Angular velocity and angular acceleration

CHAPTER 9 ds i
!
ri i
ROTATION

Angular velocity and angular acceleration

! equations of rotational motion
Torque and Moment of Inertia
! Newtons 2nd Law for rotation
Determination of the Moment of Inertia
The arc length moved by the ith element in a rotating
rigid, non-deformable disk is:
dsi = ri d
where d is in radians. The angular velocity of the

Rotational kinetic energy rotating disk is defined as:

! power d
= ,
dt
Rolling objects (with no slip)
and so the linear velocity of the i th element (in the
direction of the tangent) is:
dsi
vi = = ri.
dt
 Whats the relationship between the
angular and linear velocity of two points
on the same disk?

DISCUSSION PROBLEM [9.1]:

You have a friend who lives in Minnesota, and you live

in Florida . As the Earth rotates, your linear velocity
is ___________ hers, and your angular velocity is
____________ hers.

A: less than; equal to

RMM02VD2.mov B: equal to; greater than
C: greater than; less than
The angular velocity is the same for all points on the D: less than; greater than
disk but the linear (or tangential) velocity is not. Look, E: greater than; equal to
v = r,
so, since r2 > r1, then v 2 > v1.
 If the angular velocity changes
there is angular acceleration ...

d Angular velocity ( ) (vector)

! !
ds i ai a it

! ! 1
ri i a ir Dimension:
! ! [T]
a ir a it
1 [L]
(Check: v i = ri [L] = ).
[T] [T]
The angular acceleration of the disk is:
Units: rad/s
d d d d 2
= = . = ,
dt dt dt dt 2
Angular acceleration ( ) (vector)
and the tangential acceleration of the i th element is:
dv d
a it = i = ri = ri. 1
dt dt Dimension:
[T]2
But, because the ith element is traveling in a circle, it
experiences a radial (centripetal) acceleration:
2 Units: rad/s2
v
a ir (= a ic ) = i = ri 2 .
ri
!
The resultant linear acceleration is a i = a ir 2 + a it 2 .
 CONNECTION BETWEEN LINEAR
AND ROTATIONAL MOTION

Linear motion Rotational motion

a constant constant
Question 9.1: A disk of radius 12 cm, initially at rest,
v = v ! + at = ! + t begins rotating about its axis with a constant angular
1 1
(x x ! ) = v ! t + at 2 ( ! ) = ! t + t 2 acceleration of 3.00 rad/s2 . After 5 s, what are (a) the
2 2
angular velocity of the disk, and (b) the tangential and
v 2 = v !2 + 2a(x x ! ) 2 = !2 + 2( ! )
centripetal accelerations of a point on the perimeter of
the disk? (c) How many revolutions were made by the
You see, theyre
very similar disk in those 5 s?
 r = 0.12 m: ! = 0: ! = 0: t = 5 s
In many applications a belt or chain is pulled from or
r
= 3.00 rad/s2 .
wound onto a pulley or gear wheel ...
= ?: = ?: a t = ?: a c = ?
vt vt
(a) = ! + t = (3.00 rad/s2 )(5 s) = 15.0 rad/s.
at

(b) v i = ri = (0.12 m)(15.0 rad/s) = 1.80 m/s (linear).

R
tangential acceleration: a t = ri
= (0.12 m)(3.00 rad/s2 ) = 0.36 m/s 2 .
As the string (chain or belt) is removed (or added), its
centripetal acceleration: a c = ri 2
instantaneous velocity is the same as the tangential
= (0.12 m)(15.0 rad/s)2 = 27.0 m/s2 .
velocity at the rim of the wheel, providing there is no
v2 (1.80 m/s)2 slip:
(Check ... a c = = = 27.0 m/s2 .)
r 0.12 m i.e., v t = R .

