CHAPTER 7: SYSTEM OF PARTICLES

Earlier chapters we considered the motion of a single particle (point mass).

In daily life we encounter bodies which has finite size – extended bodies. An extended body
is a system of particles.
Extended bodies can be considered as rigid bodies
“A rigid body is a body with perfectly definite and unchanging shape. The distance between
all pairs of particles of such a body doesn’t change.”
Ideally no body is truly rigid, they undergo some deformation under the influence of force.
In many such situations the deformation seen is small
TRANSLATORY MOTION
Consider a rectangular block sliding down. Its motion down the plane is such that all
particles of the body are moving together i.e. they are having same velocity.
The rigid body here is in pure translational motion.

ROTATIONAL MOTION
Consider the rolling motion of a solid cylinder. Its motion down the plane is such that all it
has translational motion and rolling motion. The particles of the body are not moving with
same velocity.
The rigid body here is said to be in rotational motion.
In rotation of a rigid body about a fixed axis, every particle of the body moves in a circle,
which lies in a plane perpendicular to the axis and has its center on the axis.
Let 𝑃1 be a particle which is at a distance 𝑟1 from the fixed axis. It describes a circle 𝐶1 on
the axis.
Similarly, let 𝑃2 be a particle which is at a distance 𝑟2 from the fixed axis. It describes a
circle 𝐶2 on the axis.
The circles described by 𝑃1 & 𝑃2 are perpendicular to the axis.
Let 𝑃3 be on the axis i.e. r=0, such a particle is stationary since axis is fixed.

Axis Of Rotation
The line along which the body is fixed is called axis of rotation. Eg: Ceiling fan, potter wheel,
merry-go round
In some cases axis of rotation may not be fixed. Eg: Spinning top, table fan
In the case of spinning top, we know that one point is in contact with the ground while the
axis of the spinning top moves around the vertical, sweeping out a cone.
This movement of the axis is called Precession.
Centre of Mass
When a rigid body is in motion, all the particles move differently. To describe the overall
motion of a body we replace the system of particles by a single point called Centre of mass
“It is the point where the entire mass of the system is assumed to be concentrated”
Centre of Mass of 2 Particle System

Consider a system of 2 particles of masses 𝑚1 & 𝑚2 which are distance 𝑥1 & 𝑥2 from the
origin O. Let C be the centre of mass of the system which is at a distance X from the origin.
𝑚1 𝑥1 + 𝑚2 𝑥2
Then X= 𝑚1 + 𝑚2

If𝑚1 = 𝑚2 = 𝑚,
𝑥1 + 𝑥2
then X= 2

Thus for a system with two equal masses

the centre of mass lies exactly at the center.
Centre Of Mass Of “n” Particle System
Consider a system of n particles of masses 𝑚1 , 𝑚2 … . . 𝑚𝑛 which are distance 𝑥1 , 𝑥2 , … . . 𝑥𝑛
along the x-axis.
𝑚1 𝑥1 + 𝑚2 𝑥2 +⋯+𝑚𝑛 𝑥𝑛
X= 𝑚1 + 𝑚2 +⋯+𝑚𝑛

In terms of vectors, let ⃗𝑟𝑖 be the position vector of the 𝑖 𝑡ℎ particle, 𝑅⃗ be the position vector of
the centre of mass, then
∑𝑛
𝑚𝑟⃗⃗⃗
𝑅⃗ = 𝑖=1𝑀 𝑖 𝑖

Motion Of Centre Of Mass

∑𝑛
𝑚𝑟⃗⃗⃗
𝑅⃗ = 𝑖=1𝑀 𝑖 𝑖

=> M𝑅⃗ = 𝑚1 𝑟1 + 𝑚2 𝑟2 + ⋯ + 𝑚𝑛 𝑟𝑛 …….(1)

