Combined Rotation & Translation / Rolling Motion

By: Mr. L. M. Patel

In this type of motion, the axis of rotation is not stationary. If a body rotates about an axis with
angular velocity  then the linear velocity of any particle located at a distance r from the axis of
rotation, measured with respect to the axis of rotation
r r r
v = ω× r
r
If the axis of rotation also moves with velocity v o with respect to a frame of reference, then the
velocity of the particle relative to that frame will be
r r r r
v = ω × r + vo

Rolling Motion
r
If velocity of the surface on which a body is rolling is v s (with respect to a frame) and R is the
radius of the body, which is rotating with an angular velocity ω around an axis, then the
condition for pure rolling is,
r r r r
ω × R + vo = vs
r
where v o is the velocity of the axis with respect to the frame.
r
If v s = 0 then the condition for rolling is vo =  R

Illustration: A cylindrical drum, pushed along by L

a board rolls forward on the
ground. There is no slipping at any
contact. Find the distance moved
by the man who is pushing the
board, when axis of the cylinder
covers a distance L.

Solution : Let vo be the linear speed of the axis of the cylinder and  be its angular
v
speed about the axis. As it does not slip on the ground hence  o .
R
Where R is the radius of the cylinder.
Speed of the topmost point is v = v o + ωR
v = vo + R = vo
Since time taken by the axis to move a
distance L is equal to t = L/vo.
In the same interval of time distance moved by
the topmost point is
L v = v o − ωR
S = vo × = 2L
vo
As there is no slipping between any point of contact hence distance moved
by the man is L.
Energy of a rolling body

The translational K.E. of a rolling body

1
= K.E. t = mv 2
2 v
and, the rotational K.E. of a rolling body ω O
1
= K.E.r = I0 ω 2
2
v
Since we know that I0 = mk 2 and for rolling ω =
r
1  v2  1 k2
⇒ K.E.r = mk 2  2  = 2 mv 2 ...(b)
2 r  2 r
 
Therefore, the total K.E. of the rolling body = K.E. = K.E.t + K.E.r
Putting v = r ω for rolling, we obtain the total K.E. in terms of ω as
1  k2  1
K.E. = m (r ω ) 2  1+ 2  ⇒ K.E. = (mr 2 + mk 2 ) ω 2
2  r  2
Since mk 2 = M.I. of a body about its center of mass O = IO
⇒ mk 2 +mr 2 =I0 +mr 2 =IP where IP =M.I. of the body about P.

Therefore we conclude that, the combined effects of translation of center of mass of a body
and its rotation about an axis passing through the c.m. are equivalent to its pure rotation about
an axis passing through the point of contact P, of the rolling body.
K.E. t
% energy of translation = × 100
K.E.

=
( )
1 mv 2
2 ×100 =
r2
×100
 2
 k 2 +r 2
1 mv 2  1+ k 
( )
2  r2 
 
similarly,
k2
% energy of rotation = 2 2 × 100
k +r

Illustration: A thin hollow sphere of mass m = 2kg, radius = 1/2 m rolling on a

horizontal surface with a constant frequency n = 60 rpm. Find the total
mechanical energy of the hollow sphere.
1
Solution : Translation K.E. = K.E. t = mv 2
2
1
Rotational K.E. = K.Er = Iω
2
1 1
⇒ Total energy E = K.E.t + K.E.r = mv 2 + Iω2
2 2
2 2
For rolling v =r ω, & I = mr we obtain
3
 1 1 2 
⇒ E = m(r ω)2 +  mr 2 ω2
2 2 3 
1  2 5
⇒ E = mr 2 ω 2  1+  = mr 2 ω 2
2  3 6
10
⇒ E = (5 / 6 )mr 2 (2 π n) 2 = m π 2r 2n 2
3
2 2
10  1   60 
⇒ E= (2 kg)( 3.14) 2  m  
3  2   60 sec 
⇒ E = 16.35 J.

Role of friction in rolling motion

If a body rolls without slipping such that the velocity of its centre of mass does not change then
no frictional force acts on the body.
However, If a force acts on the body, the velocity of its centre of mass or its angular velocity
about the centre changes and, there is a tendency of the body to slide at its point of contact.
Thus, friction force acts on the body to oppose this tendency to slide.

Rolling on inclined plane

METHOD - I (Force- torque method)

When a body rolls without slipping along an inclined plane, there are three forces acting on the
body
(1) mg - weight
() N - Normal reaction
(3) f – static friction
Force Equation :
Suppose that the body accelerates down the plane with an y
acceleration a.
⇒ The net force parallel to the plane f ω
x
Fx = (mgSin θ − f ) = ma ...(i)
Since the body does not move perpendicular to the plane, the net N a
force acting on it along the perpendicular is zero. mg
⇒ Fy = N − mg cos θ = 0 ...(ii) θ

Torque Equation:
r r
Since mg & N pass through the centre O of the rolling body, torque
about O due to these is zero. The torque due to friction, clockwise
ω
about O is o v
τ = fr sin90 0 = fr r
f
We know that τ = Icm, α = Ioα
⇒ fr = Ioα ...(iii) P
Constraint :

