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Rotational Motion
We have already studied the rotation of a point mass. Presently, we are going to analyse the rotation of a
rigid body. Let us consider the example of a disc of radius R and mass M rotating about a fixed axis passing
through its centre as shown :
This rotating disc can be imagined as a group of infinite point masses revolving in
circles. The points which are at different distances from axis are moving with
different speeds in circles of different radii. The time period (T) and the angular
velocity ( ) of revolution ( 2 / T ) are same for each point as all of them
complete one revolution in same time interval. For example, a point at a distance
r from the axis is rotating with speed r while a point on the circumference of
the disc is rotating with speed R. Points on the axis are at rest. Points on the
circumference have maximum tangential velocities.
If the disc is rotating with constant angular velocity , its angular displacement in
time interval t is simply given by t.
If the disc is rotating with changing angular velocity, the rate of change of angular
velocity is known as angular acceleration ( ). If is the change in angular
velocity in t , then :
(units of : rad/ s 2 )
t
If the angular velocity of rotation varies with time, the magnitude of tangential velocity (v r ) for each
point in the disc also changes with time. The rate of change of magnitude of tangential velocity is known as
tangential acceleration (at ) given as :
v
at r at r
t t
Note : , are same for all particles in the body while v and at are different for different points. For a point at a
distance r from the axis, v r and at r
i t 1 / 2 t 2
2f i2 2
Note : These relations can be easily compared with those in uniformly accelerated linear motion. i.e.,
v u at ; s ut 1/ 2at 2 ; v 2 u 2 2as
, , can be clockwise or anti-clockwise. We can take one direction as positive and the other
direction as negative.
and are always in same direction.
and are opposite if the rotating body slows down. (compare with the case of retardation in linear
motion)
Illustration - 1 A wheel is rotating at the rate of 50 rev/min in the anti-clockwise direction. What should
be the magnitude and direction of the angular acceleration of the wheel so that it stops in 8 s ? How many
revolutions will it cover before stopping ?
SOLUTION :
f i 0 5 / 3 5 2f i2 0 5 / 3
2
rad/ s 2
t 8 24
2 2 5 / 24
20
radians.
3
10
Number of revolutions of revolutions Hence it completes (3 + 1/3) revolutions before
2 3 stopping.
anti-clockwise.
Illustration - 2 A flywheel of radius 30 cm starts from rest and accelerates with constant angular accel-
eration of 0.5 rad/s2. Compute the tangential, radial and resultant accelerations of a point on its circumfer-
ence :
(a) Initially at = 0° and (b) After it has made one third of a revolution.
SOLUTION :
(a) At the start : (b) After 120(2 / 3) :
0.5 rad / s 2
2f i2 2 0 2(0.5) (2 / 3)
R = 0.3 m
i 0 rad / s 2
f rad/ s
3
Radial acceleration ar 2 R 0 m / s
ar 2 R 2 / 3(0.3) / 5 m / s 2
Tangential acceleration at R
= (0.3) (0.5) = 0.15 m/s2 at R (0.3) (0.5) 0.15 m / s 2
Net acceleration = anet
2 2
anet = ar2 at2 0.15
= ar2 at2 02 0.152 = 0.15 m/s2 25
= 0.646 m/s2
Illustration - 3 A wheel mounted on a stationary axle starts at rest and is given the following angular
acceleration : 9 1t (in SI units )
where t is the time after the wheel begins to rotate. Find the number of revolutions that the wheel turns before
it stops (and begins to turn in the opposite direction).
SOLUTION :
The kinematic equations do not apply because the We find the elapsed time t between
angular acceleration is not constant.
0 0 and 0 by substituting these values :
We start with the basic definition : d / dt
0 - 0 = 9t -6t2
to write
Solving for t, we obtain t = 9/6 = 1.50s
t t 2
0 0 dt 0 9 12t dt 9t 6t From d / dt , we have
(in SI units) 0
t t
0 0
dt 9t 6t 2 dt 4.5 t 2 2t 3
3.375
No. of revolution 0.53
Substituting 0 0 and t = 1.5s, we obtain 2
2
2
The expression m1 r1 m 2 r2 ..... is known as moment of inertia of the system about the correspond-
ing axis. It is denoted by I.
I = m1r12 + m2 r22 + m3 r32 + .............
I m r2
Hence kinetic energy of the system 1 / 2 I 2
I r 2 dm
Keep in mind that here the quantity r is the perpendicular distance to an axis, not the distance to an origin.
To evaluate this integral, we must express dm in terms of dr.
Note : Comparing the expression of rotational kinetic energy with 1/2 mv2, we can say that the role of moment of
inertia (I) is same in rotational motion as that of mass in linear motion. It is a measure of the resistance
offered by a body to a change in its rotational motion .
