RIGID BODY

Definition: A rigid body is a solid body in which deformation is zero or

negligible. The distance between any two given points on a rigid body remains
constant in time regardless of external forces or moments exerted on it.

  V1

V2


V1cos1= V2cos2
PURE TRANSLATORY MOTION

A body is said to be in pure translational motion if the displacement of each

particle of the system is the same during any time interval.

During such a motion, all the particles have the same velocity 𝐯 and
acceleration 𝐚 at an instant.
PURE ROTATIONAL MOTION

When a rigid body rotates about a fixed line, motion

is called pure rotation.
𝐁 VA

𝐀 VA

𝐎
COMBINED TRANSLATIONAL AND ROTATIONAL MOTION
 Kinetic Energy of a Rigid Body in Pure Rotation

𝟏
𝐊𝐄 = 𝐈 𝛚𝟐
𝟐

𝐈 : Moment of Inertia
𝛚: Angular Velocity

𝐯𝟏
𝐫𝟏
𝐦𝟏
𝐯𝟐
𝐫𝟐
𝐦𝟐 𝐯𝐧
𝐫𝐧
𝐦𝐧
MOMENT OF INERTIA

The property of a rigid body by virtue of which it opposes change in its

rotational velocity (angular velocity) is known as moment of inertia (MI).

MI is always calculated with respect to an axis of rotation.

MI of a body may be different depending on the axis of rotation.

MI plays the same role in rotational motion as mass plays in translational

motion.
 Classification
(𝐈 = 𝐦𝐫 𝟐 )

DISCRETE SYSTEM CONTINUOUS

(PARTICLE) MASS SYSTEM

2
Ixx′ = Σmi rx i Ixx′ = න rx2 dm

2
Iyy′ = Σmi ry Iyy′ = න ry2 dm
i

2
Izz′ = Σmi rz i
Izz′ = න rz2 dm

rx → distance of particle from x-axis

(not x co − ordinate)
 Example Find THE moment of inertia about AN axis passing through the centre of mass
and perpendicular to a line joining m1 and m2 .

Solution P
m1 m2
 Example I=?

Solution m2 r2 m2
m1
r1 = r r2 = r r1 com
m1 + m2 m1 + m2
m1
I = m1 r12 + m2 r22

m22 r 2 m12 r 2
I = m1 2
+ m2 2
m1 + m2 m1 + m2

m1 m2 r 2
I= 2
× (m1 + m2 )
m1 + m2

m1 m2 r 2
I= = μr 2
m1 + m2
Perpendicular Axis Theorem
PERPENDICULAR AXIS THEOREM

𝒛
𝑙𝑎𝑚𝑖𝑛𝑎 𝒚

For a plane body (2-D objects or lamina), the 𝑥 and 𝑦 axes are in the plane
of the body and the 𝑧-axis is perpendicular to the plane of the body, then

Iz = Ix + Iy
PARALLEL AXIS THEOREM

IP = IC + Md2
M
IC I of body about com P
C

Proof: d
2
IP = Σmi ri + d
mi
= Σmi ri2 + Σmi d2 + 2 Σmi ri d
ri
( Σmi ri = 0 ) P C
IP = IC + Md2
Radius of Gyration
The radial distance to a point that would have a moment of inertia the same
as the body’s actual distribution of mass, if the total mass of the body were
concentrated there.
 𝟐
𝐊
Body 𝐈𝐂𝐌 𝐊
𝐑

Ring MR2 R 1

Disc 1 R 1
MR2 = 0.5
2 2 2

Hollow Cylinder MR2 R 1

Solid Cylinder 1 R 1
MR2 = 0.5
2 2 2

Hollow Sphere 2 2
MR2 2 = 0.67
3 R 3
3

Solid Sphere 2 2
MR2 2 = 0.4
5 R 5
5
 Moment Radius of
Position of the axis
Shape of the body Figure of inertia gyration
of rotation
(I) (K)

(1) Circular Ring

(a) About an axis
perpendicular to the
MR2 R
plane and passes
through the centre

(b) About the 1 R

diametric axis MR2
2 2

(c) About an axis

tangential to the rim 2MR2
2R
and perpendicular to
the plane of the ring

(d) Tangential to the

3 3
rim and lying in the MR2 R
plane of ring 2 2
 Moment Radius of
Position of the axis
Shape of the body Figure of inertia gyration
of rotation
(I) (K)

(2) Circular Disc (a) About an axis

passing through the R
1
centre and MR2
perpendicular to the 2 2
M = Mass plane
R = Radius

(b) About a diametric MR2 R

axis 4 2

(c) About an axis

tangential to the rim 5 5
and lying in the plane MR2 R
4 2
of the disc
 Moment Radius of
Position of the axis
Shape of the body Figure of inertia gyration
of rotation
(I) (K)

