CH 9
CH 9
CH 9
Rotational Dynamics
The Action of Forces and Torques on Rigid Objects
(a) Translation
DEFINITION OF TORQUE
F
Direction: The torque is positive when the force tends to
produce a counterclockwise rotation about the axis, and
negative when the force tends to produce a clockwise
rotation.
SI Unit of Torque: newton meter (N
m)
Example1.
Different Lever Arms, Different
Torques
The ankle joint and the Achilles tendon attached to the heel at
point P. The tendon exerts a force of magnitude F = 720 N.
Determine the torque (magnitude and direction) of this force
about the ankle joint, which is located 3.6 102 m away from
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point P.
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11
12
F F F W 0
F W 0
y
2 2
WW (530 N )(3.90m)
F2
1480 N
2
1.40m
W = 530 N
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Force
Lever Arm
WF = 875 N
WL = 355 N
Torque
WL
WF
+P
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W
L
WF F P P 0
WL L WF F
P
P
.
727 N
8.00m sin 50.0
P = 727 N
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Example5. Bodybuilding
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Force
Wa = 31.0 N
Wd
M = 1840 N
Lever Arm
= 0.620 m
= 0.280 m
= (0.150) sin13.0
Torque
Wa a
Wd
+M
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W
a
Wd d M M 0
Wa a MM
Wd
d
.
86.1N
0.620m
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Center of Gravity
DEFINITION OF CENTER OF GRAVITY: The center of
gravity of a rigid body is the point at which its weight can
be considered to act when the torque due to the weight is
being calculated.
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ConceptualExample7.
Overloading a Cargo Plane
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= FTr
= maTr
aT = r
The constant of proportionality is I =
mr2, which is called the moment of
inertia of the particle. The SI unit for
moment of inertia is kg m2.
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I
Requirement: must be expressed in rad/s2
Although a rigid object possesses a unique total mass, it does
not have a unique moment of inertia, for the moment of inertia
depends on the location and orientation of the axis relative to the
particles that make up the object.
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Example8.
The Moment of Inertia Depends
on Where the Axis Is
Two particles each have a mass m
and are fixed to the ends of a thin
rigid rod, whose mass can be
ignored. The length of the rod is L.
Find the moment of inertia when
this object rotates relative to an
axis that is perpendicular to the
rod at (a) one end and (b) the
center
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(a)
(r1=0, r2=L)
(b)
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Example9.
The Torque of an Electric Saw Motor
The motor in an electric saw brings the circular blade from
rest up to the rated angular velocity of 80.0 rev/s in 240.0 rev.
One type of blade has a moment of inertia of 1.41 102 kg
m2. What net torque (assumed constant) must the motor
apply to the blade?
1508 rad
(240.0 rev)
503 rad/s
(80.0 rev/s)
0
rad/s
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ConceptualExample10.
Archery and Bow Stabilizers
Archers can shoot with amazing accuracy, especially using
modern bows. Notice the bow stabilizer, a long, thin rod that
extends from the front of the bow and has a relatively massive
cylinder at the tip. Advertisements claim that the stabilizer
helps to steady the archers aim. Could there be any truth to
this claim? Explain.
To the extent that I is larger, a given net torque will create a
smaller angular acceleration and less disturbance of the aim. It is
to increase the moment of inertia of the bow that the stabilizer has
been added. The relatively massive cylinder is particularly
effective in increasing the moment of inertia, because it is placed
at the tip of the stabilizer, far from the axis of rotation (a large
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value of r in the equation I = mr2).
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1 1
T2 2 I
ay = r = (0.200 m).
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Rotational
Translational
Displacement
Torque
Inertia
Moment of inertia I
Mass m
= I
F = ma
Work
Fs
Kinetic energy
I 2
mv2
Momentum
L = I
p = mv
Velocity
Acceleration
v
a
Force F
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to page.
F 2a
I
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Since
is the same for all 3, the product I should be
the same for all 3, hence large I should have smaller .
