MTB 505 - Mechanics - Part III

B.A./B.Sc.
Mathematics – 5th Semester

MTM 505 – Mechanics
Class Notes for Section–A
by
Dr. Krishnendu Bhattacharyya

Department of Mathematics,
Institute of Science, Banaras Hindu University
Reaction of axis of rotation:
Let us consider the simple case in which the body is symmetrical with
respect to the plane through the centre of gravity and perpendicular to the
axis of rotation. Let gravity be the only external force.
By symmetry, the reaction of the axis on the body must reduce to a single
force acting at O in that plane. Let the components of this force be R and S
along and perpendicular to GO as in the figure.
Dr. Krishnendu Bhattacharyya, Dept. of Mathematics, BHU Page 1

Now, G describes a circle round O as centre. So its acceleration along and
perpendicular to GO are h 2 and h
Hence the equations of motion are
m  h 2   R  mg cos ……… (1)
m  h   S  mg sin  ………... (2)

Also we know that motion about O may be written as
mk 2   mgh sin  ……….. (3)
where m is mass of the body
Eliminating  from (2) and (3) we get
 h2 
S  mg sin  1  2 
 k 
Integrating (3) and determining the resulting constants from the given
initial consider and then eliminating  2 we can obtain the 2nd component
R.

As an example, let the body be released from rest from the position in
which the line fixed in the body is horizontal position. It means the initial

conditions are t  0 ,  and   0
2
Now integrating (3) and using the above condition we get
mk 2 2  2mgh cos  ……….. (4)
Now eliminating  2 from (4) and (1) we get
 2h 2 
R  mg cos 1  2  .
 k 

Now H S and VS be the horizontal and vertical strain or reaction at the
fixed point then
H S  S cos  R sin 
VS  S sin   R cos .

Let a uniform rod of length 2a and mass m turning about its end O and it
start from the position in which it vertically above O.
2 2
a 4 a
Here h  a and k 2  a 2  
3 3
Hence the equation of motion of G
m  a 2   R  mg cos ………… (A)
m  a   S  mg sin  …………... (B)

The equation about O is given by
4a 2
m   mga sin 
3

3g
i.e.,    sin  …………. (C)
4a
Integrating and using the initial condition
3g
 2  2  cos  1
4a
3g
2  1  cos  …………. (D)
2a
3  5cos
R  mg [from (A) and (D)]
2
1
S  mg sin  [from (B) and (C)]
4

3
So, H S   R sin   S cos   mg sin   2  3cos 
4
 1  3cos 
2
and VS  R cos  S sin   mg  

 2 
 1
and VS  0 at   cos 1   
 3

Example: A thin uniform rod has one attached to a smooth hinge and is
allowed to fall from a horizontal position, show that the horizontal strain
on the hinge is greatest when the rod is inclined at an angle 45° to the
11
vertical and that the vertical strain is then times the weight of the rod.
8
Example: A uniform semi-circular arc of mass m and radius a is fixed at

its ends to two points in the same vertical line and is rotating with

constant angular velocity ω. Show that the horizontal thrust on the upper
g   2a
end is m .

Example: A right circular cone, of angle 2α, can turn freely about an axis
passing through the centre of the base and perpendicular to its axis, if the
cone starts to rest with its axis horizontal show that, when the axis is
vertical, the thrust on the fixed axis is to the weight of the cone as
1 1 2
1  cos  to 1  cos  .
2
2 3

Centre of percussion:
Let us consider the body in a horizontal plane. Let the line fixed in the
body be OGB and it be initially horizontal. Let O be fixed point of the
body in the horizontal plane.
Let the body be struck by an impulse I at position C at distance x from O,
as a result it starts rotating in the horizontal plane about O, the axis of
rotation through O being vertical. The centre of gravity G, describes an
arc of circle of radius, let h=OG.
Let due to this impulse a reaction X introduced at the fixed point its
direction being parallel to I. Now linear motion of G will be described as

“Instantaneous change in linear momentum is equal to impulses along the
same direction.”
Now if  be angular velocity just after impulse then the linear momentum
of G will be Mh along a direction perpendicular to OG. A, initially the
body is at rest, hence according to above statement linear motion of G will
be given by Mh  0  I  X  Mh  I  X
Also motion about O will be defined by “Instantaneous change in angular
momentum be equal to moment of impulse”, i.e., about O
just after impulse
 Mk 2   xI  Mk 2
  Ix
just before impulse


So X   Mk 2  Mh
x
k2
If X  0 then x 
h
If C is appoint on the fixed line in the body, at which an impulse
perpendicular to OC, introduces no reaction at the axis of rotation or the
fixed point, then the point C is called Centre of percussion.

