PHYS 1441 – Section 001

Lecture #15
Wednesday, Mar. 28, 2007

• Center of Mass (CM)

• CM of a group of particles
• Fundamentals on Rotation
• Rotational Kinematics
• Relationships between linear and
angular quantities

Monday April 2, 2007 1

 Review of Mechanics
• Definition of units of measure,
scalars, vectors
• Kinematics: displacement, velocity,
acceleration
• Dynamics: Newton’s laws of
inertia, forces, action-reaction
• Newton’s law of universal
gravitational attraction
• Work,
Monday energy, power, conservation2
April 2, 2007
 Center of Mass
We’ve been solving physical problems treating
objects as sizeless points with masses, but in
realistic situation objects have shapes with
masses distributed
Center of throughout
mass of a system the position
is the average body. of
the system’s mass and represents the motion of the
system as if all the mass is on the point.
What does above The total external force exerted on
statement tell you the system of total mass M causes
the center of massa =to∑move F / M at an
concerning forces
acceleration given by
being exerted on as if all the mass of the system
the system? is concentrated on the center of
Consider a massless rod with two balls
m1 m2 attached
mass.
at either end.
x1 x2 The position of the center of mass
of this system is the mass
xCM
m x + mof
averaged position 2 x2the CM
system
is closer
xCM ≡ 1 1
m1 + m2 to the heavier
Monday April 2, 2007 object 3
 Center of Mass of a Rigid Object
The formula for CM can be expanded to Rigid
Object or a system of many particles

m x + m x + ⋅ ⋅ ⋅ + mn xn ∑mx i i ∑m y i i ∑m z i i
xCM = 11 2 2 =i
yCM = i
zCM = i

m1 + m2 + ⋅ ⋅ ⋅ + mn ∑m i
i ∑m i
i ∑m i
i

The position r CM = xCM i + yCM j + zCM k = ∑m x i

i i i +∑mi yi j + ∑mi zi k
i i

vector of the ∑m
∑
i
mi r i i

center of mass of r CM = i
a many particle M
∑ ∆mi xi
system isA rigid body – an object xCM ≈ i

∆mi M
with shape and size with
ri mass spread throughout ∑∆m x i i
1
rCM the body, ordinary objects – xCM = lim i
= ∫ xdm
∆m →0 i M M
can be considered as a
group of particles with 1
mass mi densely spread
Monday April 2, 2007
r CM =
M ∫ rdm
4
throughout the given shape
 Example 7-11
Thee people of roughly equivalent mass M on a
lightweight (air-filled) banana boat sit along the x
axis at positions x1=1.0m, x2=5.0m, and x3=6.0m.
Find the position of CM.
Using the
formula for
CM
∑m x i i
xCM = i

∑m i
i

M 1.0  M 5.0  M 6.0 12.0M

   4.0(m)
M M M 3M
Monday April 2, 2007 5
 Example for Center of Mass
A system consists ofin 2-D
three particles as shown in
the figure. Find the position of the center of mass
of this system.
Using the formula for CM
y=2m (0,2)
1 for each position vector
component
∑ mi xi ∑ mi yi
(0.75,4)
xCM = i
yCM = i
rCM ∑m i ∑m i
(1,0) (2,0) i i

m2 m3
x=1 x=2 One =
( m2 + 2m3 ) i + 2m1 j
r CM = xCM i + yCM j
obtains m1 + m2 + m3
∑m x m x + m x + m x
i i
m2 + 2m3
xCM = m = m + m + m
i 1 1 2 2 3 3
=
If m1 = 2kg ; m2 = m3 = 1kg
∑ i
i 1 2 3 m1 + m2 + m3