(d) About an axis

tangential to the rim 3 3
and perpendicular to MR2 R
2 2
the plane of disc

(3) Annular disc

(a) About an axis

passing through the M 2
centre and
ൣR R21 + R22
2 1
perpendicular to the + R22 ൧ 2
M = Mass
plane of disc
R1 = Internal Radius
R2 = Outer Radius
 Moment Radius of
Position of the axis
Shape of the body Figure of inertia gyration
of rotation
(I) (K)

M 2
(b) About a diametric ൣR R21 + R22
4 1
axis 2
+ R22 ൧

(4) Solid Sphere

(a) About its diametric
axis which passes 2 2
through its centre of
MR2 R
5 5
mass

M = Mass
R = Radius
(b) About a tangent to 7 7
MR2 𝑅
the Sphere 5 5
 Moment Radius of
Position of the axis
Shape of the body Figure of inertia gyration
of rotation
(I) (K)

(5) Hollow Sphere

(Thin spherical
(a) About diametric
Shell)
axis passing through 2 2
centre of mass MR2 𝑅
3 3

(b) About a tangent to 5 5

M = Mass MR2 𝑅
the surface 3 3
R = Radius
Thickness negligible
 Moment Radius of
Position of the axis
Shape of the body Figure of inertia gyration
of rotation
(I) (K)

(6) Hollow
Cylinder
(a) About its
geometrical axis
MR2 R
which is parallel to its
length

M = Mass
R = Radius
L = Length (b) About an axis
which is perpendicular
MR2 ML2 R2 L2
to its length and + +
passes through its 2 12 2 12
centre of mass. L
 Moment Radius of
Position of the axis
Shape of the body Figure of Inertia gyration
of rotation
(I) (K)

(7) Solid Cylinder I MR2 R

M
(a) About its R 2 2
geometrical axis,
which is along its
length.
M = Mass
R = Radius
I 3
L = Length MR2 3
(b) About an axis M 2 R
R 2
tangential to the
cylindrical surface and
parallel to its
geometrical axis.
 Radius of
Position of the axis Moment of
Shape of the body Figure gyration
of rotation inertia (I)
(K)

(c) About an axis ML2 MR2

+ L2 R2
passing through the 12 4 +
centre of mass and 12 4
perpendicular to its
length.
L
(8) Thin Rod (a) About an axis ML2 𝐿
passing through centre 12 12
of mass and
perpendicular to its L
Thickness is negligible length
w.r.t. length
mass M (b) About an axis ML2 𝐿
length L passing through one 3 3
end and perpendicular
to length of the rod L
 Radius of
Position of the axis Moment of
Shape of the body Figure gyration
of rotation inertia (I)
(K)

(9) Rectangular Plate (a) About an axis Mb2 b

passing through 12 2 3
centre of mass and
perpendicular to b
side b in its plane. a

M = Mass (b) About an axis Ma2 a

a = Length passing through 12 2 3
b = Breadth centre of mass and
perpendicular to
b
side a in its plane.
a
 Radius of
Position of the axis Moment of
Shape of the body Figure gyration
of rotation inertia (I)
(K)
(c) About an axis M(a2 + b2 )
a2 + b 2
passing through 12
centre of mass and 12
perpendicular to b
plane
a

(10) Cube About an axis Ma2 a

passing through 6 6
centre of mass and
perpendicular to its
plane. a
Mass = M
Side a
 Example Find the moment of inertia of the disc arrangement about the given axis.

Solution

R
2

Mass of the remaining portion ′m′

13
Ans. MR2
24
TORQUE

P: Point of application of force

P F

𝑟Ԧ

τ = rԦ × F

✓ It is a vector quantity.

✓ SI Unit - Nm

✓ Dimension – ML2T-2
 In vector form

𝛕𝐅 𝐎 = 𝐫Ԧ × 𝐅Ԧ = 𝐎𝐏 × 𝐅Ԧ
Direction of 𝝉
𝝉 is an axial vector and its’s direction can be found byof
SI unit right hand⇒thumb
Torque 𝐍−𝐦
rule. Line of action of force

𝐋𝐞𝐯𝐞𝐫 𝐚𝐫𝐦 = 𝐫⊥

Point P → point of application of

force
𝛕𝐅 𝐎 = 𝐅𝐨𝐫𝐜𝐞 × 𝐥𝐞𝐯𝐞𝐫 𝐚𝐫𝐦
Point O → about which torque is to
τF O = F × r⊥ be calculated
𝐫Ԧ = 𝐎𝐏 = Position vector of point of
application of force w.r.t point O
 Direction of 𝛕