=> Differentiate equ (1) wrt time on both sides
⃗⃗⃗
𝑑𝑅 ⃗⃗⃗⃗⃗
𝑑𝑟 ⃗⃗⃗⃗⃗
𝑑𝑟 ⃗⃗⃗⃗⃗
𝑑𝑟 𝑑𝑟
=> M 𝑑𝑡 = 𝑚1 𝑑𝑡1 + 𝑚2 𝑑𝑡2 + ⋯ + 𝑚𝑛 𝑑𝑡𝑛 but 𝑑𝑡 = 𝑣
 ⃗ = 𝑚1 𝑣1 + 𝑚2 𝑣2 + ⋯ + 𝑚𝑛 𝑣𝑛 …..(2)
=> M𝑉 ⃗ = velocity of CM
where 𝑉
=> Differentiate equ (2) wrt time on both sides
⃗
𝑑𝑣 ⃗⃗⃗⃗⃗ 1
𝑑𝑣 ⃗⃗⃗⃗⃗ 2
𝑑𝑣 ⃗⃗⃗⃗⃗ 𝑛
𝑑𝑣 𝑑𝑣
=> M 𝑑𝑡 = 𝑚1 + 𝑚2 + ⋯ + 𝑚𝑛 but 𝑑𝑡 = 𝑎
𝑑𝑡 𝑑𝑡 𝑑𝑡

=> M𝐴 = 𝑚1 𝑎1 + 𝑚2 𝑎2 + ⋯ + 𝑚𝑛 𝑎𝑛 …..(3) where 𝐴 = acceleration of CM

Using Newton’s second law 𝐹 = 𝑚𝑎 we get

M𝐴 = 𝐹1 + 𝐹2 + ⋯ + 𝐹𝑛 where 𝐹1 , 𝐹2 , … 𝐹𝑛 are the external forces acting on

𝑚1 , 𝑚2 , … , 𝑚𝑛 respectively

M𝐴 = 𝐹𝑒𝑥𝑡 … … (4)
The centre of mass of a system of particles moves as if all the mass of the system was at the
centre of mass and all the external forces were applied at that point
Linear Momentum of System Of Particles
Consider a system of n particles of masses 𝑚1 , 𝑚2 … . . 𝑚𝑛 with velocities 𝑣1 , 𝑣2 …. 𝑣𝑛 . The
momentum of the system is
𝑝 = 𝑚1 𝑣1 + 𝑚2 𝑣2 + ⋯ + 𝑚𝑛 𝑣𝑛 …….(5)
⃗ = 𝑚1 𝑣1 + 𝑚2 𝑣2 + ⋯ + 𝑚𝑛 𝑣𝑛 …..(2)
Comparing equ (5) with equ (2) M𝑉
⃗ ….(6)
𝑝 = M𝑉
Thus total momentum of a system of particle is equal to the product of the total mass of the
system and velocity of the centre of mass
Differentiating equ (6)
𝑑𝑝 ⃗
𝑀𝑑𝑉
= = 𝑀𝐴…..(7)
𝑑𝑡 𝑑𝑡

Comparing equ (7) & equ (4) M𝐴 = 𝐹𝑒𝑥𝑡

𝑑𝑝
= 𝐹𝑒𝑥𝑡 ….(8) Newton’s Second Law extended to system of particles
𝑑𝑡

Linear Momentum of System of Particles

If external force is zero,
𝑑𝑝
then = 𝐹𝑒𝑥𝑡 ….(8)
𝑑𝑡

𝑑𝑝
=0
𝑑𝑡

=> 𝑝 = 𝑐𝑜𝑛𝑠𝑡𝑎𝑛𝑡
This is the law of conservation of linear momentum
Vector Product Of Two Vectors
Vector product between two vectors is defined as
⃗ = 𝐴𝐵 sin 𝜃 𝑛̂
𝐶 =𝐴×B
Where magnitude of C is given by 𝐴𝐵 sin 𝜃 & direction is given by 𝑛̂, which is perpendicular
⃗ . The direction is given by right hand screw rule.
to the plane containing 𝐴 & B
Note:

