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XI PHYSICS - CHAPTER 7 ROTATION ABOUT AN AXIS NOT FIXED

SYSTEMS OF PARTICLES AND ROTATIONAL MOTION
(Prepared By Ayyappan C, HSST , GMRHSS , Kasaragod, Mob: 9961985448)
RIGID BODY
 A rigid body is a body with a perfectly definite
and unchanging shape.
 The distances between different pairs of such a
body do not change
MOTIONS OF A RIGID BODY •
The axis of a spinning top moves around the
PURE TRANSLATION vertical through its point of contact with the
ground, sweeping out a cone.
• The movement of the axis of rotation is termed
precession.
• The motion of a rigid body which is not
pivoted or fixed in some way is either a pure
translation or a combination of translation
and rotation.
• In pure translational motion at any instant of • The motion of a rigid body which is pivoted or
time every particle of the body has the same fixed in some way is rotation.
velocity.
CENTRE OF MASS
TRANSLATION AND ROTATION
 Centre of mass is the point at which the entire
mass of the body can be assumed to be
concentrated.

• Points P1, P2, P3 and P4 have different velocities

at any instant of time.
• The line along which the body is fixed is termed
as its axis of rotation.
ROTATION ABOUT A FIXED AXIS
 In rotation of a rigid body about a fixed axis,  For two particle system as shown in fig. the
every particle of the body moves in a circle, centre of mass is given by
which lies in a plane perpendicular to the axis
and has its centre on the axis. m1 x1  m2 x2
X 
m1  m2
• If the two particles have the same mass , then
mx1  mx2 x1  x2
X  
mm 2
• If we have n particle
m x  m2 x2  .......  mn xn
X  1 1 
m x
i i

m1  m2  ......  mn m i

• The centre of mass C of the system of the three

particles is defined and located by the
coordinates (X, Y) given by
m1 x1  m 2 x 2  m3 x 3
X 
m1  m 2  m3
m1 y1  m 2 y 2  m3 y 3
Y 
m1  m 2  m3
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• For the particles of equal mass m MOTION OF CENTRE OF MASS

   
mx1  mx2  mx3 x1  x2  x3 • We have , MR  m1r1  m2 r2  .......  mn rn
X  
mmm 3 • Differentiating with respect to time
   
my  my2  my3 y1  y 2  y 3 dR dr1 dr2 drn
Y  1  M  m1  m2  .......  mn
mmm 3 dt dt dt dt
• Thus, for three particles of equal mass, the • Thus
centre of mass coincides with the centroid of    
MV  m1v1  m2 v2  .......  mn vn
the triangle formed by the particles.
• In terms of position vectors, the centre of mass • Where V – velocity of centre of mass
is given by • Again differentiating with respect to time
   


R
 mi ri M
dV dv dv dv
 m1 1  m2 2  .......  mn n
dt dt dt dt
M    
 MA  m1a1  m2 a2  .......  mn an
• Where ri  xi iˆ  yi ˆj  zi kˆ
 • A – acceleration of centre of mass
R  Xiˆ  Yˆj  Zkˆ • From Newton’s second law,
• The centre of mass of homogeneous bodies of    
MA  F1  F2  .......  Fn
regular shapes like rings, discs, spheres, rods
• Thus the total mass of a system of particles
lie at their geometric centers.
times the acceleration of its centre of mass is
PROBLEM
the vector sum of all the forces acting on the
• Find the centre of mass of three particles at the
system of particles.
vertices of an equilateral triangle. The masses of
• Only the external forces contribute to the
the particles are 100g, 150g, and 200g
equation
respectively. Each side of the equilateral  
triangle is 0.5m long. MA  Fext
Solution  The centre of mass of a system of particles
moves as if all the mass of the system was
concentrated at the centre of mass and all the
external forces were applied at that point.
Illustration- projectile explodes into fragments
• Consider a projectile, following the usual
parabolic trajectory, explodes into fragments
midway in air.
• The forces leading to the explosion are internal
forces. They contribute nothing to the motion
of the centre of mass.
• The total external force, namely, the force of
gravity acting on the body, is the same before
• We have and after the explosion.
• The centre of mass under the influence of the
external force continues, therefore, along the
same parabolic trajectory as it would have
followed if there were no explosion.