𝛕 is an axial vector and it’s direction

can be found by the right-hand thumb
rule.
Direction of 𝛕
 𝑟Ԧ 𝐹𝑐𝑜𝑠𝜃
τ = rԦ× F

|τ| = rF sinθ
𝐹𝑠𝑖𝑛𝜃

|τ| = r(F sinθ) |τ| =F(r sinθ)

|τ| = r F⊥ |τ| = F r⊥

Fcosθ

θ θ
P F P F
rsinθ
rԦ rԦ

O O rcosθ
Torque of Gravity on a Rigid Body
τ1 = rԦ1× m1g

τ2 = rԦ2× m2g
⋮ ⋮ ⋮

τnet = rԦ1 × m1g + rԦ2× m2g + ……..

=( rԦ1 m1 + rԦ2 m2 + ……..)× g

=M rԦCOM × g

τ = rԦCOM × M g
Equilibrium

FNet = 0 ⇒ Translational equilibrium

τNet = 0 ⇒ Rotational equilibrium

For complete equilibrium FNet =0 & τNet = 0

Note: If Fnet = 0 then τ about each & every point in universe is same.
 Example If the body is in equilibrium, find the normal forces by wall and ground.
Smooth
Solution N2

Lsin37o
N1
mg
37o f1 O
Rough

Rod (M = 2kg, L = 5m)

40
Ans. N, 10N
3
 m1 v21
F1cosθ = r1
F1 𝜃
𝐹1𝑐𝑜𝑠𝜃
F1cosθ = m1 r1 ω2 ……. (1)
𝐫𝟏

F1sinθ = m1at
𝛼, 𝜔
F1sinθ = m1 r1 α

(F1sinθ)r1 = m1 (r1 2α)

σ τaxis = σ Iaxis α

ා 𝜏Ԧ𝑎𝑥𝑖𝑠 = ෍ 𝐼𝑎𝑥𝑖𝑠 𝛼Ԧ
INERTIAL
PULLEY
 Example Two masses 𝒎𝟏 & 𝒎𝟐 (𝒎𝟐 > 𝒎𝟏) are connected with a string, which passes
over a pulley of the moment of inertia 𝐈 and radius 𝐑 as shown in the figure.
Find out the acceleration of both blocks.
Solution

(I, R)

m2
m1
Disc m, R
 Disc m, R

𝐦𝟐 𝐠 − 𝐦𝟏 𝐠
𝐚=
𝐈
𝐦𝟏 + 𝐦𝟐 +
𝐑𝟐
𝐍𝐞𝐭 𝐟𝐨𝐫𝐜𝐞 𝐚𝐥𝐨𝐧𝐠 𝐬𝐭𝐫𝐢𝐧𝐠
𝐚=
𝐈 (m2 −m1 )g
𝐓𝐨𝐭𝐚𝐥 𝐦𝐚𝐬𝐬 𝐨𝐟 𝐛𝐥𝐨𝐜𝐤 +
𝐑𝟐 Ans. a =
I
m1 + m2 + 2
R
DIFFERENTIAL
PULLEY
 Example For the given system find:
(a) An angular acceleration
(b) Acceleration of both blocks O
1m
Solution
2m

6 kg 3kg

𝐼𝑂 =3Kg/m2

Ans. (a) 3 rad/s2, (b) a6 = 6 ms–2, a3 = 3ms–2

Toppling

N N N

F F
Fs Fs
Mg Sufficiently Mg Sufficiently Mg Sufficiently
rough surface rough surface rough surface

Consider a block kept on a sufficiently rough horizontal surface -

Now, pressure at bottom is not uniform.

The normal reaction shifted to the right so that torque of N can

counterbalance torque of friction (fs) about CM.

To counterbalance the torque of the friction, N keeps shifting towards the

right.
Toppling

N N N

F F F
Fs Fs Fs
Mg Sufficiently Mg Sufficiently Mg Sufficiently
rough surface rough surface rough surface

To counterbalance the torque of the friction, N keeps shifting towards the

right.
To counterbalance the torque of the friction, N keeps shifting towards
the right until it reaches the rightmost point.

Let’s assume the value of F in this state as F0.

F > F0
 𝐍

𝐅𝟎
𝐂𝐌 𝐡

𝐟𝐬

𝐛
𝐌𝐠
If force F is increased any further, then the torque of N cannot counterbalance
the torque of friction & body will topple.

So, F0 is the maximum value force F for which toppling will not occur.

