edexeel advancing learning, changing lives A, Edexcel AS and A-level Modular MathematicsPublished by Pearson Education Limited, a company incorporated in England and Wales, having its registered office at Edinburgh Gate, Harlow, Essex, CM20 2JF. Registered company number: 872828 sworn. pearsonschoolsandtecolleges.co.uk excel isa registered trademark of Edexcel Limited. ‘Text © Susan Hooker, Mick Jennings, Jean Littlewood, Bronwen Moran, Laurence Pateman 2009 131211108 10987654321 British Library Cataloguing in Publication Data is available from the British Library on request. ISBN 978 0.435519 25 4 Copyright notice All sights reserved. 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Cover design by Christopher Howson Picture rescarch by Chrissie Martin Cover photoillustration © Edexcel Printed in the UK by Scotprint Acknowledgements ‘The author and publisher would like to thank the following individuals and organisations for permission to reproduce photographs: Alamy/John Peter Photography pil; Rex Features/Keith Meatheringhamn p28; Getty Images/Vladimir Rys/Bongarts 180; iStock?hoto/ryn Donaldon p79. Every effort has been made to contact copyright holders of material reproduced in this book. Any omissions will be rectified in subsequent printings if notice is given to the publishers Disclaimer ‘This Edexcel publication offers high-quality support for the delivery of Edexcel qualifications. Edexcel endorsement docs not mean that this material is essential to achieve any Edexcel qualification, nor does it mean that this is the only suitable material available to support any Edexcel qualification. No endorsed material will be used verbatim in setting any Edexcel examination/assessment and any resource lists produced by Edexcel shall incluele this and other appropriate texts. Copies of official specifications for all Edexce! qualifications may be found on the Edexcel website - www.edexcel comContents About this book 1 Applications of vectors in mechanics 1.1 Simple first order vector differential equations 1.2. Simple second order vector differential equations 1.3. The work done by a constant force 1.4 The vector moment of a force about a point, 1.5 Analysing systems of forces 2 Variable mass 2.1 The impulse~momentum principle Review Exercise 1 3 Moments of inertia of a rigid body 3.1. The moment of inertia of a standard rigid body about an axis 3.2 Further standard results and the radius of gyration 3.3 Parallel and perpendicular axes theorems 4 Rotation of a rigid body about a fixed smooth axis, 4.1 Kinetic and potential energies of a rotating body 4.2. The force that a rotating body exerts on the axis of rotation, 4.3. Using angular momentum to solve problems involving a rotating body which receives an impulse 4.4 The period of a pendulum iv i 12 17 28 29 43, 50 Si 60 66 79 80 85 92 98,Review Exercise 2 Examination style paper Answers Index 108 118 121 126About this book This book is designed to provide you with the best preparation possible for your Edexcel M5 unit examination: “Brief chapter overview and * This is Edexcel’s own course for the GCE specification, ___ ‘links’ to underline the * Written by Senior Examiners pee “ eS’ + The LiveText CD-ROM in the back of the book contains - yerurther Ulsan even more resources to support you through the unit. pees a Finding your way around the book - Every few chapters, a review exercise helps you consolidate your learning list shows which parts of the M5 specification are covered in each section Each section begins with a statement of what is covered in the section | : = Past examination stions are Concise learning a questions are points ; marked ‘E Each section ends with an exercise = the questions are carefully graded so they increase in difficulty and gradually bring you up to standard fe sla Each chapter ends with At the end of the book there is a mixed exercise and a an examination-style paper. summary of key points Step-by-step worked examples ~ they are model solutions and include examiners hints (Each chapter has a different colour scheme, to help you find the right chapter quicklyAfter completing this chapter you will be able to: * solve simple vector differential equations * use the scalar (or dot) product to calculate the work done by a constant force * use the vector (or cross) product to calculate the \ moment of a force * analyse systems of forces which are acting on a rigid body in three dimensions. The photograph shows the boat lift which moves boats between the Forth and Clyde canals. The forces which come into play when the lift rotates could be analysed using vectors.1.1 You can solve simple first order vector differential equations. In book M3 and book M4 we used differential equations to model the motion of a particle moving in a straight line. Il If the particle is moving in a plane, or in three dimensions, we can use vector differential ‘equations to model the motion. I Many of the techniques used in the solution of differential equations in Further Pure Mathematics can also be adapted to solve vector differential equations, provided that any integration or differentiation is carried out with respect to a sealar quantity. Example [I A particle P is moving in a plane such that at time f seconds its position vector is rm and its velocity is vms~', Given that v satisfies the differential equation dv ‘dt av and that, when ¢ = 0, r= 2i — j and v = i + 3j, find an expression for r in terms of t. av a” Bo wao at eee mea aaa cunestacc ert Anam Om ie A=4 90 v= Ae**is the general solution. When t = O, = 90,1 + 3 20,v = (i + Spje* Hence, 4 = (1+ Spot See dt . Eee = (i+ Bie + Be —— When t = O,r = 2i-j fo 20,21- f= (1+ Ye +B : —Applications of vectors in mechanics Solve the equation @ 2a ee Frais 4j,t>0 given that when t= 1, r= 2i—j We need to use an integrating factor, + As we have a linear first order equation with a non-constant coefficients. Multiply through by R. Integrate with respect to t. ‘Add on an arbitrary constant vector. Use the conditions, t= 1, r = 24—j +4pl+ i+ yj ara (i+ Ape + (Si + Sie? Multiply through by ier = (Bt? — Dit Be - 40y RENTER _ oF using column vectors. =e aaa a ee a If time permits, we can always check = { ele en z) ( i) our solution by differentiating it and St-4-e0+8] \4 substituting in. ner 1 Attime f seconds the position vector of a particle P is r metres and its velocity is vms~, ‘The motion of P is modelled by the differential equation av it Given that when ¢ = 0, r = 3i and v = i —j, find rin terms of t. By. 2) The velocity vms~! of a particle P at time f seconds satisfies the differential equation ai ye at Yo Given that the initial velocity of P is (12i + 6)), find the velocity of Pat t = In3.CHAPTER 1 The velocity wm" at time f seconds of a particle moving in a plane satisfies the differential equation dv G7 Ov where v + 2jwhen £= 0. Given that the particle starts, at f = 0, at the point with position vector (i + j)m find a the position vector of the particle P at time (seconds, b the time when the magnitude of the acceleration of the particle P first equals 100m s-* At time ¢ seconds the position vector of a particle P is r metres and its velocity is vm"? The motion of P is described by the differential equation dv_ ar: Given that when ¢ = 0, -i-kandv-it+j+k, a find r in terms of f, b find the speed of P when ¢ = 2, © find the magnitude of the acceleration of P when t = 2. At time tseconds the position vector of a particle P is r metres. The motion of P is described by the differential equation @r_ per de “at Given that the initial velocity of P is (24 ~ j) ms~, find the speed of P at = In 3. At time f seconds the position vector of a particle P is r metres. The motion of P is modelled by the differential equation dr oop st G7 t 2k = (15k + 10jpe". Given that when f = 0, r = 2i find a rin terms of t, b the velocity of Pwhen t= In4, The position vector r metres of a particle P at time f seconds satisfies the vector differential equation dr a ke' Given that when ¢ = 0, r = 2i +3] + k find rin terms of t. At time f the velocity v of a particle P satisfies the vector differential equation here T is a constant. 3a At time f = 0 the position vector of P is a(2i + j) and its velocity is Find the position vector of P at time t.Applications of vectors in mechanics 9) The position vector of a particle P at time t seconds is r metres. The motion of P is modelled by the vector differential equation Ory ap = det OF + ar = der Given that when t = 0, x = 24-j, find r in terms of t. 10, The position vector of a particle P at time t seconds is r metres. The motion of P is modelled by the vector differential equation dr_ 2 dt i, t> 0. r Given that when t = 1, x = i — j, find r in terms of t. 1.2 You can solve simple second order vector differential equations. Wr, pdr 7 jents of the form at7y + BET + cr = f(0) The equations will be linear with constant coef where f(t) is a vector which is a function of t. The method used will be very similar to that used for solving (scalar) differential equations and will involve finding a complementary function and, where appropriate, a particular integral, The position vector r metres, of a particle P at time t seconds satisfies the differential equation rode tg dee 0. Given that when t= 0, = 2h and $F = $i + 3), find rin terms of Auxiliary equation is 24+ 10=0 = 2A+1=-9 ari This is quadratic in A as we have a second order differential equation. y= -9 Solve to give a pair of complex roots. A=123i This is the complementary function pees ae (C.F) which is also the general r= eF(Acos3t + Bsin3t) solution since the R.H.S. of the differential equation (D.E.) is the zero vector. Note that we have two arbitrary constant vectors.CHAPTER 1 When t 20, 21 Or =2i A ee = e(Acos3t + Bsin3t) + e(-BAsin3t + 3B cos3t) ar at 20, Bi + 3j=A + 3B ie. Si + j= 21+ 3B I+j=B When t BI + 3 Hence, r = e"(2icoe3t + (I + J) sin3t) let = e(2cos3t + sin3x)i + sin3x)) (2cos3t + sin3e \ singe orr= A particle P is moving in a plane such that at time f seconds its position vector is rm and its velocity is vs". Given that v satisfies g dt av and that, when ¢ = 0, x = 2i jandv 3}, find an expression for r in terms of t. This is the same as Example 1 (see page 2) and we now provide an alternative solution. The equation can be written ar _ydr _ ae ae F-h 2) MA-4)=0 =Oor4 r= Ac + Bet? A+ Bet | A+B o iHApplications of vectors in mechanics When t= O,v = i+ 3j 20,1 + 3) = 4B a 10+ 3) <6 Substitute in the values. 60 2-j=At+lit+ a) Substitute for B in equation @. s0,r= 2 + As before. The vector F satisfies the differential equation Pr _ dr yoy se2y ede 27 Se Given that when t = 0, r = 2i + 3j and & = j, find rin terms of t. ____ First we put the RHS = 0 and solve the resulting equation as before. Auxiliary equation is A? — ie. (A 4)(A + 3) = A=4or-3 CF is r= Ae* + Be® Quote this result (ie. you need to learn it!), with arbitrary constant vectors. You need to learn what is an appropriate Pl. for a given RHS. (Note that € is a constant vector.) Substitute into the original D.E. (Note this is an identity i.e. true for allt) 90, Pl. ior = —: 30, general solution is General solution is = C.F. + PL. r= Act + Be Note that we cannot find the arbitrary constants until we have the complete general solution. Differentiate. Substitute in ¢ = O and = 4 =i ~ j.CHAPTER 1 aye 61+ 25 = 3A + 3B i=4A- 3B i+3j=A 60,B = 21+ 31) — (1+ 3)) =i+Q Hence, r = (I+ Spe" + (1+ 2p — Ler At time t, the position vector ¥ of a particle P satisfies S OE + ar = 3sine Initially, when ¢ = 0, P passes through the point (0, 1) with velocity i. Find r in terms of tand deduce the Cartesian equation of the path of P. Auxiliary equation ie X° + 4 = 0 SA= +21 Cie r= Acos2t + Bsin2t For Pl. try = Coint + Deost ! | = dt = = Gg = Cooet Deint # = —cant—- #2 = ~Csint — Deost 20, ~Csint — Doost + 4(Csint + Dcos t) = Sein ti ie. BC sint + 3Dcos 3C = Bi and 3D =0 ie.C=iandD=0 20, Pl. i r= Teint 0, the general solution is t= Acos2r+ Bsin2r+isint When t= O,r=J 20,4 Crete ge —2Asin2t + 2Bcos2t + icostApplications of vectors in mechanics When t= 0,v=i Velocity = St =26+i> 60,6 = jcos2t + isint = Isint + jcos2t (seer) These are the parametric ‘equations of the path of P. To find the cartesian equation we Fath has equation y = 1 — 2x? ren At time f seconds the position vector r metres of a particle P satisfies the vector differential equation ry dey gee qe tap) oF 0. At l= 0, r= i+ j and the velocity of P is (24 — 4j) ms). Find an expression for r in terms of t. The position vector r metres of a particle P at time t seconds satisfies the vector differential equation dr dr - or. 30F , op = 9, ag dna At ¢= 0, the particle is at the point with position vector 2)m moving with velocity G+ jms? Find r in terms of t. The position vector of a particle P at time t seconds is r metres. The motion of P is modelled by the differential equation de — 208 4 y= 7 2G +e Given that when f= 0, = iand 4F = j, find the distance of P from the origin O when ¢ = 2. The position vector of a particle P at time £ seconds is r metres and satisfies the differential equation br, d +a de" dt 0. Given that when t = 0, r = —2i and & = i+ V3}, find rin terms of ¢,a) 2 10 The position vector of a particle P at time t seconds is r metres. The motion of P is modelled by the differential equation dr ae’ ar Given that when ¢= 0, r = 0 and $F = 4i, find r in terms of The position vector of a particle P at time ¢ seconds is metres and satisfies the differential equation += 106 de Given that when ¢ = 0, r = i and SF = 2j, find rin terms of t The position vector of a particle P at time £ seconds is r metres. The motion of P is modelled by the differential equation or ar cp Se > 2p + SF = 1Osin th Given that when f = 0, x = 2i ~ jand SE =i + j, find x in terms of The position vector of a particle P at time seconds is r metres and satisfies the differential equation ane a 4h} a= Bi. de At t= 0, the particle is at the point with position vector (21 ~ k)m moving with velocity G+ 2s" Find r in terms of t. The position vector of a particle P at time f seconds is r metres and satisfies the differential equation ar ar Att = 0, the particle is at the point with position vector (i + k)m moving with velocity 2jms. Find r in terms of t. 12ti — 2}. The position vector of a particle P at time t seconds is metres. The motion of P is modelled by the differential equation @r_ dr 10% shal GF 288 — 8x =(9i + I8pe Given that when ¢ = 0, r =i + 2) and 4F = 24 + j, find r in terms of t.Applications of vectors in mechanics 1,3. You can calculate the work done by a constant force. Suppose a particle P is pushed along a horizontal plane from A to B by a constant force F of magnitude F acting at a fixed angle 0 to the horizontal. How much work is done by the force? A B Split the force into two components, Fsin # acting into and perpendicular to the plane, and Fos @ acting along and parallel to the plane. The component Fsin @ does no work since it is always perpendicular to the motion. Ml Work done by F = Work done by component Fcos 0 ‘cos @ x AB = “AB force x distance This is the scalar or dot product. A particle P is acted upon by a resultant force F where F = (2i ~ 3j ~ 4k) N. Calculate the work done by Fas it moves P from the point A with position vector (i + j + 2K) m to the point B with position vector (31 ~ 4j + k)m. FB = 21-5) -k We need to find the total - tof displacement vector. Work done = (21 - 3j - 4k) - (21 - 5j - k) Use F - AB. ee a ea ad ae Use the components to evaluate =44644 the scalar product. 23 1N x 1m = 1 Joule of work.In this example i and j are perpendicular unit vectors in a horizontal plane and k therefore acts in a vertical direction. A particle P of mass 0.5 g is at rest on a smooth horizontal plane at the point A with position vector (2i + j)m. It is then acted upon by a force (3i ~ j + 4k)N which moves it along the plane to the point B with position vector (Si + 5j)m. Find the speed of P as it reaches B. This is the displacement vector. Use F - AB to find the work done on P. Work done = K.E. gain (Work-Energy Principle) Method 2 (Bi-j + 4k)- Ei + 4p + —_—-— Resolving the force along AB. =1N 1=08a+a=2- : Use F = ma, +2x2x IAB co WEEE — Use v2 = u? + 2as =20 Vv20 m 1.4 You can find the vector moment of a force about a point. ‘The phrase ‘moment of a force about a point P’ is, strictly speaking, meaningless, but it is a common abbreviation for ‘turning effect of a force about an axis, passing through the point P, which is perpendicular to the plane containing the force and the point I. . y, The moment of F about Pis actually the moment of F about the axis XY. To find the magnitude of this moment we need to find the pee distance from P to the line of action of F, d in theApplications of vectors in mechanics Then magnitude of the moment = |Fld Let Q be any point on the line of action of F. Then magnitude of the moment = |F||?@)sin 6 Denoting PG, which is the position vector of Q relative to P, by r, magnitude of the moment = |r x F). @ We call r x F the vector moment of F about P. Note that since r, F and r x F form a right- hand set of vectors (in that order), (the vector r x F acts along the axis of rotation i.e. along XY). Note also that if r x F = a, say, then this is the vector equation of the line of action of F, since can be the position vector of any point on the line of action of F, taking P as the origin. Find the vector moment of the force about a0, b the point A with position vector (i + 3j + 2k)m. This is the position vector of P relative toOr. = k) X (31 + 2 - 4k) Using rx F. Use the determinant method to find F x F. be used and either notation is acceptable. [(-1* 4) - (-1x 2) | | @x-)-@x-a | \ (2x 2)-(-1x3 To find the vector th moment about A we =(-4| need the position vector 3] of P relative to A, ory Using ora X F. (22 Either method canA force F = (2i + j + 3K)N acts through the point with position vector (4i ~ j + 2k) m. Show that the vector moment of F about O the origin is the same using any point on the line of F. | The position vector of any point on the line of action of F = ( Vector moment of F about 0 = r X F — 3k) acts through the point P with position vector (21 — a Find the magnitude of the moment of F about the point A with position vector (i b Find the vector equation of the axis through A. = V90 Nm b The direction of the axis is parallel to r X F, 1 8) and it passes through A, hence r ( 1 | 4 a3] User=at Ab ell i 3k) m. is the vector equation required.Applications of vectors in mechanics { 1\ -i The vector moment of a force | 2 | N about the origin is | §|Nm. Find a vector equation of - \ Ss} the line of action of the force. Let r be the position vector of any point on the line of action of F Then X | 2 \-3. x 1 ie. \¥) x Put into component form, 2) \— eee ( 7 Evaluate the vector product on ence |e te) the LHS. ax-y } \ 5} , By — 2z= -1 T as Equate coefficients of fj pees and k. 2x -y=5 Fut x = 0, then z= 8 andy = —5 Note that the equations have {0 an infinite number of solutions ie. (-5] fo a solution. —__ but we only need to find one. \ al The line of action of F passes through the point (0, —5, 8). 