𝑥(𝑚)

30
20
10

Welcome to
𝑆𝑛 0 1 2 3 4 5 6 𝑡(𝑠)

𝑚/𝑠 2

NOTES
𝑥
Rotational Motion

𝑠𝑙𝑜𝑝𝑒 = tan 𝜃
𝑢
𝑎 𝑣 𝜃
𝑡
 Circular Motion vs Rotational Motion

• Earth can be considered to be made up • Earth also rotates around its own axis.
of many small particles.

• Every particle executes circular motion. • For rotation, Earth cannot be considered
as a point object.
 Axis of Rotation

• Every particle of the rotating body executes

𝑟1 circular motion. (except some)
𝑟2
• Axis of rotation – Locus of centres of all
𝑟3 circular motion.

𝑟𝑛
 Rigid Body

• Distance between each pair of particles

𝐵 remain constant.
𝑟Ԧ𝐴𝐵 𝑟𝐴𝐵 = Constant
𝐴
• No relative motion between any two particles
along the line joining them.
𝑣𝐴|| = 𝑣𝐵||
 Moment of Inertia

Moment of inertia of a particle rotating about an axis is defined

as product of the mass and square of the distance of the mass
from the axis of rotation.

𝐼 = 𝑚𝑟 2

For system of particles,

𝑛 𝑟1
𝑚1
𝐼 = ෍ 𝑚𝑖𝑟𝑖2 𝑟3
𝑛=1
𝑟2

𝑚3
𝑚2
 Two balls are connected by a rod as shown in the figure (ignore rod’s
mass). Mass of the ball 𝑋 is 1 𝑘𝑔 and the mass of ball 𝑌 is 2 𝑘𝑔. What is
the 𝑀𝑂𝐼 of the system about 𝐴𝐵?

𝐴
Given : 𝑚1 = 1 𝑘𝑔, 𝑚2 = 2 𝑘𝑔
1 𝑘𝑔 2 𝑘𝑔
𝑟1 = 2 𝑚, 𝑟2 = 4 𝑚

To find : 𝐼 𝑋 𝑌
𝑛
2𝑚 4𝑚
Solution : 𝐼 = ෍ 𝑚𝑖𝑟𝑖2 = 𝑚1𝑟12 + 𝑚2𝑟22
𝑛=1

2 2
𝐵
𝐼 = (1 × 2 ) + (2 × 4 )

𝐼 = 36 𝑘𝑔 𝑚2
 Moment of Inertia of Continuous Bodies
We can find the moment of inertia of a continuous body
about an axis using calculus.

MOI of small elemental mass is,

𝑑𝐼 = 𝑟 2 𝑑𝑚

𝑟
MOI of whole body is,

𝑑𝑚 න 𝑑𝐼 = න 𝑟 2 𝑑𝑚

𝐼 = න 𝑟 2 𝑑𝑚
Moment of Inertia of Standard Bodies
Moment of Inertia of Standard Bodies
 From a circular ring of mass 𝑀 and radius 𝑅, and arc corresponding to a
90° sector is removed. The moment of inertia of the remaining part of
the ring about an axis passing through the centre of the ring and
perpendicular to the plane of the ring is 𝐾 times 𝑀𝑅2 . Then, the value of
𝐾 is

NEET 2021
Given : Mass of ring : 𝑀,
Radius of ring = 𝑅,
To find : 𝐾

Solution : Using, 𝐼 = න 𝑟 2 𝑑𝑚

As each elemental particle of ring is

at a distance 𝑅,

3𝑀 3
𝐼= 𝑅2 න 𝑑𝑚 = 𝑅2 = 𝑀𝑅2
4 4
 Perpendicular Axis Theorem

Only applicable for planar bodies.

Ex – Disc, Ring, etc.
𝑧
The point of intersection of axes 𝐼𝑧
can lie on or outside the body.

When object lies in 𝑥 − 𝑦 plane

𝐼𝑧 = 𝐼𝑥 + 𝐼𝑦 𝐼𝑦
𝑟𝑖
𝑥𝑖
𝑦𝑖 𝑦
When object lies in 𝑦 − 𝑧 plane 𝑚𝑖

𝐼𝑥
𝐼𝑥 = 𝐼𝑦 + 𝐼𝑧 𝑥

When object lies in 𝑧 − 𝑥 plane

𝐼𝑦 = 𝐼𝑥 + 𝐼𝑧
 The 𝑀𝑂𝐼 of a uniform circular disc of radius 𝑅 and mass 𝑀 about an axis
T passing along the diameter of the disc is

Given : Radius of Disc = 𝑅 Mass of Disc = 𝑀

𝑧 𝐼𝑧 = 𝐼𝐶𝑂𝑀
To find : 𝐼𝑥
Solution : 𝑀𝑂𝐼 about an axis passing through the
COM and perpendicular to the disc is,
1 𝐼𝑦
𝐼𝑧 = 𝐼𝐶𝑂𝑀 = 𝑀𝑅2
2 𝑦
From perpendicular axis theorem,
𝑥 𝐼𝑥
𝐼𝑧 = 𝐼𝑥 + 𝐼𝑦 = 2𝐼𝑥 ( 𝐼𝑥 = 𝐼𝑦 )

1
𝐼𝑥 = 𝑀𝑅2
4
 Parallel Axis Theorem

𝑀𝑂𝐼 of a body about an axis parallel to an 𝑌

axis passing through its COM and 𝐼𝐶𝑂𝑀
separated by perpendicular distance 𝑑 is 𝐼
given by,

𝐼 = 𝐼𝐶𝑂𝑀 + 𝑀𝑑 2 𝑀
𝑑 𝐶𝑂𝑀

𝑌′
 The 𝑀𝑂𝐼 of a uniform circular disc of radius ‘𝑅’ and mass ‘𝑀’ about an
axis passing from the edge of the disc and normal to the disc is

Given: Radius of Disc = 𝑅 Mass of Disc = 𝑀

To find: 𝐼

Solution: 𝑧
𝐼𝐶𝑂𝑀
𝐼
𝑀𝑂𝐼 about an axis passing through the
COM and perpendicular to the disc is,
1
𝐼 = 𝐼𝐶𝑂𝑀 = 𝑀𝑅2
2
From parallel axis theorem,

𝐼 = 𝐼𝐶𝑂𝑀 + 𝑀𝑅2

3
𝐼= 𝑀𝑅2
2
 𝑅
From a circular disc of radius 𝑅 and mass 𝑀, a small disc of radius is
2
removed as shown in figure. The moment of inertia of the remaining disc
about an axis perpendicular to the plane of the disc passing through O is

