CHAPTER

SYSTEM OF PARTICLES
7 AND ROTATIONAL
MOTIONN
Chapter Objectives
Centre of mass ofa
bodys centre of massfuap-articles systen, momentum conservation and centre of mass motion. Centre of mass of a rigd

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of auniform rod.
Moment of ajoroe, torque, angular momentum, law of conserouation of

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of rigid bodhes, rigid body rotatiot and angular momentum.and its applications. Equilibriun
equations of rotational motion, comparison of linear and rotational
Moment of nertia, radius of gyration, values of moments of inertia motionis.
for simple geometrical objects (no derivation).
of parallel and perpëndicular axes theorems and their applications. Statenen

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STUDY MATERIAL
Concepts Clarified
Physical Terms ita
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Rigid Body : It is defined as the body that can rotate with all the
shape. parts locked together without any change in its
System: A collection of any number of particles
interacting with one another and are under consideration
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during ofa situation are said to be system. a

Internal Force All the forces exerted

:
by particles interacting with one another under consideration are called
Internal Forces. Forces between two
particles are mutually equal and opposite.
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External Force: Any force exerted on

order to move or stop an
given system is known as External Force. This force is usually applied in
a

object of finite size.

Centre of Mass
Centre of Mass can be defined the
as
point at which all the mass of the body is concentrated, and all the force
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pied externally were concentrated there. ap-

1. Point vector of centre of Mass for n particle system: Consider a
system consists of n number of
particles of
masses
m1, m mz, m Position vectors for the same are
,hl3} , respectively. Position vector of
gr

centre of mass is as follows

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, +m2 +m3..
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If masses are equal, then formula reduces to, r = "'2"7h

2 Position vector of Centre of Mass for two particles system: r =" i 2 and the centre of mass lies between
the particles of the line joining them.
Important Points about Centre of Mass:
(i) The position of centre of mass is independent of the chosen co-ordinate system.
(ii) The position of centre of mass depends on the shape of the body and distribution of mass.
For Example: Centre of mass of crcular ring lies outside the material of the body while that of the circular
solid disk will lie within the body.
(ii) In symmetrical bodies where the mass distribution is homogenous, the centre of mass coincides with the
geometrical centre of the body.
 List of Position of Centre of Mass for different bodies:
Position of Centre of Mass
S.No. Body
1. Uniform hollow Sphere At the centre of Sphere.
Uniform Solid Sphere At the centre of Sphere.

Uniform Circular Ring At the centre of Ring.

Uniform Circular Disk At the centre of Disc.
Uniform Rod At the centre of Rod.
A plane lamina At the point of Intersection of diagonals.
Triangular Plane Lamina Atthe point of Intersection of medians.
8. Rectangular or Cubical Block At thepoint ofIntersection of diagonals.
Hoilow Cylinder Atthe middle point of axis of cylinder.
10. Solid Cylinder At the middle point ofaxis of cylinder
11. Cone or Pyramid On the vertical axis of cone at the distance

h
from the vertex where his the height of

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cone.

(iv) The centre of mass changes only under the translational motion. Centre of mass is not affected by another

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motion.
(v) If the origin is at the centre of mass, then the sum of moments of masses of system about the centre of mass

is zero ie. 2m =0.

i=1

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(vi) If the system of particles of masses m, m, may m g . . , move with the velocity v,, vy By D4. , then

m
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velocity of centre of mass, vCM
2m
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(vii) If the system of particles ofmasses mi, m, may m . . . , move with the acceleration a, a, ay, a4 ...a, then

2m,4
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acceleration of centre of mass, aCM

2 i=l
(vii) If r is the position vector of the centre of mass of the systems of then, velocity of centre of mass
am

d m +m, +m,, t.|

dt m, + ma + m, +m4

Acceleration of centre of mass, Acm ducMdr_dm,t,7, +m,7t|

gr

ix)
dtdt? dt2m, + m, + mg + .
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(x) Force on a rigid body, F=MacM= M

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(xi) Net force on Isolated System is zero» =M d = 0,

dt

Here veMConstant. Centre of Mass of an isolated system moves with uniform velocity along straight ine
path.
Angular Displacement:
Angle described by the position vector r about the axis of rotation is known as Angular
Displacement. Unit - Radian. It is a vector Quantity. Dimension - [M°LT)