60, equation of line of action of Fis r = atuibe pene J The line of action must have the same direction as F. Rn 1 In each of the following cases calculate the work done by the force F as it moves its point of application through the displacement 4 = Gi +j-2k)N,d= +5 -2k)m. b F = (-4i~j + 2K)N, d= Gi j + 4k)m. ¢ B= (i- 2k)N,d= (j- 3k)m 2) In each of the following cases calculate the work done by the force F as it moves its point of application from the point A with position vector r, to the point B with position vector rg: a F= (i+ §- 2K)N, ry = G+ j — 2k)m, r= Qi 3) + km. b F= (2) —j + 3K)N, ry = Qi ~j + W)m, xy = (4i — 35 - 2k) m. ¢ F=(@-BW)N, ry = 2i- jm, ry = Gi-j+k)m.10 In each of the following cases a particle P of mass 0.5 kg is moved from the point A with position vector r, to the point B with position vector rp by a force F. Assuming that in each. case there are no other forces, apart from F, doing work on P and that the speed of P at the point A is 4ms-, find in each case the speed of P when it reaches the point B: a B= (ij + 26)N, ey = +4 — 2k), wy = i - 3) + km. b F= (2i—j - 3K)N, ry = (2i-j + k)m, ry = (4i — 3j - 2k) m. © F=(-W)N, ry = 2i-j)m,r = Gi-j+kym Forces of magnitudes 6N, 7 N and 9N act in the directions 2i + 2j + k, 6i — 3j + 2k, and 7i + 4j ~ 4k, respectively. The three forces act on a particle causing a displacement of (34i + 10j)m. a Find the work done by each force. b Verify that the total work done by all three forces is equal to the work done by the resultant force. In each of the following cases the force F acts through the point with position vector r relative to the origin O. Find the vector moment of F about O. a F=(i+2)Nr=G-jym. b F= (i+ 2K)N, r= (i ~ k)m. ¢ F=(i-j)N,r-3km a F= (i+ j~2k)N,r = (Bi-j + kym. In each of the following cases the force F acts through the point with position vector r relative to the origin O. Find the vector moment of F about the point A. a F-(@+j-I)N,r- Gi- 29) m, AQ, 1, 0), b F= Qi DN, r= G+ 2m, AC, 1), (4 2K)N, r= + j- k)m, AQ, 0,2) A force F acts through a point with position vector p. Find, in terms of F, p and q, the vector moment of F about the point with position vector q. In each of the following cases the force F has vector moment n about the origin O. Find a vector equation of the line of action of Fif a F=(i+j)N,n=4kNm, b F=(i-pN,n= (+ 2)Nm, c F=(i+j-k)N,n= Gi- 2j+k)Nm In each of the following cases the force F acts through a point P. Find a vector equation of the axis through the point Q about which the moment of Fis calculated. (i — 2j)N, PCO, 1, 0), QO, 0, 0), (+ 2K)N, OPG +k) m, OGG + 2) — k)m, © F=(2i+ j— K)N,OPG + j + 2k)m,0Q(-i + 2j- k)m, The moment of a non-zero force F about a point P is equal to its moment about another point Q. Show that the line of action of Fis parallel to the line PQ.Applications of vectors in mechanics 1.5 You can analyse systems of forces. Couples I Assystem of forces which has no translational (or pushing) effect but does have a rotational (or turning) effect is called a couple. The simplest example of a couple is two forces of equal magnitude with parallel lines of action but acting in opposite directions: Suppose the two forces are Fand —F acting in some plane. Now consider the sum of the vector moments of these two forces about a point O (which may or may not be in the plane of the couple). Let A be a point on the line of action of F and B be a point on the line of action of ~F. ‘Sum of the vector moments about O = OA x F) + OB x -F) = QA -OB)xF =BAXF BA x Fis called the vector moment of the couple. Note a BA is independent of 0. b BA x Fis a vector which is perpen ¢ [BA x F| = BA x |F| sing = |F|d, where d is the distance between the lines of action. From a, it follows that the vector moment of a couple is the same about any point, and is normally denoted by G. Systems of forces I Two systems of forces are equivalent if their effect on a body is the same translationally and rotationally. In 2 dimensions (ic. a system of coplanar forces), a system of forces is equivalent to: i asingle force, or ii acouple, or iii the system is in equilibrium. sular to the plane of the couple.CHAPTER 1 In 3 dimensions, however, there is a fourth possibility. For example, consider 2 forces whose lines of action are skew (non-parallel, non-intersecting). Such a pair of forces carmot be equivalent (or reduce) to a single force, a couple ot be in equilibrium, but are equivalent to a combination of a force and a couple whose plane does not contain the force, Analysis of force systems in 3D Suppose a system of forces, S, consists of forces F, vectors r), ¥, «1 Ry respectively. >,» F, acting through points with position If Sreduces to a single force R acting through a point with position vector a then DVR =R and Dex k=axRk @ If Sreduces to a couple of moment G then De =0 and Ye xk =6 If Sis in equilibrium then DR=0 and De, xk =0 Identifying the nature of a system of forces The converse problem of identifying the equivalent form of a given system of forces is more difficult 1 To prove that the system is in equilibrium, it is necessary to show that both R= 0 and Yx,xF,=0 (Either condition on its own is not sufficient since YF, = 0 is also true for a system which is equivalent to a couple and -r, x F; = 0 holds for a system whose resultant is a single force acting through the origin 0.) 2 To prove that the system reduces to a couple, itis nec both DR =0 and Lex kh 40 ary to show that (Again either condition, on its own, is not sufficient.) If OF, 40, then either i the system reduces to a single force or ithe system reduces to a force and a non-coplanar couple. il if it reduces to a single force R then cither the line of action of R passes through the origin O and so 7x, x F = 0 or the line of action of R does not pass through O and the resultant moment of the system about O acts in the plane containing R and O, ic. the resultant vector moment of the system about 0 is perpendicular to the resultant force (see section 1.5 note b), Le. (Or, x FE) = 0Applications of vectors in mechanics 3 To prove that the system reduces to a single force, it is necessary to show that either Sox x B= 0 both E40 and ear slaaa oO ‘The condition (Sox, x F)-)F, = O includes the possibility that Yr, x F, = 0. However, in practice, it is sensible to work out Sr; x F; first and, only if it is non-zero, work out (or, x F)-SDF. Thus, 4 to prove that the system reduces to a force and a non-coplanar couple it is necessary to show that both OF, #0 and (Lx, x F)- LK AO Example {) Prove that the following system of forces is in equilibrium: F, = (i — 3) + 4K)N acting at the point with position vector r, = (-2) + 4k) m Gi DF, = (-i- 3j + 4k) + Gi-f +k) + (-21 + 4] - 5k) =0 Dn, x F, = (- 2 + 4k) X (-1- Bj + 4k) + 14) X (BI- F+W + (31 - 3] + 5k) x (-21 + 4j - 5k) (41 - 4j - 2k) + i - =0 Hence the eystem is in equilibrium. Alternative method Having shown that )F, = O we could show that the lines of action of the three forces are concurrent. j + k)N acting at the point with position vector r, = (i + j)m (-2i + 4j ~ Sk)N acting at the point with position vector r = Gi 3) + Skym We need to show that. the net translational effect is zero. ‘We need to show that the net rotational effect is also zero. You will have come across this in book M2. If 3 non- parallel forces are in equilibrium then the forces must all pass through the same point.CHAPTER 1 ead A quadrilateral has vertices P(1, 3, ~1), Q(2, 0, 4), RG, ~1, 0) and S(O, 1, 1). Forces PO, QR, RS and SP act along the sides PQ, QR, RS and SP of the quadrilateral. Prove that the system is equivalent to a couple and find its vector moment. Clearly, PQ+ GR + RS + SP=0 ‘We must show that the net translational effect is zero. P _ We need to show that the net rotational a effect about O is non- zero. Alternative method Taking the sum of the moments about P, Since the vector moment of a aa ee ee couple is the same about any PAX QR + PRX RS Point, choose a point through which 2 of the forces pass. (Q Ror S would have done.) ‘As before.Applications of vectors in mechanics Forces F;, F, and F, act at the points with position vectors r,, r, and x; respectively, where 1 n=(-1 0} 7 Ay DzF, =I -3 \o Yor x f= 3] =| 0 =i 4 3 0 =a ix r= (y| be a general point on the line of action of the \z1 ie z= 0,3x + 4y This means that the system reduces to either a single force or a force and a non- coplanar couple. This still means that the system reduces to either a single force (not through 0) or a force plus a non- coplanar couple. This means that the resultant force is coplanar with the couple and hence the system reduces to a 4 single force (4) N 0 We need to find where to place the force so that it has the required turning effect. Expand the cross product. Equate coefficients of i,j and k. The line of action is the line 3x + 4y= Tin the z= plane.CHaPr sem / [= A force F = (i ~ j + 2k)N acts at the point P with position vector (i ~ k) m, Prove that this force is equivalent to a force F acting at the point Q with position vector (i + 2j + k) m, together with a couple. Find the magnitude of the couple. = F+e eo av S For these two systems to be equivalent they must have both: i the same translational effect and il the same rotational effect, about any point. i is clearly true. fi Comparing moments about 0, { | ‘ \ } lel = (COP+ Hare [aa VT Nm Alternative method Comparing moments about 2 GPX F=0+6 | (3)*(4)-¢ (-2)-¢Applications of vectors in mechanics Perce 1 | Prove that the following system of forces reduces to a couple: F, = (i + 2j — 3k) N acting at the point with position vector x, = (i - j + 2k)m, F, = (-3i + j — 3k) N acting at the point with position vector r) = (31 +_k)m, F, = (i — j + 2k)N acting at the point with position vector r, = (2i + j — k)m, (i — 2j + 4k)N acting at the point with position vector x, = (j — 2k) m 2. Prove that the following system of forces is in equilibrium: F, = i ~ j) N acting at the point with position vector r, k)m, F, = (2j + k)N acting at the point with position vector x) = (i — 2j)m, B= (- j)N acting at the point with position vector r, = (31 + j + k)m, F, = (i — k) N acting at the point with position vector ry = 2im. 3) Asystem consists of three forces F,, F, and F;. The forces F, and F, act at the points (2, ~1, 0) and (2, 0, 1) respectively. F, = i - 2p), Kk) N; F; has magnitude /11N and acts along the line whose equation is r = Si — k + AGi + j — k). Prove that the system reduces to a single force and find a vector equation for its line of action. 4) The line of action of a force (34 + 2) — k)N passes through the origin O and the line of action of a force (~3i ~ j + 2k)N passes through the point with position vector (i+ j + 2k)m. a Reduce the system of two forces to a single force acting through the origin 0 together with a couple. b Find the magnitude of the couple. 5 | Two forces 4jN and 3KN act through the points with position vectors (i + j)m and (j + k)m respectively. A third force acts through the point with position vector (i+ k)m and is such that the three forces are equivalent to a couple. Find the vector moment and the magnitude of this couple. 6) In each of the following cases find the simplest system of forces which is equivalent to the given syste a F, = (-2i + 3j + k)N acting at the point with position vector r, = (i + 2) — k)m, F, = (-2) — k)N acting at the point with position vector r, = 3jm, F, = (i- j + k)N acting at the point with position vector r, = (i - 2k) m. b F, = 2i— j)Nacting at the point with position vector r, = (+ 2j)m, ¢ F, = (Bi + j) N acting at the point with position vector r5 ~ (2i + 3))m, F, = (-i + j)N acting at the point with position vector r; = —2jm. ¢ Forces PQ, QR and RP where the points P, Qand R have position vectors p, q and r respectively. d Forces AB, BC, CD and DA where the ABCD is a regular tetrahedron. € Force (i + 3j)N acting at the origin O and a couple of vector moment 3kNm.7) F, = Gi— j + 2k)N acting at the point with position vector r, = (3i — Kk) m, F, = (-i~ 4j + K)N acting at the point with position vector ry = (2i - 4j)m, F, = (i + j — 2K)N acting at the point with position vector r, = (~3j + Sk) m, When a fourth force F, is added the system is in equilibrium. a Find the force F,. b Find a vector equation of its line of action. 8) A force (i ~ j + 2k)N acts through the point (~1, ~1, 1). Show that this force is equivalent to an equal force acting through the origin together with a couple. Find the magnitude of this couple. 9 | Prove that the following system of forces can be reduced to a force together with a non- coplanar couple. F, = (i + j)N acting at the point with position vector r, = (3i + j + k)m, F, = (i + k)N acting at the point with position vector r, = im, F, = (2j — k)N acting at the point with position vector r, = 2jm. 10. A force (i + 2j — k)N acts through the point (2, 0, 0) together with a couple of vector moment (24 — k)Nm a Show that this system cannot be reduced. by Find an equivalent system where the force acts through the point (1, ~3, 4). ‘The vertices of a tetrahedron PQRS have position vectors p, q, ¥ and s respectively, where p=3i-4j+k q=4i+ 4j-2k r=4i+k s=i-2j+k uit Forces of magnitude 30 and //117 act along RQ and RS respectively. A third force acts at P. Given that the system reduces to a couple, a find the magnitude of this couple, b find the force acting at P, find a unit vector along the axis of the couple. 2) Two forces (3i + 2j + K)N and (i + 2j + 3k) Naact at the points D(4, ~1, 1) and £@, 1, 6) respectively, a Find the force through the origin O and the couple which together are equivalent to these two forces. b Find the magnitude of the couple. ¢ Show that the lines of action of the forees through D and E meet and find the position vector of the point of intersection. 3) Asystem of five forces consists of the forces F; = (i ~ 2j + 2k) N, F, = (2i + 6k) Nand (i - 2) - 4)N, all acting through the origin O, together with a force (i — 2j ~ k)N acting through the point (—2, 4, 2) and a force Fs = (-i — acting through the point (1, ~2, -1). 7k)NApplications of vectors in mechanics a Reduce the system to a force R acting at O together with a couple by Hence, or otherwise, verify that the system is equivalent to a single force (4i — 8j — 4k) N acting through the point (1, -1, 1). A system consists of three forces: F, = (i - j + 2k)N acting at the point with position vector r, = (31 - j + k)m, F, = (i + 3j — kN acting at the point with position vector r, = (j + 2k)m, B, = (si + t] + 2K) N acting at the point with position vector r, = km. a Obtain, in terms of s and #, the equivalent system consisting of a single force F acting through the origin and a couple of moment 6. b Determine the values of s and t such that G is parallel to F. A force F, of magnitude 26N, acts along the direction of the vector (4i ~ 3) + 12k). Given that the line of action of F, passes through the point (2, 1, -1), a find the moment of F, about 0. A bead moves along a smooth straight wire from the point P(3, ~2, 1) to the point Q(, ~22, 2), under the influence of F, and the reaction from the wire only. b Find the work done by F, in this motion. A system consists of three forces: F, = (4i + j + 2k) N acting at the point with position vector r, = (61 + 4j + k)m, — 2j + k)N acting at the point with position vector r, = (i + $j — 2k)m, F, = (-Si + j — 3k)N acting at the point with position vector r, = (i+ j + k)m. a Show that this system reduces to a couple and find its magnitude. The force F, is now removed from the system and replaced by the force F, such that the forces F,, F, and F, are in equilibrium. Find b the magnitude of Fy, © a vector equation for the line of action of Three forces of magnitudes 26, 4/41 and ISN act respectively along the sides OP, PQand Q0 of the triangle POQ where O is the origin, Relative to O, the coordinates of P and Q are (5, 12, 0) and (3, 0, 4) respectively. a Show that the resultant is (~34 — 4k) N. b Find the magnitude of the moment of the resultant about 0. The point A has coordinates (2, ~5, 1), the point B has coordinates (~8, ~1, 4) , the point C has coordinates (0, ~13, 5) and the point D has coordinates (4, 3, -3), a Show that the lines AB and CD intersect at right angles. by Find the coordinates of the point of intersection. A force of magnitude F acting in the direction AD moves a particle from B to D. ¢ Find the work done by the force.9) The force F = (Xi + ¥j) N acts through the point with position vector r = (i — yj) m. a Prove that this force is equivalent to an equal force at 0 together with a couple. Three variable forces F, = 2costi, F, = cost i+ 2sintj, F, = 3sinti + costj act at the points with position vectors 0, i + j and ~3i + 2j respectively. If the system is reduced to a single force R acting at O with a couple G, b find the values of R and G, ¢ Deduce an equation of the line of action of the resultant. i Show that this line passes through a fixed point which is independent of t. 10) A force of unit magnitude has equal vector moments about points with position vectors jm and (i + 2j ~ k)m. Find the possible forces. Summary of key points 1 To solve a vector differential equation which is linear with constant coefficients use general solution = complementary function + particular integral where the complementary function is obtained by using an auxiliary equation e.g. to solve: & —4r=0 the auxiliary equation isA~4=0 + A=4 so, ¥ = Ac* (no particular integral needed) cree to solve: $F — 297 — ar =0 the auxiliary equation is A? — 24-3 = 0. = (A= 3MA4 1 >a or-1 so, = Ae" + Be™ (no PI.) Note that the arbitrary constants will always be vectors. Where a particular integral is required, use the same guidelines as in Further Pure, but it must be a vector. 2 To solve a vector differential equation of the form dv = ae Ov = age) i.e, first order with non-constant coefficients, use an integrating factor e!***, 3 When finding values of arbitrary constants, using boundary conditions, ensure that the complete general solution is obtained first. 4 The work done by a constant force F which moves its point of application through a displacement d is given by work done = F-dApplications of vectors in mechanics The vector moment of a force F about the origin O is given by vector moment = r x F, where r is the position vector, relative to O, of any point on the line of action of ‘Two systems of forces are equivalent if they have the same effect translationally and rotationally. A system of forces which has zero translational effect but non-zero rotational effect is called a couple. The vector moment, G, of a couple is the same about any point. Let s be a system of forces F,, F,..., K, acting at the points with position vectors my, 5, ...,% respectively, in three dimensions. can be reduced to: i equilibrium = DF=0 and Dex R= 0 ii acouple, GS DR =0 and Sx,xXR=G640 iii a single force, Ro LE,= R40 and either Ur, x K or (DXB) =0 iv a single force, R plusa couple + DF= RAO and (Dr, F)-DR40After completing this chapter you should be able to: * form and solve equations to model the motion of a particle of varying mass. In all of the problems considered so far you have assumed that the mass of the object involved has remained constant. However, this is not always true: * the mass of a rocket propelled car attempting the land speed record reduces as the motor burns fuel, the mass of a spacecraft reduces when its rockets burn fuel, * the mass of a raindrop increases as it passes through a cloud.Variable mass 2.1 You can use the impulse-momentum principle to describe the system. We talk about problems concerning ‘variable mass’, but what is actually happening is that the mass is being redistributed. Each situation involves the moving object together with any material ejected or absorbed as it moves. The impulse-momentum principle states that the change of linear momentum of the system in the time interval dt is equal to the impulse of the external forces acting on the system in that time interval. Consider the following examples. A body is falling under gravity. It picks up matter as it falls, At time t the body has mass m and speed v. Assuming that the matter picked up was stationary before it coalesced with the body, detive the differential equation for the motion of the body. Initially we have two elements, the body of mass m, moving with speed v, and the additional matter of mass 5m, which is not moving. CG), ©), Consider the change After an interval 5t we have a body of maso m + 8m in momentum over a moving with speed v + &v short time interval. | +o The external force acting on the system is the weight, (m+ 8m) change in momentum = impulse Use the impulse [Cm + Sm)(v + 8] — [mv + 8m X O] = (m + Smn)g dt mv + mBv + v8m + bm 8v — mv = mgt + gdm bt by 4 dm , dméi amet get ae mg + gdm —————— Divide by 6t. Taking the limit as 8t + 0, ——___ momentum principle. ji 7 — As st +0, m0 moe + vSE = mg, Le, (mv) = mgcoarren 2 A body is falling under gravity. It picks up matter as it falls. At time ¢ the body has mass nm and speed v. Assuming that the matter picked up was falling with speed u before it coalesced with the body, derive the differential equation for the motion of the body. Initially we have wo elements, the body of mass m, moving with epeed v, and the additional matter of mace 5m, moving with speed u, i \, Consider the change After an interval 6t we have a body mae m + Bm moving in momentum over a with speed v + dy. short time interval. |, + ov The external force acting on the system le the weight, (m + dm), change in momentum = Impulse Use the impulse [(em + 8m)(v + Bv)) — [mv + Sul] = (em + Bri)g Be ———— : momentum principle. env + mBv + vm + 8m By — mv — udm = mg bt + gdm bt Smbv _ 8m or or Taking the limit as 6t — O, + + mit 4 ym a or = mg + g6m -——___— Divide by 6t. As 6t +0, 5m +0 dv 4 jdm _ den Av 4 yd ditt = iy "at ‘at “at "4Variable mass Bear A spaceship is moving in deep space with no external forces acting on it. At time ¢ the spaceship has total mass m and is moving with velocity v. The spaceship reduces its speed by ejecting fuel from its front end with a speed c relative to itself and in the same direction as its own motion. Show that 2% = € dm om Initially Consider the initial momentum