1
(c) ( ! ) = ! t + t 2 Also, under the same conditions, the instantaneous
2
acceleration of the string is the same as the tangential
1
= (3.00 rad/s2 )(5 s)2 = 37.5 rad, acceleration at the rim of the wheel:
2
dv d
37.5 rad i.e., a t = t = R = R.
n= = 5.97 rev. dt dt
2
As we saw in chapter 4 that force produces change in [M][L] [M][L]2
Dimension: [L] = (vector)
motion. However, force does not always produce a [T]2 [T]2
change in rotational motion. It is torque that produces a Unit: N m
change in rotational motion. Consider a mass m attached
to a massless rigid rod that rotates around an axis O. The Form the radial and tangential components of the
force F shown will cause the mass to rotate. force:
"
F " Ft = F sin "
F F

r m Fr = F cos
r m r m
O
= r sin O O

The magnitude of the torque due to a force F on m is:

= F = (r sin )F, Then = F = (r sin )F = r(F sin )
where is called the lever arm. The lever arm is the i.e., = rFt .
perpendicular distance from the axis of rotation (O) to Note: the radial component Fr , which passes through
the line of action of the force. the axis of rotation, does not produce a torque and
" therefore it does not produce rotation; only the
NOTE: if F passes through O, i.e., = 0, then = 0 and tangential component Ft produces a torque that results
there will be no change in rotational motion. in rotation.
 Ft = F sin "
F From above, for each separate mass element, we have
Fr = F cos i = (mi )ri2 ,
r m
where i is the net torque
O ri
mi
O on the ith element.
Summing over all
Newtons 2nd Law tells us that the tangential component
elements, the total net
of the force Ft produces a tangential acceleration a t,
torque on the object is:
i.e., Ft = ma t .
= rFt = mra t . (
net = i i = i (mi )ri2 = i (mi )ri2 )
But, from earlier, the tangential (linear) acceleration is = I,
related to the angular acceleration , viz: a t = r. where we call I = i (mi )ri2 the MOMENT OF
= mra t = mr 2. INERTIA. This is Newtons 2nd Law for rotation, i.e.,
So torque () produces angular acceleration (). net = I.

A rigid object that rotates about a fixed axis can be A net external torque acting on a body produces
thought of as a collection of small, individual elements of an angular acceleration, , of that body given
mass ( mi ) that each move in a circular path of radius ri, by I, where I is the moment of inertia.
where ri is measured from the axis of rotation. (viz: Fnet = i Fi = ma .)
 Moment of inertia ... so
whats that all about?

Dimension: I [M][L]2 (scalar)

Units: kg m2
Every object has a moment of inertia about an axis of
rotation. Its value depends not simply on mass but on
how the mass is distributed around that axis. For a
discrete collection of n objects, the moment of inertia
Question 9.2: Find the moment of inertia of a uniform
thin rod of length and mass M rotating about an axis
perpendicular to the rod and through its center.
y
x

about the rotation axis is:

I = n In = n mn rn2 .
For a continuous object:
I = Limit i (mi )ri 2 = r 2dm,
mi 0

where m is a function of r.
 y
[1] Show for yourselves that the moment of inertia of a
dx x rod of mass M and length about one end is
x
2
2
y

A rod is a continuous object, so the moment of inertia is dx x

x= 2 x
0
2 2
I = r dm = x dm .
x= 2 1
I = M 2 .
3
The mass per unit length of the rod is M , so the mass of
the small element of length dx is [2] Show for yourselves that the moment of inertia of a
( )
dm = M dx. rod of mass M and length about an axis one-third the
distance from one end is
Substituting for dm, the integral becomes
y

x= 2 x3 2
( )
I = x 2 M dx = M ( )
3
dx x
x= 2 x
2 3 0 2
3
3 (3 ) 1
= ( )
M 2
24 24 = 12 M .
1
I = M 2 .
9
 2 r
The moment of inertia is given by I = r 2dm. Consider
r1