𝑀𝑅2
𝐼𝑝𝑎𝑟𝑒𝑛𝑡 𝑑𝑖𝑠𝑐 =
2
2
𝑅
(−𝑚) 2 𝑅
2
𝑅 𝐼𝑟𝑒𝑚𝑜𝑣𝑒𝑑 = + −𝑚
𝑂 𝑀 𝑑𝑖𝑠𝑐
2 2
2 −𝑚
𝑅 +
3𝑚𝑅2 3𝑀𝑅2 𝑀
= − 8 = − 32 𝑚= 4

𝐼𝑛𝑒𝑡 = 𝐼𝑝𝑎𝑟𝑒𝑛𝑡 𝑑𝑖𝑠𝑐 + 𝐼𝑟𝑒𝑚𝑜𝑣𝑒𝑑 𝑑𝑖𝑠𝑐

Parent Disc Removed Disc 𝑀𝑅2 3𝑀𝑅2

𝐼𝑛𝑒𝑡 = − 32
2

13𝑀𝑅2
𝐼𝑛𝑒𝑡 =
32
 Radius of Gyration

Distance from the axis of rotation at which all the mass of the body can be assumed to be
concentrated such that its MOI is same as that of Moment of inertia (𝐼) of the body.

Depends on
• Shape and size of the body

• Position and configuration of axis of rotation

𝑀
𝐾 • Distribution of mass of the body w.r.t axis of
rotation

𝐼 𝐼 = 𝑀𝐾 2
Independent of
𝐼
𝐾= • Mass of the body
𝑀
Moment of Inertia and Radius of Gyration
 Moment of Inertia and Radius of Gyration

Shape Diagram 𝑀𝑂𝐼 𝐾= 𝐼ൗ

𝑀

𝑦 𝐼𝑦
𝑀𝑏2 𝑏
𝐼𝑥 =
12 2 3
Rectangular 𝐼𝑥
Lamina 𝑏
𝑥 𝑀𝑙 2 𝑙
𝐼𝑌 =
12 2 3
𝑙
𝐼𝐶𝑂𝑀
𝑎

𝑀𝑎 2 𝑎
Equilateral
Triangle 6 6
𝑎 𝑎
The ratio of the radii of gyration of a circular disc about a tangential axis in
the plane of the disc and of a circular ring of the same radius about a
tangential axis in the plane of the ring is

5
Idisk = MR2 = MK 2disk 𝑧
4 𝐼𝐶𝑂𝑀 𝑧
𝐼𝐶𝑂𝑀 𝐼𝑟𝑖𝑛𝑔
𝐼𝑑𝑖𝑠𝑘
3
Iring = MR2 = MK 2ring
2

Idisk MK 2d𝑖𝑠𝑘 5
= =
Iring MK 2ring 6

K disk 5
=
K ring 6
 Vector/Cross Product
Properties of Cross Product
A vector having a magnitude equal to the product of
the magnitudes of two vectors with the sine of angle
between them and direction perpendicular to the 𝐴 × 𝐵 = −(𝐵 × 𝐴 ) ෠
𝑖Ƹ × 𝑗Ƹ = 𝑘, 𝑗Ƹ × 𝑖Ƹ = −𝑘෠
plane containing the two vectors.
𝐴 × 𝐵 = 𝐵 × 𝐴 = 𝐴𝐵 𝑠𝑖𝑛 𝜃 𝑗Ƹ × 𝑘෠ = 𝑖,Ƹ 𝑘෠ × 𝑗Ƹ = −𝑖Ƹ

𝑘෠ × 𝑖Ƹ = 𝑗,Ƹ 𝑖Ƹ × 𝑘෠ = −𝑗Ƹ
(𝐴 × 𝐵) ⊥ 𝐴 and (𝐴 × 𝐵) ⊥ 𝐵
𝐴Ԧ × 𝐵 = 𝐴Ԧ 𝐵 sin𝜃 𝑛ො 𝑖Ƹ × 𝑖Ƹ = 𝑗Ƹ × 𝑗Ƹ = 𝑘෠ × 𝑘෠ = 0
𝐴 × 𝐵 +𝐶 =𝐴 ×𝐵 +𝐴 ×𝐶

Here, 𝑛ො is a unit vector perpendicular to both 𝐴Ԧ and 𝐵.

Right Hand Thumb Rule
To find the direction of 𝐴Ԧ × 𝐵

• Connect 𝐴Ԧ and 𝐵 tail-to-tail.

• Place the stretched right palm such that the fingers are along 𝐴Ԧ
and when the fingers are closed, they go towards 𝐵.
• The direction in which thumb points gives the direction of 𝐶Ԧ = 𝐴Ԧ

× 𝐵.
 Find the magnitude and direction of 𝐴Ԧ × 𝐵 and 𝐵 × 𝐴,
Ԧ where 𝐴Ԧ & 𝐵 lie in
𝑥 − 𝑦 plane as shown.

Given - 𝐴Ԧ = 5, 𝐵 = 4, 𝜃 = 30°
𝑦 𝐴Ԧ × 𝐵 = 5 × 4 × sin 30°

𝐴Ԧ × 𝐵 = 10

𝐴Ԧ
5 Using the right-hand thumb rule, the direction of
30° 𝐴Ԧ × 𝐵 is along −𝑧 axis
4 𝐵 𝑥
⟹ 𝐴Ԧ × 𝐵 = −10𝑘෠

𝑧 ⟹ 𝐵 × 𝐴Ԧ = 10𝑘෠
The direction of 𝐵 × 𝐴Ԧ is along +𝑧 axis
 Cross Product: Determinant Expansion Method

Step 1: Draw the Determinant 𝑖Ƹ 𝑗Ƹ 𝑘෠

𝐴 = 𝐴𝑥 𝑖Ƹ + 𝐴𝑦 𝑗Ƹ + 𝐴𝑧 𝑘෠
𝐴𝑥 𝐴𝑦 𝐴𝑧
𝐵𝑥 𝐵𝑦 𝐵𝑧
𝐵 = 𝐵𝑥 𝑖Ƹ + 𝐵𝑦 𝑗Ƹ + 𝐵𝑧 𝑘෠

Step 2: Draw the Sign Chart

𝐴 ×𝐵 =? + − +
− + −
+ − +

+ − + + − + + − +
Step 3: Solve the
Determinant
𝑖Ƹ 𝑗Ƹ 𝑘෠ 𝑖Ƹ 𝑗Ƹ 𝑘෠ 𝑖Ƹ 𝑗Ƹ 𝑘෠
𝐴𝑥 𝐴𝑦 𝐴𝑧 𝐴𝑥 𝐴𝑦 𝐴𝑧 𝐴𝑥 𝐴𝑦 𝐴𝑧
𝑖Ƹ 𝑗Ƹ 𝑘෠ 𝐵𝑥 𝐵𝑦 𝐵𝑧 𝐵𝑥 𝐵𝑦 𝐵𝑧 𝐵𝑥 𝐵𝑦 𝐵𝑧
𝐴𝑥 𝐴𝑦 𝐴𝑧
𝐵𝑥 𝐵𝑦 𝐵𝑧

