Classical Physics I (Spring 2015)
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PHY 131
Lecture 26
(try to) finish Chapter 11
Angular Momentum; General Rotation
4/10/15 Lecture 26 1
Are you here with your clicker set to channel 21?
1. Yes
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4/10/15 Lecture 26 2
RE-CAP: Angular Momentum Conservation: Two Figures from Sports
The ice-skating figures provided stimulation in the last lecture for viewing a
YouTube video. Some demonstrations followed. Today we explain them.
4/10/15 Lecture 26 3
RE-CAP: More About Torque τ : Use the Vector Cross Product !
• The magnitude |τ| of the torque τ (a vector!) is force F times its lever arm:
– Units: [mN] NOT [Nm]: avoid confusion with work and energy! Direction of τ below.
– The lever arm is the perpendicular distance from the “line of action of F” to the axis A around
which the torque is trying to cause the “torqued object” (the bolt) to rotate. Axis A here is
perpendicular to the screen. Direction of
T by the
same right-
hand rule!
θ R τ = FR⊥ = FRsinθ
θ
A τ = RF⊥ = RFsinθ
axis They’re the same!
τ = R x F = RFsinθ n^
F
The update:
• The torque of F with respect to axis A (⊥ screen, through the axis of the bolt):
τ ≡ RF⊥ = RFsinθ = R⊥ F = RFsinθ Right-hand rule: points out of page!
– F∥ is balanced by the reaction force exerted by the bolt (hole) on the wrench.
– F∥ does NO work! Motion of the end of the wrench is tangential, i.e., ⊥ to F∥ !
– Therefore, it’s obvious that the only force component that can do work is F⊥ !
4/10/15 Lecture 26 4
RE-CAP: Understanding the Vector Cross Product C = A x B
4/10/15 Lecture 26 5
RE-CAP: Evaluating the Vector Cross Product C = A x B With Components
Write in “3 by 3” determinant form:
top row (symbols): the three unit vectors;
middle row (numbers): the three components of A;
bottom row (numbers): the three components of B
WARNING: Include the value for all components even zero ones!
WARNING: Include the sign for each component!
Just to the right, rewrite the first two columns.
Perform the “determinant-like” multiplication. What is below uses
symbols in place of numbers for the middle and bottom rows.
ADD multiplications in green direction
top to bottom on “southeast” diagonal
SUBTRACT multiplications in red direction
bottom to top on “northeast” diagonal
4/10/15 Lecture 26 6
RE-CAP: Torque via the Cross Product: Two Ways
Calculate the net torque on the pulley: CCW angular rotation
– 1st way (from definition of cross product): y
R
O x
z
F2=6 N
F1=14 N
– 2nd way (the determinant-like calculation): do not forget signs!
4/10/15 Lecture 26 7
ϕ = 30o, |rA| = 2 m, |ω| = 10 s-1. rA x ω = ?
1. 10 m/s out of screen
2. 10 m/s into screen
3. 20 m/s out of screen
4. 20 m/s into screen
5. None of the above
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4/10/15 Lecture 26 8
z 1. 0 i + 0 j ─ 6 k
2. 4 i ─ 2 j + 0 k
3. 0 i + 2 j + 6 k
4/10/15 Lecture 26 9
Angular Momentum of a Particle
4/10/15 Lecture 26 10
Angular Momentum L with the Vector Cross Product: Conservation of L
Angular momentum L is the rotational analog of linear momentum p ≡ mv:
y
– definition for a (point) mass m at position R
(O is in an inertial frame): L ≡ R×p = R×mv
– for a single point mass m, R and p
define a plane (x,y) and L is perpendicular θ
L
to this plane. Magnitude: L = Rpsinθ = Rp⊥ = R⊥ p m
– For a collection of masses mi
the individual angular momenta Li add
(vectorially): L = ΣiLi = ΣiRi×pi = ΣiRi×mvi x
– Looking at this makes us start to think… O
Seeing mivi and (only in inertial frame) with Fnet = d(mv)/dt = dp/dt
– We investigate the time-derivative of L and see where that leads:
– The derivation is correct if O (i) is in an inertial frame or (ii) is at the CM of the system.
– We have derived the Conservation of Angular Momentum: If τnet = 0, L = constant.
If there is no net external torque on a system, the system’s angular momentum is constant.
If there is a net external torque, it gives the time-rate-of-change of the angular momentum.
4/10/15 Lecture 26 11
A man and a frictionless turntable are initially at rest. The
man starts to walk as shown. The turntable…
1. remains at rest.
2. rotates CW as seen from above.
3. rotates CCW as seen from above.
4. Not enough information.
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4/10/15 Lecture 26 12
Spinning Bicycle Wheel: Explain the Demo
Prof. Koch did demonstrations in the last lecture. Today use a YouTube
video to show the wheel demo and others. They’re all about conservation
of angular momentum when there is no external net torque.
Cut to the video!
4/10/15 Lecture 26 13
Atwood’s Machine: Torque Changes Angular Momentum
4/10/15 Lecture 26 14
Spinning Bicycle Wheel: Explain More…
4/10/15 Lecture 26 15
Details of τ vs. τ, L vs. L, and Conservation of Angular Momentum
4/10/15 Lecture 26 16
More On τ vs. τ, L vs. L, and Conservation of Angular Momentum
4/10/15 Lecture 26 17
x
4/10/15 Lecture 26 18
