Rotational Dynamics continued

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1 Chapter 9 Rotational Dynamics continued

2 9.4 Newton s Second Law for Rotational Motion About a Fixed Axis ROTATIONAL ANALOG OF NEWTON S SECOND LAW FOR A RIGID BODY ROTATING ABOUT A FIXED AXIS I = ( mr 2 ) Point masses Requirement: Angular acceleration must be expressed in radians/s 2.

3 9.4 Newton s Second Law for Rotational Motion About a Fixed Axis Moment of Inertia depends on axis of rotation. Two particles each with mass, m, and are fixed at the ends of a thin rigid rod. 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. r 1 = 0, r 2 = L r 1 = L 2, r 2 = L 2 (a) I = ( mr 2 ) (a) = m 1 r m 2 r 2 2 = m( 0) 2 + m( L) 2 (b) (b) I = ( mr 2 ) = m 1 r m 2 r 2 = m( L 2) 2 + m( L 2) 2 = ml 2 = 1 2 ml2

4 9.4 Newton s Second Law for Rotational Motion About a Fixed Axis I = 2 5 MR2 I = MR 2 I = 1 2 MR2 I = 1 12 MR2 I = 7 5 MR2 I = 2 3 MR2 I = 1 12 MR2 I = 1 3 MR2 I = 1 3 MR2

5 9.4 Newton s Second Law for Rotational Motion About a Fixed Axis Example 12 Hoisting a Crate The combined moment of inertia of the dual pulley is 50.0 kg m 2. The crate weighs 4420 N. A tension of 2150 N is maintained in the cable attached to the motor. Find the angular acceleration of the dual pulley.

6 9.4 Newton s Second Law for Rotational Motion About a Fixed Axis 2nd law for linear motion of crate F y = T 2 mg = ma y 2nd law for rotation of the pulley a y = 2 α I = 46kg m 2 mg = 4420 N T 1 = 2150 N T 2 mg = m 2 α T 1 1 T 2 2 = Iα T 2 = m 2 α + mg T 2 = T 1 1 Iα 2 m 2 2 α + Iα = T 1 1 mg 2 α = T 1 1 mg 2 m I = 6.3 rad/s 2 T 2 = +T 2 T 2 = T 2 T 2 = m 2 α + mg = ( 451(.6)(6.3) )N = 6125 N

7 9.5 Rotational Work and Energy Work rotating a mass: W = Fs s = rθ = Frθ Fr = τ = τθ DEFINITION OF ROTATIONAL WORK The rotational work done by a constant torque in turning an object through an angle is Requirement: The angle must be expressed in radians. SI Unit of Rotational Work: joule (J)

9.5 Rotational Work and Energy Kinetic Energy of a rotating one point mass KE = 1 mv 2 2 T = 1 2 mr 2 ω 2 Kinetic Energy of many rotating point masses ( ) = 1 mr 2 2 1 KE = mr 2 ω 2 2 ( )ω 2 = 1 2 Iω

8 9.5 Rotational Work and Energy Kinetic Energy of a rotating one point mass KE = 1 mv 2 2 T = 1 2 mr 2 ω 2 Kinetic Energy of many rotating point masses ( ) = 1 mr KE = mr 2 ω 2 2 ( )ω 2 = 1 2 Iω 2 DEFINITION OF ROTATIONAL KINETIC ENERGY The rotational kinetic energy of a rigid rotating object is Requirement: The angular speed must be expressed in rad/s. SI Unit of Rotational Kinetic Energy: joule (J)

9 Clicker Question 9.3 Rotational Energy A bowling ball is rolling without slipping at constant speed toward the pins on a lane. What percentage of the ball s total kinetic energy is translational kinetic energy? a) 50% b) 71% c) 46% d) 29% e) 33% m R v Hint: Express both KE types with ω 2 R 2 KE = 1 2 mv2, with v = ω R KE rot = 1 2 Iω 2, with I = 2 5 mr2 fraction = KE KE + KE rot

10 Clicker Question 9.3 Rotational Energy A bowling ball is rolling without slipping at constant speed toward the pins on a lane. What percentage of the ball s total kinetic energy is translational kinetic energy? a) 50% b) 71% c) 46% d) 29% e) 33% m R v KE = 1 2 mv2 = 1 2 mω 2 R 2, because v = ω R KE rot = 1 2 Iω 2 = 1 5 mω 2 R 2, because I = 2 5 mr2 KE = KE + KE + 1 rot 5 2 = = 5 7 = 71%

11 9.5 Rotational Work and Energy Example 13 Rolling Cylinders A thin-walled hollow cylinder (mass = m h, radius = r h ) and a solid cylinder (mass = m s, radius = r s ) start from rest at the top of an incline. Determine which cylinder has the greatest translational speed upon reaching the bottom.