Example: Find the position of centre of percussion in the following cases:
(a) A uniform rod with one end fixed.
(b) A uniform circular plate, axis a line perpendicular to horizontal
tangent.
(c) A sector circle, axis a perpendicular to its symmetrical radius and
passing through the centre of the circle.
Example: A uniform circular lamina rests a smooth, show that it will

commence to turn about a point O on its circumference if it be struck a
horizontal blow whose line of action is perpendicular to the diameter

through O and at a distance from O equal to three quarters of the diameter
of the lamina.
Example: A pendulum is considered of a solid sphere of mass M and

radius a, which is attached to the end of a rod of mass m and length b.
Show that there will be no strain on the axis if the pendulum be struck at a
distance

 M2 2
5
a   a  b  
2

1 2
3
mb 
 from the axis.
 1 
 M  a  b   mb 
2 

Solution:
Let OA be the rod with O fixed and the sphere is attached at A with B
being its centre.
The moment of inertia of the system is
2
 m  M  k  m    M  a   a  b  
2 4 b  2 2 2
3 2 5 
2 2

 mb 2  M a 2   a  b 
3 5
2


If G be the common centre of gravity below O and OG=h, then
b
 m  M  h  m  M a  b.
2
So the required distance is
x
k 2



M
2 2
5
a  a  b 
2
1 2
3
mb 
.
1
h M  a  b   mb
2

Motion in Two-Dimensions
Motion in a plane:
Let two perpendicular Cartesian axis be OX and OY in the plane of
motion. If the plane is vertical then OY axis will be vertical and OX will
be horizontal. If the plane is horizontal then both the axis are horizontal.

Let the body have both linear and rotational motion, such that, its C.G. has
linear motion in OXY plane and the axis of rotation is passing through
C.G., while the plane OXY is the plane of rotation.
Further let the magnitude and direction of motion of C.G. is always
changing with time under the finite forces acting at the system of
elements. Let at time t, position vector of the C.G. with respect to the
fixed frame be rG  x , y  and that of the element of mass m at position P
under finite force (X,Y) with respect to the C.G. be r   x, y  .

Then the equation of motion of the C.G. along the axis are-
Mx   x ..........(1) and My= y .........(2)
and the rotation about the C.G. will be given by the equation
 m  xy  yx    xY  yX 

d
i.e.   m  xy  yx      xY  yX  (3)
dt
Now xy  yx = the moment about G of the velocity of element of mass
m relative to G.

Let  be the angle that the line joining P to G making with a line GA
fixed in space and  be the angle between GA and a line GB fixed in the
body.
d d d 2 d 2
Then we have  and 2
 2
dt dt dt dt
If PG= r , then the velocity of the element of mass m relative to G is
d
r .
dt
d d d
Hence its moment about G  r  r  r2  r2 .
dt dt dt

Hence  m  xy  yx = the sum of the product of moments of the
velocities of all elements and corresponding mass
 d  2 d
  m r2  
 mr 
 dt  dt
d d

dt
 mr 2

dt
Mk 2
where k is the radius of gyration of the body about an axis through G

perpendicular to the plane of motion.

Hence equation (3) becomes
d 2 d 
 Mk     xY  yX 
dt  dt 
d 2

i.e., Mk 2 2    xY  yX  (4)
dt
i.e., Mk 2 = the moment about G of all the external acting on the body.
The equations (1), (2) and (4) are the two dimensional equations of
motion of body.

