Rotational Mechanics

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ROTATIONAL
MECHANICS
QUIZRR 3
ROTATIONAL MECHANICS
Linear Motion Rotational Motion
Position x  Angular position
Velocity v  Angular velocity
Acceleration a  Angular acceleration
Motion equations x = v t  t
=  Motion equations
v = v0 + at  = 0 + t
1 2 1 2
x = v0 t  at   0 t  t
2 2
v2 = v02  2ax 2 = 02  2
Mass (linear inertia) m I Moment of inertia

NewtonÊs second law F = ma  = I 
Momentum p = mv L = I  Angular momentum
Work Fd  Work
1 1 2
Kinetic energy mv2 I Kinetic energy
2 2
Power Fv  Power
1. INTRODUCTION
Consider a disk rotating on a stationary rod.
If we now view this disk from the top,
S

r
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we see that when the disk rotates so that the arc length (s) equals the length of the radius of
) will equal 1 radian. The resulting equation is
the disk (r), the subtended central angle (
s = r
or
 = s/r
where the unit of a radian represents the dimensionless measure of the ratio of the circleÊs arc
length to its radius.
If the disk rotates through one complete revolution, then s equals the entire circumference and
 equals 2 radians.
s = r
2r = r
 = 2 radians
Differentiating the basic equation s = r results in the next two relationships between the tangential
motion of a point along the circumference and the angular behavior of the disk itself.
s = r
ds/dt = r(d/dt)
v = r
The Greek letter  represents the angular velocity of the disk. It is measured in the unit
radians/sec. Differentiating one more time, we have
v = r
dv/dt = r(d/dt)
a = r
The Greek letter  represents the angular acceleration of the disk. It is measured in the unit
radian/sec2.
Summary
These three equations
s = r
v = r
a = r
allow us to relate the linear motion (s, v, a) of a point moving in circular motion on a rotating
platform with the the rotational motion (, , ) of the platform itself.
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It is important when using these equations that the units on s, v, a and r be consistent. That
is, if the radius is measured in meters, then s must also be in meters, v in m/sec, and a in m/sec2.
Using our new variables for angular motion, we can now state analogous equation to those we
have already used for linear motion. When the velocity is constant our equations are
s = vt which becomes  = t
The following chart shows the relationship between the equations for uniform linear acceleration
and those that deal with uniform angular acceleration. When working with pure rotational
motion, the standard unit of measurement is the radian.
linear angular
a = (vf - v0)/t a = (f - 0)/t
vf = v0 + at f = 0 + t
at2  t2
s = v0t +  = 0t +
2 2
2 2 2 2
vf = v0 + 2as f = 0 + 2
2. FEW BASIC TERMS

2.1 Angular Velocity ()
{Caution : Do not confuse with angular frequency}
d
d

dt
Angular velocity describes the speed of rotation and the orientation of the instantaneous axis
about which the rotation occurs. The direction of the angular velocity vector will be along the axis
of rotation; in this case (counter-clockwise rotation) the vector points towards the viewer.
It is defined as „the rate of change of angular displacement with respect to time‰.
In physics, the angular velocity is a vector quantity (more precisely, a pseudo vector) which
specifies the angular speed, and axis about which an object is rotating. The SI unit of angular
velocity is radians per second, although it may be measured in other units such as degrees per
6 QUIZRR
second, revolutions per second, degrees per hour, etc. When measured in cycles or rotations per
unit time (e.g. revolutions per minute), it is often called the rotational velocity. Angular velocity
is usually represented by the symbol omega (). The direction of the angular velocity vector is
perpendicular to the plane of rotation, in a direction which is usually specified by the Right hand
grip rule.
T he angular velocity of a particle
Two dimensions V
V
V 

P
r

x
O
The angular velocity of the particle at P with respect to the origin O is determined by the
perpendicular component of the velocity vector v.
The angular velocity of a particle in a 2-dimensional plane is the easiest to understand. As shown
in the figure on the right (typically expressing the angular measures and  in radians), if we
draw a line from the origin (O) to the particle (P), then the velocity vector (v) of the particle will
have a component along the radius (radial component, v||) and a component perpendicular to the
radius (tangential component, v).
A radial motion produces no rotation of the particle (relative to the origin), so for purpose of
finding the angular velocity the parallel (radial) component can be ignored. Therefore, the rotation
is completely produced by the tangential motion (like that of a particle moving along a
circumference), and the angular velocity is completely determined by the perpendicular (tangential)
component.
It can be see that the rate of change of the angular position of the particle is related to the
tangential velocity by :
d
v  r
dt
Utilizing , the angle between vectors v// and v, or equivalently as the angle between vectors r
and v, gives :
v  v sin    .
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Combining the above two equations and defining the angular velocity as  = d/dt yields :
v sin  

r
In vector form the linear velocity, angular velocity and radius vector are related by
  
v   r
Thus, angular velocity can be represented as a vector quantity whose direction is perpendicular
to the plane of motion.
Points to Remember
1. If a particle is moving in a circle it is in pure rotational motion about the centre of the circle, while
for a moment it may be in pure translational motion about some other point.
2. If a particle P is moving in a circle, its angular velocity about centre of the circle (c) is two times
the angular velocity about any point on the circumference of the circle (0)
or wc = 20
This is because PĆP = 2P´ (by property of a circle) O P´
PĆP PÓP
c  , 0  P
tpp´ tpp´ C
From these relations we can see that c = 20.
3. If a rigid body is rotating about a fixed axis with angular speed 

, all the particles in rigid body rotate same angle in same
interval of time, i.e., their angular speed is same (). They rotate
in different circles of different radii. The planes of these circles
are perpendicular to the rotational axis. Linear speeds of different r
P
particles are different. Linear speed of a particle situated at a
distance r from the rotational axis is
v= r 
or v r
d
4. Angular velocity of a rigid body () is . Here  is the angle B
dt
between the line joining any two points (say A and B) on the A 
rigid body and any reference line (dotted) as shown in figure.

For example OP is a rod of length 5 m. End O is resting against
a vertical wall OY and P is moving towards right with constant
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speed VP = 10 m/s. To find the angular speed of rod at  = 30 , we can proceed as under.
AP = x = OP cos 
 x = 5 cos 
dx  d  Y
or   5 sin   
dt  dt 
O
 d   dx / dt  dx  n
  dt    5 sin   dt  VP  10 m/s 
    VP = 10 m/s

X
10 A P
or    4 rad/s
5 sin 30
 d 
Here negative sign implies that  decreases as t increases   0
 dt 
Example 1

A
r
A particle A moves along a circle of radius R = 10 cm so that its
radius vector r relative to O rotates with constant angular O
velocity  = 0.2 rad/s. Find the modulus of the velocity of the
C
particle and modulus and direction of its total acceleration.
Solution :
Given that 0 = 0.2 rad/s, R = 10 cm = 0.1 m
 c = 20 = 0.4 rad/s

(i) Modulus of velocity v  Rwc  (0.1) (0.4)

v  0.04 m/s or 4 cm/s Ans.

(ii) Modulus of total acceleration a  R2c

a   0.1  0.4   0.016 m/s2
2
or

or a  1.6 cm/s2 Ans.
(iii) The direction of its total acceleration (centripetal acceleration) will be towards centre C.
QUIZRR 9
Angular Momentum

 
A mass moving in a straight line has linear momentum P . When a mass rotates about some
point/axis, there is momentum associated with rotational motion called the angular momentum

 
L . Just as net external force is required to change the linear momentum of an object a net
external torque is angular momentum is classified in following three types.

(i) Angular momentum of a particle about some point
 
Suppose a particle A of mass m is moving with linear momentum P  mv . Its angular momentum

L about point O is defined as : A

 
       P = mv
L = r  P = r   m v  m  r  v

Here, r is the radius vector of particle A about O at the r r = r sin
instant of time.
 
The magnitude of is L is L = mvr sin  = mvr
O
Here, r = r sin  is the perpendicular distance of line of action of velocity v from point O. The
  
direction of L is same as that of r  v
Note : The angular momentum of a particle about a line (say AB) is the component along AB
of the angular momentum of the particle about any point (say O) on the line AB. This component
is independent of the choice of point O, so far as it is chosen on the line AB.
Example 2 y
P
A particle of mass m is projected from origin O with speed 
v
u at an angle  with positive x-axis. Positive y-axis is in

vertically upward direction. Find the angular momentum r r = b
of particle at any time t about O before the particle strikes
the ground again. 
x
Solution : O
  
L = m  r  v
  1 
Here r  t  = xi→  yj→ = (u cos ) ti→   ut sin   gt2  →j
 2 

and v  t   vxi→  vy →j   u cos   i→   u sin   gt  →j
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i→ →j k→
1 2
    u cos   u sin  t  gt 0
 L = m  r  v = m 2
u cos  u sin  0
 2
 1
 2 →
= m (u sin  cos )t   u cos   gt  u sin  cos  t   u cos  gt  k

2 2
2 
1
=  m  u cos   gt2 k→ Ans.
2
Example 3
A particle 1 moves in a circle of radius R and a particle 2 start moving along y-axis from
origin as shown. Calculate the angular momentum of particle 1 with respect to 2 at a
certain time instant t. [The speed of both particle is constant = u, v]
Solution :
 Y
r2 (position vector of particle 2 after time t)
= (u t) →j 
1
co-ordinate = (0, ut)
 u
r1  (R cos t, R sin t) 
X
2 O
after time t
 
v2  u →j, v1    v sin   i→   v cos   j→

 r12   R cos t  0  i→   R sin t  ut  →j

v1,2    v sin t  0  i→   v cos t  u →j
  
L1,2  v1,2  m1v1,2
=  R cos t i→   R sin t  ut →j   m   v sin ti→   v cos t →j 
Rigid body : A rigid body is a special case of system of particles where in the distance between
the constituent particles remain fixed.
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Angular momentum of a rigid body (or a system of particle)
Rigid body : A rigid body is a special case of system of particles

y
where in the distance between the constituent particles remain P

fixed.  rí
ri
 
 
ri  r1´  rCM  
rCM
x
 
   O
vi  v1´  vCM
 
Where ri and vi are position vector and velocity vector o the z
 
particle with respect to origin and ri´ and vi´ are of the particle
with respect to the centre of mass of body
Let us calculate the angular momentum of the given
rigid body (system of particle) about a point O.
 n
 