I A mr m a m 2a 5ma 2
2
I B mr 2m a m 2a 6ma 2
2
I C mr 3m 2a 12ma 2
2
I C > IB > I A
C B A
A, B, C
in descending order A B C
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kinetic energy is
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I MR
1
I MR 2
2
The solid cylinder, having the greater translational
speed, arrives at the bottom first.
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2mgh
vf
I
m 2
r
2m1 gh
2m1 gh
2 gh
v1
I1
2
2
m1 2
m1 m1
1
r1
5
5
(2 gh)
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2m2 gh
2m2 gh
2 gh
v2
I2
2
2
m2 2
m2 m2
1
r2
5
5
(2 gh)
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(a), (b) Both have the same translational speed.
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Angular Momentum
DEFINITION OF ANGULAR MOMENTUM The
angular momentum L of a body rotating about a fixed
axis is the product of the bodys moment of inertia I and
its angular velocity with respect to that axis:
L I
Requirement: must be expressed in rad/s.
SI Unit of Angular Momentum: kgm2/s
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ConceptualExample13.
A Spinning Skater
An ice skater is spinning with
both arms and a leg
outstretched. She pulls her arms
and leg inward. As a result of
this maneuver, her spinning
motion changes dramatically.
Using the principle of
conservation of angular
momentum, explain how and
why it changes.
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Example14.
A Satellite in an Elliptical Orbit
An artificial satellite is placed into
an elliptical orbit about the earth.
Telemetry data indicate that its
point of closest approach (called
the perigee) is rP = 8.37 106 m
from the center of the earth, and
its point of greatest distance
(called the apogee) is rA = 25.1
106 m from the center of the earth.
The speed of the satellite at the
perigee is vP = 8450 m/s. Find its
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speed vA at the apogee.
Concepts&Calculations
Example15. Torque and Force
A crate resting on a horizontal
surface. It has a square cross section
and a weight of W = 580 N, which is
uniformly distributed. At the bottom
right edge is a small obstruction that
prevents the crate from sliding when
a horizontal pushing force P is
applied to the left side. However, if
this force is great enough, the crate
will begin to tip or rotate over the
obstruction. Determine the minimum
pushing force that leads to tipping.
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WW 0
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Concepts&Calculations
Example16. Which Sphere
Takes Longer to Stop?
Two spheres are each rotating
at an angular speed of 24
rad/s about axes that pass
through their centers. Each
has a radius of 0.20 m and a
mass of 1.5 kg. However, one
is solid and the other is a thinwalled spherical shell.
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0 t
0 t
I
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0
I ( 0 )
t
( ) / I
2
MR 2 ( 0 )
I ( 0 ) 5
t
2
2
(1.5kg )(0.20m) (0rad / s ) (24rad / s )
t 5
4.8s
0.12 N m
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2
2
MR ( 0 )
I ( 0 ) 3
t
2
2
(1.5kg )(0.20m) (0rad / s) (24rad / s )
t 3
8.0 s
0.12 N m
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Conceptual Question 20
If the ice cap at the South Pole melted and the water were
uniformlydistributedovertheearth'soceans,
1)earthsangularvelocityincreases,decreases,orsame?
I increases
but
L I
decreases.
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Conceptual Question 21
River sediments, (Mississippi), towards equator.
What happens to angular velocity?
Main distribution from top towards equator (r---larger)
I increases.
Since
L I
is constant, (why?)
decreases.
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Conceptual Question 21
REASONINGANDSOLUTIONNotethattheearthrotates
aboutanaxisthatpassesthroughtheNorthandSouthpoles
andisperpendiculartotheplaneoftheequator.Whenrivers
liketheMississippicarrysedimenttowardtheequator,they
redistributethemassfromamoreuniformdistributiontoa
distributionwithmoremassconcentratedaroundtheequator.
Thisincreasesthemomentofinertiaoftheearth.Iftheearth
isconsideredtobeanisolatedsystem,thenanytorques
involvedintheredistributionofmassareinternaltorques.