+(𝐴𝑦 𝐵𝑧 − 𝐴𝑧 𝐵𝑦 ) 𝑖Ƹ − 𝐴𝑥 𝐵𝑧 − 𝐴𝑧 𝐵𝑥 𝑗Ƹ + (𝐴𝑥 𝐵𝑦 − 𝐴𝑦 𝐵𝑥 )𝑘෠

 Applications of Cross Product

𝑆 𝑇

1) Area of Parallelogram = 𝐴 × 𝐵 𝐵 ℎ
𝜃

𝑃 𝐴 𝑄

𝑆 𝑇
1
2) Area of Triangle = 𝐴Ԧ × 𝐵
2

𝐵 ℎ
𝜃

𝑃 𝐴 𝑄
 Area of parallelogram and triangle

𝑏 𝑏𝑠𝑖𝑛𝜃 𝑏 𝑏𝑠𝑖𝑛𝜃
𝜃 𝜃

𝑎Ԧ 𝑎Ԧ

1
Area = 𝑏𝑎𝑠𝑒 × ℎ𝑒𝑖𝑔ℎ𝑡 Area = × 𝑏𝑎𝑠𝑒 × ℎ𝑒𝑖𝑔ℎ𝑡
2
= 𝑎 𝑏 sin 𝜃 = |𝑎Ԧ × 𝑏| 1 1
= 𝑎 𝑏 sin 𝜃 = |𝑎Ԧ × 𝑏|
2 2
 Torque – Right hand rule
• A measure of force that cause an object to rotate about an axis is called Torque.
• Torque changes object’s angular velocity.
𝐹Ԧ

Torque of the force 𝐹Ԧ on the system about

𝑟Ԧ
point 𝑂, 𝑂

𝜏Ԧ = 𝑟Ԧ × 𝐹Ԧ

Torque is an axial vector and its direction is

𝜏

found using right hand thumb rule.

𝜏Ԧ = 𝑟Ԧ . 𝐹Ԧ 𝑠𝑖𝑛𝜃 𝑛ො
 Torque

𝑟Ԧ⊥ is perpendicular to 𝐹Ԧ 𝐹Ԧ⊥ is perpendicular to 𝑟Ԧ

𝐹Ԧ 𝐹Ԧ

𝑟⊥ = 𝑟𝑠𝑖𝑛 𝜃
𝑟Ԧ 𝑟Ԧ
𝐹⊥ = 𝐹𝑠𝑖𝑛 𝜃

𝜏Ԧ = (𝑟 𝑠𝑖𝑛 𝜃)𝐹 = 𝑟⊥ 𝐹 𝜏Ԧ = 𝐹 𝑠𝑖𝑛 𝜃 𝑟 = 𝑟𝐹⊥

T
The moment of the force, 𝐹Ԧ = 4𝑖Ƹ + 5𝑗Ƹ − 6𝑘෠ acting at (2, 0, −3), about the
point (2, −2, −2), is given by

Solution :
𝑦
𝐹Ԧ = 4𝑖Ƹ + 5𝑗Ƹ − 6𝑘෠
𝐹Ԧ
𝑟Ԧ = 𝑟2 − 𝑟1
𝑟Ԧ (2, 0, −3)
𝑟Ԧ = 𝑖Ƹ 2 − 2 + 𝑗Ƹ 0 + 2 + 𝑘෠ −3 + 2
(2, −2, −2)
𝑟Ԧ = 0𝑖Ƹ + 2𝑗Ƹ − 𝑘෠
𝑥
𝑖Ƹ 𝑗 Ƹ 𝑘෠ 𝑂
𝑟Ԧ × 𝐹Ԧ = 0 2 −1
4 5 −6

𝑟Ԧ × 𝐹Ԧ = 𝑖Ƹ −12 + 5 − 𝑗Ƹ 0 + 4 + 𝑘෠ 0 − 8

𝜏Ԧ = −7𝑖Ƹ − 4𝑗Ƹ − 8𝑘෠

 Couple

Two parallel forces that are equal in magnitude, opposite in direction

and do not share a common line of action constitute a couple.
• Magnitude of torque due to a couple is 𝜏Ԧ = 𝐹(2𝑑)
• Couple causes pure rotational motion, there is no
translational motion.

Net torque due to a force couple is same about any point of reference.

𝜏 = 𝑙. 𝐹 + 𝑙. 𝐹 = 2𝑙𝐹 𝜏 = 0 + 2𝑙. 𝐹 = 2𝑙𝐹

Anti - clockwise Anti - clockwise

Is couple independent of the point of reference?

𝐹 𝜏Ԧ = 𝑟Ԧ1 × 𝐹Ԧ + 𝑟Ԧ2 × −𝐹Ԧ

= 𝑟Ԧ1 − 𝑟Ԧ2 × 𝐹Ԧ
2𝑙
𝑟Ԧ1 𝜏 = 𝑟Ԧ1 − 𝑟Ԧ2 𝐹 sin 90°

𝐹 𝜏 = 2𝑙𝐹

𝑟Ԧ2

Point of reference
 Mechanical Equilibrium

• Translational equilibrium
𝐹Ԧ1

෍ 𝐹Ԧ𝑖 = 0
𝑖
𝐹Ԧ2
• Rotational equilibrium

𝐹Ԧ3
𝐹Ԧ4
෍ 𝜏Ԧ𝑖 = 0
𝑖 (Note : Torque can be calculated along any axis)

A body is said to be in Mechanical equilibrium if it is in translational

equilibrium and rotational equilibrium.
 A rod of mass 10 𝑘𝑔 and length 10 𝑚 is hung with the help of two strings
as shown in the figure. Find the tension in both the strings.