Radius of Gyration :
If M is the mass and I is the moment of inertia of a rigid body, then the radius of gyration (k) of a body is
given by :
I
k
M
I = Mk2
2. Hollow Cylinder :
I = MR2
M 2
I
12
M 2
I
3
6. Cuboid ( l × b × h) :
Axis through centre and parallel to the height (h) :
M 2 2
I
12
b
Same result will apply for a thin plate also ( h 0) .
and be are perpendicular to the axis of rotation.
Ip = Icm + Md2
MR2 = 2 Ix
MR 2
Ix = Iy =
2
Illustration - 6 Find the moment of inertia of a circular disk or solid cylinder of radius R about the axis
through the center and perpendicular to the flat surface.
SOLUTION :
Illustration - 7 Find the moment of inertia of a uniform solid sphere of mass M and radius R about a
diameter
SOLUTION :
The sphere may be divided into disks perpen-
dicular to the given axis, as shown in fig. The
disk at a distance x from the center of the sphere
has radius r = (R2 - x2 )1/2 and a thickness dx.
R
dm ( R 2 x 2 ) dx 1 2 1 8
R 4 x R2 x3 x5 R5
2 3 5 R 15
From the last example, the moment of inertia
of this elemental disk is The to tal mass of the sphere is
M = (4/3 R3), so the moment of inertia may
dI = 1/2 dm r2 1 / 2 (R2 - x2)2 dx
be written as :
I = 2/5 MR2.
Illustration - 8 A disc of mass m and radius R has a concentric hole of radius r. Its moment of inertia
about an axis through its centre and perpendicular to its plane is :
1 1 1 1
(A)
2
2
m R r (B)
2
m R 2 r 2 (C) 2
2
m R r (D)
2
m R2 r 2
SOLUTION :
M 4 4
Let mass per unit area = R r
R r
2 2 2
If we fill the hole with mass densities
and then the system can be treated as
a combination of two discs of radii r and R and
densities and
I = I1 + I2
1 1
M 1R12 M 2 R22
2 2
M R4 r 4 M 2 2
1 1 R r
r 2 r 2 R 2 R 2 2 R r
2 2 2
2 2
Illustration - 9 The radius of gyration of a solid sphere of radius R about a certain axis is R. The distance
of this axis from the centre of the sphere is :
(A) R (B) 0.5 R (C) 0.6 R (D) 0.4 R
SOLUTION :
I I CM Md 2 (parallel axis theorem)
2
MK 2 MR 2 Md 2 (But K = R)
5
2
MR 2 MR 2 Md 2
5
d 0.6 R
L r mv
where r = position vector of the particle ; v = velocity
(b) For a particle moving in a circle of radius r with a speed v, its linear momentum is mv, its angular
momentum (L) is given as :
L m v r mvr
(c) For a rigid body (about a fixed axis)
L = sum of angular momenta of all particles
= m1v1r1 + m2 v2 r2 + m3 v3 r3 + . . . . .
L I
(compare with linear momentum p = mv in linear motion)
L is also a vector and its direction is same as that of (i.e., clockwise or anticlockwise)
Illustration - 10 A body of mass m is moving with a constant velocity along a line parallel to the x-axis,
away from the origin. Its angular momentum with respect to the origin
(A) is zero (B) remains constant (C) goes on increasing (D) goes on decreasing
SOLUTION :
L m v r
L = mv (OA)
As OA and v are both contant, the angular momentum remains constant.
Illustration - 11 A particle of mass 1 kg is moving along the line y = x + 2 (here, x and y are in meters) with
speed 2 m/s. The magnitude of angular momentum of particle about origin is :
(A) 4 kg m 2 / s (B) 2 2 kg m 2 / s (C) 4 2 kg m 2 / s (D) 2 kg m 2 / s
SOLUTION :
L m v r L 1 kg 2m / s 2 m
|0 0 2|
where r 2 L 2 2 kg m 2 / s
2 2
1 1
Illustration - 12 A particle of mass m is projected with a velocity v0 making an angle of 45° with the
horizontal. The magnitude of the angular momentum of the projectile about the point of projection when the
particle is at its maximum height h is :
SOLUTION :
L0 m v r
Couple
A pair of two equal and opposite forces acting along parallel lines but
having different lines of action constitutes a couple.
Moment of couple or torque F
= (force) × (perpendicular distance between forces)
W F r.
W
dW d
Power =
dt dt
Newton’s IInd Law for Rotation
According to Newton’s IInd Law of rotation :
The rate of change angular momentum of a body is equal to the net torque acting on it.
L
t
I
t
t
I
Note : This important equation I can be compared with Newton’s IInd Law of motion (F = ma). Hence in
rotation, torque ( ) plays the role corresponding to force in linear motion.
Illustration - 13 A grind-stone is in the form of a solid cylinder has a radius of 0.5 m and a mass 50 kg.
(a) What torque will bring it from rest to an angular velocity of 300 rev/min in 10 s ?
(b) What is the kinetic energy when it is rotating at 300 rev/min ?
