Lecture 34: Rotation, Work and Energy

K = I ( 2 i2 ) = WNET f
P= dW d = = dt dt

Recap Torque
A torque is a force which rotates a body about an axis Newtons 2nd Law has a rotational equivalent

1 2

I R

NET = I
The torque is given by

T m

MR2 sin A = g 2 MR + I

= rF = rF sin = rFt = Fl
L where Ft is the component of the force transverse to the radius vector and l is the distance of closest approach of the line of the force to the rotation axis The direction of is perpendicular to the plane of rotation and is given by the Right Hand Rule
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I A M R a

mg

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Falling weight & pulley

A mass m is hung by a string that is wrapped around a pulley of radius R attached to a heavy flywheel. The moment of inertia of the pulley + flywheel is I . The string does not slip on the pulley. Starting at rest, how long does it take for the mass to fall a distance L? a

Falling weight & pulley...

2nd Law for the hanging mass F = ma mg - T = ma 2nd law for the pulley + flywheel = I = TR a = R T T m a mg L I R

I R

T m mg L

TR = I

a R

T = I

a R2

Now substitute for T and solve for a

mg

Ia = ma R2

I g = a 1+ 2 mR

mR2 a= g 2 mR + I
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Falling weight & pulley...

Using 1-D kinematics we can solve for the time required for the weight to fall a distance L:

Work in rotations
Consider the work done by a force F acting on an object constrained to move around a fixed axis. For an infinitesimal angular displacement d:

I R

dW = F dr = Fcos()dr = Fcos()Rd = Fcos(90-)Rd = Fsin()Rd = FR sin() d dW = d axis R

F dr = R d

1 L = at 2 2

t=

2L a

T m a mg L

where a =

mR 2 g mR 2 + I

We can integrate this to find:

W =

Analogue of linear form W = F r W will be negative if and have opposite signs!

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Work & Kinetic Energy:

Recall the Work/Kinetic Energy Theorem: K = WNET This is true in general, and hence applies to rotational motion as well as linear motion. So for an object that rotates about a fixed axis:

Example: Disk & String

A massless string is wrapped 10 times around a disk of mass M = 40 g and radius R = 10 cm. The disk is constrained to rotate without friction about a fixed axis though its center. The string is pulled with a force F = 10 N until it has unwound. (Assume the string does not slip, and that the disk is initially not spinning). How fast is the disk spinning after the string has unwound?

K = I ( 2 i2 ) = WNET f

1 2

R F
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Disk & String...

The work done is W = The torque is = RF (since = 90o) The angular displacement is 2 rad/rev x 10 rev.

Disk & String...

Work done = Change in KE (originally at rest)

W = K =
Recall that I for a disk about its central axis is given by:

1 I 2 0 = 63J 2
1 MR2 2
R M

I =

So W = (.1 m)(10 N)(20 rad) = 63 J

R F M So

K = MR2 2 = W 2 2
4W = MR 2 4(63J ) (.04kg )(.1)2
= 790 rad/s

1 1

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ICQ: Work & Energy

Strings are wrapped around the circumference of two solid disks and pulled with identical forces for the same distance. Disk 1 has a bigger radius, but both have the same moment of inertia. Both disks rotate freely around axes though their centers, and start at rest. Which disk has the biggest angular velocity after the pull ? 1 2

ICQ: Work & Energy

Strings are wrapped around the circumference of two solid disks and pulled with identical forces for the same distance. Disk 1 has a bigger radius, but both have the same moment of inertia. Both disks rotate freely around axes though their centers, and start at rest. Which disk has the biggest angular velocity after the pull ? 1 2

(a) disk 1 (b) disk 2 (c) same

F F

(a) disk 1 (b) disk 2 (c) same

F F

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ICQ: Work & Energy Solution

The work done on both disks is the same! W = Fd The change in kinetic energy of each will therefore also be the same since W = K.

Work & Power

The work done by a torque acting through a displacement is

W =
2 The power provided by a constant torque is

1 2 But we know K = I 2
So since I1 = I2 1 = 2

P=
F d
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dW d = = dt dt

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Rotation around a moving axis.

A string is wound around a puck (disk) of mass M and radius R. The puck is initially lying at rest on a frictionless horizontal surface. The string is pulled with a force F and does not slip as it unwinds. What length of string L has unwound after the puck has moved a distance D? M R F Top view
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Rotation around a moving axis...

The CM moves according to F = MA The distance moved by the CM is thus D = The disk will rotate about its CM according to = I
A= F M

F 2 1 2 At = t 2 2M

RF 2F = = I 1 MR MR 2 2 F 2 1 So the angular displacement is = t 2 = t MR 2 =

I=

1 MR 2 2

M R

A F
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Rotation around a moving axis...

So we know both the distance moved by the CM and the angle of rotation about the CM as a function of time:

Comments on CM acceleration:
We just used = I for rotation about an axis through the CM even though the CM was accelerating! The CM is not an inertial reference frame! Is this OK?? (After all, we can only use F = ma in an inertial reference frame). YES! We can always write = I for an axis through the CM.

D=

F 2 t (a) 2M

F 2 t (b) MR

The length of string pulled out is L = R

L = R =

F 2 t from (b) M
from (a)

L = 2D

This is true even if the CM is accelerating. We will prove this when we discuss angular momentum!

R F D

R L

M R

A F

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Spool on a rough surface.

A spool (yo-yo) with inner radius a and outer radius b is at rest on a rough horizontal table. A string is wound around the inner radius, and extends behind the spool making an angle with the horizontal axis. There is tension T in the string. What is such that the spool does not move?

Spool on a rough surface...

The spool is at rest Consider all of the forces acting: tension T ,friction f, weight mg, normal force N. Using FNET = 0 in the x direction:

T cos f = 0
T Solving: a b
a cos = b

f = T cos
T a b f N mg y x
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Using NET = 0 about the CM axis:

aT bf = 0
aT = bf

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Spool on a rough surface...

There is another (slick) way to see this: Consider the torque about the point of contact between the spool and the ground. We know the net torque about this (or any other) point is zero. Since Mg, N and f act through this point, they do not contribute to the net torque. Therefore the torque due to T must also be zero. Therefore T must act along a line that passes through this point! a b Mg N T y x
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Spool on a rough surface...

So we can use geometry to get the same result.

cos =

a b

More about objects at rest under a balance of forces in STATICS coming soon b

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ICQ: Torque
The torque exerted on a perfectly spherical orbiting communications satellite by the gravitational pull of the earth is: a) directed towards the earth b) directed parallel to the earths axis and toward the north pole c) directed parallel to the earths axis and toward the south pole d) directed towards the satellite e) zero

ICQ: Torque
The torque exerted on a perfectly spherical orbiting communications satellite by the gravitational pull of the earth is: a) directed towards the earth b) directed parallel to the earths axis and toward the north pole c) directed parallel to the earths axis and toward the south pole d) directed towards the satellite e) zero

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ICQ: Torque
Two ways of understanding this

Homework
Monday, start Angular Momentum,

= F r = Fr sin
The gravitational force and the radius vector are in the same direction. Therefore = 0, = 0 The work done by the satellite

Read chapter 10 sections 1-6 Do chapter 9 problems # 8,22,28,36,46,58 Chapter 9 problem 55 is about angular momentum, we will cover that next week.

W = F id = Fd cos

The force and the displacement vector are at right angles, cos = 0, the work done is zero W = = 0 and thus = 0 No work is done by an orbiting satellite, that is why they stay up there
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