Chapter 10

Spin and Orbital Motion

 Some Definitions
Orbital motion: Motion relative to a point, often
periodic, but not necessarily so.
Spin motion: Motion of an object as it rotates around an
axis through its center of mass.
Rotational motion: Motion around an axis of rotation.
Both orbital and spin motion are examples of
rotational motion.
Fixed axis of rotation: A single-nonchanging axis around
which the object rotates.
Rigid bodies: Objects that have a definite unchanging
shape.
Translational motion: Motion with a fixed direction of
net force.
 Review of Terminolgy
θ = s/r
∆ θ dθ P2
ω = lim = θ s
∆t → 0 ∆ t dt r P
1
∆ω d ω
α = lim =
∆t → 0 ∆ t dt
vT = ds/dt = r dθ /dt = rω
aT = dvT /dt = r dω /dt =rα
a = aC + aT
aC = vT2/r = ω 2r

ω = 2πν T = 1/ν
 Vector (Cross) Product

C=A×B
A
θ
C = AB sinθ B

The direction of C is given

by the right hand rule
described in the text.
We can write the components of the cross product as:

Cx = AyBz − AzBy
Cy = AzBx − AxBz
Cz = AxBy − AyBx

This can be easily remembered by using the determinant

form:
i j k
A × B = −B × A = Ax Ay Az
Bx B y Bz
= ( Ay Bz − Az B y )i − ( Ax Bz − Az Bx ) j + ( Ax B y − Ay Bx )k
 (Orbital) Angular Momentum
+y
p
l=r×p

+x

Linear momentum of a single particle: p

Linear momentum of a system of particles: P = ∑p
Angular momentum of a single point particle: l
Angular momentum of a system of particles: L = ∑l
 Interactive Question
A 6-kg particle moves to the right at 4 m/s as shown. The
magnitude of its angular momentum in kg·m2/s about the
point O is:
4 m/s
6 kg
30°
12 m
A) Zero O
B) 24
C) 144
D) 288
E) 249
Problem: What is the angular momentum of a 4.0 kg
object traveling with a velocity of v = 2.3i + 1.5j m/s
when it is at (6.8, 5.6) m relative to the point (−3.0, −2.0)?
 Angular Momentum for Circular Motion

l=r×p
= r × mv
v
The direction (in this case)
r
for l is up, out of the paper.
The magnitude is
l = rmv sinθ = rmv
= rm (ωr) = mr2ω
And since ω also points up out of the paper, l = mr2ω
For this case, we define the moment of inertia I = mr2
l = Iω
 Torque for Circular Motion
∑F = ma
Consider the tangential
motion of a rotating object FT
with a tangential force
r
acting on the object.
FT = maT
rFT = mr aT= mr rα
rFT = mr2 α
τ = mr2 α = Iα τ is the torque
Since the angular acceleration has a direction out of the
page,
τ = Iα
If there is more than one force with a tangential
component,
∑τ = ∑(mr2)α
∑τext + ∑τint = ∑(mr2)α
∑τext = ∑(mr2)α
∑τ = I α
where I = ∑(mr2) is the general form of the rotational
inertia, or moment of inertia.
This is one form of Newton’s second law for rotation.

The moment of inertia depends on the object and the

axis of rotation. More on this later.
 General Definition of Torque

In the previous example we FT

defined τ = rFT and defined
the direction of the torque as r
up out of the page.
It makes sense, then, that the
general definition of torque is

τ=r×F
Consider now a system of particles:
L = ∑ili = ∑i(ri × pi)
dL/dt = ∑i{(dri/dt × mvi) + (ri × m dvi/dt)}
= ∑i {(vi × mvi) + (ri × mai)}
= ∑i {0 + (ri × mai)}
= ∑i(ri × ∑jFj) = ∑i∑jτj
= ∑τnet = ∑τext + ∑τint
dL/dt = ∑τext
∑τext = dL/dt
This is the more general form of Newton’s 2nd law for
rotation.
 Summary
τ=r×F
General Case Specific Case
∑τext = dL/dt If the moment of inertia doesn’t
change:
∑τext = Iα
l=r×p For a “point” object in a circular
orbit:
I = ∑(mr2) l = Iω
I = mr2