L0    ri  mi vi 
i1
  ri´  rCM   mi  vi´  vCM 

   
L0 =
´
 ´ 

=   ri  mi vi    rCM    mi  vCM 
   
=  ri´  mi vi´   rCM  MvCM 
  
L0 = LCM  LCM , 0
Thus, (angular momentum of a system with respect to O)

= (angular momentum of particles w.r.t. CM) + (angular momentum of CM w.r.t. O)
 
Also L (z) = LCM(z) +  rCM  MvCM  . k→
angular momentum of
angular momentum  system of particle with
  angular momentum o 
of a system with =    
 respect to CM along an  +  the CM along that 
respect to an axis
  axis 
 arc parallel to given axis
 
 and passing through CM 
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Example 4
A circular disc of mass m and radius R is set into motion on a

horizontal floor with a linear speed v in the forward direction and
v v
an angular speed  = in clockwise direction as shown in figure.
R 
Find the magnitude of the total angular momentum o the disc about
bottommost point O of the disc. O
Solution :
   
L = Lcm  m  r0  v0  ...(i)

Here, L cm = I (perpendicular to paper inwards)

ro
1 2  v 
=  mR   
2  R 
90 
vo
1
= mvR
2
  O
and m  r0  v0   mRv (perpendicular to paper inwards)
Since, both the terms of right hand side of Eq. (i) are in the same direction,
 1
 L = mvR + mvR
2
 3
or L = mvR Ans.
2
TORQUE
Torque is the tendency of a force to rotate an object about an axis, or pivot. Just as a force is a
push or a pull, a torque can be thought of as a twist.
The magnitude of torque depends on three quantities : First, the force applied; second, the length
of the lever arm connecting the axis to the point of force application; and third, the angle between
the two. In symbols :
  
rF
 = r F sin 
where  is the torque vector

r is the lever arm vector (vector form the axis to the point of force application), and r is the length
(or magnitude) of the lever arm vector.
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
F is the force vector, and F is the magnitude of the force,
 is the angle between the force vector and the lever arm vector.
T orque about an axis :

 
Torque about an axis AB is given by AB =  o .n→ AB  where O is any point on axis AB. Thus,
to find torque about an axis, find the torque about any point on the axis and take its projection
along the axis.
Result : Torque (or angular momentum) found about an axis by choosing a point on the axis
and taking its projection along the axis, is independent of the choice of the point on the axis.
Torque in various cases :


(i) 
When forces and axis are parallel F // AB 
 


= rF 
 



AB  r  F . n→ AB 

AB  0
(ii) When force and axis are coplanar and intersecting

 


 rF 
 


AB = r  F . n→ AB 
= 0
(iii) When force and axis directions are skew lines : (non-coplanar and non intersecting)
(  AB  0)

Tip : Torque about any axis can be visualized as a scalar triple product of r , F and n→ AB
   

 
AB  r  F . n→ AB   r F n→ AB 

 dL       
  
   
 =  r1  F1  r2  F2   r1  F1,2  r2  F2,1 
 dt     
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    
= net   r1  F1,2  r2   F1,2 
   
= net   r1  r2   F1,2

 

= net  r2,1  F1,2 
 ..  
= net  0 [ . r2,1 is anti parallel to F1,2 ]
  dL x 
dL 
  net   dt    ex  x
 
dt
Rate of change in angular momentum

 dL y 
about a point of a system of particle is      ex  y
 dt 
equal to net external torque about the
same point.
 dL z 
 dt    ex  z
 
4. CONSERVATION OF ANGULAR MOMENTUM

Net angular momentum of a system of particles about an axis remains conserved, if net external
torque on the system is zero about the same axis.
The angular momentum of a particle about some reference point O is defined as
  
L=rP ...(i)

Here P is the linear momentum of the particle and r its position vector with respect to the
reference point O. Differentiating Eq. (i) with respect to time we get,
  
dL  d P dr 
r  P ...(ii)
dt dt dt

dP 
Here F
dt

dr 
and v (velocity of particle)
dt
QUIZRR 15

dL    
Hence, Eq. (ii) can be rewritten as,  rF+vP
dt
  
Now, v  P = 0, because v and P are parallel to each other and the cross product of two parallel

dL   
vectors is zero. Thus, rF=
dt

 dL
or  ...(iii)
dt
Which states that the time rate of change of angular momentum of a particle about some reference
point in an inertial frame of reference is equal to the net torques acting on it. This result is
 dP
rotational analog of the equation F  , which states that the time rate of change of the linear
dt
momentum of a particle is equal to the force acting on it. Eq. (iii) like all vector equations, is
equivalent to three scalar equations, namely
 dL   dL   dL 
x    , y    and  z   
 dt  x  dt  y  dt  z

 dL
The same equation can be generalised for a system of particles as, ext  . According to which
dt
the time rate of change of the total angular momentum of a system of particles about some
reference point of an inertial frame of reference is equal to the sum of all external torques (of
course the vector sum) acting on the system about the same reference point.

 dL 
Now, suppose that ext  0, then  0 , so that L = constant.
dt
„When the resultant external torque acting on a system is zero, the total vector angular momentum
of the system remains constant. This is the principle of the conservation of angular momentum.
For a rigid body rotating about an axis (the z-axis, say) that is fixed in an internal reference
frame, we have
Lz = I
It is possible for the moment of inertia I of a rotating body to change by rearrangement of its
parts. If no net external torque acts, then Lz must remain constant and if I does change, there
must be a compensating change in . The principle of conservation of angular momentum in this
case is expressed as
I = constant ...(iv)
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Points to remember

 dL
1. In law of motion for a single particle acted on by a torque  =
dt

Holds only if  and L are measured with respect to any point O fixed in an inertial frame.
2. The law of motion for a system of particles acted on by a resultant external torque

 dL
ext 
dt
 
holds only if ext and L are measured with respect to
(a) any point O fixed in an inertial frame (b) the centre of mass of the system
3. Suppose a rod is lying on a smooth horizontal surface when a particle strikes it at some
point. Then angular momentum of rod + particle remains conserved about any point

fixed to an inertial frame of reference before and after collision as ext = 0, about any
point.
4. Suppose a rod is suspended from a support at O and a particle strikes the rod at O
some point, then the angular momentum of rod + particle remains conserved only

about point of suspension or point O. Because in this case ext on the system is zero
only about O.
Example 5
A uniform rod of mass m is rotating with constant angular velocity , about an axis making
an angle  with the vertical.
(a) Find the value of 
(b) Also, find the point of application of centrifugal force.
Solution :
(a) We will consider the analysis from the reference frame of rod.
 Consider an element dx at a distance x along the length of the rod as shown.
The net centrifugal force acts along the direction as shown.
 Calculating the torque about the point O,

d c   dm  2 x sin   x cos 
 
 c   2 x2 sin  cos  dm
0
QUIZRR 17

L
c   2 x2 sin  cos  dx { dm  dx} x dx
O
0
 m2(x sin)
ml 2
=  sin  cos   2 .
3 (mg)
 This torque is balanced by the torque due to weight.
l .
  mg sin 
2
 c  w
m l2 mg
 sin  cos  2  l sin 
3 2
 3g   3g 
cos      cos 1 
 2l 2    2l 2 
   
(b) Point of application of net centrifugal force
Important Result
To find the net resultant forceÊs point of application, follow :

(i) Find the net resultant force on the body
(ii) Find the net torque due to these forces on individual particles. (about any converted axis)
(iii) Assume a point P, at a given distance from the chosen axis and apply.    F  d 
  dm  
2
Net centrifugal force = x sin 
0
L
M 2  ML 2 
=  L   sin   xdx   2  sin  
  0  

Net torque due to centrifugal force about axis passing through O
d
ML2
=  sin  cos   2 P
3
Assume a point at a distance

Fnet d cos  = net
18 QUIZRR
ML 2 mL2
d  sin  cos    sin  cos   2
2 3
 2l 
d  
3
 2l 
 the net centrifugal force acts at a distance   from O.
3
Example 6
A hemispherical bowl of radius R is kept fixed with its axis vertical. Now a particle is
projected horizontally with an initial velocity v0 along the surface of the bowl, from a point
whose radius vector makes an angle 0 with the axis of bowl. If the particle is just able to
reach the rim, then find v0.
Solution :
Due to initial velocity, the ball starts moving, but due to vertical component of force, it starts to
rise in spiral path along the bowl.
 Angular momentum remains conserved about O.
Li  L f (about point O)
mv0R sin  = mvR
vo

v = v0sin ...(1) [At rim, vertical component of
velocity becomes zero]
 Energy remains conserved (in ground frame) mg
1 1
mv02  mv2  mgR  cos 0 
2 2
v2 = v02 2gR cos 0 ...(2)

Solving (1) and (2)
2 gR
v0 
cos 0
QUIZRR 19
Example 7
A small disc of mass m is attached to one end of an ideal spring initially in natural length,
whose other end is fixed to a point O and placed on a smooth horizontal surface. Find the
maximum elongation of the spring.
Solution :
Apply angular momentum conservation vo
K, l
about O as net external torque = 0.
m
O
(Li) = (Lf)
mv0l0 = mv (l0 + lmax) vo
v0 l0
v ...(1) )
 0 lmax 
l  ax
lm
(l +
 Use energy conservation
K
1 2 1 1
k lmax  mv02  mv2 ...(2) O
2 2 2
2 mv02 l02
Klmax  mv02 
 l0  lmax 
2
Solve it yourself.
Example 8
Two identical small discs each of mass m are connected by an ideal spring and placed on
a smooth horizontal surface. An initial velocity is imparted to one of the discs as shown.
Find the maximum elongation in the spring.
vo
K,l
Solution :
Solving this question in CM frame of reference
 CM moves with constant velocity
 Angular momentum also remains conserved.
(Li)CM = (Lf)CM
20 QUIZRR
v2
 v l  v  l   l  lmax  =0
m  v0  0  0  m  0  0   mv2 2 v1
 2  2  2  2  2
)
lm ax
 v0 l0   v (l + {Here we have
2  l0  lmax  ...(1) assumed velocities
2 are relative to COM}
 Use energy conservation (in COM frame)

v1 vo /2 vo
0= v2
 1 v2   1  1
2   m 0    mv22   2  k lmax
2
2 4   2  2
 
CM
mv02 1
 mv22  klmax
2
...(2)
4 2
Solving (1) and (2) [use binomial and condition that l << l0]
mv0
lmax 
kl0
Example 9
A small disc of mass m is attached to one end of an ideal string
r = r0
whose other end is passing through a hole in a horizontal table O 0
at O. And the other end is pulled down with constant velocity. m
Now if initial angular velocity 0, then find the tension in the
string as a function of distance from O.
Solution :
Net angular momentum of the system remains
conserved about O. (Li) = (Lf)
m(0 r0) r0 = m(r)r O T
  r2 
    0 20 
 r 
 
