Edited by Chongyl & NorainiHashim

Chapter 8 Rotational of Rigid Body

[ 8 Hours ]

8.1 Equilibrium of a uniform rigid body 8.2 Rotational Kinematics 8.3 Rotational dynamics 8.4 Work and energy of rotational motion 8.5 Conservation of Angular Momentum.

8.1 Equilibrium of Uniform Rigid Body

Torque (

is the turning effect produced by a force . is measure of how much a force acting on an object causes that object to rotate. Also known as moment in engineering.

It is a vector quantity. The unit of torque is N m (newton metre), a vector product unlike the joule (unit of work), also equal to a newton metre, which is scalar product.

How to calculating torque ?

Consider a force F acts at point P on a body that is free to rotate about an axis through O:
Rotation axis

Point of action of a force

r : distance between the rotation axis and the point of application of force. : angle between r and F

In vector notation form:

= r F

The magnitude of the torque due to the force acting is given by:

where : angle between F and r

Refer to the figure, we have : d = r sin ; thus:

= F r sin

=Fd
where d perpendicular distance from point O to the line of action of the force. Distance, d is called moment arm of force F

 Sign convention of torque: (1) Positive - turning tendency of the force is anticlockwise. (2) Negative - turning tendency of the force is clockwise. The value of torque depends on the rotation axis and the magnitude of applied force. Caution : If the line of action of a force is through the rotation axis then

= Fr sin =0

and = 0

From :

=Fd

d
Difficult to open the door.

Easier to open the door.

ROTATION AXIS Torques require point of reference Point can be anywhere Use same point for all torques Pick the point to make problem least difficult

Rotation axis

Point of action of a force

where : angle between F and r

= F r sin

Example

(a) A mechanic applies a force of 200 N as shown in figure above. What torque is applied to the nut? (b) Would it be easier to undo the nut with a longer or shorter spanner? Explain your answer.
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This is the point where we taking torque (axis of rotation)

r
= 130
This is the point of application of force

(a) Torque,

= F r sin = 200(0.28)(sin 50) = 43 Nm

(b) From: = F r sin r r . This makes it easier to undo the nut with a longer spanner.

Example

A
80 cm
100 cm

Calculate the total torque at point A.

Solution Apply equation :

= F r sin

Total torque at point A is due to force F1 and F2

= +
A F1

F2

F 1r 1 sin 1 + F 2 r 2 sin 2
1

4(1) sin 90 6(0.8) sin 60

= 4 4.157
= 0.157 Nm

FOLLOW UP EXERCISE (1) For the each figure below, calculate the torque at point O. Given the force applied F is 30 N and the length of the rod is 4 m.
O O 30 F

120 Nm
F 60

60 Nm
F 60

0 Nm
O

51.96Nm

2m

0 Nm

0 Nm

90 Nm
O

63.64 Nm
1m O 3.0 m

F 45

53.03 Nm
135 O 2.5 m

F O

38.57 Nm
2.0 m 140

75 Nm
F

103.92 Nm
F 60

2.5 m

Answer : 40 Nm ( clockwise)

Solution :

F2 = 10 N
5m

5m

F1 = 30 N

d1 = 3 m
O

d2 = 5 m
10 m
Force

6m

F3 = 20 N

The resultant torque:

F1 F2 F3

o=Fd=Frsin
(30)(3) = 90
+ (10)(5) = +50

Torque (N m),

= 90 + 50 = 40 N m
(clockwise)

A uniform metre rule of weight 2.0 N is pivoted at the 60 cm mark. A 4.0 N weight is suspended from one end, causing the rule to rotate about the pivot. At the instant when the rule is horizontal, what is the value of the resultant turning moment about the pivot? A. zero B. 1.4 Nm Answer : B C. 1.4 Nm D. 1.6 Nm * = 4(0.4)-2(0.1) = 1.4 Nm

Condition for equilibrium of uniform rigid body Rigid body is defined as a body with definite shape that doesnt change, so that the particles that compose it stay in fixed position relative to one another even though a force is exerted on it. There are two conditions for the equilibrium of forces acting on a rigid body. (1) The vector sum of all forces acting on a rigid body must be zero.