1. 𝑖̂ × 𝑖̂ = 𝑗̂ × 𝑗̂ = 𝑘̂ × 𝑘̂ = 0

2. 𝑖̂ × 𝑗̂ = 𝑘̂ & 𝑗̂ × 𝑖̂ = −𝑘̂

3. 𝑗̂ × 𝑘̂ = 𝑖̂ & 𝑘̂ × 𝑗̂ = −𝑖̂

4. 𝑘̂ × 𝑖̂ = 𝑗̂ & 𝑖̂ × 𝑘̂ = −𝑗̂
Angular Velocity & Linear Velocity (Magnitude)
Angular Velocity (ω) is defined as the ratio of the angular displacement of the body to the
time interval during which this displacement occurs.
∆𝜃
Average Angular Velocity 𝜔
̅= ∆𝑡

𝑑𝜃
Instantaneous Angular Velocity 𝜔 = 𝑑𝑡

Direction of angular velocity is along axis of rotation. We refer ω to the whole body
We Know that 𝑣 = 𝜔𝑟, where r is the radius of the circle.
For particles on the axis, r=0 i.e. v=0. Thus axis is fixed
Angular Velocity & Linear Velocity (Vector)

In the figure, 𝜔 ⃗⃗⃗⃗⃗ = 𝑅⃗ , of the particle at P wrt the

⃗ is directed along Z axis & position vector 𝑂𝑃
origin O (which is on the axis of rotation)
Now 𝜔 × 𝑅= 𝜔 × 𝑂𝑃= 𝜔 × (𝑂𝐶 + 𝐶𝑃)
But 𝜔 × 𝑂𝐶 = 0 (∵ 𝜔 𝑖𝑠 𝑎𝑙𝑜𝑛𝑔 𝑂𝐶)
𝜔 × 𝑅= 𝜔 × 𝐶𝑃

The vector 𝜔 × 𝐶𝑃 is ⊥ 𝑡𝑜 ⃗⃗⃗

𝜔 & ⃗⃗⃗⃗⃗
𝐶𝑃 = 𝑟, it is along the tangent to the circle at P, which is the
linear velocity v
Thus 𝑣 = 𝜔
⃗ ×𝑟
Angular Acceleration
Angular Acceleration is time rate of change of angular velocity
⃗⃗⃗
𝑑𝜔
𝛼= 𝑑𝑡
𝑑𝜔
In scalar form 𝛼 = 𝑑𝑡

Torque & Angular Momentum

In linear motion, force is needed to change the translational state of a body i.e. to produce
linear acceleration
In rotational motion, the analogous of force is moment of force, which is also referred to as
Torque(𝝉-Tau) or Couple
The rotational analogue of linear momentum is angular momentum (L)
Torque
Torque acting on a particle is defined as the product of the magnitude of the force acting on
the particle and perpendicular distance of the application of force from the axis of rotation.

𝜏 =𝑟×𝐹
SI Unit: Nm
Direction of 𝜏 is perpendicular to the plane containing r & F
𝜏 = 𝑟𝐹 sin 𝜃 ; 𝜃 𝑖𝑠 𝑡ℎ𝑒 𝑎𝑛𝑔𝑙𝑒 𝑏𝑒𝑡𝑤𝑒𝑒𝑛 𝑟 & 𝐹
Note:
𝜃 = 0°, 𝜏 = 𝑧𝑒𝑟𝑜(Minimum)
𝜃 = 90°, 𝜏 = 𝑚𝑎𝑥𝑖𝑚𝑢𝑚
Angular Momentum
Angular Momentum of a particle is defined as the product of linear momentum of the
particle and perpendicular distance of the particle from the axis of rotation.
⃗ = 𝑟 × 𝑝,
𝐿 𝑝 = 𝑚𝑣
SI Unit: 𝑘𝑔𝑚2 𝑠 −1
Direction of 𝐿 is perpendicular to the plane containing r & p
L= 𝑟𝑝 sin 𝜃 ; 𝜃 𝑖𝑠 𝑡ℎ𝑒 𝑎𝑛𝑔𝑙𝑒 𝑏𝑒𝑡𝑤𝑒𝑒𝑛 𝑟 & 𝑝