and the momentum a short time later. After interval 6t “The ejected fuel has speed ¢ relative to the spaceship, so speed (+ 0 in total. |, +60 Use the impulse change in momentum = impulse = 0 momentum principle = (m+ Sm)(v + 8) + (—Bm)\(v + co) — mv =O with zero external force. iv + mv + v8m + 8mBy — vm — ebm — mBv + 8m 8y — cm =O ——___ ————— Divide by am. mL + ay — 3m Pavone __ Let am — 0 and divide "am by m.conoren 2 Bene A rocket-driven car propels itself forwards in a straight line on a horizontal track by ejecting burnt fuel backwards at a constant rate Akgs~! and at a constant speed ums” relative to the car. At time f seconds, the speed of the car is vms~! and the total resistance to the motion of the car has magnitude kvN, where k is a positive constant. When t = 0 the total mass of the car, including fuel, is Mkg. Assuming that at time ¢ seconds some fuel remains in the car, show that dv _ Au kv dt M~at Initially Consider the . momentum at the beginning and at the end of the interval. After interval 6t ‘The car and the but fuel are going in opposite directions, so the fuel has speed v= win the direction of the car. vt ov I change in momentum = impulse Use the impulse (m + Bin\(v + 8) + (—6m)(v— u) — mv = —kv5¢ —————_ momentum principle. visa resistance to av + vim + mby + Bmév — vom + udm — mv = —kvér onene re Pe ig apar eee a will be negative. ae | ae Fuel is burnt at Akgs"!, 90 m= M— At Divide by st and take the limit as at + 0 dv (M = at) ~ dual iE dv _ Au— kv ap Mae Substitute for m and 2,Variable mass A rocket is launched vertically upwards under gravity from rest at time ¢ = 0. The rocket propels itself upwards by ejecting burnt fuel vertically downwards at a constant speed u relative to the rocket. The initial mass of the rocket, including fuel, is M. At time t, before all the fuel has been used up, the mass of the rocket (including fuel) is M( — kt) and the speed of the rocket is v. Air ssistance can be isnored. Show that 4” = KU — resistance can be ignored. Show that Gf =; M4, Initially After interval 6 Use the impulse e momentum principle. re oS) e _-- The external force is the weight of the rocket and its fuel. change in momentum = impulse - (m + Brm)(v + 8y) + (—Sm)(v — u) — mv = — mg dt. tv + Sv + mév + Sm bv — Sv + udm — mv = ~mg dr Divide by 6t and take the limit as t > 0 m= M(— kt) => M(I- mye + u(—kM) = —M(1 = ke)g + Divide by M(1— kt). dy. ku a 1-a 4 ‘+ Note that in each case we start from first principles to form the differential equation. You should always approach the problem in this way ~ clo not attempt to try to quote any ‘standard’ results. + Note also that we always use mr and in + 61, regardless of whether the moving object is gaining or losing mass.caren 2 A rocket is launched vertically upwards from rest. The initial mass of the rocket and its fuel is 1200kg. The rocket burns fuel at the rate of 10kgs~', The burnt fuel is ejected vertically downwards with a speed of 1800ms~' relative to the rocket, and burning stops after 90 seconds. At time f seconds (¢ < 90) after the launch, the speed of the rocket is vms~. Air resistance may be assumed to be negligible a Show that (120 ~ 94¥ ~ 1800 = ~s(120 ~ 0) b Find the speed of the rocket, V, when the burning stops. a Initially 1 After interval 6 = ; Co) 7 Use the impulse momentum change in momentum = Impulse principle to form: / F a differential (m + 8m)(v + 6”) + (-Sm)(v - 1800) — mv = —mgde eats mv + vim + mbv + Smébv — vim + 18005m — my = —mg dt av dm = m4 + 180040 = —m at dt “ Use the information At time t, m = 1200 - 106 eaeretegtaea fuel. = (1200 - 10%) 4 + 1800 x -10 = -(1200 - 104)g + (120 - 144 — 1800 = —g(120 - 1) Divide by 120 - Rae Integrate and (B00 In(120 substitute the = —90g - 1800 In30 + O + i800In120 = 1610 ms"! (3 sf). lirnits.Variable mass A spherical hailstone is falling under gravity in still air. At time ¢ the hailstone has speed v. 2 dr en that ‘The radius increases by condensation. Gi = kr, where k is a constant, and neglecting air resistance, v that IY = ¢ — a show that SY = g ~ 3ky, b find the limiting speed of the hailstone. a Initially ‘The mass picked up through | ‘condensation is stationary. After time dt Pre change in momentum = impulse [le + den)(v + 8] — [nv + Sm XO] = (mr + Sm)g bt => mv + mBv + vm + bm bv — mv = mg bt + gdm se av, dm 4 Sov _ Use the impulse momentum: principle. Be 4. y St = mg + gon ———______ | a oa > met es to ge ma + adm Divide by &t. wo wll + yl es 60 mt + vot = mg — ‘The mase of the hailstone le AX $m? Mass is proportional 34m ogy to volume, at 2S = Adar? X kr = kA Ax tad + yx tame = ax tare Use the chain rule ne ca and 2 = kr, viele and therefore 4¥ Divide by b At the limiting speed, ea ax dar, ‘Acceleration zero at the limiting speed.coneren 2 A rocket uses fuel at a rate A. The rocket moves forwards by expelling used fuel backwards from. the rocket with speed U relative to the rocket. At time ¢ the rocket is moving with speed v and the combined mass of the rocket and its fuel is m. The rocket starts from rest at time f = 0 with a total mass M and reaches a final speed V at time T. Given that no external forces act on the rocket show that a Initially Start from first 1 principles After an interval 6t vt ov () vu change in momentum = impulse -———— (m+ dei)(v + 61) + (-8m) Use the impulse momentum ——— principle with no external force acting. vy U)— mv=0 mv + vim + mbv + bm dv — Srv + Sm — mv = 0 > mév + 8m dv + émU =O Divide by 6t, and if Fi —— take the li av 4. yan — at 0. Mea mo fa but we are told that 2% = —A —__ The rate is negative because the fuel is being used up Express m in terms of tand substitute for m in the differential ‘equation. Separate the - —— variables and Uin(M = at], = —uin( MAT) integrate. = UlaA particle falls from rest under gravity through a stationary cloud. At time ¢ the particle has mass m and speed v. The mass of the particle increases by accretion from the cloud at a rate of kimv, where k is a constant. Air resistance can be ignored. Find an expression, in terms of m, k and x, for the kinetic energy of the particle when it has fallen a distance x. Initially GC), Oy, After an interval 61 ee change in momentum = impulse. ——— [Cem + Smn)(v + 8) = [mv + Bm XO} = (im + Sm)g dr mv + dmv + dy + dmbv — mv = mgdt + dmg dt vy yam + vata mat ae But we are told that 4! = knw, m+ om dv 20 mH + vx kev = me 0 mL + VX kv = mg Variable mass accretion : growth by external addition. This is probably not a word that you ‘use very often, butt you will find it used to describe the increase in mass of a particle in questions of this type. The particle picks up a stationary mass. Use the impulse __— momentum, prin Divide by at and mg take the limit as 0. om ‘We want an answer linking vand x, so substitute Separate the variables and tegrate. Remove the logarithm and rearrange to form an expression for vecoarren 2 Example [J A raindrop falls through a stationary cloud. When the raindrop has fallen distance x it has mass m and speed v. The mass increases uniformly by accretion so that m = M(1 + kx). Air resistance may be assumed to be negligible. Given that v = 0 when x = 0, find the speed of the raindrop when x 1 k Initially | . I, Consider the After an interval St: change in momentum over a short time interval. |. +60 change in momentum = impulse We have an . ‘expression for [om + Smn)(v + 8] — [mv] = (m + dmg dt Fee ie mv + mBv + Biv + 8mBv — mv = mg be + 8mg 6t Dividing by dx _ ee ete 3e gives a differential Be TV Ge * Ma Get OME Be * equation with 2 dv 4 yA ag AE Max’ Vax ~ “Vax — Vv Py Take the limit as mi mg ax — O and use ax ey MO + alee + 2KkM = M+ kx)g dt To solve this differential ‘equation, find the integrating factor and multiply through by it. Integrate and use the initial conditions tofind C x aSVariable mass Ignore air resistance unless otherwise stated. 1. A rocket is launched vertically upwards under gravity from rest at time t = 0. The rocket propels itself upwards by ejecting burnt fuel vertically downwards at a constant speed Telative to the rocket. At time ¢ seconds after the launch the rocket has velocity v and mass (M — kf). Derive the equation of motion for the rocket. 2. Aspaceship is moving in deep space with no external forces acting on it. At time ¢ the spaceship has total mass m and is moving with velocity v. The spaceship reduces its speed by ejecting fuel from its front end with a speed ¢ relative to itself and in the same direction as its own motion. a Show that ¥ am Initially the spaceship is moving with speed V and has total mass M. Its speed is reduced ly. tolv. bh \d the mass of fuel ejected. 3. Arocket is launched vertically upwards from rest. The initial mass of the rocket and its fuel is 1000kg. The rocket burns fuel at the rate of 20kgs '. The burnt fuel is ejected vertically downwards with a speed of 2000 ms" relative to the rocket, and burning stops after 30 seconds. At time t seconds (tf < 30) after the launch, the speed of the rocket is vms Air resistance may be assumed to be negligible. a Show that ~3(50 ~ 6) — pd 50 — 8) GF ~ 2000. b \d the speed of the rocket when the burning stops. 4| A rocket is launched vertically upwards from rest. The rocket expels burnt fuel vertically downwards with speed u relative to the rocket. Initially the rocket has mass M, At time f the rocket has speed y and mass M| 1 3). dv ta 3-1 b Find the speed of the rocket when f = 1 a Show tha ¢ Find the height of the rocket above the launch site when f = 1. 5 Aspherical hailstone is falling under gravity in still air. At time t the hailstone has speed ¥. The radius, r, increases by condensation. Given that £ = kr, where k isa constant, and neglecting air resistance, dg a show that OY = g ~ ky, b find the time taken for the speed of the hailstone to increase from & to & 6 A spaceship is moving in deep space with no external forces acting on it. Initially it has total mass M and is moving with velocity V. The spaceship reduces its speed to 3 V by ejecting fuel from its front end with a speed c relative to itself and in the same direction as its own motion. Find the mass of fuel ejected.carrer 2 10 it 12 A rocket is launched vertically upwards from rest. The initial mass of the rocket and its fuel is 1500 kg. The rocket burns fuel at the rate of 15 kgs". The burnt fuel is ejected vertically downwards with a speed of 2000 ms“ relative to the rocket, and burning stops after 60 seconds. Air resistance may be assumed to be negligible. Find the speed of the rocket when the burning stops. A rocket is launched vertically upwards from rest. The initial mass of the rocket and its fuel is 1200 kg. The rocket burns fuel at the rate of 24kgs~!, The burnt fuel is ejected vertically downwards with a speed of 2000 ms"! relative to the rocket, and burning stops after 30seconds. Air resistance may be assumed to be negligible. a Find the speed of the rocket when the burning stops. b Find the height of the rocket above the launch pad when the burning stops. A rocket is launched vertically upwards from rest. The rocket expels burnt fuel vertically downwards with speed u relative to the rocket. Initially the rocket has mass M. At time t the rocket has speed v and mass M{1 ~ 42). a Find the speed of the rocket when ¢ = 2. b Find the height of the rocket above the launch site when ( = 2. A rocket uses fuel at a rate Akgs-}, The rocket moves forwards by expelling used fuel backwards from the rocket with speed 2500 ms 1 relative to the rocket. At time ¢ the rocket is moving with speed v and the combined mass of the rocket and its fuel is 1. The rocket starts from rest at time f = 0 with a total mass 10 000kg and reaches a final speed 000m s~ after 200 seconds. Given that no external forces act on the rocket a show that m4Y = 25004, b find the value of A. A rocket uses fuel at a rate Akgs”, The rocket moves forwards by expelling used fuel backwards from the rocket with speed 2000 ms relative to the rocket. At time f the rocket is moving with speed v and the combined mass of the rocket and its fuel is m. The rocket starts from rest at time f = 0 with a total mass 12 000 kg and reaches a speed of 5000ms~! after 3 minutes. Given that no external forces act on the rocket a show that mY = 2000, at b find the greatest and the least acceleration of the vehicle during these three minutes. A patticle falls from rest under gravity through a stationary cloud. At time f the particle has fallen a distance x, has mass m and speed v. The mass of the particle increases by accretion from the cloud at a rate of km, where k is a constant. Show that a k= s0-@%), bx= fin[cosht ykgt)]13 14 15 16 17 Variable mass A raindrop falls through a stationary cloud. When the raindrop has fallen distance x it has, ‘mass m and speed v. The mass increases uniformly by accretion so that m = M(1 + kx). Given that v = 0 when x = 0, find an expression, in terms of M, k and x for the kinetic energy of the raindrop when it has fallen a distance 2. A rocket is on the ground facing vertically upwards. When launched it propels itself by ejecting mass backwards with speed u relative to the rocket at a constant rate k per unit time. The initial mass of the rocket is M. a Explain why it is necessary for ku > Mg. Given that ku > Mg, b show that the velocity of the rocket after time ¢ is -uin{1 - Kf) ~ gt ¢ find the height of the rocket above the ground when the mass of the rocket has reduced by one third of its initial value. At time f = 0 a particle is projected vertically upwards. Initially the particle has mass M and speed gT, where T is a constant. At time ¢ the speed of the particle is y and its mass is Me?”. If the added material is at rest when it is acquired, show that 4 (ver?) = —Mge2t a yo Mve Mge b the particle has mass 3M at its highest point, At time f = 0 a particle is projected vertically upwards from the ground. Initially the particle has mass M and speed 2gT, where T is a constant. At time ¢ the mass of the particle is Me™. If the added material is at rest when it is acquired, show that the highest point reached by the particle is gT*(2 — In3) above the ground. At time r = 0 a particle is projected vertically upwards. Initially the particle has mass M and speed gT, where Tis a constant. At time t the mass of the particle is Me’. If the added material is falling with constant speed gT when it is acquired, show that the particle has mass at its highest point. A particle of mass M is projected vertically upwards in a cloud. During the motion the particle absorbs moisture from the stationary cloud so that when the particle is at distance x above the point of projection, moving with speed y, it has mass M(1 + ax), where ais a constant. The initial speed of the particle is /2gk. f Show that 2v9¥ + 242 = —2¢, b Show that at the greatest height, h, (1 + ah)! = 1 + 3ka.curren 2 19. A body of mass 3M contains combustible and non-combustible material in the ratio 2:1. ~The body is initially at rest and falls freely under gravity. At time f the body has speed v. The combustible part burns at a constant rate of AM per second, where Ais a constant. ‘The burning material is ejected vertically upwards with constant speed u relative to the body. Assuming that air resistance may be neglected, dv Aw a show that = 7M“ +g, b find how far the body has fallen when all the combustible material has been used up. 20 A spherical hailstone falls vertically through a stationary cloud from rest under gravity. ‘The initial radius of the hailstone is a. As the hailstone falls its volume increases through. condensation. When the radius of the hailstone is r, the rate of increase of volume is 47? and the hailstone is falling with speed v. a Show that, at time t, r= a + At. _ Bay av b Show that $Y : Find the speed of the particle when = x@B At time ¢seconds a particle P has position vector r metres, relative to a fixed origin O. The particle moves so that dr_ ae 20. r When f = 0,r = -i+j. Find r in terms of t oe With respect to a fixed origin O, the position vector, r metres, of a particle P at time t seconds satisfies Given that P is at O when ¢ = 0, find a rin terms of ¢, b acartesian equation of the path of . @ At time t seconds the position vector of 4 particle P relative to a fixed origin O is rmetres, The position vector satisfies the vector differential equation dr. op = Gore Attime t= }in3,r=i- +k a Find rin terms of t. b Find the greatest value of the magnitude of the acceleration of P fort = 0. he position vector, rm, of a particle P is measured relative to a fixed origin O, and its velocity vms " at time f seconds satisfies the differential equation dv dt When t = 0, P is at the point with position vector (~2i + j)m, and has velocity (12i + 8j)ms~?. Find a an expression for v in terms of f, b the position vector of P when t= in2. 2v, @ Attime t seconds the position vector of a particle P, relative to a fixed origin O, is r metres, where F satisfies the differential equation OF 4 op = 3e E+ Be = 30% Given that r = 2i — j when f = 0, find r. in terms of t.The position vector r metres of a particle P, relative to a fixed origin O, at time tseconds, satisfies the vector differential equation Pr +4r=0 When t = 0, r = 3iand - 2+ Aj. Find r in terms of t. e A particle P moves in a horizontal plane containing a fixed origin O. At time ¢ OP = r, where r satisfies the vector differential equation Pr, p= unter At time f = 0 the particle is at the point with position vector aj, and has velocity obi, where a, b and w are constants. Solve the differential equation to find r and hence find the cartesian equation of, the path of the particle. © Attime tseconds, the position vector of a particle P is metres, relative to a fixed origin. The particle moves in such a way that At t= 0, Pis moving with velocity (8i- 6) ms Find the speed of Pwhen t= !in2. @ © A particle P moves in the x-y plane and has position vector r metres at time tseconds. It is given that r satisfies the differential equation When ¢ = 0, Pis at the point with position vector 3i metres and is moving with velocity jms~! a Find r in terms of ¢ b Describe the path of P, giving its cartesian equation. At time t seconds, the position vector rmetres of a particle P, relative to a fixed origin O, satisfies the differential equation er a. or + age +3r=0. At time f = 0, Pis at the point with position vector 2im and is moving with velocity jms". Find the position vector of P when t=In2, @) A particle P of mass 2kg moves in the x-y plane. At time f seconds its position vector is x metres, When f = 0, the position vector of P is i metres and the velocity of Pis(-i+ jms" The vector r satisfies the differential equation @ 2d¢ +290 4 p= GF + 298+ Or =O. a Find rin terms of t. b Show that the speed of Pat time tis ety2ms ¢ Find, in terms of ¢, the loss of kinetic energy of Pin the interval t = 0 to i=) ® A particle of mass 0.5 kg is at rest at the point with position vector (24 + 3j ~ 4k)m, ‘The particle is then acted upon by two constant forces F, and F). These are the only two forces acting on the particle. Subsequently, the particle passes through the point with position vector (4i + 5j - 5k) m with speed 12m“. Given that F, = (i + 2) - K)N, find F, ® two constant forces F, and F, are the only forces acting on a particle. F, has magnitude 9N and acts in the direction of 2i + j + 2k. F has magnitude 18N and acts in the direction of i + 8j — 4k.Find the total work done by the two forces in moving the particle from the point with position vector (i + j + k)m to the point with position vector Gi+2j-k)m. oe [In this question i and j are horizontal unit vectors.) A small smooth ring of mass 0.5kg moves along a smooth horizontal wire. The only forces acting on the ring are its weight, the normal reaction from the wire, and a constant force (Si + j ~ 3K) N. The ring is initially at rest at the point with position vector (i + j + k)m, relative to a fixed origin. Find the speed of the ring as it passes through the point with position vector Gi+k)m, A smooth wire connects A(O, 3, 0) to B(2, 1, 4). The units of length on the, y, and z axes are metres. A ring is threaded on the wire and a constant force is applied to the ring, The resultant of this force and the weight of the ring is (i HN. Find the increase in kinetic energy of the ring as it is moved from A to B. GB in this question i and j are perpendicular horizontal unit vectors and ik is a vertical unit vector, A bead of mass 0.125 kg moves along a smooth straight wire in the direction i+ 2j, from rest at the point A with position vector (i + 3k) m, relative toa fixed origin O. The bead is acted on by three forces. These are a constant force (-2i + 2j)N, the force exerted by the wire and its