∑m y i i
m1 y1 + m2 y2 + m3 y3 2m1 3i + 4 j
yCM = mi
= = r CM = = 0.75i + j
∑ i
i
m1 + m2 + m3 m1 + m2 + m3 4
Monday April 2, 2007 6
 Motion of a Diver and the
Center of Mass
Diver performs a simple
dive.
The motion of the
center of mass follows
a parabola since it is a
projectile motion.
Diver performs a
complicated dive.
The motion of the center
of mass still follows the
same parabola since it
The
still ismotion of the
a projectile motion.
Monday April 2, 2007
center of mass of the 7
diver is always the
 Center of Mass and Center of
Gravity CM
The center of mass of any symmetric
object lies on an axis of symmetry and
on any plane of symmetry, if object’s Axis of
mass is evenly One can use
distributed gravity to locate CM.
throughout symmet
How do you think
the 2. Hang the object by one pointryand
you body.
can determine
draw a vertical line following a plum-
the CM of objects
bob.
that are not
symmetric? 3. Hang the object by another point and
Sincedoathe same.
rigid object can be considered
Center of 4. collection
The point where themasses,
two linesone
meet is
as of small
Gravity can the
see CM.
the total gravitational force
∆mi
exerted on the ∆
object as
Fg =∑ F =
i
i ∑
m g =M g
i
i

The net effect of these small

∆mig What does
gravitational forces is equivalent
this equation
to a single force acting on a
tell you?
Monday April 2, 2007 point (Center of Gravity) with8
The CoG is the point in an object as if all the
mass M.
 Motion of a Group of Particles
We’ve learned that the CM of a system can represent
the motion of a system. Therefore, for an isolated
system of many particles in which the total mass M
r
is preserved, the velocity, total momentum,
r r

 r CM   1  1  r i  mi v i
Velocity of the 
v CM system
acceleration of the t

 are
M
 mi r i 
  mi 
system t M t M
Total
p CM = M v CM = M ∑ mv
=∑mv =∑ p i i = p tot
Momentum M
i i i

of the r r
r 
system
Acceleratio
a CM 
v CM    1
  mi vi   1 vi
 i t =
m m a i i

n of the t t  M M M
system
ur
External force ∆ p tot What about
exerted on the
∑F ext = M a CM = ∑ mi a i 
t the internal
system ur forces?
F ext = 0   ptot
System’s
If net external ∑ t
p tot = const momentum is
force is 0
Monday April 2, 2007 conserved. 9
 Fundamentals on Rotation
Linear motions can be described as the
motion of the center of mass with all the mass
of the object concentrated on it.
Is this still No, because different parts of the
true for object have different linear
rotational velocities and accelerations.
Consider a motion of a rigid body –
motions?
an object that does not change its
shape – rotating about the axis
perpendicular
The arc length,toisthe lplane
 R of
rotation. l
  θ, is
Therefore the angle, .
R
And the unit of the angle is in
One radian is the angle radian (dimensionless).
swept by an arc length equal to
the radius
Since of the arc.
the circumference of a 360 = 2πr / r = 2π
circle is 2πr,
The relationship between radian 1 rad = 360 / 2π = 180 / π
andApril
Monday degrees
2, 2007 is ≅ 180o 3.14 ≅ 57.3o 10
 Example 8-1
A particular bird’s eyes can just distinguish objects that
subtend an angle no smaller than about 3x10-4 rad. (a)
How many degrees is this? (b) How small an object can
the bird just distinguish when flying at a height of 100m?
(a) One radian is 360o/2π.
4
3  10 rad
Thus  3 
 10 4
rad 
 360 o