SOLUTION :
Let i 0 rad / s , (b) Kinetic energy of a rotating body
(RKE) :
f 2 (300 / 60) 10 rad / s 2
1 2 1 1
RK E I MR 2 2
f i 10 0 2 2 2
(a) rad / s 2
t 10 1 1 2 2
50 0.5 10
1 2
2 2
Torque required = I MR
2 R K E = 3084 J
Illustration - 14 Calculate the torque developed by an airplane engine whose output is 2000 hp at an
angular velocity of 2400 rev/min.
SOLUTION :
2 (2400 / 60) 80 rad / s. Power = work done per sec
t
Power
Work done by torque
2000 746
= (torque) × (angular displacement) 5937 Nm
80
Illustration - 15 In the given figure, calculate the linear acceleration of the blocks.
Mass of block A = 10 kg
Mass of block B = 8 kg
Mass of disc shaped pulley = 2 kg
(take g = 10 m/s2)
SOLUTION :
Let R be the radius of the pulley and T1 and T2 Let m1 = 10 kg ; m2 = 8 kg ; M = 2 kg.
be the tensions in the left and right portions of Let a be the acceleration of blocks.
the string.
1
(iii) T2 R T1R = MR 2
2
The linear acceleration of blocks is same as
the tangential acceleration of any point on the
circumference of the pulley which is R .
(iv) a R
Dividing (iii) by R and adding to (i) and (ii),
For the blocks (linear motion) M
m2g - m1 g = m2a + m1a + R
2
(i) T1 - m1g = m1a
M
(ii) m2g - T2 = m2a m2 g m1g m2 m1 a
2
m2 m1
a g
For the pulley (rotation) M
m2 m1
2
Net torque I
10 8 g
20
m / s2
=
2 19
10 8
2
Illustration - 16 A uniform rod of length L and mass M is pivoted freely at one end.
(a) What is the angular acceleration of the rod when it is at angle to the vertical ?
(b) What is the tangential linear acceleration of the free end when the rod is horizontal ? The moment of
inertia of a rod about one end is 1/3 ML2.
SOLUTION :
The Figure shows the rod at an angle to the
vertical.
If we take torques about the pivot we need not
be concerned with the force due to the pivot.
The torque due to the weight is mgL/2 sin,
so the second law for the rotational motion is When the rod is horizontal / 2 and
3g/ 2 L.
mgL ml 2
sin The tangential linear acceleration of the free end
2 3
is
3g sin
Thus 3g
2L at L
2
1 2 1
K MVCM I CM 2
2 2
where VCM = velocity of the centre of mass
ICM = moment of inertia about CM
= angular velocity of rotation
Instantaneous Velocity of a point
All points on a rigid body have instantaneous velocity v that is the vector sum of two velocities : the velocity
Vcm of the CM plus the tangential velocity Vt of the point relative to CM (at right angles to the radius vector
r of the point drawn from the CM). For a point A,
V A V CM V t
And Vt is directed along the tangent to the circular trajectory about CM.
Vcm r
Acm r
Another feature of rolling without slipping is that the instantaneous velocity of the point of contact with the
surface is always zero. The highest point Q has a velocity Vcm r 2r
Illustration - 17 A rigid body of radius of gyration k and radius R rolls (without slipping) down a plane
inclined at an angle with horizontal. Calculate its acceleration and the frictional force acting on it.
SOLUTION :
When the body is placed on the inclined plane, v R and ACM R
it tries to slip down and hence a static friction f
acts upwards. This friction provides a torque Solve the following three equations for a and
which causes the body to rotate. Let ACM be f:
the linear acceleration of centre of mass and mg sin f ma
be the angular acceleration of the body.
fR mk 2
From force diagram :
For linear motion parallel to the plane ACM R
mg sin f ma mg sin
g sin f
ACM and
k2 R2
For rotation around the axis through centre of 1 1
mass R2 k2
Net torque I f R (mk 2 ) We can also derive the condition for pure
rolling (rolling without slipping) :
To avoid slipping , f s N
g sin
s mg cos
1 R2 / k 2
tan
s
R2
1
k2
As there is no slipping, the point of contact of
the body with plane is instantaneously at rest. This is the condition on µs so that the body rolls
without slipping.
Illustration - 18 A solid cylinder rolls down an inclined plane of height h and inclination . Calculate its
speed at the bottom of the plane using acceleration-method and energy-method. Also calculate the time
taken to reach bottom.
SOLUTION :
Energy Method :
Let VCM , be the velocity of centre of mass
and the angular velocity of cylinder respectively
at the bottom of the plane.
As the cylinder rolls down without rubbing, NO
energy is lost due to friction as heat.
