PH 221-3A Fall 2010

ROLLING, TORQUE, and

ANGULAR MOMENTUM ANGULAR MOMENTUM
Lectures 18-19
Chapter 11
(Halliday/Resnick/Walker, Fundamentals of Physics 8
th
edition) ( y , y )
1
Chapter 11
Rolling, Torque, and Angular Momentum
In this chapter we will cover the following topics:
-Rolling of circular objects and its relationship with friction g j p
-Redefinition of torque as a vector to describe rotational problems that
are more complicated than the rotation of a rigid body about a fixed
axis axis
-Angular Momentum of single particles and systems or particles
-Newtons second law for rotational motion
C i f l M -Conservation of angular Momentum
-Applications of the conservation of angular momentum
2
t
1
= 0 t
2
= t
Consider an object with circular cross section that rolls
Rolling as Translation and Rotation Combined
along a surface without slipping. This motion, though
common, is complicated. We can simplify its study by
treating it as a combination of translation of the center of treating it as a combination of translation of the center of
mass and rotation of the object about the center of mass
Consider the two snapshots of a rolling bicycle wheel shown in the figure. p g y g
An observer stationary with the ground will see the center of mass O of the wheel
move forward with a speed . The point
com
v P at which the wheel makes contact
with the road also moves with the same speed. During the time interval between
the two snapshots both O and P cover a distance . (eqs.1) During
com
t
ds
s v t
dt
=
t
dt
he bicycle rider sees the wheel rotate by an angle about O so that
= (eqs.2) If we cambine equation 1 with equation 2
ds d
s R R R
dt dt
u
u
u e = =
we get the condition for rolling without slipping.
dt dt
com
v Re =
3
com
v Re =
We have seen that rolling is a combination of purely translational motion
with speed and a purely rotaional motion about the center of mass
com
v p p y
with angular velocity . The velocity of each p
com
com
v
R
e = oint is the vector sum
f th l iti f th t ti F th t l ti l ti th of the velocities of the two motions. For the translational motion the
velocity vector is the same for every point ( , see fig.b ). The rotational
velocity varies from poi
com
v

nt to point. Its magnitude is equal to where is r r e y p p g q

the distance of the point from O. Its direction is tangent to the circular orbit
(see fig.a). The net velocity is the vector sum of these two terms. For example
the velocity of point P is always zero. The velocity of the center of mass O is
( 0). Finally the velocity of the top point T is wqual to 2 .
com com
v r v =

4
Problem 2. An automobile traveling at 80.0 km/h has tires of 75.0 cm diameter.
(a) What is the angular speed of the tires about their axes?
(b) If the car is brought to a stop uniformly in 30.0 complete turns of the tires
(without skidding), what is the magnitude of the angular acceleration of the wheels?
(c) How far does the car move during the braking?
The initial speed of the car is The initial speed of the car is

( )
80 km/h (1000 m/km)(1 h/3600 s) 22.2 m/s v = = .

The tire radius is R = 0.750/2 = 0.375 m.

(a) The initial speed of the car is the initial speed of the center of mass of the tire, so

com0
0
22.2 m/s
59.3 rad/s.
0.375 m
v
R
e = = =

(b) With u = (30 0)(2t) = 188 rad and e = 0 Eq 10 14 leads to (b) With u = (30.0)(2t) = 188 rad and e = 0, Eq. 10-14 leads to

( )
2
2 2 2
0
(59.3 rad/s)
2 9.31 rad/s .
2 188 rad
e e ou o = + = =
( )

(c) Ru = 70.7 m for the distance traveled.
5
A
v
A
v
T
Another way of looking at rolling is shown in the figure
W id lli t ti b t i
Rolling as Pure Rotation
B
v
B
v
O
We consider rolling as a pure rotation about an axis
of rotation that passes through the contact point P
between the wheel and the road. The angular g
velocity of the rotation is
com
v
R
e =
In order to define the velocity vector for each point we must know its magnitude
as well as its direction. The direction for each point on the wheel points along the
tangent to its circular orbit For example at point A the velocity vector is v