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LINEAR MOMENTUM OF A SYSTEM OF PARTICLES

iˆ  ˆj  k̂, ĵ  k̂  iˆ, k̂  î  ĵ
• The total momentum of a system of particles is
equal to the product of the total mass of the ˆj  iˆ  k̂, k̂  ĵ  iˆ, î  k̂   ĵ
system and the velocity of its centre of mass RULES TO FIND DIRECTION OF VECTOR PRODUCT
 
P  MV i) Right hand screw rule
• Differentiating above equation with respect to
time,  If a right handed screw is rotated from vector A
  to vector B, through a small angle, the direction
dP dV 
M  MA of the advancing screw gives the direction of
dt dt
• Or the cross product of vectors A and B.

dP
 F ext
dt
• This is the statement of Newton’s second law
extended to a system of particles.
• When the total external force acting on a
system of particles is zero, the total linear
momentum of the system is constant. ii) Right hand thumb rule

dP
0  If the fingers of the right hand are curled in such
dt a way that they point along the direction of

P  constant rotation from vector A to vector B through a
• When the total external force on the system is small angle, then the thumb points in the
zero the velocity of the centre of mass remains direction of the cross product of vector A and B.
constant.
VECTOR PRODUCT OF TWO VECTORS
• The vector product or cross product of two
vectors is given by
 
A  B  ABsinθn̂
 
• Where A | A | , B  | B | , n̂ - unit vector
perpendicular to A and B. ANGULAR VELOCITY AND ITS RELATION WITH LINEAR
VELOCITY
• The average angular velocity of the particle over
the interval Δt is Δθ /Δt.
• The instantaneous angular velocity
ω = dθ/dt.

• The vector product of two vectors is another

vector perpendicular to the given vectors.
Properties of vector product
• Vector product is not commutative
    • The general relation connecting angular velocity
A B  B  A and linear velocity is given by
  
 
   
A B   B  A v r
• Vector product is distributive • The angular velocity is a vector quantity.
 
      
A B  C  A B  AC Angular acceleration
   • Angular acceleration α is the time rate of
• Also A  A  0 , null vector change of angular velocity.

• Vector products of orthogonal unit vectors are  d

iˆ iˆ  0, ĵ  ĵ  0, k̂  k̂  0 dt
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•If the axis of rotation is fixed, the direction of ω d   

and hence, that of α is fixed. r  p   (r  F )  (v  mv )
Moment of force (Torque) dt
• The rotational analogue of force is moment of • Here F= (dp/dt) and p= mv
force or torque. • Since (v x v ) = 0
d   
• Torque is given by
   r  p   (r  F )  0
 r F dt
 Thus
 The moment of force (or torque) is a vector 
quantity. dl  
r F
• The symbol τ stands for the Greek letter tau. dt
• The magnitude of τ is  Therefore
  rF sin  
dl 
• Moment of force has dimensions same as those 
of work or energy [ML2T-2] dt
• Moment of a force is a vector, while work is a  Thus, the time rate of change of the angular
scalar. momentum of a particle is equal to the torque
• The SI unit of moment of force is Newton- acting on it.
metre (Nm). Torque and angular momentum for a system of
particles
• For a system of n particles, the total angular
momentum is

L  l1  l2  ......  ln
 n  
L   ri  pi
i 1
• Thus

Angular momentum of a particle dL 
• Angular momentum is the rotational analogue   ext
of linear momentum. dt
• The angular momentum is given by Conservation of Angular Momentum
   • If the external torque acting on a system is zero,
l rp then

• The magnitude of the angular momentum dL
vector is 0
dt
l  rp sin  
L  constant
• Thus if total external torque on a system is
Relation Between Angular Momentum and Torque zero the angular momentum is conserved.
• We have EQUILIBRIUM OF A RIGID BODY
   • A rigid body is said to be in mechanical
l rp equilibrium, if both its linear momentum and
• Differentiating with respect to time, angular momentum are not changing with

dl d   time.
 r  p  Translational equilibrium
dt dt
• But ,  The vector sum of the forces, on the rigid body
  is zero - linear momentum is conserved.
d    dp dr    
r  p   (r  )  (  p) F1  F2  .....  Fn  0
dt dt dt
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Rotational equilibrium •
A lever is a light rod pivoted at a point along its
 The vector sum of the torques on the rigid length. This point is called the fulcrum.
body is zero - angular momentum is • A seesaw on the children’s playground is a
conserved. typical example of a lever.
  
