Angular Kinetics

The Causes of Angular Motion May the moment be with you

Angular Kinetics
Torque: Force which causes a turning effect.

Torque = Moment of force

Torque = Moment AKA: Rotary or Angular Force

Question
If a book is placed on the table and push the

book with two fingers at its Center of Mass, what type of motion is created on the book? Answer: Linear motion If you apply a force the same force away from the Center of Mass, what type of motion is created? Answer: Angular motion

Moments
Applying a force at the Center of Gravity will

cause Linear Motion Applying a force away from the Center of Gravity will produce a Torque This results in a rotary motion

Moments
= F.r

where: = Moment F = force r = moment arm

Units: Newton.meter

Question
Which of the following produces the greatest moment on the bolt?
d2 d1

F1

F2

How Much Does The Box Weigh?

50 N ???

1m

2m

What calculation did you do to get your answer? What was equated in your equation? What point did you take moments about? Did the fulcrum force enter into your solution?

Example
Find the biceps force necessary to hold the 100 N dumbbell in the static position shown:

F=?
E

25 N
5 cm 10 cm 15 cm

100 N

Example (cont.)
Create a free body diagram Shows only body of interest and forces applied to it

FBD:
F= ? 25 15 Ncm
F

5 cm

10 cm

100 N

RELBOW

25 N

100 N

Biceps example (cont.)

Summing vertical forces doesnt work:

S Fv = m av
F - RELBOW - 25 - 100 = 0
STOP

Try summing moments about elbow instead:

SM=Ia
F (0.05) - RELBOW (0) - 25 (0.15) - 100 (0.30) = 0

F = 675 N (150 lbs. !)

Moment Arm
Moment arm: shortest (perpendicular)

distance between a forces line of action and an axis of rotation. In the body, moment arm of muscle is the perpendicular distance between muscles line of pull and the joint center.

Anatomical Examples

Moments
Force Couple: The effect of a force couple is

to cause only a change in the angular motion of an object.

Force Couple

Moments
Moments are vectors: need to know the axis

of rotation and the turning effect (CW or CCW) Units: Newton.meter (Nm)

Moment of Inertia
The resistance of a body to rotation about a

given axis: Resistance to angular acceleration If a rigid body is made of many particles, then the moment of inertia is: x I = S m.r2

where: I = moment of inertia y m = mass of a particle r = distance from the axis

Moment of Inertia
Units: kg.m2

Mass Distribution:
Given an object with two particles one mass

0.5 kg and the other 1 kg, which are 2 m and 1 m from the axis, what is the moment of inertia?

Moment of Inertia
I = S m.r2

I = (0.5 x 22) + (1 x 12)

I = 3 kg.m2 What happens if both masses are doubled? Ans: I = 6 kg.m2

Moment of Inertia
What happens if the distances are doubled

but the masses are the same? Ans: 12 kg.m2 Therefore, mass distribution has a larger influence , than just mass.

Question
Rank these moments of inertia for a person standing with arms at sides in increasing order: I. About an AP axis passing through the navel II. About a SI axis through the top of the head III. About an ML axis through the toes A) I, II, III B) II, I, III C) II, III, I D) All moments of inertia are equal

Answer
Rank these moments of inertia for a person standing with arms at sides in increasing order: I. About an AP axis passing through the navel II. About a SI axis through the top of the head III. About an ML axis through the toes B) II, I, III

Human Body Moments of Inertia

All moments of inertia in kg m2

Angular Momentum
Angular Momentum: the product of angular

velocity and the moment of inertia. H=I.w

Momentum of a Vaulter

Newtons Angular Law I

If no external moments act on a body, the

angular momentum remains a constant:

H=I.w

A moment is required to start/stop/alter

angular motion

Newtons Angular Law I

Therefore: decreasing moment of inertia

increases angular velocity Increasing moment of inertia decreases angular velocity For example: Ice skater, twisting gymnast, rotating discus thrower

Newtons Angular Law II

The angular acceleration of a body is

proportional to the moment causing it. Therefore, the moment can be calculated two ways:

Newtons Angular Law II

T=I.a

where T = moment

I = moment of inertia a = angular acceleration

Newtons Angular Law II

T=F.d

where T = moment

F = force d = moment arm of the force Units: N.m

Newtons Angular Law III

Bodies exert equal and opposite moments on

each other

Question
A child stands at the center of a spinning merry-go-round. What happens as the child walks a radial path to the edge of the merry-go-round? (neglect friction and effects of air resistance) A) The merry-go-round spins faster B) The merry-go-round slows down C) The moment of inertia of the child/merry-go-round combination decreases D) Both B and C

Answer
A child stands at the center of a spinning merry-go-round. What happens as the child walks a radial path to the edge of the merry-go-round? (neglect friction and effects of air resistance) B) The merry-go-round slows down

mass moves away from axis of rotation moment of inertia increases I2 > I1 I1 w1 = I2 w2 says that w2 < w1 (speed decreases)