T = (m2r) T
 02 r04   2 r 4 
= m  4 r  m 0 30 
 r   r 
    (mo2ro)
 2 r 4 
T  m  030  ro r
 r 
 
(variation of tension with r)
QUIZRR 21
5. MOMENT OF INERTIA
Moment of inertia is the name given to rotational inertia, the rotational analog of mass for linear
motion. It appears in the relationships for the dynamics of rotational motion. The moment of
inertia must be specified with respect to a chosen axis of rotation. For a point mass the moment
of inertia is just the mass times the square of perpendicular distance to the rotation axis, I = mr2.
That point mass relationship becomes the basis for all other moments of inertia since any object
can be built up from a collection of point masses.
1
Linear F = ma Linear KE = mv2
2
NewtonÊs second Kinetic Energy
Moment of 1
Law Angular KE = I2
Inertia 2
Angular  = I 
I
1
Linear p = mv Linear Fnetd =  ( mv2)
2
Momentum Work Energy
1 2
Angular L = I Angular net =  ( I )
2
r
I = mr2 m
Now, if a system of particles is made of number of particles of masses m1, m2, m3 ...... mn at
distances r1, r2, r3 ...... rn from the axis of rotation, its moment of inertia is defined as
I  m1 r12  m2 r22 ..... mn rn2
n
m1
=  mi r12
i 1 r1
m2
r2 m3
r3
m5 r5
r4
m4
22 QUIZRR
M oment of Inertia of Continuous Body
For calculating moment of inertia of a continuous body, we first divide the
body into suitably chosen infinitesimal elements. The first choice depends
on t he symmet r y of body. Consider an element of t he body at dist ance r r
dm
from the axis of rotation. The moment of inertia of this element about the
axis we define as (dm)r2 and the discrete sum over particles becomes integral
over the body :
I = (dm)r2
Theorems on Moment of Inertia

(1) Perpendicular Axis Theorem
(Applicable only for Planar Bodies)
Moment of inertia of ith particle about x-axis and y-axis
Ix   mi y12
z
Iy   mi x12 y
 Iz   mi ri2
P(x,y)
=  mi  x12  y12  ri
x
O  ^ ^
r = xi + yj
=  mi x12   mi y12 = (Iy + Ix)
 Iz = I x + Iy
Again remember this theorem is applicable for only planar bodies.
(2) Parallel Axis Theorem

A
(Applicable for all types of bodies)
I CM   mi x12
d mi
I AB   mi ( xi  d ) 2
CM
xi
=  mi xi2 d 2
 mi  2 d  mi xi
IAB = (ICM + Md 2) B
To find the moment of inertia about a given axis pass an axis through CM parallel to the given
axis and note the perpendicular distance d from this axis.
Note : MOI is minimum in CM frame.
QUIZRR 23
M oment of Inertia of Various Bodies
(1) Thin Rod :

(A) For a uniform thin Rod :
If we have to find moment of inertia about an axis AB inclined at an angle  to the rod.
Derivation
Take an element dx at a distance
Then, dm  dx, r   x sin  

A
I   d I   (dm) r 2
dx

L/2
I   dI   
dx x2 sin2   x
L / 2
B
L/2
M x 3  ML2 
I    sin 2   sin2  
L 3  12 
 L/2  
About an axis inclined at an angle  and passing through its end.

(Apply parallel axis theorem)
A´
IA´B´ = IAB + md 2 A
2
ml 2 l  l
I sin 2   m  sin  
12 2   2 

ml 2 l sin 
I sin 2  2
3 B´ B
(B) MOI of a non-uniform rod with linear density
 x
  0  1  
 L
L
2  x
I   dI   0  1   x2 sin2  dx

L  L
2
2
M   11L3  11 ML
=  sin2      sin 2 
L   96  96
24 QUIZRR
(2) Uniform Rectangular Lamina
(A) About an axis parallel to any side and passing through centre.
(About X-axis)
M
dm     l dy , r  y Y
 lb 
L
 d I   dm r
2

b (dy)
y
X
b/2 b/2 O
M  2 M y
3  Mb2 
I   lb dy  y  b 3 
 12 
 b/2   b/ 2  
 Mb2   ML2 
Ix   
 12  , similarly, y  12 

 I
   
 Mb2 ML2 
Iz     (perpendicular axis theorem)
 12 12 

Iz 
M 2
12

L  b2 
(B) For a square lamina (of side a)
 Ma 2 
Iz 
M 2
12

a  a2   
 6 
 
(3) Uniform Circular Ring

(i) dI = dmR2
Consider an element of mass dm at a distance R from the centre.
 I = R2  dm dm
I = MR2 R
QUIZRR 25
(ii) MOI of the given cut ring :

I = (MR2) m
(remains same as that of complete ring)
R
Z
(iii) MOI about a diametrical axis. Y
m
I x + Iy = I z
2Ix = Iz R
X
I z  MR 2 
 Ix   
2  2  Y
A´
(iv) MOI about a tangential axis parallel to diameter A
MR 2 3
I1   MR 2  MR 2
2 2
R
B´
B
(v) MOI about a tangential axis perpendicular to diameter

Iz
I´z  MR2  MR 2  2MR 2 Iz´
(4) MOI of uniform circular disc

Consider a ring of thickness dr at a distance r from the centre
M
dm =  (2r)dr where  
R2
 d I   dmr
2

26 QUIZRR
R
M
=  2  r
3
dr
R 2 dr
0
2M R4 1 r
I   MR 2 R
R2 4 2
1
I MR 2
2
(ii) About a diametrical axis :

Iz = I x + Iy
2Ix = Iz
1
 I MR 2
4
A´ A
(iii) About a tangential axis :
(a) Perpendicular to diameter
1 3 R O
I MR 2  MR 2  MR 2
2 2
(b) Parallel to diameter
1 5 B´ B
I MR 2  MR 2  MR 2
4 4 A
(iv) For a segment of disc : dr

r
1 O  M
I MR 2
2
(5) Hollow and solid cylinders

(A) Hollow cylinder = MR2
(split it into rings)
x
1 2
(B) Solid cylinder = MR dx
2
(split into discs)
QUIZRR 27
(6) Thin spherical shell :

To calculate moment of inertia, consider a ring of thickness Rd making an angle  with the
horizontal axis.
(i) dm =  (2 R sin) Rd

I   dI  0  dm  R sin  , where  is the mass density.
2 2
M

4r 2 Rd
d Rsin
I
M
4 R 2
 2R   sin  d
4 
0
3 
 MR 2   4  2 2
=  2    3   3 MR
   
(ii) About a tangential axis :

I = ICM + Md 2
2
= MR 2  MR 2
3
5 MR 2
I
3
(7) Solid Sphere

To calculate, we consider a hollow sphere of thickness dr at a distance r from the centre.
dm =  (4r2)dr
where  is the mass density
R
M

4
R 3 r
3
dr
R 2
Now, d I  0 3
dm r 2
2
{Please note that here we put dm r 2 as this is the moment of inertia of hollow sphere}
3
2  4 R 4 2M R5 2
I
3 4 
0
r dr =
R3

5
 MR 2
5
R 2
3
28 QUIZRR
(8) MOI of hollow and solid cones : O
(A) Hollow cone  y
Consider a ring with height dy at a distance y from O.
H dy
Now thickness of ring will be dy sec  x
M
also,  
Rl
Hence, dm =  (2x) dy sec  R
 dI = (dm)x2
H
 I 0   2x  dy sec  x2
M 
H dysec
I  2  sec  0 x3 dy dy
Rl
y H
Now, we can see from the figure that 
x R
yR
 x
H
2M H R3 1
 I
Rl cos  0 y3
H 3
dy 
2
MR 2
1
 I MR 2
2
(B) Solid cone O

Consider a disc of thickness dy.
 y
then
 
2 H dy
dm =  x dy x
M
Where   Here also
1 2
R H R
3
H1 x R
I = 0 2
x4 dy
y
=
H
H
H y4 R 4
 
  dy R
 H4  x  y
2  R 2H  0 H
3 
3
I MR 2
10
QUIZRR 29
Points to Remember
1. Theorem of parallel axis is applicable for any type of rigid body whether it is a two dimensional
or three dimensional, while the theorem of perpendicular axes is applicable for laminar type or
two dimensional bodies only.
2. In theorem of perpendicular axes, the point of intersection of the three axes (x, y and z) may be
any point on the plane body (it may even lie outside the body). This point may or may not be
the centre of mass of the body.
3. Moment of inertia of a part of a rigid body (symmetrically cut from the whole mass) is the same
as that of the whole body. e.g. in figure (a) moment of inertia of the section shown (a part of a
1 2
circular disc) about an axis perpendicular to its plane and passing through point O is MR as
2
1 2
the moment of inertia of the complete disc is also MR . This can be shown as in Fig.
2
1
Suppose the given section is th part of the disc. then mass of the disc will be nM.
n
1
Idisc =  nM  R 2
2
R
1 1 O M
Isection = Idisc  MR 2
n 2
(a) (b)
Example 10 A
Three rods each of mass m and length l are joined together to form
an equilateral triangle as shown in figure. Find the moment of inertia
of the system about an axis passing through its centre of mass and CM
perpendicular to the plane of the triangle.
Solution : B C
Moment of inertia of rod BC about an axis perpendicular to plane of triangle ABC and passing
ml 2
through the mid point of rod BC (i.e., D) is I1 
12 A
From theorem of parallel axes, moment of inertia of
this rod about the asked axis is
I2 = I1 + mr2 CM
2 r
ml 2  l  ml 2 30
=  m   B C
12 2 3 6 D
30 QUIZRR
 ml 2 
 Moment of inertia of all the three rods is I  3I2  3 
 6 
 
ml 2
= Ans.
2
Example 12
Consider a uniform rod of mass m and length 2l with two particles of mass m each at its
ends. Let AB be a line perpendicular to the length of the rod and passing through its
centre. Find the moment of inertia of the system about AB.
Solution :
IAB = Irod + Iboth particles A
m  2l 
2
=
12
 
 2 ml 2
m
l l
m
7 2 B
= ml Ans.
3
6. RADIUS OF GYRATION
It is the radius of a uniform circular ring, having same mass as that of body, and with the given
axis having as its own axis, such that moment of inertia of ring becomes equal to that of the body.
I = MK2
I
 K
M
Example 13
An equilateral triangle is formed by 3 identical rods each of mass m and length l.