Now let’s do some problems with all of these concepts

 Torque

r
F=F cosθ
Axis of rotation
θ
F F⊥=F sinθ
r⊥=r sinθ
τ=r×F
The direction of the torque is up out of the page and
the magnitude is
τ = rF sinθ = Fr⊥ = rF⊥
r⊥ is often called the “lever arm”
Problem: Consider the object shown below, and the
forces acting on the object. Calculate the torque
around an axis perpendicular to the paper through
(a) point O
(b) point C. C
O
45º 20º
30 N 10 N
Problem: A penny with a mass of 2.5 grams sits on a
turntable a distance of 6.6 cm from the center. The
turntable starts from rest and spins up to a maximum
angular speed of 33 rev/min in 2.2 seconds rotating
counterclockwise. The penny does not slide with
respect to the turntable.
a) Assuming a constant torque what is the torque on the
penny with respect to the center of the turntable?
b) What is the angular speed of the penny after 1.1
seconds with respect to the center of the turntable?
c) What is the angular momentum of the penny after 1.1
seconds with respect to the center of the turntable?
d) What is the magnitude of the total force of friction
acting on the penny after 1.1 seconds?
 Conservation of Angular Momentum

∑τext = dL/dt
When there is no net external torque, then the angular
momentum does not change with time. It is conserved.

dL/dt = 0
Lfinal = Linitial

There may be no external torque for many reasons,

including the case when the line of force for all forces
passes through the axis of rotation. (τ = r × F)
Problem: Show how Kepler’s second law, that the area
swept out by a planet moving in an ellipse is always the
same for equal time intervals, is a result of the
conservation of angular
 Moment of Inertia

For a single “point” object with mass m,

rotating at a distance of r around the
axis of rotation, I = mr2
To calculate the rotational inertia for a more complicated
object, we simply sum up the rotational inertia of each
part of the object.
Problem: Suppose a baton is 1.0 m long with weights on
each end weighing 0.3 kg. Neglect the mass of the bar and
consider the weights as point objects. What is the moment
of inertia for a baton
(a) spinning around its center?
(b) spinning around one end of the baton?

The rotational inertia depends on both the axis of rotation,

and how the mass is distributed.
 Interactive Question
Three thin disks with uniform mass density have the same
mass, and radius. Rank the objects in order of increasing
moment of inertia. The axis of rotation is shown as the
dark dot and is perpendicular to the paper.

I II III

A) I, II, III B) III, II, I

C) II, III, I D) II, I, III
E) More information is needed
 Calculating the Moment of Inertia

For an object with a continuous mass distribution, the

sum becomes an integral and we get

I = ∫ r2 dm

Moments of inertia that have been calculated this way

are often found in a table. (See Table 10.1)

You don’t have to memorize these formulas. They

will be given (or I will ask you to derive them.)
Problem: What is the moment of inertia of a thin disk
with a mass m, radius R, and thickness t, rotating through
its center of mass along an axis perpendicular to the plane
of the disk?
 The Parallel Axis Theorem

If you know the moment of inertia about any axis that

passes through the center of mass of an object, you can
find its moment of inertia about any other axis parallel to
that axis with the parallel axis theorem which states
I = ICM + Mh2
where ICM is the moment of inertia about the center of
mass, M is the mass of the object, and h is the
perpendicular distance between the two axes. The proof
of this theorem is given in the book.
 Interactive Question
Four uniform long rods with the same length but different
masses are pushed with the same force as shown. Rank
the cases in the order of increasing angular acceleration.
The axis of rotation is perpendicular to the paper and
shown by the black dot.