a ring of radius r and

dr width dr. If the mass of
Question 9.3: Find the moment of inertia of the circular r the object is M, the
disk shown below, rotating about an axis perpendicular mass of the ring is
to the plane and through its center. The mass of the disk 2rdr
dm = M ,
is 1.50 kg. (
r22 r12 )
where r1 and r2 are the inner and outer radii of the
object. Then, substituting for dm,
2 r 2rdr 2M r2 3
I = r 2M = r dr
10 cm r1 (
r22 r12 ) (
r22 r12 r1 )
r
2M r 4 2
20 cm
M
= 2 = r2 4 r14 ( )
( 2
r2 r1 4 r
1
) 2
2 r2 r12
( )
M 1
= ( )( )
r22 r12 r22 + r12 = M r22 + r12 . ( )
2( r22 r12
) 2
 Sure, but, whats the significance of I?
1
(
I = M r22 + r12
2
)
1
(
= (1.50 kg) (0.20 m)2 + (0.10 m) 2
2
) Remember, from chapter 4 ...
Mass a measure of resistance to a change in
= 3.75 102 kg m2 . linear motion, e.g., how difficult it is to start or
stop linear motion.
1
[1] If r1 = 0, then Idisk = MR 2 , R
2
Moment of Inertia a measure of resistance to a
where R is the radius of the disk ( = r2 ) .
change in rotational motion, i.e., how difficult it is
to start or stop rotational motion.

[2] For a thin hoop, r1 r2 = R,

R
1
( )
then I hoop = M 2R 2 = MR 2 .
2

Providing the thicknesses of the disks are uniform, the

RMM04VD1.MOV
moments of inertia do not depend on thickness. So, these
expressions also apply to cylinders and tubes. Same torques
Different moments of inertia
Values of the moment of inertia for simple shapes ...
Thin rod Slab
1 1
I = ML2 I = M(a 2 + b 2 )
12 12

L b b
L
a a
Slab
1
Thin rod I = Ma 2
1 3
I = ML2
3 Question 9.4: A 1 m ruler has a mass of 0.25 kg. A 5 kg
Hollow cylinder Hollow sphere mass is attached to the 100 cm end of the rule. What is
1 2 2 2 2
I= M(R + r ) I= MR its moment of inertia about the 0 cm end?
2 3
Thin-walled cylinder
I = MR 2

Solid cylinder Solid sphere

1 2
I = MR 2 I = MR 2
2 5
 O
5 kg
DISCUSSION PROBLEM [9.2]:
b
a
O A pair of meter rulers are
The combined moment of inertia is I = I ruler + I mass , placed so that their lower
where I ruler and I mass are calculated about O O . ends are against a wall.
One of the rulers has a
Since a >> b we assume the meter rule is a rod (viz: large mass attached to its
1 upper end. If the meter
Question 9.2) with I = Ma 2 about O O .
3 rulers are released at the
1 1 same time and allowed to
I ruler = Ma 2 = (0.25 kg)(1 m)2
3 3 fall, which one hits the
2
= 0.083 kg m . floor first?
The moment of inertia of the 5 kg mass about O O is
I mass = ma 2 = (5.0 kg)(1 m) 2 = 5.0 kg m2 . A: The meter ruler with the mass.
Thus, the total moment of inertia of the ruler and mass is B: The meter ruler without the mass.
C: They hit the floor at the same time.
I ruler + I mass = 5.083 kg m2 .
 Perpendicular axis theorem:

Parallel axis theorem: z

Consider a planar object (e.g., a thin
disk or sheet) in the x,y plane. By
Icm Usually, the moment of inertia is yi y
definition, the moment of inertia
I d xi ri
given for an axis that passes through mi
about the z-axis (perpendicular to
the center of mass (cm) of the x
the plane of the object) is
object. What if the object rotates
I z = i mi ri2 = i mi (x i2 + y i2 ) = i mi x i2 + i mi y i2
about an axis for which we dont
But i mi x i2 = I x , i.e., the moment of inertia about x, and
know the moment of inertia? The
moment of inertia about a general (parallel) axis is given i mi y i2 = I y , i.e., the moment of inertia about y.
by: I z = I x + I y .
I = Icm + Md 2 Note: the object must be planar
where Icm is the moment of inertia about the center of Example of a disk:
mass, M is the mass of the object and d is the distance
z y 1
between the axes. I z = MR 2 .
2
x
Note: the two rotation axes must be parallel But, by symmetry, I x = I y .
1
I x = I y = MR 2 .
4
 y y
2m 2m
3 kg 4 kg
2m

