Chapter 6 Rotation and Angular Momentum.

Chapter 6 Rotation and Angular Momentum

Basic Requirements
1. Understand the concept of translation and rotation;
2. Master the kinematic equations for constant angular acceleration;
3. Master the relationship between the linear and angular variables;
4. Master kinetic energy of rotation;
5. Master the calculation of the rotational inertia;
6. Master the parallel-axis theorem;
7. Learn to apply Newton's second law for rotation;
8. Master the work-kinetic energy theorem for rotation.
9. Understand the concept of rolling;
10. Master the kinetic energy of rolling;
11. Master the forces of rolling;
12. Master angular momentum;
13. Learn to apply Newton's second law in angular form;
14. Understand the angular momentum of a system of particles;
15. Understand the angular momentum of a rigid body rotating about a fixed axis;
16. Master the conservation law of angular momentum.
Review and Summary
Static Equilibrium A rigid body at rest is said to be in static equilibrium. For such a
body , the vector sum of the external forces acting on it is zero:
0
net
F

(balance of forces ) (6-3)

If all the forces lie in the
xy
plane, this vector equation is equivalent to two
component equations:

,
0
net x
F
and
,
0
net y
F
(balance of forces) (6-7,6-8)
Static equilibrium also implies that the vector sum of the external torques acting on the
135
Chapter 6 Rotation and Angular Momentum.
body about any point is zero, or

0
net

(balance of torques) (6-5)

If the forces lie in the
xy
plane, all torque vectors are parallel to the z axis, and
Eq.6-5 is equivalent to the single component equation

0
,

z net

(balance of torques). (6-9)

Angular Position To describe the rotation of a rigid body about a fixed axis, called
the rotation axis, we assume a reference line is fixed in the body, perpendicular to
that axis and rotating with the body. We measure the angular position of this line
relative to a fixed direction. When is measured in radians,

r
s
(radian measure), (6-10)
Where
s
is the arc length, of a circular path of radius
r
and angle . Radian
measure is related to angle measure in revolutions and degrees by
1 360 2 . rev rad
o
(6-11)
Angular Displacement A body that rotates about a rotation axis , changing its angular
position from
1
to
2
, undergoes an angular displacement
,
1 2
(6-13)
Where is positive for counterclockwise rotation and negative for clockwise
rotation.
Angular Velocity and Speed If a body rotates through an angular displacement
in a time interval t , its average angular velocity
avg

is
t
avg

. (6-14)
The (instantaneous) angular velocity of the body is
.
dt
d
(6-15)
136
Chapter 6 Rotation and Angular Momentum.
Both
avg

and are vectors, with directions given by the right hand rule. they
are positive for counterclockwise rotation and negative for clockwise rotation.
The magnitude of the bodys angular velocity is the angular speed.
Angular Acceleration If the angular velocity of a body changes from
1
to
2
in a
time interval
2 1
t t t , the average angular acceleration
avg

of the body is

2 1
2 1
avg
t t t

(6-16)
The (instantaneous) angular acceleration of a body is
.
dt
d
(6-17)
Both
avg

and are vectors.

The Kinematic Equations for Constant Angular Acceleration Constant angular
acceleration ( =constant) is an important special case of rotational motion .The
appropriate kinematic equations are

0
at + (6-18)
2
0 0
1
2
t t +
(6-19)

2 2
0 0
2 ( ) + (6-20)
t ) (
2
1
0 0
+ (6-21)

2
0
1
2
t t (6-22)
Linear and Angular Variables Related A point in a rigid rotating body , at a
perpendicular distance
r
from the rotation axis , moves in a circle with radius
r
. If
the body rotates through an angle , the point moves along an arc with length
s

given by
137
Chapter 6 Rotation and Angular Momentum.
s r (radian measure), (6-23)
Where is in radians .
The liner velocity v
r
of the point is tangent to the circle, the points liner speed is
given by

v r
(radian measure), (6-24)
Where is the angular speed (in radians pre second) of the body .
The liner acceleration a
r
of the point has both tangential and radial components. The
tangential component is

t
a r (radian measure), (6-28)
Where is the magnitude of the angular acceleration (in radians per second-
squared ) of the body . The radial component of a

is

2
2
r
v
a r
r

(radian measure), (6-28)
If the point moves in uniform circular motion. the period
T
of the motion for the
point and the body is

2 2 r
T
v

(radian measure) (6-25,6-26)

Rotational Kinetic Energy and Rotational Inertia The kinetic energy K of a rigid
body rotating about a fixed axis is given by

2
1
2
K I (radian measure) (6-40)
In which I is the rotational inertia of the body, defined as

2
i i
r m I (6-39)
for a system of discrete particles and as

dm r I
2
(6-43)
for a body with continuously distributed mass. The
r
and
i
r
in these expressions
represent the perpendicular distance from the axis of rotation to each mass element in
the body.
The Parallel-Axis Theorem The parallel-axis theorem relates the rotational inertia
I

138
Chapter 6 Rotation and Angular Momentum.
of a body about any axis to that of the same body about a parallel axis through the
center of mass:

2
Mh I I
com
+ (6-42)
Here h is the perpendicular distance between the two axes.
Torque Torque is a turning or twisting action on a body about a rotation axis due to a
force
F

. If
F

is exerted at a point given by the position vector

r

relative to the
axis, then the magnitude of the torque is
( )( sin ) r F
Where
t
F
is the component of
F

perpendicular to
r

, and

is the angle
between
r

and
F

. The quantity

r is the perpendicular distance between the

rotation axis and an extended line running through the
F

vector. This line is called

the of action of
F

. Similarly, r is the moment arm of

t
F
.
The SI unit of torque is the Newton-meter ( N m ). A torque is positive if it tends to
rotate a body at rest counterclockwise and negative if it tends to rotate the body in the
clockwise direction.
Newtons Second Law in Angular Form The rotational analog of Newtons second
law is

