Internal vs.

External Torque

Laws of Angular Motion

Objectives: Define internal & external torques, rigid bodies Understand and apply the 3 laws of angular motion Define angular impulse and understand the relationship between angular impulse and angular momentum Introduce the concepts of angular work, power, & rotational kinetic energy

Internal Torque : is applied to a system by a force acting within the system External Torque : is applied to a system by a force or torque acting across the boundary of the system
Fquads Tflexor Fgastroc System

Wleg

Wfoot

Rigid Body
An object whose change in shape is negligible. Objects made up of multiple parts can be considered a rigid body if the parts dont move relative to one another. Example: the leg + foot is a rigid body if no motion (or very little motion) occurs at the ankle The laws of angular kinetics that follow apply only to rigid bodies In non-rigid bodies, each rigid part making up the body must be analyzed separately

1st Law (Law of Inertia)

A rigid body in rotation will maintain a constant angular velocity unless acted upon by an external torque. If there is no net external torque acting on a rigid body: if the body is not rotating, it will continue not to rotate. if the body is rotating, it will continue to rotate at a constant velocity (i.e. at the same speed in the same direction)

2nd Law (Law of Acceleration)

For rotation of a rigid body about its center of mass (or a fixed axis):

Effects of Torque
Net torque and angular velocity in same direction: magnitude of angular velocity increases Net torque and angular velocity in opposite direction: magnitude of angular velocity decreases (deceleration) Velocity (+) (+) () () Torque Change in Velocity (+) Increase in + dir. () Decrease in + dir. () Increase in dir. (+) Decrease in dir.

T= I

where:
T : net external torque about the COM (or axis) I : bodys moment of inertia about the COM (or axis) : angular accel. of the body about the COM (or axis)

If there is a net external torque acting on a body, the angular acceleration is:
directly proportional to the net torque inversely proportional to the moment of inertia in the direction of the net torque

3rd Law (Law of Reaction)

For every action, there is an equal and opposite reaction. If the forces acting across a joint between two bodies causes body 1 to experience a torque, body 2 will experience a torque: of the same magnitude femur in the opposite direction
Mextension Mextension tibia

Example Problem #1
During a squat lift, a person is holding a 450 N weight as shown below. What resultant hip moment is required for the lifter to remain motionless? If the hip extensors have an average moment arm of 5 cm, what total force do they need to generate?
What = 430 N
15 cm
HIP

40 cm

W = 450 N

Example Problem #2
During a sit-up, the hip flexors generate a torque of 85 Nm on the head-arms-torso. What torque do they generate on the lower limbs? Given the body position and inertial properties shown below, what are the accelerations of the headarms-torso and lower limbs?
15 cm 40 cm

Radial & Tangental Acceleration

The acceleration of a body in angular motion can be resolved into two components: Tangental: along at path of motion v Radial: perpendicular to path of motion

Ihat = 11.0 kg m2

Ilower = 6.0 kg m2

at = r ar = v2 r = r 2

ar

W = 465 N Fgrf

W = 220 N

Torques & Tangental Acceleration

Torques produce tangental acceleration only

Centripetal Force
Centripetal force produces radial acceleration Magnitude of centripetal force:

at = r T =I

I at = T r

at

F c = m ar =

m v2 = m r 2 r ar Fc

v m

Radial acceleration must come from some other source!

T r

Force required increases with: object mass (m) velocity (v or ) distance (r) from axis of rotation

F c always directed inward

towards the axis of rotation
axis of rotation

Example Problem #3
A 3500 lb. race car is attempting to go through a flat turn of radius 500 ft. at 100 mi/hr. What total friction force between the road and tires is required? If the coefficient of friction between the road and tires is 1.0, will the car be able to negotiate the turn?

Angular Impulse
The linear motion of a body depends both on the force and the duration that the force is applied The angular motion of a body depends both on the torque and the duration that the torque is applied Angular Impulse : a measure related to the net effect of applying a torque (T) for a time (t): Angular Impulse

=Tt

Angular impulse increases with: Increased torque magnitude Increased duration of application

Angular Impulse & Momentum

The angular impulse due to the net external torque acting on a system equals the change in the angular momentum of the system over the same period of time
angular momentum at time t1 angular momentum at time t2

Example Problem #4
A hammer thrower is able to apply an average torque of 100 Nm to the hammer while spinning about his longitudinal axis. The ball of the hammer has a mass of 7.25 kg and spins at a distance of 1.5 m from the axis of rotation If the hammer ball starts from rest, what is its angular velocity after 3 s, just prior to release? What is the magnitude of its linear velocity upon release?

Ang. Impulse = Texternal (t2 t1) = I2 2 I1 1

ang. impulse when Texternal is constant between t1 and t2

Work, Power, & Energy

The concepts of work, power and kinetic energy also apply to objects in rotation: Linear Work Power Kinetic Energy W = Fxpx + Fypy P = W / t KE = m v2 Angular Wa = T Pa = Wa / t KEa = I 2

General relationship between work and energy:

W + Wa = KE + KEa + PE + TE