ROTATIONAL MOTION Rigid body, moment of inertia, parallel and perpendicular axes theorems, moment of inertia of uniform bodies

with simple geometrical shapes; Angular momentum; Torque; Conservation of angular momentum; Dynamics of rigid bodies with fixed axis of rotation; Rolling without slippingof rings, cylinders and spheres Equilibrium of rigid bodies; Collision of point masses withrigid bodies IIT-JEE-Syllabus R I G I D B O D I E S A N D R O T A T I O N A body with a definite and unchanging shape and size is a rigid body.In practice such a body does not exist in nature. A real body undergoes changes in shape and size under theaction of external forces. If however, these forces are small enough and we are dealing with solid bodies,changes in shape or size are small enough. Under these circumstances, we may regard the body as a rigid body.The motion of a rigid body in three dimensions is, in general, very complicated. The analysis of this motioncan be done in terms of two simple types of motion: translation and rotation, a classification which is based onthe spatial properties of motion. We define these two types of motion: (a) Translation: A rigid body is said to undergo puretranslation if it moves such that all its particlesundergo the same displacement during anyinterval of time. The body remains parallel toitself throughout its motion i.e. a straight line joining any two particles remains parallel toitself throughout its motion (see figure). Notethat the motion need not be confined to aplane, i.e. particles of the body may move outof the plane and the motion is still translationso long as it remains parallel to itself. (b) Rotation: A rigid body is said to undergo pure rotation if it moves such that its constituent particlesmove along circular arcs, the centres of whichlie on a straight line perpendicular to the planeof the arcs. This straight line is known as theaxis of rotation, and the rigid body is said to undergo pure rotation about this axis. Figure : Translation preserves orientation AB = A 2 B 2 (rigid body) AB || A 2 B 2 (translation) ABB elogram 2 A 2 is a parall 22 A B = . B A B 1 A

1 B 2 A 2 FNS House, 63, Kalu Sarai Market, Sarvapriya Vihar, New Delhi-110016 Ph.: (011) 32001131, 32001132, Fax : (011) 41828320 1

N A R A Y A N A RRESPONDENCE COURSESINSTITUTE OF CO Motion Physics : Rotational

A 2 B 2 A 1 AB || A 1 B 1 || A 2 B 2 Figure: Orientation is preserved and therefore themotion is translation. Note that the circular motion of A , B take place with centres at A 0 , B 0 respectively: but their centres dont lie on astraight line perpendicular to the plane of motion. A 0 A 2 B 3 Figure: Orientation is not preserved. Note thatparticles A and B move along concentriccircles in the same plane. The motion isrotation about an axis perpendicular to planeof the paper and passing through . 0 A FNS House, 63, Kalu Sarai Market, Sarvapriya Vihar, New Delhi-110016 Ph.: (011) 32001131, 32001132, Fax : (011) 41828320 2 In the following figures we give two examples: one of translation and one of rotation. One should try tounderstand how they fit in with the definitions. B 2 AA 0

B 0 B B 1 A 3 A 4 B 4 A 1 B 1 The axis of rotation may be fixed in space (stationary axis) or moving (changing in position or direction). Inthis chapter, we are going to discuss the rotation of a rigid body about a fixed axis, and also about an axiswhich may be moving but without any change in its orientation (pure rolling). The following figures show bothtypes of rotation: Figure : Rotation about a stationary axis: A fixedpulley with a falling block attached to it bymeans of a string. Figure: Rotation about a translating axis: A cylinder rolling on an inclined plane. The physics of rotational motion may be studied using the following kinematic variables:(i) orientation, measured by an angular variable, (ii) the angular velocity, , and, (iii) the angular acceleration, . R O T A T I O N A L K I N E M A T I C S

Let us consider the rotation of a rigid body about a fixed axis , i.e. w.r.t. an axis that is fixed in some arbitraryframe of reference (not necessarily inertial).We take a convenient point O on this axis, choosing this as our origin and theaxis of rotation itself as the z -axis, we take another pair of axes x and y , forming atriad of mutually perpendicular lines intersecting at O . Conventionally, the threeaxes are chosen so as to form a right handed system of coordinates.We take a particle, P , of the rigid body in the x y plane. Since the body undergoesrotation about the z-axis, the particle P rotates in a circle centred at O with theradius OP . y xO