own weight. Given that the speed of the bead when it reaches the point B on the wire is 2ms", find the position vector of B relative to O. A bead of mass 0.5 kg is threaded on a smooth straight wire. The forces acting on the bead are a constant force (2i + 3j + ak)N, its weight (-4,.9k)N, and the reaction on the bead from the wire. a Explain why the reaction on the bead from the wire does no work as the bead moves along the wire. The bead moves from the point A with position vector (i+ j — 3k) m relative toa fixed origin O to the point B with position vector (34 ~ j + 2k) m. The speed of the bead at A is 2ms~! and the speed of the bead at Bis ms. b Find the value of x. eo © In this question i ana j are perpendicular unit vectors in a horizontal plane and k is a unit vector vertically upwards A small smooth ring of mass 0.1 kg is threaded onto a smooth horizontal wire which is parallel to (i + 2}). The only forces acting on the ring are its weight, the normal reaction from the wire and a constant force (i + 2j - 2k)N. The ting starts from rest at the point A on the wire, whose position vector relative to a fixed origin is (24 ~ 2] ~ 3k)m, and passes through the point B with speed Sms~. Find the position vector of B. © A particle P of mass 4g is acted upon by the constant force F = (21 + 3) — K)N. The force F is the resultant of all the forces, acting on P, including its weight. Initially Pis at rest at the point A with position vector (i — j + 3k)m, relative to a fixed origin O. Under the action of F, P moves to the point B with position vector (7i + 8) m. a Find the speed of P when it reaches B. b Find the vector moment of F about the origin.GD two constant forces F, and E, are the only forces acting on a particle P of mass 2kg The particle is initially at rest at the point A with position vector (-2i — j — 4k) m, Four seconds later, P is at the point B with position vector (61 ~ 5j + 8k) m. Given that F, = (12i — 4j + 6K)N, find ak, b the work done on P as it moves from Ato B, A particle P of mass 4kg is constrained to move along a smooth straight horizontal wire. Relative to a fixed origin, the vector equation of the wire is r=2i+j +k + AGi~ 4j) where ris measured in metres. The particle moves under the action of a constant force (12i + 4j + 3K)N, from the point A where A= 1, to the point B where A = 3. Given that the speed of P at B is ms”, find the speed of P at A. The diagram shows a box in the shape of a cuboid PQRSTUVW wherePQ = 3i metres, PS = 4j metres and PT = 3k metres. A force (44 ~ 2)) N acts at Qa force (4i + 2])N acts at R, a force (~2) + k)N acts at T, and a force (2j + k)N acts at W. Given that these are the only forces acting on the box, find a the resultant force acting on the box, b the resultant vector moment about P of the four forces acting on the box. When an additional force F acts on the box at a point X on the edge PS, the box is in equilibrium, ¢ Find F, d Find the length of PX. oe ‘Two forces F, and F,, and a couple G act on a rigid body. The force F, = (3i + 4j)N acts through the point with position vector 2im and the force F, = (21 ~ j + k)N acts through the point with position vector (i+ j) m, relative to a fixed origin O. The forces and couple are equivalent to a single force F acting through 0. a Find the force F. b Find G and show that it has magnitude 3/3Nm. Two forces (i + 2j - k)N and (31 — k)N act through a point 0 of a rigid body, which is also acted upon by a couple of moment (i + j + 3k)Nm. a Show that the couple and forces are equivalent to a single resultant force F. b Find a vector equation for the line of action of Fin the form r = a + Ab, where a and b are constant vectors and Ais a parameter. wo forces F, and F, act on a rigid body. F, = (21i ~ 12) + 12k)Nand F: = (pi + qj + AON, where p,q andr are constants. E, acts through the point A with position vector (3i — 2j + k)m, relative to a fixed origin O. F, acts through the point B with position vector (+) + k)m relative to 0. The two forces F, and F, are equivalent to a single force (25i ~ 14j + 12K)N, acting through O, together with a couple G. a Find the values of p, q and r. b Find the magnitude of 6. eoGB A system of forces consists of a force (i + 2k)N acting at the point with position vector (—i + 3j)m and a force (-j + k)N acting at the point with position vector (24 + j + kk)m. This system is equivalent to a single force FN acting at the point with position vector (j + 2k) m together with a couple G Nm. a Find FL b Find G. © Give a reason why the system cannot be reduced to a single force without a couple, The three forces F, = (qj + rk) N, B, = (pi + rk)Nand F, = (pi + q)N, where p, q and r are non-zero constants, act on a rigid body. F, acts at the point with position vector pim relative toa fixed origin O. F, acts at the point with position vector qj m relative to O. F, acts at the point with position vector rk m relative to 0. a Show that the three forces are equivalent to a single non-zero force acting at 0. b Find the magnitude of this single force GB two forces F, and F, act on a rigid body, where F, = (2j + 3k)Nand F, = (i+ 4k)N. The force F, acts through the point with position vector (i + k)m relative to a fixed origin O. The force F, acts through the point with position vector (2))m. The two forces are equivalent to a single force F. a Find the magnitude of F. b Find, in the form r = a + Ab, a vector equation of the line of action of F. @® tive forces, F,, F and F, act on a rigid body. Fy = (2i-j + 3K), F,= (i+ j- 4k)Nand F, = (pi + gj + nk) N, where p, and rare constants, All three forces act through the point with position vector (3i — 2j + k) m, relative to a fixed origin. The three forces, F,, F, and F, are equivalent to a single force (Si — 4j + 2K)N, acting at the origin, together with a couple 6. a Find the values of p, q and r. b Find 6. oe ED A force system consists of three forces F,, F, and F, acting on a rigid body. F, = (+ 2j)N and acts at the point with position vector (~i + 4j)m. = (-j + k)Nand acts at the point with position vector (21 + j + k)m. F, = (3i — j + k)Nand acts at the point with position vector (i — j + 2k) m. Itis given that this system can be reduced toa single force R, a Find. b Find a vector equation of the line of action of R, giving your answer in the form r = a+ Ab, where a and b are constant vectors and A is a parameter eo @®) three forces F,, F, and F, act on a rigid body. F, = (124 ~ 4j + 6k)N and acts at the point with position vector sj) m, F, = (-3j + 2k)N and acts at the point with position vector (i + j + Ik)m. The force F, acts at the point with position vector (2i- km. Given that this set of forces is equivalent to a couple, find af, b the magnitude of the couple. eo A spaceship is moving in a straight line in deep space and needs to reduce its speed from U to V. This is done by ejecting fuel from the front of the spaceship at a constant speed k relative to the spaceship. When the speed of the spaceship is 1, its mass is 1. roda Show that, while the spaceship is =m K The initial mass of the spaceship is M. b Find, in terms of U, V, kand M, the amount of fuel which needs to be used to reduce the speed of the spaceship from Uto V. ejeoting fuel, © A rocket is launched vertically upwards under gravity from rest at time f = 0. The rocket propels itself upward by ejecting burnt fuel vertically downwards at a constant speed u relative to the rocket. The initial mass of the rocket, including fuel, is M. At time f, before all the fuel has been used up, the mass of the rocket, including fuel, is M(1 ~ kf) and the speed of the rocket is ¥. dv kw a Show that $F = & b Hence find the speed of the rocket when t= Jp oe A raindrop falls vertically under gravity through a cloud which is at rest. As it falls, water from the cloud condenses onto the drop in such a way that the mass of the drop increases at a constant rate of 0.02gs"'. At time £ seconds, the speed of the drop is vms~, and when ¢ = 0 the ‘mass of the drop is 0.06 g. It is assumed that the only external force acting on the drop is gravity. a Show that v satisfies the differential equation Wy y= 9.83 + B+ ot + y= 988 +9 Given that when t = 0, the raindrop is at rest, b find the speed of the raindrop when its mass is twice its initial mass. A rocket has total initial mass M. It propels itself by burning fuel and ejecting the burnt matter at a uniform rate with constant speed u relative to the rocket. The total mass of fuel in the rocket is initially }M, and the fuel is all burnt up after a time 7. The rocket is launched from rest vertically upwards from the surface of the Earth, It may be assumed that the acceleration due to gravity remains constant throughout the flight of the rocket, and that air resistance is negligible. At time ¢, the speed of the rocket is v. a Show that, while the fuel is being burnt, r- oat =u~gQ2T-0. b Hence find the speed of the rocket at the instant when all the fuel has been burnt. @ A socket initially has total mass M. It propels itself by its motor ejecting bunt fuel. When alll of its fuel has been burned its mass is KM, k < 1. It is moving with speed U when its motor is started. The burnt fuel is ejected with constant speed ¢, relative to the rocket, in a direction opposite to that of the rocket’s motion. Assuming that the only force acting on the rocket is that due to the motor, find the speed of the rocket when all of its fuel has been burned. © A rocket is launched vertically upwards from rest. Initially, the total mass of the rocket and its fuel is 1000kg. The rocket bums fuel at a rate of 10kgs-!. The burnt fuel is ejected vertically downwards with a speed of 2000 m s~ relative to the rocket, and burning stops after one minute. At time f seconds, f = 60, after the launch, the speed of the rocket is vms-', Air resistance is assumed to be negligible.a Show that = = 9 = 00 - yt 9.8(100 — 2) = (100 - GF 2000. b Find the speed of the rocket when burning stops. A spherical raindrop falls under gravity through a stationary cloud. Initially the Grop is at rest and its radius is a. As it falls, water from the cloud condenses on the drop in such a way that the radius of the drop increases at a constant rate k. At time {, the speed of the drop is v. a Show that av (a+ KOGY + Bkv = sa + KD. b Hence show that, when the drop has doubled its radius, its speed is 43 Ahailstone falls under gravity in still air and as it falls its mass increases. Its initial ‘mass is imp. The rate of increase of its mass is proportional to its speed v. a Show that, when the hailstone has fallen a distance x, it mass nr is given by m= m(1 + Ax), where A is a constant. Assuming that there is no air resistance, b show that 2a T+ Given that v = 0 when x = 0, € find an expression for v? in terms of x, Mand g. Aw + PAw = 28. ED A rocket-driven car propels itself forwards in a straight line on a horizontal track by ejecting burnt fuel backwards at a constant rate Akg s~! and at a constant speed Ums* relative to the car, At time tseconds, the speed of the car is vms~? and the total resistance to the motion of the car has magnitude kN, where kis a positive constant. When t = 0 the total ‘mass of the car, including fuel, is Mkg. Assuming that at time fseconds some fuel remains in the car, a show that dv _ AU ~ ky dt = M-At’ b find the speed of the car at time tseconds, given that it starts from rest when t= Oand that A= k= 10. A rocket-driven car moves along a straight horizontal road. The car has total initial mass M. It propels itself forwards by ejecting mass backwards at a constant rate A per unit time at a constant speed U relative to the car. The car starts from rest attime {= 0. At time f the speed of the cari v. The total resistance to motion is modelled as having magnitude kv, where k isa constant. Given that t >m, = M. ra A typical particle F, of mass m,has linear speed 1 Its kinetic eneray is 4 nea? nw The total kinetic eneray of the body is obtained by the summation of the energies of each of the particles. So KE. of solid = $ryr2w® + LmyrAu? + bmers?w* +... + Lmyr,20* 1 Pyne + mor? + mare? +... + mar?) iw? where |= (myn? + rigs? + trigrs? + 2. that?) The moment of inertia (M.I.) of a rigid body about a fixed axis is given by the formula |= > my?, where mis the mass of a typical constituent particle and ris the distance of that particle from the fixed axis. The moment of inertia of a rigid body about a fixed axis is that ‘quantity which causes the body to resist change in its angular velocity about that axis. The units of moments of inertia are kg m2.CHAPTER 3, Find the moment of inertia of a circular hoop of mass n and radius @ about an axis through its centre 0 and perpendicular to its plane. You consider the hoop as a large number of particles of masses ite where > m, Each particle is at a distance a from the axio through 0, as each is on the circumference of the hoop. My tay May | The moment of inertia = > ma? Moment of inertia of hoop = ma’ Example Ey Find the moment of inertia of a thin uniform rod of mass m and length 2/ about a an axis through its centre and perpendicular to its length, b an axis through a point at a distance b from one end, perpendicular to its length, © an axis through one end inclined at an angle 6 to the rod, an axis parallel to the rod and a distance d from it. CT SS if ox i Ib The mass per unit length for the rod is Fe You divide the rod into emall pieces of length dx at | a distance x from the axis. = = So the mass of the small piece is we For the whole rod I= me? am a ae_ Moments of inertia of a gl body } As dx —+ O the summations become integrals and « | — >; i ox ‘Again you divide the rod into small pieces of length dx at a distance x from the axle and the maes of a small piece is ae As before, |= [ET dx, but the limite are —b and -— 21 — bwith the axis in this position. ep) a [mm [2° sol= [sel . Ee ee Hier @ or = [mee 12F a) a pe Sale [me cle — > > aE» ‘Again you divide the rod into small pieces of lengch bx at a distance x along the rod from its end, The perpendicular distance from the small piece shown to the axis is xin @, where @ is the constant given angle.Again, the macs of a emall piece lo Bx. | aa You obtain | [xsi ae The perpendicular distance from the small piece of mass m, shown to the axis is d. The moment of inertia for the whole rod is Find the moment of inertia of a uniform circular disc of mass m and radius r about an axis through its centre O and perpendicular to its plane surface. ‘The maze per unit area of the disc io 7 Divide the disc up into a number of concentric rings centre 0. The ring shown hae Inner radiue x and outer radius x + 6x and so its area is a(x + 8x)? — ax? x 2axbx. The mass of the ring shown is GX Qex8 x, —_________ a |Moments of inertia of a il body ‘The moment: of inertia of this ring about the axis through ite centre O and perpendicular to the ting is ™ So for the whole disc, the moment of inertia about the Standard results Body Axis ‘You will find a number of standard results for moments thin uniform rod, through centre, tml? of inertia (including those mass i, length 21 perpendicular to rod shown in this table) in your formula book. You may use thin uniform rod, through an end, 4mP ‘them without proof to obtain mass 1, length 21 perpendicular to rod other moments of inertia. ‘You should also be able to circular hoop, through centre, me obtain these results from first mass m, radius r perpendicular to plane Ln of hoop: 7 uniform circular disc, | through centre, $mr mass m, radius r perpendicular to discCHAPTER 3. Four light rods each of length a are joined together to form a square ABCD. Four particles of mass 1m, m, 2m and m respectively are attached to the vertices A, B, C, D respectively. Find the moment of inertia of the resulting system about a an axis through A perpendicular to the plane of the square, b an axis along the diagonal AC. =mX 02+ mx a + 2m x (VZa)? + ma? |, = Ga? mo ‘Three uniform rods, each of length 2a and mass M are rigidly joined at their ends to form an equilateral triangle ABC. Find the moment of inertia of this triangular structure about an axis passing through the vertex A, which is parallel to the base BC.Moments of inertia of a rigid body Use the result obtained in Example 3 part ¢ to obtain h, and fp. Moment of inertia of rod AB = |, tia gee — a 4Ma? ein? 6O Use the result obtained in Example 3 part d to obtain /, and use Pythagoras’ Theorem or trigonometry to find the value of a. Moment of inertia of rod AC Moment of inertia of rod BC where d = vBa , ert ff This example illustrates the The total moment of inertia of the triangular Seaway eee inertia. If a body is made up of standard shapes for each of which you know the moments of inertia about the required axis, then you = Ma? + Ma? + 3Ma? obtain the moment of inertia of the compositie body about the axis = 5Ma* by adding the known moments of inertia, in this case fy + 1 + h. structure is AMe? oin®6O 4, 4M: Lthts i If two bodies have moments of inertia h and /, about the same axis then the moment of inertia of the composite body about the same axis is h + /, This is the additive rule, A uniform annulus of mass m is made from a disc of radius R by cutting out a concentric disc of radius r. Find the moment of inertia of the annulus about an axis perpendicular to the plane of the annulus and through its centre. You can list the shapes with their masses and their moments of inertia in a table Shape | Mass Moment of inertia Put p equal to the mass per unit - = area of the large disc and hence of Large disc | mR?p (mR? p) X R? the small disc and annulus which = ae 2 are made from it. Small disc | mrp (mp) x Annulus | a(R?- )p | Express im in terms of p and make p the subject of your mm formula, -P. a(R? ‘As the annulus and the small disc together make up the large disc 1+ Z (mr? p) x 1? = E(m@R*p) x R’ | Use the additive rule, to find (ar? p) Xr. an expression for /, the moment of inertia of the annulus. S01= (aR*p) XR? - = Lap(Rt - Substituting from * gives Substitute your expression for p to give | in terms of m, Rand r, then simplify your answer by factorisation using the difference of two squares.CHAPTER 3. Example A uniform lamina, of mass M, is bounded by the positive x and y axes and the portion of the curve y = 30s for which 0 (x? + y?) By eymmetry, 3I= Done + y+ > (y? + 2?) + Done +2?) = Somat? tye t2= Yomze = 2 > = 2mr2 7 7 2m? 3 But | = mk?, where kis the radius of gyration say. sme = or mk = 2.8 Find the moment of inertia of a uniform solid cone of mass M, base radius R and height h about its axis. Divide the cone into a number of thin discs each of mass pay” 6x, where pie the mage per unit volume of the cone. pak, Sark2h’ But p 50 the mass of a disCHAPTER 3, Summing the discs and letting 8x + O gives MAL for cone about x~ aie = [Mae 0 2R*h The radius of gyration The radius of gyration of a body about a given axis is defined by the equation |= mk?, where | is the moment of inertia of the body about the axis, mis the total mass of the body, and k is the radius of gyration. Further standard results mass mn, radius r Body ML. rectangular lamina, __| in the plane of the jini? mass m, length 2! rectangle, bisecting the two edges of length 21 rectangular lamina, an edge perpendicular | 4 ml? mass m, length 21 to the edges of length 2 cylindrical shell through centre, mr mass m, with circular | perpendicular to plane base of radius r of base solid cylinder, mass im, | through centre, ym with circular base of | perpendicular to plane radius r of base solid sphere, mass m, | diameter ine with radius r spherical shell, diameter mr If the total mass of the body were to be concentrated at a point at a distance ‘k from the axis, then the moment of inertia would be the same as for the body with its original mass distribution. ‘These standard results for moments of inertia, summarised in the table, are in your formula book. You ‘may use them without proof to obtain other moments of inertia. You should also be able to ‘obtain these results from first principles as illustrated in Examples 9-12,Moments of inertia of a rigid body 1 10, Find the moment of inertia of a uniform rectangular lamina of mass m with length 2a and width 2h about an axis along the side of length 2a. Find the moment of inertia of a square lamina of mass m with sides of length a about an axis along one of the sides. Find the moment of inertia of a uniform rectangular lamina of mass m with length 2a and width 2b about an axis in the plane of the lamina, parallel to the sides of length 2b and bisecting the sides of length 2a at right angles. Find the moment of inertia of a uniform circular solid cylinder of mass m, length ft and base radius a, about its axis of symmetry. Find the radius of gyration of a uniform circular hollow cylinder with height /t and with a circular base of radius a of the same material, about its axis of symmetry. The total mass of the cylinder with its base is m. Find the moment of inertia, about its axis of symmetry, of a uniform circular hollow cylinder of height h and base radius a, which has a circular base and circular top. The circles have twice the density of the material which forms the curved surface. The total mass of the cylinder with its base and top is mm. Use the additive rule, and the standard result for the moment of inertia of a solid sphere, to show that the radius of gyration of a uniform solid hemisphere of mass i and radius r about a diameter of the circular base is ?r. Use the additive rule, and the standard result for the moment of inertia of a uniform circular disc, to find the radius of gyration of a uniform semicircular lamina of mass M and radius a about an axis perpendicular to the lamina through the mid-point of the straight edge. A non-uniform solid sphere of radius R and mass M has mass kr per unit volume for all points at distance r from the centre of the sphere. a Express k in terms of Mand R. b Use calculus to find the moment of inertia of the sphere about a diameter, giving your answer in terms of M and R. Using the formula for the moment of inertia of a uniform solid sphere, a find the moment of inertia of a uniform spherical shell of inner radius rand outer radius Rand mass m. b Show that as r — R the moment of inertia reaches the value 3 mr,CHAPTER 3, 11* Using the formula for the moment of inertia of a uniform solid cone, (found in Example 13) @ find the moment of inertia of a conical shell, with inner radius r and inner height hand outer radius R and outer height h and mass m. You should assume that the inner and outer cone are geometrically similar. b Show that as rR the moment of inertia reaches the value 3 mr, ¢ Explain how you could have deduced the value of the moment of inertia by considering a circular disc divided into a large number of concentric hoops. 