I
net

, (6-45)
Where
net

is the net torque acting on a particle or rigid body, I is the rotational

inertia of the particle or body about that rotation axis. and is the resulting angular
acceleration about that axis.
Work and Rotational Kinetic Energy The equations used for calculating work and
power in rotational motion correspond to equations used for translational motion and
are

f
i
W d

(6-56)
When is constant, Eq. 6-56 reduces to

( )
f i
W
(6-57)
139
Chapter 6 Rotation and Angular Momentum.
And
dW
P
dt
(6-58)
The form of the work-kinetic energy theorem used for rotating bodies is
2 2
1 1
2 2
f i f i
K K K I I W (6-60)
Rolling Bodies For a wheel of radius R that is rolling smoothly (no sliding),

R
com

(6-67)
Where
com
is the linear speed of the wheels center and

is the angular speed of the

wheel about its center. The wheel may also be viewed as rotating instantaneously
about the point P of the road that is in contact with the wheel. The angular speed of
the wheel about this point is the same as the angular speed of the wheel about its
center. The rolling wheel has kinetic energy

2 2
1 1
2 2
com com
K I M + (6-70)
Where
com
I
is the rotational moment of the wheel about its center and
M
is the
mass of the wheel. If the wheel is being accelerated but is still rolling smoothly, the
acceleration of the center of mass
com
a is related to the angular acceleration about
the center with

R a
com

(6-71)
If the wheel rolls smoothly down a ramp of angle , its acceleration along an x axis
extending up the ramp is

2
,
/ 1
sin
MR I
g
a
com
x com
+


(6-75)
Torque as a Vector In three dimensions, torque

is a vector quantity defined

relative to a fixed point (usually an origin); it is

F r



, (6-76)
Where
F

is a force applied to a particle and

r

is a position vector locating the

particle relative to the fixed point (or origin). The magnitude of

is given by
, sin F r rF rF

(6-77,6-78,6-79)
140
Chapter 6 Rotation and Angular Momentum.
Where

is the angle between

F

and
r

F is the component of
F

perpendicular to
r

, and

r is the moment arm of

F

. The direction of

is given
by the right-hand rule for cross products.
Angular Momentum of a particle The angular momentum

of a particle with
linear momentum
p

, mass
m
, and linear velocity

is a vector quantity defined

relative to a fixed point (usually origin); it is
) (

r m p r (6-80)
The magnitude of
r
l
is given by
sin rm l (6-81)
rp rm

l (6-82)
r p r m

l (6-83)
Where

is the angle between

r

and
p

p and

are the components of

p

and

perpendicular to
r

, and

r is the perpendicular distance between the fixed

point and the extension of
p

. The direction of
r
l
is given by the right-hand rule for
cross products.
Newtons Second Law in Angular Form Newtons second law for a particle can be
written in angular form as

net
d
dt

r
l r
, (6-85)
Where
net

is the net torque acting on the particle, and

r
l
is the angular momentum
of the particle.
Angular Momentum of a System of Particles The angular momentum
L

of a
system of particles is the vector sum of the angular momentum of the individual
particles:

1 2
1
n
n i
i
L

+ + +

r r r r r
l l L l l (6-88)
141
Chapter 6 Rotation and Angular Momentum.
The time rate of change of this angular momentum is equal to the net external torque
on the system (the vector sum of the torques due to interactions of the particles of the
system with particles external to the system):

dt
L d
net

(system of particles) (6-91)

Angular Momentum of a Rigid Body For a rigid body rotating about a fixed axis is
I L (rigid body, fixed axis). (6-93)
Conservation of Angular Momentum The angular momentum
L

of a system
remains constant if the net external torque acting on the system is zero:
t acons L tan

(isolated system) (6-94)

Or
f i
L L

(isolated system) . (6-95)
This is the law of conservation of angular momentum. It is one of the fundamental
conservation laws of nature, having been verified even in situations (involving high-
speed particles or subatomic dimensions) in which Newtons laws are not applicable.
Examples
Example 1 .Show that the moment of inertia of a uniform hollow cylinder of inner
radius
1
R ,outer radius
2
R ,and mass
M
, is
2 2
1 2
1
( )
2
I M R R + ,as stated in the
figure, if the rotation axis is through the center along the axis of symmetry.
SolutionWe know that the moment of inertia of a thin ring of radius R is m
.
2
R
So
we divide the cylinder into thin concentric cylindrical
rings or hoops of thickness dR, one of which is
indicated in Fig.6-1. If the density (mass per unit volume
) is

,then

dV dm
,
Where dV is the volume of the thin ring of radius
R
,
thickness dR , and height h . Since
) )( )( 2 ( h dR R dV

Fig. 6-1 Example 1
We have
dR hR dm 2
Then the moment of inertia is obtained by integrating (summing) over all these hoops :
142
Chapter 6 Rotation and Angular Momentum.

dm R I
2

1
]
1

4
2 2
4
1
4
2 3
1
2
R R
h dR hR
R
R


Where we are given that the cylinder has uniform density ,

constant .(If this were
not so ,we would have to know

as a function of
R
before the integration could
be carried out) The volume V of this hollow cylinder is h R R V ) (
2
1
2
2
,so its
mass
M
is
. ) (
2
1
2
2
h R R v M
Since ) )( ( ) (
2
1
2
2
2
1
2
2
4
1
4
2
R R R R R R + ,we have
) )( (
2
2
1
2
2
2
1
2
2
R R R R
h
I +

) (
2
1
2
2
2
1
R R M + (Answer)
As stated in figure. As a check ,note that for a solid cylinder , 0
1
R and we obtain,
with
0 2
R R
:

2
0
2
1
MR I ,
Which is that given in Fig.10-21c for a solid cylinder of mass
M
and radius
0
R
.
Example 2 what will be the speed of a solid sphere of mass
M
and radius
0
R

when it reaches the bottom of an incline if it starts from rest at a vertical height
H

and rolls without slipping ? see Fig.6-2. Ignore losses due to dissipative forces ,and
compare your result to that for an object sliding down a frictionless incline.
Solution We use the law of conservation of
energy, and we must now include rotational
kinetic energy. The total energy at any point a
vertical distance
y
above the base of the
143
Chapter 6 Rotation and Angular Momentum.
incline is