2 rad  0.017 o

(b) Since l=rθ and for

small angle arc length is
approximately the same
l  r 
as the chord length.
4
100m  3 10 rad 
2
Monday April 2, 2007
3 10 m  3cm 11
Angular Displacement, Velocity, and
Acceleration
Using what we have learned in the
previous slide, how would you define
∆θ =θ f − θ i
the angular displacement?
θ f − θ i ∆θ
How about the average ω≡ = θf
angular speed? t f − ti ∆t
Unit rad/ θi
? s ∆θ dθ
And the instantaneous ω≡ lim =
∆t →0 ∆t dt
angular speed?
Unit rad/
? the ssame token, the
By ω f − ωi ∆ω
α≡ =
average angular acceleration t f − ti ∆t
Unit rad/
And
? the s2 instantaneous ∆ω dω
α≡
lim =
angular acceleration?
Unit rad/ ∆t →0 ∆t dt
? s2
When rotating about a fixed axis, every particle on a rigid
object rotates through the same angle and has the same
angular speed
Monday April 2, 2007and angular acceleration. 12
 Rotational Kinematics
The first type of motion we have learned in linear
kinematics was under a constant acceleration. We
will learn about the rotational motion under
constant angular acceleration about a fixed
rotational axis, because these are the simplest
Just like the
motions casecases.
in both in linear motion,
one can obtain
Angular Speed under
constant angular
ω ωf = α i + t
acceleration: 1 2
Angular displacement θ f = θi + ωi t + αt
under constant 2
angular acceleration:
One can also obtain
f
2 2
(
ω = ωi + 2α θ f − θi )
Monday April 2, 2007 13
 Example for Rotational
A wheel rotatesKinematics
with a constant angular
acceleration of 3.50 rad/s2. If the angular speed of
the wheel is 2.00 rad/s at ti=0, a) through what
angle does the wheel rotate in 2.00s?
Using the angular displacement formula in the
previous slide, one gets
1 2
θ f −θi  t   t
2
1
= 2.00 × 2.00 + 3.50 × ( 2.00) = 11.0rad
2

2
11.0
= rev. = 1.75rev.
2π
Monday April 2, 2007 14
 Example for Rotational
Kinematics cnt’d
What is the angular speed
at t=2.00s?
Using the angular speed and
acceleration relationship
ω f = ω i + αt = 2.00 + 3.50 × 2.00 = 9.00rad / s

Find the angle through which the wheel

rotates between t=2.00 s and t=3.00 s.
1
Using the angular θ f − θ i = ωt + αt 2
kinematic formula  
1
  11.0rad 2
At t 2 2.00  2.00 3.50 2.00
2
t=2.00 1
2.00  3.00 3.50   3.00   21.8rad
2
At  t 3 
s 2
t=3.00 10.8
Angular ∆ θ = θ 3 − θ = 10 .8 rad = rev. = 1.72rev.
s
displacem
2 2π
Monday April 2, 2007 15
ent
 Relationship Between Angular and
Linear Quantities
What do we know about a rigid
object that rotates about a fixed axis
Every particleof(or
rotation?
masslet) in the
object moves in a circle centered at
the axis of rotation.
When a point rotates, it has both linear and
angular motion components in its motion. The
What is the linear component of the motiondirectio
you
n of ω
see?
Linear velocity along the follows
a right-
tangential direction.
How do we related this linear hand
component of the motion with angular rule.
The arc- l  Rcomponent?
So the tangential v  l    r   r  = rω
t t t
length is speed v is
What does this relationship Although every particle in the object
tell you about the tangential has the same angular speed, its
speed of the points in the tangential speed differs proportional
object and their angular
Monday April 2, 2007
to
Theitsfarther
distance
away from the axis
the particle is of 16
speed?: rotation.
from the center of rotation, the
 Is the lion faster than the horse?
A rotating carousel has one child sitting on a horse
near the outer edge and another child on a lion
halfway out from the center. (a) Which child has the
greater liner speed? (b) Which child has the greater
angular speed? (a) Linear speed is the distance
traveled divided by the time
interval. So the child sitting at
the outer edge travels more
distance within the given time
than the child sitting closer to
the center. Thus, the horse is
(b) Angular speed is the faster than
angle the lion.
traveled divided by the
time interval. The angle both the child travel in
the given time interval is the same. Thus, both the
horse
Monday and
April 2, 2007 the lion has the same angular speed. 17