IB Physics A.
4 Rigid Body Mechanics
Notes
1 Introduction to Rigid Body Mechanics
Rigid body mechanics involves the study of objects that rotate about an axis.
Unlike linear motion, where the objects move in straight lines, rotational
motion involves the movement of objects around a fixed point or axis. The
concept of torque, moment of inertia, and angular momentum is central to
understanding the dynamics of rotational motion.
2 Torque
Torque (τ ) is the rotational equivalent of force and is defined as the product
of the force applied and the perpendicular distance from the axis of rotation:
τ = F r sin(θ) (1)
where:
• τ is the torque,
• F is the applied force,
• r is the perpendicular distance from the axis of rotation,
• θ is the angle between the force and the lever arm.
The unit of torque is the newton-meter (N·m).
2.1 Rotational Equilibrium
For a body to be in rotational equilibrium, the sum of the torques acting on
the body must be zero: X
τ =0 (2)
This condition ensures no angular acceleration occurs.
1
3 Angular Motion and Equations of Motion
Angular displacement (∆θ), angular velocity (ω), and angular acceleration
(α) describe the rotational motion of a body.
3.1 Equations of Motion for Uniform Angular Accel-
eration
For rotational motion with constant angular acceleration, the following equa-
tions can be used:
ωf +ωi
• ∆θ = 2
t
• ωf = ωi + αt
• ∆θ = ωi t + 12 αt2
• ωf2 = ωi2 + 2α∆θ
where:
• ∆θ is the angular displacement,
• ωf is the final angular velocity,
• ωi is the initial angular velocity,
• α is the angular acceleration,
• t is time.
These equations are analogous to the linear equations of motion but ap-
plied to rotational systems.
4 Moment of Inertia
The moment of inertia (I) is the rotational equivalent of mass and depends
on the distribution of mass relative to the axis of rotation. For a system of
point masses, the moment of inertia is given by:
X
I= mr2 (3)
where:
• I is the moment of inertia,
2
• m is the mass of a point particle,
• r is the distance from the axis of rotation.
The moment of inertia determines how much torque is required to achieve
a certain angular acceleration.
5 Angular Momentum
Angular momentum (L) is a measure of the rotational motion of a body and
is given by:
L = Iω (4)
where:
• L is the angular momentum,
• I is the moment of inertia,
• ω is the angular velocity.
Angular momentum is conserved in an isolated system unless acted upon
by a resultant torque. This principle is similar to the conservation of linear
momentum.
5.1 Angular Impulse
The change in angular momentum is known as angular impulse and is given
by:
∆L = τ ∆t = ∆(Iω) (5)
where:
• ∆L is the change in angular momentum,
• τ is the applied torque,
• ∆t is the time interval.
3
6 Kinetic Energy of Rotational Motion
The kinetic energy (Ek ) of a rotating body is given by:
1 L2
Ek = Iω 2 = (6)
2 2I
where:
• Ek is the kinetic energy of rotation,
• I is the moment of inertia,
• ω is the angular velocity,
• L is the angular momentum.
7 Conservation of Angular Momentum
In the absence of external torques, angular momentum is conserved:
Linitial = Lfinal
This principle is important in many physical phenomena, such as in the
motion of celestial bodies or the spinning of ice skaters.
8 Simultaneous Rotational and Translational
Motion
In cases where an object undergoes both rotational and translational motion,
such as rolling without slipping, the total kinetic energy is the sum of the
rotational and translational kinetic energies:
1 1
Ek = mv 2 + Iω 2
2 2
where:
• m is the mass,
• v is the velocity of the center of mass,
• I is the moment of inertia,
• ω is the angular velocity.
4
9 Linking Concepts and Further Questions
• How does the torque acting on an object lead to angular acceleration?
• What is the relationship between angular momentum and rotational
motion in systems such as satellites or charged particles in a magnetic
field?
• How does the distribution of mass affect the moment of inertia and
thus the angular acceleration of a body?
• How can the concept of angular impulse be used to understand the
effect of torque on a rotating body?
• How does the conservation of angular momentum explain the behavior
of rotating objects, such as figure skaters?
• How are rotational dynamics similar to linear dynamics, and what are
the key differences between them?
