Chapter 8

Dynamics of Rigid Bodies: Part 1

Rotational Kinematics ∑ A rigid body does not require any axis to rotate in an
unconstructed rotation. In this case you can mention
Basic properties of rigid body the angular velocity in any way you like keeping its
∑ In a rigid body, the distance between any two sense constant as shown in Fig. 3.
points remains constant. Hence, the relative velocity w
between any two points along the line of their

separation is zero. (v AB = 0) . Then, each point
moves perpendicular to their line of separation
w
relative to the other points (Fig. 1). w
Parallel (a) (b) (c)

A Fig. 3

B
Relative angular velocity in case of a
Perpendicular
rigid body
∑ Each point in a rigid body turns relative to the other
Fig. 1 points of the rigid body with same angular velocity
∑ If the angle of orientation q of the straight line AB at a given instant. Angular velocity between any
drawn inside the planer rigid body changes, it is said two points of a rigid body at any instant is constant
to be rotating. which is defined as the angular velocity of the rigid
∑ The path of any point A of a rotating rigid body body, whereas at any instant the angular velocities
relative to any other point B of the rigid body is of different points of the rigid body relative to any
circular in relative sense for all times but the radius point outside the rigid body are different (Fig. 4).
of curvature of the path traced by any point (relative
to ground) may not be equal to the distance of
separation between the points A and B (Fig. 2).
A

 Fig. 4
B ∑ Consider a rigid body is rotating in the plain of
paper. Let us draw a line AB (Fig. 5). If we observe
q point A from point
 B, we can write angular velocity
of A w.r.t B as w AB .
Fig. 2
8.2  Physics

 v ∑ The velocity of a point P in a rigid body is

Vectorially, we can write w AB = AB kˆ  (1)   
vP = vPC + vC
l
2
vP = vPC + vC2 + 2 vPC ◊ vC cosq

VPC
w
P VP
θ
r
vC = rw
Fig. 5 vC = v
C
Now let us stand at A and observe B (Fig. 6). We find

that B seems to move with a velocity vBA perpendicular
to AB. It means that B turns about A with an angular Fig. 8
velocity wBA relative to A in clockwise sense. Vectorially, Put vPC = rw and vC = v
we can write
∑ Consider two points A and B, say inside the body.
 v v  
w BA = - BA kˆ = AB kˆ  (2) Let the points move with velocities v A and vB
l l respectively (Fig. 9). Now resolve the velocities
parallel (along) and perpendicular to the line joining
A the points.
l
B vB
wAB w
vA (vB)^ (vB)||

vBA B
l vB B
Fig. 6 l (vA)
 
Comparing (1) and (2), we have w AB = w BA . A
A vA
∑ It is important to note that in case of a rotating body w
we can say angular velocity of one point w.r.t to (vA)^
 
other point will be equal, i.e, w12 = w 21 , but their
  Fig. 9
relative linear velocity will not be equal, v12 π v21 .    
  Let (v A )|| = (v B )|| and (v A )^ , (vB )^ be the
here we can say v12 = - v21 .
∑ In case of rotation of a rigid body the relative parallel and perpendicular components of the
angular velocity of point w.r.t to other point the velocities of A and B, respectively. Since, the points
   cannot move relative to each other along the line
statement w12 = w1 - w 2 is vague, but for relative
   joining them, we have
linear velocity v12 = v1 - v2 is valid.  
v = vB ||
A ||
Calculation of velocity of a point in This equation will give you one velocity (either
rotating body vA and vB) if the other is given.
∑ For pure translation, angular velocity and angular The angular velocity of rigid body is given by:
acceleration is zero and linear velocity is constant for 
v AB^    
all points. For pure rotation (fixed axis rotation) the w= , where v AB = v AB as v AB|| = 0 ;
^
angular velocity is constant for all particles about the l
axis of rotation and we can write v = rw (see Fig. 7).  
v - vB
This gives us: w = A
v = rw l
w
O ∑ When any two points A and B (say) of a rigid body
r  
P have velocities v A and vB , respectively, the mid
point C (but not necessarily the center of mass)
Fig. 7
 Dynamics of Rigid Bodies: Part 1  8.3

of the line joining the pints will have a velocity However, aPi (= a - ra ) = 0 .
 
 v + vB .
vC = A
2
∑ The combined motion of a rigid body (or any line BA
C a w a
of the rigid body) can be thought as the translation v
of any reference point B and circular motion of the Body
P
other point A relative to B (Fig. 10). S
1 2 Fig. 12

SB Concept of instantaneous axis of

B B
rotation and center of zero velocity
In combined motion, we cannot have a permanent axis of
θ
A rotation. However, there may a point inside the given body
A
(or extended body) which can be at rest momentarily. This
A¢ is what we call instantaneous axis of rotation.
∑ The instantaneous axis of rotation and center of zero
Fig. 10
  velocity may pass through inside or outside the body
 
Hence, VA = w AB ¥ rAB + VB (Fig. 13).
Calculation of acceleration of a point in v4
rotating body 3 v3 w
w
∑ When no net force acts on a rotating rigid body, 4 v2
2 w
except CM, all particles (points) must have P
5 v1 w
acceleration. 6
1
∑ The acceleration of a point in a rigid body undergoing
combined translation and rotation is given as:
     
aP = aPC + aC = aPCt + aPCr + aC Fig. 13

Instantaneous axis of rotation for a body rolling on a
where aPCt = r a , aPCr = rw 2 , and aC = a . fixed horizontal surface.
For a body rolling without sliding on a fixed horizontal
a surface, always the velocity of the lowest “points” of the
w
body does not move as per the definition of pure rolling.
P aC Since we define the stationary (motionless) point inside (or
APCr outside) the extended rigid body as instantaneous axis of
aPCt
a rotation, we can say that at any instant the “lowest point”
C
(point of contact) of the rolling body with the horizontal
surface is the instantaneous axis of rotation.
Fig. 11