Kinetic Energy and Angular momentum:
Let a rigid body has both linear and rotational motion about its C.G.
In OXY plane, the K.E. of the body is
  
2
  
2

T   m  x  y    m   x  x       y  y     d
1 2 2 1 d d
2 2  dt    dt   
 dx  2  dy  2  1
  m         m  x2  y2    mxx   mxx
1
2  dt   dt   2
  x  y   m   x  y 2 
1 2 2 1 2
2 2

= the K.E. of a particle of mass M    m  placed at the C.G. and
moving with it + the K.E. of the body relative to the C.G.

Now the velocity of the particle element of mass m relative to C.G. be
d d
r r .
dt dt
And therefore the K.E of the body relative to C.G
 d  2  d 
2 2
1 1
  m r    mr  
2  dt  2  dt 
1  d 
2
1
  
2  dt 
 mr 2  2
Mk 2 2

Hence the required K.E is
1 1
T MV 2  Mk 2 2
2 2
where V is the velocity of the C.G.
The moment of momentum or angular momentum of the body about the
origin
H   m  xy  yx 
=  m  x  x   y  y    y  y   x  x  
  m  xy  yx    m  xy  yx    m  xy  xy  yx  y x 

  m  xy  yx    m  xy  yx 
 M  xy  yx    m  xy  yx   M   m 
= moment of momentum about O of the particle of mass M placed at

the C.G and moving with it + the moment of momentum of the body
relative to the C.G.
The moment of momentum of the element of mass m relative to the C.G.
 d  2 d 2 d
 r  mr   mr  mr
 dt  dt dt
d
Hence the moment of momentum of the body about the C.G. is  mr 2 dt

d

dt
  mr 2   Mk 2
Hence the total angular momentum (moment of momentum) is

H  MVp  Mk 2 ,
where p is the perpendicular distance from the origin upon the direction
of the velocity V of the C.G.

Rolling of Circular body on an Inclined Plane
Let us consider a circular body. It may be a ring, disc, sphere or cylinder.
Let it rest on an inclined plane. Let the plane be rough enough to prevent
any sliding.
[Rolling of a circular body:
It is the motion in which the body is moving ahead on the surface
while rolling. The point of contact is changing every instant during the
motion (rotation) about the C.G. while the C.G. itself is describing a
straight line parallel to the surface sliding. In sliding point of contact does
not change. In fact there is no rotation, only linear motion is there C.G.,

point of contact and other point of the body travel some distance in a
certain span of time.]
Let its inclination with the horizontal be  . If the is three dimensional
line sphere, cylinder, then let us consider its circular cross section through
a diameter parallel to the inclination direction of the plane. Motion of this
cross section will define the motion of the whole body.

Let O be the point of contact initially when body was rest. Let at time t,
when the centre of the body has described a distance x , A be the new
point of contact and B be the position of the previous point of contact

when the body is at rest. So CB is a line fixed in the body and it make
angle ACB with the line fixed in space CA. Let ACB   .
Let R and F be the normal reaction and the friction.
Then the equation of motion in two dimensions are-
d 2x
M 2  Mg sin   F (1)
dt
0  Mg cos   R (2)
d 2
and Mk 2
 Fa (3)
dt 2
Since there is no sliding then the arc AB=line AO
So we have x  a

Now (1) and (3) gives
d 2 x k 2 d 2
2
 2
 g sin 
dt a dt
 k2  d 2x
 1  2  2  g sin 
 a  dt
d 2x a2
 2  2 g sin  (4)
dt a k 2
So, we can conclude that the centre of the body move with constant linear
acceleration and the whole body rotates with constant angular acceleration
about its centre or C.G.

 
Integrating (4) and using the condition at t=0; x  0   0 we get
2a 2 2a
x 2 gt sin  or   gt sin  (5)
a k 2
a k
2 2
2a 2 2a
[we also have x  2 gx sin  or   2 g sin  using t=0;
a  k2 a  k2

x0  0 ] 
Again integrating (5) we get
a2 a
x gt 2
sin  or   gt 2
sin 
2a  k 
2 2
2a  k 
2 2
where the constant of integration vanishes because at t=0, x  0 or   0 .