Note

When a body is about to topple, a normal reaction will shift to an end (edge).
 Angular Momentum

For point particle ;

Ԧ = 𝐫Ԧ × 𝐩
𝐋 SI Unit : kg 𝐦𝟐/s
Ԧ = 𝐫Ԧ × 𝐦𝐯
𝐋 Direction : Right hand thumb rule.
Ԧ = 𝐦 𝐫Ԧ × 𝐯
𝐋 𝑣Ԧ
m
Ԧ = 𝐦𝐯𝐫𝐬𝐢𝐧𝛉 𝑟Ԧ
𝐋
𝑜
𝐦𝐫𝐯⊥ 𝐦𝐫𝐯⊥
 Ԧ = 𝐦𝐯𝐫𝐬𝐢𝐧𝛉
𝐋

𝐦𝐫𝐯⊥ 𝐦𝐫𝐯⊥

vcosθ

θ θ
v v
m m
rԦ vsinθ rԦ
rsinθ

o o
rcosθ
 Translational Rotational

1. x, v, a, m, F, P, JL 1. θ, ω, α, I, τ, L, Jθ

dp dL
2. F = = ma 2. τ= = Iα
dt dt

3. p = mv 3. L = Iω

1 p2 1 L2
4. KE = mv 2 = 4. KE = 2 Iω 2 =
2 2m 2I

5. Work = ‫ ׬‬F dx 5. W = ‫ ׬‬τ dθ

W ω
6. Power = t = F. v 6. Power = t
= τ. ω

7. ԦJL = ‫ ׬‬F dt = ΔP 7. ԦJθ = ‫ ׬‬τ dt = ΔL

Angular Momentum of a Rigid Body About Fixed Axis:

Laxis = m1r1v1 + m2r2v2 + ……….

m1
v1 = r1ω
v1 = r1ω , v2 = r2ω r1
ω
Laxis = (m1r12 + m2r22 + …. ) ω
v2 = r2ω
r2

Laxis = Iaxis ω m2
 RELATION BETWEEN
TORQUE AND ANGULAR
MOMENTUM
Relation between Angular Momentum and Torque:
(a) For a point particle

Ԧ = 𝐦 𝐫Ԧ × 𝐯
𝐋

Ԧ
𝐝𝐋 𝐝𝐯 𝐝Ԧ𝐫
= 𝐦 𝐫Ԧ × 𝐝𝐭 + 𝐝𝐭 × 𝐯
𝐝𝐭

Ԧ
𝐝𝐋
= 𝐦 𝐫Ԧ × 𝐚 + 𝐯 × 𝐯
𝐝𝐭

= 𝐦 𝐫Ԧ × 𝐚
Ԧ
𝐝𝐋
= 𝐫Ԧ × 𝐦𝐚 = 𝐫Ԧ × 𝐅Ԧ
𝐝𝐭

Ԧ
𝐝𝐋
=𝛕
𝐝𝐭
CONSERVATION OF ANGULAR MOMENTUM

dL
τext =
dt

If τext = 0

dL
 =0
dt

 L constant

If the external torque on a system about an axis is zero, then the

angular momentum of the system about the axis remains constant.
In fixed axis rotation L = I𝜔 = constant
1. Conservation of Angular Momentum

L = I𝛚 = constant
 Angular Impulse (ԦJ)

t2
ԦJ = න τdt
t1

as τ = rԦ × F ⟹ ԦJ = න rԦ × F dt ⟹ ԦJ = rԦ × ධ Fdt
ԦJ = rԦ × ԦI
dL
as τnet = ⇒ නτnet dt = ධ dL
dt

ԦJnet = Lf − Li {Impulse momentum theorem}

Lf = Final angular momentum

Li = Initial angular momentum

 Velocity Analysis

2 2 ω 2
ω 𝐯𝟏
𝐯𝟐𝟏
𝐫Ԧ𝟐𝟏

1 1
𝐯𝟏 𝐯𝟏 1

Rotational +
Pure Rotation
Translational = CRTM
translation about point 1

𝐕𝟐 = 𝐕𝟐𝟏 + 𝐕⊥

and 𝐕𝟐𝟏 = 𝛚 × 𝐫Ԧ𝟐𝟏

𝐕𝟐 = 𝛚 × 𝐫Ԧ𝟐𝟏 + 𝐕𝟏

Refer to the lecture rotation-𝟏 for a detailed discussion.

2. Acceleration Analysis

𝜶 B B 𝐚𝐀 B
𝛂 × 𝐫Ԧ𝐁𝐀

𝐚𝐀 𝐚𝐀 A
A A

Translation Rotation
about point A

𝐚𝐁 = 𝐚𝐁𝐀 + 𝐚𝐀

𝐚𝐁 = (𝐫Ԧ × 𝐫Ԧ𝐁𝐀 ) + 𝐚𝐀