2 2
1 1
2 2
CM
Mv I Mgy + + ,
Where v is the speed of the CM . We equate Fig. 6-2 Example 2
the total energy at the top
H y
and 0) v to the total energy at the bottom
(
0 y
);
0
2
1
2
1
0 0
2 2
+ + + + w I Mv MgH
CM
.
The moment of inertia of a solid sphere about an axis through its COM is
2
0
2
5
COM
I MR .
Since the sphere rolls without slipping , the speed , v , of the center of mass with
respect to the point of contact (which is momentarily at rest at any instant) is equal to
the speed of a point on the edge relative to the center. We therefore have R v w / .
Hence
MgH
R
v
MR Mv

,
_

,
_

+
2
0
2
2
0
2
5
2
2
1
2
1
.
Dividing out the
,
M
s and
,
R
s, we obtain
gH v

,
_

+
2
5
1
2
1
So
gH v
7
10
. (Answer)
Note first that v is independent of both the mass
M
and the radius
R
of the
sphere . Also , we can compare this result for the speed of a rolling sphere to that for
an object sliding down a plane without rotating and without friction ( mgH Mv
2
2
1
), in which case gH v 2 , which is greater. An object sliding without friction
transforms its initial potential energy into translational
kinetic energy (none into rotational kinetic energy ), so
its speed is greater.
Example 3 Suppose a 60-kg person stands at the
144
B
A
n

Chapter 6 Rotation and Angular Momentum.
edge of a 6.0-m-diameter circular platform, which is
mounted on frictionless bearings and has a moment of
inertia of 1800kg.
2
m
. The platform is at rest initially,
but when the person begins running at a speed of 4.2m/s (with respect to the
ground).around its edge the platform begins to rotate in the opposite direction as in
figure 6-3. Calculate the angular velocity of the platform. Fig. 6-3 Example 3
Solution The total angular momentum is zero initially .Since there is no net
torque,
L
is conserved and will remain zero ,as in Fig.6-3.The persons angular
momentum is
) / )( (
2
R v mR L
per

and we take this as positive .the angular
momentum of the platform is
plat
L I
.Thus

per plat
L L L +

2
0
v
mR I
R

_


,
So

2
(60 )(3.0 )(4.2 / )
0.42 /
1800 .
mRv kg m m s
rad s
I kg m

. (Answer)
The frequency of rotation is
s rew w f / 067 . 0 2 /
and the period
s f T 15 / 1
per revolution. (Answer)
Example 4 A uniform rod of length l and mass m is placed horizontally by
putting its left end
B
on the edge of a table and holding its right end
A
with your
hand . Then you release the end
A
suddenly . find , at the instant end
A
is
released
(a) the acceleration a

of the rods center of mass ?

(b) the force
F

exerted on the rod at end

B ?
Solution: Draw the free-body diagram of the rod .set the coordinate system as in
the figure. At the moment the end
A
is released there are two forces acting on the
rod: the gravitational force g m F
g

exerted at
the
145
Chapter 6 Rotation and Angular Momentum.
center of the rod , downward. The force
F

exerted at end
B
from the table. Apply
the Newtons second law for the center of mass
of the rod. Fig. 6-4 Example 4

c i
a m F

In direction:
c
ma mg F
(1)
In n direction:
2
/ 2
c
n c
v
F ma m
l

(2)
According to the theorem of rotation we write:

2
z
l
mg I (3)
from the relationship between the linear and angular quantities we have
2
c
l
a

(4)
and
2
1
3
z
I ml (5)
At the moment end
A
is just released .the speed of the rods center of mass
0
c
v

thus
0
c
v
Substituting
0
c
v
into Eq. (2), yields
0
N
F
Then solving equations (3), (4) and (5) for
c
a
yields
1
3
c
a g

.
1

3
a g
v

Substituting
c
a

into Eq. (1) we obtain

1
4
F mg

4
F mg
v
(Answer)
Example 5 A uniform solid ball of radius r and mass m rolls down a circular track
146
N
F
r
S
F
r
g
F
r
Chapter 6 Rotation and Angular Momentum.
from rest without sliding .The track, radius
R
, is in the vertical plane. At the
beginning the ball is in the same height as the center of the circular track , Find
(a) the balls speed as it rolls down to the bottom of the track,
(b) the normal force on the track from the ball at the same moment as in (a).
Solution(a) Taking the circular track as the reference
frame , the system of the problem includes the ball ,
the track and the Earth. Draw the free-body diagram
of the ball in the process of rolling down the track as
shown in figure 6-5. Three forces , the gravitational
force
g
F
r
, the normal force
N
F

and the static Fig. 6-5 Example 5

frictional force
S
F

are acting on the ball, But only the gravitational force

g
F
v
, being
a conservative force, does work in the rolling process .Thus the mechanic energy of
the system conserved. When the ball is at the bottom of the track, its center is chosen
as the reference of the zero potential energy. From the conservation law of mechanic
energy , we have
2 2
( ) (1/ 2) (1/ 2)
c
mg R r mv I + (1)
Where
c
I
is the rotational inertia of the ball about a axis through its center, v is the
speed of the center of mass (COM) of the ball , Then we have
2
(2 / 5)
c
I mr (2)
v r
(3)
Solve these three equations for v yield
(10 / 7) ( ) v g R r
(b) When the ball rolls down to the bottom of the circular track, two forces,
F