Relation between Torque & Angular Momentum (Single Particle)

⃗ = 𝑟×𝑝
From 𝐿
Differentiating on both sides w.r.t time
⃗
d𝐿 𝑑(𝑟 ×𝑝)
=
𝑑𝑡 𝑑𝑡

⃗
d𝐿 𝑑𝑟 𝑑𝑝
= × 𝑝+ 𝑟 × …(1)
𝑑𝑡 𝑑𝑡 𝑑𝑡

𝑑𝑟 𝑑𝑝
But 𝑑𝑡 = 𝑣 & 𝑑𝑡 = 𝐹 & 𝑝 = 𝑚𝑣
⃗
d𝐿
= 𝑣 × 𝑚𝑣 + 𝑟 × 𝐹
𝑑𝑡

⃗
d𝐿
= 𝑚(𝑣 × 𝑣) + 𝑟 × 𝐹 …(2)
𝑑𝑡
 Now 𝑣 × 𝑣 = 0 & 𝑟 × 𝐹 = 𝜏
Equ (2) becomes
⃗
d𝐿 d𝑝
=𝜏 Rotational Analogue of =𝐹
𝑑𝑡 𝑑𝑡

Relation between Torque & Angular Momentum (System of Particles)

Consider a rigid body made up of “n” particles. The total angular momentum is given
⃗ = 𝑙1 + 𝑙2 + ⋯ + 𝑙𝑛 = ∑𝑛𝑖=1 𝑙𝑖 = ∑𝑛𝑖=1(𝑟⃗𝑖 × ⃗⃗⃗
𝐿 𝑝𝑖 )
⃗
𝑑𝐿 𝑑𝑙⃗⃗
= ∑𝑛𝑖=1 𝑑𝑡𝑖 … (1)
𝑑𝑡

𝑑𝑙⃗⃗𝑖
Also = (𝜏𝑖 )𝑛𝑒𝑡
𝑑𝑡

Equ (1) becomes

⃗
𝑑𝐿
= ∑𝑛𝑖=1(𝜏𝑖 )𝑛𝑒𝑡 = 𝜏𝑛𝑒𝑡
𝑑𝑡

⃗
𝑑𝐿
= 𝜏𝑖𝑛𝑡 + 𝜏𝑒𝑥𝑡 … (2)
𝑑𝑡

Since 𝜏𝑖𝑛𝑡 = ∑𝑛𝑖=1 𝑟𝑖 × 𝐹𝑖𝑛𝑡

According to Newton’s third law, internal forces between a pair of particles are
equal & opposite i.e. ∑𝑛𝑖=1 𝐹𝑖𝑛𝑡 = 0
=>∑𝑛𝑖=1 𝜏𝑖𝑛𝑡 = 0
Equ (2) becomes
⃗
𝑑𝐿
= 𝜏𝑒𝑥𝑡
𝑑𝑡

Thus time rate of the total angular momentum of a system of particles about a point is
equal to the sum of external torques acting about the same point.
𝑑𝐿 ⃗
⃗ =Constant
Note: 𝜏𝑒𝑥𝑡 =0 ; 𝑑𝑡 = 0 or 𝐿

