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Announcements

Happy Thanksgiving!
Normal discussion sessions today/Tuesday: GA17
No discussion session on Wednesday/Thursday
Normal class on Wednesday (Unit 21), but
no Quiz on Wednesday!
Exam 3 scores being processed.

Mechanics Lecture 20, Slide 1

Lecture 20: Angular Momentum


Vector and Precession

Todays Concepts:
1) Angular Momentum
2) Precession

Mechanics Lecture 20, Slide 2

Unit 20 Learning Objectives


If you master this unit, you should:
be able to use conservation of angular momentum to compute
angular velocities (including direction), rotational kinetic energy,
and/or moment of inertia of a rotating object given some initial
conditions.
be able to use the work-kinetic energy theorem to determine
dynamical quantities in cases when angular momentum is
conserved.
be able to use Newtons second law for rotations to identify the
direction and speed of precession when a system is subjected to an
external torque.

Mechanics Lecture 20, Slide 3

~ext

~ext

~
dL
= 0 =)
=0
dt
~ = constant
=) L

~
dL
=
dt
~ext

~
dL
6 0 =)
=
= ~ext
dt
~ = ~ext dt
=) dL

Mechanics Lecture 20, Slide 4

~ext

~ext

~
dL
= 0 =)
=0
dt
~ = constant
=) L

~
dL
=
dt
~ext

~
dL
6 0 =)
=
= ~ext
dt
~ = ~ext dt
=) dL

Mechanics Lecture 20, Slide 5

~ext

~ext

~
dL
= 0 =)
=0
dt
~ = constant
=) L

~
dL
=
dt
~ext

~
dL
6 0 =)
=
= ~ext
dt
~ = ~ext dt
=) dL

This is really what todays class is about!

Mechanics Lecture 20, Slide 6

Example Problem: Sliding Puck


A puck slides in a circular path on a horizontal frictionless table. It is held at a
constant radius by a string threaded through a frictionless hole at the center of
the table. If you pull on the string such that the radius gradually decreases by a
factor of 2, how much work is done on the puck by the string?
Step 1: Understand the Question
Step 2: Describe the Physics

What forces do work on the puck?

What torques act on the puck?

Is angular momentum conserved while the puck spirals inward?


Final

Initial

Mechanics Lecture 20, Slide 7

ACT

A puck slides in a circular path on a horizontal frictionless table. It


is held at a constant radius by a string threaded through a
frictionless hole at the center of the table. If you pull on the string
such that the radius gradually decreases by a factor of 2, by what
factor does the angular velocity of the puck change?

!f
= A) 2
!i

B) 1

C) 4

D) 1/2

Mechanics Lecture 20, Slide 8

~ext

~
dL
=
dt
=0
R

ACT answer
Since the string is pulled through a hole at the
center of rotation, there is no torque: Angular
momentum is conserved.
R

R
L1 = I11 = mR 1 = L2 = I 22 = m 2
2
1 2
2
mR 1 = m R 2
4
1
1 = 2
2 = 41
4
2

Mechanics Lecture 20, Slide 9

Example Problem: Sliding Puck


A puck slides in a circular path on a horizontal frictionless table. It is held at a
constant radius by a string threaded through a frictionless hole at the center of
the table. If you pull on the string such that the radius gradually decreases by a
factor of 2, how much work is done on the puck by the string?
Step 1: Understand the Question
Step 2: Describe the Physics
Step 3: Plan the Solution

Tension is the only force doing work in this scenario

As the puck spirals inward, the work done must be positive: tension is in
same direction as inward component of pucks motion.
R

Mechanics Lecture 20, Slide 10

Step 4: Execute Solution


WT ension =

T~ d~` =

How does depend on r ?


a) ! is constant
b) ! / r

Rf

T dr

T = m acent = m ! 2 r

Ri

Rf

! 2 rdr

Ri

c) ! / 1/r

2
d) ! / 1/r

Mechanics Lecture 20, Slide 11

Step 4: Execute Solution


Z

WT ension =

T~ d~` =

Conservation of L:
L = Li
2

=) m r ! =

!=

m Ri2

Ri2

1
= m Ri4 !i2
2

!i

1
!i 2
r
"

1
Rf2

Rf

T dr
Ri

Rf

! 2 rdr

Ri

m Ri4

!i2

1
= m Ri4 !i2
2

1
Ri2

T = m acent = m ! 2 r

1
= m Ri4 !i2
2

Rf
Ri

1
r2
4
Ri2

dr
r3
Rf
Ri

1
= 3Ki
2
Ri
Mechanics Lecture 20, Slide 12

Step 5: Evaluate Solution


Does this make sense? How much does kinetic energy actually change?

