Rotational Motion I

AP Physics C
The radian
There are 2 types of pure unmixed motion:

Translational - linear motion

Rotational - motion involving a rotation or revolution around a
fixed chosen axis( an axis which does not move).

We need a system that defines BOTH types of motion working

together on a system. Rotational quantities are usually defined
with units involving a radian measure.

If we take the radius of a circle and LAY IT

DOWN on the circumference, it will create
an angle whose arc length is equal to
R.

In other words, one radian angle is

subtends an arc length ∆s equal to the
radius of the circle (R)
The radian

Half a radian would subtend an arc length equal to half the radius and 2
radians would subtend an arc length equal to two times the radius.

A general Radian Angle (∆θ) subtends an arc length (∆s) equal to R.

The theta in this case represents ANGULAR DISPLACEMENT.
Angular Velocity Since velocity is defined as the rate of
change of displacement. ANGULAR
∆x VELOCITY is defined as the rate of
v= → translational velocity
∆t change of ANGULAR DISPLACEMENT.
∆θ
ω= → rotational velocity
∆t
dx dθ
v = ,ω = 1 revolution = 2π radians = 360o
dt dt
NOTE:
Translational motion tells you THREE THINGS
• magnitude of the motion and the units
• Axis the motion occurs on
• direction on the given axis

Example: v =3i
This tells us that the magnitude is 3 m/s, the axis is the "x" axis and
the direction is in the "positive sense".
Translation vs. Rotation
Translational motion tells you THREE
THINGS
• magnitude of the motion and the units
• Axis the motion occurs on
• direction on the given axis

Example: v =3i
This tells us that the magnitude is 3 m/s,
the axis is the "x" axis and the direction is
in the "positive sense".

Rotational motion tells you THREE THINGS:

• magnitude of the motion and the units
• the PLANE in which the object rotates in
• the directional sense ( counterclockwise or clockwise)
Counterclockwise rotations are defined as having a
direction of POSITVE K motion on the "z" axis
Rotation
Example: Unscrewing a screw or bolt

= 5 rad/sec k

Clockwise rotations are defined as having a

direction of NEGATIVE K motion on the "z"
axis

Example: Tightening a screw or bolt

= -5 rad/sec k
Angular Acceleration
∆v Once again, following the same lines of
a= → translational acceleration
∆t logic. Since acceleration is defined as the
∆ω rate of change of velocity. We can say the
α = → rotational acceleration ANGULAR ACCELERATION is defined
∆t
as the rate of change of the angular
dv dω velocity.
a = ,α =
dt dt
Also, we can say that the ANGULAR
ACCELERATION is the TIME
DERIVATIVE OF THE ANGULAR
x = ∫ v dt , θ = ∫ ω dt VELOCITY.

v = ∫ a dt , ω = ∫ α dt All the rules for integration apply as

well.
Combining motions –Tangential velocity
First we take our equation for the radian
measure and divide BOTH sides by a change in
time.

The left side is simply the equation for LINEAR

velocity. BUT in this case the velocity is
TANGENT to the circle (according to Newton's
first law). Therefore we call it TANGENTIAL
VELOCITY.

Inspecting the right side we discover the formula

for ANGULAR VELOCITY.

Therefore, substituting the appropriate

symbols we have a formula that relates
Translational velocity to Rotational
velocity.
Tangential acceleration and rotational kinematics
vt rω Using the same kind of mathematical
vt = rω → = reasoning we can also define Linear
∆t ∆t tangential acceleration.
at = rα
Inspecting each equation we discover
that there is a DIRECT relationship
between the Translational quantities
and the Rotational quantities.
We can therefore RE-WRITE each translational kinematic equation and
turn it into a rotational kinematic equation.