 0 F F = = net
OR

= , Fy 0 F x 0=

(2) Summation of all torques about any point on the body is zero.

any point

=0

((1) Draw a free body diagram showing & labeling all external forces acting on the body. (2) Resolving the forces into x & y components. And apply:

Fx = 0 ; Fy = 0

(3) Take torque about any convenient point in the system & equate the sum of the torque to zero.

= 0

(4) Solve for the unknown quantities.

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Some useful tips for you !

If there are 2 or more unknown forces, chooses the point where unknown forces pass through as rotation axis. Such choice simplifies the torque equation because the torques produced by these forces will equal to zero.

Weight of the object is acting at its center of gravity. For uniform object, weight always acting at the center of the object. The words rough & smooth have a particular meaning in physics. rough need to consider friction force. smooth No friction force involved

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Example

A woman whose weight is 530 N is poised at the right end of a diving board with a length of 3.90 m. The board has a negligible weight and is bolted down at the left end while being supported 1.40 m away by a fulcrum. Find the forces exert on the board by the bolt and the fulcrum.

Free body diagram of the diving board

90

+
90

Taking torques at the left end of the board: Force y comp.

F1 F2

W1

Torque, O= Fr sin

530 N

F1 F2

530(3.9) sin 90 0 + F 2(1.4) sin 90

 = 0 + F 2(1.4) sin 90 530(3.9) sin 90 = 0

F2

530(3.9) = 1476.43 N 1.4

Since board in equilibrium, sum of vertical forces must be zero.

F = 1 F 2 530 F = 1476.43 530 = 946.43 N 1

F 1 + F 2 530 = 0

Fy = 0

Example

35 cm

75 cm

W2
Figure 5.16

W1

A hanging flower basket having weight, W2 =23 N is hung out over the edge of a balcony railing on a uniform horizontal beam AB of length 110 cm that rests on the balcony railing. The basket is counterbalanced by a body of weight, W1 as shown in Figure 5.16. If the mass of the beam is 3.0 kg, calculate a. the weight, W1 needed, b. the force exerted on the beam at point O. (Given g =9.81 m s2)

Solution
The free body diagram of the beam :
N

A
W2

0.20 m 0.35 m 0.75 m

B
W

0.55 m

mg

0.55 m

Let point O as the rotation axis. Force ycomp. Torque, O= Fd = Fr sin

W1 W1 W1 ( 0.75 ) sin 90 = 0.75W1 + ( 23)( 0.35 ) sin 90 = 8.05 23 W2 5.88 mg (3)(9.81) ( 29.4 )( 0.20 ) sin 90 = = 29.4 N N 0

Since the beam remains at rest thus the system in equilibrium. a. Hence

=0

0.75W1 + 8.05 5.88 = 0

W1 = 2.89 N

b. and

( 2.89 ) 23 29.4+N = 0

W1 23 29.4 + N = 0

F = 0
y

N = 55.3 N

FOLLOW UP EXERSICE Given: W=50 N, L=0.35 m, x=0.03 m Find the tension in the muscle.

Solution Given: W=50 N, L=0.35 m, x=0.03 m Taking point O as rotation axis

O = 0

F (0.03) sin 90 50(0.35) sin 90 = 0 F = 583 N

FOLLOW UP EXERCISE

The see saw in the diagram is balanced. Determine the value of weight, W

32

Solution Taking torque about the pivot.

Force W 300N 550N N

Torque (N m), A= Fd = Fr sin +W(1.5)sin90 300(1.0)sin90 550 (1.5)sin90 0

Since system in equilibrium, thus we have:

pivot = 0 W (1.5) sin 90 300(1.0) sin 90

550(1.5) sin 90 + 0 = 0 1.5 W = 1125

W = 750 N

Example

A uniform rod of mass 30 kg and length 3 m is smoothly hinged at A. The rod is held in a horizontal position by a rope. The rope is attached to the rod at a point B, that is 2 m from A. The angle between the rope and rod is 60. A mass of 100 kg is suspended from the end of the rod at C. Find the tension in the rope.