Equilibrium of a Rigid Body

A rigid body is said to be in mechanical equilibrium, if both its linear momentum &
angular momentum are not changing with time. This means

a) Total force on the object is zero ∑𝑛𝑖=0 𝐹𝑖 = 0, then linear momentum doesn’t change
with time. This is the condition for translational equilibrium
 b) Total torque on the object is zero ∑𝑛𝑖=0 𝑖 = 0, then angular momentum doesn’t
change with time. This is the condition for rotational equilibrium
Partial Equilibrium-A body maybe in partial equilibrium i.e. it may in translational
equilibrium but not rotational equilibrium & vice-versa
Rotational Equilibrium but not Translational Equilibrium
Consider a light rod AB, at two the ends, two parallel forces both equal in magnitude
are applied ⊥ to the rod.
Let C be the mid-point, CA=CB=a
The moment of force at A & B will be aF. The net moment on the rod is zero.
The system will be in rotational equilibrium, but not in translational equilibrium i.e.
𝐹≠0

Translational Equilibrium but not Rotational Equilibrium

The force at B is reversed. Thus the same rod has 2 equal and opposite forces
applied ⊥ to the rod, one end at A & other at B.
Here the moments (aF) are equal and cause anticlockwise rotation to the rod.
The total force F on the body is zero.
The system will be in translational equilibrium, but not in rotational equilibrium i.e.
≠0

Couple
A pair of equal and opposite forces with different lines of action is known as a couple or
torque.
A couple produces rotation without translation.
Examples: Opening the lid of a bottle, compass needle
Principal Of Moments

An ideal lever is essentially a light rod pivoted at a point along its length. This point
is called the fulcrum.
Two forces 𝐹1 &𝐹2 are acting on the lever at distances𝑑1 &𝑑2 respectively from the
fulcrum.
The lever is in mechanical equilibrium. Let R be the reaction of the support at the
fulcrum, R is directed opposite to the forces 𝐹1 &𝐹2 .
➢ For translational equilibrium R − 𝐹1 − 𝐹2 = 0
➢ For rotational equilibrium 𝑑1 𝐹1 − 𝑑2 𝐹2 = 0
In the case of the lever force 𝐹1 is usually some weight to be lifted. It is called load &
its distance from the fulcrum 𝑑1 is called load arm. Force 𝐹2 is called effort applied
to lift the load; its distance from the fulcrum 𝑑2 is known as effort arm
 𝑑1 𝐹1 = 𝑑2 𝐹2 = load arm (x) load = effort arm (x) effort
 This is the principle of moments
𝐹
Note: 1) the ratio 𝐹1 is called mechanical advantage (MA)
2

𝐹1 𝑑2
M𝐴 = =
𝐹2 𝑑1
2) If 𝑑2 > 𝑑1 then MA >1, which means small effort can be used to lift large loads
Centre of Gravity
The Centre of gravity (CG) of a body is a point where the weight of the body acts and
the total gravitational torque is zero.
Moment of Inertia
Consider a body rotating about a fixed axis, each particle of the body moves in a
circle with a linear velocity. For a particle at a distance from the axis, the linear
velocity is given by𝑣𝑖 = 𝑟𝑖 𝜔.
 The KE of this particle is
1 1
𝐾𝑖 = 2 𝑚𝑖 𝑣𝑖2 = 2 𝑚𝑖 𝑟𝑖2 𝜔2

The total KE of the body is given by

1
K= ∑𝑛𝑖=1 𝐾𝑖 = 2 ∑𝑛𝑖=1(𝑚𝑖 𝑟𝑖2 𝜔2 )

 is the same for all the particles

1
K= 2 𝜔2 (∑𝑛𝑖=1 𝑚𝑖 𝑟𝑖2 )

We define a new parameter called moment of inertia I = (∑𝑛𝑖=1 𝑚𝑖 𝑟𝑖2 )

1
K= 2 I𝜔2 ….. (1)
1
Comparing Equ (1) with K=2 m𝑣 2 , it is evident that moment of inertia I is the
rotational analogue of mass.
Radius of Gyration
The radius of gyration of a body about an axis may be defined as the perpendicular
distance from the axis of a mass point whose mass is equal to the mass of the whole
body and whose moment of inertia is equal to the moment of inertia of the body
about the axis.
𝐼 = 𝑀𝐾 2

