Translation and Rotation Kinematics
Overview: Rotation and Translation of Rigid Body
Thrown Rigid Rod Translational Motion: the gravitational external force acts on center-of-mass
r ext F r r sys r dp total dVcm total = =m = m A cm dt dt
Rotational Motion: object rotates about center-ofmass. Note that the center-of-mass may be accelerating
Overview: Rotation about the Center-of-Mass of a Rigid Body
The total external torque produces an angular acceleration about the center-of-mass
r r ext " cm = I cm! cm
r dL cm = dt
I cm is the moment of inertial about the center-of-mass
! cm is the angular acceleration about the center-of-mass r is the angular momentum about the center-of-mass L cm
Fixed Axis Rotation
CD is rotating about axis passing through the center of the disc and is perpendicular to the plane of the disc. For straight line motion, bicycle wheel rotates about fixed direction and center of mass is translating
Review: Relatively Inertial Reference Frames
Two reference frames. Origins need not coincide. One moving object has different position vectors in different frames Relative velocity between the two reference frames is constant since the relative acceleration is zero
r r r r1 = R + r2
r r V = dR dt
r r r A = dV dt = 0
Suppose the object is moving; then, observers in different reference frames will measure different velocities Velocity of the object in Frame 1: Velocity of the object in Frame 2:
Review: Law of Addition of Velocities
r r v1 = dr1 dt
r r v 2 = dr2 dt
Velocity of an object in two different reference r r r frames dr1 R r2
dt r r r v1 = V + v 2 dt = dt +
Center of Mass Reference Frame
Frame O: At rest with respect to ground Frame Ocm: Origin located at center of mass Position vectors in different frames: r r r ri = rcm, i + R cm Relative velocity between the two reference frames r r Vcm = dR cm / dt Law of addition of velocities: r r r v i = v cm, i + Vcm
r r r rcm, i = ri ! R cm
r r r A cm = dVcm / dt = 0
r r r v cm, i = v i ! Vcm
Rolling Bicycle Wheel
Reference frame fixed to ground
Center of mass reference frame
Motion of point P on rim of rolling bicycle wheel Relative velocity of point P on rim:
r r r v P = v cm, P + Vcm
Rolling Bicycle Wheel
Distance traveled in center of mass reference frame of point P on rim in time !t :
!s = R!" = R# cm !t
Distance traveled in ground fixed reference frame of point P on rim in time !t:
!Xcm =Vcm !t
Rolling Bicycle Wheel: Constraint relations
Rolling without slipping:
!s = !X cm R! cm = Vcm
Rolling and Skidding
!s < !X cm R! cm < Vcm
Rolling and Slipping
!s > !X cm R! cm > Vcm
Rolling Without Slipping: velocity of points on the rim in reference frame fixed to ground
The velocity of the point on the rim that is in contact with the ground is zero in the reference frame fixed to the ground.
Rotational Work-Kinetic Energy Theorem
Change in kinetic energy of rotation about center-of-mass
!K rot " K rot, f # K rot, i 1 1 2 2 = I cm$ cm, f # I cm$ cm, i 2 2
Change in rotational and translational kinetic energy
!K = !K trans + !K rot
!K = !K trans + !K rot #1 2 1 2 & #1 1 2 2 & = % mvcm, f " mvcm, i ( + % I cm) cm, f " I cm) cm, i ( 2 2 $2 ' $2 '
Checkpoint Problem: Cylinder on Inclined Plane Energy Method
A hollow cylinder of outer radius R and mass m with moment of inertia I cm about the center of mass starts from rest and moves down an incline tilted at an angle ! from the horizontal. The center of mass of the cylinder has dropped a vertical distance h when it reaches the bottom of the incline. Let g denote the gravitational constant. The coefficient of static friction between the cylinder and the surface is s. The cylinder rolls without slipping down the incline. Using energy techniques calculate the velocity of the center of mass of the cylinder when it reaches the bottom of the incline.
Checkpoint Problem: Descending Yo-Yo
A Yo-Yo of mass m has an axle of radius b and a spool of radius R. Its moment of inertia about the center of mass can be taken to be I = (1/2)mR2 and the thickness of the string can be neglected. The Yo-Yo is released from rest. What is the angular speed of the Yo-Yo at the bottom of its descent.