Solution Free body diagram of the suspended rod:

T
Rotation axis

WR = 30(9.81) WL = 100(9.81)

60

1.5 m

WR

WL

2m

Concept : In equilibrium

=0

Taking torque at point A: * R pass through point A torque produce by R are zero. Force R T WR WL Torque (N m), A= Fd = Fr sin 0 + T (2)(sin 60 ) = 1.732T 30(9.81) (1.5)sin90 = 441.45 100 (9.81) (3)sin90 = 2943

A = 0 1.732T 441.45 2943 = 0

1.732 T = 3384.45
T = 1954.1 N

Example

Figure shows a load, of mass M = 430 kg, hanging by a rope from a boom. The boom consists of a hinged beam and a horizontal cable that connects the beam to the wall. The uniform beam has a mass m = 85 kg; the mass of the cable & rope are negligible. (a) What is the tension in the cable ? (b) Find the magnitude & direction of the force acting on the hinge.

Solution Free body diagram for the beam

AC = 3.14 m

= 37.2

52.8

1.9 m

B
52.8

= 37.2

W1

W2

System in equilibrium :

F = 0 ; A = 0
y-comp Fy 0 Torque A=Fd=Frsin 0 T(3.14)sin 37.2

Let point A as the rotation axis Force F T W1 xcomp Fx T 0

W2

85(9.81) 833.85 (1.57)sin 52.8 = 833.85 = 1042.31 430(9.81) 4218.3 (3.14)sin 52.8 = 4218.3 = 10545.75

The system in equilibrium, thus

(a)

=0

T (1.9) 1042.31 10545.75 = 0 T = 6098.98 N

(b)

Fx = 0 Fx T = 0

Fx = 6098.98 N

Fy = 0 0 Fy 833.85 4218.3 = Fy = 5052.15 N

The magnitude of the force is

= F = Fx + Fy
2 2

( 6098.98) + ( 505215)
2

F = 7919.71 N
and its direction is given by

Fy 1 5052.15 tan ( ) tan ( ) = Fx 6098.98

1

= 39.64

39.64

Example
A

smooth wall rough floor

A uniform ladder AB of length 10 m and mass 5.0 kg leans against a smooth wall as shown in Figure above. The height of the end A of the ladder is 8.0 m from the rough floor. Determine the horizontal and vertical forces the floor exerts on the end B of the ladder when a firefighter of mass 60 kg is 3.0 m from B.

Solution

ml = 5.0 kg; m f = 60 kg
N1
8 sin = = 0.8 10 6 sin = = 0.6 10

Free body diagram of the ladder :

8.0 m
ml g

mfg

6.0 m

fs

10 m 5.0 m
3.0 m

N2
B

Let point B as the rotation axis.

xForce comp. (N) ycomp. (N) Torque (N m), B=Fd=Frsin

ml g

0 0
N1

49.1
589

( 49.1)( 5.0 ) sin

(589)(3.0)sin
= 1060 = 147

mf g
N1

N2
fs

N 1 (10 )sin = 8 N 1

N2
0

0 0

fs

Since the ladder in equilibrium thus

=0

147 + 1060 8 N 1 = 0

N 1 = 151 N

=0

N1 f s = 0
Horizontal force: f s = 151 N

F
Vertical force:

=0

49.1 589 + N 2 = 0

N 2 = 638 N

FOLLOW UP EXERCISE

(1) A see-saw consists of a uniform board of mass 10 kg and length 3.50 m supports a father and daughter with masses 60 kg and 45 kg, respectively as shown in Figure 5.20. The fulcrum is under the centre of gravity of the board. Determine a. the magnitude of the force exerted by the fulcrum on the board, b. where the father should sit from the fulcrum to balance the system. ANS. : 1128 N; 1.31 m

SOLUTION
1.