Loss in G.P.E. = gain in KE
2
mgh
1 2
mVCM
1
I 2
Using VCM 02 2 ACM S
2 2
as down the plane
As the cylinder is rolling without slipping, (taking downward direction positive)
h
VCM R v 0 2a
sin
2
1 2 1 mR 2 VCM
mgh mVCM 2 2 h 4gh
2 2 2 R 2 g sin
3 sin 3
4 gh
VCM Time to reach bottom = t
3
Illustration - 19 A solid cylinder of mass m = 4 kg and radius R = 10 cm has two ropes wrapped around it,
one near each end. The cylinder is held horizontally by fixing the two free ends of the cords to the hooks on the
ceiling such that both the cords are exactly vertical. The cylinder is released to fall under gravity. Find the
tension in the cords when they unwind and the linear acceleration of the cylinder.
SOLUTION :
Also, the linear acceleration of cylinder is same
Let ACM = linear acceleration of CM. as the tangential acceleration of any point on its
angular acceleration of the cylinder.. surface.
CM 0 0 2 2
t = same for all = A
CM g sin
Hence all the bodies will slip down with same
acceleration and no spin. where length of the incline.
D is correct .
Illustration - 21 A solid sphere, a hollow sphere and a disc, all having same mass and radius, are placed at
the top of an incline and released. The friction coefficients between the objects and the incline are same and
not sufficient to allow pure rolling. Least time will be taken in reaching the bottom by
(A) the solid sphere (B) the hollow sphere (C) the disc (D) all will take same time
SOLUTION :
Due to slipping, kinetic friction k mg cos
will act on all.
Illustration - 22 In the previous question, the smallest kinetic energy at the bottom of the incline will be
achieved by
(A) the solid sphere (B) the hollow sphere
(C) the disc (D) all will achieve same kinetic energy
SOLUTION :
As CM mg cos R I CM
1 2 1
KE MVCM ICM 2
mgR cos gR cos 2 2
2
mk k2 1 1 gR cos 2 t 2
2
MACM t 2 Mk 2
will be different for each one of the bodies 2 2 k4
and hence they will gain different angular velocities
1 1 M
at the bottom of the plane given by : 2
MACM t2
2
gR cos 2 t 2
2 2 k
0 t
KE will be least for the body whose k2 is greatest.
gR cos t Hence hollow sphere will have least KE.
0
k2 B is correct .
SOLUTION :
For rolling without slipping, (velocity of P)2 = (VCM r cos ) 2 ( r sin ) 2
VCM r 2
VCM (1 cos ) 2 V 2 sin 2 (as r VCM )
2 2
= 4VCM sin
2
velocity of P 2VCM sin
2
SOLUTION :
Velocity of any point in the ring is the vector
sum of V CM and the tangential velocity R
due to spin about CM.
V A VCM R 2VCM 1
2
m V A2 VD2 2 VB2
2
VB VCM R 2 2 2 VCM 2 1
mVCM ICM 2
2 2
2
VD VCM R 2 2 2 VCM 1 2
m 4 2 4 VCM
2
1 1 1 1 2 2
Ktotal mVA2 mVD2 2m VB2 K ring 2 VCM
2 2 2 m VCM R 6m V 2
2 R2 CM
J dt
J Fr dt
F dt r
J I r (Compare with Fr to remember)
dp
dt
dt
dp
p
I p
( Li ) p ( L f ) p
Illustration - 25 A billiard ball, initially at rest, is given a sharp impulse by a rod. The rod is held horizontally
at a height h above the centre of the ball. The ball immediately begins to roll without slipping after the
impact. Calculate the height h in terms of the radius of the ball.
SOLUTION :
The horizontal force creates a linear impulse
and angular impulse.
I Fdt
J dt Ih
Linear impulse = change in linear momentum Dividing (ii) by (i) we get :
I MVCM 0 . . . .(i) 2Mr 2
h (Using VCM r )
Angular impulse about CM = change in angular 5MVCM
momentum 2
h r
2 5
J Ih mr 2 0 . . . .(ii)
5
Illustration - 26 In a “zero - g” environment, a thin uniform rod of length is initially at rest with
respect to an inertial frame of reference. The rod is tapped at one end perpendicular to its length. How far
does the center of mass translate while the rod completes one revolution about its center of mass ?
SOLUTION : Impulse on the rod :
The “impulsive tap” delivered perpendicularly dP
F
to the rod at one end gives some linear dt
momentum to the CM of the rod and also some
angular momentum about the CM.
Using Impulse-Momentum equation, Let t be the time required for one complete
I MVCM 0 revolution of 2 rad. Multiplying both sides
by t gives
M 2
I 0 2
2 12
VCM t t
2 12
M 2
MVCM X CM
2 12
6
X CM as 2
3
Illustration - 27 A turntable rotates about a fixed vertical axis, making one revolution in 10 s. The moment
of inertia of the turntable about the axis is 1200 kg m2. A man of mass 80 kg initially standing at the centre
of the turntable, runs out along a radius. What is the angular velocity of the turntable when the man is 2m
from the centre ?