and
n
F

.exerted on the ball , Write Newtons second law in the normal direction
2
/ ( )
n
F mg mv R r
Therefore
147
Chapter 6 Rotation and Angular Momentum.
/ ( ) (17 / 7)
N
F mg mv R r mg +
This is the normal force on the ball from the track, Write Newtons third law it is
known that the normal force
N
F
on the track from the ball of the bottom
N N
F F
v v
(17 / 7)
N
F mg (Answer)
Example 6 A thin rod of mass m and length l is connected with a small ball of the
same mass m at the rods one end, and the other end of the rod is pivoted on a
frictionless hinge as shown in the figure ,The rigid body is held at rest horizontally and
then released. What is (a) the rotational inertia of the rigid
body about the hinge ? (b) the angular speed of the rigid
body as its rod forms an angle with the vertical line ?
(c) the angular acceleration of the rigid body at the same
instant as in(b)? (d) the normal acceleration of the center of
mass of the rigid body at the same instant as in (b)?
Solution: (a) the rotational inertia of the rigid body
about the hinge is Fig. 6-6 Example
6
2 2 2
0
(1/ 3) (4 / 3) I ml ml ml + (1) (Answer)
(b) During the rotation of the rigid body only the gravitational force does work so the
process obeys the conservation law of mechanic energy . But first of all we should find
out the center of mass of the rigid body by
1 1 2 2
1 2
3
4
COM
M X M X
X l
M M
+

+
(2)
When the rod forms an angle with the vertical line its center of mass
com
C
has
descent a distance
(3/ 4) cos h l (3)
Applying the conservation law of mechanic energy. We write
148
Chapter 6 Rotation and Angular Momentum.
2
0
(2 ) (1/ 2) m gh I
Substituting (1), (2) and (3) into above equation and solve for

, yields
(3/ 2) ( / ) cos g l (Answer)
(c) To find out the angular acceleration of the rigid body at the same instant as in (b)
we use Newtons second law for rotation

I
3
0 1
2
4
3
(2 )( sin ) 9
sin
8
mg l g
I ml l


(Answer)
(d) The normal acceleration of the center of mass of the rigid body at the same instant
as in (b) is
2
3 2
( )
2
4
3
4
3 3 9 27
cos cos
4 4 4 16
l
t
n
l
v
a l g g
r

(Answer)
Example 7 As show in the figure, the masses of wheels
A
and
B
are
1
m and
2
m and the radii of them are
1
r and
2
r respectively, there is a thin rope rolling
around the two wheels and connecting the wheels as shown in the figure, where wheel
A
rotates about the fixed Oaxis. (1) when wheel
B
drops what is the acceleration
of the center of the wheel? (2) what is pulling force of the rope?
Solution: We consider the problem as the combined motion of the two wheels. That is
the rotation of wheels
A
and the plane motion of wheel
B
. Then we can apply the
law of rotation (the Newtons second law for rotation) and the Newtons second law to
get the answer. As always we begin with a free-body diagram as shown in the
figure Wheel
A
rotates about the fixed axis O (perpendicular to the page). From the
law of rotation
A
I
0 0

149
Chapter 6 Rotation and Angular Momentum.
Fig. 6-7 Example 7

2
1 1 1
1
2
T A
F r m r (1)
Wheel
B
rotates about the instantaneous axis C (perpendicular to the page) while its
center of mass C is moving down translationally. According to
s Newton
,
second
law for the motion of the center of mass of wheel
B


c T
a m F g m
2 2

(2)
From the law of rotation for wheel
B

B T
r m r F
2
2 2 2
2
1
(3)
By the relationship between the linear quantities and the angular quantities we have

1
r
a
A
A

,
B
B
B
r
a

(4)
Where
A
a and
B
a are accelerations of a point at the edge of wheel
A
and
B

respectively.
There are two more relations which help the problem solving

B C A
a a a
(5)

T T
F F (6)
Solving above six equations for
C
a
and
T
F , obtaining
150
Chapter 6 Rotation and Angular Momentum.

( )
g
m m
m m
a
C
2 1
2 1
2 3
2
+
+

(Answer)

g
m m
m m
F F
T T
2 1
2 1 ,
2 3 +

(Answer)
Example 8 A thin rod of mass
1
m and length can rotate about a frictionless axis
O freely. A small ball of mass
2
m is suspended at the end of a massless cord of
length on the same axis as shown in the figure . At the beginning the rod rests in
vertical position and the ball is pulled with its cord makes an angle of with the rod.
Then the ball is released and swing down making a elastic collision with the rod. The
rod deflects a maximum angle

60 . Write down enough equations to determine the

angle .
Solution: We analyze the whole process by dividing it into four successive parts as
follows and then use conservation law in each of
them
(a) During the swing process of the ball, only the
gravitational force does work, so the mechanic
energy of the ball is conserved.
2
2 2
2
1
) cos 1 ( v m g m (1) (Answer)
Where v is the speed of the ball just before it
Fig. 6-8 Example 8
collides with the rod.
(b) As the ball collides with the rod, there is no external torque about the reference
point O, thus the angular momentum of the system (the ball plus the rod) is
conserved
2
2 2 1
1
3
m v m v m + l l l (2) (Answer)
Where v and v are the speed of the ball just before and after the collision, is
151
Chapter 6 Rotation and Angular Momentum.
the angular speed of the rod just after the collision.
(c) Since the collision between the ball and the rod is elastic, the mechanic energy of
the system is conserved just before and after the elastic collision.
2 2
1
2 ,
2
2
2
3
1
2
1
2
1
2
1

,
_

+ l m v m v m (3) (Answer)
(d) In the consequential swing process of the rod the mechanic energy of the rod also
is conserved
( )

60 cos 1
2 3
1
2
1
1
2 2
1

,
_

g m l m (4) (Answer)
Solving above four equations for we can get the answer.
Note that the most common mistake in solving this problem is apply the
conservation law of linear momentum during the collision between the ball and the rod
2 2 1
m v m v m + l
instead of equation (2). This is wrong because during the collision the horizontal
component of the force on the rod from the axis can not be neglected. This does not
satisfy the condition of applying the conservation law of linear momentum.
Problem Solving
1 (12) The wheel in Fig.6-9 has eight equally spaced
spokes and a radius of 30cm. It is mounted on a fixed axle
and is spinning at s rev / 5 . 2 . You want to shoot a
20 cm long arrow parallel to this axle and through the
wheel without hitting any of the spokes. Assume that the
arrow and the spokes are very thin. (a) What minimum
speed must the arrow have? (b) Does it matter where
between the axle and rim of the wheel you aim? If so,
what is the best location? Fig. 6-9 Problem 1
Solution: The angular speed of the rotating wheel is
(2.5 / )(2 / ) 5 / rev s rad rev rad s
The angle between the maximum angular displacement when a arrow passes throug
the wheel, is
152
Chapter 6 Rotation and Angular Momentum.
rad
rad
4 8
2