F
[Knows that the condition of sliding is  the coefficient of friction  ]
R
2a 2 5
For solid sphere, k 2
and hence acceleration = g sin 
5 7
2a 2 3
For spherical shell, k  2
3 5
a2 2
For circular disc, k 
2
2 3
1
For circular ring, k  a and hence acceleration = g sin 
2 2

The Kinetic Energy at time t is
1 1 1 2 k2 
T  Mx  Mk   Mx 1  2   Mgx sin 
2 2 2
2 2 2  a 
= the work done by gravity
and the angular momentum is
H  Mxa  Mk 2  Max 1  k 2 
Example: A uniform solid cylinder is placed with its axis horizontal on a

plane, whose inclination to the horizon is  . Show that the least
coefficient of friction between it and the plane so that it may roll and not

1
slide is tan  . If the cylinder be hollow and of small thickness, the least
3
1
value is tan  .
2
Example: A hollow cylinder rolls down a perfectly rough inclined plane

in one minute, show that a solid cylinder will roll down the same distance
in 52 seconds nearly, a hollow sphere in 55 seconds had a solid sphere in
50 seconds only.

Example: A cylinder rolls down a smooth plane whose inclination to the
horizon is  , unwrapping, as it goes, a fine string fixed to the highest
point on the plane; find its acceleration and the tension of the string.
Example: One end of a thread, which is wound on to a real is fixed and

the real falls in a vertical plane, it axis horizontal and the unwound part of
the thread being vertical. If the real be a solid cylinder of radius a and
2
weight W , show that the acceleration of the centre of the real is g and
3
1
the tension of the thread W .
3

Conservation of Momentum
If x, y and z be the coordinates of any point of a body at time t referred to
a system of fixed axes, its equations of motion are
d dx 
 m X (1)
dt  dt 
d dy 
m   Y (2)
dt  dt 
d dz 
 m   Z (3)
dt  dt 
and

d  dz dy 
dt
 m  y
 dt
 z     yZ  zY 
dt 
(4)
d  dx dz 
dt
 m  z
 dt
 x     zX  xZ 
dt 
(5)
d  dy dx 
dt
 m  x
 dt
 y     xY  yX 
dt 
(6)
Suppose the x-axis be such that the sum of the resolved parts of the
external forces parallel to it is zero throughout the motion is such that
 X  0 always.

Then equation (1) gives
d dx 
 m 0
dt  dt 
dx
i.e., m dt
 constant w.r.t 't'
Similarly, Y  0 and  Z  0 always then we have

dy
m dt
= constant w.r.t time
dz
 dt = constant w.r.t time
m

This can be interpreted as “If there is no resultant finite force along the
direction of motion, then total momentum of the body will remain
constant throughout the motion”.
This is known as principle of conservation of linear momentum.
If we consider the motion of the C.G. then we have, under same
assumption,
dx dy
M  constant w.r.t time , M  constant w.r.t time
dt dt
dz
M  constant w.r.t time
dt

This can be interpreted as “If there is no resultant finite forces along the
direction of motion, then the linear momentum of the C.G. of the body
will remain constant throughout the motion”.
Again suppose that the external forces to be such that the sum of their
moments about the x-axis is zero, i.e., such that   yZ  zY   0 , then
from (4) we have-
d  dz dy 
dt
 m  y dt  z dt   0

 dz dy 
  m  y  z   constant w.r.t time
 dt dt 
Under similar assumption we have
 dx dz 
 m  z dt  x dt   constant w.r.t time
 dy dx 
  dt dt   constant w.r.t time
m x  y
So,   r  mr     r  mv   constant w.r.t time if resultant moment of

the external finite forces about origin is zero.