1 2
L2
K = I! =
2
2I

(L = I!)
=)

Kf
L2 /2If
= 2
(L = constant)
Ki
L /2Ii
Ii
mRi2
Ri2
=
=
=
=4
2
2
If
mRf
(Ri /2)
R

K = Kf

Ki

= 4Ki
= 3Ki
Wnet =

Wtension = 3Ki
R

Ki

Mechanics Lecture 20, Slide 13

Another way:
Angular momentum is conserved: Rf = Ri /2 =) !f = 4!i

1
1
2
K = mv = mR2 ! 2
2
2
2
1
1 Ri
2 2
=) Kf = mRf !f =
16 !i2
2
2
4
1
= mRi2 !i2 (4) = 4Ki
2
R

Mechanics Lecture 20, Slide 14

Step 5: Evaluate Solution


Weve learned that: = I
We just calculated: 2 = 41
0 but: ext = 0
So how do we get 0 when = 0 ?

d
dL d ( I ) dI
= +I
=
=
dt
dt
dt
dt

I
R

Mechanics Lecture 20, Slide 15

Step 5: Evaluate Solution


EXT = I

dI
+
dt

Now suppose EXT = 0:

dI
I + = 0
dt

dI
I dt

So in this case we can have an with no external torque!

2
1
Ri !i
dr
2
! = Ri !i 2
=
2M r
4
r
Mr
dt
dI
dr
2
I = M r =)
= 2M r
1 dr
2
dt
dt
= 2 Ri ! i 3
r dt
Mechanics Lecture 20, Slide 16

Three Dumbells
f

i
Ii

If
Li

~ext

~
dL
=
=0
dt

Lf

There are no external torques acting on the student-stool system,


so angular momentum will be conserved:
Initially: Li = Ii i
Finally: Lf = If f

!f
Ii
=
!i
If

Kf
Ii
=
Ki
If
Mechanics Lecture 20, Slide 17

Three Dumbells
f

i
Ii

If
Li

1 2 L2
K = I =
2
2I

Lf

=) Kf > Ki
The increase in kinetic energy once again come from work:

Wnet =

(Work-Kinetic Energy Theorem)

Since the student has to force her arms to move toward her
body, she does positive work, and increases K.

Mechanics Lecture 20, Slide 18

Vector Nature of Angular Momentum

Mechanics Lecture 20, Slide 19

CheckPoint: Precession Direction


A disk is spinning with angular velocity on a pivoted horizontal
axle as shown. Gravity acts down. In which direction does precession
cause the disk to move?
A) Out of the page B) Into the page C) Up D) Down

About 40% got this


right before class

Mechanics Lecture 20, Slide 20

Precession
~
dL
~ext =
dt
~ = ~ext dt
dL
The magnitude of the torque
about the pivot is = Mgd.
The direction of this torque at
the instant shown is out of the
page (using the right hand rule).
The change in angular
momentum at the instant shown
must also be out of the page!
Mechanics Lecture 20, Slide 21

Precession
!

Weight

dL = Ltop d

Aerial View
!
dL

dL
d
= Ltop
= Ltop
dt
dt
EXT

!
L (t )
d

!
L (t + dt )

pivot

Precession frequency

ext

Ltop

Mechanics Lecture 20, Slide 22

Precession
!
!
dL
ext =
dt

ext = Mgd
In this example:
Ltop = I

Direction:
The tip of L moves
in the direction of .

ext
Ltop

Mgd
=
I

Weight

Mechanics Lecture 20, Slide 23

ACT

!
In which direction does L point?

!
L

!
L

B
Mechanics Lecture 20, Slide 24

CheckPoint Revote

In which direction does precession cause the disk to move?


A)
B)
C)
D)

Into the page


Out of the page
Up
Down

!
!
dL
ext =
dt

!
L

Torque is out
of the page

Mechanics Lecture
0, Slide 25
Mechanics Lecture 220,
S lide 25

CheckPoint: Precession Speed 1

A disk is spinning with angular velocity on a pivoted horizontal axle


as shown. Gravity acts down and the disk has a precession frequency
. If the mass of the disk were doubled but its radius and angular
velocity were kept the same, the precession frequency would:
A) Increase B) Decrease C) Stay the same
About 50% of you got this correct

Mechanics Lecture 20, Slide 26

CheckPoint Results: Precession Speed 1


If the mass of the disk were doubled but its radius and angular
velocity were kept the same, the precession frequency would:
A) Increase
B) Decrease
C) Stay the same

ext
=
=
Ldisk

M gd
1
2!
M
R
2

Mechanics Lecture 20, Slide 27

CheckPoint revote: Precession Speed 2

A disk is spinning with angular velocity on a pivoted horizontal axle


as shown. Gravity acts down and the disk has a precession frequency
. If the radius of the disk were doubled but its mass and angular
velocity were kept the same, the precession frequency would
A) Increase B) Decrease C) Stay the same

ext
=
=
Ldisk

M gd
1
2!
M
R
2

Mechanics Lecture 20, Slide 28

A challenge!!!

All of this stuff doesn't really seem practical. If you can't prove me
wrong then we should all just get A's for this course.
http://www.youtube.com/watch?v=cquvA_IpEsA (see 3:00)

Practical Application: Keeps you from falling off your bike


when you ride using no hands!
Riding straight
( = 0)

Wheel steers straight

Lean Left
( out of page)

Wheel steers left

Lean Right
( into page)

Wheel steers right


Mechanics Lecture 20, Slide 29

1
I = MR 2
2

= 2 f

d
Mg

L = I
= Mgd
=

Mechanics Lecture 20, Slide 30

(using right hand rule)

Mechanics Lecture 20, Slide 31

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