The time required for a spaced spoke turns around the
angle is
( / 4) 1
5 / 20
rad
t s
rad s



During this time interval the 20cm long arrow must pass though the wheel with
the required speed

0.2
4 /
(1/ 20)
l cm
v m s
t s

(Answer)
(b) Since in equal time interval the wheel turns a equal angle it does not matter where
between the axle and rim of the wheel you aim. (Answer)
2 (16) An early method of measuring the speed of light makes use of a rotating slotted
wheel. A beam of light passes through one of the slots at the outside edge of the wheel,
as in Fig.6-10, travels to a distant mirror, and returns to the wheel just in time to pass
through the next slot in the wheel. One such slotted wheel has a radius of 5.0 and
500 slots around its edge. Measurements taken when the mirror is L=500m from the
wheel indicate a speed of light of 3.010
5
s.(a)What is the (constant) angular speed
of the wheel? (b)What is the linear speed of a point on the edge of the wheel?
Solution: The distant for light beam traveling
through one slot to the reflecting mirror and
backing through the next slot in the wheel is
m m L d 1000 500 2 2
The time for the light bean travel that distance is
5
8
1000 1
10
3.0 10 / 3
d m
t s
v m s

During this time interval the wheel just

turns one slot, the angular displacement is
rad
500
2
Fig. 6-10 Problem 2
So the angular speed of the wheel is
153
Chapter 6 Rotation and Angular Momentum.

3
5
(2 / 500)
3.8 10 /
(1/ 3) 10
rad
rad s
t

(Answer)
The linear speed of a point on the edge of the wheel is
3 2
(0.005 )(3.8 10 / ) 1.9 10 / v R m rad s m s (Answer)
3 (20) In Fig.6-11, a cylinder having a mass of 2.0 can rotate about its central axis
through point O. Forces are applied as shown N F 0 . 6
1
, N F 0 . 4
2
,
N F 0 . 2
3

and N F 0 . 5
4
.Also, cm r 0 . 5 and cm R 12 . Find the
(a)magnitude and(b)direction of the angular acceleration of the cylinder.(During the
rotation, the forces maintain their same angles relative to the cylinder.)
Solution: We apply the Newtons second law for rotation to find out the angular
acceleration of the cylinder. Since
4
F

passes
through the rotational axis it produce no torque
about the same axis therefore

I r F R F R F + +
3 2 1
Taking the counterclockwise direction
as positive for torques and the angular
Acceleration of the cylinder, we have Fig. 6-11 Problem 3

I r F R F R F
3 2 1
( ) ( )
( ) ( )
1 2
2
2
6.0 4.0 0.12 2.0 0.05
1 1
2.0 0.12
2 2
F F R Fr
N N m N m
mR Kg m

v v v

2
9.7 / rad s
(Answer)
The direction of the angular acceleration of the cylinder is counterclockwise.
4 (22) Figure 6-12 shows a rigid assembly of a thin hoop
(of mass m and radius m R 150 . 0 ) and a thin radial
rod (of mass m and length R L 00 . 2 ). The assembly
154
Chapter 6 Rotation and Angular Momentum.
is upright, but if we give it a slight nudge, it will rotate around a horizontal axis in the
plane of the rod and hoop, through the lower end of the rod. Assuming that the energy
given to the assembly in such a nudge is negligible, what would be the assembly

s
angular speed Fig. 6-12 Problem 4
about the rotation axis when it passes through the upside-down (inverted) orientation?
Solution: In the rotating process only the gravitational force does work on the rigid
assembly, so we can use the conservation law of mechanical energy to find out the
answer. But first we must find out the position of the center of mass of the assembly
R
m m
R m mR
m m
my my
y
c
2
3

+
+

+
+

Next we should work out the rotational inertia of the rigid assembly about a horizontal
axis in the plane of the rod and hoop through the low end of the rod
( ) ( )
2
2 2 2
0 0Rod 0Hoop
1 1
I I I m(2R) mR m 3R 0.244m kgm
3 2
1
+ + +
1
]
Choose point c as the reference level for 0 U .
From the conservation law of mechanical energy, we have
2
0 0
2
1
I Mgy
c

Solving for
0

yields
( )
( )
2
2
0
m
2 2 9.8 4 0.15
2 m m g 4R
s
rad
9.82
s
I 0.224kg m

+

(Answer)
5 (23) A tall, cylindrical chimney falls over when its base is ruptures. Treat the
chimney as a thin rod of length 55.0m. At the instant it makes an angle of 35.0 with
the vertical as it falls, what are (a) its angular speed, (b) the radial acceleration of the
top, and (c) the tangential acceleration of the top.(Hint: Use energy considerations, not
a torque.) (d) At what angle is the tangential acceleration equal to
g
?
Solution: In the system under consideration ( the chimney plus the earth ),only the
gravitational force does work. So we can apply the conservation law to get the
answer. Supposing the mass of the chimney is M and taking the position of the center
of mass of the chimney when it makes an angle of 0 . 35 with the vertical as it falls
to be the zero potential energy level.(a) Form the principle of conservation of
155
Chapter 6 Rotation and Angular Momentum.
mechanic energy we have