Concept of rolling vQ
Q
A body in combined motion is said to be rolling over a C v
surface if the surfaces in contact do not slide relative to
each other. It means that the relative velocity between the
points of contact is zero.
A body is said to be rolling on a surface if the relative P
velocity between the points of contact of the body with the Fig. 14
surface is zero. If the surface is fixed, vP = 0, then v = rw It means the body rotates perfectly about the point
and a = rw. vP = (–rw + v) = 0 but aP π 0. P at a given instant. In consequence, velocity of any
8.4  Physics


point Q, that is, vQ must be perpendicular to PQ. The 
points further away from P move more rapidly and the A
VA

points nearer to P moves less rapidly leaving the point P VB
motionless. B
Since the lowest points do not slide (move) and the
peripheral points of the rolling body move, you should not
think that instantaneous axis of rotation moves (rather it P
changes from one stationary point to the other stationary
point of the rolling body). Hence, instantaneous axis of Y X
rotation is different from fixed axis of rotation.
Fig. 16
Finding instantaneous axis of rotation in The above analysis gives us the idea that the
different situations: instantaneous axis of rotation is the point of intersection
∑ When velocity of center of mass and its angular P of the normals AX and AY drawn from A and B to their
velocity is given. lines of motion. The instantaneous axis of rotation passes
The instantaneous axis of rotation of the body is through a point perpendicular to the plane of rotation,
the point P of the given (shaded) body or extended while point P will be the center of zero velocity.
body which remains at rest at that instant.
To locate instantaneous axis of rotation, drop a
perpendicular at the given point with velocity vector
Moment of Inertia

v (Fig. 15). Take a distance r = v/w in the proper
direction along the perpendicular. Some Important Points
w ∑ Moment of inertia (MI) is not constant for a body.
It depends on the axis of rotation.
 ∑ MI depends on the mass of the body. The higher
v the mass, the higher the MI.
CM ∑ MI depends on the distribution of the mass about
A an axis. The farther the mass is distributed from
the axis, the higher will be the MI.
∑ Moment of inertia does not change if the mass
r (a) is shifted parallel to the axis of the rotation
or (b) is rotated with constant radius about axis
of rotation.
P The moment of inertia of a body having uniform
mass distribution is independent of size of the body
parallel to axis of rotation. Consider the following
Fig. 15 explanation..
∑ Velocities of any two points in the body are given.
Hence, AP and BP are perpendicular to the Explanation: The moment of inertia of rectangular
 
velocities VA and VB respectively. This means that plate about y-axis will be same as moment of inertia
    of same mass of the rod about y-axis. In both the cases
VA ^ A P and VB ^ B P . I y = Ml 2 /2.
The point P of intersection of perpendiculars drawn y y
 
at A and B to their lines of motion (VA and VB ) M
M b
given instantaneous axis of rotation. x x
Using the kinematics of relative motion, we have
vA = (AP)w. Then the angular velocity of the rigid l
v v l
body is given as: w = A = B
AP BP Fig. 17
 Dynamics of Rigid Bodies: Part 1  8.5

We can say directly the moment of inertia of the where d is perpendicular distance between the two axes
2
rectangular plate about x-axis, I x = Mb /12. AA¢ and BB¢.
If we are asked to find moment of inertia of the plate I Ic
A¢ B¢
about x-axis we can use perpendicular axis theorem, i.e.,
center
Mb2 Ml 2 M 2 2 d
of mass
Iz = I x + I y = + = (b + l )
12 12 12
∑ The moment of inertia of a cylinder having the same
mass and same radius as disc will also be same as
MI is independent of the size of the object parallel A B

to its axis of rotation. Fig. 19

∑ MI of a system of two particles connected by a
massless rigid rod about a perpendicular centroidal
2 m1m2
axis is given as I = mr12 , where m = and
m1 + m2
r12 = distance of separation between the particles.
Perpendicular–axis theorem  The sum of
moments of inertia of a laminar object about two
mutually perpendicular axes lying in the plane of lamina
is equal to the moment of inertia about an axis normal
to the plane of the lamina and passing through the two
perpendicular axes (Fig. 18).
I3
I2
I1
Fig. 18
This theorem is applicable only for laminar (thin sheet
kind of) object
I3 = I1 + I2
where I3 is the moment of inertia of the body about an
axis passing through the intersection of I1 and I2 which
are passing through the center of mass of the body and on
the plane of lamina.
Parallel–axis theorem  If we know moment of
inertia of a body about an axis passing through its center
of mass, then moment of inertia about an axis about an
axis which is parallel to the axis passing through center
of mass (Fig. 19.
I = Ic + Md2
∑ Theorem of parallel axes is applicable for any type
of rigid body whether it is a two dimensional or three
dimensional, while the theorem of perpendicular axes
is applicable for laminar type or two dimensional
bodies only.
∑ In theorem of perpendicular axes, the point of
intersection of the three axes (x, y, and z) may be
any point on the plane of body (it may even lie
outside the body). This point may or may not be
the center of the mass of the body
Radius of gyration  Radius of gyration (K) of a
body about an axis is the effective distance form this axis
where the whole mass can be assumed to be concentrated
so that the moment of inertia remains the same (Fig.
20). Thus,
l
I = MK2  or  K =
M
I Ic
A¢ B¢
center
d of mass
AQ1
A B
Fig. 20
Torque and Rotational Equilibrium of
System of Particles
∑ The net torque due to internal forces is zero. The
net torque is equal to the net torque due to external
forces.
∑ The torque of all external forces acting on a system
of particles about a fixed point O (or inertial point)
is equal to their torques about the CM of the system
plus the torque of the net force supposed to be acting
at the CM, about the point O (Fig. 21).
8.6  Physics
   
t O = t C + rC ¥ FC
C ric P
rc
ri
y problems we encounter at this level, rotation taken
Fi
x to the plane of rotation) and the torque equation is
O written as
Fig. 21
The above expression tells us that the torque about
an inertial point is equal to the torque about the CM of
the system plus the torque of the net force supposed to be
acting at the CM measured about the inertial point. The
net force is equal to the net external force because the net
internal force is always zero.
∑ The torque of two equal and opposite force does
not depend upon reference frames. This is called
“couple”.
∑ The torque due to action–reaction pair, that is, two
collinear and equal and opposite forces is zero.
∑ The conditions of equilibrium for a rigid body are
different from that of a particle. Unlike particle
such as bodies, rigid bodies have a tendency to
rotate. Therefore, one has to consider the rotational
equilibrium also, in addition to the translational
equilibrium.
The equations of equilibrium (in two dimensions)
for a rigid body are stated as:
 As a perfectly translating body has KE formula
Translational equilibrium: Â F=0

Rotational equilibrium: ÂtC = 0
∑ For rotational equilibrium of a rigid body, the net
torque about its center of mass must be zero.
Analog of newton’s second law of
motion for pure rotation
The force produces two effects:
1. Translational effect of the force causes a linear
acceleration of the CM of the rigid body.
2. Rotational effect of the force, that is, torque of the
force about the CM causes an angular acceleration
of the rigid body.
In consequence, the stationary body builds up a
linear speed and an angular speed simultaneously.
 