Pure rolling implies that the point of contact P does not slide. It means that both velocity as well
as acceleration of P relative to the plane must be zero, i.e. vP=0 and ap= 0.
r r r
We know that, aP = a O + a PO
⇒ aP = [ao − aPO] putting aP = 0
aP = 0, we obtain 0 = aO − aPO ⇒ aPO = aO
⇒ r α =a ...(iv)
a
Putting α = from (iv) and Io = mk in (iii) ω
r
a aPO = rα O
we obtain fr = mk 2 . a
r P
mk 2
⇒ f = 2 a ...(v) a0 = a
r
Acceleration :

By putting the value of f from (v) in (i) we obtain,

mk 2
mg sin θ − 2 a = ma
r
gsinθ
⇒ a=
 k2 
1 + 
 r2 
 

Minimum friction required to sustain rolling :

Putting the obtained value of a in (v) we get,

mg sin θ
f=
r2
1+ 2
k
mgsinθ
⇒ f=
 r2 
 1+ 
 k2 
 
where f = the minimum friction required to sustain rolling. The maximum value of static friction
fmax = µ N. Putting N = mg cosθ, we obtain fmax = µmgcosθ

Minimum coefficient of friction for sustained rolling

Since f ≤ fmax , putting the value of f & fmax
mg sin θ
we obtain ≤ µ mg cos θ
 r2 
 2 + 1
k 
tan θ
⇒ ≤µ
 r2 
1 + 2 
 k 
 tan θ tan θ
⇒ µ≥ ⇒ µ min =
 r  2
r2
 1+ 2  1+ 2
 k  k

If µ < µ min , sliding occurs along with rotation.

METHOD - 2 ( Energy method)

We see that, the point of contact P does not slide in pure rolling. That means the point of
application of frictional force f, does not move. Therefore, the work done by the friction is zero
in pure rolling. That is why the total mechanical energy of the rolling body remains constant. The
total energy of the rolling body between two positions 1 & , remains conserved. We obtain,
( ∆PE)1 = 2 + ( ∆KE)1 = 2 = 0
1  k2  1
⇒ − mgh + mv 2  1+ 2  = 0
2  r 
h l
2gh h
⇒ v=
k2 2
1+ 2
r a
θ
( ∆ K.E) 1 = 2 = K.E.2 − K.E.1
v
1  k  2
= mv 2 1+ 2  − 0
2  r 
1  k2 
= mv 2  1 + 2 
2  r 
Using linear kinematics,
We obtain v 22 = v 12 + 2 al
2gh
putting v 2 = v = = & h = l sin θ , we obtain a.
k2
1+ 2
r

Illustration : A uniform disc of mass m and radius R rolls

without slipping up a rough inclined plane at
an angle of 300 with the horizontal. If the
coefficient of static and kinetic friction are
each equal to µ and the only force acting on
θ
the disc are gravity and friction, then find the
direction and magnitude of the friction force
acting on it.

Solution : Since disc does not slip friction is static F.B.D. of the disc.
and static friction can have any value
between 0 and N. omponent of mg
parallel to the plane is mgsin which is
opposite to the direction of motion of
 the centre of the disc, and hence speed N
of the centre of mass decreases. For
pure rolling the relation vc.m.= R must α
be obeyed. Therefore must
ƒ
decrease. Only friction can provide a
mgsinθ
θ
torque about the centre.
mgcosθ
θ
θ mg

r
Torque due to friction must be opposite to the ω . Therefore frictional force
will act up the plane.
Now, for translational motion
mg sin- f = mac.m. . . . .(i)
For rotational motion
fR = I, where I = M.I. of the disc about centre.
a
= I cm, as a = R
R
fR 2
⇒ ac.m. = . . . (ii)
I
From (i) and (ii) we get,
mg sin θ
ƒ=
mR 2
1+
I
Putting the value of and I we get
ƒ = mg/6

Illustration 13 : A solid cylinder of mass m and radius r starts rolling down an inclined plane of
inclination . Friction is sufficient to prevent slipping. Find the speed of its
centre of mass when, its centre of mass has fallen a height h.

Solution : onsidering the two shown positions of

the cylinder. As it does not slip hence 1
total mechanical energy will be h
conserved. 2
Energy at position 1 is E1 = mgh θ

1 1
Energy at position  is E = mv c2.m. + Ic.m.ω2
2 2
2
v c.m. mr
Q = ω , and Ic.m. =
r 2
3
⇒ E = mv c2.m.
4
From OE, E1 = E
4
⇒ vc.m. = gh
3
Note: In the previous example we used conservation principles, while in the one before we
used Newton’s laws. Either one leads to the correct result, it is only a matter of convenience
as to which method we choose. onservation of angular momentum also helps in tackling
problems concerning collisions of rolling bodies. Applying the principle of conservation of
angular momentum about the point of collision helps to eliminate the external torques due
to large impulsive forces.