Solution :

For translational equilibrium, For rotational equilibrium,

𝐹𝑛𝑒𝑡 = 0 (𝜏𝑛𝑒𝑡 ) 𝐴 = 0, ⇒ 𝑇2 × 8 = 𝑊(5)

T1 T2 ⇒ 𝑇1 + 𝑇2 − 𝑊 = 0 𝑇2 = 62.5 𝑁 − −(𝑖𝑖)

⇒ 𝑇1 + 𝑇2 = 100 𝑁 − −(𝑖) From (𝑖),

𝐴 𝐵
5 𝑚 3𝑚 2𝑚 ⇒ 𝑇1 = 37.5 𝑁

𝑊
 Newton’s 2nd Law for rotational motion
𝜏 = 𝑟𝐹 sin 90°

𝜏 = 𝑟𝑚𝑎 𝐹 = 𝑚𝑎𝑡
Vectorially, 𝜏Ԧ = 𝐼 𝛼Ԧ
= 𝑟𝑚𝑟𝛼 (𝑎𝑡 = 𝑟𝛼)

= 𝑚𝑟 2 𝛼 𝜏 and 𝐼 are always calculated about the

same axis.
𝜏 = 𝐼𝛼
 A solid cylinder of mass 2 𝑘𝑔 and radius 4 𝑐𝑚 is rotating about its axis at
T the rate of 3 𝑟𝑝𝑚. The magnitude of the torque required to stop after
2𝜋 revolutions is

Given : 𝑀 = 2 𝑘𝑔, 𝑅 = 4 𝑐𝑚 = 4 × 10−2 𝑚, 𝜃 = 4𝜋 2 𝑟𝑎𝑑

2𝜋 𝜋
𝜔0 = 3 𝑟𝑝𝑚 = 3 × = 𝑟𝑎𝑑/𝑠
60 10
Solution : 𝜔 = 0

𝜔2 = 𝜔02 + 2𝛼𝜃
𝜋2
𝜔2 − 𝜔02 0− 1
𝛼= = 100 =−
2𝜃 2(4𝜋2) 800
𝑀𝑅2 2 × 4 × 10−2 2 1
𝜏 = 𝐼|𝛼| = × |𝛼| = ×
2 2 800
𝜏 = 2 × 10−6 𝑁𝑚
 Angular Momentum
Angular momentum is the rotational analogue of linear momentum.
It is referred as “moment of linear momentum”.

𝐿𝑂 = 𝑟Ԧ × 𝑝Ԧ = 𝑟Ԧ × 𝑚𝑣Ԧ

𝑧
𝐿𝑂 = 𝑟Ԧ × 𝑝Ԧ [𝑝Ԧ = 𝑚𝑣]
Ԧ

𝐿𝑂 = 𝑚(𝑟Ԧ × 𝑣)
Ԧ
𝐿𝑶
𝑂 𝐿𝑂 = 𝑚|𝑟||
Ԧ 𝑣|Ԧ sin 𝜃 𝑛ො
𝑦
𝑟Ԧ 𝑣Ԧ
𝜃
𝑚

𝑥
 Angular Momentum

𝑧 𝑧

𝐿𝑶 𝐿𝑶
𝑂 𝑂
𝑣Ԧ⊥ = 𝑣Ԧ sin 𝜃 𝑦 𝑦
𝑟Ԧ 𝑣Ԧ 𝑟Ԧ 𝑣Ԧ
𝜃 𝜃

𝑥 𝑥

|𝐿𝑂 | = 𝑚|𝑟Ԧ ||𝑣|

Ԧ sin 𝜃 |𝐿𝑂 | = 𝑚|𝑣Ԧ ||𝑟|
Ԧ sin 𝜃
|𝐿𝑂 | = 𝑚|𝑟||
Ԧ 𝑣Ԧ⊥ | |𝐿𝑂 | = 𝑚|𝑣||
Ԧ 𝑟Ԧ⊥ |

|𝐿𝑂 | = |𝑟||
Ԧ 𝑝Ԧ⊥ | |𝐿𝑂 | = |𝑝||
Ԧ 𝑟Ԧ⊥ |
 A particle of mass 𝑚 = 5 kg is moving with a uniform speed 𝑣 = 3 2 in
the XOY plane along the line 𝑌 = 𝑋 + 4. The magnitude of the angular
momentum of the particle about the origin is

Given: 𝑣 = 3 2, 𝑚 = 5 𝑘𝑔, 𝑌 =𝑋+4 Diagram :

To find: Angular momentum |𝐿| 𝑌

Solution : The equation of the line is

𝑌 =𝑋+4 ⇒𝑋−𝑌+4=0 𝑣=3 2

The length of the perpendicular

from the origin is 45°

4 𝑌 =𝑋+4
𝑅 = 4 cos 45° = 𝑅
2 𝑋

Angular momentum
4
𝐿 = 𝑚𝑣𝑅 = 5 × 3 2 × = 60 𝑢𝑛𝑖𝑡
2
Angular Momentum of a system of Particles

𝑚1 𝑣Ԧ1
𝑣Ԧ𝑛
𝑚𝑛 𝑟Ԧ1 𝑚2 𝑣Ԧ2

𝑟Ԧ𝑛 𝑟Ԧ2

𝑂
𝑟Ԧ3 𝑚3

𝑣Ԧ3

𝐿 = 𝐿1 + 𝐿2 + 𝐿3 + …. + 𝐿𝑛

𝐿 = 𝑚1 𝑟Ԧ1 × 𝑣Ԧ1 + 𝑚2 𝑟Ԧ2 × 𝑣Ԧ2 +….+ 𝑚𝑛 𝑟Ԧ𝑛 × 𝑣Ԧ𝑛

 Angular Momentum of Rigid bodies

𝐿𝐴𝐵 = 𝐿1 + 𝐿2 + 𝐿2 +…… . . + 𝐿𝑛 𝐴

= 𝑚1 𝑟Ԧ1 × 𝑣Ԧ1 + 𝑚2 𝑟Ԧ2 × 𝑣Ԧ2 +…….. + 𝑚𝑛 𝑟Ԧ𝑛 × 𝑣Ԧ𝑛 ( If for all particle 𝑟Ԧ ⊥ 𝑣Ԧ ) 𝒗𝟏
𝑟1
(𝑣 = 𝑟𝜔) 𝑟2
= 𝑚1 𝑟1 𝑣1 + 𝑚2 𝑟2 𝑣2 +…… … + 𝑚𝑛 𝑟𝑛 𝑣𝑛 𝒗𝟑
𝒗𝟐
𝑟𝑛 𝑟3
= 𝑚1 𝜔𝑟12 + 𝑚2 𝜔𝑟22 +…… … + 𝑚𝑛 𝑟𝑛 𝑣𝑛 𝒗𝒏
𝑛 𝑛

= 𝜔 ෍ 𝑚𝑖 𝑟𝑖2 𝐼 = ෍ 𝑚𝑖 𝑟𝑖2 𝐵
𝑖=1 𝑖=1

𝐿𝐴𝐵 = 𝐼𝐴𝐵 𝜔
 Find the total angular momentum about the origin in the
T given situation.