2 2
1 1
(1 cos ) ( )
2 2 3
L
Mg ML
3 (1 cos ) 3(9.8 / )(1 cos35.0 )
55.0
g m s
L m

o
= 311 . 0
s rad Answer bThe linear speed of
the top of the chimney is

1 . 17 311 . 0 0 . 55 s rad m L v

s m
So the radial acceleration of the top is

2 2
(17.1 )
5.32
55.0
n
v m s
a
L m


2
s m (Answer)
(c) The tangential acceleration of the top can be obtained by Newton

s second law for

rotation
0 0
I
)
3
1
( sin
2
2
ML
l
Mg
The angular acceleration of the rotationally falling chimney is sin
2
3
L
g
when
35.0
o
2
3(9.8 )
sin35.0 0.153
2(55.0 )
m s
m

o

2
s rad
So the tangential acceleration of the top is
2
(35.0 )(0.153 ) 8.43 a L m rad s

2
s m (Answer)
156
Chapter 6 Rotation and Angular Momentum.
(d) From equation
3 3
sin sin
2 2
g
a L L g
L

when a g

we have 1 sin
2
3
Then
8 . 41 (Answer)
6 (31) Four particles, each of mass 0.20, are placed at the vertices of a square with
sides of length 0.50 .The particles are connected by rods of negligible mass. This
rigid body can rotate in a vertical plane about a horizontal axis A that passes through
one of the particles. The body is released from rest with rod AB horizontal, as shown
in Fig.6-13. (a)What is the rotational inertia of the body about axis A? (b)What is the
angular speed of the body about axis at the instant rod AB swings through the vertical
position?
Solution: (a) The rotation inertia of the body about axis A
is
2
A
I ml
2
ml +
2 2
( l l m + +
)
2

2
4ml
) 50 . 0 )( 2 . 0 ( 4 m kg
2
20 . 0
2
m kg
(answer)

Note that the particle at vertex A does not have rotational inertia about axis A.
Fig. 6-13 Problem 6
(b) During the rotation of the body only the gravitational force does work, so the body
is mechanic energy is conserved.
The center of the mass C of the body is located at the center of the square, at the
instant rod AB swings through the vertical position the center of mass C is a distance
l below its initial position. Thus the potential energy of the body in the initial
position is
mgl U 4
. At the vertical position the kinetic energy of the body is
2
1
2
k I . From the conservation law of mechanic energy we have
2
1
4
2
I mgl

157
Chapter 6 Rotation and Angular Momentum.
Solving for

yields
2
2
8 8(0.20 )(9.8 )(0.50 )
6.26
0.20
mgl kg m s m
rad s
I kg m

(Answer)
7 (40) Figure 6-14 shows a rigid structure consisting of a circular hoop of radius
R
and mass m, and square made of four thin bars, each of length
R
and mass
m
. The
rigid structure rotates at a constant speed about a vertical axis, with a period of rotation
of 2.5s . Assuming 0.50 R m and 2.0 m kg ,calculate (a) The structures
rotational inertia about the axis of rotation and (b) its angular momentum about that
axis.
Solution: (a) The structure

s rotational inertia about the axis of rotation is

s n
I I I + mR
3
1
(
2
mR +
2
+
mR
3
1
2
) 0 + mR
2
1
( +
2
mR +
2
)

mR 17 . 3
2
m kg 50 . 0 )( 0 . 2 ( 17 . 3
2
)
6 . 1
2

2
m kg (Answer)
(b) The angular speed of the rotating rigid structure is

2
2.51 /
2.5

rad
rad s
T s

Thus the angular momentum of the rigid structure

about the rotational axis is
2
(1.6 )(2.51 ) L I kg m rad s

2
4.0kg m s (Answer) Fig. 6-14 Problem 7
8 (43) In Fig.6-15, a small 50g block slides down a frictionless surface through
height 20 h cm and then sticks to a uniform rod of mass 100g and length 40cm
.The rod pivots about point O through angle

before
momentarily stopping. Find

.
Solution : The whole process can be divided into three
158
Chapter 6 Rotation and Angular Momentum.
parts :
(1), The small block slides down the frictionless surface through height h , In this
part only the gravitational force , being a conservitive force ,does work, so the law of
conservation of mechanic energy holds
2
1 1 1
2
1
v m gh m (1)
Where
1
v is the speed of the block before it collides with Fig. 6-15 Problem 8
the rod.
(2) The small block collides with the rod and sticks to it. During this interaction there
is no net torque acting on the block rod system relative to the point O, the angular
momentum of the system is conserved (Note: since there is a net force acting on the
rod at point Oby the pivot, the law of conservation of linear momentum does not
hold! )
I L v m
1 1
(2)
Where is the angular speed of the system about point O just after the collision.
I
is the rotational inertia of the block-rod system about point O,which is
2 2
2 1
1
3
I m L m L + (3)
(3) The block-rod system swings up until it momentarily stops , During this process
the mechanic energy of the system is conserved , we thus write
com
h g m m I + ) (
2
1
2 1
2
(4)
Where
com
h
is the height change of the center of mass of the block-rod system in
the swing up process. In the vertical position the center of mass of the system is
below point O at
1 2
1 2
(0.5 ) (0.05 )(0.4 ) (0.1 )(0.2 )
0.2667
0.05 0.10
com
m L m L kg m kg m
L m
m m kg kg
+ +

+ +
So
) cos 1 (
com com
L h
(5)
Substituting all the known values into equations (1)~(5), we can then get the answer as
the following steps:
159
Chapter 6 Rotation and Angular Momentum.
Form Eq.(1)
s m m s m gh v / 98 . 1 ) 2 . 0 )( / 8 . 9 ( 2 2
2
1

From Eq.(3)
2 2 2
2 1
1 0.1
( ) ( 0.05 )(0.4 ) 0.0133
3 3
kg
I m m L kg m kgm + +
From Eq.2 we have
2
1 1
(0.05 )(1.98 / )(0.4 ) /(0.0133 ) mv L I kg m s m kgm
2.97 / rad s
From Eqs. (4) and (5), we have
) cos 1 ( ) (
2
1
2 1
2
+
com
gL m m I
cos 0.85
Thus the angle

we look for is
31.8 (Answer)
9 (44) A certain gyroscope consists of a uniform disk with a 50cm radius mounted at
the center of an axle that is 11cm long and of negligible mass. The axle is horizontal
and supported at one end. If the disk is spinning around the axle at 1000 / min rev ,
what is the precession rate?
Solution: According to formula of the procession rate of a Gyroscope
I
Mgr