Therefore,theangularmomentumoftheearthmustremain
constant.Themomentofinertiaincreases,andtheangular
momentummustremainthesame;therefore,theangular
velocitymustdecrease.
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Conceptual Question 22
REASONINGANDSOLUTIONLetthesystembethe
rotatingcloudofinterstellargas.Thegravitationalforce
thatpullstheparticlestogetherisinternaltothesystem;
hence,thetorqueresultingfromthegravitationalforceisan
internaltorque.Sincethereisnonetexternaltorqueacting
onthecollapsingcloud,theangularmomentum,,of
I
thecloudmustremainconstant.Sincethecloudis
shrinking,itsmomentofinertiaIdecreases.Sincethe
productremainsconstant,theangularvelocity
I
mustincreaseasIdecreases.Therefore,theangular
velocityoftheformedstarwouldbegreaterthanthe
angularvelocityoftheoriginalgascloud.
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Problem 12
REASONINGWhentheboardjustbeginstotip,threeforces
actontheboard.TheyaretheweightWoftheboard,the
weightWPoftheperson,andtheforceFexertedbytheright
support.
x
F
1.4 m
x
W = 225 N
W
P =
450 N
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Sincetheboardwillrotatearoundtherightsupport,thelever
armforthisforceiszero,andthetorqueexertedbytheright
supportiszero.Theleverarmfortheweightoftheboardis
equaltoonehalfthelengthoftheboardminustheoverhang
length:2.5m1.1m=1.4m
Theleverarmfortheweightofthepersonisx.Therefore,
takingcounterclockwisetorquesaspositive,wehave
WP x W (1.4 m) 0
Thisexpressioncanbesolvedforx.
SOLUTIONSolvingtheexpressionaboveforx,weobtain
0.70 m
WP
450 N
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Problem 19
cg
Fr
Axis
Ff
REASONINGThejetisinequilibrium,sothesumofthe
externalforcesiszero,andthesumoftheexternaltorquesis
zero.Wecanusethesetwoconditionstoevaluatetheforces
exertedonthewheels.
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SOLUTION
a.LetFfbethemagnitudeofthenormalforcethattheground
exertsonthefrontwheel.Sincethenettorqueactingonthe
planeiszero,wehave(usinganaxisthroughthepointsof
contactbetweentherearwheelsandtheground)
=Ww+Fff=0
whereWistheweightoftheplane,and wand farethe
leverarmsfortheforcesWandFf,respectively.Thus,
= N)(15.0m12.6m)+Ff(15.0m)=0
SolvingforFfgivesFf=
1.60 10 5 N
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b.Settingthesumoftheverticalforcesequaltozeroyields
Fy=Ff+2FrW=0
wherethefactorof2arisesbecausetherearetworear
wheels.Substitutinginthedata,
Fy=1.60105N+2Fr1.00106N=0
Fr= 4.20 105 N
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Problem 42
a
a
T2
T1
REASONINGANDSOLUTIONNewton's
lawappliedtothe11.0kgobjectgives
T2 m2 g m2 a
T2(11.0kg)(9.80m/s2)=(11.0kg)(4.90m/s2)
orT2=162N
m2 =
m 1=
Asimilartreatmentforthe44.0kgobjectyields
T1 m1 g m1a
T1(44.0kg)(9.80m/s2)=(44.0kg)(4.90m/s2)
orT1=216N
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Foranaxisaboutthecenterofthepulley
r
r
Clockwise rotation
T2
T1
T1rT2r=
I(
a
(T1 T2 )r I
r
1
2 a
T1 T2 Mr 2
2
r
82
Ma
T1 T2
2
2
M (T1 T2 )
a
SolvingforthemassMweobtain
M=(2/a)(T2T1)=[2/(4.90m/s2)](162N216N)
=22.0 kg
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Problem 52
5.00 rad / s
Problem 52
Angular momentum is conserved.
L I 00 I11
5.40 3.8
I0
5.40kg m
0
5.00rad / s 7.11rad / s
2
I
3.80kg m
2
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