I II III IV
M M M M/2

A) I, II, III IV B) III, I, II, IV

C) I, III, IV, II D) I, III, II, IV
E) None of the above
Problem: A model of Uranus (with the rings held on by
thin rods) hangs from two wires as shown. What is the
moment of inertia about the wire? The radius of Uranus is
R=0.25 m and its mass is M=1.0 kg. The ring is a thin
hoop with radius of r=0.5 m and a mass of m=0.25 kg.
The rods each have negligible mass. If one of the wires
breaks, what is the moment of inertia of the model as it
rotates around the other wire?
Problem: A cylindrical pulley with a mass of M=3.00 kg
and a radius of R=0.400 m is used to lower a bucket with a
mass of m=2.00 kg into a well. The bucket starts from
rest and falls for 3.00 s.
(a) What is the linear acceleration of the falling bucket?
(b) How far does it drop?
(c) What is the angular acceleration of the cylinder?
 Introduction to Rolling Motion
Consider the motion of an object that is rolling without
slipping.
v

At point of contact, vc = 0
At top of wheel, vtop = 2v

If the rotational velocity is given by ω and the radius of

the rolling object is r, then it is clear that v = ωr.
 Rotational Kinetic Energy

An object spinning with angular velocity ω has a

rotational kinetic energy given by
K = (1/2)Iω2
exactly analogous to translations kinetic energy.
An object that is rolling with a center of mass velocity v,
and an angular velocity ω about its center of mass has a
total kinetic energy given by:
K = (1/2)mv2 + (1/2)ICMω2
Of course, when calculating gravitational potential
energy, the mass of an object can be considered as entirely
located at the center of mass.
Problem: A cylindrical pulley with a mass of M=3.00 kg
and a radius of R=0.400 m is used to lower a bucket with a
mass of m=2.00 kg into a well. The bucket starts from
rest and falls for a distance of 25.2 m. Use conservation
of energy to find the speed of the bucket after it has fallen
this distance. Neglect any dissipative forces.
 Interactive Question
A force F is applied to a dumbbell for a time interval ∆t,
first as in (a) and then as in (b). In which case does the
dumbbell acquire the greater center-of-mass speed?

F
m m
F
(a) (b)
m m
A) (a)
B) (b)
C) no difference
 Interactive Question
A force F is applied to a dumbbell for a time interval ∆t,
first as in (a) and then as in (b). In which case does the
dumbbell acquire the greater energy?

F
m m
F
(a) (b)
m m
A) (a)
B) (b)
C) no difference
 Interactive Question
A hollow cylinder of mass M and radius R rolls down an
inclined plane. A block of mass M slides down an
identical inclined plane. If both objects are released at the
same time
A) the block will reach the bottom first.
B) the cylinder will reach the bottom first.
C) the block will reach the bottom with greater kinetic
energy
D) the cylinder will reach the bottom with greater kinetic
energy
E) both the block and the cylinder will reach the bottom
at the same time.
 Interactive Question

A solid sphere (S), a thin hoop (H), and a solid disk (D),
all with the same radius, are allowed to roll down an
inclined plane without slipping. In which order will they
arrive at the bottom? (The fist one down listed first).

A) H,D,S
B) H,S,D
C) S,D,H
D) S,H,D
E) D,H,S
Problem: Two bicycles roll down a hill which is 20 m
high. Both bicycles have a total mass of 12 kg and 700
mm diameter wheels (r = 0.350 m). The first bicycle has
wheels with a mass of 0.60 kg each, and the second
bicycle has wheels with a mass of 0.30 kg each.
Neglecting air resistance, which bicycle has the faster
speed at the bottom of the hill? (Consider the wheels to be
thin hoops).
 Rotational Work-Energy Theorem
F
Consider a force acting ds
on an object so that it
dθ
rotates a angle dθ.

W = ∫ F⋅ds = ∫ FTR dθ = ∫τ dθ

where φ is the angle between the applied force and the

tangential motion, and θ is the angle between the applied
force and the radial vector from the axis of rotation to the
force so that φ + θ = 90°.

