Rotation of a Rigid Object

about a Fixed Axis

10/17/2019 1
  As the particle moves, the only
Axis
coordinate that changes is q
z  As the particle moves through q, it
Rigid object moves though an arc length s.
 The arc length and r are related:
y s
Reference s  rq  q   rad 
r
line P s
y
θ
O x O r x
2
 The angular displacement:
tf q  qf  qi
y
Average Angular Speed:
P Δθ s q qf  qi
θf ti  
t t f  t i
θi The instantaneous angular speed:
O x
q dq
  lim 
t 0
t dt
Units of angular speed are radians/sec [rad/s] 3
 The average angular acceleration:
tf
y  f  i
 
t tf  ti
P Δθ s
θf ti
The instantaneous angular acceleration :
θi
O  d
x   lim 
t 0
t dt

Units of angular acceleration are radians/sec2 [rad/s2] 4

Angular position is given:
q  t  27t  4
3

Where θ is in radians and t is in seconds.

a. Find: (t) and (t)

b. Find t when (t)  0

 The rigid object under constant angular acceleration are of the
same mathematical form as those for a particle under constant
acceleration.

v f  v i  at s  rq f  i   t
1 2 v  r 1 2
sf  si  v i t  at q f  q i  i t   t
2 at  r  2
v f2  v i2  2a  sf  si  an  r  2
f2  i2  2 qf  q i 
The total rotational kinetic energy of the rigid object is the sum of
the energies of all its particles.
1 1 1
K   K i  m1v1  m2v 2  ...  mnv n 2
2 2

n 2 2 2
We can substitute vi = i r
1 1 1

K   mi v i   mi  ri    mi ri   K  I
2 2 2 2 1 2

n 2 n 2 2 n 2


I is called the moment of inertia: I   mi ri 2 
n
 Moment of inertia is a measure of the resistance of an object
to changes in its rotational motion:

 The definition of moment of inertia is: 

I   mi ri 2

n

 For a continuous rigid object, imagine the object to be divided

into many small elements:
I  lim
m 0

n

mi ri 2   r 2dm
m

 The dimensions of moment of inertia are ML2 and its SI units

are kg.m2.
Moment of Inertia of a Uniform Rigid Rod
The shaded area has a mass:
dm  dx
Then the moment of inertia is:
L
2
1
I   x dm    x dx 
2 2
ML2

m L 12

2
For an arbitrary axis, the parallel-axis theorem often simplifies
calculations (Steiner – Huyghens):

I  ICM  MD 2

I is about any axis parallel to the axis through the center of mass of
the object.
ICM is about the axis through the center of mass.
D is the distance from the center of mass axis to the arbitrary axis.
The four particle in figure are
connected by rigid rods of negligible
mass. The origin is at the center of the
rectangle. The system rotates in the xy
plane about the z axis with an angular
speed of 6 rad/s. Calculate (a) the
moment of inertia of the system about
the z axis and (b) the rotational kinetic
energy of the system.
 F
 Torque, t, is the tendency of a force to
Ft φ rotate an object about some axis:
Fr
P
t  Fr sin   Fd  Ft r
r
F is the force
O d  is the angle the force makes with the horizontal
d is the moment arm (or lever arm) of the force
 The Torque vector: t  r F
 Units of torque is N.m.
The force F1 will tend to cause a
counterclockwise rotation about O.
The force F2 will tend to cause a clockwise
rotation about O.

t  d1F1  d 2F2
 The tangential force provides a tangential
acceleration: F
Ft  mat Ft φ
Fr
The torque produced by Ft on a particle: P
t  rFt  mat r  m  r  r   mr  
2
r

 t  I d
O
The net torque acting on the particle:
t   t i  I
n
The work done by F on the object as it rotates
through an infinitesimal distance ds = r dq:
dW  F .ds   F sin   r dq
d
 dW  t dq  I dq  I dq  Id
dt
1 2 1 2
 A  If  Ii  K f  K i  K
2 2
The rate at which work is being done in a
time interval dt is:
dW t dq
P   t
dt dt
The total kinetic energy of a rolling object
is the sum of the translational energy of its
center of mass and the rotational kinetic O
energy about its center of mass:
1
K  IP  2

2
P
1

 K  IO  MR 
2
2
 2

1 1
 K  IO  Mv
2 2

2 2
18
Câu 2:
Một vật khối lượng m1 = 2 kg trượt theo một mặt phẳng nghiêng có góc
nghiêng  = 300 so với mặt nằm ngang có hệ số ma sát k= 0,1. Vật được
nối với vật khối lượng m2 = 5 kg bằng một sợi dây (khối lượng không
đáng kể) vắt qua ròng rọc dạng đĩa tròn nặng 2 kg.
a) Vật m2 sẽ đi xuống với gia tốc bằng bao nhiêu?
b) Giả sử lúc đầu vật m2 cách mặt đất h = 6 m.
m
Tính thời gian từ lúc m2 bắt đầu chuyển động cho 1
m
2
đến khi chạm đất và vận tốc m2 lúc chạm đất. h
α

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