chapters 10, 11 rotation and angular momentum. rotation of a rigid body we consider rotational...
TRANSCRIPT
Chapters 10, 11
Rotation and angular momentum
Rotation of a rigid body
• We consider rotational motion of a rigid body about a fixed axis
• Rigid body rotates with all its parts locked together and without any change in its shape
• Fixed axis: it does not move during the rotation
• This axis is called axis of rotation
• Reference line is introduced
Angular position
• Reference line is fixed in the body, is perpendicular to the rotation axis, intersects the rotation axis, and rotates with the body
• Angular position – the angle (in radians or degrees) of the reference line relative to a fixed direction (zero angular position)
Angular displacement
• Angular displacement – the change in angular position.
• Angular displacement is considered positive in the CCW direction and holds for the rigid body as a whole and every part within that body
if
Angular velocity
• Average angular velocity
• Instantaneous angular velocity – the rate of change in angular position
dt
d
tt
0lim
ttt if
ifavg
Angular acceleration
• Average angular acceleration
• Instantaneous angular acceleration – the rate of change in angular velocity
dt
d
tt
0lim
ttt if
ifavg
Rotation with constant angular acceleration
• Similarly to the case of 1D motion with a constant acceleration we can derive a set of formulas:
Relating the linear and angular variables: position
• For a point on a reference line at a distance r from the rotation axis:
• θ is measured in radians
rs
Relating the linear and angular variables: speed
• ω is measured in rad/s
• Period
rs dt
dsv
dt
dr
r
v
rT
2
dt
rd )(
2
Relating the linear and angular variables: acceleration
• α is measured in rad/s2
• Centripetal acceleration
dt
dvat
dt
dr
r
r
vac
2
r
r 2)(
dt
rd )(
r2
Rotational kinetic energy
• We consider a system of particles participating in rotational motion
• Kinetic energy of this system is
• Then
i
iivmK
2
2
i
iivmK
2
2
i
iii rm
2
)( 2 i
ii rm 22
)(2
Moment of inertia
• From the previous slide
• Defining moment of inertia (rotational inertia) as
• We obtain for rotational kinetic energy
2
2IK
i
ii rmK 22
)(2
i
ii rmI 2)(
Moment of inertia: rigid body
• For a rigid body with volume V and density ρ(V) we generalize the definition of a rotational inertia:
• This integral can be calculated for different shapes and density distributions
• For a constant density and the rotation axis going through the center of mass the rotational inertia for 8 common body shapes is given in Table 10-2 (next slide)
volume
dVrI 2 dmr 2
Moment of inertia: rigid body
Moment of inertia: rigid body
• The rotational inertia of a rigid body depends on the position and orientation of the axis of rotation relative to the body
Chapter 10Problem 25
Four equal masses m are located at the corners of a square of side L, connected by essentially massless rods. Find the rotational inertia of this system about an axis (a) that coincides with one side and (b) that bisects two opposite sides.
Parallel-axis theorem
• Rotational inertia of a rigid body with the rotation axis, which is
perpendicular to the xy plane and
going through point P:
• Let us choose a reference frame, in which the center of mass coincides with the origin
volumevolume
dmrdVrI 22
dmrI 2
Parallel-axis theorem
dmbyax ])()[( 22
dmyx )( 22 dmba )( 22
ydmbxdma 22
MdmyjxirCM /)ˆˆ(
0/ˆˆ Mydmjxdmi
dmrI 2
Parallel-axis theorem
dmbyax ])()[( 22
dmyx )( 22 dmba )( 22
R dmR )( 2 dmh )( 2
CMI 2Mh
2MhII CM
Parallel-axis theorem
2MhII CM
Chapter 10Problem 51
A uniform rectangular flat plate has mass M and dimensions a by b. Use the parallel-axis theorem in conjunction with Table 10.2 to show that its rotational inertia about the side of length b is Ma2/3.
Torque
• We apply a force at point P to a rigid body that is
free to rotate about an axis passing through O
• Only the tangential component Ft = F sin φ of the
force will be able to cause rotation
Torque
• The ability to rotate will also depend on how far from the rotation axis the force is applied
• Torque (turning action of a force):
• SI unit: N*m (don’t confuse with J)
))(sin())(( rFrFt
Torque
• Torque:
• Moment arm: r┴= r sinφ
• Torque can be redefined as:
force times moment arm
τ = F r┴
))(sin())(( rFrFt )sin)(( rF
Newton’s Second Law for rotation
• Consider a particle rotating under the influence of a force
• For tangential components
• Similar derivation for rigid body
rFt
I
rmat rrm )( )( 2mr I
Newton’s Second Law for rotation
I
i
i
Chapter 10Problem 57
A 2.4-kg block rests on a slope and is attached by a string of negligible mass to a solid drum of mass 0.85 kg and radius 5.0 cm, as shown in the figure. When released, the block accelerates down the slope at 1.6 m/s2. Find the coefficient of friction between block and slope.
