Slide 7-2

7 Rotational Motion
Slide 7-3
Slide 7-4
Rotation of A Rigid
Body
7.1
Rigid Body: An extend object
whose size and shape do not
change as it moves.

Group Question: Is there
such a thing?
Rotation of A Rigid
Body
7.1
New Model: the Rigid-Body
Model
The assumption is that the
particles that make up the
body all maintain the same
relative position.
Group Question: For what
kinds of things would this
never be true?
Rotation of A Rigid
Body
7.1
New Model: the Rigid-Body
Model
Now we will be able to put
all motion into three groups:
Translation: Chapters 2,3,4,5
Rotation: Chapters 3 & 6
Combination of Rotation and
Translation (Like rolling)
The Rotation of a
Rigid Body
Uniform Rotational Motion of a
Rigid Body.
Every point on a rotating
rigid body has the same
angular velocity.
Does it have the same
speed. (Think about a
record, a merry-go-round or a
microwave turn table.)
So again what is the reason
for measuring motion with
angles instead of with
position?

The Rotation of a
Rigid Body
Angular Acceleration
Just as all objects dont move
in straight lines at constants
speeds. Spinning object dont
just spin at constant speeds.
The change in angular speed
is called the Angular
Acceleration.

i f
i f
t t
t

=
A
A
=
e e
o
e
o
t
v v
x
t a t v x
x a v v
t a t v x
t a v v
i x f x
x f x
x i x f x
x i x
x i x f x
A
+
= A
A A + A =
A + =
A + A + A =
A + =
2
) ( ) (
) ( ) ( 0
2 ) ( ) (
) ( ) ( 0
) ( ) (
2
2
1
2 2
2
2
1
t
t t
t t
t
i f
f
i f
i
i f
A
+
= A
A A + A =
A + =
A + A + A =
A + =
2
) ( 0
2
) ( 0
2
2
1
2 2
2
2
1
e e
u
o e u
u o e e
o e u
o e e
t a v v
Like
t
x i x f x
i f
A + =
A + =
) ( ) (
o e e
2
2
1
2
2
1
) ( ) ( 0
) ( 0
t a t v x
Like
t t
x i x
i
A + A + A =
A + A + A = o e u
x a v v
Like
x i x f x
i f
A + =
A + =
2 ) ( ) (
2
2 2
2 2
u o e e
t
t t
t t
t
i f
f
i f
i
i f
A
+
= A
A A + A =
A + =
A + A + A =
A + =
2
) ( 0
2
) ( 0
2
2
1
2 2
2
2
1
e e
u
o e u
u o e e
o e u
o e e
The Rotation of a
Rigid Body
Tangential Acceleration
If the angular speed changes
then the tangential speed
must also change.

r a
r
t t
r
a
t
v
a
t
t
t
o
e e
=
A
A
=
A
A
=
A
A
=
Torque
7.2
Thinking logically, if Forces
cause accelerations then
something must cause
angular accelerations.
The name for this is Torque.
In turn torques are caused
by the action of a force at a
radius (distance) from a pivot
point. For example a door on
a hinge. (Door and white
board time.)

| t
t
sin rF
F r rF
=
= =

Torque
7.2
Torques that tend to rotate
the object in a
counterclockwise direction
are positive. SO Torques
that tend to rotate in a
clockwise direction are
negative.
Torque
Net Torque
Just as the net force is what
causes acceleration, the net
torque causes angular
acceleration.

+ + = =
3 2 1
t t t t t
net
Gravitational Torque
7.3
To calculate the net torque on
an object because of the
gravitational attraction
between each part (or particle)
would be rather tedious if
even possible.
However most rigid objects
can be modeled to have all the
gravitational force acting on a
single point. This point is
called the Center of Gravity.
Gravitational Torque
Finding the Center of Gravity
The Center of Gravity for a
uniform regular object can
be found by simply finding the
geometric center of the object.
For an irregular or non-
uniform object the Center of
Gravity is found
experimentally. Usually by
pivoting the object from more
then one point and using a
plum line.
Gravitational Torque
Center of Mass
For human scale objects on
earth the center of mass and
the center of gravity are the
same thing.
The center of mass it the point
where half of the mass of the
object is on either side.
More importantly the center of
mass is the point that will
accelerate at the acceleration
caused by the net force.
Only very large objects (moons
and bigger) have the center of
gravity and center of mass as
different points.
Rotational Dynamics
and Moment of Inertia
7.4
If we examine a single
particle that has a torque
applied to it:
rF
m
F
r
r a
m
F
a
t
t
=
=
=
=
t
o
o
( )o t
t
o
t
t
o
t
2
2
mr
mr
mr m
r
r
r
F
=
=
= =
=
Rotational Dynamics
and Moment of Inertia
7.4
A torque causes an angular
acceleration!
Discussion: If =(mr
2
) is like
F=ma then what is the mr
2
?
This expression was for a
single particle. What will
happen for an extended
object?
2 2
3 3
2
2 2
2
1 1
1
2
n n
n
i
i i
r m r m r m r m r m I + + + + = =

=

Interpreting Moment of
Inertia
7.5
Moment of inertia is the
rotational equivalent of mass.
How does the moment of
inertia depend on the
distance from rotation axis?
Page 216 has a table of
moments of inertia. DO NOT
MEMORIZE IT.
Using Newtons
Second Law for
Rotation
7.5
Section 7.5 Mostly contains
example problems and
problem solving strategy.
The other thing in Section 7.5
are the constraints due to
ropes and pullies.
R a
R v
obj
obj
o
e
=
=
Rolling Motion
7.6
Rolling without slipping is
the simplest combination
motion.
Rolling without slipping is
the addition of translation
and rotation (see Figure 7.36
on 221).
R v
T
T
R
v
R T v
T v R x
cm
cm
cm
cm cm
e
t
e
t
t
t
=
=
=
=
= = A
2
2
2
2