This can be stated as “The angular momentum (moment of momentum) of
the rigid body about the axis of rotation through the origin remains
uniform throughout the motion, if the resultant moment of finite external
forces about the axis of rotation is zero”.
This is known as principle of conservation of angular momentum.
Example: A bead, of mass m, slides on a circular wire, of mass M and

radius a and the wire turns freely about a vertical diameter. If  and  be

the angular velocities of the wire when the bead is respectively at the end
  M  2m
of a horizontal and vertical diameters show that 
 M
a2
Solution: The moment of inertia of the wire about any diameter M .
2
Since the bead is on the wire, the action of it on the wire is equal and
opposite to that of the wire on it.
Hence the only external forces acting on the system are (1) the reaction of
the vertical axis AA which has no moment about AA and (2) the weights

of beads and wire, neither of which has moment w.r.t. the vertical axis
AA .
Hence the moment of momentum of the system

(wire and bead) about AA is constant throughout the
motion. Also the velocity of bead along the wire has
no moment about AA , since its direction intersects
AA .

a2
When the bead is at A, the moment of momentum about AA is M  
2
a2
and when it is at B the moment of momentum is M   ma 2 .
2
  M  2m
Equating these two we get  .
 M
Example: A rod of length 2a is moving on a smooth table with a velocity

v perpendicular to its length and impinges on a small inelastic obstacle at

a distance c from its centre. When the end leaves the obstacles, show that
3vc
angular velocity of the rod is 2
.
4a
Solution: Both, at the time of impact and throughout the subsequent
motion while the rod is in contact with the obstacle and only reaction on
the rod is at the obstacle itself. Hence there is no change in the moment of
momentum about the obstacle.
But just before the impact this moment was Mcv , where M is the mass of
the rod.

Also if  be the angular velocity of the rod when its end is leaving the
Ma
obstacle, its moment of momentum about the obstacle is 4 .
3
3cv
Equating these two we have   2
.
4a
Example: A uniform circular plate is turning in its own plate about a
point A on its circumference with uniform angular velocity ; suddenly A
is released and other point B of the circumference if fixed, show that the

angular velocity about B is 1  2cos   , where  is the angle that AB
3
subtends at the centre.

Example: A circular ring of mass M and radius a, lies on a smooth
horizontal plane and an insect resting on it starts and walks round it with
uniform velocity v relative to the ring. Show that the centre of the ring
mv
describes a circle with angular velocity
a  M  2m 
Solution: The centre of the ring is free. So as the insect moves along the
circumference, the centre of the ring will describe a circular motion about
common centre of gravity, G.

Let the angular velocity of the centre C about G be ω. Let after time t the
insect be at position A . A be its initial position where it is at rest and so
ring is at rest. AC=a, then
m a  M 0 ma
CG  
mM mM
ma Ma
So, AG  a  
mM mM

Now, here the angular momentum of the system about G, at any two times
will be same. Let those two points (times) be the points A and A . So if ω
be the angular velocity then we have-
M  a 2  CG 2    m  AG   m  AG    0
2
Ma
m   m  M 
2
m  AG  mM
 
M  a 2  CG 2   m  AG 
2
 
M a 2  m  M   m 2 a 2  mM 2 a 2
2
m  Ma   m  M 

Ma  2am 2  2amM  am 2  maM 

m  m  M  m  m  M 
 
2am 2  3amM  aM 2 a  M  2m  M  m 
m

a  2m  M 
Example: A rod of length 2a is moving about one end with uniform

angular upon a smooth horizontal plane. Suddenly this end is loosed and a
point, distant b from this end is fixed, find the motion considering the
4a
cases when b  .
3

Example: A lamina in the form of an ellipse is rotating in its own plane
about one of its foci with angular velocity ω. This focus is set free and
other focus at the same instant is fixed; Show that the ellipse now rotates
2  5e 2
about it with angular velocity . , where e is the eccentricity of the
2  3e 2
ellipse.
Example: An elliptic area, of eccentricity e is rotating with angular
velocity  about one latus rectum; suddenly this latus rectum is loosed
1  4e2
and the other is fixed. Show that the new angular velocity is  .
1  4e 2

Conservation of Energy
In many previous articles we have seen that the change in kinetic energy
of a particle, or system of particles is equal to the work done on the
particle or system of particles. So, the principle of conservation of energy
can be formally stated as “If a system move under the action of finite
forces and if the geometrical equation of the system do not contain the
time explicitly, the change in the kinetic energy of the system is passing
from one configuration to any other is equal to the corresponding work
done by the force.”

