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Angular position
s
r
s = r
in radians (rad.)
or revolution
??
= f i
Average
angular speed:
Instantaneous
angular speed:
avg =
= lim
t 0
f i
(Rad.)
(Rad/s) s-1
t
d
=
t
dt
(Rad/s) s-1
t f ti
Average angular = f i =
acceleration: avg
t f ti
t
Instantaneous
angular
acceleration:
= lim
t 0
(Rad/s) s-2
= 7200
rev/min
d
=
(Rad/s) s-2
t
dt
90
R=6 cm
tf
a) = dt
b)
ti
= dt
ti
i = (5t 3 4t )dt
5
i = ( t 4 2t 2 + 5)dt
4
0
5
5 = t 4 2t 2
4
5 4
= t 2t 2 + 5
4
1
2
2 = t 5 t 3 + 5t
4
3
1 5 2 3
= t t + 5t + 2
4
3
For rotation
counterclockwise
()
+ve
For rotation
clockwise
()
-ve
x
v
a
Rotational Motion
v = v0 + at
= 0 + t
x = x0 + 12 (v0 + v)t
= 0 + 12 (0 + )t
x x0 = x = 12 (v0 + v)t
0 = = 12 (0 + )t
x f xi = x = (vi + v f )t
1
2
1
= 0t + t 2
2
1
x = v0t + at 2
2
2 = 0 2 + 2
v 2 = v0 + 2ax
= ?, revolutions = ?, t f = ?
1 rev.
= 11 rad
= 1.75 rev.
2 rad .
= 3.5rad / s 2 , ti = 0 s, t = 2.00 rad s , t f = 2.00 s
i
= ?, revolutions = ?, t f = ?
2 = 0 + 2 with = 20 rev.(
) = 125.7 rad .
1 rev.
2 0 2
=
2
b)
4 11.56
=
= 0.03 rad/s
251.4
= 0 + t
0
t =
t =
2 3.4
= 46.7 s
0.03
We have
v1 40
=
= 0.1 rad / s
r 400
v2 = 60 m/s 2 = 0.15 rad / s
t = 5s, v1 = 40 m/s 1 =
at =?,
atot=?
v 50
a) v = r = =
= 0.125 rad/s
r 400
b) ac =
v 2 (50) 2
=
= 6.25 m/s 2 or ac = r 2 = 400(0.125) 2 = 6.25 m/s 2
r
400
Arc length s:
Tangential speed of a
point P:
s = r
v = r
at = r
Centripetal acceleration
for rotation object:
ar =
Tangential acceleration
of a point P:
Magnitude of total
acceleration
v2
= r 2
r
2
a = ar + at2
v2 v1 60 40
=
= 4 m/s
5
t
4
at
= 0.01 rad . / s 2
at = r = =
r 400
v2 = v1 + at t at =
2 1
0.15 0.1
= 0.01 rad / s 2
5
t
at = r = 400(0.01) = 4m / s 2
2 = 1 + t =
KR =
1 2
I
2
Mathematically, Similar in
shape to linear K with the
(J) following replacements
I m, v
I = mi ri
i
I mi ri
I = mi ri 2 for mi 0
i
I = r 2 dm
m=V dm= dV
m=A dm=dA
m=L dm=dL
If dm = dV
I = r 2 dV
Extended object
; dL=dx (L is on x-axis)
and
10.8: Torque
Fsin
I = I CM + Mh
Fcos
I = I CM + Mh 2
Is angle between F
and r directions
I=
1
L 1
ML2 + M = ML2
12
3
2
= rF sin
Torque
and Angular Acceleration
10.8: Torque
consider a particle of mass m rotating a bout a fixed axis under
an influence of applied force F
The component Fr does no torque since (anti-parallel to r)
the tangent component Ft has a torque
= Ft r
(sin 90 = 1)
but
Ft = mat
and
at = r
For rotation
counterclockwise
()
+ve
= Ft r = mr 2
= I
If more than one force
applied to the object
net
= I
10.8: Example: a uniform disk, with mass M = 2.5 kg and radius R = 20 cm,
mounted on a fixed horizontal axle. A block with mass m = 1.2 kg hangs from a
massless cord that is wrapped around the rim of the disk. Find the acceleration of
the falling block, the angular acceleration of the disk, and the tension in the cord.
The cord does not slip, and there is no friction at the axle.
a=?
solution
L
= rF sin = rF = ( ) Mg
2
L
but = I = ( ) Mg
1
1
with I = MR 2 = (2.5)(0.2) 2 = 0.05 kg.m 2
2
2
a = 4.8m / s 2 , T = 6 N , and = 24 rad / s 2
=?
T=?
For rotation
clockwise (
) -ve
2
( L / 2) Mg 3g
= =
=
I
1 / 3ML2
2L
at
The translational
acceleration is
dW = F ds
r r
W = F s
dW r r
= F .v
P =
dt
1
2
1
2
2
2
W = mv f mvi
dW = F ds
dW = d
W =
P =
KR =
1 2
I
2
= 0 + t = 0 + 24(2.5) = 60 rad/s
KR =
1 2 1
I = (0.05)(60) 2 = 90J
2
2
W = 2 I
2
f
1
2
Ii = K R
2
K R = W
K f K i = K 0 = ( )
We need to find and
K R = = (1.2)(75) = 90J
M = 2.5 kg ,radius R = 20 cm, and m = 1.2 kg
Review
Review