Todays Agenda
Gyroscopic Motion
L I1 1 L I2 2
1 2
I1 < I2
disk 1 disk 2
If we write L = I, then
dL d I d dI dI
I I
dt dt dt dt dt
dI
EXT I
dt
dI
EXT I
dt
dI dI
I 0
dt I dt
I1 > I2
1 2
2 >1
The puck accelerates without external torque!!
Physics 111: Lecture 23, Pg 6
Review: Angular Momentum
dL EXT r FEXT
EXT where L r p and
dt
dL
In the absence of external torques EXT 0
dt
LZ I
x
d
m v
m
R 1 m 2
R/2
ri = Rcm + ri* where ri* and v*i are the position and
vi = Vcm + v*i velocity measured in the CM frame.
r*
Rcm
r
Physics 111: Lecture 23, Pg 12
A general expression for L of a system...
Expanding this:
Which becomes:
L Rcm MtotVcm Rcm mi v * i mi r * i Vcm r * i mi v * i
i i i
y
origin (axis)
x
d
m,I
CM
v LCM mvd k
L I k
*
vo d
cm
F
m2 m1
top view: initial top view: final
d m1
y cm
2 m1 m 2
y
vo
d/2
x m1
top view: initial
d
LZ ,i m1v 0 y cm
2
y
vo d y
d/2 2 cm
ycm
x m1
top view: initial
LZ,f Icm F
y
Icm
vF ycm
F
x
top view: final
m1 cm of rod
d/2 - ycm
d/2 cm of block-rod system
ycm
m2
Physics 111: Lecture 23, Pg 20
Example 1...
Icm
y
vF ycm
F
x
top view: final
Physics 111: Lecture 23, Pg 21
Example 1...
Suppose m1 = 2m2 = 2m
1 vo
Icm md 2 F
3 d
initial final
Icm
vo d
cm
F
m 2m
LS
LW,F
LW not
LW LS LW turning
support pivot
g
pivot
g
pivot
d
dL
dt
L pivot
mg
Physics 111: Lecture 23, Pg 30
Gyroscopic Motion...
L(t)
dL d pivot
L(t+dt)
top view
Physics 111: Lecture 23, Pg 31
Gyroscopic Motion...
Toy Gyroscope
dL
So L
dt L
mgd
In this example, = mgd and L = I:
I
L pivot
mg
Physics 111: Lecture 23, Pg 32
Aside (optional): Why we can write = I when
the CM is accelerating:
dL
We have shown that for any system EXT
dt
Express position and velocity in terms of the center of
mass:
Write
i i
EXT ri Fi Rcm ri* Fi
d d
Rcm Fi ri* Fi LCM L*
i i dt dt
But:
d
LCM
d
Rcm MnetVcm Rcm Mnet Acm Rcm Fnet Rcm i Fi
dt dt
d *
which leaves ri* Fi L
i dt
so d d d
L* Icmcm Icm cm Icmcm
dt dt dt