tangent to its circular orbit. For example at point A the velocity vector is
perpendicular to the dotted line that connects pont A with point P. The speed
of each point is given by: . Here is the distance between a parti
A
v
v r r e = cular
point and the contact point P. For example at point T 2 .
Thus 2 2 . For point O thus
i h
T com O com
r R
v R v r R v R v e e
=
= = = = =
For point P 0 thus 0
P
r v = =
6
Consider the rolling object shown in the figure
The Kinetic Energy of Rolling
It is easier to calculate the kinetic energy of the rolling
body by considering the motion as pure rotation
about the contact point P The rolling object has mass M about the contact point P. The rolling object has mass
and radius .
M
R
2
1
The kinetic energy is then given by the equation: . Here is the
2
P P
K K I I e =
2
2
rotational inertia of the rolling body about point P. We can determine using
the parallel axis theorem
P P
P
I
I I MR = +
( )
2 2
1
K I MR e = + the parallel axis theorem.
P com
I I MR = +
( )
( )
2 2 2 2 2
2
1 1 1
2 2 2
com
com com
K I MR
K I MR I MR
e
e e e
= +
= + = +
2 2
1 1
2 2
com com
K I Mv e = +
2 2 2
The expression for the kinetic energy consists of two terms. The first term
corresponds to the rotation about the center of mass O with angular velocity . e
2 2
The second term is associated with the kinetic energy due to the translational
motion of evey point with speed
com
v
7
Problem 9. A solid cylinder of radius 10 cm and mass 12 kg starts from rest and rolls without
slipping a distance L=6.0 m down a roof that is inclined at the angle =30 .
( ) What is the angular speed o a
u

f the cylinder about its center as it leaves the roof?
(b) The roof's edge is at height H=5.0 m. How far horizontally from the roof's edge (b) The roof s edge is at height H 5.0 m. How far horizontally from the roof s edge
does the cylinder hit the level ground?
(a) We find its angular speed as it leaves the roof using conservation of energy. Its initial
kinetic energy is K
i
= 0 and its initial potential energy is U
i
= Mgh where kinetic energy is K
i
0 and its initial potential energy is U
i
Mgh where
6.0sin 30 3.0 m h = = (we are using the edge of the roof as our reference level for
computing U). Its final kinetic energy (as it leaves the roof) is

K Mv I
f
= +
1
2
2
1
2
2
e .
f

Here we use v to denote the speed of its center of mass and e is its angular speed at
the moment it leaves the roof. Since (up to that moment) the ball rolls without sliding we
can set v = Re = v where R = 0.10 m. Using I MR =
1
2
2
(Table 10-2(c)), conservation of
energy leads to

2 2 2 2 2 2 2 2
1 1 1 1 3
.
2 2 2 4 4
Mgh Mv I MR MR MR e e e e = + = + =

The mass M cancels from the equation, and we obtain

e = = =
1 4
3
1
010
4
3
9 8 3 0 63
R
gh . . .
m
m s m rad s
2
c hb g
3 010 3 R . m
8
(b) Now this becomes a projectile motion of the type examined in Chapter 4. We put the ( ) p j yp p p
origin at the position of the center of mass when the ball leaves the track (the initial
position for this part of the problem) and take +x leftward and +y downward. The result
of part (a) implies v
0
= Re = 6.3 m/s, and we see from the figure that (with these positive
direction choices) its components are

0 0
0 0
cos30 5.4 m s
sin30 3.1 m s.
x
y
v v
v v
= =
= =


The projectile motion equations become

x v t y v t gt
x y
= = +
0 0
2
1
2
and .
2

We first find the time when y = H = 5.0 m from the second equation (using the quadratic
formula, choosing the positive root):

2
0 0
2
0.74s.
y y
v v gH
t
g
+ +
= =

Then we substitute this into the x equation and obtain x = = 54 0 74 4 0 . . . m s s m.
b gb g

9
When an object rolls with constant speed (see top figure)
Friction and Rolling
0 a =

it has no tendency to slide at the contact point P and thus

no frictional force acts there. If a net force acts on the
rolling body it results in a non zero acceleration a

0
com
a =
rolling body it results in a non-zero acceleration
for the center of mass (see lower figure). If the rolling
object accelerates to the right it has the tendency to slide
com
a
at point P to the left. Thus a static frictional force
opposes the tendency to slide. The motion is smooth
s
f

,max
rolling as long as
s s
f f <
The rolling condition results in a connection beteen the magnitude of the
acceleration of the center of mass and its angular acceleration
We take time derivatives of both sides
com
com com
a
v R a
o
e = =
com
dv d
R R
dt dt
e
o = =
dt dt

com
a Ro =
10
Problem 7. A constant horizontal force of magnitude 10N is applied to a wheel of mass
10 kg and radius 0.30m. The wheel rolls smoothly on the horizontal surface, and
the acceleration of its cent
app
F

2
er of mass has magnitude 0.60 m/s .
( ) In unit-vector notation, what is the frictional force on the wheel?
(b) What is the rotational inertia of the wheel about the rotation axis through its center of
a
mass?

