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Physics 111: Lecture 17, Pg 1
Physics 111: Lecture 17Physics 111: Lecture 17
Today’s AgendaToday’s Agenda Rotational Kinematics
Analogy with one-dimensional kinematics
Kinetic energy of a rotating system Moment of inertiaDiscrete particlesContinuous solid objects
Parallel axis theorem
Physics 111: Lecture 17, Pg 2
RotationRotation
Up until now we have gracefully avoided dealing with the rotation of objects. We have studied objects that slide, not roll.We have assumed pulleys are without mass.
Rotation is extremely important, however, and we need to understand it!
Most of the equations we will develop are simply rotational analogues of ones we have already learned when studying linear kinematics and dynamics.
Physics 111: Lecture 17, Pg 3
Lecture 17, Lecture 17, Act 1Act 1RotationsRotations
Bonnie sits on the outer rim of a merry-go-round, and Klyde sits midway between the center and the rim. The merry-go-round makes one complete revolution every two seconds.Klyde’s angular velocity is:
(a)(a) the same as Bonnie’s (b)(b) twice Bonnie’s
(c)(c) half Bonnie’s
Physics 111: Lecture 17, Pg 4
Lecture 17, Lecture 17, Act 1Act 1RotationsRotations
The angular velocity of any point on a solid object rotating about a fixed axis is the same.Both Bonnie & Klyde go around once (2 radians) every two seconds.
(Their “linear” speed v will be different since v = r).
BonnieKlyde V21V
Physics 111: Lecture 17, Pg 5
Rotational Variables.Rotational Variables.
Rotation about a fixed axis:Consider a disk rotating about
an axis through its center:
First, recall what we learned aboutUniform Circular Motion:
(Analogous to )
dtd
dtdxv
Spin round
blackboard
Physics 111: Lecture 17, Pg 6
Rotational Variables...Rotational Variables...
Now suppose can change as a function of time: We define the
angular acceleration:
2
2
dtd
dtd
Consider the case when is constant. We can integrate this to find and as a function of time:
t
0
constant
200 2
1 tt
Physics 111: Lecture 17, Pg 7
Rotational Variables...Rotational Variables...
Recall also that for a point at a distance R away from the axis of rotation:x = Rv = R
And taking the derivative of this we find:a = R
R
v
x 2
00
0
t21t
t
constant
Physics 111: Lecture 17, Pg 8
Summary Summary (with comparison to 1-D kinematics)(with comparison to 1-D kinematics)
Angular Linear
constant
t0
0 021
2t t
constanta
v v at 0
x x v t at 0 021
2
And for a point at a distance R from the rotation axis:
x = Rv = Ra = R
Physics 111: Lecture 17, Pg 9
Example: Wheel And RopeExample: Wheel And Rope A wheel with radius R = 0.4 m rotates freely about a fixed axle. There is a rope wound around the wheel. Starting from rest at t = 0, the rope is pulled such
that it has a constant acceleration a = 4 m/s2. How many revolutions has the wheel made after 10 seconds? (One revolution = 2 radians)
aa
R
Physics 111: Lecture 17, Pg 10
Wheel And Rope...Wheel And Rope... Use a = R to find :
= a / R = 4 m/s2 / 0.4 m = 10 rad/s2
Now use the equations we derived above just as you would use the kinematic equations from the beginning of the semester.
rev80radrot
21x rad500
20 t
21t = 0 + 0(10) + (10)(10)2 = 500 rad2
10
aa
R
Physics 111: Lecture 17, Pg 11
Rotation & Kinetic EnergyRotation & Kinetic Energy
Consider the simple rotating system shown below. (Assume the masses are attached to the rotation axis by massless rigid rods).
The kinetic energy of this system will be the sum of the kinetic energy of each piece:
rr1
rr2rr3
rr4
m4
m1
m2
m3
Physics 111: Lecture 17, Pg 12
Rotation & Kinetic Energy...Rotation & Kinetic Energy...