𝑦 (𝑚)
𝐹Ԧ 2 = 10𝑗Ƹ 𝑁
4.0 𝑛

𝑣Ԧ 1 = 4𝑗Ƹ 𝑚/𝑠 𝐿𝑠𝑦𝑠𝑡𝑒𝑚,𝑂 = ෍ 𝑚𝑖 (𝑟Ԧ𝑖 × 𝑣Ԧ𝑖 )

𝑖=1

𝐹Ԧ 1 = −6𝑖Ƹ 𝑁 2.0 𝑣Ԧ 2 = 5𝑖Ƹ 𝑚/𝑠 𝑟Ԧ1 = −2𝑖Ƹ + 𝑗Ƹ 𝑚

𝑟Ԧ2
𝑚1 = 2 𝑘𝑔 𝑟Ԧ1 𝑚2 = 4 𝑘𝑔 𝑟Ԧ2 = 4𝑖Ƹ + 𝑗Ƹ 𝑚
𝑟Ԧ3 = 2𝑖Ƹ − 2𝑗Ƹ 𝑚
−4.0 −2.0 0 2.0 4.0 𝑥 (𝑚)
𝑟Ԧ3
𝐿1 = −16𝑘෠ 𝑘𝑔𝑚2 /𝑠.
−2.0 𝑣Ԧ 3 = 3𝑖Ƹ 𝑚/𝑠
𝑚3 = 1 𝑘𝑔
𝐿2 = −20𝑘෠ 𝑘𝑔𝑚2 /𝑠.

𝐿3 = 6𝑘෠ 𝑘𝑔𝑚2 /𝑠.

−4.0
𝐹Ԧ 3 = −8𝑗Ƹ 𝑁
𝐿𝑛𝑒𝑡 = −30𝑘෠ 𝑘𝑔𝑚2 /𝑠.
 Relation b/w Torque & Angular Momentum

𝑳 Angular Momentum,
𝑂 𝐿 = 𝑟Ԧ × 𝑝Ԧ
𝑝Ԧ 𝑦
𝑟Ԧ On differentiating,
𝜃

𝑑𝐿 𝑑 𝑝Ԧ 𝑑 𝑟Ԧ
= 𝑟Ԧ × + 𝑝Ԧ ×
𝑥 𝑧 𝑑𝑡 𝑑𝑡 𝑑𝑡

𝝉 𝑑𝐿
= 𝑟Ԧ × 𝐹Ԧ = 𝜏Ԧ
𝑂 𝑑𝑡
𝐹Ԧ 𝑦
𝑟Ԧ 𝜃
𝑑𝐿
𝜏Ԧ =
𝑑𝑡

𝑥
 Conservation of Angular Momentum

When the net torque acting on a system is zero about a given axis, then the
system’s total angular momentum about the axis remains constant.

If σ 𝜏Ԧ𝑒𝑥𝑡 𝑠𝑦𝑠𝑡𝑒𝑚 = 0 ⇒ 𝐿𝑖 𝑠𝑦𝑠𝑡𝑒𝑚

= 𝐿𝑓
𝑠𝑦𝑠𝑡𝑒𝑚

If σ 𝜏Ԧ𝑒𝑥𝑡 𝑥 =0 If σ 𝜏Ԧ𝑒𝑥𝑡 𝑦 =0 If σ 𝜏Ԧ𝑒𝑥𝑡 𝑧 =0

⟹ 𝐿𝑖 = 𝐿𝑓 ⟹ 𝐿𝑖 𝑦
= 𝐿𝑓 ⟹ 𝐿𝑖 = 𝐿𝑓
𝑥 𝑥 𝑦 𝑧 𝑧

Angular momentum is Angular momentum is Angular momentum is

conserved along 𝑥 − 𝑎𝑥𝑖𝑠 conserved along 𝑦 − 𝑎𝑥𝑖𝑠 conserved along 𝑧 − 𝑎𝑥𝑖𝑠
 A force 𝐹Ԧ = 𝛼𝑖Ƹ + 3𝑗Ƹ + 6𝑘෠ is acting at a point 𝑟Ԧ = 2𝑖Ƹ − 6𝑗Ƹ − 12𝑘.
෠ The value
of 𝛼 for which angular momentum about origin is conserved is

𝐹Ԧ = 𝛼𝑖Ƹ + 3𝑗Ƹ + 6𝑘෠ 𝑟Ԧ = 2𝑖Ƹ − 6𝑗Ƹ − 12𝑘෠ 𝑦

𝜏Ԧ𝑒𝑥𝑡 = 0
𝐹Ԧ

𝑟Ԧ × 𝐹Ԧ = 0 𝑟Ԧ

𝑥
𝑖Ƹ 𝑗Ƹ 𝑘෠ 𝑂
2 −6 −12 = 0
𝛼 3 6

𝑖Ƹ −36 + 36 − 𝑗Ƹ 12 + 12𝛼 + 𝑘෠ 6 + 6α = 0

12 + 12𝛼 = 0 or 6 + 6𝛼 = 0

𝛼 = −1
A thin circular ring of mass 𝑀 and radius 𝑟 is rotating about its axis with
a constant angular velocity 𝜔. Four objects each of mass 𝑚, are kept
gently to the opposite ends of two perpendicular diameters of the ring.
The angular velocity of the ring will be

𝐿𝑖 = 𝐿𝑓 (𝜏Ԧ𝑒𝑥𝑡 = 0)

𝐼𝑖 𝜔𝑖 = 𝐼𝑓 𝜔𝑓

𝐼𝑖 = 𝑀𝑟2

𝐼𝑓 = 𝑀 + 4𝑚 𝑟2

𝑀𝑟2𝜔
𝜔𝑓 =
𝑀 + 4𝑚 𝑟2

𝑀𝜔
𝜔𝑓 =
𝑀 + 4𝑚
 Rotational Kinetic Energy

Rotational kinetic energy is kinetic energy possessed by a body

due to rotation.