3. Equation analogous to force equation F = Macm Â
for pure rotation is t = Ia, where t is the torque
acting on the body and a is its angular acceleration
about the axis of rotation provided moment of
inertial (I) of the rigid body about axis of rotation
remains constant throughout the motion. As such
torque is a three-dimensional vector quantity. In the
place in two dimensions and t and a are taken about
the axis of rotation in the third dimension (normal
tabout the axis of rotation
= Iabout the axis of rotation a about the axis of rotation in the sense of t.
fi t = Ia
Above equation is called ‘Torque equation’.
The torque equation is however more complex than the
force equation for the following reasons:
∑ Whereas force is an absolute value, torque depends on
the point about which torque is being calculated.
∑ Mass is an absolute value for a body whereas MI
can have infinite values for a body. MI is defined
only for a particular axis of the body.
Work, Power and Energy of Rigid
Bodies
Kinetic energy
mvC2
∑ KE for pure translation: K =
2
identical to that of a point mass, we can say that a
translating body behaves as a point mass.
1
∑ KE for fixed axis rotation: K = I Pw 2
2
∑ Kinetic energy for combination motion:
m 2 1
vC + ICw 2
K=
2 2
The first term signifies the translational KE of the
rigid body which can be understood as the KE of the
center of mass of the body. The second term gives
the KE of rotational of the body about the center
 Dynamics of Rigid Bodies: Part 1  8.7

1 Rotational work and power

of mass. Hence, we can call the term ICw 2 as ∑ For a rigid body rotating about a fixed axis, for a
2
qt
rotational kinetic energy of the rigid body.
The above formula informs us that, The KE of the finite angular displacement, Wrot = t dqÚ
center of mass plus KE about the KE about the CM qi
of a rigid body (or any system of group of particles) ∑ The instantaneous power is defined as:
gives the total KE of the body; dW dq
1 1 P= =t   fi  P = tw
K trans = MvC2 and K rot = ICw 2 dt dt
2 2 ∑ The rotational analog of work kinetic energy theorem
∑ If a body is rotating about a fixed axis and spinning may stated as
(or rotating) about it own axis, write the total kinetic Wrot = DK rot = K t - Ki

energy of the body as:
1 1
Ktotal = Korbital + Kspin = Iw t2 - Iw i2
2 2
∑ KE of a body rolling on a fixed surface is given by ∑ The work done by a torque on a rigid body rotating
Ê k 2 ˆ mv 2 about a fixed axis produces a change in its rotational
K = Á1 + 2 ˜ kinetic energy.
Ë R ¯ 2
Explanation: Consider a body rolling on fixed Ú
Wrot = t dq ; Wtrans = FdxÚ
horizontal surface (Fig. 22). The total kinetic energy of fi Prot = tw ; Ptrans = F . v
the body can be given as
K = Ktrans + Krot (i) fi Wrot = DK rot ; Wtrans = DK trans

Work–energy theorem
V The work done by a force acting on a rigid body may be
w classified into two parts: translational work and rotational
work.
P
∑ A force can do translational work if the center of
mass of the body is free to move.
Fig. 22
1 2
Ú
Mathematically, it is defined as Wtrans = F . dsc
where K trans = mvc where dsc is the infinitesimal displacement of the
2
center of mass.
1
and K rot = ICw 2 , vC = v and IC = mk 2 ∑ A force can do rotational work if the body is free
2 to rotate.
(k is radius of gyration)
constraint for rolling on a fixed surface v = Rw Ú
Mathematically, it is defined as Wrot = t c . dq
after substituting the values in equation (i) we get Where dq is the infinitesimal angular displacement
Ê k 2 ˆ mv 2 about the center of mass and tc is the torque produced
K = Á1 + 2 ˜ by the force about the center of mass of the body.
Ë R ¯ 2
In an inertial frame, the Work–Energy theorem may
As the instantaneous axis of rotation of the rigid be stated as:
body is at P (when the horizontal surface is fixed), Wc + WNC + Woth = DK
we can write
WNC + Woth = DK + DU = DE
1
K = I Pw 2 where WC is the work done by conservative forces, WNC
2
is the work done by non-conservative forces, and Woth is
This can be obtained by substituting IP = m(k2 + the work done by all other forces which are not included
2
R ) and v = Rw in the previous expression. in the above two categories.
8.8  Physics

Notes: If K2 > Rx: friction will act in backward direction.

∑ Each term of work includes both the translational If K2 = Rx: No friction will act.
and rotational work. If K2 < Rx: friction will act in forward direction.
Here k is the radius of gyration of rolling body.
∑ The kinetic energy also includes both the
If force act in lower diametric plane friction will act in
translational and rotational kinetic energies.
backward direction only.
Conservation of Mechanical Energy Rolling of a body rolling on some platform
If a rigid body does not experience any non-conservative The rolling bodies do not slide on the surface on which
force or even though a non-conservative force like force they are moving. If they are rolling on a moving platform,
of static friction acts. If it does not perform any work (as the point of contact of the body with platform should have
described in pure rolling etc.) the work-energy equation same velocity as the platform.
assumes the following form: Wcons = DK 1. If point of contact of surface is moving with velocity
Since conservative force perform work at the expense u with respect to ground, then
of their potential energy, we can write vCM – wR = u
Wcons = DU
Then, we have –DU = DK. this gives DU + DK = 0 w
O vCM
Analysis of Rolling Motion wR P uCM
u
Rolling of a body rolling without
applying force Fig. 24
∑ Rolling ration of a rigid body is also equivalent to 2. For no sliding on the moving platform, u = wR – vcm
pure rotation about the point of contact.
∑ If a body rolls on horizontal surface without any w
force no friction force act on the body. O vCM
Let us learn this concept through following illustration P
u
using different methods.
Rolling of a body rolling under some forces Fig. 25
∑ When the body rolls on the surface, the frictional 3. Force accelerated surface, aCM – aR = a
force on the body (if any) will be static in nature
less than its limiting value, fs < msN. The value
and the direction of the friction can be obtained a acm
using SF = maCM. tCM = ICM a, and given constants
(basically equation relating the accelerations under P
a
rolling condition).
∑ When the point of contact moves w.r.t. the supporting Fig. 26
surface, VPC,S π 0, the frictional force (if the surface
is rough) is equal to mkN, opposite to the direction
Rolling of a body rolling on an inclined plane
A rigid body of radius of gyration k and radius R rolls
of motion of point of contact w.r.t. the surface.
(without slipping) down a plane inclined at an angle q
∑ If a rolling object of mass M and radius R is placed
with horizontal.
on a rough horizontal surface. A force F is applied g sin q
as shown. The direction of friction force can be find Acceleration of the body, a = Friction force
1 + ( k 2 /R 2 )
out from following guidelines.
mg sin q
F R
R acting on the body, f =
x
1 + ( R 2 /k 2 )
O Minimum coefficient of friction is given by
tan q
ms ≥ . This is the condition on ms so that the
P 1 + ( R 2 /k 2 )
Fig. 23 body rolls without slipping.
 v