(a) Find the radius of gyration, when axis passes through one vertex and parallel to
opposite side.
(b) Passes through the vertex and perpendicular to the plane of triangle.
Solution :
m l2
(a) Moment of inertia for rods PQ and PR, I  sin 2 60 and for rod QR
3
QUIZRR 31
I = m (l sin 60 )2 {as I = wr2 for this rod} A

P
B
60
 ml 2 
Inet = 2  3 sin 60   m  l sin 60 
2 2
 l
  m
m
m l2 3 3 60
=   2  m l2  
3 4 4 Q m R
5 m l2
=
4
5
Now, I = (3M)K2  Kl
12
(b) Now I for rod PQ and PR
 ml 2 
I
 3 
 
A
and I for rod QP
P
I = ICM + Md 2
2
1  3 
ml 2  M  l
 2 
=
12   B
ml 2 3ml 2
=  Q
12 4 R
8 m l 2  m l 2  9 ml 2 18 m l 2 3
I net    m l2
12 12 2
I l
 K 
3M 2
Example 14
Radius of gyration of uniform disc of a radius R, about an axis perpendicular to the plane
of disc = R. Find the distance of axis from centre.
Solution :
MK2 = ICM + Md 2
1
MK2 = M R 2  Md 2
2
R
d
2
32 QUIZRR
Example 15
Find the moment of inertia of a hemispherical shell centred at O, through P as shown.

Solution :
Now, here as we know a hemisphere is at a distance x above centre O.
General steps of solving such problems : P
IP = ICM + M (R x)2 M
I0 = ICM + Mx2 (CM)
x
IP I0 = M (R x)2 Mx2
O
R
(i) Now, we know that x = /2 for a hemispherical shell
2 2
I0 =  MR 
3 
2 MR 2 MR 2
I P  MR 2  
3 4 4
2
 IP  MR 2
3
(ii) For solid hemisphere
3R 2
x , I0  MR 2
8 5
2 2  25 R 2   9R 2 
IP = 5 MR  M    M  
 64 
   64 
2 MR 2 13MR 2
= MR 2  
5 4 20
Some more important terms
Angular acceleration
 measures the time rate of change of the angular velocity. Hence, the
The angular acceleration 
magnitude of this vector may be written as,
d
 ...(ii)
dt
QUIZRR 33
d 2
It is also possible to express  as, 
dt2
 is the same as that for  , however its sense of direction depends on
The line of action of  
whether  is increasing or decreasing with time. In particular if  is decreasing,  is called an
angular decleration and therefore, has a sense of direction which is opposite to   .
Torque and angular acceleration for a rigid body
The angular acceleration of a rigid body is directly proportional to the sum of the torque components
along the axis of rotation. The proportionality constant is the inverse of the moment of inertia
about that axis, or,


I
Thus, for a rigid body we have the rotational analog of NewtonÊs second law :
 = I ...(iii)
Following two points are important regarding the above equation.
(i) The above equation is valid for rigid bodies. If the body is not rigid like a rotating tank of
water, the angular acceleration  is different for different particles.
(ii) The sum in the above equation includes only the torques of the external forces, because
all the internal torques add to zero.
Rotation with constant angular acceleration

Acceleration :
 
We know that v  r
  
 dv d   d    dr
Taking the time derivative, a      rc    r   
dt dt dt dt
 
d  dr P   
Here,   and  v   r
dt dt
     
Hence a    r      r  ...(vi)
34 QUIZRR
By definition of the cross product. The first term on the
right has a magnitude at = r, called the tangential
component of acceleration. Likewise the second term has ,
a magnit ude an = 2 r sin  = 2r and called the normal 
component of acceleration. O  an a
r at 
 P O a
The tangential component of acceleration represents the
Q rp an
time rate of change in the velocityÊs magnitude and can
dv at
also be written as . Thus,
dt P
dv
at  ...(vii)
dt

If the speed of P is increasing, then at acts in the same direction as v , if the speed is decreasing,
  
at acts in the opposite direction of v finally if the speed is constant at is zero.

The direction of an is always towards O, the centre of the circular path. Hence, Eq. (vi) can be
     
identified by its two components as a  at  an    r  2 r
 
Since, at and an are perpendicular, if needed the magnitude of acceleration can be determined
from the Pythagorus theorem, namely a  an2  at2
Example 16
The angular position of a point on the rim of a rotating wheel is given by  = 4t ă 3t2 + t3,
where  is in radians and t is in seconds. What are the angular velocities at
(a) t = 2.0 s and
(b) t = 4.0 s
(c) What is the average angular acceleration for the time interval that begins at t = 2.0
s and ends at t = 4.0 s.
(d) What are the instantaneous angular acceleration at the beginning and the end of this
time interval.
Solution :
Angular velocity 
d

dt dt
d

4t  3t2  t3 
or = 4 6t + 3t2
(a) At t = 2.0 s, = 4 6 2 + 3(2)2
or  = 4 rad/s Ans.
QUIZRR 35
(b) At t = 4.0 s = 4 6 4 + 3(4)2

or  = 28 rad/s Ans.
(c) Average angular acceleration
 f  i 28  4
 av  
tf  ti 42
or  av = 12 rad/s2
(d) Instantaneous angular acceleration is,

d d

dt dt

4  6t  3t2 
or  = 6 + 6t
At t = 2.0 s,  = 6+ 6 2 = 6 rad/s2 Ans
At t = 4.0 s  = 6 + 6 4 = 18 rad/s2 Ans.
Example 17
A solid fly wheel of 20 kg mass and 120 mm radius revolves at 600 rpm. With what force
must a brake lining be pressed against it for the flywheel to stop in 3 s, if the coefficient
of friction is 0.1.
Solution :
n 0 = 600 rpm (revolutions per minute)
600
= rps
60
= 10 rps (revolution per second)

So, initial angular velocity, 0 = 2n0 = (2)(10)
= 20 rad/s
Let  be the constant angular retardation, then applying
 = 0 t
or 0 = (20) 3()
20
or  =  rad/s2
3

Further  =
I
Here,  = øNR (R = radius)
or  = øFR (F = applied force)
36 QUIZRR
1
as N = F and I  mR 2
2
20 FR 2F 10mR

From the above equations,   or F 
3
mR 2 mR
3 1
2
10  22  20  0.12
Substituting the values we have, F = 3  7  0.1
or F = 251.43 N Ans.
Example 18
A wheel rotates around a stationary axis so that the rotation angle  varies with time as
 = a t2, where a = 0.2 rad/s2. Find the magnitude of net acceleration of the point A at the
rim at the moment t = 2.5 s if the linear velocity of the point A at this moment is v = 0.65
m/s.
Solution :
Instantaneous angular velocity at time t is
 =
d
dt
=
d
dt
at2  
or  = 2at = 0.4t (as a = 0.2 rad/s2)
Further, instantaneous angular acceleration is,
d d
 =  0.4t 
dt dt
or  = 0.4 rad/s2
Angular velocity at t = 2.5 s is
 = 0.4 2.5 = 1.0 rad/s
v 0.65
Further, radius of the wheel R= or R  0.65 m
 1.0
Now, magnitude of total acceleration is :
a = an2  at2
Here an = R2 = (0.65)(1.0)2 = 0.65 m/s2

and at = R = (0.65)(0.4) = 0.26 m/s2
 a =  0.65 2  0.26 2
or a = 0.7 m/s2 Ans.
QUIZRR 37
7. ANGULAR MOMENTUM AND KINETIC ENERGY OF A ROTATING BODY

Let us consider a rigid body performing pure rotation with angular 
velocity  about the axis passing through the point O. v = ri
= m (ri)ri
=  m ri2 O ri
=  mri2  I
 L = I
Note : This is applicable about only that axis about which the body is under pure
rotating motion.
1
K.E.= mv2
2
1
 2 m  ri 
2
K =
1 2 1 
=
2
  mri2   2 I 2 
 K  1 I2
2
Note : Applicable when the body is under pure rotatory motion in that frame about
axis of rotation.
About any general axis
1 2
K  K´  M vCM
2
1 1
K ICM 2  MvCM
2
in general applicable of rigid body motion.
2 2
Now, since
L = I
dL  d   dI 
 I   
dt  dt   dt 
38 QUIZRR
If I is constant, then
 valid only about that axis 

dL  
  I    about which the body is 
dt  under pure rotatory motion 
 
{Here,  is the angular acceleration of the body about the same axis where I is calculated}

 dL
However, ex  is valid everywhere
dt
Caution : Consider and check whether the axis is inertial or non-inertial.