Question 9.5: Four masses at the corners of a square 2m cm 2m

with side length L = 2 m are conncted by massless rods. D

4 kg 3 kg
The masses are m1 = m3 = 3 kg and m2 = m4 = 4 kg. x x
Find (a) the moment of inertia about the z-axis, (b) the z z

moment of inertia about an axis that is perpendicular to
the plane of the ensemble and passes through the center
of mass of the system, (c) the moment of inertia about
the x-axis, which passes through m3 and m4.
(a) Moment of inertia about the z-axis:
I z = i mi ri2 = (3 kg)(2 m)2 + (4 kg)(2 2 m)2
+(3 kg)(2 m)2 + (4 kg)(0) = 56 kg m2 .

y
L (b) By symmetry, the center of mass is at the center of
m1 m2 the square.
L Icm = i mi ri2 = (3 kg)( 2 m)2 + (4 kg)( 2 m)2

m4
+(3 kg)( 2 m)2 + (4 kg)( 2 m)2 = 28 kg m2 .
m3
x Check, using the parallel axis-theorem
z
I z = Icm + MD2
Icm = I z MD 2 = (56 kg m2 ) (14 kg)( 2 m)2
= 28 kg m2 .
 y
2m
3 kg 4 kg

2m
Question 9.6: Four thin rods, each of length and mass
4 kg 3 kg M, are arranged to form a square, in the x,y plane, as
x
shown, with the origin of the axes at the center of the
z
square. (a) Using the parallel axis theorem, show that
(c) Since the ensemble is planar and confined to the x,y 4
I z = M 2 .
plane, we can use the perpendicular axis theorem, i.e., 3
Iz = Ix + Iy. (b) Hence find I x and I y.
But, by symmetry, I x = I y . z

1 1
(
I x = I z = 56 kg m2
2 2
)
y
2
= 28 kg m .
x
Check:
I x = i mi ri2 = (3 kg )(2 m )2 + (4 kg )(2 m)2
= 28 kg m2 .
 We saw in chapter 6 that a linearly moving object has
(a) Using the parallel axis translational kinetic energy ... an object rotating about
z theorem, we have for each an axis has rotational kinetic energy ...

rod
y
I z = Icm + Md 2 , If a rigid object is rotating
x where Icm is the moment of vi with angular velocity ,
ri mi the kinetic energy of the ith
inertia through the center of mass of each rod and d = 2 .
O element is:
1 4 2 1
I z (total) = 4 m2 + m = m2 . Ki = (mi )v i2
12 4 3 2
1
= (mi )(ri2 2 ), since v i = ri .
2
(b) Since the object is planar we can use the perpendicular
So, the total rotational kinetic energy is:
axis theorem, i.e.,
1
Iz = Ix + Iy. K = i Ki = i (mi )ri22
2
But because of symmetry I x = I y . 1
= I 2.
1 2 2
I x = I y = I z = m2 .
2 3 1 1
* K rot = I2 is the analog of K trans = mv 2 .
2 2
A torque is required to rotate (or slow down) an object ...
but torque involves force ...

! !
F F
! ds
Ft
r
d Fr
O
+ = 90"
Ft = F cos
Question 9.7: An engine develops 400 N m of torque at
3700 rev/min. What is the power developed by the
When force is applied over a distance, work is done, engine?
given by:
! !
dW = F d s = F.dscos = F cos .ds
= Ft .ds = Ft .rd = .d (J or N.m).
Power is the rate at which the torque does work,
dW d
i.e., P = = = (watts).
dt dt
dW = .d is the analog of dW = F.ds.
P = is the analog of P = Fv.
Torque = 400 N m.
Angular velocity = 3700 rev/min Question 9.8: An electric motor exerts a constant torque
2(3700 rev/min) of 10 N m to the shaft of a grindstone. If the moment of
= = 387.5 rad/s.
60 s/min
inertia of the grindstone is 2 kg m2 and the system starts
From earlier, power P =
from rest, find (a) the rotational kinetic energy of the
5
= (400 N m)(387.5 rad/s) = 1.55 10 watts. grindstone after 8.0 s, (b) the work done by the motor
But 746 watts = 1 HP during this time, and (c) the average power delivered by
1.55 105 watts the motor.
P = = 208 HP.
746 watts/HP
(a) To find the rotational kinetic energy we need to know
the angular velocity .
10 N m
Since = I, = = 2 = 5.0 rad/s2 .
I 2 kg m
The grindstone starts from rest ( ! = 0) so
(c) The average power is the total work done divided by
= t = (5.0 rad/s2 )(8.0 s) = 40 rad/s.
the total time interval, i.e.,
1 1 W 1600 J
K = I2 = (2 kg m2 )(40 rad/s)2 = 1600 J. Pav = = = 200 W.
2 2 t 8.0 s
Note: the expression P = we derived earlier is actually
(b) There are two ways to determine the work done by the instantaneous power. We cannot use that expression
the motor. here as is not constant.
(i) By the work-kinetic energy theorem we would
expect the motor to have done 1600 J of work. Note that the instantaneous power increases linearly from
(ii) We can use the expression W = , but we need zero at t = 0 to (10 N m) (40 rad/s) = 400 W at
to find , i.e., the angle through which the grindstone has t = 8.0 s.
turned in 8.0 s.
1 1
= ! t + t 2 = (5.0 rad/s2 )(8.0 s)2 = 160 rad
2 2
( = 25.46 rev).
W = = (10 N m)(160 rad) = 1600 J.
 2v cm
If a rigid object is suspended from an arbitrary point O Consider a ball, cylinder, wheel
and is free to rotate about that point, it will turn until the v cm or disc) rolling on a surface
center of mass is vertically beneath the suspension point. without slipping.
v=0
y
The point in contact with the surface has zero
instantaneous velocity relative to the surface.
rcm cm
The velocity of the cm is v cm ( = r = v),
O x
xcm Mg The velocity of a point at the top is 2v cm (= 2v).