Single Correct Answer Type 3. Let I be the moment of inertia of a uniform square
plate about an axis AB that passes through its
1. The line of action of the resultant of two like center and is parallel to two of its sides (Fig. 29).
parallel forces shifts by one-fourth of the distance CD is a line in the plane of the plate and it passes
between the forces when the two forces are through the center of the plate, making an angle q
interchanged. The ratio of the two forces is with AB. The moment of inertia of the plate about
(a) 1 : 2 (b) 2 : 3 the axis CD is equal to
(c) 3 : 4 (d) 3 : 5
C
2. ABC is a triangular plate of uniform thickness.
The sides are in the ratio shown in Fig. 28. IAB,
IBC, ICA are the moments of inertia of the plated O q
A B
about AB, BC, and CA, respectively. Which one
of the following relation is correct?
A D
Fig. 29
5 (a) I (b) I sin2 q
3
Êqˆ
(c) I cos2 q (d) I cos2 Á ˜
Ë 2¯
B 4 C 4. Three identical solid spheres move down three
Fig. 28 incline A, B, and C are all of the same dimensions.
A is without friction, the friction between B and
(a) ICA is maximum (b) IAB > IBC
a sphere is sufficient to cause rolling without
(c) IBC > IAB (d) IAB + IBC = ICA
slipping, the friction between C and a sphere
 causes rolling with slipping. The kinetic energies
of A, B, C at the bottom of the inclines are
(a) EA = EB = EC (b) EA = EB > EC
(c) EA > EB > EC (d) EA > EB = EC q
5. A rolling body is kept on a plank B. There is Fig. 33
sufficient friction between A and B and no friction
g
between B and the inclined plane (Fig. 30). Then (a) acceleration of the ring = sin q
body: 2
(b) acceleration of the ring = g sin q – mg cos q.
A
B
(c) work done by the force of friction = mgl (sin
q – m cos q).
(d) work done by the force of friction is zero.
q
9. The acceleration a of the plank P required to
Fig. 30 keep the center C of a cylinder in a fixed position
(a) A rolls during the motion is (no slipping takes place
(b) A does not experience any friction between cylinder and plank)
(c) A and B has equal acceleration and unequal a
velocities
(d) A rolls depending upon the angle of inclination C P
q
6. A plank P is placed on a solid cylinder S, which q
rolls on a horizontal surface (Fig. 31). The two
are of equal mass. There is no slipping at any of Fig. 34
the surfaces in contact. The ratio of kinetic energy g
of P to the kinetic energy of S is (a) sin q (b) 2g sin q
2
P (c) g sin q (d) 2 g sin q
10. A cylinder of mass m is rotated about its axis by
S an angular velocity w and lowered gently on an
inclined plane as shown in Fig. 35. Then:
Fig. 31
(a) 1 : 1 (b) 2 : 1
(c) 8 : 3 (d) 11 : 8 m = 1/ 3
7. In a rectangle ABCD, AB = 2l and BC = l (Fig.
32). Axes xx and yy pass through center of the 30°
rectangle. The moment of inertia is least about Fig. 35
y
A B (a) it will start going upward.
(b) it will first going upward and then
x x downward.
(c) it will go downward just after it is lowered.
(d) it can never go upward.
D y C
11. In Fig. 36, all other factors are same, except that
Fig. 32 in Fig. 36(a), AB is rough and BC is smooth while
in Fig. 36(b) AB is smooth and BC is rough. In
(a) DB (b) BC (c) xx (d) yy
Fig. 36(a), if a sphere is released from rest it
8. A ring of mass M and radius R is released on starts rolling. Now consider the Fig. 36(b), if same
an inclined plane as shown in Fig. 33. If the sphere is released from top of the inclined plane,
1 what will be the kinetic energy of the sphere on
coefficient of friction, m < tan q , then during
a displacement, l 2 reaching the bottom?
 A A on the incline)? Assume that the sphere rolling up
B has a positive velocity.
h h B
C C

(a) (b) q
Fig. 36
Fig. 39
(a) is same in both the cases
(b) is greater in case (a) a
(c) is greater in case (b)
(d) information insufficient
O t O t
12. A plank with a uniform sphere placed on it is
resting on a smooth horizontal plane. Plank is
pulled to right by a constant force F. If sphere does
(a) (b)
not slip over the plank, which of the following is
incorrect?
a a

F
O t O t

Fig. 37 (c) (d)

(a) Aacceleration of the center of sphere is less
than that of the plank. 15. A uniform triangular plate ABC of moment of mass
(b) Work done by friction acting on the sphere is m and inertia I (about an axis passing through A
equal to its total kinetic energy. and perpendicular to plane of the plate) can rotate
(c) Total kinetic energy of the system is equal to freely in the vertical plane about point A as shown
work done by the force F. in Fig. 40. The plate is released from the position
(d) None of the these. shown in the figure. Line AB is horizontal. The
acceleration of center of mass just after the release
13. A uniform thin rod is bent in the form of closed
of plate is
loop ABCDEFA as shown in Fig. 38. The ratio of
a
moment of inertia of the loop about x-axis to that A B
about y-axis is
y a a
C
Semicircle
AB DE x
C
2r Fig. 40
Semicircle
F mga 2 mga 2
(a) (b)
3I 4I
Fig. 38
(a) >1 (b) <1 mga 2 mga 2
(c) (d)
(c) =1 (d) =1/2 2 3I 3I
14. A uniform solid sphere rolls up (without slipping)
the rough fixed inclined plane, and then back
down (Fig. 39). Which is the correct graph of
acceleration ‘a’ of center of mass of solid sphere
as function of time t (for the duration sphere is
8.12  Physics

same acceleration as the ball, immediately after 19. Uniform rod AB is hinged at end A in horizontal
release? position as shown in the Fig. 44. The other end
is connected to a block through a massless string
L m m as shown. The pulley is smooth and massless.
A B C Masses of block and rod is same and is equal to
m. Then acceleration of block just after release
Fig.
from this position is
2L L
(a) (b)
3 3
L 3L
(c) (d)
2 4
17. Find force F required to keep the
system in equilibrium as shown in Fig.
42. The dimensions of the system are
d = 0.3 m and a = 0.2 m. Assume the rods to
be massless. Fig. 44

d (a) 6g/13 (b) g/4

A (c) 3g/8 (d) None of these
C y
a 2l is free to rotate in a vertical plane about a
100 N
F
B
Fig. 42
(a) 150( iˆ )
(b) 150( - kˆ )
(c) 150( - iˆ )
(d) It cannot be in equilibrium.
18. A uniform cylinder of mass M lies on a fixed
plane inclined at an angle q with horizontal. A
light string is tied to the cylinder at the right
most point, and a mass m hangs from the string,
as shown in Fig. 43. Assume that the coefficient
of friction between the cylinder and the incline
plane is sufficiently large to prevent slipping. For
the cylinder the remain static, the value of m is
20. An L-shaped thin uniform rod of total length
x
horizontal axis at P as shown in Fig. 45. The
bar is released from rest. Neglect air and contact
friction. The angular velocity at the instant it
has rotated through 90° and reached the dotted
position shown is
Fig. 45
6g
(a) Zero (b)
5l
3g
(c) (d) None
5l
21. In Fig. 46, a cylinder A is initially rolling with
velocity v on the horizontal surface of the wedge B
(of same mass as A). All surfaces are smooth and
B has no initial velocity. Then maximum height
reached by cylinder on the wedge will be