In non-inertial axis, apply PSEUDO FORCE.
WORK DONE BY TORQUE
2
  d = change in rotational KE of body
1
Example 19
A uniform rod of mass m and length l is placed on a smooth surface, and is free to rotate
about a vertical axis passing through fixed end A. A constant force F is always acting
horizontally applied to the end B, perpendicular to initial orientation of rod. Find the
angular velocity of rod as a function of angular displacement of rod.
Solution :
Torque at any angle  due to F about A will be,
A = (F l cos )
Now, we can solve it by two methods.
(i) Use A = IA 
d F
where  can be written as   
d
 m l2  d
 F l cos  =  3   d 
 l
 
 
m l2
 F l  cos  d   d  
0
3 0
m l2 2
 F l sin  = 
6
QUIZRR 39
6F sin 
 w
ml
(2) Use energy conservation,
Work done by torque = Change in rotational K.E. of the body
 1
0 d  2 I A 2
 1  ml 2  2
Fl 0 cos d  = 
2  3 

ml 2
 F sin  = 
6
6Fsin 
 
ml
ROLLING MOTION
Let us first see an example of pure rotational motion of a body about a fixed axis (called spinning).
R
Disc
This is called pure rotational motion because the centre of mass of the disc is at rest and the body
is performing rotational motion about an axis.
Now, let us see an example of pure translational motion.
Ring
In this case, the ring is not rotating but the entire body is moving with a velocity v in the
horizontal direction. This is a case of pure translational motion.
40 QUIZRR
Now,


v
(A) (B) (C)
Now part (C) shows a rolling motion which is a combination of translatory and rotatory motion.
R olling without slipping :
In case of rolling motion if the object rolls across a surface in such a way that there is no relative
motion of object and surface at the point of contact, the motion is called Rolling without
slipping. So let us analyze the condition.

C V
R v
P
Now, for no slipping, if the ball is in contact with ground (or any object at rest) when the point
P on the ball should also be at rest {for no relative motion}
Hence, v r = 0
or v = r
Now, if a force and torque are also present on the body and the body continues in pure rolling,
then net acceleration of the lowest point should also be zero relative to the surface. Thus,
 a
O
R a
a = R 
where  is the angular acceleration of the body about its centre O and a is the translational
acceleration of the centre of mass of the body.
Direction of friction in pure rolling
Let us assume a force F applied on a height ÂhÊ above its centre O.
QUIZRR 41
Then
F m, R
h
O
acceleration of the centre of mass of the body is given by
F
a ...(1)
m
and torque due to the force F

 = F.h
 ICM  = F.h
F.h
  ...(2)
ICM
Now, a = R  for pure rolling

From (1) & (2)
F  F.h 
  R 
M  ICM 
ICM
 h0 
MR
In this case force exerted by friction (fs) will be zero. This is because fs starts acting only when
there is relative motion between two surfaces in contact.
Now, let us consider different cases and determine the direction of fs.
(i) If h > h 0
then F m, R

h
R > a O a
a
R
P fs
this means that net motion of body with respect to surface will be in the backward direction.
Hence fs will start acting in the forward direction to oppose this relative motion.
Hence, fs will be in the direction of F.
42 QUIZRR
(ii) h < h0
F
In this case a >  R. Thus the body will have a tendency to h
O
slip forward and hence, force of friction will act in backward a
direction.
fs
Example 20
A sphere is placed on a rough horizontal surfaces and an initial velocity v0 and angular
velocity 0 = v0/R is imparted to the sphere. (anticlockwise)
(a) Find the velocity of the sphere when it stops rotating ?
(b) Find the velocity of the sphere when it starts pure rolling ?
(c) Find the work done by friction after a long time interval (i.e. after pure rolling starts)
Solution :
Method I : Through conservation of angular momentum.
=o r = v2
o = vo
R
vo v1 v2
f f f
O
(rotation stops)
These are the 3 stages for the sphere. Initially, the sphere at point O had a net velocity
= v0 + 0R = 2v0
In second case, due to net torque opposite to the angular velocity, so eventually  becomes zero.
And finally pure rolling starts when r = v2.
Now, Angular momentum remains conserved about the point O fixed to ground {as torque about
O is zero}
Hence, (Li)1 = (Lf)2
Now, (Li)1 = ICM ( 0) + R (Mv0)
2 2
=  MR    0   Mv0 R
 5 
2
= MRv0  MRv0
5
3
= MRv0
5
QUIZRR 43
(Lf)2 = ICM (0) + R (Mv1)

= Mv1R
 (Li )1 = (Lf)2
3
 MR v0  Mv1 R
5
3
 v1  v0
5
3
(a) So, velocity of sphere when it stops rotating = v0
5
(b) Now again apply angular momentum conservation about point O in cases (2) and case (3)
hence, (Li)2 = (Lf)3
2 
 Mv1 R   MR 2    M v2 R
 5 
3v0 2
  v2   R
5 5
2 7
= v2  v2  v2
5 5
3
Hence, v2  v0
7
(c) Now, work done by friction will be equal to the change in kinetic energy.
{from conservation of energy}
 Wfr = K
1 2
Now, K = K´ + MvCM
2
1 1
= ICM 2  MvCM
2
2 2
 Wfr = K2 K1
1 2
2
2  v2 1 2
 1 2
2
2  v0 1 2

= 2 5 MR  2  2 Mv2    2 5 MR  2  2 Mv0 
   R2    R 
44 QUIZRR
7 7
= Mv22  Mv02
10 10
7  9  4
= M  1 v02   M v02
10  49  7
Method 2 :
(a) velocity when  = 0
 o = vo
R
vo v1
f
f
Now, f = m a    a 
m
2 2
also,  = f.r = I  =  MR   {Torque equation}
5 
5f
 
2 MR
Now,  = 0  t= 0
0 v0  2MR  2v0 M
 t   
 R  5f  5f
f  2v0  3v0
and v = v0 at = v0   m 
m  5f  5
3v0
hence velocity (when  = 0) =
5
=o
(b) = v
R
3vo
 v
5
QUIZRR 45
 5f  2MR 
=  t=  t  t
 2MR  5f
3v0  f 
v =   t
5 m
3v0 f 2m R 
v =  
5 m 5f
3v0 2v
= 
5 5
3v0
 v
7
3v0
 
7R
Example 21
A solid sphere is placed on a rough horizontal surface, when an impulse is applied to the
sphere at a height h above the centre, its CM acquires an initial velocity v0. It is found that
 9v0 
when sphere starts pure rolling over the surface, its velocity becomes   . Then show
 7 
4R
that h  . Also find the work done by friction in long time
5
Solution :
J
h 9vo
vo 
R
o
O (pure rolling)
9v0
(a) Now, J.h = I 0 R =
7
9v0
and J = mv0  
7R
2 2
 mv0.h =  mR  0
 5 
46 QUIZRR
5v0 h
 0 
2R 2
Using conservation of angular momentum about point O fixed to ground
 9v0 
 I0 + Mv0R = I + M  R
 7 
2 2   9v0  9Mv0 R
 Mv0 h + Mv0R =  MR   
 5   7R  7
 18  45  28 R 4R
 h  RR 
 35  35 5
4R
 h
5
(b) Work done by friction = K

= K2 K1
1 2 1 2  1 2 1 2
=  ICM   MvCM    ICM 0  Mv0 
2 2  2 2 
81
 Wfr  mv02
245
Example 22
A uniform sphere of mass m 1 is placed on plank of mass m 2, which is placed on a smooth

horizontal surface. A constant force F is applied to the plank and hence sphere starts pure
rolling over the plank. Find the acceleration of sphere and that of plank.
(b) Also, find the minimum coefficient of friction between plank and sphere required to
start pure rolling.
Solution :
m1 a
F
ao
m2
Let a and a0 be the acceleration relative to ground of the sphere and plank respectively.
QUIZRR 47
Tip : Whenever a body is rolling without slipping over another surface, assume the acceleration
of CM of the rolling body with respect to the surface on which pure rolling is taking place.
N
f s = m1 a ...(1)
2 2
fs R =  M R   ...(2)
5 

f Now, for plank

m g
'
fs
F.B.D. of sphere F
F fs = m2 a0 ...(3)
condition for pure rolling
(a a0) =  R ...(4)
Using (1), (2), (3) and (4)
2F 7F
a , a0 
7m2  2m1 7m2  2m1
(b) To find the minimum coefficient of friction,

fs  ø N
fs  min 
2F
 ø> 
N 7m2  2m1   g 
Example 23
A uniform cylinder of mass m and radius R rolls down without slipping down a rough
inclined plane, which is placed on a smooth horizontal surface. Find the acceleration of the
cylinder relative to wedge.
m, R

Sol u t i on :
Let a0 be the acceleration of the wedge and a be the acceleration of the cylinder relative to the
wedge frame.
48 QUIZRR
N ao
fs 
mao

M
N fs

mg
For cylinder : N + ma0 sin  = mg cos  ...(1)

mg sin  + ma0 cos  fs = ma ...(2)
fs R = ICM  ...(3)
a =  R ...(4)
[Applied relative to surface on which pure rolling taken place]
For wedge N sin  fs cos  = ma0 ...(5)
Solve (1), (2), (3), (4) & (5) to get the result.
Example 24
(a) A horizontal plank of mass m is placed on top of a horizontal cylinder of mass M and
radius R, which is placed on a rough horizontal surface. A constant force F is applied
at angle  of cylinder with respect to ground on the plank. No slipping takes place
at any point of contact. Also given that the plank remains in horizontal position (a)
find the friction force f A and f B.
(b) Also, find the acceleration of plank and the cylinder.
F
Solution :
m 
A
M
R
N fA
Fsin
B
F
Fcos

fA
mg fB
FBD of plank FBD of cylinder
QUIZRR 49
For cylinder :
fA + fB = Ma ...(1)
1
fA.R + fB.R = ICM  ...(2) {Here ICM = MR 2 }
2
(condition for pure rolling)

a = R  ...(3)
For plank :
acceleration of plank = (a + R )
{from pure rolling condition}
= 2a
hence, f cos  fA = m (2a) ...(4)
So, solving (1), (2), (3) and (4)
3M F cos  M F cos 
fA  , fB  3M  8 m
3M  8 m
4F cos 
a
3M  8m
Example 25
M F
Cylinder is placed between 2 horizontal plank as shown
constant forces F and 2F are applied on the plank as shown. M, R
Find the acceleration of cylinder and that of plank, if there 2F 2M ø=0
is no slipping at any contact point.
Solution :
f2
M F 2f 2M
f1 
f2
FBD of upper plank FBD of cylinder FBD of lower plankr
For upper plank :

