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W1 x1 W2 x2
xcg
W1 W2
Centre of Gravity
Example 1
(a) Three objects are located in
a coordinate system as
shown in Figure a. Find the
center of gravity.
xcg
mx
i i
m1 x1 m2 x2 m3 x3
m i m1 m2 m3
xcg 0.136 m
ycg
myi i
m1 y1 m2 y2 m3 y3
m i m1 m2 m3
F
1.73 m
?
Wman Wbeam
350 N
F
1.73 m
Point of
rotation ?
Wman Wbeam
350 N
i n wman wbeam F 0
Where to put the point of rotation?
Fr
n F 350 N
L 1.73 m
L
2
xcg ?
Wman W
beam
i n wman wbeam F 0
i 0 (715N)(xcg ) (49 N)(0.865 m)+(350 N)(1.73 m) 0
xcg 0.79 m
Moment of Inertia
FT maT
Multiply both side by r,
FT r mraT
Substitute a = r𝛼
FT r mr 2
Substitute torque, 𝜏 = Fr
mr 2
𝜏=( 2
𝑚𝑟 )𝛼
𝑚𝑟 2 = 𝑚1 𝑟1 2 + 𝑚2 𝑟2 2 + 𝑚3 𝑟3 2 + ⋯
2
where,
I= 𝑚𝑟 m = mass
r = Distance from the axis of rotation
Section 8.5
NOTES:
Difference between thin hoop (Figure a)and hollow
cylinder (Figure d):
• Thin hoop has negligible thickness about its axis of
rotation
R2
R
R1
I mr 2
m r
1 1
2
m r
2 2
2
m r
3 3
2
m r
4 4
2
0.25kgm 2
(b) The majorette tries spinning her strange
baton about the axis OO’, as shown in
Figure B. Calculate the moment of inertia of
the baton about this axis
Mass of 0.2 kg is located at the axis of rotation, hence r = 0
I mr 2
m r
1 1
2
m r
2 2
2
m r
3 3
2
m r
4 4
2
0.15kgm 2
Newton’s Second Law for a Rotating Object
mr 2
1
I ball mr 2 I forearm ML2
3
0.150kg 0.350m
2
1
1.50kg 0.350m
2
3
1.84 102 kgm 2
6.13 102 kgm 2
2
I system I ball I forearm 7.97 10 kgm 2
(c) Find the torque exerted on the system that results in the angular
acceleration found in part (a).
I system
7.97 10 kgm
2 2
286rad/s
2
22.8Nm
Example 5
A solid, uniform, frictionless cylindrical
reel of mass M = 3.00 kg and radius R =
0.400 m is used to draw water from a
well. A bucket of mass m = 2.00 kg is
attached to a cord that is wrapped around
the cylinder.
1 2
given I cylinder mr
2
(a) Find the tension T in the cord and
acceleration a of the bucket.
For the bucket, apply NORMAL
Newton’s second law (the
bucket is not rotating)
T mg ma
T ma mg 1
For the cylinder, it is rotating, apply
and Fr 1 2
and I cylinder mr
2
Clockwise
rotation 1 2
T .R MR
2
1
T MR and a R
2
1 a
T MR
2 R
1
T Ma 2
2
1
T ma mg 1 T Ma 2
2
1
ma mg Ma
2
1
mg Ma ma
2
1
mg a M m
2
2kg 9.80m/s
2
a 5.6 m/s 2
1
3kg 2kg
2
1 1
T Ma 2 T (3kg)(- 5.6m/s )
2
2 2
T 8.4 N
(b) If the bucket starts from rest at the top of the well and
falls for 3.00 s before hitting the water, how far does it fall?
1 2
y v0t at
2
1
0 -5.6 3
2
2
25m
Rotational Kinetic Energy
An object rotating about some axis with an
angular speed, ω, has rotational kinetic energy
KEr = ½Iω 2
Translational rotational =
= normal rotation
kinetic energy kinetic energy
Wnc E f Ei
(KE t KEr PE g PE s )f (KE t KEr PE g PE s )i
Example 6
A ball of mass M and radius R
starts from rest at a height of
2.00 m and rolls down a 30°
slope as in figure. What is the
linear speed of the ball when it
leaves the incline? Assume that
the ball rolls without slipping.