N
3.5m

+
WF

x
WB

1.75m

WD

=0

N WF WB WD = 0 N 60(9.81) 10(9.81) 45(9.81) = 0 N = 1128 N

(b)

Taking torque at Fulcrum Force Torque = Fr sin (Nm) 0 0

N
WB WF

+WF ( x sin 90 ) = 60(9.81)( x ) = +588.6 x

WD

WD (1.75sin 90 ) = 45(9.81)(1.75) = 772.54

fulcrum

=0

588.6 x 772.54 = 0 588.6 x = 772.54 x = 1.31m

(2) A floodlight of mass 20.0 kg in a park is supported at the end of a 10.0 kg uniform horizontal beam that is hinged to a pole as shown in Figure below. A cable at an angle 30 with the beam helps to support the light. a. Sketch a free body diagram of the beam. b. Determine i. the tension in the cable, ii. the force exerted on the beam by the pole. Answer: (i) 490 N (ii) 427 N at 6.61 above +x

SOLUTION (a)

R
30
A

1 L 2

WB

1 L 2

WL

Taking torque at Hinge (point A)

Force x-comp y-comp (N) = Fr sin (N) (Nm)

Rx

Ry

WB

1 ( )(sin 90 ) W L WB B 2 = 10(9.81) 1 = 10(9.81)( L) 2 = 98.1 = 49.05L

WL

WL = 20(9.81) = 196.2

WL ( L)(sin 90 ) = 20(9.81)( L) = 196.2 L

T cos 30 + T sin 30 = 0.866T = +0.5T

+T ( L)(sin 30 ) = +0.5T ( L)

(b)(i)

=0

0 49.05L 196.2 L + 0.5TL = 0 245.25L = 0.5TL T = 490.5 N

(ii)

=0

Rx 0.866T = 0 Rx = 0.866T Rx = 0.866(490.5) Rx = 424.773 N

=0

R y 98.1 196.2 + 0.5T = 0 R y = 294.3 0.5(490.5) R y = 49.05 N

The force exerted on the beam by the pole is

R = Rx + R y
2

R = (424.773) 2 + (49.05) 2 R = 427.6 N and its direction is given by Ry tan = Rx 49.05 1 ) = tan ( 424.773 6.6 (above + x) =

(3)

A cat walks along a uniform plank that is 4.0 m long and has a mass of 7 kg. The plank is supported by 2 sawhorses one 0.5 m from the left end of the board and other 1.50 m from its right end. When the cat reaches the right end, the plank just begin to tip. What is the mass of the cat ? Answer : 2.33 kg
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SOLUTION NL NR

0.5 m 1.5 m 7(9.81)

1.5 m

mc(9.81)

Just begin to tip NL = 0 N

= 0

7(9.81)0.5sin 90 mc (9.81)(1.5) sin 90 = 0 mc=2.33kg

(4)

While standing on a long board resting on a scaffold, a 70 kg painter paints the side of a house, as shown in figure above. If the mass of the board is 15 kg, how close to the end can the painter stand without tipping the board over ?

{ answer : 1.2 m from left end of board }

SOLUTION NL 1.25 m 2.5 m 70(9.81) 15(9.81) NR

1.5 m

Just begin to tip NR = 0 N

= 0
From the left end, x = 1.5 0.26 = 1.2 m

70(9.81) x sin 90 15(9.81)(1.25) sin 90 = 0 x = 0.26m

(5)

A beam of length 10 m and weight of 60 N is supported at one end by a pivot and the other end by an egg. If a robot of weight 80 N run along the beam. The egg can with stand a maximum force of 50N.

pivot (i) Draw ALL the forces acting on the beam. (ii) How far from the pivot the kid can reach without breaking the egg.

egg

Answer : 2.5 m

RP
10 m

RE

5m x

WK

WB

Arrows with correct direction ..1 marks Correct position of the forces and label ..1 marks No arrow for forces drawn ..0 marks

Solution: RE = 50 N; WK = 80 N; WB = 60 N Taking torque at the pivot,

= 0

.K1 .RG1

(Wk )(x) (Wb )(5) + (R E )(10) = 0

(80)(x) (60)(5) + (50)(10) = 0 x = 2.5m

.JU1