F f1 = Ma1 ...(1)
For lower plank :
2F f2 = 2Ma2 ...(2)
50 QUIZRR
For cylinder : f1 f2 = Ma ...(3)
(f2 + f1)R = ICM  ...(4)
also for no slipping at point A
a +  R = a1 ...(5)
and for point B
( R a) = a2 ...(6)
Solving (1), (2), (3), (4), (5) and (6) we get
F 19F 21F
a , a1  , a2 
23M 23M 23M
Example 26
A uniform cylinder of mass m and radius R is placed on two

horizontal planks. A thread is wound over the cylinder whose
other end is pulled down vertically with a constant force F. Find
the maximum value of F so that the cylinder moves without
slipping over horizontal plates.
Solution :  F
N2
F + Mg = N1 + N2 ...(1)
(f1 + f2) = Ma ...(2)
f2
1 2
FR (f1 + f2)R =  MR   ...(3)
acm  2 
N1
R = a ...(4)
f1 f1 + f2  ø (N1 + N2) ...(5)
Solving the equations

F
3ma
 F
2
Ma  ø (F + Mg)
2F
< ø (F + Mg)
3
 2F 
 3  F  .   Mg
 
3 Mg
F
 2 - 3 
3 Mg  2Fmax 
           amax   
Fmax =
 2  3   3m 
QUIZRR 51
Type II : Rolling without slipping question involving threads (strings) would over body.
Example 27
In the arrangement shown the cylinder rolls down without slipping

down a plane of inclination . Find the acceleration of cylinder and
that of block. M, R
m

Solution :
Note the directions of rotation of body and direction is which the friction acts.
N T
a
 fs
m
mg

Tip : In string problem of pure rolling, use the concept that the two ends of the thread
must have same acceleration, otherwise the string would slack or break.
Mg sin  (T + fs) = Ma ...(1)
1 2
fs R TR =  MR   ...(2)
2 
a =  R [condition for pure rolling] ...(3)
Acceleration of the mass m :

Acceleration of the thread attached at the point of cylinder
= (a +  R) = 2a. Now, since the string cannot slash or break, acceleration of the other end, also
must be 2a, which is the acceleration mass m.
T mg = m (2a) ...(4)
T = mg + 2am
Ma
f s = (mg + 2am) +
2
Ma
Ma = Mg sin  2 mg 4am
2
3Ma
 4 am  Mg sin   2mg
2
2 g  M sin   m 
 a
 3M  8m 
52 QUIZRR
9. INSTANTANEOUS AXIS OF ROTATION (IAR)
There is another term which will be covered in the same article called Instantaneous centre
of rotation (ICR).
IAR : It is the axis about which the motion of a rigid body undergoing plane motion is
assumed to be pure rotatory with same  and  as that of body about its COM axis.
{This is always perpendicular to the plane of motion of rigid body.}
ICR : It is the point of intersections of IAR with the plane of motion of rigid body.
ICR is the centre (of the circle) about which all particles of the rigid body are going
in circle with same  and , but in different radius equal to the distance from ICR.
Note : ICR and IAR are instantaneously at rest, i.e. at an instant their velocity is zero, but their
acceleration may or may not be zero.
To find the position of ICR
Consider the body shown in figure where the line of action of the velocities 
  vB A

vA and vB are known. Draw perpendicular at A and B to these lines of vA
action. The point of intersection of these perpendiculars as shown locates
the IC at the instant considered. lC
B
In pure rolling, IAR passes through the point of contact of the surface
and body. {This is because the point O is at rest as v = R }
v = 2R
 C A
B V (v = R )
R 2 R R 2 Vnet
O
(ICR)
Now, ICR is used to know the direction and magnitude of the net velocity of any point of the body.
For example, if we have to calculate velocity of point A, then join point O and A and the direction
perpendicular to this line OA will give us the value of net velocity and the magnitude of velocity
will be given by vnet =  (OA).
Now, OA  R 2
 vnet =  R 2
Similarly, velocity of centre of sphere vnet C =  (OC) = R = v {as v = R}

in the forward direction.
QUIZRR 53
Some points
(i) When v > R, ICR lies below point of contact.

(ii) When v < R, ICR lies above point of contact.
How to find ICR when the velocities are parallel or anti-parallel
When the velocities of points A and B are parallel and have known magnitudes vA and vB then
the location of the IC is determined by proportional triangles as shown in figure.
A  lC
vA

d lC A vA
d
 
vB vB
B B
(a) (b)
vA
In both the case, r A, =
IC 
vB
and rB,IC =

In Fig. (a) rA, IC

+ rB, IC
= d
and in Fig. (b) rB, IC
rA, IC
= d
As a special case, if the body is translating, vA = vB and the IC would be located at infinity, in
which case  = 0
Example 28
A uniform thin rod of mass m and length l is standing on a smooth horizontal surface. A
slight disturbance causes the lower end to slip on the smooth surface and the rod starts
falling. Find velocity of centre of mass of the rod at the instant when it makes an angle 
with horizontal.
Solution : A
As the floor is smooth, mechanical energy of the
com l
rod will remain conserved. Further, no horizontal sin)
IC h = 2 (1
force acts on the rod, hence the centre of mass 
vC 
moves vertical downwards in a straight line. Thus l sin
2
velocities of COM and the lower end B are in the 

directions shown in figure. The location of IC at B vB
54 QUIZRR
 
this instant can be found by drawing perpendiculars to vC and vB at respective points. Now, the
rod may be assumed to be in pure rotational motion about IAOR passing through IC with angular
speed .
Applying conservation of mechanical energy. Decrease in gravitational potential energy of the rod
= increase in rotational kinetic energy about IAOR.
1
 mgh  I 2
2 IAOR
l 1  ml 2 ml 2 
or mg 1  sin     cos2   2

2 2  12 4 
l 
vC     cos  
 8 
Angular Impulse
     
dL 
A = dt =   dt  L
 dt 
 
 
 
 A = L
Ax = ( Lx)
Ay = ( Ly)

Az = ( Lz) =  ex  z  dt
Angular impulse is also defined a moment of linear impulse.
  

A= r j 
Example 29
A uniform sphere of mass m and radius R starts rolling without slipping down an inclined
plane. Find the time dependence of the angular momentum of the sphere relative to the
point of contact at the initial moment. How will the results be affected in the case of a
perfectly smooth inclined plane ? The angle of inclination of the plane is .
Solution :
Applying the equation
Angular impulse = change in angular momentum about point of contact we have,
QUIZRR 55
 
  dt   L
j
or L = (mg sin ) Rt Ans. 
sin
There will be no change in the results, as the torque of force of mg
friction in the first case is zero about point of contact. So, it 
hardly matters whether the surface is rough or smooth.
Example 30
A spherical ball of radius r and mass m collides with plank of mass o

M kept on a smooth horizontal surface. Before impact, the centre of
the ball has a velocity v 0 and angular velocity 0 as shown. The vo
normal velocity is reversed with same magnitude and the ball stops
rotating after the impact. Find the distance on the plank between
first two impacts of the ball. The coefficient of friction between the
ball and the plank is ø. Assume that plank is large enough.
Solution :
The forces during impact are shown
N vo
v1 y
øN x
øN
v2
Let the horizontal velocities of the ball and the plank be v1 and v2 in opposite directions as shown
in Fig.
From conservation of linear momentum in horizontal direction
mv1 = Mv2 ...(i)
Linear impulse of the ball in vertical direction = change in linear momentum in vertical direction.
(J = N dt)
Hence J = 2mv0 ...(ii)
Linear impulse on the ball in horizontal direction = change in linear momentum in horizontal
direction.
 øJ = mv1 ...(iii)
Angular impulse on the ball about COM = change in angular momentum about COM,
2
 ø J.r = Iw0 = mr 2 .0 ...(iv)
5
56 QUIZRR
Solving Eqs. (i), (ii), (iii) and (iv), we get
2 m2 
v1  r 0 v2  r 0 
M  5
and
5 
Now, actual path of the ball is a projectile whose time of flight will be
2vy 2v0
T 
g g
Relative velocity of ball with respect to plank in horizontal direction is
M  m 2 M  m
vr = v1 + v2 =   v1    r0
 M  5 M 
Therefore, the desired distance is
4  M  m  v0 r0
s = vrT or s Ans.
5  M  g
12. TOPPLING
N
Suppose a force F is applied at a height b above the base AE of the B D
F
block. Further, suppose the friction f is sufficient to prevent sliding. b
C
In this case, if the normal reaction N also passed through C, then
f
despite the fact that the block is in translational equilibrium (F = A E
f and N = mg), an unbalanced torque (due to the couple of forces
W = mg
F and f) is there. This torque has a tendency to topple the block
about point E. To cancel the effect of this unbalanced torque the normal reaction N is shifted towards
right a distance ÂaÊ such that, net anticlockwise torque is equal to the net clockwise torque or
F.b = (mg)a
Fb
or a
mg
N N
B D B D
F F
C a b C
f f
A E A mg E
mg
(a) (b)
Now, as F or b (or both) are increased, distance a also increases. But it can not go beyond the
right edge of the block. So in extreme case (beyond which the block will topple down), the normal
reaction passes through E as shown in Fig.(b).
QUIZRR 57
Now, if F or b are further increased, the block will topple down. This is N
why the block having the broader base has less chances of toppling in F
comparison to a block of smaller base. Because the block of larger base
has more margin for the normal reaction to shift. On the similar ground C
we can see why the rolling is so easy.
Because in this case the normal reaction has zero margin to shift. So f
even if the body is in translational equilibrium (F = f, N = mg) an mg
unbalanced torque is left behind and the body starts rolling clockwise.
As soon as the body starts rolling the force of friction is so adjusted (both in magnitude and
direction) that either the pure rolling starts (if friction is sufficient enough) or the body starts
sliding. Let us take few example related to toppling.
Example 31
A uniform cube of side Âa Ê and mass m rests on a rough horizontal table. A horizontal force
F is applied normal to one of the faces at a point directly above the centre of the face, at
3a
a height above the base. What is the minimum value of F for which the cube begins to
4
tip about an edge ?
Solution :
In the limiting case normal reaction will pass through O. The cube will tip about O if torque of
F exceeds the torque of mg.
 3a  a N
Hence, F   mg  2 
 4   
a F
2 3a
2 4
or F mg
3
O
mg
2
Therefore, minimum value of F is mg Ans.
3
Example 32
A uniform cylinder of height h and radius r is placed with its circular face on a rough
inclined plane and the inclination of the plane to the horizontal is gradually increased. If
ø is the coefficient of friction, then under what conditions the cylinder will (a) slide before
toppling (b) topple before sliding.
Solution :
(a) The cylinder will slide if mg sin  > ømg cos 
or tan  > ø ...(i)
58 QUIZRR
N
h f
The cylinder will topple if (mg sin ) > (mg cos )r
2
 
