotational motion
Rolling without slipping
Dynamics of rolling motion
Text Section : 10.9
Practice problems: Chapter 10,
Conceptual Questions 13, 14
Problems 59, 61, 63, 81, 82, 83,
Physics 1D03 2
The general motion of a rigid body (i.e., not pure rotation about a fixed
axis) can be described as translation of the center of mass, plus
rotation about the center of mass.
Kinematics
( )
( )
( ) t
t
t
CM
CM
CM
a
v
r
Refer to motion of
center of mass
( ) ( ) ( ) , , t t t
Refer to rotation about an axis though
the center of mass, which travels with the
center of mass
( ) t v
y
( ) t v
x
a
CM
= g

CM
v
CM
Physics 1D03 3
Dynamics

=
CM
a F m

= I
CM CM
Gives linear acceleration of the position of the
center of mass.
Gives angular acceleration of the body about
the center of mass.
These are special properties of the centre of mass only
(although = is also true for a stationary axis of rotation).
Kinetic energy:
2
2
1
2
2
1

CM CM rot trans
I mv K K K + = + =
Physics 1D03 5
Different points on a rolling object
have different velocities (blue
vectors). The velocity of each
particle (blue) is the velocity of the
centre (red) plus the velocity r
relative to the centre (green).
The point in contact with the ground is momentarily
stationary. The point on the top of the wheel moves
forward at twice the speed of the centre.
C
Rolling Motion
v
C

Physics 1D03 6
If the body rolls without slipping, then its angular velocity and
angular acceleration are related to the linear velocity and
acceleration of the centre:
v = R and a = R
Proof: When the object turns through an angle , it moves forward
a distance s = R (if it doesnt slip).
s = R ; take derivatives
to get v = R
and a = R

s = R
R
Physics 1D03 7
Friction and Rolling Resistance
This is static friction if the wheel
rolls without slipping. At the point
of contact between the road and
wheel, there is no relative motion,
and friction does no work.
Rolling resistance which slows the wheel is a completely
different force. It results from the tire (and the road surface)
flexing inelastically at the contact point. This can be a small
effect, so wheels roll a long way.
Friction is necessary to create a torque
which can cause rotation and rolling.
Rf =
R
f
pull
Physics 1D03 8
Symmetrical rolling objects (CM in centre):
1. Dynamics: Use R a
CM
=
CM motion:
CM
ma F =
I =
Rotation about CM:
these are related by
the condition for rolling
2. Energy: Use R v
CM
=
Translational energy from CM:
2
2
1
CM trans
mv K =
Rotational energy about CM axis:
2
2
1
2
2
1
I mv K
CM
+ =
2
2
1
I K
rot
=
These are related by
the condition for rolling
Physics 1D03 9
A cylinder (mass m, radius R) rolls down a ramp without slipping.
What is its speed after it has descended a vertical height h?
Kinetic energy:
K = mv
2
+ I
2
= mv
2
+ I(v/R)
2
( = v/R, rolling)
= (m + I/R
2
) v
2
= m v
2
( I = m R
2
for a uniform cylinder)
f
mg
n
h
Which forces do work?
Physics 1D03 10
A solid cylinder and a hollow pipe
roll down a ramp without slipping.
Which gets to the bottom first?
If the suface were slippery, would the time increase or decrease?
For a moderate coefficient of friction, which can roll down the
steepest slope without slipping?
Physics 1D03 11
Quiz
A solid cylinder and a hollow pipe have the same mass.
Which can roll down the steepest slope without slipping?
a) pipe
b) cylinder
c) equal slopes
d) not enough information
Physics 1D03 13
f
mg
N
x
y
a
forces (x components): mg sin f = ma
CM
torques (clockwise): Rf = I
CM

rolling: a
CM
= R
solve ...
( )
CM
I mR
mg
f
2
1
sin
+
=

Physics 1D03 14
Quiz
A ball is rolling along level ground. It arrives at a slope,
and rolls up. While it is rolling up the hill without slipping
(before it has come to a stop), in which direction is the
force of static friction of the ground on the ball?
a) up the slope
b) down the slope
c) it will be zero
d) not enough information given
Physics 1D03 15
Quiz
Suppose the level ground was dry, but the hill was icy
(negligible friction). How far up will the ball go before
stopping?
a) just as far as when there was no ice
b) not as far
c) farther
Physics 1D03 16
Quiz
On a dry day, a round steel pipe is released from rest in a concrete
dainage ditch. It rolls down without slipping, and then rolls up the other
side to almost its original height.
On a rainy day, there is less friction, and the pipe slips partially on the
way down before it rolls. How far up the other side will it go?
A) Just as high as on the dry day.
B) A little higher.
C) Not as high.
Physics 1D03 18
Summary
For arbitrary motion of a rigid body, divide the motion into a linear
motion of the centre of mass, plus rotation about the centre of
mass. Then:

=
CM
a F m

= I
CM CM
Rolling without slipping:
v = R
a
t
= R
2
2
1
2
2
1

CM CM rot trans
I mv K K K + = + =