Dynamics of Rotation

TORQUE
It is the turning moment of a force on the body on which it acts.
The torque is equal to the product of the force and the
perpendicular distance from any point O to the line of action of the
force. Mathematically, torque,
T = F × l
where F = Force acting on the body, and
l = Perpendicular distance between the point O and line of action of
the force (known as arm or leverage).

Notes:
1. The units of torque depend upon the units of force and leverage. If
the force is in N and leverage in mm, then the unit of torque will be
N-mm. Similarly, if the force is in kN and leverage in m, then the
unit of torque will be kN-m.
2. The magnitude of the moment of a force is numerically equal to
that of the torque, if the force and the arm is the same. The term
torque is used for the moment of a force in the motion of rotation.
WORK DONE BY A TORQUE
Consider a body pivoted at O. Let a tangential force P be applied at a distance r from the pivot as
shown in Fig. As a result of the force, let the body rotate through a small angle (θ) in radians.
We know that the length of the arc AB = r θ
and work done by the force P in rotating the body from A to B = P (AB) = P (r θ) = Pr (θ)
But (P × r) is equal to the torque (T). Therefore work done by a torque is equal to the torque (T)
multiplied by the angular displacement (θ) in radians.
ANGULAR MOMENTUM
It is the total motion possessed by a rotating body and is expressed mathematically as : Momentum = Mass
moment of inertia × Angular velocity = I ω
NEWTON’S LAWS OF MOTION OF ROTATION
Following are the three Newton’s Laws of Motion of Rotation :
1. Newton’s First Law of Motion of Rotation states, “Every body continues in its state of rest or of uniform
motion of rotation about an axis, unless it is acted upon by some external torque”.
2. Newton’s Second Law of Motion of Rotation states, “The rate of change of angular momentum of a body
is directly proportional to the impressed torque, and takes place in the same direction in which the
torque acts”.
3. Newton’s Third Law of Motion of Rotation states, “To every torque, there is always an equal and opposite
torque.”
MASS MOMENT OF INERTIA
we have discussed the moment of inertia of plane figures such as T-section, I-section, L-section etc. But
in this chapter, we shall discuss the moment of inertia of solid bodies or mass moment of inertia. The
mass moment of inertia of a solid body about a line is equal to the product of mass of the body and
square of the distance from that line. Mathematically :
I = m1 r1 2 + m2r22 + m3 r 2 + ......
= Σ mr2
where m1, m2, m3 ...... are the masses of the various elements of a body and r1, r2, r3 ...... are distances
of the various elements from the fixed line about which the moment of inertia is required to be found
out. In the following pages, we shall discuss the mass moment of inertia of the bodies, which are
important from the subject point of view.
 MASS MOMENT OF INERTIA OF A UNIFORM THIN ROD ABOUT THE MIDDLE AXIS
PERPENDICULAR TO THE LENGTH

Consider a uniform thin rod AB of length 2l as shown in Fig.

Let m = Mass per unit length of the rod.
∴ Total mass of the rod ; M = 2 ml
Now consider a small strip of length dx at a distance x from the mid-point O. We know that
the mass moment of inertia of the strip about O
= (m dx) x2 = mx2 dx ...(i)
The mass moment of inertia of the whole rod may be found out by integrating the above
equation for the whole length of the rod i.e. from – l to + l. Therefore
 MASS MOMENT OF INERTIA OF A UNIFORM THIN ROD ABOUT ONE
OF THE ENDS PERPENDICULAR TO THE LENGTH

Consider a uniform thin rod AB of length 2l as shown in Fig.

Let m = Mass per unit length of the rod.
∴ Total mass of the rod ; M = 2 ml
Now consider small strip of length dx at a distance x from one of the ends (say A) as shown in
Fig. 31.3. We know that the mass moment of inertia of the strip about A
= (m dx) x2 = mx2 dx ...(i)
The mass moment of inertia of the whole rod may be found out by integrating the above
equation for the whole length of the rod i.e. from 0 to 2l. Therefore
MASS MOMENT OF INERTIA OF A THIN CIRCULAR RING
KINETIC ENERGY OF ROTATION
Energy is the capacity to do some work. Though the energy exists in many forms,
yet the kinetic energy is important from the subject point of view. The kinetic
energy of rotation, possesed by a body for doing work by virture of its motion of
rotation.
Now consider a rotating body, which is brought to rest by a uniform angular
retardation due to some torque.
Let I = Mass moment of inertia of the body, and
ω = Angular velocity of the body.
The *kinetic energy of rotation,
E = I ω2/2
 TORQUE AND ANGULAR ACCELERATION
Consider a body rotating about its axis.
Let M = Mass of the body
ω = Angular velocity of the body
α = Angular acceleration of the body, and
T = Torque acting on the body
Now split up the body into a number of small particles of mass m1, m2, m3, ...at
distance of r1, r2, r3, ...from the axis about which the body is rotating. We know
that the linear acceleration of the particle of mass m1 = r1α
∴ Force acting on this particle = Mass × Acceleration = m1(r1α)
and moment of this force about the axis
= m1 (r1α) r1 = m1r12α
This equation is analogous to the equation for the kinetic energy of translation i.e.
E = mv 2 /2 N-m
Similarly, moment of the force for particles of mass m2 = m2r22α
∴ Total moment for all the particles (i.e. torque)
T = Σ m1r12α = α Σ m1r12
But Σm1r12 is the* mass moment of inertia (if r is taken as the radius of gyration). Therefore
T = Iα