𝜔 Consider an elemental particle of mass 𝑑𝑚

rotating with radius 𝑟, then its tangential
velocity is,
𝑣𝑡 = 𝜔𝑟

1 2
1
Δ𝐾. 𝐸. = (𝑑𝑚)𝑣𝑡 = (𝑑𝑚)(𝜔𝑟)2
2 2

1 1
𝐾. 𝐸. = ෍ 𝑑𝑚 (𝜔𝑟) = ෍(𝑑𝑚𝑟 2 )𝜔2
2
2 2

We know, σ(𝑑𝑚)𝑟 2 = 𝐼

1 2
𝐾. 𝐸. = 𝐼𝜔
2
A flywheel rotating about a fixed axis has a kinetic energy of 360 𝑗𝑜𝑢𝑙𝑒,
when its angular speed is 30 𝑟𝑎𝑑/𝑠. The moment of inertia of the wheel
about the axis of rotation is

𝐾. 𝐸. = 360 𝑗𝑜𝑢𝑙𝑒 𝜔 = 30 𝑟𝑎𝑑𝑖𝑎𝑛/𝑠

𝜔 = 30 𝑟𝑎𝑑𝑖𝑎𝑛/𝑠

1
𝐾. 𝐸. = 𝐼𝜔2
2

2(𝐾. 𝐸. )
∴𝐼=
𝜔2
2 × 360 2 × 360
𝐼= =
30 2 900

𝐼 = 0.8 𝑘𝑔 𝑚2
 Work-done in Rotational Motion

A rigid body has rotated through an angle 𝑑𝜃

while under the influence of a force 𝐹. 𝐹

Ԧ 𝑑 𝑠Ԧ
𝑑𝑊 = 𝐹.
𝑑𝑊 = 𝐹𝑑𝑠 cos ∅
𝑑𝑊 = 𝐹 cos ∅ 𝑑𝑠
𝑑𝑊 = 𝐹⊥ 𝑟𝑑𝜃
𝑑𝑊 = 𝜏𝑑𝜃

Total Work done

𝐹 cos ∅ 𝐹
න 𝑑𝑊 = න 𝜏𝑑𝜃 Ԧ 𝑑 𝜃Ԧ
⇒ 𝑊 = න 𝜏.

The total work done on a rigid body is the sum of

the torques integrated over the angle through 𝑑𝜃 𝐹 sin ∅
which the body rotates. 𝑟
 Work Energy Theorem

“The work done by an external force while a rigid object rotates from 𝜃1 to 𝜃2 is
equal to the change in the rotational energy of the object.”

𝑊𝑛𝑒𝑡 = ∆𝐾. 𝐸.

𝑊 = න 𝜏𝑑𝜃 = න(𝐼𝛼)𝑑𝜃 [𝜏 = 𝐼𝛼]

𝑑𝜔 𝑑𝜃
𝑑𝜔 [𝛼 = , = 𝜔]
𝑊 = න𝐼 𝑑𝜃 = න 𝐼𝜔 𝑑𝜔 𝑑𝑡 𝑑𝑡
𝑑𝑡
𝜔𝑓 𝜔𝑓
𝜔2 1 2 1 2
𝑊 = 𝐼න 𝜔 𝑑𝜔 = 𝐼 = 𝐼𝜔𝑓 − 𝐼𝜔𝑖 = ∆𝐾. 𝐸.
𝜔𝑖 2 𝜔𝑖
2 2

𝑊𝑛𝑒𝑡 = ∆𝐾. 𝐸.
 A string wrapped around the pulley in the fig is pulled with a constant
T downward force 𝐹Ԧ of magnitude 50 𝑁. The radius 𝑅 and moment of
inertia 𝐼 of the pulley are 0.10 𝑚 and 2.5 × 10−3 𝑘𝑔. 𝑚2 , respectively. If the
string does not slip, what is the angular velocity of the pulley after 1.0 𝑚
of string has unwounded? Assume the pulley starts from rest.

Torque due to 𝐹Ԧ has magnitude τ = 𝑅 × 𝐹Ԧ

𝐵
Work done, 𝑊 = 𝜏𝜃 = 𝑅 × 𝐹 × 𝜃

Pulley rotates through angle 𝜃, 𝐹Ԧ acts through a distance 𝑑 𝑅

such that 𝑑 = 𝑅𝜃

𝑊 = 𝐹𝑑
𝐹Ԧ 𝑀𝑔
⇒ 𝑊 = 𝐾𝐸𝑓 − 𝐾𝐸𝑖

1 2 1 2
⇒ 𝐹. 𝑑 = 𝐼𝜔 − 𝐼𝜔
2 𝑓 2 𝑖

1 1
⇒ 50 × 1 = × (2.5 × 10−3 ) × 𝜔𝑓2 − × 𝐼 × 02 ⇒ 𝜔𝑓 = 200 𝑟𝑎𝑑/𝑠𝑒𝑐
2 2
 Power

“The rate of change of work done.”

𝑑𝑊
𝑃=
𝑑𝑡
𝜏 × 𝑑𝜃 𝑑𝜃
𝑃= =𝜏× [𝑑𝑊 = 𝜏 × 𝑑𝜃]
𝑑𝑡 𝑑𝑡
𝑑𝜃
[ = 𝜔]
𝑑𝑡

𝑃 = 𝜏.
Ԧ𝜔
 A boat engine operating at 9 × 104 𝑊 is running at 300 𝑟𝑒𝑣/𝑚𝑖𝑛. What is
T the torque on the propeller shaft?

Given : 𝑃 = 9 × 104 𝑊
2𝜋
𝜔 = 300 𝑟𝑒𝑣/𝑚𝑖𝑛 = 300 × 𝑟𝑎𝑑/𝑠
60

To find : Torque

𝑃
Solution : We know that, 𝜏=
𝜔

9 × 103 𝑊
𝜏=
𝜋 𝑟𝑎𝑑/𝑠

𝜏 = 2864.8 𝑁. 𝑚
 Pure Rotational vs Pure Translation

Rotational motion parameters Translational motion parameters

1 2 1 𝐿2 1 2
1 𝑝2
𝐾. 𝐸. = 𝐼𝜔 = 𝐿𝜔 = 𝐾. 𝐸. = 𝑚𝑣 = 𝑝𝑣 =
2 2 2𝐼 2 2 2𝑚

Ԧ 𝑑𝜃Ԧ
𝑊 = න 𝜏. Ԧ 𝑑𝑠Ԧ
𝑊 = න 𝐹.

𝑃 = 𝜏.
Ԧ𝜔 Ԧ 𝑣Ԧ
𝑃 = 𝐹.
 Angular Impulse

The change in angular momentum of the system Angular impulse applied to an

due to the action of a torque (𝜏)
Ԧ for an infinitesimal object in a given time interval is
amount of time (𝑑𝑡) is the angular impulse (𝐽) Ԧ due the area under torque-time (𝜏 − 𝑡)
to the torque (𝜏)
Ԧ on the system. graph in the same time interval.
𝑑𝐿
𝐽Ԧ = න 𝜏Ԧ 𝑑𝑡 = න 𝑑𝑡 𝜏
𝑑𝑡

𝑗Ԧ = න 𝑑𝐿 = ∆𝐿

𝑗Ԧ = ∆𝐿 = 𝐿𝑓 − 𝐿𝑖

Angular Impulse = Change in angular 𝑡

momentum

𝐴𝑟𝑒𝑎 = 𝐽 = න 𝜏 𝑑𝑡 = ∆𝐿 = 𝐿𝑓 − 𝐿𝑖
 A linear impulse of 𝐽 (perpendicular to length) is imparted at one end of
T a vertical rod of length 𝐿 and mass 𝑚 hinged at other end. Find angular
velocity with which rotation starts