In a similar manner: P = dW/dt = τ dθ/dt = τω

Problem:
a) What is the kinetic energy of the earth’s rotation and
the kinetic energy of the earth’s orbit around the sun?
What is the total kinetic energy of the earth?
b) What is the angular
momentum of the earth’s
rotation and of the earth’s
orbit around the sun?
What is the total angular
momentum of the earth?

mE = 5.97 × 1024 kg
rE = 6.38 × 106 m
rS = 1.49 × 1011 m
 More on Rolling Motion
Rolling motion can be thought of as the translational
motion of the center of mass plus the rotational motion
around the center of mass.
Or it can be thought of as purely rotational motion about
the point in contact with the ground
Either way gives the same answer for the total kinetic
energy.
K = (1/2)Iω2 = (1/2)(mR2/2 + mR2)ω2 = (3/4)mR2ω2

K = (1/2)mv2 + (1/2)Iω2 = (1/2)mv2 + (1/2)(mR2/2)ω2

= (1/2)mR2ω2 + (1/2)(mR2/2)ω2 = (3/4)mR2ω2
Problem: A solid sphere rolls down an incline without
slipping. If the acceleration of the center of mass is 0.2g,
what angle is the incline?

θ
Problem: A uniform solid sphere is set rotating about a
horizontal axis with an angular speed ω0 and is placed on
the floor. The coefficient of kinetic friction between the
floor and the sphere is µ. What is the speed of the center
of mass of the ball when it starts rolling without slipping.

ω0
R
Problem: A cylindrical rod is set rotating with an angular
speed of ω0, then placed on the floor. If the coefficient of
kinetic friction between the rod and the floor is µk, what is
the speed of the center of mass when the rod begins to roll
without slipping?

ω0
r
 More on Conservation of Angular Momentum

∑τext = dL/dt

So if there is no external torque, dL/dt = 0, angular

momentum is conserved. When will there be no
external torque?

We know for a “point” particle that l = r × p, and that if

the particle is in a circular orbit, this becomes l = Iω.
But what is L for a rigid object rotating around a fixed
axis of rotation?
Let’s show that L = ∑ili = ∑i(ri × pi) = Iω for any rigid
body rotating around a fixed axis of rotation.
First, consider the angular momentum for a rigid body
rotating around a fixed axis of rotation in a plane, so that
the angular momentum is in a fixed direction along the
axis of rotation.
dm
r v

L = ∫rv sinθ dm = ∫r ωr sin(90º) dm

= ∫r2ω dm = ω ∫r2 dm
L = Iω
Now consider two points on an object that is symmetric
about its axis of rotation.

dm

v2 v1
r1
L2 r2 L1

The horizontal components of L1 and L2 cancel and only

the vertical components contribute to the total angular
momentum. So just like a single plane rotating, L = Iω.
 Interactive Question

An ice skater performs a pirouette by pulling her

outstretched arms close to her body. What happens to her
moment of inertia about the axis of rotation?

A) It does not change.

B) It increases.
C) It decreases.
D) It changes, but it is impossible to tell which way.
 Interactive Question

An ice skater performs a pirouette by pulling her

outstretched arms close to her body. What happens to her
angular momentum about the axis of rotation?

A) It does not change.

B) It increases.
C) It decreases.
D) It changes, but it is impossible to tell which way.
Problem: A student is sitting on a swivel seat and is
holding a 2.0 kg weight in each hand. If he is rotating at 1
rev/s (6.28 rad/s) when the weights are held in
outstretched arms .75 m from the axis of rotation, how fast
is he rotating when he pulls the weights in to the axis of
rotation? (The rest of his body can be approximated as a
cylinder with mass of 72 kg and radius of .25 m).
 Interactive Question
A ball on a string is rotating in a circle. The string is
shortened by pulling it through the axis of rotation. What
happens to the angular velocity and the tangential
velocity of the ball?

angular velocity tangential velocity

A) increases decreases
B) increases stays the same
C) increases increases
D) stays the same stays the same
E) stays the same increases
 Interactive Question

An ice skater performs a pirouette by pulling her

outstretched arms close to her body. What happens to her
rotational kinetic energy about the axis of rotation?

A) It does not change.

B) It increases.
C) It decreases.
D) It changes, but it is impossible to tell which way.
Problem: A child of mass 25 kg runs with a speed of 2.5
m/s and jumps on a merry-go-round along a path
tangential to the rim. The merry-go-round has a moment
of inertia of 500 kg⋅m2 and a radius of 2 m. What is the
final angular velocity of the merry-go-round and child?
 Interactive Question

A baton with two spheres at its ω

end is rotated around an axis as
O
shown. As the baton spins
which of the following is true.