12 9.5 Rotational Work and Energy Total Energy = Kinetic Energy + Rotational Energy + Potential Energy E = 1 2 mv Iω 2 + mgh ENERGY CONSERVATION E f = E 0 1 mv Iω 2 + mgh 2 f 2 f f = 1 mv Iω 2 + mgh ω f = v f r 1 mv I 2 f 2 v2 r 2 = mgh f 0 Same mass for cylinder and hoop v f 2 (m + I r 2 ) = 2mgh 0 The cylinder with the smaller moment of inertia will have a greater final translational speed.

13 9.6 Angular Momentum DEFINITION OF ANGULAR MOMENTUM The angular momentum L of a body rotating about a fixed axis is the product of the body s moment of inertia and its angular velocity with respect to that axis: Requirement: The angular speed must be expressed in rad/s. SI Unit of Angular Momentum: kg m 2 /s

14 9.6 Angular Momentum PRINCIPLE OF CONSERVATION OF ANGULAR MOMENTUM The angular momentum of a system remains constant (is conserved) if the net external torque acting on the system is zero. Angular momentum, L L i = I i ω i ; L f = I f ω f No external torque Angular momentum conserved L f = L i Moment of Inertia decreases I = mr 2, r f < r i I f < I i I i I f > 1 I f ω f = I i ω i ω f = I i I f ω i ; I i I f > 1 ω f > ω i (angular speed increases)

15 9.6 Angular Momentum From Angular Momentum Conservation ω f = ( I i I f )ω i because I i I f > 1 Angular velocity increases Is Energy conserved? KE f = 1 2 I f ω 2 f ( ) 2 ω 2 i ( )( 1 I ω 2 ) KE 2 i i i = 1 I ω 2 ; 2 i i ( ) KE i Kinetic Energy increases = 1 2 I f I i I f = I i I f = I i I f Energy is not conserved because pulling in the arms does (NC) work on their mass and increases the kinetic energy of rotation

16 Rotational Dynamics Summary linear rotational x θ v ω a α m I = mr 2 (point m) F τ = Fr sinθ p L = Iω linear F = ma p = mv W = Fscosθ KE = 1 2 mv2 rotational τ = Iα L = Iω W rot = τθ KE rot = 1 2 Iω 2 W ΔKE W rot ΔKE rot FΔt Δp τδt ΔL Gravitational PE G = mgh Conserved: If W NC = 0, KE + PE Conservation laws If F ext = 0, P = p If τ ext = 0, L = Iω

17 8.37 Length of nylon rotates around one end. Rotation angular speed, 47 rev/s. Tip has tangential speed of 54 m/s. What is length of nylon string? ω = 47 rev/s = 2π (47) rad/s = 295 rad/s v T = 54 m/s, v T = ωr = ω L L = v T ω = ( 54 m/s) ( 295 rad/s) = 0.18m L ω v T 8.51 Sun moves in circular orbit, radius r, around the center of the galaxy at an angular speed, omega. a) tangential speed of sun? b) centripetal force? r = ( l-yr) m/l-yr = m ω = rad/s, a) v T = ωr = m/s b) F = ma c = m( 2 v T r) = mω 2 r m = kg galaxy r ω sun = ( )( ) 2 ( m) = N

18 9.3 Wrench length L. Hand force F, to get torque 45 Nm? τ = F L = ( F sinθ ) L F = τ Lsinθ = 45Nm (0.28 m)sin50 = 210 N L 50 F F θ 9.9 F 1 =38N perpendicular, F 2 = 55N at angle theta. What is angle of F 2 for net torque = zero? τ Net = ( F 2 sinθ ) L F 1 L = 0 sinθ = F 1 F 2 = 38 / 55 = 0.69 θ = 43.7 F2 sinθ F 1 θ F 2

19 9.23 Board against wall, coefficient of friction of ground What is smallest angle without slipping? (See Example 4) Forces: Torque: G y = W P = G x = µg y = µw τ P = +P L = ( Psinθ ) L τ W = W ( L / 2) = ( W cosθ )( L / 2) τ W + τ P = 0 ( Psinθ ) = ( W cosθ ) / 2 W = 2Psinθ / cosθ W = 2Psinθ / cosθ = 2µW tanθ tanθ = 1 (2µ) = 1 (1.3) = 0.77 θ = 37.6 G y G y P L / 2 P θ G x L / 2 G x θ P W L P L W W

20 9.51 Energy 1.2 x 10 9 J. Flywheel M = 13 kg, R = 0.3m. KE = 1 2 Iω 2 ; I disk = 1 2 MR2 = 1 2 ( 1 2 MR2 )ω 2 ω 2 = 4KE MR 2 = ω = J (13kg)(0.3m) = rad/s ( ) = rad/s rev/(2π )rad = rev/s( 60s/min) = rpm

Center of Gravity. We touched on this briefly in chapter 7! x 2

Center of Gravity. We touched on this briefly in chapter 7! x 2 Center of Gravity We touched on this briefly in chapter 7! x 1 x 2 cm m 1 m 2 This was for what is known as discrete objects. Discrete refers to the fact that the two objects separated and individual.