Linear Displacement ()
Angular Displacement (0) =

Radius(r)
Vector Value: s=®xr
 Direction of Angular displacement is given by Right Hand Rule. This is known
sense of rotaion direction of 0 is
perpendicular to the plane, outward and alongastheAxial
axis
V a
rot of
Simiar Angular displacement can be observed if bodies rotate about the fixed axis. (Linear displacement va
with the distance of particles from the axis of
rotation).
Angular Velocity:
Angular alsplacement per unit time is defined time
as Angular Velocitv. If particles move from P to Q by Ab in ar

Average Angular velocity (Ao):It is defined as the rate of change of angular displacement over a tihe

Ao 8,-0,
At -
Instantaneous Angular Velocity (o): It is defined as the rate of change of angular position at any instant of time.

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=lim6de

It is a vector quantity, SI Units : rad/s, Other Unit -rpm.

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1rpm rad/s|
=

Direction of o can be obtained using Right Hand thumb rule, Curl the finger of right hand such that the curl will
represent direction of sense of rotation. In the case thumb extension will given the direction of angular velocity.

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>X
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Anti clockwise rotation Clockwise rotation

o coming out of paper o coming into paper
ie, along +ve z-axiss i.e., along-ve z-axis
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Angular Acceleration:
Average Angular Acceleration (Aa): Itis defined as the time rate of change of angular velocity over an interval
of time.
gr

Aa t,-t
le

Instantaneous Angular Acceleration (a): It is defined as the rate of change of angular velocity at any instant of
time.
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Aw do
a= limA
A0
dt

Important Points about angular acceleration:

(a) Angular Acceleration is a vector quantity.
(b) Direction of a:
When angular speed is increasing: In this case angular acceleration is positive hence the direction of

angular acceleration is along angular velocity.

When angular speed is decreasing: In this case angular acceleration is negative hence the direction of

angular acceleration is opposite to angular velocity.

(c) Sl unit: rad/s
Uniform Angular Acceleration
Let us considera particle on the rotating rigid body. At timet = 0, initial angular position 0 and angular velocity

and angular acceleration be

a.
0
Then Kinematic equations of rotational motion
are expressed as
 (0 +at (Analogous to v =u + a
at

B. at (Analogous to s = ut+at

C. o o+2a0 (Analogous to = uf + 2a
Relation between Angular Displacement and Linear Distance :
Let there be a particle P at perpendicular distance r from the axis of rotation. This particle will move in cireu
motion of radius r. Let the angular displacement be 0, as a result particle P has also travelled a circular arc of
distance s. This distance is the linear distance travelled by particle. Using basic trigonometry: B=

Relation between Angular Velocity and Linear Distance:

From the above relation, we haves = 0 r

Differentiating both sides with respect to time, we get

er)-

h
ng
ds de
(As =U,
dt
o)
Relation between Angular Acceleration and Linear Acceleration:

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From the above relation, we have v = or

Differentiating both sides with respect to time, we get

do
adt (or)=r
a, u r

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Here, a, is tangential acceleration in tangential direction.

Points to consider:
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A. Above equations are not valid on whole body. It is valid for a particle on the rotating body at a perpendicular
distance r from the axis of rotation. |For more details,
is but linear attributes scan the code
B Angular attributes of each particle at an instant on a rigid body same
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are different for different particles

C. Seeing the direct proportionality of linear and angular attributes in each of the above equation,

increasing the distance of the particle from axis of rotation will increase the value of linear
attributes as well.
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D. Vector representation of aboverelation: v=ox r, 4, = axr, ag =0x

Moment of Inertia
Mass gives an idea of difficulty we face while moving a body. Mass is also known as "Translational Inertia'. Moment
gr

of Inertia can be defined as the difficulty observed to rotate a body. Hence Moment of lnertia is known as Rotational
Inertia.
le

Theorem of Perpendicular Axes:

The perpendicular axis theorem states that the moment of inertia of thin planar body about an axis perpendicular
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u
to the is the sum of the moment of inertias of the same body about axes on the plane and perpendicular
plane
each other and intersecting on a common point.
Mathematically, I, = I ,+ ,