A v
Fig. 43 B Smooth

M sin q M cosq Fig. 46

(a) (b)
1 - sin q 1 + sin q 2
(a) v /4g (b) v2/g
M sin q M cosq (c) v2/2g (d) v2/8g
(c) (d)
1 + sin q 1 - sin q

22. A cylinder is rolling without slipping on a
horizontal plane P. The friction between the plank
P and the cylinder is sufficient for no slipping.
The coefficient of friction between the plank and
the ground surface is zero. Initially, P is attached
with a string S as shown in Fig. 47. If the string
is now burned, then
v will be equal to
w=r
v
S
P 2bg
Fig. 47
(a) The plank will start motion with a speed v
along forward direction.
(b) The plank will start motion with a speed r
along backward direction.
(c) The plank will remain static.
(d) Linear velocity of the cylinder will decrease
and angular velocity will increase.
23. A constant power is supplied to a rotating disc.
angular velocity of disc varies with number of
rotations (n) made by disc as
(a) w µ n4/3 (b) w µ n2/3
3/2
(c) w µ n (d) w µ n1/3
24. A plank with a uniform sphere placed on it rests
on a smooth horizontal plane (Fig. 48). Plank is
pulled to right by a constant force F. If the sphere
does not slip over the plank, then
Multiple Correct Answers Type
Fig. 48
(a) acceleration of the center of sphere is less than
that of the plank
(b) acceleration of the center of sphere is greater
than the plank because friction acts rightward
on the sphere.
(c) acceleration of the center of sphere may be
towards left.
(d) acceleration of the center of sphere relative to
plank may be greater than that of the plank
relative to floor.
25. A man sitting firmly over a rotating stool has his
arms stretched. If he folds his arms, the work done
by the man is
(a) zero (b) positive
Dynamics of Rigid Bodies: Part 1  8.13
(c) negative
(d) may be positive or negative
26. A solid homogeneous cylinder of height h and
base radius r is kept vertically on a conveyer belt
moving horizontally with an increasing velocity
v = a + bt2. If the cylinder is not allowed to slip
then the time when the cylinder is about to topple,
2rg rg
(a) bh (b) bh
rg
(c) rh 2
(d) bh
27. A thin uniform hemispherical bowl of mass m
and radius R is lying on a smooth horizontal
surface. A horizontal force F is now applied
perpendicular to the rim of the bowl (see Fig.
49). The instantaneous angular acceleration of the
bowl will be
F
B
Fig. 49
20 F 10 F
(a) (b)
3 MR 3 MR
40 F 6 F
(c) (d)
3 MR 5 MR
28. A block with a square base of side a and height
h is placed on an inclined plane. The coefficient
of friction is m. The angle of inclination (q) of the
plane is gradually increased. The block will
(a) topple before sliding if m > a/h.
(b) topple before sliding if m < a/h.
(c) slide before toppling if m > a/h.
(d) slide before toppling if m < a/h.
29. A uniform rod AB of length 7 m is undergoing
combined rotational and translational motion such
that, at some instant of time, velocities of its end
point A and center C are both perpendicular to the
rod and opposite in direction, having magnitude 11
m/s and 3 m/s, respectively, as shown in Fig. 49.
8.14  Physics

Velocity of center C and angular velocity of the (c) frictional force will act upwards.
rod remain constant. (d) frictional force will act downwards.
A 33. Three spools A, B, and C each having moment of
11 m/s
inertia I = MR2/4 are placed on rough ground and
equal force F is applied at positions as shown in
Fig. 52 52(0–c). Then
C 3 m/s A B C
R R R
F F

r r r
F
B
(a) r = R/3 (b) r = R/5 (c) r = R/5
Fig. 49
(a) Acceleration of point A is 56 m/s2 Fig. 52
(b) Acceleration of point B > 56 m/s22 (a) frictional force on spool A acts in forward
(c) Acceleration of point B < 56 m/s22 direction.
(d) Angular velocity of the rod is 4 rad/s. (b) frictional force on spool A acts in backward
30. The motion of a sphere moving on a rough direction.
horizontal surface changes from pure sliding (c) frictional force on spool B acts in forward
(without rolling) to pure rolling (without slipping). direction.
In this process, the force of friction (d) frictional force on spool B and C acts in
(a) initially acts opposite to the direction of backward direction.
motion and later in the direction of motion.
Comprehension Type
(b) causes linear retardation.
(c) causes angular acceleration. For Problems 34–36
(d) stops acting when pure rolling begins. A disc of radius 20 cm is rolling with slipping on a flat
horizontal surface. At a certain instant the velocity of its
31. A angular circular disc of radius r placed on a
center is 4 m/s and its angular velocity is 10 rad/s. The
rough horizontal plane has initial
w0 lowest contact point is O.
velocity v0 and an angular v0
velocity w0 as shown in Fig. 50. 10 rad/s
The disc comes to rest after
moving some distance in the 4 m/s
P
direction of motion. Then Fig. 50
(a) the friction force acts in the O
backwards direction.
Fig. 53
(b) the point of contact of disc with ground has
zero velocity. 34. Velocity of point O is
(c) v0 must be equal to rw0 /2 in magnitude. (a) 2 m/s (b) 4 m/s (c) 1 m/s (d) 3 m/s
(d) v0 must be equal to 2rw0 in magnitude. 35. Instantaneous center of rotation of disc is located
32. A cylinder is rotated clockwise and lowered at
slowly on a rough inclined plane with (m = 0.8) (a) 0.2 m below O (b) 0.2 m above O
(Fig. 51). Then: (c) 0.6 m above O (d) 0.4 m below O
36. Velocity of point P is
w
(a) 10 m/s (b) 2 5 m/s
(c) 5 m/s (d) 5 m/s
60°
For Problems 37–40
Fig. 51 In this passage a brief idea is given of the motion of the
(a) cylinder will start going upwards. rolling bodies on an inclined plane. We will consider three
(b) cylinder will start going downwards. cases: objects are released on an incline plane

