Systems of Particles & Rotational Motion

4. Principle of moments of rotational equilibrium.

1. Centre of mass. It is the point at which entire mass When a body is in rotational equilibrium, the sum of
of a system may be supposed to be concentrated. the clockwise moments about any point is equal to
The nature of motion of the system remains the sum of the anticlockwise moments about that
unaffected when all the forces acting on the system point. Or, the algebraic sum of moments about any
are applied directly on the centre of mass of the point is zero. In rotational equilibrium,
system. Clockwise moment = Anticlockwise moment or F1 ×
If and ⃗⃗⃗
r1 and ⃗⃗⃗
r2 are the position vectors of two particles d1 = F2 × d2
of masses m1 and m2, then the position vector of or Load × load arm = Effort × effort arm This is
their centre of mass is given by sometimes called the lever principle.
m r + m2 r2
⃗ CM = 1 1
R
m1 + m2 5. Moment of a couple. The moment of a couple is
For a system of N-particles, the centre of mass is given equal to the product of either of the forces and the
by perpendicular distance, called the arm of the
m r + m2 r2 + ⋯ + mN rN ∑N i=1 mi ri couple, between their lines of action. It is
⃗ CM = 1 1
R =
m1 + m2 + ⋯ . +mN M independent of the choice of the fulcrum or the
For a continuous mass distribution, the centre of mass point of rotation.
is given by Moment of couple = Force × arm of the couple or
1 x = Fd
⃗R CM = ∫ rdm
M A couple can only be balanced by an equal and
where dm is the mass of small element located at opposite couple.
position r
The velocity of the centre of mass of a two-particle 6. Work done by a torque and power of a torque.
system is given by If a torque x applied on a body rotates it through
m1 v
⃗ 1 + m2 v
⃗2 angle ∆θ, the work done by the torque is
⃗ CM =
v
m1 + m2 ΔW = x∆θ
or Work done = Torque × Angular displacement
Power of a torque is given by
2. Equations of rotational motion. For a body moving ΔW τΔθ
P= = = τω
in circle, let ωQ be the initial angular velocity, ω the Δt Δt
final angular velocity, α the angular acceleration i.e., Power of a torque = Torque × Angular velocity
and θ be the angular displacement after the time t.
Then equations of rotational motion can be written 7. Angular momentum (𝐋). It is the moment of linear
as momentum of a particle about the axis of rotation.
(i)ω = ω0 + αt Angular momentum = Linear momentum × its
1 perpendicular distance from the axis of rotation, or
(ii)θ = ω0 t + αt 2
2 L=pd
If p⃗ is the linear momentum of a particle and r its
(iii)ω2 − ω20 = 2αθ position vector, then its angular momentum is
3. Torque (𝛕 ⃗ ). The turning effect of a force about the ⃗L = r × p
⃗
axis of rotation is called moment of force or torque (i) In Cartesian coordinates : Lz=xpy - ypz
due to the force. (ii) In polar coordinates : L-rp sin θ
Torque = Force × its perpendicular distance from the where θ is the angle between the linear momentum
axis of rotation vector p
⃗ and the position vector r.
or τ⃗ = Force × moment arm = Fd If a particle of mass m moves with uniform speed v ⃗
If a force F ⃗ acts at a point whose position vector is r along a circle of radius r, then its angular moment is
with respect to the axis of rotation, then torque is L= mvr
⃗
τ⃗ = r × F SI unit of angular momentum is kgm2 s_1.
(i) In Cartesian coordinates : τz = xFy − yFx The linear momentum p ⃗ and velocity vector v⃗ are
(ii) In polar coordinates : τ = rFsinθ always parallel to each other. But the angular
where θ is the angle between force vector F ⃗ and momentum L and the angular velocity ω are not
position vector r. necessarily parallel vectors.
SI Unit of torque is Nm.
8. Geometrical meaning of angular momentum.
Geometrically, the angular momentum of a particle
is equal to twice the product of its mass and areal