SOLUTION :
Illustration - 29 A small block of mass 4 kg is attached to a cord passing through a hole in a horizontal
frictionless surface. The block is originally revolving in a circle of radius of 0.5 m about the hole, with a
tangential velocity of 4 m/s. The cord is then pulled slowly from below, shortening the radius of the circle in
which the block revolves. The breaking strength of the cord is 600 N. What will be the radius of the circle
when the cord breaks ?
SOLUTION :
T2 600 N
mv1r1 = mv2r2 and T2 = mv22/r2
r2 T2
mv1 r1 m r2
m
The tension of the rope is the only net force on
1/ 3 1/ 3
the block and it does not exert any torque about mv 2 r 2 4 16 0.25
the axis of rotation. Hence the angular momentum r2 1 1
of the block about the axis should remain T2 600
conserved. 1/ 3
16
m v r constant r2 3. 0 m
600
Let r1 = 0.5 m and v1 = 4 m/s.
Note :The tension in the string is inversely proportional
Let r2, v2, T2 be the radius, velocity and tension
to the cube of the radius.
when the string breaks.
Illustration - 30 A horizontal disc rotates freely about a vertical axis through its centre. A ring, having the
same mass and radius as the disc, is now gently placed on the disc. After some time, the two rotate with a
common angular velocity.
Which of the following are true :
(A) Some friction exists between the disc and the ring
(B) The angular momentum of the ‘disc plus ring’ is conserved
2
(C) The final common angular velocity is rd of the initial angular velocity of the disc
3
2
(D) rd of the initial kinetic energy changes to heat
3
SOLUTION : (ABD)
(A) As the ring is placed on the rotating disc, they
rub against each other exerting kinetic friction
as shown. This kinetic friction produces torque
which opposes the motion of the disc and slows
it down to angular velocity . The kinetic friction
on the ring accelerates it from rest to final
angular velocity . When for both becomes
same, they stop rubbing.
MR 2 2 MR 2 2
(C) I disc 0 0 I disc I ring 0 MR 2 0
2 2 9
( MR 2 / 2) 0 0 1
2
MR / 2 MR 2
3
3
MR 2 02
20 2 1 2 2 2
MR 0 K i
3 3 2 3
Illustration - 31 A uniform rod AB of mass m and length l is at rest on a smooth horizontal surface. An
impulse I is applied to the end B perpendicular to the rod in horizontal direction. Speed of particle P at a
ml
distance l/6 from the centre towards A of the rod time t is :
12 I
I I I I
(A) 2 (B) (C) (D) 2
m 2m m m
SOLUTION :
Using impulse-momentum equations, In the final position of rod,
I = MVCM – 0
M 2
I 0
2 12
I
VCM
M
6I
and
M 2 2
VP2 VCM
2
M 36
After time t
12 I I2 36 I 2 2 2I 2
VP2
M 6I M2 36 M 2 2 M2
t
12 I M 2
2I
Thus the rod has rotated through a right angle. VP D is correct.
M
Example - 1 The end A of the rod AB is being pulled on the floor with a
constant velocity v0 as shown. Taking the length of the rod as , Calculate :
(a) The velocity of end B (b) The angular velocity of the rod
(c) The velocity of the CM of the rod at the instant when 37.
SOLUTION :
Let OA = x, OB = y d v0 5v
0
dt sin 37 3
x 2 y 2 2 and x cos .
x
(c) xCM
(a) Differentiate x 2 y 2 2 with respect to time. 2
1 dx v0
2x
dx
2y
dy
0
VCM x
2 dt 2
dt dt
y
dy x dx 4 yCM
VB VA cot V0 2
dt y dt 3
1 dy vB 2
(b) Differentiate x cos with respect to time. VCMy v0
2 dt 2 3
dx d
sin v02 4v02
dt dt VCM
4 9
d VA
5 4
dt sin v0 at tan 1 below horizontal.
6 3
(negative sign indicates that is decreasing)
SOLUTION :
Let T be the tension in the string and f be the force of (static) friction between the cylinder and the surface.
Vm VCM r
Taking derivatives,
a ACM r …(iv)
We also have : (for rolling without slipping)
ACM r …(v)
Multiply (i) by r, (ii) by 2r and add to (ii).