(a) Newtons second law in the x direction leads to (a) Newton s second law in the x direction leads to

( )
( )
2
app
10N 10kg 0.60 m s 4.0 N.
s s
F f ma f = = =

In unit vector notation, we have

( 4.0 N)i
s
f =

which points leftward.

(b) With R = 0.30 m, we find the magnitude of the angular acceleration to be

2
|o| = |a
com
| / R = 2.0 rad/s
2
,

The only force not directed towards (or away from) the center of mass is

f
s
, and the
torque it produces is clockwise:

( )( ) ( )
2
0.30m 4.0 N 2.0rad s I I t o = =

which yields the wheels rotational inertia about its center of mass: I = 0 60 . . kg m
2
which yields the wheel s rotational inertia about its center of mass: I 0 60 . . kg m
11
Consider a round uniform body of mass and radius
Rolling Down R a amp
M R
a
com
rolling down an inclined plane of angle . We will
calculate the acceleration of the center of mass
along the a is sing
com
a
u
Ne ton's second la for the along the x-axis using Newton's second law for the
translational and rotational motion
Newton's second law for motion along the -axis: sin (eqs.1)
Newton's second law for rotation about the center of mass:
s com
s com
x f Mg Ma
Rf I
u
t o
=
= =
We substitute in the second equation and g
s com
com
f
a
R
o o = et:
com
s com
a
Rf I
R
a
=
2
(eqs.2) We substitute from equation 2 into equation 1
sin
com
s com s
com
a
f I f
R
a
I Mg Ma u
=
=
sin
com
g
a
I
u
=
2
sin
com com
I Mg Ma
R
u
2
1
com
com
I
MR
+
12
sin
| |
com
g
a
I
u
=
a
com 2
1
com
com
I
MR
+
Cylinder Hoop
2
2
1 2

2
sin sin
MR
I I MR
g g u u
= =
1 2
2 2
1 2
1
sin sin

1 / 1 /
sin
g g
a a
I MR I MR
g
a
u u
u
= =
+ +
=
2
sin g
a
u
=
1
2
1 / 2
a
MR +
2
2 2 2
1 2

1 /
sin sin

1 1/ 2 1 1
a
MR MR MR
g g
a a
u u
+
= =
+ +
1 2
2 sin sin
(0.67) sin (0.5) sin
3 2
g g
a g a g
u u
u u = = = =
13
Consider a yo-yo of mass , radius , and axle radius
The Yo-Yo
o
M R R
rolling down a string . We will calculate the acceleration
of the center of its mass along the -axis using Newton's
second law
com
a y
for the translational and rotational motion as we did
a
com
second law for the translational and rotational motion as we did
in the previous problem
Newton's second law for motion along the -axis: y
y
(eqs.1)
Newton's second law for rotation about the center of mas
com
Mg T Ma =
s:
a
. Angular acceleration
We substitute in the second equation and get:
com
o com
o
a
R T I
R
t o o
o
= = =
2
(eqs.2) We substitute from equation 2 into equation 1
com
com
o
com
a
T I T
R
a
M I M
g
=
2
2

1
c
com
com
om
com c
o
om
o
Mg I M a a
R
g
I
MR
=
+
=
14
In chapter 10 we defined the torque of a rigid body rotating about a fixed axis
Torque Revisited
t
with each particle in the body moving on a circular path. We now expand the
definition of torqu t e so hat it can describe the motion of a particle that moves
along any path relative to a fixed point If is the position vector of a particle r

along any path relative to a fixed point. If is the position vector of a particle
on which a force is acting, the torque is defined as:
r
F t

In the example shown in the figure both and lie in the -plane. Using the
r F
r F xy
t =

p g p g
right hand rule we can see that the direction of is along the -axis.
The magnitude of the torque vect
y
z t

or sin , where is the angle rF t o o =

between and . From triangle OAB we have: sin

, in agreement with the definition of chapter 10.
r F r r
r F
o
t

=
=

F t


r F t =
B
15
1 2
Problem 21. In unit-vector notation, what is the net torque about the origin on a flea

located at coordinates (0, -4.0m, 5.0 m) when forces (3.0 ) and ( 2.0 )
t th fl ?
F N k F N j = =

act on the flea?