Case A: which is smooth.
Case B: where friction is insufficient to provide pure
rolling.
Case C: where friction is sufficient to provide pure
rolling.
Force diagram for three cases are as shown in Fig. 54
(where symbols have their usual meanings).
Fig. 54
37. Three solid uniform spheres are released on an
inclined plane as shown in Fig. 55. The distance
between the spheres remains constant during
motion in
q 41. If the ground is smooth, what is the total kinetic
Fig. 55
(a) all three masses
(b) cases A and B
(c) only case C
(d) depends on the mass of the spheres
38. We have four objects: a solid sphere, a hollow
sphere, a ring, and a disc, all of same radius.
When these are released on an inclined plane, it
may happen that all of them do not perform pure
rolling. But from the information of pure rolling,
if one object can be confirmed to be purely rolling
then it can be said that rest all will perform pure
rolling. This object whose pure rolling confirms
pure rolling of all other objects is
(a) hollow sphere (b) solid sphere
(c) ring (d) disc
39. If the four objects given in the above question
are of same mass, same radius having the same
friction coefficient, and are released from the
same height, then at the bottom the object which
will have least kinetic energy for case B will be
the
(a) hollow sphere (b) solid sphere
(c) ring (d) disc
Dynamics of Rigid Bodies: Part 1  8.15
40. Two children A and B use bicycles, having wheels
of ring type and disc type, respectively. During a
race, bicycles are given the same velocity from
the bottom of the inclined bridge to ascend the
bridge without pedaling, then (assuming pure
rolling)
(a) both bicycles with reach upto same height.
(b) bicycle of child A will reach a greater
height.
(c) bicycle of child B will reach a greater
height.
(d) depends on the masses of bicycles and the
child.
For Problems 41–42
In Fig. 56, F = 10 N, R = 1 m, mass of the body is 2 kg
and moment of inertia of the body about an axis passing
through O and perpendicular to the plane of body 4 kg-m2.
O is the center of mass of the body.
F
F
R O
2R
Fig. 56
energy of the body after 2 s?
(a) 100 J (b) 75 J
(c) 50 J (d) 25 J
42. If ground is sufficiently rough to ensure rolling,
what is the kinetic energy of the body now in the
given time interval of 2 s?
(a) 18.75 J (b) 16.67 J
(c) 5.55 J (d) Cannot found
For Problems 43–44
A disc having radius R is rolling without slipping on a
horizontal (xz) plane. Centre of the disc has a velocity v
and acceleration a as shown in Fig. 57.
Fig. 57
8.16  Physics

43. Speed of point P having coordinates (x, y) is

w
v
v x 2 + y2 v x 2 + ( y + R )2 (b) vcm is towards left in
(a) (b) (q)
R R case of solid sphere.

v x 2 + ( y - R )2 w = 2v/R
(c) (d) None of these
R w
v
44. If v = 2 aR , the angle q between acceleration (c) vcm is towards right in
of the top most point and horizontal is (r)
case of ring.
(a) 0 (b) 45°
–1 Ê 1ˆ w = v/2R
(c) tan 2 (d) tan–1 Á ˜
Ë 2¯ w
v
Matching Column Type (d) vcm is towards right in
(s)
45. Consider a wheel purely rolling on a rough case of solid sphere.
horizontal surface with constant velocity v w = v/2R
(Fig. 58). Radius of the
wheel is R and C is the M 47. A circular body of mass M and radius R, initially
center of wheel.
spinning about its center of mass with w0 is gently
M is top-most point, P placed on a rough horizontal surface. The moment
is bottom-most point C R N v
of inertia of body about its C.M. is ICM = MK2.
and N is in level with C If the coefficient of friction between the body and
at any time. Match the P the surface is m, then
columns for this instant Fig. 58
of time. Column I Column II

Column I Column II (p) Translational work done by the (a) −ve

friction is
(p) Acceleration of C (a) Zero
(q) Rotational work done by the (b) +ve
v2 friction is
(q) Acceleration of M (b)
R (r) Larger the moment of inertia of (c) Longer
body, the time required for rolling
2v 2 motion is
(r) Acceleration of N (c)
R (s) Larger the moment of inertia (d) Greater
of the body, work done by the
2v 2 friction is
(s) Acceleration of P (d)
R
Integer Answer Type
46. 48. A disc of radius has w = 2 rad/s and speed vC =
2 m/s (Fig. 59). Find the speed of the plank for
Column II (When pure pure rolling (in m/s)
Column I (Initially)
rolling begins)
w = 2 rad/s
C 2 m/s
v
(a) vcm is towards left in P
(p) w
case of ring.
Fig. 59
w = 2v/R
49. Two forces of magnitude F are acting on a uniform
disc kept on a horizontal rough surface as shown
 Dynamics of Rigid Bodies: Part 1  8.17

in Fig. 60. Friction force by the horizontal surface the ring is large enough that rolling always occurs
on the disc is nF. Find the value of n. and the coefficient of friction between the stick
and the ring is (P/10). Find the value of P is
Stick

Fig. 60

50. A boy is pushing a ring of mass 2 kg and radius

0.5 m with a stick as shown in Fig. 61. The stick
applies a force of 2 N on the ring and rolls it Ground
without slipping with an acceleration of 0.3 m/s2.
Fig. 61
The coefficient of friction between the ground and

Solutions

Single Correct Answer Type ICD = IC ¢D ¢

1.(d) For t = 0,
L–x I
x So, 2 ICD = I fi ICD =
2

F1 R F2
I
Also, 2 I AB = I fi I AB =
2
Fig. 62
So ICD = IAB
F1 ( L - x ) = F2 x 4.(b) For A and B energy will remain conserved but

Ê 3L ˆ Ê Lˆ energy of C will dissipate due to action of
F2 Á - x˜ = F1 Á x + ˜ frictional force.
Ë 4 ¯ Ë 4¯
5.(b) Both the sphere and the plank will slide down
L-x x with same acceleration g sin q.
=
x + ( L /4) (3L /4) - x 1
6.(c) KE of P = m (2 v)2 = 2 mv 2
3L 3x x 2
= x+ + = 2 x fi 3L = 8 x
4 4 4 1 2 1 2 3 2
KE of S = mv + Iw = mv
So putting the value of x, 2 2 4
5L 3L KE of P 8
F1 = F2 fi F1 : F2 = 3 : 5 fi =
8 8 KE of S 3
2.(b) Farther the mass from axis, greater will be the 7.(c) The distribution of mass is nearest about xx.
moment of inertia.
tan q
3.(a) As shown in Fig. 63, 8.(b) For ring to roll down, mmin =
R2
C¢ C 1+
K2
90°
q tan q
A B So for m <
2
So ring will slide and a = g sin q – mg cos q.
D D¢
Fig. 63
8.18  Physics