d 2x d2y d 2z
We know that the forces X  m 2 ,Y  m 2 , Z  m 2 acting at the
dt dt dt
point  x, y, z  and similar forces acting on the other particles of the system
are a system of forces in equilibrium.
Let  x,  y,  z be small virtual displacements of the particle m at  x, y, z 
consistent with the geometrical conditions of the system at time t.
Then from the principle of virtual work we have
 d 2x   d2y   d 2z  
  X  m dt 2   x   Y  m dt 2   y   Z  m dt 2   z   0 .
      

If the geometrical relation of the system does not contain the time
explicitly, then we may replace  x,  y,  z by the actual displacements
dx dy dz
 t,  t,  t .
dt dt dt
Hence the above equation gives
 d 2 x dx d 2 y dy d 2 z dz   dx dy dz 
  dt 2 dt dt 2 dt dt 2 dt    dt dt dt 
m    X  Y  Z
 
Integrating w.r.t t we have
t2
1  dx 2  dy  2  dz  2 
 m              Xdx  Ydy  Zdz  ……. (1)
2  dt   dt   dt   t1

i.e., The change in K.E of the system from time t1 to time t2 is equal to the
work done by external forces on the body from the configuration of the
body at time t1 to the configuration at time t2 .
When the forces are such that  Xdx  Ydy  Zdz  is a complete differential
of some quantity V, say dV (V is known as force potential), the quantity
   Xdx  Ydy  Zdz  is independent of the path from initial to the final
position of the body and depends only on the configuration of the body at
times t1 and t2 .The forces are then said to be conservative system of
force.

Let the configuration of the body at t1 and t2 be called A and B. Then from
equation (1) we have
B
K.E at time t2  K.E at time t1    dV  VA  VB ………. (2)
A
The potential energy of the body in any position is the work done by the
forces while it moves from the position to a standard position.
 Xdx  Ydy  Zdz    A dV  VA  VC

C C
So, the P.E. at time t1  
A
 Xdx  Ydy  Zdz    B dV  VB  VC

C C
and P.E. at time t2  
B

Then from (2) we get
K.E at t 2  K.E at t1  P.E at t1  P.E at t 2
 K.E at t 2 +P.E at t 2  K.E at t1  P.E at t1
i.e., Sum of KE and PE at time t1  Sum of KE and PE at time t 2
It can be stated as “Under conservative system of forces, total energy, i.e.
sum of K.E and P.E remains constant throughout the motion”. This is
Conservation of Energy.

Example: The ends of a uniform straight rod, of length 2a slide on
smooth horizontal and vertical walls, respectively. The rod starts at an
3 g 1  sin  
angle  to the horizontal with an angular velocity and
2a
moves downwards. Show that it will strike the horizontal wall at the end
a      
time 2 log cot    tan  .
3g  8 4 8

Example: Two like rods AB and BC, each of length 2a are freely jointed
at B. AB can turn around the end A and C can move freely on a vertical
straight line through A. Initially the rods are held in a horizontal line, C
being in coincidence with A and they are then released. Show that when
the rods are inclined at an angle θ to the horizontal, the angular velocity of
3g sin 
either is . .
a 1  3cos 2

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B.A./B.Sc.

Mathematics – 5th Semester

Dr. Krishnendu Bhattacharyya

Dr. Krishnendu Bhattacharyya, Dept. of Mathematics, BHU Page 1

m  h   S  mg sin  ………... (2)

Dr. Krishnendu Bhattacharyya, Dept. of Mathematics, BHU Page 2

Dr. Krishnendu Bhattacharyya, Dept. of Mathematics, BHU Page 3

Dr. Krishnendu Bhattacharyya, Dept. of Mathematics, BHU Page 4

Dr. Krishnendu Bhattacharyya, Dept. of Mathematics, BHU Page 5

m  a   S  mg sin  …………... (B)