Kinematics of Rotational Motion

Linear Motion Rotational motion

Displacement (x or s) Angular displacement ()

𝑑𝑥 𝑑𝜔
Velocity (v= 𝑑𝑡 ) Angular Velocity (= )
𝑑𝑡
𝑑𝑣 𝑑𝜔
Acceleration (a= 𝑑𝑡 ) Angular Acceleration (= )
𝑑𝑡

Mass (m) Moment of Inertia (I)

Force (F=ma) Torque (=I)
 Linear Motion Rotational motion

Work done W=F ds Work done W= d

Linear momentum p=m v angular momentum L=I 
1 1
K=2 𝑚𝑣 2 K=2 I𝜔2

Power P=F v Power P= 

Equations of motion Equations of motion
v=u +at 𝜔 = 𝜔0 + 𝛼𝑡
1 1
S=u t+2 𝑎𝑡 2 𝜃 = 𝜔0 𝑡 + 2 𝛼𝑡 2

𝑣 2 = 𝑢2 + 2𝑎𝑠 𝜔2 = 𝜔0 2 + 2𝛼𝜃
Dynamics Of Rotational Motion

(A)Work by torque
Consider a wheel that can freely be rotated about an axis passing through its centre.
Let F be force applied in the downward direction & the wheel rotates by an angle θ.
Work done by the force, W= F x distance AB
But AB= r θ
=> W= F x (r θ) = (Fr) θ
W=τ θ
(B)Power
W=τ θ
Let “t” be the time taken by the torque to produce an angular displacement θ.
 𝑊 𝜃
Dividing the above equation by time we get =𝜏𝑡
𝑡
𝑊 𝜃
P= τω Since = P & 𝑡 =ω
𝑡

(C)Relation between Torque & Moment of Inertia

Consider the figure as shown F
𝜏 =𝑟×𝐹 r
𝜏 = 𝑟𝐹 sin 𝜃 = 𝑟𝐹…(1) Since θ= 90°
But F=ma, Equ (1) becomes 𝜏=mar…(2)
Also a=rα
Equ (2) becomes 𝜏=m𝑟 2 𝛼
WKT I=m𝑟 2
𝜏=I𝛼
𝑑𝑣 𝑑𝜔
Note: v=rω => 𝑑𝑡 = 𝑟 => a = 𝑟𝛼
𝑑𝑡

Angular Momentum In the case of a Rotation about a fixed axis

Consider a body of mass M rotating with an angular velocity 𝜔 ⃗ along the Z axis. This
body is made up of large no.of particles. Consider the particle of mass
𝑚𝑖 , 𝑤ℎ𝑜𝑠𝑒 𝑝𝑜𝑠𝑖𝑡𝑖𝑜𝑛 𝑣𝑒𝑐𝑡𝑜𝑟 𝑖𝑠 𝑟𝑖 , & 𝑙𝑖𝑛𝑒𝑎𝑟 𝑚𝑜𝑚𝑒𝑛𝑡𝑢𝑚 𝑖𝑠 ⃗⃗⃗
𝑝𝑖
Angular momentum of this particle is
⃗𝑙𝑖 = 𝑟𝑖 × 𝑝𝑖 = (𝑟𝑖 𝑝𝑖 sin 𝜃)𝑘̂ θ=90°
⃗𝑙𝑖 =(𝑟𝑖 𝑚𝑖 𝑣𝑖 ) 𝑘̂ but v=rω
⃗𝑙𝑖 =(𝑚𝑖 𝑟𝑖2 𝜔) 𝑘̂