Since the object has the same linear velocity as the cm,
i.e., v, the total kinetic energy is:
If the y-direction is vertical and the suspension point is 1 1
not at the center of mass, the object will experience a net K tot = mv 2 + I2
2 2
torque given by translational + rotational
= Mgx cm, where = v r . So, as a ball rolls down a hill ...
where x cm is the x component of the center of mass.
Therefore, the object will rotate until x cm = 0, i.e., the v, Gravitational potential energy
suspension point is direction above the center of mass. translational energy
+ rotational energy
Consider rolling a sphere, cylinder and a hoop down an
incline. Do they have the same velocity at the bottom?

v
h

For each object, conservation of energy gives: RMA07VD2.MOV

1 1
mgh = mv 2 + I 2, v2 =
2gh
2 2 I
1+ 2
and with no slip v = R , where R is the radius of the mR
2
object. After manipulation we find: For a solid sphere I = mR 2 .
5
2gh 2gh 10gh
v2 = . v 2 = , i.e., v = .
I 1 + 25 7
1+
mR 2
For maximum velocity: I smallest value. Since this is independent of m and R, a bowling ball and
a pool ball would have the same speeds at the bottom of
So, in a race between objects rolling down a slope, the an incline, despite their different masses and radii!
order would be (1) sphere, (2) cylinder, (3) hoop, and is
completely independent of m and R!
 (a) Draw the free body diagram of all the forces acting on
the ball. Use Newtons 2nd Law down the incline:
Mg sin f = Ma cm ... (i)
N where a cm is the acceleration
of the center of mass. To get
Question 9.9: A uniform solid ball of mass M and radius R O
f R an expression for a cm, we take
rolls without slipping down an incline at an angle to the
torques about O, the center of
horizontal. Find (a) the frictional force acting at the point Mg
the ball.
of contact with the surface, and (b) the acceleration of the
fR
center of mass of the ball, in terms of M, R, g and . = fR = I, i.e., = ,
I
where I is the moment of inertia of the ball and its
angular acceleration. (NOTE: the normal force N and the

weight force Mg do not contribute to the torque as their
lines of action pass through O.) With no slip
NOTE: there must be friction at the point of contact
fR 2
otherwise the ball would slide down the incline! a cm = R = ... ... (ii)
I
Substituting for a cm in equation (i), we get
fR 2 MfR 2 5
Mg sin f = M = = f.
I 2
MR 2 2
5
 5 7
Mg sin = f + f = f ,
2 2
2
i.e., f = Mg sin .
7
Note that this is a static frictional force (because there is
no slip).