Dr. Krishnendu Bhattacharyya, Dept. of Mathematics, BHU Page 6

Dr. Krishnendu Bhattacharyya, Dept. of Mathematics, BHU Page 7

and VS  R cos  S sin   mg  

Dr. Krishnendu Bhattacharyya, Dept. of Mathematics, BHU Page 8

Example: A uniform semi-circular arc of mass m and radius a is fixed at

Dr. Krishnendu Bhattacharyya, Dept. of Mathematics, BHU Page 9

Dr. Krishnendu Bhattacharyya, Dept. of Mathematics, BHU Page 10

Dr. Krishnendu Bhattacharyya, Dept. of Mathematics, BHU Page 11

Dr. Krishnendu Bhattacharyya, Dept. of Mathematics, BHU Page 12

Dr. Krishnendu Bhattacharyya, Dept. of Mathematics, BHU Page 13

Example: A uniform circular lamina rests a smooth, show that it will

Dr. Krishnendu Bhattacharyya, Dept. of Mathematics, BHU Page 14

Example: A pendulum is considered of a solid sphere of mass M and

Dr. Krishnendu Bhattacharyya, Dept. of Mathematics, BHU Page 15

Dr. Krishnendu Bhattacharyya, Dept. of Mathematics, BHU Page 16

Dr. Krishnendu Bhattacharyya, Dept. of Mathematics, BHU Page 17

Dr. Krishnendu Bhattacharyya, Dept. of Mathematics, BHU Page 18

under finite force (X,Y) with respect to the C.G. be r   x, y  .

Dr. Krishnendu Bhattacharyya, Dept. of Mathematics, BHU Page 19

 m  xy  yx    xY  yX 

Dr. Krishnendu Bhattacharyya, Dept. of Mathematics, BHU Page 20

Dr. Krishnendu Bhattacharyya, Dept. of Mathematics, BHU Page 21

where k is the radius of gyration of the body about an axis through G

Dr. Krishnendu Bhattacharyya, Dept. of Mathematics, BHU Page 22

Dr. Krishnendu Bhattacharyya, Dept. of Mathematics, BHU Page 23

Dr. Krishnendu Bhattacharyya, Dept. of Mathematics, BHU Page 24

moving with it + the K.E. of the body relative to the C.G.

Dr. Krishnendu Bhattacharyya, Dept. of Mathematics, BHU Page 25

Dr. Krishnendu Bhattacharyya, Dept. of Mathematics, BHU Page 26

= moment of momentum about O of the particle of mass M placed at

Dr. Krishnendu Bhattacharyya, Dept. of Mathematics, BHU Page 27

Hence the total angular momentum (moment of momentum) is

Dr. Krishnendu Bhattacharyya, Dept. of Mathematics, BHU Page 28

Dr. Krishnendu Bhattacharyya, Dept. of Mathematics, BHU Page 29

Dr. Krishnendu Bhattacharyya, Dept. of Mathematics, BHU Page 30

Dr. Krishnendu Bhattacharyya, Dept. of Mathematics, BHU Page 31

Dr. Krishnendu Bhattacharyya, Dept. of Mathematics, BHU Page 32

Dr. Krishnendu Bhattacharyya, Dept. of Mathematics, BHU Page 33

where the constant of integration vanishes because at t=0, x  0 or   0 .

Dr. Krishnendu Bhattacharyya, Dept. of Mathematics, BHU Page 34

Dr. Krishnendu Bhattacharyya, Dept. of Mathematics, BHU Page 35

Example: A uniform solid cylinder is placed with its axis horizontal on a

Dr. Krishnendu Bhattacharyya, Dept. of Mathematics, BHU Page 36

Example: A hollow cylinder rolls down a perfectly rough inclined plane

Dr. Krishnendu Bhattacharyya, Dept. of Mathematics, BHU Page 37

Example: One end of a thread, which is wound on to a real is fixed and

Dr. Krishnendu Bhattacharyya, Dept. of Mathematics, BHU Page 38

Dr. Krishnendu Bhattacharyya, Dept. of Mathematics, BHU Page 39

Dr. Krishnendu Bhattacharyya, Dept. of Mathematics, BHU Page 40

Similarly, Y  0 and  Z  0 always then we have