Angular Kinetics Review

• Source: Chapter 12 of Basic Biomechanics

by Susan Hall
• Reference to figures in this presentation
refer to the former text by Kreighbaum,
which is on reserve
 Torque and Motion Relationships
• Relationship between linear and angular motion
– displacement, velocity, and acceleration (Fig H.1, p 315)
• Angular analogue of Newton’s third law (F=ma),
the instantaneous effect of a force or torque
– Torque = moment of inertia (I) X angular acc (
(Fig H.5-H.7)
• What is torque?
• What is moment of inertia ?(Fig H.3, p 319)
• What is radius of gyration (Fig H.4, p 320)
• Changing moment of inertia and radius of gyration in the body
(Figures H.8 and H.9, p 323 and 324)
• Calculations using a 3-segment system
Relationship between linear and
angular motion (kinematics)

a = r
Instnataneous effect of net torque:
Moment of Inertia Constant

T=I 

What is torque?
 Instantaneous effect of net
torque: Torque is constant

What is rotational inertia,

Or moment of inertia?
Instantaneous effect of net
torque: Ang acc constant
 What is Moment of Inertia?
It is the resistance of a system to rotational acceleration, and is
calculated at follows:

Here, r (the radius of rotation) is equal to k (the radius

of gyration), but that is not the case with extended bodies
 What is radius of
gyration (k)? k 35

An indicator of distribution of mass Equivalent systems

about the axis. It is the distance from
the axis to a point at which all the
mass of a system of equal mass
would be concentrated to have the
MOI equal the original system. It
is, then, the average weighted k
35
distance of the mass of a system
to the axis.
 Determining MOI & K
• Simple 3-segment system:
– I = 3mi di2 = m1 d12 + m2 d22+
m3 d32 + . . . . . . .+ mi di2
– I = mk2 ; k = (I/m).5

• Irregularly shaped bodies

But we can’t measure all of these small masses!

 Physical pendulum method of
determining MOI and K
• Suspend object at axis
• Measure mass (m), and distance from axis to COM, r
• Measure period of oscillation (T)
– Moment of inertia (I) = T2 mr * .248387 m/sec
– Radius of gyration (K) = ( I/m).5
MOI & K – Geometric Objects
Changing I and
k in the human
body
Changing I and k in the human body
 MOI around principal axes of
human body in different positions
 Angular Momentum
• Impulse-momentum relationship - effect of force or torque
applied over time
– Linear: Ft = mv Rotational: Tt = I 
• What is angular impulse? (Fig I.1, I.2, I.3, p 327-8)
– Torque X time
• What is angular momentum? (Fig I.4, p 329)
– amount of angular movement: I 
• Conservation of angular momentum (Fig I.4, I.5, I.6 p
329-331)
– Angular momentum is constant if net impulse is zero
What is angular impulse?
 Angular
Impulse:
Mediolateral
axis
Angular Impulse around vertical axis
What is angular momentum (L)?
Conservation of Momentum
Conservation of Momentum