1 1 2
Mgh Mv I
2
2 2
1 12 2 2
Mgh Mv MR
2
2 25
1 12 2 2
Mgh Mv MR
2
And v r
2 25
2
1 12 2 v
Mgh Mv MR
2
2 25 R
1 1 2 2 v 2
Mgh Mv MR 2
2
2 25 R
1 12 2
Mgh Mv Mv
2
2 25
7
Mgh Mv 2
10
10
v gh
7
v
10
7
9.80 m/s 2
2 m
v 5.29 m/s 2
Example 7
Two blocks with masses m1 = 5.00
kg and m2 = 7.00 kg are attached by
a string as in figure, over a pulley
with mass M = 2.00 kg. The pulley,
which turns on a frictionless axle, is
a hollow cylinder with radius 0.050
m over which the string moves
without slipping. The horizontal
surface has coefficient of kinetic
friction 0.350. Find the speed of
the system when the block of mass
m2 has dropped 2.00 m.
1 2
Ans: 3.83 m/s given I cylinder mr
2
KEt
KEr
Friction
KE & PEg
2m
0
How to relate friction with energy? Work – energy theoram
W friction KEt m1 KEt m 2 KEr PEg
1 1 1 2
k nx m1v m2v I m2 gh
2 2
2 2 2
v
And n m1 g I cylinder
1 2
mr v r
2 r
2
k m1 g h m1v 2 m2v 2 Mr 2 2
1 1 1 v
m2 gh
2 2 2 r
1 1 1
k m1 g h m1v m2 v Mv m2 gh
2 2 2
2 2 2
1
m2 gh k m1 g h m1 m2 M v 2
2 gh m2 k m1
v
m1 m2 M
v 3.83m/s
Angular Momentum
Angular momentum is defined as
L=Iω
and
L
t
Conservation of Angular Momentum
When
0
L L f Li I f f I ii
t t t 0
Hence
Li L f or I ii I f f
Conservation of Angular Momentum,
Example
Conservation of Angular Momentum,
Example
• With hands and feet drawn
closer to the body, the
skater’s angular speed
increases
– L is conserved, I decreases,
increases
Li L f or I ii I f f
Conservation of Angular Momentum,
Example
• Coming out of the spin,
arms and legs are
extended and rotation
is slowed
– L is conserved, I
increases, decreases
Li L f or I ii I f f
Example 8
A student sits on a pivoted stool while holding a pair of weights as in
Figure (next slide). The stool is free to rotate about a vertical axis with
negligible friction. The moment of inertia of student, weights, and stool
is 2.25 kgm2. The student is set in rotation with arms outstretched,
making one complete turn every 1.26 s.
(a) What is the initial angular speed of the system?
making one complete turn every 1.26 s.
2
i 4.99 rad/s
T
b)As he rotates, he pulls the weights inward so that the new moment of
inertia of the system becomes 1.80 kgm2. What is the new angular
speed of the system?
Li L f
I ii I f f
2.25kgm 4.99rad/s 1.80kgm
2 2
f
f 6.24rad/s
c)Find the work done by the student on the system while pulling in the
weights. Ignore energy lost.
Wstudent KEr
1 1
I f f I ii
2 2
2 2
1.80kgm 6.24rad/s 2.25kgm 4.99rad/s
1 2 2 1 2 2
2 2
7.03J
Example 9
A merry-go-round modeled as a disk of mass M = 1.00 X 102 kg and radius R = 2.00 m is
rotating in a horizontal plane about a frictionless vertical axle as in Figure (next slide).
1
I Disc MR 2
2
I Student mR 2
(a) After a student with mass m = 60.0 kg jumps on the rim of the
merry-go-round, the system’s angular speed decreases to 2.00
rad/s. If the student walks slowly from the edge toward the centre,
find the angular speed of the system when she reaches a point
0.500 m from the centre.
Li L f
I ii I f f
I i I disc I student
1
I Disc MR 2
2
I Student mR 2
I f I disc I student
I i I disc I student
MR 1 10 2.00 2 10 2 kgm 2
1 2 1 2 2
I Disc
2 2
I Student mR 60 2 2.40 102 kgm 2
2 2
440 2 215 f
f 4.09 rad/s
b)Find the change in the system’s rotational kinetic energy caused by her
movement to r = 0.500 m.
1 1
KEr I f f I ii
2 2
2 2
1 1
KEr 215 4.09 440 2
2 2
2 2
KEr 918 J ~ 920 J
c)Find the work done on the student as she walks to r = 0.500 m.
Wstudent KEr
1 1
I f f I ii
2 2
2 2
1 1
15 4.09 240 2
2 2
2 2
354.5 J ~ -355J