Where the rotational inertia of the disk about the horizontal axle is
2
2
1
MR I
The angular speed of the spinning dist is
s rad
s rev
rad rev
/ 7 . 104
60
min 1
1
2
min 1
1000

,
_

,
_

,
_

Therefore the precession rate of the gyroscope is

( )( )
( ) ( )
s rad
s rad m
m s m
R
gr
MR
Mgr
/ 08 . 0
/ 7 . 104 5 . 0
11 . 0 / 8 . 9 2 2
2
1
2
2
2
2

(Answer)
160
Chapter 6 Rotation and Angular Momentum.
10 (45) Figure6-16 shows an overhead view of a ring that can rotate about its center
like a merry-go-round. Its outer radius
2
R is 0.800m , its inner radius
1
R is
2
/ 2.00 R ,
its mass M is 0.800kg , and the mass of the crossbars at
its center is negligible. It initially rotates at an angular
speed of 8.00 / rad s with a cat of mass / 4.00 m M
on its outer edge, at radius
2
R . By how much does the
cat increase the kinetic energy of the cat-ring system if
the cat crawls to the inner edge, at radius
1
R ?
Solution: During the process as the cat crawls to the inner edge from the out edge of
the rotating ring there is not torque acting along the rotating axis, so the angular
Fig. 6-16 Problem 10
momentum of the cat-ring system is conserved. From the conservation law of angular
momentum of a rigid body rotating about a fixed axis we have
1 1 2 2
I I (1)
Where
2
I and
1
I are the rotational inertia of the cat-ring system with the cat on the
ring
,
s inner edge and on the out edge, respectively. Work out for them
( )
( ) ( ) ( ) [ ] ( )( )
2
2 2
2 2 2 2
2
1
2
2
2
1 2 2
52 . 3
32 . 0 2 . 3
400 . 0 00 . 2 800 . 0 400 . 0 00 . 8
2
1
2
1
Kgm
Kgm Kgm
m Kg m m Kg
mR R R M I I I
cat ring

+
+ +
+ + +
( )
2 2
2
2
2
2
1 1 1
48 . 4
2
1
Kgm mR R R M I I I
cat ring
+ + + (3)
From the problem, the initial angular speed of the cat-ring system s rad / 00 . 8
1

Substituting
1
,
1
I and
2
I into equation (1) and solving for
2
lead to
161
Chapter 6 Rotation and Angular Momentum.
( ) s rad s rad
Kgm
Kgm
I
I
/ 18 . 10 / 00 . 8
53 . 3
48 . 4
2
2
1
2
1
2

Next let us calculate the kinetic energy of the car-ring system both at the initial stage
1
K and at the final stage
2
K . The initial kinetic energy of the system is
( ) ( )
2
2 2
1 1 1
1 1
4.48 8.00 / 143.4
2 2
K I Kgm rad s J
The final kinetic energy of the system is
( )( ) J s rad Kgm I K 4 . 182 / 18 . 10 52 . 3
2
1
2
1
2
2
2
2 2 2

Thus the amount of the increased kinetic energy of the cat-ring system as the cat
crawls to the inner edge from the outer edge of the ring is
J J J K K K 39 4 . 143 4 . 182
1 2
(Answer)
11 (46) A uniform wheel of mass10.0kg and radius 0.400m is mounted rigidly on an
axle through its center (Fig.6-17). The radius of the axle is 0.200m , and the rotational
inertia of the wheel-axle combination about its central axis is
2
0.600kg m . The wheel
is initially at rest at the top of a surface that is inclined at angle
30.0
o
with the
horizontal; the axle rests on the surface while the wheel extends into a groove in the
surface without touching the surface. Once released, the axle rolls down the surface by
2.00m, what are (a) its rotational kinetic energy and (b) its translational kinetic
energy?
Solution: The key idea here is that as the wheel-
axle combination rolls down the inclined surface
only the gravitational force does work. So this
process obey the conservation law of mechanic
energy. First we should find out the mass of the
axle m. Let
M
the mass of the wheel then the
rotational inertia of the wheel-axle combination is
Fig. 6-17 Problem 11
162
Chapter 6 Rotation and Angular Momentum.
( )
2 2 2
2
1
2
1
a axle wheel
mr r R M I I I + + +
Where
R
and r are the radius of the wheel and the axle, respectively. Substituting
the known values and solving for m . We get
( )
( )
( ) ( ) ( ) [ ]
Kg
m m Kg Kgm
m
r R M I
r
m
a w
a
0 . 5
200 . 0 400 . 0 10
2
1
1 . 1
200 . 0
2
2
1 2
2 2
2
2
2 2
2

'

+
1
]
1

+
The potential energy of the rigid body before releasing is
( ) ( ) ( ) ( )
2
sin30 10.0 5.0 9.8 / 2.0 sin30 U M m gh Kg Kg m s m + +
o o
147J
From the conservation law of mechanic energy we have
U K K
tran rot
+
( )( ) U r m M I + +
2 2
2
1
2
1

Substituting the known values and solving for , the angular speed of the
combination when it moves down the surface by m 00 . 2 , lead to s rad / 2 . 13
Therefore, the rotational kinetic energy of the wheel-axle combination is
( )( ) J s rad Kgm I K
rot
8 . 95 / 0 . 13 1 . 1
2
1
2
1
2
2 2
(Answer)
The translational kinetic energy of the wheel-axle combination is
( ) ( )( )
( )( ) ( )
J
s rad m kg Kg
r m M V m M K
tra
3 . 52
/ 2 . 13 2 . 0 0 . 5 0 . 10
2
1
2
1
2
1
2 2
2
2