So: but vi = ri
rr1
rr2rr3
rr4
m4
m1
m2
m3
vv4
vv1
vv3
vv2
K m vi ii
12
2
K m r m ri ii
i ii
12
12
2 2 2
which we write as:
K 12
2I
I m ri ii
2
Define the moment of inertiamoment of inertiaabout the rotation axis I has units of kg m2.
Physics 111: Lecture 17, Pg 13
Rotation & Kinetic Energy...Rotation & Kinetic Energy...
The kinetic energy of a rotating system looks similar to that of a point particle:
Point ParticlePoint Particle Rotating System Rotating System
K 12
2I
I m ri ii
2
K mv12
2
v is “linear” velocitym is the mass.
is angular velocityI is the moment of inertiaabout the rotation axis.
Physics 111: Lecture 17, Pg 14
Moment of InertiaMoment of Inertia
Notice that the moment of inertia I depends on the distribution of mass in the system.The further the mass is from the rotation axis, the bigger the moment of inertia.
For a given object, the moment of inertia will depend on where we choose the rotation axis (unlike the center of mass).
We will see that in rotational dynamics, the moment of inertia I appears in the same way that mass m does when we study linear dynamics!
K 12
2I I m ri ii
2Inertia Rods
So where
Physics 111: Lecture 17, Pg 15
Calculating Moment of InertiaCalculating Moment of Inertia
We have shown that for N discrete point masses distributed about a fixed axis, the moment of inertia is:
I m ri ii
N2
1
where r is the distance from the mass to the axis of rotation.
Example: Calculate the moment of inertia of four point masses(m) on the corners of a square whose sides have length L, about a perpendicular axis through the center of the square:
mm
mm
L
Physics 111: Lecture 17, Pg 16
Calculating Moment of Inertia...Calculating Moment of Inertia...
The squared distance from each point mass to the axis is:
mm
mm
Lr
L/2
2L
2L2r
222
2Lm4
2Lm
2Lm
2Lm
2LmrmI
22222N
1i
2ii
so
I = 2mL2
Using the Pythagorean Theorem
Physics 111: Lecture 17, Pg 17
Calculating Moment of Inertia...Calculating Moment of Inertia...
Now calculate I for the same object about an axis through the center, parallel to the plane (as shown):
mm
mm
L
r
4Lm4
4Lm
4Lm
4Lm
4LmrmI
22222N
1i
2ii
I = mL2
Physics 111: Lecture 17, Pg 18
Calculating Moment of Inertia...Calculating Moment of Inertia...
Finally, calculate I for the same object about an axis along one side (as shown):
mm
mm
L
r
2222N
1i
2ii 0m0mmLmLrmI
I = 2mL2
Physics 111: Lecture 17, Pg 19
Calculating Moment of Inertia...Calculating Moment of Inertia...
For a single object, I clearly depends on the rotation axis!!
L
I = 2mL2I = mL2
mm
mm
I = 2mL2
Physics 111: Lecture 17, Pg 20
Lecture 17, Lecture 17, Act 2Act 2Moment of InertiaMoment of Inertia
A triangular shape is made from identical balls and identical rigid, massless rods as shown. The moment of inertia about the a, b, and c axes is Ia, Ib, and Ic respectively.Which of the following is correct:
(a)(a) Ia > Ib > Ic
(b)(b) Ia > Ic > Ib
(c)(c) Ib > Ia > Ic
a
b
c
Physics 111: Lecture 17, Pg 21
Lecture 17, Lecture 17, Act 2Act 2Moment of InertiaMoment of Inertia
a
b
c
Label masses and lengths:
m
m m
L
L
Ia m L m L mL 2 2 82 2 2
Calculate moments of inerta:
Ib mL mL mL mL 2 2 2 23
Ic m L mL 2 42 2
So (b) is correct: Ia > Ic > Ib
Physics 111: Lecture 17, Pg 22
Calculating Moment of Inertia...Calculating Moment of Inertia...
For a discrete collection of point masses we found:
For a continuous solid object we have to add up the mr2 contribution for every infinitesimal mass element dm.