( ) ( ) ( )
y z x y x z
x y z
y z x y x z
x y z
i j k
a a a a a a
a b b a a a a i j k
b b b b b b
b b b
b b i b b j b b k
= = = + =


If we write

r x y z =

i + j + k, then we find

r F is equal to

d i
b g
d i

( ) ( ) ( )
y z y z z x z x x y x y
a b b a i a b b a j a b b a k = + +
yF zF zF xF xF yF
z y x z y x

d i
b g
d i
i + j + k.

With (using SI units) x = 0, y = 4.0, z = 5.0, F
x
= 0, F
y
= 2.0 and F
z
= 3.0 (these latter
terms being the individual forces that contribute to the net force) the expression above terms being the individual forces that contribute to the net force), the expression above
yields

( 2.0N m)i. r F t = =

16
The counterpart of linear momentum in rotational
Angular Momentum
p mv

The counterpart of linear momentum in rotational
motion is a new vector known as angular momentum.
The new vector is defined as follows: r p
p mv
=
=

In the example shown in the fi

p
gure both and
lie in the -plane. Using the right hand rule we
r p
xy

B
can see that the direction of is along the -axis.
The magnitude of angular momentum sin ,
where is the angle between
z
rmv o
o
=

and From triangle r p

B where is the angle between o and . From triangle
OAB we have: i v m s n
r p
r r r o

= =
Angular momentum depends on the choice of the origin O. If the origin Note:
2
gu o e u depe ds o e c o ce o e o g O. e o g
is shifted in general we get a different value of
SI unit for angular momentum: Sometimes the equiva kg.m / lent
o e:
s J.s is

used
( )
r p m r v = =

mv r

=
17

P r ob le m 2 9 . A t on e in sta n t, f or c e 4 . 0 N a c ts on a 0 . 2 5 kg ob j e c t tha t ha s position

ve c tor ( 2 . 0 2 . 0 ) m a n d ve loc ity ve c tor ( 5 .0 5 . 0 ) m/s. A bou t the or igin
a n d in u n it ve c tor n ota tion,
F j
r i k v i k
=
= = +

wh a t a r e
( a ) th e ob j e c t's a n gula r mome n tu m a n d

i j k
( a ) th e ob j e c t's a ngu la r mome n tu m a nd
( b ) th e tor q u e a c tin g on th e ob j e c t.


( ) ( ) ( )
y z x y x z
x y z
y z x y x z
x y z
y z y z z x z x x y x y
j
a a a a a a
a b b a a a a i j k
b b b b b b
b b b
a b b a i a b b a j a b b a k
= = = + =
= + +


(a) We use

= mr v, where

r is the position vector of the object,

v is its velocity
vector, and m is its mass. Only the x and z components of the position and velocity
vectors are nonzero, so Eq. 3-30 leads to

r v xv zv
z z
= +
b g

j. Therefore,


( ) ( ) ( )( ) ( )( ) ( )

j 0.25 kg 2.0 m 5.0 m s 2.0 m 5.0 m s j 0.
z x
m xv zv = + = + =

(b) If we write

r x y z = + +

i j k then (using Eq 3-30) we find


r F is equal to (b) If we write r x y z + + i j k, then (using Eq. 3 30) we find r F is equal to

yF zF zF xF xF yF
z y x z y x
+ +
d i
b g
d i

. i j k

With x = 2.0, z = 2.0, F
y
= 4.0 and all other components zero (and SI units understood)
the expression above yields

t = = + r F 8 0 8 0 .