ACM acceleration of the CM of cylinder
2 mgr MACM r 2 m a r 1 / 2 Mr 2
towards right
angular acceleration o f cylinder From (iv) and (v), we have a 2r ,
(clockwise) ACM r
T f M ACM …(i)
2mgr Mr 2 4mr 2 1 / 2Mr 2
Taking torque about the CM,
4mg
Tr fr 1 / 2 Mr 2 …(ii) 3M 8m r
The acceleration of falling mass m is :
mg T ma …(iii)
8mg
The string attaches the mass m to the highest a 2r
point of the cylinder. 3M 8 m
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SOLUTION :
1 2 1
As the cylinder rotates about the edge, its CM mgr 1 cos mVCM I CM 2
moves along a circular arc of radius r centred at 2 2
the edge. Let N be the normal reaction from
where VCM r
edge at the instant when cylinder has rotated
through an angle . Combine all the three equations to get :
4 4
cos 1 and VCM rg
7 7
1
(c) The rotational kinetic energy I CM 2
2
become constant after the cylinder leaves the
mv 2 edge.
mg cos θ N
r
1 11 4 g M gr
At jump off point, N = 0 K rot ICM 2 Mr 2
2 22 7 r 7
Total kinetic energy at the instant when CM is in
mv 2
mg cos horizontal line with edge is K.
r
K = loss in GPE from initial position = m g r
We can also apply conservative of mechanical
energy as there is no slipping. The gravitational mgr 6
K trans mgr K rot mgr mgr
potential energy decreases and hence the kinetic 7 7
energy increases. K trans
6
K rot
SOLUTION :
1 2 1
From A to B mg 10 R mVcm I cm 12
2 1 2
Loss in GPE = gain in KE
For rolling without slipping on a fixed surface.
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Vcm1 R1
(b) From A to Q, mg 9 R r 1 2
mg gain in height mVcm
2 2
2
1 2 1 Vcm2 V 2cm2 5
mvcm I cm h 9R r
2 2 2 r 2g 7
52 R 5r
height above the base R h
7 7
Vcm2 rw2 at Q
Example - 5 The descending pulley (disc shaped) shown in figure
have a radius 20 cm and moment of inertia 0.20 kg-m2. The fixed pulley
is light and the horizontal plane frictionless. Find the acceleration of the
block if its mass is 1.0 kg.
SOLUTION :
Let T1 and T2 be tension in the strings to the left Mg T1 T2 MA …(ii)
and right of the pulley.
Taking torque about CM of the pulley
a = acceleration of block towards right
A = acceleration of CM of pulley downward T2 R T1R I …(iii)
angular acceleration of pulley (anticlock wise) The string attaches the mass m to the left point
of the cylinder.
a A R …(iv)
1
For disc, I MR 2 …(v)
2
We also have : (for right part of the string
A R …(vi)
T1 ma …(i)
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SOLUTION :
2T1 R T2 2 R I …(iii)
For the string winding over smaller part of the
spool, X is at rest.
Acm R …(iv)
And for the string winding over the bigger part of
spool, acceleration of point Y = acc. of block.
Acm : acceleration of CM of spool downward Acm 2 R a …(v)
a: acceleration of block down wards Solving these five equation for a, we get :
Example - 7 A grindstone 1m in diameter, of mass 50 kg, is rotating at 900 rev/min. A tool is pressed
normally against the rim with a force of 200 N, and the grindstone comes to rest in 10 seconds. Find the
coefficient of friction between the tool and the gridstone. Neglect the friction in the bearings.
SOLUTION :
Let coefficient friction between the tool and
the grid stone.
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900 2
red / sec 2 F
60 0 30 t
MR
30 rad/sec (anticlock wise)
30 MR
Final angular velocity f 0 2 Ft
Example - 8 A carpet of mass M made of an inextensible material is rolled along its length in the form
of a cylinder of radius R and is kept on a rough floor. The carpet starts unrolling without sliding on the floor
when a negligibly small push is given to it. Calculate the horizontal velocity of the axis of the cylindrical part
of the carpet when its radius reduces to R/2.
SOLUTION :
At radius is reduced to R/2, mass of rolling
part reduced to M/4
Loss in GPE = gain in KE
M R
MgR g For rolling without slipping,
4 2
R
1 M 2 1 Vcm …(iii)
Vcm I 2 …(i) 2
2 4 2
I = moment of inertia of rolling part Solving these equation, we get :
2
1 M R MR 2 14 g R
Vcm
…(ii) 3
2 4 2 32
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Example - 9 A spherical ball is given a translation velocity equal to v0 and pushed along a horizontal
surface where the coefficient of friction is . Calculate the time after which it begins to roll without sipping.
Also calculate the velocity of entre of mass after it begins to roll without slipping.
SOLUTION :
The point of contact has a forward velocity when We also have v r for pure rolling …(iii)
the ball starts moving. This causes slipping and
hence a kinetic friction equal to mg act in v k2 1
backward direction. This frictional force provides t 0
k 2 r 2 g
where I mk 2
a clock-wise torque and hence the angular
velocity increases from zero in time t. The
same frictional force reduces the linear velocity v0 r 2
and v
of centre of mass from v0 to v in time t. k2 r2
If the ball begins to roll without slipping after time
t, For a solid sphere k 2 2 / 5 r 2
v r 2v0
time (t) = and v 5 / 7 v0
7 g
v v0 gt …(i)
2v0
Using f i t and I for rotation : Hence seconds, the translational speed of
7 g
mgr ball reduces to 5 / 7 v0 and it begins to roll
0 t …(ii)
I without slipping.