 1   2  .....   n  0 • Anticlockwise moments - positive
Clockwise moments - negative
Partial equilibrium
• In the case of the lever force F1 is usually some
• When two parallel forces both equal in
weight to be lifted. It is called the load and its
magnitude are applied perpendicular to alight
distance from the fulcrum d1 is called the load
rod , the system will be in rotational
arm.
equilibrium, and not in translational
Mechanical Advantage (M.A.)
equilibrium
• The ratio F1/F2 is called the Mechanical
Advantage (M.A.)
F1 d 2
M . A.  
F2 d1
•If the effort arm d2 is larger than the load arm,
• When two forces are applied perpendicular in the mechanical advantage is greater than one.
two opposite directions, the body is in • Mechanical advantage greater than one means
translational equilibrium; but not in rotational that a small effort can be used to lift a large
equilibrium. load.
Centre of gravity
• The CG of a body is the point where the total
gravitational torque on the body is zero.
• If acceleration due to gravity is same at all parts
of a body, its centre of gravity coincides with
centre of mass.
Couple
• If g varies centre of gravity and centre of mass
• A pair of equal and opposite forces with
are different.
different lines of action is known as a couple.
• A couple produces rotation without
translation.
• When we open the lid of a bottle by turning it,
our fingers are applying a couple to the lid.

MOMENT OF INERTIA
• Moment of inertia is the rotational analogue of
Principle of moments mass of a body.
• The moment of inertia given by
n
I   mi ri
2

i 1
•
It is independent of the magnitude of the
angular velocity.
• For a lever at equilibrium the moment on the • It is regarded as a measure of rotational inertia
left = moment on the right of the body
load arm × load = effort arm × effort • Unit is kgm2.
d1F1  d 2 F2 The moment of inertia of a rigid body depends on :
• This is the principle of moments for a lever. • the mass of the body,
• its shape and size
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• distribution of mass about the axis of rotation,

• The position and orientation of the axis of • Each mass M/2 is at a distance l/2 from the axis.
rotation. • The moment of inertia of the masses is
Rotational kinetic energy therefore given by
• The kinetic energy in terms of moment of 2
Ml Ml
2

inertia is I     
2 2 2 2
• We have kinetic energy of a particle
• Thus
1
ki 
2 2
mi vi Ml
2 I
4
• The velocity is given by
Radius of Gyration
vi  ri • In general moment of inertia can be written as
• Thus for a system of particles I  Mk 2
n
1
K 
2 i 1
mi ri  2
2 • Here the length k is a geometric property of the
body and axis of rotation. It is called the radius
of gyration.
• Therefore
• The radius of gyration
1 2
K I
2 I
• where ω - angular velocity, I – moment of k
inertia M
• or •
The radius of gyration of a body about an axis
L2 may be defined as the distance from the axis of
K a mass point whose mass is equal to the mass
2I
• where L – angular momentum of the whole body and whose moment of
Moment of Inertia of a thin Ring inertia is equal to the moment of inertia of the
• Consider a thin ring of radius R and mass M, body about the axis.
rotating in its own plane around its centre with Moment of inertia of different bodies
angular velocity ω. No Body Axis I
• Each mass element of the ring is at a distance R 1 Thin circular ring Perpendicular to
from the axis, and moves with a speed Rω. radius R plane ,at centre
• The kinetic energy is therefore, 2 Thin circular ring Diameter
1 1 radius R
K Mv 2  MR 2 2 3 Thin rod ,length L Perpendicular to ML2
2 2 rod ,at mid point
• Therefore comparing the equation with 12
4 Circular disc Perpendicular disc MR 2
1 2
K I radius R at centre
2
2
5 Circular disc diameter
• We get I  MR 2
radius R
Moment of Inertia of a rigid Rod 6 Hollow cylinder Axis of cylinder
• Consider a rigid massless rod of length with a radius R
pair of small masses, rotating about an axis
7 Solid cylinder Axis of cylinder MR 2
through the centre of mass perpendicular to the radius R
rod. 2
8 Solid sphere Diameter 2
radius R MR 2
5
Practical uses of moment of inertia
• The machines, such as steam engine and the
automobile engine, etc., that produce rotational