A) The angular momentum of the baton doesn’t change

B) The angular velocity points in the same direction as the
angular momentum.
C) The angular momentum changes, but there is no torque
applied to the baton.
D) A net external torque causes the angular momentum to
change
E) More than one of the above is true
 Interactive Question

A baton with two spheres at its

end is rotated around an axis as ω
shown. Neglect the mass of the
O
rod connecting the spheres.
Which direction is the angular
momentum pointing when the
baton is in the position shown?

(A) (B) (C) (D) (E)

 Precession of a Top

r τ = r × mg = dL/dt
mg
 +y
τ = r × mg
−z
along −z
−x r L
+x

+z mg
−y

L´ dL dφ = dL/L = τ dt/L = mgr dt/L

dφ ωp = dφ/dt = mgr/L = mgr/Iwωw
L
L´ = L
 Static Equilibrium

The conditions for static equilibrium in two dimensions:

∑Fx = 0
∑Fy = 0
∑τ = 0
The net torque must be zero around any axis of rotation.
Problem: A board with uniform mass density and a
weight of 40.0 N supports two children weighing 500 N
and 350 N. The support is placed under the center of
gravity of the board, and the 500 N child is 1.50 m from
the center.
(a) What is the force which the support exerts?
(b) Where should the 350 N child sit to balance the board?
 Interactive Question
A heavy boy and a lightweight girl are balanced on a
massless seesaw. If they both move forward so that they
are one-half their original distance from the pivot point,
what will happen to the seesaw?

A) The side the boy is sitting on will tilt downward.

B) The side the girl is sitting on will tilt downward.
C) Nothing, the seesaw will still be balanced.
D) It is impossible to say without knowing the masses and
the distances.
Problem: A traffic light hangs from the end of a long
pole as show. The pole has a length L = 7.5 m long and a
mass of 8.0 kg. The mass of the light is 11.0 kg.
Determine the tension in the horizontal cable and the
vertical and horizontal components of the force on the
pivot point P?

37° L = 7.5 m
3.8 m 53° r⊥ = 3.8 m
M = 8.0 kg
P
m = 11.0 kg
Problem: A 10.1 kg uniform board is wedged into a
corner and held by a spring attached to its end at a 50.0°
angle with respect to the horizontal direction. The spring
has a spring constant of 176 N/m. By how much does the
spring stretch?

50º
Problem: You hold your forearm out horizontally and
hold a 50 N object in your hand (located 0.35 m from the
elbow joint). Your bicep muscle is attached at a distance
of 0.030 m from the elbow joint. The mass of your
forearm is 1.3 kg with the center-of-mass of the forearm
located 0.17 m from the elbow joint. What is the force of
the humerous (the bone between the shoulder and the
forarm) and the bicep on the arm?

rM
FB = 50 N
FM rB Fg = (1.3 kg)(9.8 m/s2)
rB = 0.35 m
FH rg = 0.17 m
rg F g FB
rM = 0.030 m
Problem: The large quadriceps muscle in the upper leg
terminates at its lower end in a tendon attached to the
upper end of the tibia. The forces on the lower leg are
modeled in the figure on the next page where T is the
tension in the tendon, C is the weight of the lower leg, F
is the weight of the foot, and B is the force of the femur
on the tibia. Assume C = 30.0 N, F =12.5 N, and the leg
is in the position shown in the figure. The tendon is
attached one fifth of the way down the lower leg, and the
center of mass of the lower leg is at its geometric center.
a) Find the tension of the tendon, T.
b) Find the x and y components of the force of the femur
on the tibia, B.
 Interactive Question
A 1-kg rock is suspended by a massless string from one
end of a 1-m measuring stick. What is the weight of the
measuring stick if it is balanced by a support force at the
0.25-m mark?

A) 0.25 kg B) 0.5 kg C) 1kg

D) 2 kg E) 3kg