.

i k N m.
e j

e j
18
Newton's Second Law in Angul r Form a
Newton's second law for linear motion has the form: . Below we
will derive the angular form of Newton's second law for a particle.
net
dp
F
dt
=

( )
will derive the angular form of Newtons second law for a particle.
d d
m r v m r
dt dt
= =

( ) ( )
dv dr
v m r v m r a v v
dt dt
| |
= + = +
|
\ .


( ) ( )
( )
0
net net
d
v v m r
dp
a r ma r F
t
d
d
t = = = = =

Thus: Compare with:
n n e et t
dp
F
d
d
dt t
t = =



net
d
dt
t =


19
m
1

1

3
z
We will now explore Newton's second law in
angular form for a system of n particles that
The Angular Momentum of a
have
System of Particles
O
m
3
m
2

2
x
y
1 2 3
angular form for a system of n particles that have
angular momentum , , ,...,
n


n
1 2 3
1
The angular momentum of the system is ...
The time derivative of the angular momentum is =
n
n i
i
n
i
L L
d dL
=
= + + + + =

1
The time derivative of the angular momentum is
The time derivative for the angular momentum of the i-th part
i
dt dt
=

,
icle
i
net i
d
dt
t =

,
Where is the net torque on the particle. This torque has contributions
from external as well as internal forces between the particles of the system. Thus
net i
dL
t

n
,

net i
dL
dt
t = =

1
Here is the net torque due to all the external forces.
By virtue of Newton's third law the vector sum of all internal torques is zero.
n
net net
i
t t
=

dL

Thus Newton's second law for a system in angular form takes the form:


net ext
dL
dt
t =

20
Angular Momentum of a Rigid Body Rotating about a Fixed Axis
We take the z-axis to be the fixed rotation axis We will determine We take the z-axis to be the fixed rotation axis. We will determine
the z-component of the net angular momentum. The body is
divided n elements of mass that have a position vector
i i
m r A

The angula
( )
( )( )
r momentum of the i-the element is:
Its magnitude sin90 = The z-compoment
i i i i
i i i i i i
r p
r p r mv
=
= A

( )( )
of is: sin sin
The z-component of the angular momentu
iz i iz i i i i i i i
r mv r mv u u

= = A = A
m is the sum:
z
n n n n
L
| |
( )
2
1 1 1 1
2

The sum is the rotational inertia of the rigid body
n n n n
z iz i i i i i i i i
i i i i
n
L r mv r m r mr
mr I
e e

= = = =
| |
= = A = A = A
|
\ .
A

1
The sum is the rotational inertia of the rigid body
Thus:
i i
i
z
mr I
L Ie

=
A
=

z
L Ie =
21
1
2
P r o b l e m 3 4 . A p a r t i c l e i s a c t e d o n b y t w o t o r q u e s a b o u t t h e o r i g i n : h a s a m a g n i t u d e
o f 2 . 0 N m a n d i s d i r e c t e d i n t h e p o s i t i v e d i r e c t i o n o f t h e x a x i s , a n d h a s a m a g n i t u d e
o f 4 . 0 N m a n d i s d i r e c
t
t

t e d i n t h e n e g a t i v e d i r e c t i o n o f t h e y a x i s . I n u n i t - v e c t o r n o t a t i o n ,
d l

f i n d , w h e r e i s t h e a n g u l a r m o m e n t u m o f t h e p a r r t i c l e a b o u t h e o r i g i n .
d l
l
d t

The rate of change of the angular momentum is

(2 0 N m)i (4 0 N m) j
d
t t = + =

1 2
(2.0 N m)i (4.0 N m) j.
dt
t t = + =

Consequently, the vector d dt

has a magnitude
( )
2
2
(2.0 N m) 4.0 N m 4.5N m + =
and is at an angle u (in the xy plane, or a plane parallel to it) measured from the positive x
axis, where
1
4.0 N m
tan 63
2 0 N m
u

| |
= =
|

\ .
,
2.0 N m
\ .

the negative sign indicating that the angle is measured clockwise as viewed from above
(by a person on the +z axis).
22
2
2
Problem 42. A disk with a rotational inertia of 7.00 kgm rotates like a merry-go-round
while undergoing a torque given by (5.00 2.00 ) . At time t=1.00 s, its angular
momentum is 5 00 kgm / What
t Nm
s
t = +
is its angular momentum at t=3 00s? momentum is 5.00 kgm / . What s is its angular momentum at t=3.00s?
Torque is the time derivative of the angular momentum. Thus, the change in the angular
momentum is equal to the time integral of the torque. With (5.00 2.00 ) N m t t = + , the
angular momentum as a function of time is (in units
2
kg m /s ) angular momentum as a function of time is (in units kg m /s )

2
0
( ) (5.00 2.00 ) 5.00 1.00 L t dt t dt L t t t = = + = + +



Since
2
5.00 kg m /s L = when 1.00 s t = , the integration constant is
0
1 L = . Thus, the S 5.00 g /s .00 s t , g
0
,
complete expression of the angular momentum is

2
( ) 1 5.00 1.00 L t t t = + + .