Given : 𝑚, 𝑙, 𝐽
To find : 𝜔

Solution : We know that,

Angular Impulse = linear Impulse × perpendicular distance 𝑚

𝐽′ = 𝐽 × 𝑙 = ∆𝐿 = 𝐼𝜔 − 𝜃

𝐽×𝑙
Also, 𝜔=
𝑚𝑙 2 /3

3𝐽 𝑚𝑙 2
𝜔= ( For rod, 𝐼 = )
𝑚𝑙 3
 Translational and Rotational Motion
Rotational motion
Translational motion parameters
parameters

Linear displacement 𝑠 (𝑚) Angular displacement 𝜃 (𝑟𝑎𝑑)

Linear velocity 𝑣 (𝑚/𝑠) Angular velocity 𝜔 (𝑟𝑎𝑑/𝑠)

Linear acceleration 𝑎 (𝑚/𝑠 2 ) Angular acceleration 𝛼 (𝑟𝑎𝑑/𝑠 2 )

Linear momentum 𝑝 (𝑘𝑔 − 𝑚/𝑠) Angular Momentum 𝐿 (𝑘𝑔 − 𝑚2 /𝑠)

Mass 𝑚 (𝑘𝑔) Moment of inertia 𝐼 (𝑘𝑔 − 𝑚2 )

Force 𝐹 (𝑁) Torque 𝜏 (𝑁 − 𝑚)

Linear Momentum, 𝑝Ԧ = 𝑚𝑣Ԧ Angular Momentum, 𝐿 = 𝐼𝜔

𝑑 𝑝Ԧ 𝑑𝐿
Force, 𝐹Ԧ = = 𝑚𝑎Ԧ Torque, 𝜏Ԧ = = 𝐼 𝛼Ԧ
𝑑𝑡 𝑑𝑡

Ԧ 𝑑𝑠Ԧ
Work, 𝑊 = ‫𝐹 ׬‬. Ԧ 𝑑𝜃Ԧ
Work, 𝑊 = ‫𝜏 ׬‬.

Ԧ 𝑣Ԧ
Power, 𝑃 = 𝐹. Rotational Power, 𝑃 = 𝜏.
Ԧ𝜔

1 2
1 𝑝2 1 2 1 𝐿2
𝐾. 𝐸. = 𝑚𝑣 = 𝑝𝑣 = 𝐾. 𝐸. = 𝐼𝜔 = 𝐿𝜔 =
2 2 2𝑚 2 2 2𝐼
Combined Translational and Rotational Motion

𝑃 𝑃

𝒗
𝜔

2𝜋𝑟
 Combined Translational and Rotational Motion

𝑥 𝜔
𝒗 𝒗

𝑃′ 𝑅
𝜃
𝑃
𝑣𝑡

𝑥 = 𝑣𝑡 − 𝑅 𝑠𝑖𝑛 𝜃 𝑦 = 𝑅(1 − 𝑐𝑜𝑠 𝜃)

𝑃(𝑥, 𝑦) = 𝑥𝑖Ƹ + 𝑦𝑗ƸƸ

 Motion of a body (circular boundary) without skidding or slipping at point of contact
is called Pure rolling.
Pure Rolling Accelerated Pure Rolling

𝑣Ԧ𝑃 = 𝑣Ԧ𝑄 𝑎 = 𝑟𝛼

𝑣 − 𝑟𝜔 = 0 as well as

𝑣 = 𝑟𝜔 𝑣 = 𝑟𝜔

• No relative motion at point of contact  No slipping between P and Q.

between the rolling object and the surface.
• Wheel is said to perform pure rolling if
velocities of point of contact are equal.
 Kinetic Energy in Pure Rolling

𝑣 = +𝑟𝜔
𝑣
𝑣
𝑣
𝜔
𝑣
𝑣
𝑣
𝑣
𝑣 = −𝑟𝜔

2
1 1 𝑘
𝐾𝐸𝑡𝑟𝑎𝑛𝑠 = 𝑚𝑣 2 𝐾𝐸𝑟𝑜𝑡 = 𝑚𝑣 2
2 2 𝑟

2
1 𝑘
𝐾𝐸𝑡𝑜𝑡 = 𝑚𝑣 2 1 + 2
2 𝑟
 Kinetic Energy in Pure Rolling – Fractions

Ratio Formula 𝐾𝑅 = Kinetic energy due to rotation

𝐾𝑇 = Kinetic energy due to translation

𝐾𝑅 𝐾𝑅 𝐼0 𝑘2
= =
𝐾𝑇 𝐾𝑇 𝑚𝑟2 𝑟2
𝐾 = Total kinetic energy

𝐾𝑇 𝐾𝑇 1 1
= = 𝑘 = Radius of gyration
𝐾 𝐼0 𝑘 2
𝐾 1+
𝑚𝑟 2 1 + 𝑟 2

𝐾𝑅 1 1
𝐾𝑅 = =
𝐾 𝑚𝑟 2 𝑟2
𝐾 1+ 1+ 2
𝐼𝑜 𝑘
 Kinetic Energy in Pure Rolling – Fractions

𝑲𝑻 𝟏 𝑲𝑹 𝟏
𝑲𝑹 𝒌𝟐 = =
= 𝟐 𝑲 𝒌𝟐 𝑲 𝒓𝟐
𝑲𝑻 𝒓 𝟏+ 𝟐 𝟏+ 𝟐
𝒓 𝑲
1 1
Ring (𝑘 = 𝑟) 1
2 2

𝑟 1 2 1
Disc/Cylinder 𝑘 =
2 2 3 3

2 2 3 2
Spherical Shell 𝑘 = 𝑟
3 3 5 5

2 2 5 2
Solid Sphere 𝑘 = 𝑟
5 5 7 7
 A solid sphere is in rolling motion. In rolling motion, a body possesses
translational kinetic energy (𝐾𝑡 ) as well as rotational kinetic energy (𝐾𝑟 )
simultaneously. The ratio 𝐾𝑡 : 𝐾𝑡 + 𝐾𝑟 for the sphere is

Translational Kinetic Energy of a rolling

body is given by:
1 2
𝐾𝑡 = 𝑚𝑣𝐶𝑀
2
Rotational Kinetic Energy of a rolling
body is given by:
1 𝜔
𝐾𝑟 = 𝐼𝜔2 ℎ
2
2
1 2 𝑣𝐶𝑀 𝑣
𝐾𝑟 = × 𝑚𝑟 2 × 2 𝜃
2 5 𝑟
1 2
𝐾𝑟 = 𝑚𝑣𝐶𝑀 For pure rolling: 𝑣 = 𝑟𝜔
5
Total Kinetic Energy of a rolling body is given by:
𝐾𝑡 5
7 2 ∴ =
𝐾𝑡 + 𝐾𝑟 = 𝑚𝑣𝐶𝑀 𝐾𝑡 + 𝐾𝑟 7
10
 Angular Momentum in Rolling