Moment of inertia of some Homogeneous Rigid Bodies:

(a) A Thin Road

Axis of Rotation Formula Geometry

M
its centre and ML
Passing through
perpendicular to its length 112
M
Passing through its one end perpendicular I ML
to its length 3
 A Circular Disc
(b)
Axis of Rotation
Formula Geometry

Passing through its centre and

perpendicular to its plane 1-MR
M I

Passing through a tangent perpendicular M O

to its plane I,-MR

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Passing through a tangent in its plane
I 4 MR

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Passing through a diameter IMR

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M

(c) A Thin Circular Ring

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Axis of Rotation Formula Geometry
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Passing through its centre and I= MR2

M
perpendicular to its plane
I
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OR
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Passing through a tangent perpendicular I,=2MR2

to its plane M
gr

Passing through a tangent in the plane of

MR
le

ring
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O
About a diameter I-MR M

(d) A Solid cylinder

Formula Geometry
Axis of Rotation

IMR M
Passing through its geometrical axis
 Passing through its outer face along its
-MR
2
length

ML MR
Passing through its centre and L
perpendicular toits length 12 4

h
Passing through its diameter of circular

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surface. 3 4

(e) A Thin Spherical Shell

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Axis of Rotation Formula Geometry

Passing through its any diameter o-MR ita M O R

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Passing through its any tangent 1,-MR a R

M
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(f) A Solid Sphere

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Axis of Rotation Formula Geometry

gr

Passing through its any diameter -MR o R

M
le
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a R
Passing through its any tangent MR
M

(g) Rectangular Sheet

Axis of Rotation Formula Geometry

Passing through centre and I ML

parallel to its breadth 12
 Passing through centre and
parallel to its length
IML
12

Passing through Symmetry Ma

Axis of square sheet 6

M(L'+B)

h
Passing through Symmetry
Axis of rectangular sheet. 12

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Radius of Gyration its radius
the axis of rotation of an object is called
The root mean square distance of the constituent particle from
is the distance from the
So, radius of gyration (K)= *+5 Hence, Radius of gyration (K)
ofgyration.
required
be the
axis such that if the total mass of the
same as for the actual body (which ita
body were concerntrated at that place,
could have an arbitrary distribution of
the
mass).
moment of inertia would
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Mathematicallyit is defined as:

1=MK»K=
ak

where, I = MI of the object about the specified axis.

of position vector and force acting on the body.
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the vector product

Torque on a particle: Toque can be defined as
inertial reference frame with origin at O. Force acting on the body
be F and the position vector be
Let there be an

will be given by r = rxF.

rabout the point O. Then, torque acting on the particle
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It is a vector quantity; direction can be obtained by right hand thumb rule and SI unit is Nm. Formore details,
scan the code
(A) Torque acting on a rigid body:
gr

Let angie between and F be 0. Therefore, magnitude of torque is r=|

T= rFsin0, we can write this as t= F(rsin )
le

the point O, we
As the figure, if we draw a perpendicular to the force F from
findper
the length of r using one of the components. Perpendicular will be of length
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perp sin6 is also known as Lever arm or moment arm of torque. Hence,
t =
Fxperp
Hence torque can be found as the product of lever arm and magnitude of force to get

the magnitude of torque

(B) Newton's second law for Rotational Motion "total external
law of rotation is very different from Newton's
2nd law of motion, it stated that the
Newton's
2 of rotation in an inertial frame
of reference is directly proportional
tOrque acting on a rigid body about an axis
to the
A. Moment Inertial ofthe rigid body about that axis.
of the particle T= la
B. Angular Acceleration a
Points to consider about the Newton's 2nd law of rotation

(i) Frame of Reference should be inertial.

or system of particle.
i) Valid of body, not valid for particle
Rigid
 about axis of rotation.
Total external torque acting on a rigid body
an
(iil) t =

follows
This equation can be applied only about
two axes in a rigid body as
(iv)
A. About the axis of rotation.
of mass.
B. About an axis passing through centre
t and Moment of Inertia I
should be calculated about the same axis of rotation.
(v) Torque
fixed axis of rotation:
(C) Kinetic Energy in
Kinetic Energy of the rigid body rotating about the fixed axis is given by KE =<lo

KE=lo is not a new. K.E. but it is equal to the sum of all kinetic energies, mu acting on all the parhic

on the rigid body.