We have to do anintegral to find I :
I m ri ii
N2
1
r
dm
I r dm2
Physics 111: Lecture 17, Pg 23
Moments of InertiaMoments of Inertia
Some examples of I for solid objects:
Thin hoop (or cylinder) of mass M and radius R, about an axis through its center, perpendicular to the plane of the hoop.
I MR 2
R
I 12
2MRThin hoop of mass M and radius R, about an axis through a diameter.
R
Hoop
Physics 111: Lecture 17, Pg 24
Moments of Inertia...Moments of Inertia...
Some examples of I for solid objects:
Solid sphere of mass M and radius R, about an axis through its center.
I 25
2MR
R
I 12
2MR
R
Solid disk or cylinder of mass M and radius R, about a perpendicular axis through its center.
Sphere and disk
Physics 111: Lecture 17, Pg 25
Lecture 17, Lecture 17, Act 3Act 3Moment of InertiaMoment of Inertia
Two spheres have the same radius and equal masses. One is made of solid aluminum, and the other is made from a hollow shell of gold.Which one has the biggest moment of inertia about an axis through its center?
same mass & radius
solid hollow
(a) solid aluminum(b) hollow gold (c) same
Physics 111: Lecture 17, Pg 26
Lecture 17, Lecture 17, Act 3Act 3Moment of InertiaMoment of Inertia
Moment of inertia depends on mass (same for both) and distance from axis squared, which is bigger for the shell since its mass is located farther from the center.The spherical shell (gold) will have a bigger moment of inertia.
same mass & radius
ISOLID < ISHELL
solid hollow
Physics 111: Lecture 17, Pg 27
Moments of Inertia...Moments of Inertia...
Some examples of I for solid objects (see also Tipler, Table 9-1):
Thin rod of mass M and length L, about a perpendicular axis through its center.
I 1
122ML
L
Thin rod of mass M and length L, about a perpendicular axis through its end.
I 13
2ML
L
Rod
Physics 111: Lecture 17, Pg 28
Parallel Axis TheoremParallel Axis Theorem
Suppose the moment of inertia of a solid object of mass M about an axis through the center of mass, ICM, is known. The moment of inertia about an axis parallel to this axis but a distance D away is given by:
IPARALLEL = ICM + MD2
So if we know ICM , it is easy to calculate the moment of inertia about a parallel axis.
Physics 111: Lecture 17, Pg 29
Parallel Axis Theorem: ExampleParallel Axis Theorem: Example
Consider a thin uniform rod of mass M and length D. Figure out the moment of inertia about an axis through the end of the rod.
IPARALLEL = ICM + MD2
L
D=L/2M
xCM
ICM ML1
122We know
IEND ML M L ML
112 2
13
22
2So
which agrees with the result on a previous slide.
ICMIEND
Physics 111: Lecture 17, Pg 30
Connection with CM motionConnection with CM motion
Recall what we found out about the kinetic energy of a system of particles in Lecture 15:
2CM
2iiNET MV
21um
21K
KREL KCM
KREL CM12
2I
For a solid object rotating about its center of mass, we now see that the first term becomes:
2iiREL um
21K Substituting ii ru
2ii
2REL rm
21K but CM
2ii rm I
Physics 111: Lecture 17, Pg 31
Connection with CM motion...Connection with CM motion...
So for a solid object which rotates about its center or mass and whose CM is moving:
2CM
2CMNET MV
21
21K I
VCM
We will use this formula more in coming lectures.
Physics 111: Lecture 17, Pg 32
Recap of today’s lectureRecap of today’s lecture
Rotational Kinematics (Text: 9-1) Analogy with one-dimensional kinematics
Kinetic energy of a rotating system Moment of inertia (Text: 9-2, 9-3, Table
9-1)Discrete particles (Text: 9-3)Continuous solid objects (Text: 9-3)
Parallel axis theorem (Text: 9-3)
Look at textbook problems Look at textbook problems Chapter 9: # 7, 11, 27, 31, 33, 37