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motion have a disc with a large moment of MR 2

inertia, called a flywheel. 2I x 
2
• Because of its large moment of inertia, the MR 2
flywheel resists the sudden increase or Ix 
4
decrease of the speed of the vehicle.
Theorem of parallel axes
• It allows a gradual change in the speed and
• The moment of inertia of a body about any
prevents jerky motions, thereby ensuring a
axis is equal to the sum of the moment of
smooth ride for the passengers on the vehicle.
inertia of the body about a parallel axis passing
Theorem of Perpendicular Axes
through its centre of mass and the product of
• It states that the moment of inertia of a planar
its mass and the square of the distance
body (lamina) about an axis perpendicular to
between the two parallel axes.
its plane is equal to the sum of its moments of
inertia about two perpendicular axes I z '  I z  Ma 2
concurrent with perpendicular axis and lying in • Where a –distance between two parallel axes.
the plane of the body. • This theorem is applicable to a body of any
• Thus shape.
Iz  Ix  I y
• This theorem is applicable to bodies which are
planar.

PROBLEM - 1
• What is the moment of inertia of a rod of mass
PROBLEM
M, length l about an axis perpendicular to it
• What is the moment of inertia of a disc about
through one end?
one of its diameters?
Solution
• The moment of inertia about an axis
perpendicular and through the midpoint of the
rod is
Ml 2
Iz 
12
• Thus using parallel axis theorem, the moment
Solution of inertia about an axis perpendicular through
• The moment of inertia of the disc about an axis one end is
perpendicular to it and through its centre is 2
Ml 2 l Ml 2
I z '  I z  Ma 2   M  
12 2 3
• Where M –mass, R – radius POBLEM - 2
• By symmetry of the disc, the moment of inertia • What is the moment of inertia of a ring about a
about any diameter is same. tangent to the circle of the ring?
Solution
Ix  Iy
• Using perpendicular axis theorem
I z  I x  I y  2I x

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KINEMATICS OF ROTATIONAL MOTION ABOUT A FIXED

AXIS
• The kinematical equations of linear motion with
uniform (i.e. constant) acceleration are:
Work done by a torque
v  v0  at
• The work done by the total (external) torque τ
1 which acts on the body rotating about a fixed
x  x0  v0t  at 2
2 axis is given by
dW  d
v 2  v0  2ax  x0 
2
• The instantaneous power is given by
• The kinematic equations for rotational motion dW d
P   
with uniform angular acceleration are: dt dt
  0  t P  
Relation connecting torque and moment of inertia
1
  0  0t  t 2  In a perfectly rigid body there is no internal
2
motion. The work done by external torques is
 2  0 2  2    0  goes on to increase the kinetic energy of the
PROBLEM body.
• The angular speed of a motor wheel is • Thus the rate of work done is equal to the rate
increased from 1200 rpm to 3120 rpm in 16 of change of kinetic energy.
seconds. • Thus
i) What is its angular acceleration, d  1 2  dW
assuming the acceleration to be  I    
dt  2  dt
uniform?
1 d
ii) How many revolutions does the engine I ( 2 )  I  
make during this time? 2 dt
Solution I  
i) We have  Since
  0  t d

dt

• The torque is given by

  I

Where I –moment of inertia, α- angular
 Similarly the final angular velocity is acceleration
PROBLEM
 A cord of negligible mass is wound round the
rim of a fly wheel of mass 20 kg and radius 20
cm. A steady pull of 25 N is applied on the cord
 Thus as shown in figure. The flywheel is mounted on
a horizontal axle with frictionless bearings.
i) Compute the angular acceleration of
the wheel.
ii) Find the work done by the pull, when
ii) The angular displacement in time t is given 2mof the cord is unwound.
by iii) Find also the kinetic energy of the
wheel at this point. Assume that the
wheel starts from rest.
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 Where k – unit vector perpendicular to r and