+
+ +
(Answer)
12 (47) In Fig.6-18, a constant horizontal force
app
F
r
of magnitude 12N is applied to
a uniform solid cylinder by fishing line wrapped around the cylinder. The mass of the
cylinder is 0.10m , and the cylinder rolls smoothly on the horizontal surface. (a) What
is the magnitude of the acceleration of the center of mass of the cylinder? bWhat is
163
Chapter 6 Rotation and Angular Momentum.
the magnitude of the angular acceleration of the cylinder about the center of mass? (c)
In unit-vector notation, what is the frictional force acting on the cylinder?
Solution: this is the plane notion of a rigid body.
There are two forces exerted on the cylinder: the
applyed force
app
F

and the frictional force

F

.
Consider first the translation motion of the center of
mass of the cylinder. From Newtons second law, we
have
app
F F ma
r r
(1) Fig. 6-18 Problem 12
Where
c
a
is the magnitude of the acceleration of the center of mass of the cylinder.
Next consider the rotational motion of the cylinder. From Newtons second law for
rotation we write
I R F R F
app
+

(2)
Where
R
is the radius of cylinder,
I
is the rotational inertia of the cylinder.
2
2
1
MR I (3)
There is a relation between the linear acceleration of the center of mass of the cylinder
c
a
and the angular acceleration of the rolling cylinder
R a
c

(4)
Solving above four equations. We obtain
2
/ 6 . 1 s m a
c
(Answer)
2
/ 16 s rad
(Answer)
The frictional force
( )( ) N s m Kg N ma F F
c app
4 / 6 . 1 10 12
2


Choose the positive direction of x axis to the right. In unit-vector vector notation the
frictional force acting on the cylinder can be written as N i F

4 (Answer)
164
Chapter 6 Rotation and Angular Momentum.
13 (49) In Fig.6-19, a small
0.50kg
block has a horizontal velocity
0
v
r

of magnitude
3.0 / m s when it slides off a table of height m h 2 . 1 . Answer the following in
unit-vector notation for a coordinate system in which the origin is at the edge of the
table (at point O ), the positive
x
direction is horizontally away from the table, and
the positive y direction is up. What are the angular momentum of the block about point
A (a) just after the block leaves the table and (b) just before the block strikes the
floor? What are the torques on the block about point
A (c) just after the block leaves the table and (d)
just before strikes the floor?
Solution: Taking point
A
as the reference point,
A
r

and
B
r

are the position vectors, when the

block just leaves the table and before it strikes the
floor.
(a) The angular momentum of the block about point
A
just after block leaves the table is

0 0
V m r L
A

Fig. 6-19 Problem 13

Its magnitude is
( )( )( ) s kgm s m kg m mv r L / 8 . 1 / 0 . 3 5 . 1 2 . 1 90 sin
2
0 0 0


( Answer )
Its direction can be determined by the right hand rule, which is perpendicular to the
plane formed by
A
r

and
0
v

, entering into this page ( ).

(Answer )
(b) The angular momentum of the block about point
A
, just before the block strikes
the floor is
v m r L
B

We should find out the velocity v

of the block in that moment in horizontal direction

s m v v
x
/ 0 . 3
0

.
In vertical direction the block is in free fall motion, thus
165
Chapter 6 Rotation and Angular Momentum.
2
2
1
gt h
( )
s
s m
m
g
h
t 5 . 0
/ 8 . 9
2 . 1 2 2
2

( )( ) s m s s m gt v
y
/ 9 . 4 5 . 0 / 8 . 9
2

The horizontal displacement of the block is
( )( ) m s s m t v R 5 . 1 5 . 0 / 0 . 3
0

So the magnitude of the velocity of block just before it strikes the floor is
( ) ( ) s m s m s m v v v
y x
/ 75 . 5 / 9 . 4 / 0 . 3
2 2 2 2
+ +
The angle made by velocity v

with the
x
axis is

5 . 58
/ 0 . 3
/ 75 . 5
1 1


s m
s m
tg
v
v
tg
x
y

Thus the magnitude of angular momentum of the block in (b) is

( ) ( ) ( ) ( )
2
sin 1.5 0.5 5.75 / sin58.5 3.7 /
B
L r mv m kg m s kgm s
o
(Answer)
The direction of
L

is perpendicular to the plane formed by

B
r

and v

, entering
into this page ( ), also by applying the right hand rule. (Answer)
(c) The torque on the block about point
A
just after the block leaves the table is
g m r F r
A g A

Note that, at this moment,

A
r

and
g

are in the same vertical line but opposite in

direction. so the torque
0

is zero. (Answer)
(d) Just before the block strikes the floor the torque on the block about point
A
is
B
r mg
r r r
Since now g r
B

the magnitude of the torque acting on the block is
166
Chapter 6 Rotation and Angular Momentum.
( )( ) ( )
2 2 2
/ 4 . 7 / 8 . 9 5 . 0 5 . 1 s kgm s m kg m mg r
B
(Answer)
The direction of the torque is perpendicular to the plane formed by
B
r

and
g

which
is entering into this page ( ). (Answer)
14 (50) An impulsive force
( ) F t
acts for a short time t on a rotating rigid body of
rotational inertial I . Show that

) (
i f avg
I t RF dt

Where is the torque due to the force, R is the moment arm of the force,
avg
F
is
the average value of the force during the time it acts on the body, and
i

and
f

are the angular velocities of the body just before and just after the forces acts (The
quantity
t RF dt
avg

is called the angular impulse, analogous to

t F
avg

,
the linear impulse).
Solution: The angular impulse, the time accumulation effect of a torque, is defined as
t RF dt
avg

(1)
For a variable force ( ) t F , the torque produced by it is a function of time
( ) ( ) t RF t (2)
Substituting Eq.(1) and set
1 2
t t t and
avg avg
RF
, we obtain
( )
2
1
t
avg avg
t
RF t dt RF t t

(3)
While according to the Newtons Second law for rotation and the definition of angular
acceleration, we have
2 1
avg
t I I
t

(4)
167
Chapter 6 Rotation and Angular Momentum.
Recast above equation obtaining
( )
2 1 avg
I (5)
Combining equation (2)(3) and (5) we get
( ) ( )
2
1
2 1
t
avg
t
RF t dt RF t I

(Answer)
168