Demo B107: Descending and Ascending Yo-Yo
M wheel+axle = 435 g Router ! 6.3 cm Rinner ! 4.9 cm
1 2 2 I cm ! M (Router + Rinner ) 2 4 2 = 1.385 " 10 g # cm
Angular Momentum for Rotation and Translation
Angular Momentum for 2-Dim Rotation and Translation
The angular momentum for a rotating and translating object is given by (see next two slides for details of derivation)
r r r sys i = N r r L S = R S ,cm ! p + " rcm,i ! mi v cm,i
i =1
The first term in the expression for angular momentum about S arises from treating the body as a point mass located at the center-of-mass moving with a velocity equal to the center-of-mass velocity,
r r r L S ,cm = R S ,cm ! psys
The second term is the angular momentum about the center-of mass,
i= N r r r L cm = " rcm,i ! mi v cm,i i =1
Derivation: Angular Momentum for 2-Dim Rotation and Translation
The angular momentum for a rotating and translating object is given by i= N The position and velocity with respect to the center-of-mass reference frame of each mass element is given by r r r r r r ri = R S ,cm + rcm,i v i = Vcm + v cm,i So the angular momentum can be expressed as
i= N i= N r r r r r r ! i= N r " r ! i= N " r L S = R S ,cm # $ ( mi % Vcm + R S ,cm # ( mi v cm,i + $ ( mi rcm,i % # Vcm + ( rcm,i # mi v cm,i i =1 i =1 & i =1 ' & i =1 '
r r r " ! L S = $ ( mi ri # mi v i % ' & i =1
Derivation: Angular Momentum for 2-Dim Rotation and Translation
i= N i= N r r r r r r ! i= N r " r ! i= N " r L S = R S ,cm # $ ( mi % Vcm + R S ,cm # ( mi v cm,i + $ ( mi rcm,i % # Vcm + ( rcm,i # mi v cm,i i =1 i =1 & i =1 ' & i =1 ' The two middle terms in the above expression vanish because in the center-of-mass frame, the position of the center-of-mass is at the origin, and the total momentum in the center-of-mass frame is zero, i= N r r r 1 i= N r mi v cm,i = 0 ! mr =0 total ! i cm,i i =1 m i =1 Then then angular momentum about S becomes i= N r r r r ! i= N " r L S = R S ,cm # $ ( mi % Vcm + ( rcm,i # mi v cm,i i =1 & i =1 ' r sys ! i = N " r p = # ' mi $ Vcm The momentum of system is % i =1 & So the angular momentum about S is r r r sys i = N r r L S = R S ,cm ! p + " rcm,i ! mi v cm,i
i =1
Earths Motion about Sun: Orbital Angular Momentum
For a body undergoing orbital motion like the earth orbiting the sun, the two terms can be thought of as an orbital angular momentum about the center-of-mass of the earth-sun system, denoted by S,
r r r L S ,cm = R S ,cm ! psys = rs ,e me vcmk
Spin angular momentum about center-of-mass of earth
r spin r 2 L cm = I cm !spin = me Re 2!spin n 5
Total angular momentum about S
r total + 2 m R 2! n L S = rs ,e me vcmk e e spin s 5
Earths Motion Orbital Angular Momentum about Sun
Orbital angular momentum about center of sun Center of mass velocity and angular velocity Period and angular velocity Magnitude
r orbital r r total L S = rS , cm ! p = rs , e me vcmk
vcm = rs , e! orbit
! orbit
2" = = 2.0 # 10$7 rad % s $1 Torbit
r orbital L S = 2.67 ! 1040 kg " m2 " s #1k
r orbital me rs , e 2 2" 2 = LS = me rs , e ! orbit k k Torbit
Earths Motion Spin Angular Momentum
Spin angular momentum about center of mass of earth Period and angular velocity Magnitude
r spin r 2 L cm = I cm! spin = me Re 2! spin n 5
! spin =
2" = 7.29 # 10$5 rad % s $1 Tspin
r L cm spin = 7.09 ! 1033 kg " m2 " s #1n
Checkpoint Problem: Angular Momentum for Earth
What is the ratio of the spin angular momentum to the orbital angular momentum of the Earth? What is the vector expression for the total angular momentum of the Earth about the center of its orbit around the sun (you may assume the orbit is circular and centered at the sun)?
MIT OpenCourseWare [Link]
8.01SC Physics I: Classical Mechanics
For information about citing these materials or our Terms of Use, visit: [Link]