v.
 But
vi  ri
 Thus

li  mi ri kˆ
2

Solution
i) We have the torque  There for the total angular momentum of a
  FR  25  0.20  5.0Nm system of particle is given by
 But   I  n
L   mi ri kˆ
2
 Where i 1
MR 2 20  0.20 2 
I    0.4kgm 2 L  Ikˆ
2 2  Where
 Therefore n
0.4    FR  5 I   mi ri
2

i 1
5
  12.5s 2  The magnitude of angular momentum is given
0.4 by
ii) Work done by the pull unwinding 2m of the
cord is L  I
W  Force  displaceme nt Principle of Conservation of Angular momentum
 25  2  50 J
• The angular momentum is given by
iii) The kinetic energy gained is L=Iω
• If the external torque is zero,
1 2 L  I  constant
K I
2 Examples of principle of conservation of angular
 The angular displacement  = length of momentum
unwound string / radius of wheel = 2m/0.2 m =
10 rad
 Thus
 2  0 2  2
• When we stretch hand angular speed is
 2  0  2  12.5  10  250( rad / s ) 2 reduced (moment of inertia is increased) and
 Therefore when hand is closed angular speed is increased
1 (moment inertia is decreased)
K  0.4  250  50 J • A circus acrobat and a diver take advantage of
2 this principle.
Relation connecting angular momentum and moment
of inertia
 The angular momentum of a particle is given
by
   
li  ri  pi  ri  mi vi
 In rotation about a fixed axis velocity and • Also, skaters and classical, Indian or western,
radius will be perpendicular, the angular dancers etc , use this principle.
momentum is

li  mi ri vi kˆ

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ROLLING MOTION Solution

• Rolling motion is the combination of translation
and rotation.
• All wheels used in transportation have rolling
motion.
• When a disc rolls without slipping , at any
instant of time the bottom of the disc which is
in contact with the surface is at rest on the • Applying conservation of energy
surface Kinetic energy gained = potential energy
• We have
1 2 k2 
K  mv 1  2 

2  R 
• v – velocity of centre of mass
• Potential energy = mgh
• Therefore
1 2 k2 
mv 1  2   mgh
2  R 
• Thus for the disc , the condition for rolling
2 gh
without slipping is v2 
 k2 
vcm  R 1  2 
• Where vcm – velocity of centre of mass  R 
• Thus the velocity of point P1 at the top of the • Thus
disc (v1) has a magnitude 2 gh
v
 k2 
v1  vcm  R  2vcm 1  2 
 R 
• V1 is directed parallel to the level surface. Velocity of ring
Kinetic Energy of Rolling Motion • For a ring k2 = R2
• The kinetic energy of a rolling body = kinetic • Therefore
energy of rotation + kinetic energy of
2 gh
translation . v ring   gh
• Thus  R2 
1  2 
K
1 2 1
I  mvcm
2  R 
2 2 Velocity of a solid cylinder
• Substituting I  mk 2 and vcm  R • For a solid cylinder , k2 = R2/2
2 gh 4 gh
1 mk 2 R 2 2 1 vcylinder  
2
1 mk 2 vcm 1
K    mvcm
2 2
mv  R2 / 2  3
1  
2 cm 2
2 R 2 2 R 2
• Thus  R 2 
1 2 k2  Velocity of a sphere
K mvcm 1  2 
2  R  For a solid sphere k2 = 2R2/5
PROBLEM 2 gh 10 gh
• Three bodies, a ring, a solid cylinder and a solid
v sphere  
 2R / 5 2
7
sphere roll down the same inclined plane 1  2

without slipping. They start from rest. The radii  R 
of the bodies are identical. Which of the bodies • Thus vsphere  vcylinder  vring
reaches the ground with maximum velocity? • The sphere has the greatest velocity.

******

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