v = vo + at → ω = ωo + αt
x = xo + vot + 1 at 2 → θ = θ o + ωot + 1 αt 2
2 2
v 2 = vo2 + 2a∆x → ω 2 = ωo2 + 2α∆θ
Example
A turntable capable of 2
α = 12 rad / s
angularly accelerating at
12 rad/s2 needs to be ∆θ = 400 rad
given an initial angular t = 6s
velocity if it is to rotate
ωo = ?
through a net 400 radians
in 6 seconds. What must ∆θ = ωo 2t + 1 αt 2
its initial angular velocity
2
be? 400 = ωo (6) + (0.5)(12)(6) 2
ωo = 30.7 rad/s
Rotational Kinetic Energy and Inertia
Just like massive bodies tend
K = 1 mv 2 , vt = rω
to resist changes in their 2
motion ( AKA - "Inertia") .
K = 1 m(rω ) 2
Rotating bodies also tend 2
to resist changes in their
K = 1 mr 2ω 2 , I = ∑ mr 2
motion. We call this 2
ROTATIONAL INERTIA.
K rot = 1 Iω 2
We can determine its 2
expression by looking at
Kinetic Energy.
We now have an expression for the rotation of a
mass in terms of the radius of rotation.
We call this quantity the MOMENT OF INERTIA (I)
with units kgm2
Moment of Inertia, I Consider 2 masses, m1 & m2,
rigidly connected to a bar of
negligible mass. The system

I = ∑ mr 2 rotates around its CM.

This is what we would see if m1 = m2. m1 m2

Suppose m1>m2.

r1

m1 m2 Since it is a rigid body, the have the SAME

angular velocity, ω. The velocity of the center,
vcm of mass is zero since it is rotating around it.
r2 We soon see that the TANGENTIAL SPEEDS
are NOT EQUAL due to different radii.

vt = rω
Moment of Inertia, I
Since both masses are moving they have kinetic energy
or rotational kinetic in this case.
K = K1 + K 2
K = 1 m1v12 + 1 m2 v22 , vt = rω r1
2 2
K = 1 m1 (r12ω 2 ) + 1 m2 (r22ω 2 ) m1 m2
2 2
K = 1 (m1r12 + m2 r22 )ω 2 r2
2
N
K = 1 (∑ mi ri 2 )ω 2 → K = 1 Iω 2
2 i =1 2

So this example clearly illustrates the idea behind the

SUMMATION in the moment of inertia equation.
Example A very common problem is to find the velocity of a ball
rolling down an inclined plane. It is important to realize
that you cannot work out this problem they way you
used to. In the past, everything was SLIDING. Now the
object is rolling and thus has MORE energy than
normal. So let’s assume the ball is like a thin spherical
shell and was released from a position 5 m above the
Ebefore = Eafter ground. Calculate the velocity at the bottom of the
incline.
U g = KT + K R Ebefore = Eafter
If you HAD NOT
mgh = 1 mv 2 + 1 Iω 2 U g = KT included the
2 2
rotational kinetic
v = Rω I sphere @ cm = 2 mR 2
mgh = 1 2
mv energy, you see the
3 2
2 answer is very much
v mgh = 1 2
mv different.
mgh = 1 mv + 1 ( 2 mR )( 2 )
2 2
2
2 2 3 R
1 2 1 2 gh = 1 v2
gh = v + v 2
2 3
v = 6 gh = 6 (9.8)(5) = 7.67 m/s
v = 2 gh = 2(9.8)(5) = 9.90 m / s
5 5
Example: Moment of Inertia, I
Let's use this equation to analyze

I = ∑ mr 2 the motion of a 4-m long bar with

negligible mass and two equal m1 m2
masses(3-kg) on the end rotating
around a specified axis.