2r sin cos
tan   mg
or
h
...(ii) mg

2r
Thus, the condition of sliding is tan  > ø and condition of toppling is tan   .
h
Hence, the cylinder will slide before toppling if
2r
 Ans.
h
2r
(b) The cylinder will topple before sliding if   Ans.
h
Example 33
A spool of mass m and radius R, is placed on a rough horizontal surface. The thread is wind
up in a radius r over the spool. The other end is pulled with constant F at an angle  with
horizontal. The spool starts pure rolling on horizontal surface. (I = yMR2) Find
(a) Find the acceleration of the spool
(b) Find the work done by applied force in 1st t second.
R F
Solution :
N
(a) a F cos  fs = Ma ...(1)
fs (R) Fr = I  ...(2)
F a =  R ...(3)

 I = yMR2 ...(4)
Solve then to get a
fs
mg
(b) W (applied force F) [work done by friction is zero in pure rolling]

= K (change in KE)
1 1
=  ICM  2  MvCM
2
2 2
QUIZRR 59
1 1 2
= yM(R22) + MvCM
2 2
1 1 1
= yMv2  Mv2  Mv2  y  1 
2 2 2
W =
1
2

M a 2 t2   y  1
Example 34
A uniform rod AB of mass m and length l is placed on a smooth horizontal surface with end
A hinged. A small particle of mass m is rigidly attached to the rod at a distance l/3 from the
end A. Now, a horizontal impulse J0 is applied perpendicular to the length of rod at a
 2l 
distance   from end A. Find
 3
(a) the angular velocity of the rod just after the impulse applied
M
(b) impulse due to hinge reaction during impulse is applied. Take 3
m
Solution :
l
3 J
m  m
A B A B
M,l
Jo
l
2l 3
3
Angular momentum cannot be conserved in this case. Hence we write angular impulse momentum
equation.
 2l 
About point A J 0    I
3
 Ml2 ml 2 
=  3  9  
 
 2l   ml 2   10ml 2  M 
J0     ml 2    
 3   9   9    3
 m 
 
 3J 
  0
 5ml 
60 QUIZRR
(b) Impulse due to hinge reaction = change in momentum of the system
 l   l
Jy + J0 = M     m 
 2   3  We are writing for whole 
 
 (Jx = 0)  system so the impulse 
 
 between m and M 
 3ml ml  11J0  becomes internal 
Jy + J0 =    
 2 5  10
11J0 J 
Jy   J0   0 
10  10 
Example 35
A uniform rod of mass m and length l is suspended from end A. A small disc of mass m,
 2l 
moving with velocity u collides perpendicular to the rod at a distance   from end A.
 3
Find
(a) the minimum value of u, so that the rod makes full vertical circle.
(b) Also find the impulse due to hinge reaction on the rod.
Solution :
Linear momentum of (rod + disc) system cannot be conserved in horizontal/vertical direction.
We can conserve angular momentum about A for (rod + disc) system.
(Li)A = (Lf)A
A Jx
 2l   2l 
mu    0   I A   mv  
 
3 3
Jg
2l
3
2mul  ml 2  2mvl
   ...(1)
3  3  3
  ø v
  2l  
    v
e  
3  2l
 u0   eu  v ...(2)
  3
 
 the rod makes a complete vertical circle.

Increase in PE = decrease in KE (rotational)
 1  ml  2
2
1
mgl   I A 2     ...(3)
2  2  3 
[ about A motion of rod in pure rotation]

Solve (1), (2) and (3) to get result
QUIZRR 61
(b) Impulse due to hinge reaction
 m l  
J x     mv   mu  0 
 2  
Jy = 0
 Net impulse = J2x  J2y
 Jnet = Jx
Example 36
In the arrangement shown, the rod hinged at point O is released from rest.
F i n d t h e h i n ge r eact i on w h en t h e r od m ak es an an gl e  with the vertical.

(Mass, length = M, L)
O
Solution :
Concept :
All the forces acting on the body are supposed to be acting on CM.
Hence, find the acceleration of CM, and then use the force equation.
[About the hinged point O, the CM of the rod will be going in circle with
same  and  as as that of body about its CM.]
 l l 
aCM  x     cos   2 sin  
 2 2 
 l
 2 l l   2
 l
aCM(y) =   cos    sin   2
 2 2 
Fx
Now to find  : Use energy conservation Fy
l 1 1  ml 2  2
mg 1  cos    I0 2    ....(1)
2 2 2  3 
Now to find  : Use Torque equation :

[Use torque equation about hinged point O, so that the torque of hinge reaction is zero]
l   ml 2 
mg  sin       ...(2)
 2   3 
62 QUIZRR
 l l 
Now use force equation Fx  ma x  m   cos   2 sin  
 2 2 
 2 l l 
Fy + mg = may = m   cos   sin  
 2 2 
where Fx, Fy are the hinge force comp. is x-y direction.
Example 37
A uniform rod of mass m and length l starts sliding along two perpendicular smooth surfaces
as shown from vertical position.
Show that the rod will lose contact with vertical surface at   cos
1
 /
2
3 with vertical.
Solution :
(x, y) co-ordinates of CM
l  l 
x   sin   , y   2 cos  
 2   
N1
 dx   l 
Vx       cos    N2
 dt   2 
dvx l l
ax    cos   2 sin  O
dt 2 2
mg
l
vy    sin 
2
 dvy  l 2 l
ay       sin    cos 
 dt  2 2
When the contact is lost, ax = 0
l l
 cos   2 sin   0        = 2 tan  ...(1)
2 2
Use energy conservation to find 
l 1 1
mg 1  cos    ICM 2  MvCM
2
2 2 2
QUIZRR 63
1  ml 2  2 1
mg
l
2
1  cos    
2  12  2
2
2
   m vx  vy 
l l2 l2
g 1  cos   2  2
2 24 4
6g
  sin   / 2 ...(2)
l
 d   6 g   6 g cos  / 2  
      sin  / 2   
 d   l  l 2  

3g
 sin  ...(3)
2l
Use (1), (2), (3)
 3g  6g  2     sin  
 2l  sin    l  sin  2   cos  
      
3
 cos   3 1  cos  
2
3
 cos   1
2
2
   cos1  
3
13. ROLLING MOTION ALONG AS INCLINED PLANE

Consider the situation shown in figure. Friction will be acting up the plane. Thus equations can
be formed as below.
Mg sin  fs = Ma ...(1) N
fs R = ICM  ...(2) f
R  = a ...(3) [Pure rolling]
a
a ICM a
from (2), fs R = ICM  fs  Mg
R R2

 I 
Mg sin    M  CM
2 
a
 R 
64 QUIZRR
g sin 
a
I ...(4)
1  CM2
MR
 a  mg sin 
fs   ICM 2  
 R   MR 2 
1
 ICM 
 
f s  N tan 
 min 
 mR2 
 1 
f 
 min   s 
 ICM 
  
N
fs = (mg sin )
Now, from equation (4); we can interpret acceleration for different bodies.
1
aring = ahollow = g sin 
cylinder 2
2
adisc = asolid cylinder
=  g sin 
3
5 3
asolid = g sin  , a = g sin 
sphere 7 hollow sphere 5
ass > ad = asc > ahs > ar = ahc
Acceleration down the planle depends only the shape of the body and inclination  and is
independent of size of body.
Note :
 
 
 i.e.   tan  
(1) When the friction coefficient is insufficient  MR 2  the slipping takes place and
 1 
 ICM 
pure rolling cannot take place.
Hence kinetic friction acceleration acts up the plane.
(2) In case of pure rolling on an inclined plane acceleration always acts down the plane.
(3) In case of pure rolling friction acts up the plane and is static
Every body once in pure rolling tries to sustain the pure rolling motion.
QUIZRR 65
Example 38
A uniform circular disc of mass M and radius R, initially rotating with 0 as shown, is
placed on a rough incline plane. Given ø = 2 tan  show that body will cover a maximum
 02 R 2 
distance of  s  
 20 g sin  
Solution : t
=
V
n 
N  ke
sin e ta
0 g
2m tim S1 =
V
= R
fk 


Mg
(1) (2)
S2
S1

(3) Let time taken = t´
Let t be the time, after the disc is placed, when v = R. [while initially (v = 0,  = 0)]
Since, slipping takes place, fk acts
f k = øN = 2mg sin 
fk  mg sin 
a   g sin   (up the plane)
m
Torque equation f kR  I CM 
 mR 2 
(2mg sin )R =  2  
 
 4 g sin  
  
 R 
66 QUIZRR
At time t :  4 g sin  
  0  t  0   t
 R 
v = at = (g sin )t
and v = R
 4 g sin  
 (g sin )t = 0 R  t
 R 
 0 R  0 R   
 t  v ;   0 
 5g sin   5  5 
1 2 1  20 R 2 
s1  at    g sin   
2 2  25 g 2 sin 2  
 
02 R 2
 s1 
50 g sin 
After time t : The pure rolling motion is sustained by the static friction.
Under pure rolling,
2
a g sin  (down the plane)
3
mg sin   mg sin   (up the plane)

fs  2
 
mR  3 
1
1 2
 2 mR 
 
The cylinder stops when v = 0 and then turns back to roll down the plane
 v2  20 R 2
 s2    
 2a 
  25  2    2 g sin  
3 
320 R 2
 S2 =
100 g sin 
QUIZRR 67
 Total distance covered up the inclined plane

= (s1 + s2)
02 R2 3 02 R2
= 
25 g sin  100 g sin 
20 R 2
s
20 g sin 
(b) Work done by friction
2
1 2 1 2 1 2  1 3 2  0 1 1 
I  
=  P   CM I   MvCM    mR     mR 2  20
 2   2 2  2  2  25 2  2 
=
 11
50

mR 2 20 
Example 39 0
A sphere is projected down a rough inclined plane with reverse

v0
spin. Given ø is sufficient to cause pure rolling (ø > tan ),
5øv 0
show that the sphere will turn back if 0 >
2R (ø ă tan )