In rolling motion,

𝑦
𝐿𝑇 = Angular momentum due to translation

𝐿𝑅 = Angular momentum due to rotation 𝜔

𝑣𝑐𝑜𝑚

We have, COM
𝑟

|𝐿𝑅 |𝐶𝑂𝑀 = 𝐼𝑐𝑜𝑚𝜔 53° 𝑟⊥

𝑥
𝑂
|𝐿𝑇|𝑂 = 𝑚𝑣𝑟⊥

𝐿 𝑇𝑜𝑡 = 𝐿 𝑇 + 𝐿𝑅
 A sphere of mass 𝑚 and radius 𝑅 is rolling with angular velocity 𝜔 and
velocity of center of mass as 𝑣𝑐𝑜𝑚. Find the total angular momentum of
the sphere about the origin 𝑂. Given: 𝑟 = 20 𝑐𝑚, 𝑣𝐶𝑂𝑀 = 5 𝑚/𝑠, 𝑅 = 0.1 𝑚,
𝑚 = 2 𝑘𝑔.
Given: Mass = 2 𝑘𝑔
Radius of sphere = 0.1 𝑚 𝑦
Velocity of COM = 5 𝑚/𝑠
Distance of 𝑂 from centre = 20 𝑐𝑚
𝜔
To find: 𝐿𝑠𝑝ℎ𝑒𝑟𝑒 𝑂 𝑣𝑐𝑜𝑚

Solution: 𝐿𝑠𝑝ℎ𝑒𝑟𝑒 𝑂 = 𝐿𝑇 𝑂 + 𝐿𝑅 𝑂 COM

𝑟
∴ 𝐿𝑠𝑝ℎ𝑒𝑟𝑒 𝑂 = 𝑚𝑣𝑟⊥ + 𝐼𝜔 53° 𝑟⊥
2 𝑣 𝑥
𝐿𝑠𝑝ℎ𝑒𝑟𝑒 = 𝑚𝑣𝑟sin𝜃 + 𝑚𝑅2 × 𝑂
𝑂
5 𝑅

2 2
5
𝐿𝑠𝑝ℎ𝑒𝑟𝑒 𝑂 = (2 × 5 × 0.2 × 0.8) + × 2 × 0.1 ×
5 0.1

∴ 𝐿𝑠𝑝ℎ𝑒𝑟𝑒 𝑂
= 1.6 + 0.4 = 2 𝑘𝑔. 𝑚2 /𝑠 (Into the screen)
 A body of mass 𝑚 and radius of gyration 𝑘 starts from rest and rolls
down an inclined plane as shown in the figure. Find the velocity of the
body just as it reaches the bottom of the inclined plane. Consider pure
rolling condition. (𝑊𝑓 in case of pure rolling= 0)

Given: Mass = 𝑚
Radius of gyration = 𝑘
Initial velocity 𝑢 = 0

To find: 𝑣

Solution:
𝜔 ℎ
Applying principle of
conservation of energy, 𝑣 𝜃
𝐾𝑖 + 𝑈𝑖 = 𝐾𝑓 + 𝑈𝑓
For pure rolling: 𝑣 = 𝑟𝜔
2𝑔ℎ
𝑣=
𝑘2
1+ 2
𝑟
 𝟐𝒈𝒉
Radius of 𝒗=
Object 𝒌𝟐
Gyration (𝒌) 𝟏+ 𝟐
𝒓

Ring 𝑟 𝑔ℎ

x Y
𝑟 4𝑔ℎ
Disc/Cylinder
4
2 3
m

2 6𝑔ℎ H

Shell
2

𝑟 5
3

mL

2 10𝑔ℎ
Sphere 𝑟
37 °
2m

5 7
H
 Acceleration in Pure Rolling on an inclined plane

• For linear motion parallel to the plane,

𝑚𝑔 sin 𝜃 − 𝑓 = 𝑚𝑎 𝑁 𝑎

• For rotation, torque about the

𝑓
axis passing through centre, 𝑚𝑔 sin 𝜃 𝛼
𝑓𝑅 = 𝑚𝑘2𝛼 ℎ

• For pure rolling, 𝑚𝑔 cos 𝜃

𝑣 = 𝑅𝜔 and 𝑎 = 𝑅𝛼 𝜃

• Solving, we get, 𝑔 sin 𝜃 𝑚𝑔 sin 𝜃

𝑎=
𝑘2 • 𝑓=
𝑅2
1+ 2 1+ 2
𝑅 𝑘
 𝒈 𝐬𝐢𝐧 𝜽 𝒎𝒈 𝐬𝐢𝐧 𝜽
Radius of 𝒂= 𝒇=
Object 𝒌𝟐 𝑹𝟐
Gyration (𝒌) 𝟏+ 𝟐 𝟏+ 𝟐
𝑹 𝒌

𝑔 sin 𝜃 𝑚𝑔 sin 𝜃
Ring 𝑅
2 2

𝑅 2 1
x Y Disc/Cylinder 𝑔 sin 𝜃 𝑚𝑔 sin 𝜃
2 3 3
4
m

m
2 3 2
Shell 𝑅 𝑔 sin 𝜃 𝑚𝑔 sin 𝜃 H
2

3 5 5

mL

2 5 2
Sphere 𝑅 𝑔 sin 𝜃 𝑚𝑔 sin 𝜃 37 °
2m
5 7 7
H
The ratio of the acceleration for a solid sphere (mass 𝑚 and radius 𝑅)
rolling down an incline of angle 𝜃 without slipping and slipping down
the incline without rolling is:

Acceleration of a solid sphere rolling without 𝑁

slipping down an inclined plane: 𝑓
𝛼
𝑔sin𝜃
𝑎= 𝑚𝑔 sin 𝜃
𝑘2
1+ 2 𝑚𝑔 cos 𝜃
𝑟

𝑔sin𝜃 2 𝑁
𝑎1 = 𝑘2 = 𝑅2
2/5 𝑅2
1+ 5
𝑅2

5 𝑚𝑔 sin 𝜃
𝑎1 = 𝑔sin𝜃
7 𝑚𝑔 cos 𝜃

Acceleration of a solid sphere slipping 𝑎1 5𝑔sin𝜃

∴ =
down an inclined plane: 𝑎2 7𝑔sin𝜃
𝑎2 = 𝑔sin𝜃 𝑎1 5
=
𝑎2 7