12° Find, by integration, the moment of inertia of a uniform hollow sphere of mass mt and radius about an axis through the centre of the sphere. Divide the sphere into composite hoops of surface area 2arrsin 6 X 788, where 8 is the angle between the axis and the radius which joins a point on the outer circular boundary of the hoop to the centre of the sphere. “Questions 11 and 12 extend the work of the specification and may be omitted. Parallel axes theorem Given that the moment of inertia of a body of mass M about an axis AB through its centre of ‘mass is J,», show that the moment of inertia of the body about a parallel axis at a distance d from the first axis is Iyp + Mil. Let A'B" be the axis parallel to AB at a distance d from AB. Consider a typical particle P of the body of mass m, ———— Let F be at a distance r from axis AB and at a distance x from axis A’B’. Let N and N' be points on the axes which are | hearest to point P, and let angle PNN’ be 6. ti | hh From the cosine rule x? + 2 — 2drcos 6b ‘The moment of inertia of P about A’B" is mx? = m(a® + r® — 2decos 8)Moments of inertia of a rigid body So the moment of inertia of the body about A'B’ is Yimx? = Yim,(a? + 2 — 2drcos 0) = & Ym, + Dome? - 2dr cos 8 But Som = Mand Sm? = lap Also omy cos @ = O So the moment of inertia of the body about A’B, Jag + Md? lew & If the moment of inertia of a body of mass M about an axis AB through its centre of mass is /4s, then the moment of inertia of ee the body about any parallel axis at a distance d from the first Which you should axis is In + Ma. aaa Using the standard result for the moment of inertia of a uniform thin rod of mass M and length 2a about a perpendicular axis through its centre, and using the parallel axes theorem, find the moment of inertia of the rod about an axis through one end, perpendicular to the rod. Moment other abou ans trough mone = inet) rrr So the moment of inertia of the rod about @ perpendicular axis through one end io Example (3 Using the standard result for the moment of inertia of a uniform circular disc of mass M and. radius @ about a perpendicular axis through its centre, and using the parallel axes theorem, find the moment of inertia of the disc about an axis through a point on its circumference, perpendicular to the plane of the disc. Moment of inertia about axis through centre = +Ma® This isa standard result. So the moment of inertia of the disc about an axis, through a point on the circumference, perpendicular to the die, is Ma? + Ma? = 3 MatUsing the result obtained in Example 7 for the moment of inertia of @ uniform circular annulus of mass M with outer radius R and inner radius r about a perpendicular axis through its centre, and ‘using the parallel axes theorem, find the radius of gyration of the annulus about an axis through a point on the circumference of the inner circle, perpendicular to the plane of the annulus. Moment of inertia about axis through centre = 4M(R? + r”) So the moment of inertia of the disc about a perpendicular axi¢ through a point on the inner circumference is SM(R? + 7?) + Mr? = LM(R? + Br?) The radius of gyration is /(R? + 3?) Perpendicular axes theorem for a lamina Sele 18) Given that J, and I, are the moments of inertia of a lamina about two perpendicular axes Ox and Oy in the plane of the lamina and that J, is the moment of inertia of the lamina about a third axis Oz through their point of intersection perpendicular to the lamina, show that k+heale “SeteMoments of inertia of a rigid body Given that /, and /, are the moments of inertia of a lamina about two perpendicular axes Ox and Oy in the plane of the Bab Leite lamina and that /, is the moment of inertia of the lamina should learn. about a third axis Oz through their point of intersection NB It only applies to perpendicular to the lamina, then a hthels Assuming that the moment of inertia of a uniform circular disc, of mass nt and radius r, about an axis through its centre and perpendicular to its plane is $r?, a deduce that its moment of inertia about a diameter is tm’. b Calculate the moment of inertia of the disc about an axis tangential to the disc. a Choose Oas the centre of the disc, | and ly a6 moments of Inertia about two perpendicular diameters and |, as the moment of inertia of the disc about a third axis through O perpendicular to the | dice. ee Frategmmcty, =| =i From the perpendicular axes theorem 21 = Lmr* and b From the parallel axes theorem feangent = Inara aiamaran * Mr®Example A uniform rectangular lamina ABCD, with AB = 2a and BC = a, has mass m. The lamina Is rotating in a horizontal plane about a smooth fixed vertical axis, which passes through the centre of the lamina. Show that the moment of inertia of the lamina about this axis is Sa’, oe Y; D ‘The moment of inertia of the rectangle about the axie of symmetry YY" = Sma? > From the perpendicular axes theorem lye + hye = ler So lar = ha? + Lima? 3 = Sma Example i) A uniform square lamina ABCD is of mass 2m and side 3ay2. The axis L is a smooth fixed axis which passes through A and is perpendicular to the lamina. Show that the moment of inertia of the lamina about L is 24ma’. x ‘The moment of inertia of the square about the axis of symmetry XX’ = the moment of inertia of the square about the axis of symmetry YY" sav 2 2 |= omeMoments of inertia of a rigid body From the perpendicular axes theorem lye + ly = lx $0 lyr = Gma? The distance between the axes ZZ’ and Lis d From the parallel axes theorem I= by + 2md = 6ma? + 18ma? = 24ma? Find the moment of inertia of a uniform solid cylinder of mass m, base radius a and height h about a diameter AB of the base. <> A IB So, by the perpendicular axes theorem, the moment of inertia of a disc about ary of ite own diameters pra’ éx ioe ee By the parallel axes theorem, the moment of inertia of such a disc about the diameter AB of the base of 4 fhe pliner rates & a 4 So the cylinder has moment of inertia ! at pmatax + I prabxax pee ops gemath + x pratt = pats Lat + Lit) 2+ de) eee %CHAPTER 3, ect 1 jo io [oe \e 10 iW 12 13, A uniform lamina of mass 1 is in the shape of a rectangle ABCD where AB = 6a and BC = 3a. Find the moment of inertia of the lamina about an axis perpendicular to the lamina, acting through the centre of the lamina. Find the moment of inertia of a square lamina of mass m and side @ about an axis through one corner perpendicular to the plane of the lamina. Find the moment of inertia of a rectangular lamina of mass m and sides a and b about an axis through one corner perpendicular to the plane of the lamina. A uniform square lamina ABCD is of mass 4m and side 2ay3. The axis L is a smooth fixed axis which passes through A and is perpendicular to the lamina, Show that the moment of inertia of the lamina about L is 32ma?. A uniform lamina of mass m is in the shape of a square ABCD with sides of length 3m. Find the moment of inertia of the lamina about the diagonal AC. Find the radius of gyration of a uniform circular disc of radius r about a line in the plane of the dise which is tangential to the disc. Find the radius of gyration of a circular ting of radius r about a line in the plane of the ring which is tangential to the ring. Find the moment of inertia of a uniform solid sphere of radius a and mass m about a chord of the sphere which lies at a distance from the centre of the sphere. Use calculus to find the moment of inertia of a thin hollow uniform right circular cylinder of mass M, radius R and height /T about a diameter of an end circle. The cylinder is open at both ends. Find the moment of inertia of a solid uniform right circular cylinder of mass M, radius R and height H about an axis through the centre of gravity perpendicular to the axis of the cylinder, Find the moment of inertia of a uniform cube of mass M and edge a about an axis along one edge. Find the moment of inertia of a uniform rectangular lamina of mass m and sides a and b about an axis, perpendicular to the lamina, through the mid-point of a side of length a. A uniform semicircular lamina has mass m and radius r. a State the position of its centre of mass. b Find the moment of inertia of the lamina about an axis through its centre of mass, perpendicular to the lamina.Moments of inertia of a rigid body 14 Find the moment of inertia of a uniform solid sphere of mass m and radius r about a tangent at any point on the surface. 15, Find, by integration, the moment of inertia of a uniform solid cone of mass m, base radius r and height r about a diameter of the base. NT Rong ‘T| You may assume that the moment of inertia of a uniform circular disc, of mass m and radius a, about an axis through its centre and perpendicular to its plane is $ma?. A cartwheel is modelled as a uniform circular disc, of mass m and radius a, to which is attached a thin metal circular rim, also of mass m and radius a. The cartwheel rotates about the axis through its centre and perpendicular to its plane. Find the radius of gyration of the cartwheel about this axis. oe fx—a—> ar B A pendulum P is modelled as a uniform rod AB, of length 9a and mass M, rigidly fixed toa uniform circular disc of radius a and mass 2M. The end B of the rod is attached to the centre of the disc and the rod lies in the plane of the disc as shown in the figure. The pendulum is free to rotate in a vertical plane about a fixed smooth horizontal axis L which passes through end A and is perpendicular to the plane of the disc. Show that the moment of inertia of P about L is 190Ma’, © acaptea) 3) Auniform wire of length 3a and mass 3m is bent into the shape of an equilateral triangle. Find the moment of inertia of the triangle about an axis through a vertex perpendicular to the plane of the lamina, 4) Auniform piece of wire ABC, of total length 3a and mass m, is bent to form a right angle at B, with straight arms AB and BC of length a and 2a respectively. Show that the moment of inertia of the wire about the axis L through B perpendicular to the plane of the wire is ma’, 5 A thin uniform rod of mass m and length 21 is attached at one end to the centre of a face of a uniform solid cube of mass 8m and side J. The rod is perpendicular to the face to which it is attached. Find the moment of inertia of the system about an edge of the cube which is parallel to the rod.CHAPTER 3, A uniform dise has mass m and radius a. a Show that the moment of inertia of the disc about a tangent £ lying in the plane of the disc is $ma*. ‘The line L is a tangent to the disc at the point A, and AB is a diameter of the disc, as shown in the figure. A particle of mass m is attached to the disc at B b Find the moment of inertia of the loaded disc about the tangent L. oe A uniform rod AB of mass m and length 4a is free to rotate in a vertical plane about a fixed smooth horizontal axis / through the point X on the rod, where AX = a. The rod is hanging at rest with B below A when it is struck at its mid-point by a particle P of mass 3m moving horizontally with speed win a direction perpendicular to I. Immediately after the impact P adheres to the rod. Show that after the impact, the moment of inertia about / of the rod and the particle together is “Sma A unifonn rod AB has mass m and length 2a. A particle of mass m is attached to the end B. The loaded rod is free to rotate about a fixed smooth horizontal axis L, perpendicular to the rod and passing through a point 0 of the rod, where AO = !a. Show that the moment of inertia of the loaded rod about L oe An ear-ring is modelled as a uniform solid sphere of mass 2m and radius a, with a particle of mass m attached to a point P on the surface of the sphere. The ear-ring is free to rotate about a fixed horizontal axis I which is tangential to the sphere and passes through a point diametrically opposite to P, as shown in the figure. Show that the moment of inertia of the ear-ring about L is “4mna?, oe C3 * (=) A mode! of a timing device in a clock consists of a uniform rod, of mass 3m and length 2a, the ends of which are attached to two uniform solid spheres, each of radius 3a as shown in the figure. One sphere has mass 8 and the other has mass 2m. The device rotates freely in a vertical plane about a horizontal axis through the centre of the rod and perpendicular to it Show that the moment of inertia of the system about this axis is 2mma?.ll 12 13, 14 15, Moments of inertia of a rigid body A.uniform lamina of mass mis formed from a square lamina C ABCD of side 2a by cutting out a square of side a. Both squares have the same centre O and their sides are parallel as shown in the figure, The points X and ¥ are the mid-points of AB and CD respectively. a Find the moment of inertia of the lamina about an axis passing through X and Y. bb Hence find the radius of gyration of the lamina about ie an axis perpendicular to its plane passing through 0. Cy) A lamina Sis formed from a uniform disc, centre O and radius 2a, by removing the disc of, centre O and radius a, as shown. The mass of S is M. a Show that the moment of inertia of § about an axis through O and perpendicular to its ‘The lamina is free to rotate about a fixed smooth horizontal axis L. The axis L lies in the plane of S and is a tangent to its outer circumference, as shown. b Show that the moment of inertia of S about Eis !Ma®. @ caiaprea) Use integration to show that the radius of gyration of a uniform solid hemisphere of mass mand radius r about a diameter of the circular base is , Assumning that the moment of inertia of a uniform circular disc, of mass m and radius r, about an axis through its centre and perpendicular to its plane is Lr’, ‘@ deduce that its moment of inertia about a diameter is }11?, b Hence, using integration, show that the moment of inertia of a uniform solid circular cylinder, of mass M, radius rand height h, about a diameter of one of its plane faces is 5M? + 4h?). You may assume, without proof, that the moment of inertia of a uniform circular disc, of mass m and radius r, about an axis through its centre and perpendicular to its plane is 5mr?, A uniform solid $ is generated by rotating the finite region bounded by the curve with equation y? = 2ax and the line with equation x = 3a through 180° about the x-axis. The volume of § is 97a° and its mass is M. Show, by integration, that the moment of inertia of § about its axis of symmetry is 2Me?, oeCHAPTER 3, 16) You may assume, without proof, that the moment of inertia of a uniform disc, of mass m and radius r, about an axis through its centre perpendicular to its plane is mr’ , 0 a e A region R is bounded by the curve y? = 4ax (y > 0), the x-axis and the line x = a (a> 0), as shown. A uniform solid $ of mass M is formed by rotating R about the x-axis through 360°, Using integration, prove that the moment of inertia of S about the x-axis is 4Ma?, eo 17 a Show, by integration, that the moment of inertia of a uniform rod, of length 21 and mass m, about an axis through the centre of the rod and inclined at an angle 0 to the rod is pmL?sin? 4. A o B A framework in the shape of an equilateral triangle ABC is formed from three uniform rods, each of length 2 and mass m, as shown in the figure. b Find the moment of inertia of the framework about an axis in the plane of the framework, parallel to BC and passing through A. ¢ Hence find the radius of gyration of the framework about this axis. eo Summary of key points 1 The moment of inertia (M.1.) of a tigid body about a fixed axis is given by the formula 1= SOinjr?, where m, is the mass of a typical constituent particle and r, is the distance of a that particle from the fixed axis. 2. The moment of inertia of a rigid body about a fixed axis is that quantity which causes the body to resist change in its angular velocity about that axis.3 The units of moments of inertia are kgm’, 4 Standard results mass m, radius r Body Axis ML. thin uniform rod, through centre, tm? mass m, length 21 perpendicular to rod thin uniform rod, through an end, 4mP mass m, length 21 perpendicular to rod circular hoop, mass m, | through centre, mr radius r perpendicular to plane of hoop uniform circular disc, | through centre, mr? mass m, radius r perpendicular to dise rectangular lamina, in the plane ofthe | 1mi?, mass m, length 2/ rectangle, bisecting the two edges of length 21 rectangular lamina, | an edge perpendicular | 4 mI? mass m, length 2! to the edges of length 2 cylindrical shell through centre, me mass m, with circular | perpendicular to plane base of radius r of base solid cylinder, mass m, | through centre, mrt with circular base of | perpendicular to plane radius r of base solid sphere, mass m, | diameter 2mr? with radius r spherical shell, diameter 3m Moments of inertia of You will find a number of standard results for ‘moments of inertia (including those shown in this table) in your formula book. You may ‘use them without proof to obtain other moments of inertia, You should also be able to obtain these results from first principles. 