Rotational work
• Work
• Power
• Work – kinetic energy theorem
dsFdW t rdFt d f
i
dW
dt
dWP
WII
K if 22
22
dt
d
Corresponding relations for translational and rotational motion
Smooth rolling
• Smooth rolling – object is rolling without slipping or bouncing on the surface
• Center of mass is moving at speed vCM
• Point of momentary contact between the two
surfaces is moving at speed vCM
s = θR
ds/dt = d(θR)/dt = R dθ/dt
vCM = ds/dt = ωR
Rolling: translation and rotation combined
• Rotation – all points on the wheel move with the
same angular speed ω
• Translation – all point on the wheel move with the
same linear speed vCM
Rolling: translation and rotation combined
22
22CMCM MvI
K
Rolling: pure rotation
• Rolling can be viewed as a pure rotation around the
axis P moving with the linear speed vcom
• The speed of the top of the rolling wheel will be
vtop = (ω)(2R)
= 2(ωR) = 2vCM
Friction and rolling
• Smooth rolling is an idealized mathematical description of a complicated process
• In a uniform smooth rolling, P is at rest, so there’s no tendency to slide and hence no friction force
• In case of an accelerated smooth rolling
aCM = α R
fs opposes tendency to slide
Rolling down a ramp
22
22ff
i
IMvMgh
2
22
22 MR
Ivvgh ff
i
IMR
MRghv i
f
2
22
Chapter 10Problem 39
What fraction of a solid disk’s kinetic energy is rotational if it’s rolling without slipping?
Vector product of two vectors
• The result of the vector (cross) multiplication of two vectors is a vector
• The magnitude of this vector is
• Angle φ is the smaller of the two angles between and
cba
sinabc
b
a
Vector product of two vectors
• Vector is perpendicular to the plane that contains vectors and and its direction is determined by the right-hand rule
• Because of the right-hand rule, the order of multiplication is important (commutative law does not apply)
• For unit vectors
)( baab
c
b
a
ii ˆˆ 0 kkjj ˆˆˆˆ
ji ˆˆ k̂ ikj ˆˆˆ jik ˆˆˆ
Vector product in unit vector notation
)ˆˆˆ()ˆˆˆ( kbjbibkajaiaba zyxzyx
ibia xxˆˆ
jbia yxˆˆ
kabbajabba
iabbaba
yxyxxzxz
zyzy
ˆ)(ˆ)(
ˆ)(
)ˆˆ( iiba xx 0
)ˆˆ( jiba yx kba yxˆ
Torque revisited
• Using vector product, we can redefine torque (vector) as:
Fr
Fr
Fr
sinrF Fr sin
Angular momentum
• Angular momentum of a particle of mass m and
velocity with respect to the origin O is defined as
• SI unit: kg*m2/s
)( vrmprL
v
Newton’s Second Law in angular form
)( vrmprL
v
dt
rd
dt
vdrm
dt
Ld
vvarm
arm
amr
netFr
i
iFr
i
i net
netdt
Ld
Angular momentum of a system of particles
n
nLL
n
n
dt
Ld
dt
Ld
n
nnet ,net
netdt
Ld
Angular momentum of a rigid body
• A rigid body (a collection of elementary masses
Δmi) rotates about a fixed axis with constant angular
speed ω
• For sufficiently symmetric objects:
IL
Conservation of angular momentum
• From the Newton’s Second Law
• If the net torque acting on a system is zero, then
• If no net external torque acts on a system of particles, the total angular momentum of the system is conserved (constant)
• This rule applies independently to all components
netdt
Ld
0dt
Ld
constL
constLxxnet 0,
Conservation of angular momentum
constIL
iiI ffI
Conservation of angular momentum
constL
More corresponding relations for translational and rotational motion
Chapter 11Problem 28
A skater has rotational inertia 4.2 kg·m2 with his fists held to his chest and 5.7 kg·m2 with his arms outstretched. The skater is spinning at 3.0 rev/s while holding a 2.5-kg weight in each outstretched hand; the weights are 76 cm from his rotation axis. If he pulls his hands in to his chest, so they’re essentially on his rotation axis, how fast will he be spinning?
Questions?
Answers to the even-numbered problems
Chapter 10
Problem 240.072 N m⋅
Answers to the even-numbered problems
Chapter 10
Problem 302.58 × 1019 N m⋅
Answers to the even-numbered problems
Chapter 10
Problem 40hollow
Answers to the even-numbered problems
Chapter 11
Problem 1669 rad/s; 19° west of north
Answers to the even-numbered problems
Chapter 11
Problem 18(a) 8.1 N m kˆ⋅(b) 15 N m kˆ⋅
Answers to the even-numbered problems
Chapter 11
Problem 241.7 × 10-2 J s⋅
Answers to the even-numbered problems
Chapter 11
Problem 26(a) 1.09 rad/s(b) 386 J
Answers to the even-numbered problems
Chapter 11
Problem 30along the x-axis or 120° clockwise from the x-axis
Answers to the even-numbered problems
Chapter 11
Problem 4226.6°