Total Angular Momentum is given by

 ⃗ = (∑ 𝑚𝑖 𝑟𝑖2 𝜔)𝑘̂ = (𝜔𝑘̂) ∑ 𝑚𝑖 𝑟𝑖2
𝐿

But I = ∑ 𝑚𝑖 𝑟𝑖2
⃗ =I(𝜔𝑘̂)
𝐿
⃗ = 𝐼𝜔
𝐿 ⃗
Conservation of Angular Momentum
⃗ = 𝐼𝜔
We know that 𝐿 ⃗
⃗
𝑑𝐿 ⃗⃗⃗ )
𝑑(𝐼𝜔
Differentiate wrt time, we get =
𝑑𝑡 𝑑𝑡

⃗
𝑑𝐿
But 𝑑𝑡 = 𝜏𝑛𝑒𝑡
⃗⃗⃗ )
𝑑(𝐼𝜔
Therefore 𝜏𝑛𝑒𝑡 = 𝑑𝑡

⃗⃗⃗ )
𝑑(𝐼𝜔
If 𝜏𝑛𝑒𝑡 = 0 => =0
𝑑𝑡

i.e. 𝐼𝜔 ⃗ =Constant
⃗ = Constant OR 𝐿
Illustration of Angular Momentum
1. A man sitting on a rotating chair with his arms outstretched, spins slowly. When he
draws his arms towards his chest, he spins faster. This is because the moment of
inertia of the man decreases, when he draws his arms towards his chest & angular
velocity increases.
2. A figure skater, varies her angular speed by making use of the law of conservation of
angular momentum. As she stretches her arms & legs out, her moment of inertia
increases & angular velocity decreases. On the other hand, when she draws her
arms & legs towards her, her moment of inertia decreases & angular velocity
increases
3. When a planet revolves around the sun in an elliptical orbit, near the sun the speed
of the planet increases.
4. When a diver jumps from the spring board, he curls his body by rolling his arms &
legs in. By doing so, he decreases his moment of inertia & increases his angular
velocity.
5. In a tornado, as the air gushes towards the center, the moment of inertia decreases,
and angular velocity increases.
Rolling Motion
“The combination of rotational motion (without slipping) and the translational
motion of a rigid body is known as rolling motion”
 Let 𝑣𝑐𝑚 be the center of mass & the translational velocity of the disc. It is parallel to
the surface.
The rotational motion of the disc is about the axis which passes through the center
C.
⃗𝑐𝑚 &
The velocity at 𝑃0 , 𝑃1 , 𝑃2 consists of two parts: one the translational velocity 𝑉
other linear velocity 𝑣𝑟 due to rotation. The magnitude of 𝑣𝑟 is 𝑣𝑟 = 𝑟𝜔, where r is
the distance from C.
At 𝑃0 , the linear velocity 𝑣𝑟 due to rotation is directed exactly opposite to the
translational velocity 𝑉⃗𝑐𝑚 . The magnitude of 𝑣𝑟 is 𝑣𝑟 = 𝑅𝜔, where R is the radius of
the disc. The condition that 𝑃0 is instantaneously at rest requires𝑣𝑐𝑚 = 𝑅𝜔.
At 𝑃1 , the velocity (𝑣1 ) has a magnitude
𝑣𝑐𝑚 + 𝑅𝜔 = 2𝑅𝜔 , which is parallel to the surface

Kinetic Energy of Rolling Motion

Consider a wheel of mass M moving forward with a speed v & rotating about an axis
passing through its center with an angular velocity ω.
Total KE= Translational KE+ Rotational KE
1 1
E= 2 𝑀𝑣 2 + 2 𝐼𝜔2 ….(1)
𝑣
But I = M𝐾 2 & 𝑣 = 𝑟𝜔 ⇒ 𝜔 = 𝑟

1 1 𝑣2
E= 2 𝑀𝑣 2 + 2 M𝐾 2 𝑟 2

1 𝐾2
E= 2 𝑀𝑣 2 [1+ 𝑟 2 ]…(2)

Equation (2) applies to any rolling body: a disc, cylinder, sphere or a ring.