5 If two bodies have moments of inertia I, and J; about the same axis then the moment of inertia of the composite body about the same axis is f, + Ip. This is the additive rule. 6 The stretch rule states that the moment of inertia of a uniform rigid object about an axis is unchanged when the object is stretched parallel to the axis. 7 The radius of gyration of a body about a given axis, is defined by the equation I = mk2, where / is the moment of inertia of the body about the axis, m is the total mass of the body, and k is the radius of gyration. So k = a8 The parallel axes theorem: If the moment of inertia of a body of mass M about an axis AB through its centre of mays is ,,, then the moment of inertia of the body about any parallel axis at a distance d from the first axis is [yy + Md. 9 The perpendicular axes theorem: Given that [, and I, are the moments of inertia of a lamina about two perpendicular axes Ox and Qy in the plane of the lamina and that J, is the moment of inertia of the lamina about a third axis 0, through their point of intersection perpendicular to the lamina, then [, + I, = [,.After completing this chapter you should be able to: * solve problems about the motion of a rigid body which is rotating about a fixed smooth horizontal or vertical axis * calculate the force exerted by the rotating body on the axis * investigate the effect of an impact on the rotating body * calculate the period of a pendulum Rotation of a rigid body about a fixed smooth axis To study the rotational motion of a rigid body you need to know the moment of inertia of the body. Work in this chapter will therefore be confined to bodies which can be modelled as one of the solids considered in chapter 3 or as a combination of two or more of these solids. The pendulum inside a grandfather clock can be modelled as a rod with a particle attached at its end. This composite body is swinging through a small angle on either side of the vertical. In section 4 you will learn how to calculate the period of such oscillations.CHAPTER 4 4,1 You can calculate the kinetic and potential energies of a rotating b Any rotating body will possess kinetic energy and a body which is rotating about an axis which is not vertical may, depending on the location of the axis and the mass distribution of the body, experience a change in its potential energy. Changes in potential energy are calculated in the usual manner but to calculate the kinetic energy you need to know the moment of inertia of the body about the axis of rotation. In this chapter you will learn about the motion of bodies which are rotating about a fixed smooth horizontal or vertical axis. The gain in the potential energy of a rotating body is the product of its weight and the vertical height gained by its centre of mass. The kinetic energy of a rotating body is found using the formula = Mer KE = He where [is the moment of inertia of the body and « is the angular speed of rotation. This formula is obtained by considering the kinetic energies of each particle of the body. The body is composed of a collection of particles m, at a distance r, from the axis. ‘The K.E. of each particle is }7m(rw) So mree? = Ho? When a rigid body is rotating about a smooth axis with no external forces acting on the body, the principle of conservation of energy will hold. So the sum of the kinetic and potential energies of the body will be unchanged throughout the motion. A uniform circular hoop of mass 1.2kg and radius 0.6 m is rotating in a horizontal plane about a smooth vertical axis through point A of its circumference a Calculate the kinetic ener; Thus the K.E. of the body is $ of the hoop when it is rotating at $ rads! A particle of mass 0.4 kg is now fixed to the hoop at point B where AB is a diameter. The hoop continues to rotate at § rads“! b Calculate the total kinetic energy of the hoop and the particle. The M.I. of the hoop about an axis through its centre is given in the formula book. Bie ie Use the parallel axes theorem =2X12x 0.6 (see page 66) to obtain the eis ae MAL. about an axis through a 3X2X12 Xx 0.6? x 5 10.85 7 s ot point on the hoop itself, a Mi. of the hoop = mr? + mr? KE b KE. of particle = Lm = 4 x 0.4 x (2X 0.6 X 5)? NN You can find the K.E. of the particle by using 3 mv? B= 18) oF $102, For either, you must use the diameter of the hoop.Rotation of a rigid body about a fixed smooth axis A uniform rod AB of length 1.5m and mass 0.8kg is free to A rotate in a vertical plane about a fixed smooth horizontal axis perpendicular to the rod through point C, where AC = 0.5m. 0.5m im Itis released from rest with AB horizontal esc B a Calculate the potential energy lost by the rod in rotating to the position where it is vertical with B below A. s b Calculate the angular speed of the rod at this instant. B By the principle of conservation of energy. a PE, lost = 0.8 X 9.8 X 0.25 = b KE. gained = 1.965 -— Mi. of rod about axis through C = TREMEA OTT 21 about an axis through its centre is given in the formula book. Use the parallel axes theorem (see page 66) to obtain the required M.!. 4 ax (lL BX 08x (E The K.E, of a rotating body is given by K.E. = $lw%, 1 15)" 65 (5 x 08 x (48) +08 x 0.28") When a numerical value is w = 4427... = 4Arads™ (2 sf) —— — used for g the final answer should be given correct to Rat. A pulley wheel of mass 2.5 kg and radius 0.4:m is free to rotate in 2.5kg a vertical plane about a fixed smooth horizontal axis through the centre of the pulley and perpendicular to the pulley, One end of a A rope is attached to a point on the rim of the pulley and the rope is wound several times around the pulley. A block of mass 0.8kg hangs freely attached to the free end of the rope. The block is released from rest. When it has descended a distance d metres there is still some rope wound round the pulley and the block is moving at 4 ms"! The pulley wheel can be modelled as a uniform disc, the block as a particle and the rope as a light inextensible string. Calculate the value of d. OakeyCHAPTER 4 Ais moving downwards at Angular opeed of the p —— 4ms*, so use v= rw to obtain the angular speed of MLL of the pulley = the pulley. : KE. of the pulley = 2 X 0.2 x 10? = 105 ™, The MI, of a uniform disc "\ about a perpendicular axis Kbvatthe bok = 1 OB Ms ed through its centre is given in the formula book. PE. lost: by the block = 0.8 X 9.84 ____ By the principle of 08 X 984 =10+ 64 +7 conservation of energy. a=—J164_ = 209... =21(26f) + “08X98 ° - = When a numerical value is used for g the final answer should be given correct to 2st. cre 1| A uniform circular disc of mass 2kg and radius 0.7 m is rotating in a horizontal plane about a smooth fixed vertical axis through its centre, Calculate its kinetic energy when it is rotating at Srads!. 2| A uniform circular disc of mass 4 kg and radius 0.25 m has particles of mass 0.1 kg, 0.2 kg and 0.8kg attached to it at points which are 0.2 m, 0.1m and 0.15 m respectively from the centre of the disc. The loaded disc is rotating at 4 rad s~' about a fixed smooth vertical axis through its centre perpendicular to the disc. a Calculate the kinetic energy of the loaded disc. The disc is now brought to rest. b Write down the work done by the retarding force, 3) Auniform rod AB of mass 2.5 kg and length 2m can rotate in a vertical plane about a fixed smooth horizontal axis through A perpendicular to AB. Initially it is at rest with B vertically above A. It is then slightly disturbed and begins to rotate. a Calculate the potential energy lost by the rod when it is horizontal, b Write down the kinetic energy of the rod when it is horizontal. © Calculate the angular speed of the rod when B is vertically below A. 4| A uniform rod of length 1.6m and mass 1.2kg has particles of mass 0.25 kg and 0.6 kg attached, one at each end. The rod is rotating about a fixed smooth vertical axis perpendicular to the rod with angular speed 8 rads‘. Calculate the kinetic energy of the rod when the axis passes through the mid-point of the rod.5 10) Rotation of a rigid body about a fixed smooth axis A pulley wheel of mass 4kg and radius 1.2m is free to rotate in a vertical plane about a fixed smooth horizontal axis through the centre of the pulley and perpendicular to the pulley. A block of mass 2kg hangs freely attached to one end of a rope. The other end of the rope is attached to a point on the rim of the pulley and the rope is wound several times around the pulley. Initially the block is hanging 5m above horizontal ground, ‘The block is then released from rest. The pulley wheel can be modelled as a uniform disc, the block as a particle and the rope as a light inextensible string. Calculate the angular speed of the pulley at the instant when the block hits the ground. A uniform disc of radius r is free to rotate in a vertical plane about a fixed smooth horizontal axis perpendicular to the disc through a point A of its edge. The disc is released from rest with the diameter through A horizontal. Find the angular speed of the disc when this meter is vertical. A uniform rod AB of mass m and length 61 is free to rotate in a vertical plane about a fixed smooth horizontal axis perpendicular to AB through its mid-point. Particles of masses 3m and 2m are attached to ends A and B respectively. The rod is held at rest with AB horizontal and then released. Find, in terms of / and g, the angular speed of the rod when AB is vertical, ‘A uniform rod AB of mass m and length 3/ is free to rotate in a vertical plane about a fixed smooth horizontal axis perpendicular to AB through its mid-point. Particles of masses m and 2m are attached to ends A and B respectively. The rod is initially vertical with B below A It then receives an impulse and starts to zotate with angular speed 4. Calculate, to the nearest degree, the angle between AB and the downward vertical when the rod first comes to rest, A uniform circular disc of mass 20kg and radius 12cm is free to rotate about a fixed smooth horizontal axis through its centre C perpendicular to the disc. A particle of mass Mkg is attached to point A of the rim of the disc. Initially the disc is at rest with A vertically above C. The disc is then slightly disturbed. The greatest angular speed of the disc in the subsequent motion is 10rads~!. Find the value of M. A uniform rod AB is free to rotate in a vertical plane about a fixed smooth horizontal axis perpendicular to AB through point C of the rod, where AC = 11. The rod has mass m and length 2/, and a particle of mass 2m is attached to end B. Initially the rod is hanging in equilibrium with B vertically below A. The rod then receives an impulse and starts to rotate with angular speed . In the subsequent motion, the rod moves in a complete circle. The least possible value of wis ©. [Sig 3371" a Show that 2 = 4) The initial angular speed is 20. by Find the speed of the particle as it passes vertically above C.CHAPTER 4 iW A« 2a >B f» ¢ ‘The diagram shows a sign which hangs outside a shop. The sign is a thin rectangular metal plate which is free to rotate about a fixed smooth horizontal axis which lies along the side AB. The lengths of AB and BC are 2a and 2b respectively. The sign can be modelled as a uniform rectangular lamina. The sign is hanging freely below the axis when it receives a D blow and starts to rotate with angular speed kj 3 a Find the least value of k for which the sign makes complete revolutions. b IFk = 1.5, find the angle BC makes with the upward vertical when the sign first comes to Test. 12) Be A flywheel is made from a circular hoop of mass 6m and radius rand four equally spaced rods, each of mass m and length 2r. A particle P of mass 4mm is attached to the hoop at the end of one rod. The loaded flywheel is free to rotate in a vertical plane about a fixed smooth horizontal axis perpendicular to the plane of the hoop through its centre, C. Initially the flywheel is at rest with P vertically above C, as shown in the diagram. The wheel is then slightly disturbed and begins to rotate. Find, in terms of r and g, the angular speed of the flywheel when PC is horizontal. 13, A ring of mass 3m and radius r has a particle of mass m attached to it at the point A The ring can rotate about a fixed smooth horizontal axis in the plane of the ring. The axis is tangential to the ring at the point B where AB is a diameter, The system is released from rest with AB horizontal. Find the angular speed of the ring when AB makes an angle ¥ with the downward vertical 14) A uniform circular disc has mass 5m and radius r, A particle P of mass m is attached to the disc at point A of its circumference, The centre of the disc is C. A second particle Q of mass 2m is attached to the disc at the mid-point of AC. The disc is free to rotate about a fixed smooth horizontal axis in the plane of the disc. The axis is tangential to the disc at point B, where AB is a diameter. The disc is released from rest with AB at an angle 45° with the upward vertical. When AB is at an angle 45° with the downward vertical the angular 80gv2 391 speed of the disc is @. Show that ©? =Rotation of a rigid body about a fixed smooth axis. ‘The rigid body can be considered to be formed of a set of particles Py, P2, Ps,.... Py, of masses My, My, My.) My Al of these particles are rotating with the same angular speed about the same fixed smooth axis. The distances of the particles from this axis are r), fo, ayer Fix Sy A plane section of the body, perpendicular to the axis, containing the particle P; is shown in ‘the diagram, The axis passes through O. When the body is rotating with angular speed @ the particle P, is moving in a circle, centre O and radius r, with (linear) speed 14. The component perpendicular to OP, of the acceleration of P; is rf. If the component of the force acting on P, in this direction is F,, then R= mri Using F = ma. andso nF, = mr? If you now add together these results for all the particles of the body: Y= Dd mei = 6), mr? The body is rigid so @ is the same for every particle, Gj -—__ _ mais the Mi. of the body about the axis. = Frjis the sum of the moments about the axis of rotation of the forces acting on the separate particles of the body. _____ The component parallel to OP, of the force acting on P, has no moment about the axis. It is therefore the same as the moment of the resultant force acting on the body about the axis of, rotation. This moment is usually denoted by L. I The equation of rotational motion is talb where Lis the moment about the axis of rotation of the resultant force on the body, lis the moment of inertia of the body about the same axis and d is the angular acceleration of the body.CHAPTER 4 For rotational motion with constant angular acceleration a, a set of rotational constant acceleration equations which mirror the linear equations first met in book M1, Chapter 2 can be formed. They are: w= ay + at ‘Compare these with veusat wo? = ax? + 200 v= uP + 2as O= nl + al? s=ut+ Loe g= tty sa4t% where o) and @, are the initial and final angular speeds and @ is the angle turned through in time t. In order to calculate the force exerted by a rotating body on the axis of rotation you must once more consider the separate particles P,, P2, Pay..., Py, OF Masses My, My, My,..., My, Which make up the body. All of these particles are rotating with the same angular speed about the same fixed smooth axis. Let the particle P, have position vector r; relative to a fixed origin O and let the resultant force acting on P; be Then for particle P,, FE, = mit, Using F = ma. and for the whole body, ) F)= >. m Call the position vector of the centre of mass of the rigid body ry and let m= Then >) may Mrg See book M3, Chapter 5 for work on centres of mass. and, differentiating this equation twice with respect to time, gives ¥ mi Hence >, = > mit, = Mi, > Bis the resultant of all the forces acting on the particles which form the body, and hence the m, and M are constants. resultant force acting on the body, M is the mass of the body and # is the acceleration of the centre of mass. Hence: When a rigid body is rotating about a fixed smooth axis, the force exerted by the axis can be calculated by considering the motion of a particle of the same mass as the body placed at the centre of mass of the body under the action of the same forces as those acting on the body. Usually you are asked to calculate the force exerted on the axis. You must use Newton's third law to obtain this from the force exerted by the axis,Rotation of a rigid body about a fixed smooth axis Now suppose that a rigid body of mass M is rotating about a fixed smooth horizontal axis. Let the distance from the centre of mass G to the axis be r. Draw a diagram showing the vertical plane through the centre of mass. yo Mg ‘The axis of rotation passes through the point O and the angle between OG and the downward vertical at O is @. The angular speed of the body is therefore 6. Now consider the motion of a particle of mass M placed at G. The acceleration of this particle has components ri directed towards 0 and rij perpendicular to OG. a See book M3, Chapter 4 for ‘+ work on the motion of a particle moving in a vertical circle. ‘The force exerted on the body by the axis also has components in these directions, Call these components X and Y in the directions parallel and perpendicular to GO respectively. Mg Hence: ye Use F = ma paratiel to GO. (gcos 0 = Mr? *—— Y ~ Mgsing = Mri. ~.____________... and perpendicular to GO. ‘The required value of r? can be obtained by using the principle of conservation of energy. For 4, differentiate r6? with respect to 6 — C3, Chapter 8). 4 (762) = arid Use the chain rule (see book jad, = 2067 X ae 48 ang dd and SF = 21 So differentiating the expression already found for rd? with respect to # give the required value of 16. Alternatively, you can use the equation of rotational motion to obtain @.CHAPTER 4 To find the components of the force on the axis of rotation: Consider the mo of the body. \n of a particle of the same mass as the body placed at the centre of mass Use F = ma for the particle in the directions parallel and perpendicular to the line joining the centre of mass to the axis of rotation. ind values for ré? (from an energy equation) and ré (by differentiating rd? with respect to 0 or from an equation of rotational motion). Change from the components of the force exerted by the axis to the required force on the axis by using Newton's third law. eae A pulley wheel has mass 2.5 kg and radius 0.4 m. The wheel is free to rotate in a vertical plane about a fixed smooth horizontal axis perpendicular to the wheel through its centre which is 2m above horizontal ground. One end of a rope is attached to a point of the rim of the wheel and is wound several times around the wheel. A brick of mass 0.6kg is attached to the free end of the rope. Initially the system is held at rest with the brick hanging 0.3 m below the level of the axis and the rope taut. The system is then released. The pulley wheel can be modelled as a uniform ircular disc, the rope as a light inextensible string and the brick as a particle. Calculate a the tension in the rope, Ny b the acceleration of the brick, aaky € the time taken by the brick to reach the ground, d the angular speed of the pulley at the instant when 7 |o3m the brick hits the ground, 7 } co ams? 0.6gN 1x 25x 04 4x25 x 04? x Use t= fi for the pulley. Use ‘ma for the brick. Solve these two equations for T. ‘The tension in the rope is 4.0N (2 sf)Rotation of a rigid body about a fixed smooth axis. 4 b a=$xT=4x 5972... = 3178... © The acceleration of the brick io 3.2ms~? (2 of) © 17=4% 3170" fi7 x2 PSV 378 += 1.034. The brick takes 10s to reach the ground (2 sf.) 3.178 ° . 4 + 58 x 1034 @ = 8.216. ‘The angular speed is B.2rado"! (2 of.) Example Ej A uniform circular disc has mass M and diameter AB of length 4a, The disc can totate in a vertical plane about a fixed smooth horizontal axis perpendicular to the disc through point D of AB where AD = a. The disc is released from rest with AB horizontal a Calculate the component parallel to AB of the force on the axis when AB makes an angle @ with the downward vertical. b Calculate the component perpendicular to AB of the force on the axis when AB makes an angle @ with the downward vertical. © Calculate the magnitude of the force on the axis when AB makes an angle qwith the downward vertical. X — Mgcos @ = Maé' ML. of disc about axis through ite centre (2a)? Ml. of disc about axis through D = Lime? = 2Ma? + Ma? = 3Ma® Conservation of energy: 4(SMa*)6? = Mgacos @ + ab? = 39050 X= MX gcos 8 + Mgcoo¥ = $Mgcos 6 The component of the force on the axis in the opposite direction to X. Mg cos 0 From the above equations. Use s = ut + at? with $= 17,u=Oanda = 3.178 Using a =e + at with a= 0 = 3178 and ¢= 1.034.. XW 4 B Mg Consider a particle of mass Mat the centre of the disc. ‘The particle is moving in a Circle of radius a. Use F = ma parallel to AB. You need the M.I. of the disc to calculate the K.E. Use the parallel axes theorem (see page 66) to obtain the M.I. about the requit cd axis, X is the force exerted by the axis on the disc.CHAPTER 4 Form the equation of motion for the particle in the direction perpendicular to AB, b Y— Mgsin 0 = Mab a6? = 290008 ~ From a. 2a = —Egcind — Y= M(- Differentiate the previous line goin 0) + Mgoin @ = 2 with respect to 4. ‘The component of the force on the axis is 2 Mg sin 0 in the opposite direction to Y. ; __ Yis the force exerted by the Alternative method for finding @: axis on the disc. Mga sin @= -3Ma°h — Using the equation of rotational motion, L = 16. = —tgsind ~ Now find Y ae above. 