Solution :
Concept :
The sphere will turn back only when v becomes zero before  becomes zero. Otherwise
the sphere will never turn back since pure rolling starts hence after.
acceleration is up the plane

a
 f  mg sin   N
a k 
 m  fk
0
= g (ø cos  sin )
v0 fk > (mgsin)
Torque equation : fk R = (ICM)  Mg

5  mg cos   5g cos  
  
2mR  2R 
68 QUIZRR
Time t1 when v = 0
 v v0
t1    
 a  g   cos   sin 
Time t2 when  = 0
     2R 
t2   0   0
   5g cos 
t2 > t1
0  2R  v0
 
5 g cos  g   cos   sin  
5  v0 cos 
 0 > 2R  cos   sin 
 
5  v0
0 
2R    tan  
QUIZRR 69
MISCELLANEOUS EXAMPLES
Example 1
A thin rod AB of length a has variable mass per unit length 0 (a + x)/a , where x is the
distance measured from A and 0 is a constant. Show that
3a 0
(a) the mass M of the rod is ,
2
5a
(b) the centre of mass of the rod is at the point x 
9
(c) the moment of inertia of the rod about an axis through A perpendicular to AB is
7 Ma 2
18
(d) The rod is freely pivoted at A and is hanging in equilibrium when it is struck by a
horizontal impulse of magnitude J at the point B. Show that if B passes through a
1
point vertically above A then J  M  70 a g 
9
Solution :
a
a
0  a  x    x2 
(a) M  a
dx = 0  ax 
a 

2 
0 0
3a0
= Hence proved
2
a
0  a  x 
a
 x dx
  dm  x 0
a
(b) 0 = 3a0
xCM 
M 2
a
2  ax2 x3 
= 3a   
 2 2 
0
5a
= Hence proved
9
a a
0  a  x 
(c) I A   ( dm) x2 =  x2 dx
0 0
a
a
0  ax3 x4 
= a  3  4
 0
70 QUIZRR
70 a3  3a0 
= M  2 
12  
7 Ma 2
= Hence proved.
18
(d) Using, angular impulse = change in angular momentum
7Ma2
we have, Ja  I A  = 
18
18J
  =
7Ma
A
B will pass through a point vertically above A if,
5a
1 9
I A 2  Mg(2AC)
2
C
1  7Ma 2   18J 2  5a 
  Mg 
 2 18   7Ma   9 
 J
  B
M
or J 70 ag Hence proved
9
Example 2
A smooth rod rotates freely in a horizontal plane with the angular velocity 0 about a
stationary vertical axis O, relative to which the rodÊs moment of inertia is I. A small ring
of mass m is located the rod close to the rotation axis and is tied to it by a thread. When
the thread is burned, the ring starts sliding along the rod. Find the velocity vr of the ring
relative to the rod as a function of its distance r from the rotation axis.
Solution :
In the process of motion of the given system the kinetic energy and the angular momentum
relative to the rotation axis do not vary. Hence, it follows that,
2 2
I20 = I + mv ...(i)
0 r
v
I0 = (I + mr ) 2
...(ii) 0
vr
where v2 = vr2  20 r 2 ...(iii) O
r m
0 r
Solving these equations, we get, vr  Ans.
mr 2
1
I
QUIZRR 71
Example 3
A uniform rod pivoted at its upper end hangs vertically. It is displaced through an angle
of 60Ĉ and then released. Find the magnitude of the force acting on a particle of mass dm
at the tip of the rod when the rod makes an angle of 37Ĉ with the vertical.
Solution :
, O
Decrease in the height of centre of mass of the rod
l l
h  cos 37  cos 60  0.8  0.5  0.15 l 60
2 2
From conservation of mechanical energy, 37

Fn
1 1  ml 2  2
mgh  I0 2    .
2 2  3 
Ft
 ml 2  2
or 0.15 l mg =  6  
 
I2 = 0.9 g
 l
 mg 2  sin 37
0  
Angular acceleration,  = 1 2
I0 ml
3
or l  = 0.9 g ...(ii)
2
Normal force, Fn = (dm)l = (0.9)(dm)g
Tagential force, Ft = (dm)l = (0.9)(dm)g
 Net force F  Fn2  Ft2 = 0.9 2 (dm)g Ans.
Example 4
A solid ball rolls down a parabolic path ABC from a height h as shown in figure. Portion
AB of the path is rough while BC is smooth. How high will the ball climb in BC ?
[Hint : In case of pure rolling mechanical energy is conserved.]
A C
B
72 QUIZRR
Solution :
At B, total kinetic energy = mgh
m = mass of ball
KR 2
The ratio of rotational to translational kinetic energy would be  [Remember this part]
KT 5
2 5
KR  mgh and KT  mgh
7 7
In portion BC, friction is absent. Therefore, rotational kinetic energy will remain constant and
translational kinetic energy will convert into potential energy. Hence, if H be the height to which
ball climbs in BC, then
mgH = KT
5 5
or mgH = mgh or H h Ans.
7 7
Example 5
A thread is wound around two discs on either sides. The pulley and the
two discs have the same mass and radius. There is no slipping at the
pulley and no friction at the image. Find out the acceleration of the two
discs and the angular acceleration of the pulley.
1 2
Solution :
Let R be the radius of the discs and T1 and T2 be the tensions in the left and right segments of
the rope.
T1 T2
1 1
a1 mg mg a2
mg  T1
Acceleration of disc 1, a1  ...(i)
m
mg  T2
Acceleration of disc 2, a2  ...(ii)
m
QUIZRR 73
 TR 2T
Angular acceleration of disc 1, 1   1  1 ...(iii)
I 1 mR
mR 2
2
2T2
Similarly, angular acceleration of disc 2,  2  ...(iv)
mR
Both 1 and 2 are clockwise.

Angular acceleration of pulley,
 T2  T1  R 2  T2  T1 
  
1 mR ...(v)
mR 2
2
For no slipping, R1 a1 = a2 R2= R ...(vi)

Solving these equations we get,
2g T1 T2
 = 0 and a1  a2  Ans.
3
Alternate Solution
As both the discs are in identical situation, T1 = T2 and a= 0. i.e., each of the
discs falls independently and identically. Therefore, this is exactly similar to the
problem shown in figure.
Example 6
A thin massless thread is wound on a reel of mass 3 kg and 2R

R
moment of inertia 0.6 kg m2. The hub radius is R = 10 cm and
peripheral radius is 2R = 20 cm. The reel is placed on a rough
table and friction is enough to prevent slipping. Find the
acceleration of the centre of reel of hanging mass of 1 kg.
A
Solution :
Let, a = acceleration of centre of mass of reel
a 2 = acceleration of 1 kg block
 = angular acceleration of reel (clockwise)
T = tension in the string
and f = force of friction
Free body diagram of reel is as shown below : (only horizontal forces are shown)
74 QUIZRR
Equations of motion are : 
T f = 3a1 ...(i)
a1
 f  2R   T.R 0.2 f  0.1 T f T T
     ...(ii)
I I 0.6 3 6 f
Equation of motion is :
T
10 T = a2 ...(iii)
For no slipping condition,
a1 = 2R or a1 = 0.2 ...(iv) a2
and a2 = a1 R or a2 = a1 0 0.1 ...(v)
Solving the above five equations we get,
a1 = 0.27 m/s2
10 N
and a2 = 0.135 m/s2 Ans.
Example 7
A uniform sphere of radius r starts rolling down without slipping from the top of another
sphere of radius R. Find the angular velocity of the sphere after it leaves the surface of the
larger sphere.
Solution :
The equation of motion for the centre of the sphere at the moment of r h
breaking off :
R
2  
mv
 mg cos  ...(i) mg
Rv
where v is the velocity of the centre of the sphere at that moment and 
is the corresponding angle. The velocity v can be found from the energy
conservation law :
mv2 I2
mgh  
2 2
2
where I mr 2 , v = r and h = (R + r) (1 cos )
5
From these equations we obtain
10 g  R  r 
 Ans.
17r 2

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v2 = v02  2ax 2 = 02  2

Mass (linear inertia) m I Moment of inertia

If we now view this disk from the top,

These three equations

2. FEW BASIC TERMS

{Caution : Do not confuse with angular frequency}

T he angular velocity of a particle

From these relations we can see that c = 20.

3. If a rigid body is rotating about a fixed axis with angular speed 

external torque is angular momentum is classified in following three types.

=  R cos t i→   R sin t  ut →j   m   v sin ti→   v cos t →j 

Angular momentum of a rigid body (or a system of particle)

Rigid body : A rigid body is a special case of system of particles

  ri´  rCM   mi  vi´  vCM 

Thus, (angular momentum of a system with respect to O)

A circular disc of mass m and radius R is set into motion on a

T orque about an axis :

Torque in various cases :

(ii) When force and axis are coplanar and intersecting

Rate of change in angular momentum

4. CONSERVATION OF ANGULAR MOMENTUM

(b) Point of application of net centrifugal force

To find the net resultant forceÊs point of application, follow :

Assume a point at a distance

mv0R sin  = mvR

v2 = v02 2gR cos 0 ...(2)

 Use energy conservation (in COM frame)

I  m1 r12  m2 r22 ..... mn rn2

Theorems on Moment of Inertia

Again remember this theorem is applicable for only planar bodies.

(2) Parallel Axis Theorem

Note : MOI is minimum in CM frame.

M oment of Inertia of Various Bodies

(1) Thin Rod :

Then, dm  dx, r   x sin  

About an axis inclined at an angle  and passing through its end.

(B) For a square lamina (of side a)

(3) Uniform Circular Ring

(ii) MOI of the given cut ring :

(v) MOI about a tangential axis perpendicular to diameter

(4) MOI of uniform circular disc

(ii) About a diametrical axis :

(iv) For a segment of disc : dr

(5) Hollow and solid cylinders

(6) Thin spherical shell :

(ii) About a tangential axis :

(7) Solid Sphere

(B) Solid cone O

An equilateral triangle is formed by 3 identical rods each of mass m and length l.

I = m (l sin 60 )2 {as I = wr2 for this rod} A

(b) Now I for rod PQ and PR

Find the moment of inertia of a hemispherical shell centred at O, through P as shown.

(ii) For solid hemisphere

Some more important terms

angular decleration and therefore, has a sense of direction which is opposite to   .

Torque and angular acceleration for a rigid body

Rotation with constant angular acceleration