Workand Power

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A. Work done by applied torque
Let there be a rigid body undergoing fixed axis rotation. If it undergoes an angular displacement from init

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under the action of torque t then work done is given by
angular position 6, to final position 6,
W-rde

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Special Case: Work done by a
constant torque W =r0
B. Average Power

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Work done workdone
Pavs Time time
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aW
C. Instantaneous Power(power) TO
dt
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D. Work Kinetic Energy Theorem

W-K,-K, ;la-~loj
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Angular Momentum of a particle:

as the product of the moment of inertia
and the angular veloc
The angular momentum of a rigid object is defined of anguia
and is subject to the fundamental constraints of the
conservation
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ity. It is analogous to linear momentum

momentum principle if there is no external torque on the object.
vector moving r

Let there be an origin at 0, there exist a particle of mass m at position

inertial reference frame with
with a velocity v with an instant. Angular Momentum L of the particle with respect to the origin is defined as
gr

L=rxp
le

It is a vector Quantity; the direction is obtained by right hand thumb rule.

(A) Angular Momentum ofa Rigid Body:
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Let there be a rigid body rotating about a fixed axis of rotation in an inertial frame of reference. Angular velod
of rigid body at any instant be o. Assume MI of rigid body above axis of rotation be I. Angular momentu
of the rigid body about the fixed axis be
L lo
The direction of angular momentum is defined along the direction of angular velocity
Points to consider about Angular Momentum of a Rigid Body
A. Frame of reference should be intertial.

Equation will be available about a fixed axis of rotation.

B.
of
tation
about the same fixed axis rotau
C. Angular momentum L and Moment of Inertia I should be calculated
(B) Torque and Angular Momentum:

Ia, As
Torque acting on rigid body is given by t a
= =

Net External dt
 Hence, t=a=144(lo)-d(As, L= lo)
dt dt of the iEd
ota internal
iorque acting on a body is equal to the time rate of change in angular momentum
body.
(C)Conservation of Angular Momentum:
As per the Law, if no external torque acts on the system, the angular momentum oof the system remains cOrstai
he system is said to be isolated if L be the angular moe
no external torque acts on the body. If
bodies at any instant, then L =
Constant, hence, Li= La2
General Motion (Combined Motion)
This motion usually consists of both translational al

gh
and rotational motion. Let there be a rigid body n
a
frame with ongin O. At an instant of time, angular velocity be o and linear velocity of its centre of mass
wi

n
respect toOSVoM Let us assume that position vector of its centre of mass w.r.t. O be r and MI about the point De
Lo. KE and angular momentum of the rigid body in combined

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motion in this frame as

KE-l mv and L=
Ix o+ mvo

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Pure Rolling Motion
A combined motion where
point of contact remains at rest with
Rolling or Rolling without Slipping. It is a kind of combined motion respect
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to the surface in contact is known as Pure
where the point of contact remains changing but
still the body translates with some
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velocity.
As the point of contact O has
rolling velocity w.rt. the surface therefore the disc
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has an instantaneous axis of rotation which

passes through lowest point O.
Hence, we can virtually predict rolling as a fixed axis rotation about the lowest
point O. Now we can apply all equations about this instantaneous axis of rotation
as same as that rotation about the fixed axis.
am

O
Mathematical Equation of Pure Rolling
Assumption : Surface is stationary, Velocity of centre of mass of the disc w.rt. point O is
gr

VMR and acM = aR

le

The velocity and acceleration of a point increases as it moves upwards from the surface during the pure rolling
motion.
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0 ,a
We can assume virtually rolling as a fixed axis of rotation about the lowest point,
hence we can use equation of KE and angular momentum as that of a fixed axis
of rotation.

KE in pure Rolling, KE
-1,o -l- mvë
Angular Momentum of Pure Rolling

Angular momentum of rolling disc (cylinder

or sphere) about point O (i.e., about the axis of rotation) is

L =
I,o=lu + Tx mvcM

of inertia about the axis passing through point O and r

=position vector
Here, I = moment