5 a ¢ 0=F x=3Mgx ‘Watch the signs! y=2mgx A uniform rod of length 4a and mass m is free to rotate in a horizontal plane about a fixed smooth vertical axis through its centre. A horizontal force of constant magnitude is applied to a free end of the rod in a direction perpendicular to the rod. The rod rotates with angular acceleration 12, Find the magnitude of the forc A uniform disc of radius 0.5m and mass 2.4 kg is free to rotate in a horizontal plane about a fixed smooth vertical axis through its centre. A horizontal force of constant magnitude 10N is applied at point A on the rim of the disc in the direction of the tangent to the dise at A. a Calculate the angular acceleration of the disc, The disc starts from rest at time t = 0. Calculate b the angular speed when t = 2, ¢ the angle the disc turns through in the first 2 of the motion. A uniform rod AB of mass m and length 6a is free to rotate in a vertical plane about a fixed smooth horizontal axis perpendicular to AB at A. A particle of mass 2m is attached to the rod at B, The loaded rod is released from rest with AB horizontal. Find{=| Rotation of a rigid body about a fixed smooth axis a the initial angular acceleration of the rod, b the angular acceleration when AB makes an angle 3 vith the downward vertical. A pulley wheel of mass 2kg and radius 0.5m has one end of a rope attached to a point of the rim of the wheel. The rope is wound several times around the wheel. A fixed smooth horizontal axis passes through the centre of the wheel. A brick of mass 0.5 kg is attached to the free end of the rope. Initially the system is held at rest with the brick hanging freely with the rope taut. ‘The system is then released and the wheel begins to rotate in a vertical plane perpendicular to the axis. The pulley wheel can be modelled as a uniform circular disc, the rope as a light inextensible string and the brick as a particle. Calculate a the tension in the rope, b the distance the brick falls in the first second after the system is released. A uniform rod AB of mass m and length 4c is free to rotate in a vertical plane about a fixed smooth horizontal axis perpendicular to AB through the point D of the rod where AD = a, The rod is released from rest with AB horizontal. Calculate the magnitude of the force exerted on the axis a when AB is vertical with A above D, b when AB makes an angle of 45° with the downward vertical, Auniform rod AB of mass m and length 6u is free to rotate in a vertical plane about a fixed smooth horizontal axis perpendicular to AB through the point D of the rod where AD = 2a. A vertically below D but is then slightly disturbed and starts to rotate. Find a the angular speed when AB has turned through an angle 8, b the magnitude of the force on the axis when the rod is verti with B below D. A uniform circular disc of mass m and radius 2a is free to rotate in a vertical plane about a fixed smooth horizontal axis perpendicular to the disc through a point D, which is at a distance a from the centre of the disc, C. The disc is initially at rest with C vertically above D. The disc is then slightly disturbed and begins to rotate. Find the magnitude of the force on the axis a when CD is horizontal, b when CD is vertical with C below D. A uniform rod AB of mass m and length 2a is attached to a fixed smooth hinge at A. The rod is released from rest from a horizontal position and rotates in a vertical plane perpendicular to the hinge. a Show that, when AB has rotated through an angle 4, day? * 2al St) 3gsin & When AB has rotated through an angle #, the force exerted by AB on the axis is F. b Find the magnitudes of the components, parallel and perpendicular to AB, of F. © Show that the horizontal component of Fis greatest when @ d Find the vertical component of F when @ rCHAPTER 4 9) A.uniform wire of mass m and length 6a is bent to form a rectangle ABCD with AB = 2a. It is hung with corner A over a fixed smooth horizontal nail. Initially it is held at rest with AB horizontal and D below A. The plane of the rectangle is perpendicular to the nail. a Show that the moment of inertia of the framework about the nail is 2a”, b Show that the angular speed 4 of the wire when AC is vertical is given by J? = XX V5 - 1). ¢ Find the magnitude of the resultant force on the nail when AC is vertical 10, A uniform square lamina ABCD of mass m and side 4a is free to rotate in a vertical plane about a fixed smooth horizontal axis through A perpendicular to ABCD. The lamina is g in equilibrium with C below A when it receives an impulse and begins to rotate Bg Va han; with angular speed a Show that the lamina will perform complete revolutions. b Find the magnitude of the horizontal and vertical components of the force on the axis it when Cis vertically above 4, ii when AC is horizontal, 11) Three equal uniform rods, each of mass m and length 2a, are joined to form an equilateral triangle ABC. The triangular frame can rotate in a vertical plane about a fixed smooth horizontal axis perpendicular to ABC through A. The mid-point of BC is D. The frame is released from rest with AD horizontal and C below AB. Find the magnitude of the force on the axis when AD is vertical. [You may assume that the centre of mass of the triangle is at G where G divides AD in the ratio 2:1.) 4,3, You can use angular momentum to solve problems involving a rotating body which receives an impulse. As in Section 4.2, consider the rigid body to be formed of a set of particles P,, P,, P,,..., Py, of masses m,, im,, m,,..., 1m, respectively. All of these particles are rotating with the same angular speed é about the same fixed smooth axis. ré The diagram shows a plane section of the body, perpendicular to the axis, containing the particle P,. The axis of rotation passes through point 0 of this section and P, is a distance r, from Q. The particle P, is moving in a circle of radius r, and the linear momentum of P; is therefore m;ré. Momentum is a vector and so has a moment about the axis through O. This moment is calculated in the same way as the moment of a force. ‘The moment of momentum for the particle P, about the axis through O is (9,1) r,Rotation ofa rigid body about a fixed smooth axis Adding these moments of momentum for all the particles of the body gives ¥ emriy n= 3 mat= 3 me This moment of momentum is usually called the angular momentum of the body about the given axis. The angular momentum of a rigid body which is rotating about a fixed axis Is given by angular momentum = 16 where J is the moment of inertia of the body about the axis of rotation and is the angular speed of the body. When the mass is measured in kilograms, lengths in metres and angular speed in radians per second, the unit for angular momentum is kg m?s In book M1, Chapter 3 you learnt about the principle of conservation of linear momentum for two particles. When two bodies collide, one or both bodies may be capable of rotation. In such a case the moments of the impulses about the axis of rotation arising from the impact must be considered. In this book, only cases where one body can rotate will be considered. When there are no external forces which have a moment about the axis of rotation Newton's third law tells you that the moment of the impulses on the bodies will be equal and opposite. In other words, the gain of angular momentum of the two bodies is zero. Provided there are no external forces on a system with a moment about the axis of rotation, the total angular momentum of the system is constant. This is the principle of conservation of angular momentam. Now consider a rigid body which is free to rotate about a fixed smooth axis. The moment of inertia of the body about the axis is / and the angular acceleration is #. By the equation of rotational motion (see Section 4.2) L- where L is the moment about the axis of the resultant force on the body. When you integrate with respect to time you get [‘cae= friar where , and o» are the angular speeds at times f, and f, respecti Hence: — | Lar = [16)2 |, Lat = lw, — fo Toy — Tw, is the gain of angular momentum of the body and f Lat is called the impul: moment of the resultant force about the axis, An impulsive moment is measured in N ms and so angular momentum is also measured in Nms. Hence kgm?s~! and Nms are equivalent units. Impulsive moment of a force impulse x distance of force from the axisCHAPTER 4 ea A uniform circular disc of mass 1.5 kg and radius 0.4 m is free to rotate in a horizontal plane about a fixed smooth vertical axis through the centre of the disc. Particles of masses 0.5 kg, 0.8kg and 1.2kg are attached to points on the circumference of the disc. The loaded disc is rotating at 100 revolutions per minute. Calculate the angular momentum of the loaded disc. M.l of disc and particles 3% 15 X 04? + (05+ 0.8 + 1.2) x 0.4 = Change revolutions per ———~ minute to rad s-'. X 2a 02 x (100 60 ee A uniform rod AB of mass 2kg and length 0.8 m is at rest on a smooth horizontal table. The rod can rotate freely about a fixed smooth vertical axis through its mid-point M. A particle P of mass 0.5 kg is moving on the table at 4ms~ in a direction perpendicular to AB. The particle strikes AB at the point C, where AC = 0.1 m, and sticks to the rod. Calculate the speed with which the rod begins to rotate. o1m << 0.3m > 0.4m ——_> A_¢ uw B 2g 4 ____4_______# fiw ‘Angular momentum is conserved. For the particle, ind the moment about M of its initial linear momentum, For the final angular momentum of rod and the particle combined, use fo. Mil. of rod and particle O5X4X03= w= _O8X4X03 x 0.3?) Bee A rectangular sign of mass 1.5 kg is made from a thin uniform sheet of metal measuring 2.4m by 0.5 m. The sign is free to rotate about a smooth fixed horizontal axis which coincides with a short side of the rectangle. The sign is hanging at rest when it receives an impulse perpendicular to the plane of the sign at a point 1.5 m from the axis. The sign comes to rest for the first time at an angle of 60° to the downward vertical. CalculateRotation of a rigid body about a fixed smooth axis. a the initial angular speed of A ae the sign, of sign o b the magnitude of the impulse received by the sign. 15gN a MA. of eign about given axis =4x15 x1. From the formula book. = 2.86 kgm? Energy from start to rest at GO" to downward vertical 15g X 12(1 - 00960") = £ x 2.88u2 _ 18 X 9.8 X 1.2(1 - cos 60") oe Tat w = 2474873. The initial angular speed of the sign io 2.5 rad 6" (2 of) & Moment of impulse = gain of angular momentum 151 = 2.88 X 2.474. = 288 x 2.474 1S The magnitude of the impulse io 4.8N » (2 6) = 475... A pulley wheel of mass m and radius a is free to rotate in a vertical plane about a fixed smooth horizontal axis perpendicular to the wheel through its centre C. One end of a light inextensible string is attached to a point on the rim of the wheel and is wound several times round the wheel. The free length of string measures 4a. A particle P of mass m is attached to the free end of the string. The particle is held at the point A of the rim of the wheel, where AC is horizontal, and released from rest, Find the angular speed of the pulley immediately after the string becomes taut. (You may assume that the pulley wheel can be modelled as a uniform circular disc.)CHAPTER 4 +2XgX 4a Conservation of angular momentum: mate + (maw) X a = (m/Bga) X a 2/69 _ 4 [2g = BVa —3Va ‘The angular speed of the pulley immediately after the string becomes taut is ty 2 You must find the speed of P just before the string becomes taut. Use lu for the disc and the moment about C of the linear momentum for P. 1] A uniform square lamina of side 0.8m and mass 4 kg is free to rotate about a fixed smooth axis which coincides with one of its sides. Calculate the gain of angular momentum when the angular speed of the lamina is increased from 2rad s~! to Srads~. 2| A uniform hoop of mass 1.2kg and radius 1.5 m is rotating at a constant angular speed of 6rads~! about a fixed smooth horizontal axis through a point of the circumference of the hoop, perpendicular to the plane of the hoop. Calculate the angular momentum of the hoop. 3 | A uniform rod AB of length 2.4m and mass 0.5 kg is rotatin; in a horizontal plane at 6rads~! about a fixed smooth vertical axis through its centre. A retarding force of constant magnitude P newtons is applied at B in a direction perpendicular to AB in the plane of the motion. The rod is brought to rest in 5 seconds. Calculate the value of P. 4| A uniform rod AB of mass 2mm and length 6a is free to rotate in a verti | plane about a fixed smooth horizontal axis through the point C of the rod where AC = 2a. The rod is released from rest with AB horizontal. When the rod is vertical with B below C, the end B strikes a stationary particle of mass m. The particle adheres to the rod. a Show that the angular speed of the rod immediately after the impact is 1/8 3V 2a" b Calculate the angle between the rod and the downward vertical when the rod first comes to instantaneous rest.Rotation of a rigid body about a fixed smooth axis 5] A rectangular sign is hanging outside a shop. The sign has mass 4 kg and measures 1.5m by 2.5m, [tis free to rotate about a fixed smooth horizontal axis which coincides with a long side of the sign. The sign is hanging vertically at rest when it receives an impulse, perpendicular to its plane, at its centre of mass. The sign first comes to rest when it is horizontal. Calculate a the initial angular speed of the sign, b the magnitude of the impulse. (You may assume that the sign can be modelled as a uniform rectangular lamina.) 6| A uniform rod AB of mass m and length 2a is freely hinged at A. The rod is released from rest with AB at 60° with the upward vertical through A. When AB is horizontal it hits a small fixed peg at point C where AC = 1.5a. The angular speed of the rod immediately after the impact is half its speed immediately before the impact. Find the impulse exerted by the peg on the rod. 7| Auniform rod AB of mass m and length 2c is free to rotate in a vertical plane about a fixed smooth horizontal axis through A, When the rod is hanging at rest with B vertically below A, the end B receives an impulse of magnitude J in a direction perpendicular to the axis of rotation. a Show that, for the rod to rotate in a complete circle, J> 2m, 2m [sa 33 b find the angle the rod turns through before first coming to instantaneous rest. Given that J = '8| A uniform square lamina of mass m and side 2/ is free to rotate in a horizontal plane about a fixed smooth vertical axis through the centre of the lamina. Initially the lamina is at rest. A particle of mass 2m is moving in the plane of the lamina towards the lamina with speed 2/g/ and in a direction at 45° to a side. The particle strikes and adheres to the lamina at a corner Find the angular speed with which the lamina begins to turn. 9 | A uniform square lamina of mass m and side 21 is rotating with angular speed ss about a fixed smooth horizontal axis through the centre of the lamina parallel to one side of the lamina, A particle of mass 2nt is held at a height 121 above the level of the axis of rotation of the lamina. The particle is released from rest and hits the lamina at an instant when the lamina is horizontal. The particle adheres to the lamina at the mid-point of a side which is moving downwards at the instant of impact. Find the angular speed of the lamina immediately after the impact. 10, A uniform rod AB of mass m and length 4u is free to rotate in a vertical plane about a fixed smooth horizontal axis through point C of the rod, where AC = 4a, When the rod is hanging at rest with B vertically below A, the end B receives an impulse of magnitude J in a direction perpendicular to the axis of rotation. The impulse is sufficient to cause the rod to move in a complete circle. Show that the magnitude of the impulse is given by y= 8/8690CHAPTER 4 11] A light inextensible string has one end attached to the rim of a pulley wheel of mass 3m and radius r. The string is wound several times around the wheel. A pan of mass m is attached to the other end of the string and hangs freely below the wheel. The system is held at rest. A particle of mass Sm is dropped from rest at a height 4r vertically above the pan, The particle adheres to the pan. The wheel is released from rest at the instant the particle hits the pan and begins to rotate about a fixed smooth horizontal axis through the centre of the wheel and perpendicular to the plane of the wheel. Assuming that the pulley wheel can be modelled as a uniform circular disc and the pan asa particle, find an expression for the angular speed of the wheel immediately after the impact. 12) A.uniform square lamina of mass m and side 2a is free to rotate about a fixed smooth horizontal axis which coincides with a side of the lamina. The lamina is hanging in equilibrium when it is hit at its centre of mass by a particle of mass 4m moving with speed v in a direction perpendicular to the plane of the lamina, The particle adheres to the lamina, a Find the angular speed of the lamina immediately after the impact. b Show that, for the lamina to move in a complete circle, 5 | 584) ves You can calculate the period of a pendului In this section you will Jearn about two types of pendulum. The simple pendulum consists of a particle or ‘bob’ attached to one end of a light string. A rigid body which is making small oscillations about a fixed smooth axis may require the model to be refined. In such a case you have a compound pendulum. First consider the simple pendulum: oO 1 This is a diagram of a simple pendulum which is a particle P ‘of mass m attached to a light inextensible string of fength I mg ‘The pendulum is swinging through small angles on either side of the vertical about an axis at O. ‘The moment of inertia of P about this axis is nu. So mgsin 6x = m2 ——___—_—__ Use L = I. Be careful about directions! It can be shown that, for small 4, sin @~ @ See the Maclaurin series expansion by for sin @ in book FP2, Chapter 6. 7 and the motion is (approximately) simple harmonic with period 2m, So 7Rotation of a rigid body about a fixed smooth axis For the simple pendulum model to be appropriate the size of the pendulum bob must be small, so it can be modelled as a particle, the string or rod to which it is attached must be light and inextensible and the amplitude of the oscillation must be small, or the approximation sin = @ will not be valid. When the simple pendulum model is appropriate the period of oscillation, T, is independent of the mass of the bob and is given by =2n{t mo T=2n/5 where / is the length of the string or rod. This formula has been found to be very accurate for amplitudes up to 0.26% (~ 15°). As the amplitude increases past this angle, the accuracy decreases. If the swinging body cannot be modelled as a simple pendulum, the model must be refined and becomes a compound pendulum. Using the equation of rotational motion and the approximation for sin @ in the same way as for the simple pendulum will yield a simple harmonic approximation once more, Hence you can find the period of the oscillations as shown in Example 11. Ml To find the period of a compound pendulum: + Find the moment of inertia of the body about the given axis. * Form the equation of rotational motion L = 16. * Use the approximation sin 0 ~ 0. + Find the period from the resulting simple harmonic equation. A simple pendulum which has the same period as a given compound pendulum is called the equivalent simple pendulum. Example 12 (see page 100) shows how to find the length of the equivalent simple pendulum. A simple pendulum consists of a small bob attached to one end of a light inextensible string of length 0.5 m. The other end of the string is attached to a fixed point O. The pendulum is swinging through small angles. Calculate the period of the pendulum. osm P o ex Let the bob have mass m. ae —— This will cancel in the working. The moment of inertia of P about this axis is m X 05%, —mgsin @X 0.5 = mX 05° X 6 Use b= fi. sind 03 6x -Zo 5 a eae = oe Oe, © = ag > Period = SF = 2m/EP = 1.41 The period io 145 (2 6f.)CHAPTER 4 A uniform rod AB of length 3a can swing in a vertical plane about a fixed smooth horizontal axis through point C of the rod where AC = a. The rod is released from rest when the angle between CB and the downward vertical is 10°. Calculate the period of the resulting small oscillations of the rod about its equilibrium position. ‘The MLL. of a uniform rod 15a about a perpendicular axis through its centre is é in the formula book. Use at the parallel axes theorem. (see page 66) to obtain mg ‘the M.I. about the given ea axis. )P = ma? Use L = Ii. Be careful about directions. Ml. of rod about given axis = 4 =mgsin 8X 0.5a = mm Use sina = 0 A thin uniform rod AB has mass m and length 3a. It is free to rotate in a vertical plane about a fixed smooth horizontal axis through A. A uniform circular disc of mass 2m and radius 3a is fixed to the rod. The centre O of the disc is on the rod and OA = 2a, The disc lies in the plane of rotation of the rod and the axis is perpendicular to the plane of rotation. The system is initially hanging at rest with B vertically below A. It is then slightly displaced and oscillates freely under gravity. a Show that the period of the resulting small oscillations is 37, i \ b Find the length of the equivalent simple pendulum.Rotation of a rigid body about a fixed smooth axis 4 A |2a Y x a 2mg B Y a Ml. of rod and disc about axie through A Tee au gia = mx 80) + [J 2m x (OBal + 2m x 20] ot — Rar ek = Th f theorem (see page 25ma : - — (mg sin @ X 1.54 + 2mgesin @ X 2a) = 11.25ma"d 55gein @ = 11.2546 «5590 _ _ 220 fa ecg aden Use sing = 0. 