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 velocity. Equivalently, the areal velocity of a particle products of masses of the various particles and
is just half its angular momentum per unit mass. squares of their perpendicular distances from the
ΔA⃗ ΔA⃗ ⃗
L axis of rotation. Mathematically
⃗ = 2m
L or = n
Δt Δt 2m
I= m1 r12 + m2 r22 + ⋯ . +mn rn2 = ∑ mi ri2
9. Relation between torque and angular momentum. i=1
SI unit of moment of inertia = kg m2.
The rate of change of angular momentum of a
The moment of inertia of a body can be regarded as the
system of particles about a fixed point is equal to
rotational inertia of a body. It is the rotational
the total external torque acting on the system about
analogue of mass in linear motion.
that point.
⃗
dL
τ⃗tot = 12.Radius of gyration. It may be defined as the
dt distance from the axis of rotation at which if whole
mass of the body were supposed to be
10.Equilibrium of rigid bodies. A rigid body is said to be
concentrated, the moment of inertia, would be
in equilibrium if both the linear momentum and
same as with the actual distribution of mass. The
angular momentum of the rigid body remain
relation between moment of inertia / and radius of
constant with time. It must possess the following
gyration K is
two equilibria simultaneously :
(i) Translational equilibrium. The resultant of all the I
external forces acting on the body must be zero. I = MK 2 K=√ or
M
⃗ iext = 0
ΣF For a body composed of particles of equal masses,
(ii) Rotational equilibrium. The resultant of all the
torques due to all the forces acting on the body r12 + r22 + ⋯ + rn2
K= √
about any point must be zero. n
Στ⃗ext
i = Σri × F⃗ iext = 0 i.e. radius of gyration is equal to the root mean square
distance of the particles from the axis of rotation.
11.Moment of inertia. The moment of inertia of a rigid SI unit of radius of gyration = m.
body about an axis of rotation is the sum of the
Table Moments of Inertia of some Bodies of Regular Rectang Through its I
Shape ular centre l2 + b2
lamin and = M( )
Body Axis Figure Moment 12
a of perpendi
of
lengt cular to
Inertia
hl its plane
and
Thin rod Passing I
1 brea
of through
= ML2 dth b
lengt centre 12
Circular Passing
hL and
ring through
perpendi
of its centre
cular to
radiu and
the rod
sR perpendi
cular to
Thin rod Through its 1
I = ML2 its plane I = MR2
of one 3 Circular Diameter I
lengt enc^and 1
ring
hL perpendi = MR2
of 2
cular to
radiu
its length
sR
Circular Tangent in I
ring its plane 3
= MR2
of 2
radiu
sR

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Circular Passing I Hollow Symmetry 𝐼 = 𝑀𝑅 2
disc through 1 cylin axis
= MR2
of its centre 2 der
radiu and of
sR perpendi radiu
cular to sR
its plane and
Circular Diameter I lengt
disc 1 hL
= MR2
of 4 Solid Diameter 𝐼
radiu spher 2
= 𝑀𝑅 2
sR e of 5
Circular Tangent in 𝐼 radiu
disc its plane 5 sR
= 𝑀𝑅 2
of 4 Solid Any tangent 𝐼
radiu spher 7
= 𝑀𝑅 2
sR e of 5
Right Symmetry 𝐼 radiu
circul axis 1 sR
= 𝑀𝑅 2
ar 2 Hollow Symmetry 𝐼
solid spher axis 2
= 𝑀𝑅 2
cylin e of 3
der radiu
of sR
radiu Hollow Any tangent 𝐼
sR spher 5
= 𝑀𝑅 2
and e of 3
lengt radiu
hL sR

13.Theorem of perpendicular axes. It states that the 16.Total K.E. of a rolling body. The centre of mass of a
moment of inertia of a plane lamina about an axis rolling body moves along a straight line, so it
perpendicular to its plane is equal to the sum of the possesses translational K.E. in addition to rota-
moments of inertia of the lamina about any two tional K.E.
mutually perpendicular axes in its plane and ∴ Total K.E. of a rolling body
intersecting each other at the point, where the = Translational K.E. + Rotational K.E.
perpendicular axes pass through the lamina. 1 1
= 2 𝑀𝑣 2 + 2 𝐼𝜔2
Mathematically, I𝑧 =I𝑥 +I𝑦
where X- and Y-axes lie in the plane of the lamina and 17.Relation between M.I. and angular momentum.
Z-axis is perpendicular to its plane and passes Angular momentum - M.I. × Angular velocity i.e.,
through the point of intersection of X- and Y-axes 𝜏 = 𝐼𝛼

14.Theorem of parallel axes. It states that the moment 18.Relation between M.I. and torque.
of inertia of a rigid body about any axis is equal to Torque = M.I. × Angular acceleration i.e., 𝜏 = 𝐼𝛼.
the moment of inertia of the body about a parallel
axis through its centre of mass plus the product of 19.Law of conservation of angular momentum. If no
mass of the body and the square of the external torque acts on a system, total angular
perpendicular distance between the parallel axes. momentum of the system remains unchanged.
Mathematically, 𝐼 = 𝐼𝐶𝑀 + 𝑀𝑑2 In the absence of any external torque,
L= Iω = constant
15.Rotational K.E. If a body of mass M and moment of or 𝐼1 𝜔1 = 𝐼2 𝜔2
inertia I rotates about an axis of rotation with an 2𝜋 2𝜋
angular velocity ω, then 𝐼1 ⋅ = 𝐼2 ⋅
1
𝑇1 𝑇2
Rotational K.E. = 2 𝐼𝜔2

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20.Motion of a cylinder rolling down an inclined plane
without slipping. As shown in figure, consider a
solid cylinder of mass M and radius R rolling down
an inclined plane of inclination θ without slipping.

1.
(i) Linear acceleration of the cylinder down the
inclined plane,
𝑔𝑠𝑖𝑛𝜃 2
𝑎= = 𝑔𝑠𝑖𝑛𝜃
𝐼 3
1+
𝑀𝑅 2
(ii) Force of friction between inclined plane and
cylinder,
1
𝑓 = 𝑀𝑔𝑠𝑖𝑛𝜃
3
(iii) Condition for rolling of cylinder without
slipping is
1
𝑡𝑎𝑛𝜃 ≤ 𝜇𝑠 where μs is the coefficient of static
3
friction.

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