V0
Find the value of ration so that sphere comes to rest permently after
r0
some time calculate this time also. The coefficient of friction is .
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SOLUTION :
The point of contact of the sphere and ground is
slipping in forward direction. A kinetic friction acts
in backward direction which causes backward
acceleration of C.M. and clockwise torque.
Therefore, velocity of centre of mass and angular
velocity both decrease with time. mgr 5 gt
t 0 t 0 0 …(ii)
2 2 2 r
f k mg mACM CM f k r ICM mr
5
Example - 11 A board of mass M, whose upper surface is rough and under surface smooth, rests on a
smooth horizontal plane. A sphere of mass m is placed on the board and the board is suddenly given a velocity
v0 in the direction of its length. Find the time after which the sphere begins pure rolling, if the coefficient of
friction between the board and the sphere is .
SOLUTION :
Let a be the acceleration of block of mass M. Let ACM be the acceleration of C.M. of sphere. Let be the
angular acceleration of sphere.
VP VQ
VCM r v …(i)
(i) f k Ma (ii) f k MACM
mg
a ACM g
M
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m 2
v t v0 gt …(ii) ICM Mr 2
M 5
Solving, (i), (ii), (iii) and (iv) we get :
VCM t 0 gt …(iii)
v
mgr t
t 0 t …(iv) 7 m
ICM g
2 M
SOLUTION :
h
2 / 5 mR 2 0
After time t : V 9 v0 R
mv0 7
Combining all the equations,
2
2 R 0
v0 …(i) 9 9v 2R
5h V v0 v0 0 0
7 7R 5
As linear velocity increase to 9/7 v0, friction must
be in forward direction and hence oppose angular [Eliminating g t from (ii) and (iii)]
motion.
Substitute for v0 from I.
For linear motion :
friction (mgR) increase velocity. 2 2 R 20 9 2 R0 2 R
0
7 5 h 7 5h 5
(a = g) (t = time taken to start rolling)
V = V0 + gt …(ii) 4R
h .
5
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Example - 13 A man of mass 100 kg stands at the rim of a turntable of radius 2 m and moment of inertia
4000 kg.m2 mounted on a vertical frictionless shaft at its centre. The whole system is initially at rest. The man
now walks along the outer edge of turntable with a velocity of 1 m/s relative to the earth.
(a) With that angular velocity and in what direction does the turntable rotates ?
(b) Through what angle will it have rotated when the man reaches his initial position on the turntable ?
(c) Through what angle will it have rotated when the man reaches his initial position relative to earth ?
SOLUTION :
Let the man be moving anti-clockwise 2 mt t t (where t is the time taken)
(a) By conservation of angular momentum on the
2 2 2
man-table system t s
m t 0.5 0.05 0.55
Li L f
angular displacement of table is :
0 0 I m m It t
2
t t t 0.05
I 0.55
t m m where m v / r 1 / 2
It
2
rad/s radians
11
2 1
100 2 2
t 2 The table rotates through radians clockwise.
11
4000
(c) If the man completes one revolution relative to
1 the earth, then :
t rad / s
20
m 2
Thus the table rotates clock-wise (opposite to
man) with angular velocity 0.05 rad/s. time 2 / m 2 / 0.5
(b) If the man completes one revolution relative to During this time, angular displacement of the table
the table, then :
2
mt 2 2 m t t t (time) 0.05
0.5
t / 5 radians.
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Example - 14 Two skaters, each of mass 50 kg, approach each other along parallel paths separated by 3
m. They have equal and opposite velocities of 10 m/s. The first skater carries a long light pole, 3 m long, and
the second skater grabs the end of it as he passes (assume frictionless ice).
(a) Describe quantitatively the motion of the skaters after they are connected by the pole.
(b) By pulling one the pole the skaters reduce their distance apart to 1 m. What is their motion then ?
(c) Compare the KE’s of the system in parts (a) and (b). Where does the change come from ?
SOLUTION :
(a) As the net linear momentum of the system (skater (b) As the separation reduces to 2 ' = 1 m,
+ pole) is zero, the centre of mass will be at rest
before and after the collision. I I ' '
The skaters and the pole will rotate around the (conservation of angular momentum)
centre of mass (at the mid point of the of the
pole). I 2m2
' 9 60 rad/s
Applying the conservation of angular momentum I ' 2m 2
about an axis through C and perpendicular to
the plane of the figure, angular velocity increases
2 1
mv mv I where I 2m I ' ' 2
K .E f 2 ' 2 ' 2
(c) 2 2 9
K .Ei 1 2
2mv / I v / I
2
20 / 3 rad/s.
The kinetic energy increases because the skaters
do positive work in pulling themselves towards
the centre of pole.
