Kinematics and dynamics

2nd half of semester

Lecture note #6: Torque
Dr. Eng. Radon Dhelika
Dept. of Mechanical Engineering
Syllabus
Kinematics:
Properties of motion: position, velocity, acceleration
NO force
Dynamics
To study the interaction between those properties
Involving force, work, energy, impulse, etc

1. Particle: force and acceleration

2. Particle: work and energy
3. Particle: impulse and momentum
4. Particle: collision and relative motion
5. Systems of particles
6. Rigid body: force and acceleration
7. Rigid body: work and energy
8. Rigid body: impulse and momentum 2
Schedule (tentative)
Lecture No Topic
1 (5 April) Intro, Newton's second law, friction
2 (7 April) Friction, forces in circular motion
3 (12 April) Work, kinetic energy
4 (14 April) Power, gravitational and elastic potential energy
5 (19 April) Gravitational and elastic potential energy (2)
6 (21 April) Quiz 1 (10%), Impulse + momentum (1)
7 (26 April) Impulse + momentum (2) (self study)
8 (28 April) Quiz 2 (10%), Moment of inertia
9 (3 Mei) Torque (1)
10 (5 Mei) Libur
11 (10 Mei) Libur (ekskursi)
12 (12 Mei) Quiz 3 (10%), Torque (2)
13 (17 Mei) Angular momentum
14 (19 Mei) Quiz 4 (15%) 3
Quiz #2 result
Those who scored 100:
Abdul Hakim Muzakki
Adam Prihananda Marda
Adjie Fahrizal Sandi
Agus Nurrokhmat The most-improved award:
Ahmad Alfan Farizi Ganang Adhitama (81.82%
Bayu Amarta Zulkarnaen
improvement from the previous
Derizar Ihsan Pratama
Ferdiansyah Z
Quiz)
Ganang Adhitama
Jordy Angkawidjaja
M W Ajiwibowo
Miftah Shidqi Ramadhan
Muhammad Barryl Anggriawan
Muhammad Naufal Lubis
Qayyum Hamidi Alius
Reyhan Arvialido
Rheza Daniswara
Yusuf Abdurrakhman Saleh

4
Torque (1)
Torque: describes the
twisting or turning effort
of a force

5
Torque (2)
Three ways to calculate torque:
= Fl
= rF sin
= Ftanr

6
Dynamics of rotational motion

The subscript z is a reminder that the torque affects

rotation around the z-axis,

is useful whenever torques act on a rigid

body. Sometimes you can use an energy approach
instead. However, if the target variable is a force, a
torque, an acceleration, an angular acceleration, or an
elapsed time, using is almost always the
best 7
Combination of rotation and
translation

(Rigid body with both translation and rotation)

Important case: rolling without slipping

(consider a wheel)

8
Solved problem 1
Revisit the problem of a block
and a pulley (solid cylinder).
Find the expression for the
speed when the block hits the
ground with force method
(Newton's second law
equivalent for rotational
motion)

Recall that in the previous

lecture, you solve it with
energy method:

9
Solved problem 1
For the block:

For the cylinder:

Using this relation:

We can arrive at:

Finally using kinematics:

10
 Solved problem 2
A bowling ball rolls without slipping down a ramp, which
is inclined at an angle to the horizontal. What are the
balls acceleration and the magnitude of the friction force
on the ball? Treat the ball as a uniform solid sphere,
ignoring the finger holes.

11
Solved problem 2
The free-body diagram shows that only the
friction force exerts a torque about the center
of mass

By having

We can then obtain

12
Motor and torque (1)
Torque is an important
parameter for selection of
motors for practical application

Stepper motor DC motor

Suppose you want to build a 4-
wheel robot, 0.2 kg. The diameter
of the wheel is 10 cm. Which motor
will you choose?
Servo motor

13
Motor and torque (2)
What is the torque's
magnitude of a typical car?
This Mercedes has 500 N.m
With some calculation, this
car can have an a of 4.25
m/s2, or 0-100 km/h in 6.3
sec

How to achieve faster acceleration?

more torque
a lighter car
a lower center-of-mass (closer to the wheel axle in height)
larger diameter wheels & tires

14
 Solved problem 3
You make a primitive yo-yo by
wrapping a massless string around a
solid cylinder with mass M and radius
R. You hold the free end of the string
stationary and release the cylinder
from rest. The string unwinds but does
not slip or stretch as the cylinder
descends and rotates. Using energy
considerations, find the speed vCM of
the center of mass of the cylinder after
it has descended a distance h.

Ans: You may use:

15
 Solved problem 3

Things to ponder:
1. Two-thirds of the total kinetic energy is translational and one-
third is rotational
2. Because not all of the released energy goes into translation, vCM is
less than the speed (2gh)1/2 of an object dropped from height h
with no strings attached. 16
 Solved problem 4
Which body rolls down the incline fastest, and why?

For

Solid Hollow Hollow

Shape Solid sphere
cylinder sphere cylinder
c 1/2 2/5 2/3 1 17
 Solved problem 4
From conservation of energy,

Hence the order from fastest to slowest will be:

1. Solid sphere
2. Solid cylinder If we have solid cylinder A with M=2kg
3. Hollow sphere and solid cylinder B with M=4kg, which
will rolls down the fastest?
4. Hollow cylinder 18