EXAMPLE #1 -The moment of Inertia when they are rotating around the
center of their rod.
I = ∑ mr 2 = mr 2 + mr 2
I = (3)(2) 2 + (3)(2) 2 = 24 kgm2

EXAMPLE #2-The moment if Inertia rotating at m1 m2

one end of the rod
I = ∑ mr = mr + mr
2 2 2

I = (3)(0) 2 + (3)(4) 2 = 48 kgm2

 Example cont’
Now let’s calculate the moment of Inertia rotating at a
point 2 meters from one end of the rod.

m1 m2

2m

I = ∑ mr 2 = mr 2 + mr 2
2 2
I = (3)(2) + (3)(6) = 120 kgm2

As you can see, the FARTHER the axis of rotation is from the center of mass,
the moment of inertia increases. We need an expression that will help us
determine the moment of inertia when this situation arises.
Parallel Axis Theorem
This theorem will allow us to calculate the moment of
inertia of any rotating body around any axis,
provided we know the moment of inertia about the
center of mass.

It basically states that the Moment of Inertia ( Ip) around any axis "P" is
equal to the known moment of inertia (Icm) about some center of mass plus
M ( the total mass of the system) times the square of "d" ( the distance
between the two parallel axes)

Using the prior example let’s use the parallel axis theorem to calculate the
moment of inertia when it is rotating around one end and 2m from a fixed
axis.
Exam – Parallel Axis Theorem
I p = I cm + Md 2
I p = (24) + (6)(2) 2 = 48 kgm2 m1 m2

d = 2m

m1 m2

I p = I cm + Md 2 4m

2
I p = (24) + (6)(4) = 120 kgm2
(not drawn to scale)
Continuous Masses
Σmr2, worked fine for what is called
The earlier equation, I =Σ
POINT masses. But what about more continuous masses
like disks, rods, or sphere where the mass is extended
over a volume or area. In this case, calculus is needed.

This suggests that we will

I = ∑ mr → I = ∫ r dm
2 2
take small discrete amounts
of mass and add them up over
a set of limits. Indeed, that is
what we will do. Let’s look at a
few example we “MIGHT”
encounter. Consider a solid
rod rotating about its CM.

Σmr2, be the equation

Will, I =Σ
for a rod?
The rod
We begin by using the same technique used to
derive the center of mass of a continuous body.

I = ∑ mr 2 → I = ∫ r 2 dm
dr
M
Macro → λ =
L
dm dm
Micro → λ = = dm = λdr
dx dr The CM acts as the origin in the
L2 case of determining the limits.
I = ∫ r dm → ∫
2
r 2 (λ )dr
−L 2
3
L2 M r
I = λ ∫ r 2 dr → | |−LL2 2
−L 2 L 3
2
3
M L 8 −L 8 3
M L L 3 3 ML
I= ( − )→ ( + ) = I rod @ cm =
L 3 3 L 24 24 12
Your turn
What if the rod were rotating on one of its ENDS?
I = ∑ mr 2 → I = ∫ r 2 dm
M
Macro → λ =
L
dm dm
Micro → λ = = dm = λdr
dx dr
dr
L
I = ∫ r dm → ∫ r (λ )dr
2 2
0
3
L M r
I = λ ∫ r 2 dr → | |0L As you can see you get
a completely different
0 L 3 expression depending
M L3 ML2 on HOW the body is
I= ( − 0) = I rod @ end = rotating.
L 3 3
The disk
I = ∑ mr → I = ∫ r dm
2 2

R
M M r
Macro → σ = = 2
A πR
dx
dm dm
Micro → σ = = dm = σ 2πrdr
dA 2πrdx(or dr ) 2π
πr

R
I = ∫ r dm → ∫ r 2 (σ 2πr )dr
2 dx
0
4
R 2πM r
I = 2πσ ∫ r 3 dr → 2
| | R
0
0 πR 4
2M R 4 MR 2
I = 2 ( − 0) = I disk @ cm =
R 4 2
The bottom line..

Will you be asked to derive the moment of

inertia of an object? Possibly! Fortunately,
most of the time the moment of inertia is
given within the free response question.

Consult the file ( on the notes page) called

Moments of Inertia to view common
expressions for “I” for various shapes and
rotational situations.