9.(b) Linear acceleration of cylinder is zero, i.e., mg a

sin q = frictional force ( f ) upwards (m = mass 15.(c) Torque about: mg = Ia
2
of cylinder)
a/2
\ Angular acceleration about C is a = t/I A B
f ◊R a/2 3
or a=
1
mR 2 mg
2 a/ 3 a a
2f
= (R = radius of cylinder)
mR C
2 mg sin q 2 g sin q Fig. 66
a= =
mR R
mga
For no slipping between cylinder and plank, fi a=
2I
a = Ra = 2g sin q
10.(d) Since net force along the incline is zero, so cylinder a mga 2
fi Acceleration = a=
will remain in position till it stops rotating. After 3 2 3I
that it will start moving downwards.
11.(d) Let J be the linear impulse imparted to the ball. L 1
16.(b) mg = mL2a
Applying impulse = change in momentum, 2 3
We have J = mv0 (i) fy
2 2 fx
J ◊ h = Iw 0 = mr w 0  (ii) a
5 mg
5 v0h Fig. 67
From (i) and (ii), we get w 0 =
2 r2
3g
12.(d) From Fig. 64, a + Ra = A \ a=
a 2L
So A > a 3g
and ax = g fi x=g
By work–energy theorem, work a 2L
2L
done by friction on sphere is change A \ x=
in its KE. If we consider sphere and 3
Fig. L
plank as a system, then change in \ Distance from B: L – x =
KE of plank and sphere is work done by F. 3
13.(b) Moment of inertia of semicircular portions about 17.(c) Net torque about C is zero.
x and y axes are same. But moment of inertia of Fa + 100d = 0
straight portions about x-axis is zero. d
Ix \ F = –100 = –150
\ Ix < Iy  or  <1 a
Iy 
\ F = –150 î
14.(d) As the sphere rolls up, its speed is decreasing and
18.(a) T = mg
while rolling down, its speed is increasing. Hence,
the acceleration of its center of mass is down the
incline and is thus always negative. Therefore, the f
correct graph is
a

mg sin q T sin q
O t T
Fig. 68

Fig. 65
 Dynamics of Rigid Bodies: Part 1  8.19

f = Mg sin q + T sin q In the absence of friction between the cylinder and

the wedge surface, angular velocity of cylinder
= Mg sin q + mg sin q
remains constant. From energy conservation:
Balancing torque about C:
1 2 1 2 1 1 1
Tr = fr mv + Iw = mv¢ 2 + Iw 2 + mv¢ 2 + mgh
2 2 2 2 2
fi mg = Mg sin q + mg sin q
 (i)
M sin q By the conservation of linear momentum
fi m=
1 - sin q mv = 2mv¢  fi  v¢ = v/2 (ii)
19.(c) From (i) and (ii), h = v2/4g
T T 22.(c) Initially there is no friction between cylinder and
a
a m a plank.
A
dw
mg mg 23.(d) P = tw  = Ia w  = Iw  w
dq
Fig. 69 P
a = a/l (i)
fi
Ú w 2 dw =
I
dq
Ú
mg – T = ma (ii) fi w µ q  fi  w3n fi w µ n1/3
3

(q = 2pn so qn)
l ml 2
Tl - mg = a (iii) 24.(a) Let a is acceleration of sphere w.r.t ground.
2 3
f = ma, let a2 is acceleration of sphere w.r.t
3g
Solving the above equations: a = plank.
8 a2
a1
20.(b) Moment of inertia of system of rods about P: a
m f M F
ma1
Ê ml 2 ˆ È ml 2 m 5l 2 ˘ 5 2 f
I=Á ˜ +Í + ˙ = ml Fig. 72
Ë 3 ¯ ÍÎ 12 4 ˙˚ 3
f
l ma1 - f = ma2 fi a2 = a1 - fi a2 < a1
P m
w.r.t ground acceleration of sphere is towards right
5l and w.r.t plank, acceleration of sphere is towards
2 l
left. Hence, acceleration of plank is more than
sphere.
Fig. 70 25.(b) On folding the arms, moment of inertia decreases,
but angular momentum remains same.
Loss in PE = Gain in KE
From KE = L2 /2 I , we see that KE increases.
l l 1 6g Hence, the man will have to do positive work
mg + mg = Iw 2 fi w=
2 2 2 5l which increases the KE.
21.(a) At the maximum height, vertical velocity of 26.(b) w.r.t. belt, pseudo force ma acts on cylinder at
COM as shown about to cylinder will be just to AQ2
cylinder is zero, but horizontal velocity of the
wedge and cylinder will be same. topple when torque to weight w.r.t P.

A v¢
w ma
h
h mg
B v¢
Wedge a
P

Fig. 71 Fig. 73
8.20  Physics

dv 11 + 3   
= a = 2bt 29.(a,d) w = = 4 rad/s , aA = a A / C + aC
dt (7/2)
2 2 7 2
m.2bt.
h
= mg.r Here aC = 0, a A / C = w r = 4 ¥ = 56 m/s
2
2
2 2
rg So, a A = 56 m/s . Similarly, aB = 56 m/s
t=
bh
30.(b,c,d)
Ê Rˆ
2
2 R2 w
27.(d) I A = IC + m Á ˜ fi mR 2 - m = IC
Ë 2¯ 3 4 v v = wR
a fk
A Sliding Pure rolling
F
R/2 Fig. 76
C fk is opposite to v, so it causes linear retardation.
mg But fk produces clockwise torque about centre
which gives angular acceleration. When pure
rolling starts, friction stops acting because bottom
N point has no tendency to slip.
Fig. 74 aiˆ = w 2 R cosq iˆ - w 2 R sin q ˆj

5
fi IC = mR 2 -a R cosq ˆj + a B sin q iˆ
12 a
R 5
w 2 R sin q = - a R cosq fi tan q = -
t C = ICa fi F = mR 2a w2
2 12 v w
31.(a,c) t= 0 = 0
a a
6F
fi a= Ê aˆ
5mR v0 = Á ˜ w 0
Ëa¯
Multiple Correct Answers Type ( m g) rw
28.(a,d) For sliding: tanq ≥ m = ◊w = 0
1 2 0 2
( m mgr ) mr
a 2
For toppling: tan q ≥
h
32.(b,c) Cylinder will move downwards as mg sin
q > mmg cos q although frictional force acts
upwards.
33.(a,d) For Figs. 52(a) and (b),
If k2 > Rx friction will act in backward direction
otherwise in forward direction.
R2
For given spool, K 2 =
4
Fig. 75
R R2
To tople before sliding. Fig. 52(a), Rx = R ◊ = fi friction forward
3 3
a
m > tan q > R R2
h Fig. 52(b), Rx = R ◊ = fi friction backward
5 5
a
To slide before tople: > tan q > m In Fig. 52(c), as force is below the diametric
h plane, hence friction backward.
 Dynamics of Rigid Bodies: Part 1  8.21