(b) Substituting for f in equation (ii), we get

fR 2 2 R2 5
a cm = = Mg sin = gsin .
I 7 2
MR 2 7
5
Question 9.10: Suppose you can choose wheels of any
design for a soapbox derby race car. If the total weight
You can show yourselves that if we put I = MR 2 , where
of the vehicle is fixed, which type of wheel design should
= 1 for a hoop, = 12 for a disk, etc., then a general you choose if you want to have the best chance to win
expression for the static frictional force acting on an the race?
object rolling down an incline, with no slip, and the
acceleration of the center of mass are:
Mg sin gsin
f= and a cm = .
1 + 1 1+
The total mechanical energy of the car is:
translational kinetic energy + rotational kinetic energy.
Conservation of energy gives:
1 1
Mgh = K trans + K rot = Mv 2 + I 2 ,
2 2
where M is the total mass of the car and I is the moment of F

inertia of the wheels. With four wheels of radius r, for h

R
example, we have, using the no-slip condition,
v 2
1 1
( )
K rot = (4I) 2 = 4 mr 2 = 2mv 2 ,
2 2 r Question 9.11: A cue ball is struck by a horizontal cue a

1 distance h above the center of the ball. If the cue ball is

Mgh = Mv 2 + 2mv 2 , to roll without slipping, what is h? Express your answer
2
2Mgh in terms of the radius R of the ball.
i.e., v2 = .
(M + 4m)
You can assume that the frictional force of the table on
So, for maximum speed (v) at the bottom of the hill (and
the ball is negligible compared with the applied force F.
greater average speed) with M fixed, we want m and to
be as small as possible. Note: that the result does not
depend on the radius of the wheels (r). So, solid wheels
( = 12 ) are a good choice with the mass concentrated as
close to the axle as possible.
 F

h R
f

The net torque about the center is = Fh fR. m2 30 kg

From earlier, if there is no-slip then v cm = R, 2m
20 kg m1
dv d
i.e., a cm = cm = R = R.
dt dt
Question 9.12: The 30 kg mass, shown above, is
Using Newtons 2nd Law F + f = ma cm. released from rest, from a distance of 2 m above the
If F >> f , then F ma cm and Fh = I. ground. Modeling the pulley as a uniform disk with a
F Fh I radius of 10 cm and mass 5 kg, find (a) the speed of the
= a cm = R = R , i.e., h = .
m I mR
30 kg mass just before it strikes the ground, (b) the
2
For a solid sphere I = mR 2 . angular velocity of the pulley at that instant, (c) the
5
tensions in the two strings, and (d) the time it takes for
2
h = R. the 30 kg block to reach the ground. Assume the
5
2 bearings in the pulley are frictionless and there is no slip
h > R top spin between the string and the pulley.
5
SLIP
2
h < R back spin
5


m2 30 kg m1 m2 30 kg m1
v v
2m v v
20 kg m1 m2 20 kg m1 2m m2

We have both translational and rotational motion. The continued ...

moment of inertia of the pulley is: i.e., 589 = 10v 2 + 392 +15v 2 + 1.3v 2
1 1
I = mR 2 = (5 kg)(0.10 m) 2 = 0.025 kg m2 . v =
197
= 2.74 m/s.
2 2 26.3
(a) Using conservation of energy, as m2 hits the ground
1 1 1
m2 gh = m1v 2 + m1gh + m2 v 2 + I 2 . (b) =
v 2.74
= = 27.4 rad/s.
2 2 2 R 0.10
v
The angular velocity of the pulley = , so
R T1 T2
(c) a Draw the free-body
1 a
(30 kg)(9.81 m/s 2 )(2 m) = (20 kg)v 2 m1g m2 g diagrams for the masses.
2
What is the upward acceleration of m1?
1
+(20 kg)(9.81 m/s2 )(2 m) + (30 kg)v 2
2 v 2 = 2ah.
1 v2 v 2 (2.74 m/s)2
+ (0.025 kg m2 ) a = = = 1.88 m/s2 .
2 2 2h 2(2 m)
(0.10 m)
 T1 T2
Then T1 m1g = m1a,
a i.e., T1 = m1 (g + a) = 234 N.
m1g a m2 g
Also T2 m2 g = m2 (a),
i.e., T2 = m2 (g a) = 238 N.

1
(d) ( y y ! ) = h = at 2 .
2
2h 2(2 m)
t = = = 1.46 s.
a 1.88 m/s2