At 3.00 s t = , we have
2 2
( 3.00) 1 5.00(3.00) 1.00(3.00) 23.0 kg m /s. L t = = + + =

23
For any system of particles (including a rigid body) Newton's
Conservation of Angular moment m u

second law in angular form is:

net
dL
dt
dL
t =

If the net external torque 0 then we hav : 0 e

net
dL
dt
t = =

a constant This result is known as the law of the L =

conservation of angular momentum. In words
Net angular momentum
Net angular momentum
at some later time
at some initial time
:
t
t
| |
| |
=
|
|
\ .
\ .
at some later time
at some initial time
I
f
i
t
t
\ .
\ .
n equation form:
i f
L L =

If the component of the external torque along a certain
i i l h h f h l
Note:
i f
axis is equal to zero, then the componet of the angular momentum
of the system along this axis cannot change
24
The figure shows a student seated
on a stool that can rotate freely about a
ti l i Th t d t h h b t i t
Example:
i
vertical axis. The student who has been set into
rotation at an initial angular speed , holds
two dumbbells in h
e
is outstretched hands. His
angular momentum vector lies along the
rotation axis, pointing upward.
L

The student then pulls in his hands as shown in fig.b. This action reduces the
rotational inertia from an initial value to a smaller final value .
i f
I I
No net external torque acts on the student-st
i f
ool system. Thus the
angular momentum of the system remains unchanged.
Angular momentum at : Angular momentum at :
Since 1
i i i i f f f f
i i
i f i i f f f i f f i
t L I t L I
I I
L L I I I I
I I
e e
e e e e e
= =
= = = < >
i
e >
f f
I I
The rotation rate of the student in fig.b is faster
25
2
1 2 kg m
Sample Problem 11-7:
I =
2
1.2 kg.m
2 3.9 rad/s
6.8 kg.m
wh
wh
b
I
I
e t
=
=
=
?
b
b
e =
y-axis
2
i f wh wh b b wh
L L L L L L L = = + =
2 2 1.2 2 3.9
2 2 1.4 rad/s
6.8
wh wh
b b wh wh b
b
I
I I
I
e t
e e e t

= = = =
26
Problem 60. A horizontal platform in the shape of a circular disk rotates on a frictionless
bearing about a vertical axle through the center of the disk. The platform has a mass of
150 kg, a radius of
2
2.0 m, and a rotational inertia of 300 kgm about the axis of rotation.
A 60 kg student walks slowly from the rim of the platform towrd the center.
If the angular speed of the system is 1.5 rad/s when the student starts at the rim,
what is the angular speed when she is 0.5 m from the center?
The initial rotational inertia of the system is I
i
= I
disk
+ I
student
, where I
disk
= 300 kg m
2
(which, incidentally, does agree with Table 10-2(c)) and I
student
= mR
2
where m = 60 kg ( , y, g ( ))
student
g
and R = 2.0 m.

The rotational inertia when the student reaches r = 0.5 m is I
f
= I
disk
+ mr
2
. Angular
momentum conservation leads to
I I
I mR
I mr
i i f f f i
e e e e = =
+
+
disk
disk
2
2


which yields, for e
i
= 1.5 rad/s, a final angular velocity of e
f
= 2.6 rad/s.
27
Rotational Motion
Analogies betwee
Translati
n translational and r
onal Moti
otational M
on
otion


x
v
u
e

2 2


a
p
mv I
o
e

2


2



mv
K
m
I
K
I
e
=

=
F ma =


F
P Fv
I
P
t o
t
te =

=
=



net net
P Fv
dp
F
dt
d
t
P
d
te
t = =

p mv = L Ie =
28