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Example - 15 Two uniform thin rods A and B of length 0.6 m each and
of masses 0.01 kg and 0.02 kg respectively are rigidly joined end to end. The
combination is pivoted at the lighter end, P as shown in figure such that it
can freely rotate about the point P in a vertical plane. A small object of mass
0.05 kg, moving horizontally hits the lower end of the combination and sticks
to it. What should be the velocity of the object so that the system could just
be raised to the horizontal position ?
SOLUTION :
[by parallel axis theorem
2
I P ICM M 2 ]
2
Substituting the values in (ii),
= angular velocity of the system after impact. After impact, loss in KE of rod = gain in PE
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Example - 16
A target in a shooting gallery consists of a vertical square wooden board, 0.2 m on a side,
of mass 2kg, and negligible thickness pivoted on an axis along its top edge. It is struck at the centre by a bullet
of mass 5 gm, travelling 300 m/s. The bulled gets embedded in the board.
(a) What is the angular velocity of the board just after bullet’s impact ?
(b) What maximum height above the equilibrium position does the centre of the board reach before starting
to swing down again ?
(c) What bullet speed would be required for the board to swing all the way over after impact ?
SOLUTION :
(b) Loss in K.E. = Gain in P.E.
2
1 1
I A 2 m M m gh
2 2 2
h = 0.0214 m
(c) Loss in K.E. = Gain in P.E.
(a) During ccollision impulse on the system is acting
2
at point A. Angular momentum can be conserved 1 1
I A2 m M m g
only about A. 2 2 2
LA i LA f 24 M m g
4m 3m
m 2
mv 0 IA
2 4
v
4M 3m
(from (i))
6m
6m v
5.6 rad / sec …(i) v = 918 m/sec
4 M 3m
Note that the moment of inertia of the square board will be same as that of a rod of length l as one of
the dimensions of the board perpendicular to the axis is negligible.
Example - 17 A particle of mass m is subject to an attractive central force of magnitude k/r2 where k is
a constant. A the instant when the particle is at an extreme position in its closed elliptical orbit, its distance
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SOLUTION :
1 2 k 1 2 k
mv1 mv2
2 r1 2 r2
From conservation of angular momentum about
C,
m v1 r1 m v2 r2
Let P be the particle and C be the force-centre. We have to find r2. Hence we eliminate v2.
P1 and P2 are its extreme positions at distances
r1 to r2 from C. 2
1 2 k 1 v1 r1 k
mv1 m
k 2 r1 2 r2 r2
We have r1 = a and v1
2ma
k
As the force is directed towards C, torque about Substituting v1 and r1 a
2ma
C is zero.
Hence we will apply conservation of angular 1 k k 1 ma 2 k 1
m
momentum about C and conservation of energy. 2
2 2ma a 2 r2 2ma r2
F k / r2 2
3r2 4ar2 a 2 0
potential energy (U) = -k/r
r2 a,a / 3
(compare the expression of force with
gravitational force) The other extreme positon is at a distance of
From conservation of energy, a/3 from C.
total energy at P1 = total energy at P2 Note : If the mass m is a satellite in an elliptical orbit
around a planet of mass M, then k = GmM and
the planet is at force-centre C.
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Vsep eVapp
VCM v1 ev …(iii)
2
e =1 (Elastic collision)
There is no external impulse on the system.
Soving (i), (ii) and (iii) we get :
Linear momentum is conserved
4m M
and Angular momentum about any point is v1 v
conserved. 4m M
(i) Pi Pf 2m
VCM v
4m M
mv mv1 MVCM …(i)
12m v
(ii) LCM i LCM f about CM of rod.
4m M l
mv
mv 0 1 I …(ii)
2 2 CM
SOLUTION :
When rod is falling freely due to gravity, the only
force acting is that of gravity in vertical direction.
YCM cos
2
External force in horizontal direction = 0
d
VCM ,x remains constant at 0 m/s. VCM sin
2 dt
i.e. C.M. Moves in vertical direction.
VCM sin …(i)
Let VCM be the velocity of CM and be the 2
angular velocity of rod when it make angle with Loss in P.E. = gain in K.E.
the vertical.
Mg 1 cos
2
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1 1
2
MVCM ICM 2 …(ii) g 1 2 2 3 sin 2 1
2 2 1 cos
2 2 12
12 g 1 cos
1 3 sin 2
VCM sin
2
sin 2 sin
Using (i) and (ii) VCM 6 g
1 3 sin2
1 2 2 2
g 1 cos sin 2 2
2 2 4 24
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K K translational K rotation
1 2 1
K MVCM ICM 2
2 2
V A V CM V t
And V t is directed along the tangent to the circular trajectory about CM.
x r
Vcm r
Acm r
Another feature of rolling without slipping is that the instantaneous velocity of the point of contact with
the surface is always zero.
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Linear impulse, I F dt
(i) I p (ii) J L
This equation is usually applied about CM.
If Jp 0
L p 0
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