Comprehension Type 2
34.(a), 35.(a), 36.(b) mmin(Solid sphere) = tan q
3
Sol. As net velocity of contact point is not zero, disc 2
rolls with slipping, as w about IC is same, mmin(Hollow sphere) = tan q
7
fi mmin(Ring) is greater than either of mmin(Ring),
mmin(Solid sphere), or mmin(Hollow sphere).
Therefore, the pure rolling of ring will confirm
pure rolling of all other bodies.
39.(c) As given in the equation of case (b),
m NR = Mk 2a and N = Mg cosq
Fig. 77 As q, M, R, m are same for all. a will be
least for that object for which k and hence I is
v0 v maximum.
w= = c
IO IC Therefore, a for ring (k = R) and hence w for ring
2 4 at the bottom is minimum.
= or x = 0.2 m Also, Mg sin q – mN = Ma
x x+R
Since M, m, q, N are same for all objects, they
vp have same linear acceleration and hence same
1 2
P linear velocity and hence same MvCM .
R 2
R
Ê1 2 1 2ˆ
5R \ KE = Á Mvcm + I cmw ˜ is least for the ring.
R Ë2 2 ¯

I g sin q
40.(b) For ring a = (for pure rolling) is less than
Fig. 78 2
that of disc.
Velocity of P is given by vp = (IP)w = 2 5 m/s
41.(c) Net torque: t = F 2 R - FR = FR
37.(a) Since acceleration is same for all the three spheres,
they cover equal distances in equal intervals of t FR 10 ¥ 1
a= = = = 2.5 rad/s2
time in all the cases (a), (b), and (c). I I 4
Hence (a). After 2 s: w = a t = 2.5 ¥ 2 = 5 rad/s
38.(c) From passage, for case (c); 1 2 1
KE = Iw = ¥ 4 ¥ (5)2 = 50 J
Êk ˆ2 2 2
tan q Á 2 ˜ There will be no translation, as acceleration of
ËR ¯ center of mass will be zero.
mmin = Æ (pure rolling)
Ê k2 ˆ
Á1 + 2 ˜ t A F 4 R - F 3R
Ë R ¯ 42.(b) t = =
I A I 0 + m (2 R )2
Putting the values of k for different objects given F
in the table (in passage) we get:
F
tan q
mmin(Ring) = O
2

tan q
mmin(Disc) =
3 a A
Fig. 77
8.22  Physics

  
FR 10 ¥ 1 5 aQ = aQ / C + aC
= = = rad/s2
4 + 2 ¥ (2 ¥ 1)2 12 6
  v2
Here aC = 0 and aQ / C = w 2 R = towards
5 5 R
After 2 s: w = a t = ¥ 2 = rad/s center.
6 3
v2
1 1 fi aQ = towards center.
KE = mv 2 + I 0 (w 2 ) R
2 2
Hence, acceleration of each of the points M, N
1 1
= ¥ 2(w 2 R )2 + 4(w )2 v2
2 2 and P is towards center.
2 2 R
1 Ê5 ˆ 1 Ê 5ˆ
= ¥ 2 ¥ Á ¥ 2 ¥ 1˜ + ¥ 4 Á ˜ 46. [p Æ a,b]; [q Æ b,c]; [r Æ a,b]; [s Æ a,b]
2 Ë3 ¯ 2 Ë 3¯
Take anticlockwise positive
150 (p) Angular momentum about lowest point:
= = 16.67 J
9 L = MvR + Iw > 0, so final velocity on pure rolling
43.(a) w = v/R should be towards left for any body for L to be
Distance of P from origin: positive.
(q) L = MvR – Iw = MvR – I(2v/R)
r = x 2 + y2
= MvR – 2MvR < 0 for ring
Origin is instantaneous center of rotation. so fi vcm right
= MvR – (4/5)MvR > 0 for solid sphere
v x 2 + y2
vP = w r = fi vcm left
R
(r) Angular momentum about lowest point:
44.(b) a = aR
L = MvR + Iw > 0, so final velocity on pure rolling
a + aR = 2a should be towards left for any body for L to be
q
positive.
(s) L = MvR – Iw = MvR – I(v/2R) > 0
ac
For both ring and sphere
47. [p Æ b]; [q Æ a]; [r Æ c]; [s Æ d]
Fig. 80 Translational work done by the friction,
2 Wtrans = K f - Ki
Ê vˆ v 2 2 aR
aC = w 2 R = Á ˜ R = = = 2a
Ë R¯ R R 1 1
= mV 2 - 0 = mV 2
2a 2 2
tan q = = 1 fi q = 45∞
2a So (A) Æ (Q)
Work done by the rotational motion
Matching Column Type
1 1
45. [p Æ a]; [q Æ b]; [r Æ b]; [s Æ b] Wrotational = Kƒ − Ki = ICw 2 - ICw 02
2 2
As velocity of C is constant, so its acceleration is
zero. Consider a point Q at angle q. = −ve  [∵ w0 > w]
So (B) Æ (P)
Q
È IC ˘w R
q t=Í ˙ 0
ÎÍ IC + mR ˚˙ m g
2
C
Greater the value of IC longer will be the time.
So (C) Æ (S)
Fig. 81
 Dynamics of Rigid Bodies: Part 1  8.23

w µ IC
= 0.6 ± 0.36 + 1.28
So (D) Æ (T)
  = -0.6 ± 0.64 = 0.68
Integer Answer Type
From (ii),
48.(3) As disc if rolling the speed of point of contact of
disc with plank should be equal to velocity of the F = 1.88
plank 0.68 P
m= = fi P = 3.16 ª 4
Vplank = vdisc + wR 1.88 10
49.(0) Let f is the friction force acting on disc in Note: But if only normal reaction applied by the
backward direction. Then 2F – f = ma and rod is considered to be 2 N.
(F + f)r = Ia
1 a
fi (F + f)r = mr2
2 r F=2N
\ Solving the above equations: f = 0 c
a = 0.3 m/s2 a
50.(4) Note: If net force applied by the rod is considered R = 0.5 m mF = 2 m
to be 2 N.
f
Fig. 83
a/R
F II law fi  2 – f = 2[0.3]
fi f = 2 – 0.6
a
f¢ f – 1.4 Nx (i)
f A = Ra
Fig. 82 fi 0.3 = a [0.5]
3
fi a = rad/s  (ii)
f ¢2 + F 2 = 2  (i) 5
a t c = I ca
FR - f ¢R = 2 mR 2
R
F - f ¢ = 2 ma = 1.2  (ii) fi fR - 2 m R = mR 2a

f - 2 m = mRa
From (i) and (ii), (1.2 + f ¢ )2 + f ¢ 2 = 22
2 Ê 3ˆ
2 f ¢ 2 + 2.4 f ¢ + 1.44 = 4 1.4 - 2 m =
2 ÁË 2 ˜¯

f ¢ 2 + 1.2 f ¢ + 0.72 - 2 = 0 1.4 – 0.6 = 2m
f ¢ 2 + 1.2 f ¢ - 1.28 = 0 P
0.8 = 2 m fi m = 0.4 = fi∵P=4
10
-1.2 ± 1.44 + 4 ¥ (1.28)
f¢ =
2

AQ1: Is figure 20 correct? Because it is same as figure 19. Please check and, if required, provide a new figure.
AQ2: Please check the statement written in solution of Q. 26. Is it correctly coined?