45a fda Period = 2m,/404 = Bq /10a 22g Vig The equivalent: simple pendulum has length 1 [ns A simple pendulum is performing small oscillations. Calculate the period of the pendulum when the length is a 2.5m, b 0.8m, © 30cm. A simple pendulum is performing small oscillations. Calculate the length of the pendulum when the period is a pms, b yrs, © 08s. A simple pendulum has length a and period T. If the length is increased to 2a, calculate the new period in terms of T.CHAPTER 4 4] Aseconds pendulum takes one second to perform half an oscillation. Calculate the length of string required for this pendulum, 5] Asimple pendulum has length @ and period T. Calculate, in terms of a, the length of a pendulum with period 5 6) One end of a rope is tied to a branch of a tree. A girl is swinging on the other end of the rope. The period of oscillation is 2s. Assuming the girl and the rope can be modelled asa simple pendulum, calculate the length of the rope For each of the bodies described in questions 7 to 11, calculate a the period of small oscillations about the position of stable equilibrium, b the length of the equivalent simple pendulum. 7| Auniform rod, of mass m and length 6a, oscillating about a fixed smooth horizontal axis through one end of the rod. 8 | A uniform rod AB of mass m and length 2a with a particle of mass 2m attached at B, oscillating about a fixed smooth perpendicular horizontal axis through A. 9| A triangular framework formed by joining three uniform rods, each of mass m and length 3a, oscillating about a fixed smooth horizontal axis through a vertex of the triangle perpendicular to the plane of the triangle. 10 A uniform circular disc, of mass 2m, radius a and centre O, with a particle of mass m attached at A, where OA = 5a, oscillating about a fixed smooth horizontal axis through O perpendicular to the disc. 11) A uniform circular hoop of mass m and diameter d oscillating about a fixed smooth horizontal axis coinciding with a tangent to the hoop. 12 A uniform rod AB of mass 3m and length 2/ is free to rotate in a vertical plane about a fixed smooth horizontal axis through A, perpendicular to the plane in which the rod rotates. a Find the period of small oscillations of the rod about its position of stable equilibrium. A particle of mass mm is now attached to point B of the rod. The period of the oscillations is increased by x%. b Find the value of x. 13) A uniform rod AB of mass 6m and length 4/ has a uniform solid sphere attached to each end Bach sphere has mass m and radius }/ and the centres of both spheres lie on the same line as the rod. A fixed smooth horizontal axis passes through point C of the rod, where AC The rod can rotate in a vertical plane which is perpendicular to this axis. 287ml? 10 b Find the period of small oscillations of the system about its position of stable equilibrium. a Show that the moment of inertia of the system about the given axis isRotation ofa rigid body about a fixed smooth axis 14 The diagram shows a rectangular sign outside a shop. A 2a B The sign is composed of two portions, both of which are rectangular. Rectangle ABCF has mass m, length 2a 2b and width 2b, Rectangle FCDE has mass m, length 2a F lc and width 1b. The sign is free to rotate about a fixed 15 smooth horizontal axis which coincides with side AB. Ez De The wind causes the sign to make small oscillations about its position of stable equilibrium. Show that the period of these oscillations i given by 2a) ae (You may assume that both sections of the sign can be modelled as uniform rectangular laminae.) 15, A thin uniform rod AB of mass m and length 81 is free to rotate in a vertical plane about a fixed smooth horizontal axis through end A. A uniform circular disc of radius }/ and mass 10m is clamped to the rod with its centre C on the rod and AC = kl. The plane of the disc coincides with the plane in which the rod can rotate and the axis is perpendicular to this plan Find the length of the equivalent simple pendulum, ‘16) An ear-ring of mass 8mm is formed by cutting out a circle of radius a x from a thin uniform circular disc of metal, radius 3a, as shown in the igram. The centre B of the larger circle, the centre A of the smaller circle and the point X on the circumference of both circles are collinear. The ear-ring is free to rotate about a fixed smooth horizontal axis through X perpendicular to the plane of the ear-ting. Show that the period of small oscillations of the ear-ring about its position of stable equilibrium is 4/73. ‘1| A uniform circular disc of mass 20kg and radius 0.5 m is free to rotate about a fixed smooth horizontal axis through its centre and perpendicular to its plane. A particle of mass 4 kg is attached to a point of the rim of the disc. Initially the disc is at rest in its position of unstable equilibrium. The disc is slightly disturbed. Find the angular speed of the disc at the moment when the particle is vertically below the axis. 2| A uniform rod AB of mass m and length 2a is attached to a fixed smooth hinge at A The rod is released from rest with AB horizontal. At time ¢ the angle between the rod and the horizontal is 0. 2 a Show that 2a a = 3gsing b Find the magnitude of the component of the force exerted by the rod on the hinge parallel to the rod when @ = 45°. ¢ Find the magnitude of the component of the force exerted by the rod on the hinge perpendicular to the rod when 6 = 45°,CHAPTER 4 Auniform circular disc of mass 4m and radius 2a hangs in equilibrium from a point A on its circumference. The disc is free to rotate about a fixed smooth horizontal axis which is tangential to the disc at A and lies in the plane of the disc. A particle P of mass m is moving horizontally towards the disc with speed V in a direction perpendicular to the plane of the disc. The particle strikes the disc at the point B where AB = 3a and AB is perpendicular to the axis. The particle adheres to the disc. a Find the angular speed of the disc immediately after it has been struck by P. The disc first comes to instantaneous rest when the angle between AB and the downward vertical at A is 60°. b Show that V = 4/319ga. A uniform rod AB of mass 4m and length 2a has a particle of mass m attached at B. The rod is free to rotate in a vertical plane about a fixed smooth horizontal axis perpendicular to the rod and passing through point C of the rod where AC = 4a. Find the period of small oscillations of the system about its position of stable equilibrium. A rough uniform rod, of mass m and length 6a is held on a rough horizontal table, perpendicular to the edge. A length 2a rests on the table and the remainder projects beyond the table. a Find the moment of inertia of the rod about the edge of the table. The rou is released from rest and rotates about the edge of the table. Assuming that the rod has not started to slip when it has turned through an angle 8, b find the angular acceleration of the rod, ¢ find the normal reaction of the table on the rod. The coefficient of friction between the rod and the edge of the table is ju. The tod starts to slip when it makes an angle ¢ with the horizontal d Find tan¢ in terms of p. A wheel has a rope of length 6m wound round its axle, The rope is pulled with a constant force of 80N. When the rope leaves the axle the wheel is rotating at 24 revolutions per minute. Calculate the moment of inertia of the wheel and its axle. A uniform square lamina ABCD of mass M and side 2a is free to rotate about a fixed smooth horizontal axis through A. The axis is perpendicular to the plane of the lamina. The lamina is hanging at rest with C vertically below A. It is then disturbed from rest and performs small oscillations about its position of stable equilibrium. Find the period of these oscillations. A uniform circular hoop of mass 4 and radius a is free to rotate in a vertical plane about a fixed smooth horizontal axis through point A of its circumference. The axis is perpendicular to the plane of the hoop and the hoop is initially hanging in equilibrium. A particle P of mass mis moving horizontally with speed V towards the hoop in the same plane as the hoop. The particle strikes the hoop at one end of its horizontal diameter and adheres to the hoop. a Find the angular speed of the hoop immediately after P strikes it. ‘The line AB is a diameter of the hoop. The hoop first comes to instantaneous rest when AB is horizontal. b Show that V? = 80ga.9) 10) u 12) Rotation of a rigid body about a fixed smooth axis A uniform rod AB of mass m and length 61 is free to rotate in a vertical plane perpendicular toa fixed smooth horizontal axis through point 0 of the tod, where OA = |. At time t = 0, the rod is at rest in its position of unstable equilibrium and is then slightly disturbed. At time f the rod has turned through an angle ¢ day? a Show that 71| 7) 4g(1 — cos 0) b Find the magnitude of the angular acceleration of the rod at time f. © Calculate the magnitude of the force exerted on the axis when the rod is horizontal. e A uniform disc of mass 3m has centre O and radius 3a. A disc with centre B and radius a is removed, The line OB = a and, when produced, meets the circumference of the larger disc at A as shown in the diagram. The remaining lamina is free to rotate about a fixed smooth horizontal axis which coincides with the tangent to the disc at A. a Show that the moment of inertia of the remaining lamina about the given axis is 97 ma", The lamina is disturbed from rest and makes small oscillations about its position of stable equilibrium, b Find the period of these oscillations. A uniform square lamina ABCD of mass 4m and side 2a is free to rotate in a vertical plane about a fixed smooth axis through its centre perpendicular to the plane of the lamina, Particles of mass m are attached to vertices A and B of the lamina. The system is released from rest with AB vertical. Find the angular speed of the system when AB is horizontal. A uniform rod AB of mass 3m and length 4a lies at rest on a smooth horizontal plane. The rod is free to rotate about a fixed smooth vertical axis through its centre. A particle P of ‘mass m1 is moving on the table with speed w in a direction perpendicular to the rod. The particle strikes the rod at a distance a from B and rebounds from the rod with its speed half of its speed before the collision a Find the angular speed of the rod after the collision. b Show that there will not be a second collision between the rod and the partiCHAPTER 4 Summary of key points 1 The kinetic energy of a rigid body which is rotating with angular speed dis given by KE. I where / is the moment of inertia of the body about the axis of rotation. 2 When a rigid body is rotating, the gain in potential energy of the body is given by gain in PE. = mgh where m is the mass of the body and h the vertical height gained by its centre of mass. 3. When a rigid body is rotating about a smooth vertical axis with no external forces acting on the body, the sum of the potential and kinetic energies of the body will remain constant. 4 The equation of rotational motion states: L=T6 where L is the moment about the axis of rotation of the resultant force on the rotating body, Fis the moment of inertia of the body about the axis of rotation and @ is the angular acceleration of the body. 5 When a rigid body is rotating with constant angular acceleration a, 0, = wy + at on? = @? + Zab 6= ef + jar? oy + 93 where wy and @; are the initial and final angular speeds and @ is the angle turned through in time f, @ 6 Fora rigid body which is rotating about a fixed smooth axis, the force exerted by the body on the axis can be calculated by considering the motion of a particle of mass equal to that of the body placed at the centre of mass of the body moving under the action of the same forces as those acting on the body. 7 can be obtained by using the equation of rotational motion or by differentiating 6? with respect to 6. 8 The angular momentum of a rigid body rotating with angular speed d is given by angular momentum = 9 When there are no external forces with moments about the axis of rotation acting on a system the total angular momentum of the system remains constant.Rotation of a rigid body about a fixed smooth axisReview Exercise @ a Prove, using integration, that the 5 moment of inertia of a uniform rod, of mass m and length 2a, about an axis perpendicular to the rod through one end is ma’, b Hence, or otherwise, find the moment of inertia of a uniform square lamina, of mass M and side 2a, about an axis through one comer and perpendicular to the plane of the lamina, a Show, using integration, that the ‘moment of inertia of a uniform rod, of length 2) and mass m, about an axis through its centre and perpendicular to the rod is 4ml2, A uniform square plate, of mass M, has edges of length 2a b Find the moment of inertia of the plate about an axis through its centre perpendicular to the plane of the plate © Given that the moment of inertia of a uniform disc, of mass m and radius r, about an axis through the centre perpendicular to the disc is mr’, show by integration that the moment of inertia of a uniform solid circular cone, of base radius a, height fr and mass M, about its axis of symmetry is 5 Ma’. a Prove, using integration, that the moment of inertia of a uniform solid sphere, of mass M and radius r, about a diameter is ? Mr? (You may assume that the moment of inertia of a uniform disc, of mass m and radius a, about an axis through the centre perpendicular to the disc is } mu?) b Hence obtain the moment of inertia of a solid hemisphere, of mass m and radius r, about a diameter of its plane face. © A uniform square lamina ABCD, of mass ‘mand side 2a, is free to rotate in a vertical plane about an axis through its centre 0. Particles, each of mass m, are attached at the points A and B. The system is released from rest with AB vertical.Show that the angular speed of the square when AB is horizontal is ($8) eo Auniform rod AB, of mass m and length 2a, is free to rotate in a vertical plane about a smooth horizontal axis through A and perpendicular to the plane. The rod hangs in equilibrium with B below A. The rod is rotated through a small angle and released from rest at time t= 0. a Show that the motion Is approximately simple harmonic. b Using this approximation, find the time ¢ when the rod is first vertical after being released. A uniform lamina of mass im is in the shape of a rectangle PQRS, where PQ = 8a and QR = 6a. a Find the moment of inertia of the lamina about the edge PQ. P, Q Figure i ‘The flap on a letterbox is modelled as such a lamina. The flap is free to rotate about an axis along its horizontal edge PQ, as shown in the figure. The flap is released from rest ina horizontal position. It then swings down into a vertical position. b Show that the angular speed of the flap as it reaches the vertical position s) is/(¥). ¢ Find the magnitude of the vertical component of the resultant force of the axis PQ on the flap, as it reaches the vertical position. Auniform circular disc has mass m and radius a. The disc can rotate freely about an axis that is in the same plane as the disc and tangential to the disc at a point A on its circumference. The disc hangs at rest in equilibrium with its centre O vertically below A. A particle P of mass m is moving horizontally and perpendicular to the disc with speed (ga), where k is a constant. The particle then strikes the disc at O and adheres to it at 0. Given that the disc rotates through an angle of 90° before first coming to instantaneous rest, find the value of k. Arod AB, of length 2a and mass 2m, lies at rest on a smooth horizontal table and is pivoted about a smooth vertical axis through A. A small body of mass i, moving on the table with speed Vat right angles to the rod, strikes the rod at a distance d from A. Given that the body sticks to the rod after impact, find the angular speed with which the rod starts to move. The figure shows a pulley in the form of a uniform disc of mass 2m, centre , and radius a. The pulley is free to rotate in a vertical plane about a fixed smooth horizontal axis through O. A light inextensible string has one end attached toa point on the rim of the pulley and is wrapped several times round the rim, ‘The portion of the string which is notwrapped round the pulley is of length 4a and has a particle P of mass m attached to its free end. P is held close to the rim of the disc and level with O, with the disc at rest. The particle P is released from rest in this position. Determine the angular speed of the disc immediately after the string becomes taut. @® A uniform circular disc, of mass m and radius r, has a diameter AB. The point C on ABis such that AC = !r. The disc can rotate freely ina vertical plane about a horizontal axis through C, perpendicular to the plane of the disc, The disc makes small oscillations in a vertical plane about the position of equilibrium in which B is below A. a Show that the motion is approximately simple harmonic, b Show that the period of this approximate simple harmonic motion CB makes an angle a with the downward vertical, ¢ Find an approximate value ofa. @ A uniform circular disc, of mass m, radius a and centre O, is free to rotate ina vertical plane about a fixed smooth horizontal axis. The axis passes through the mid-point A of a radius of the disc. a Find an equation of motion for the disc when the line AO makes an angle 6 with the downward vertical through 4. b Hence find the period of small oscillations of the disc about its position of stable equilibrium. When the line AO makes an angle @ with the downward vertical through A, the force acting on the disc at A is F. © Find the magnitude of the component, of F perpendicular to AO. R A thin uniform rod PQ has mass m and length 3a. A thin uniform circular disc, of mass m and radius a, is attached to the rod at Q in such a way that the rod and the diameter QR of the disc are in a straight line with PR = Sa. The rod together with the disc form a composite body, as shown in the figure. The body is free to rotate about a fixed smooth horizontal axis L through P, perpendicular to PQand in the plane of the disc. a Show that the moment of inertia of the body about Lis 77", When PR is vertical, the body has angular speed w and the centre of the disc strikes a stationary particle of mass 3m. Given that the particle adheres to the centre of the disc, b find, in terms of w, the angular speed of the body immediately after the impact, Athin uniform rod AB, of mass Mand length 2L, is freely pivoted at A. The rod hangs vertically with B below A. A particle of mass 5M, travelling horizontally withspeed u, strikes the rod at B. After this impact the particle is at rest and the rod starts to move with angular speed o. = Bu, 4D The rod comes to instantaneous rest when AB is inctined at an angle arccos(}) to the downward vertical. a Show that w b Find w in terms of L and g. oe A D B c The figure shows four uniform rods, each of mass m and length 2a, rigidly fixed together to form a square framework ABCD. The framework is free to rotate about a fixed smooth horizontal axis which passes through A and is perpendicular to the plane ABCD. a Find the moment of inertia of the framework about this axis. b Show, that for small oscillations of the framework about its position of equilibrium with C below A, the period of oscillation of the motion is @ (5v2)a anf Sez. @ A uniform square lamina ABCD, of mass mand side 2a, is free to rotate in a vertical plane about a fixed smooth horizontal axis L which passes through A and is perpendicular to the plane of the lamina. ‘The moment of inertia of the lamina about £ is 5° Given that the lamina is released from rest when the line AC makes an angle of 7 with the downward vertical, a find the magnitude of the vertical component of the force acting on the lamina at A when the line AC is vertical. Given instead that the lamina now makes small oscillations about its position of stable equilibrium, b find the period of these oscillations. @ @ A uniform rod 8, of length 2a and mass m, can rotate freely about a fixed horizontal axis through A. A particle of mass mis attached at B. When AB is, vertical, with B below A, the system has ) a Show that, when AB is horizontal, 3 (24) aia b Find the horizontal component of the force exerted by the rod on the axis when AB is horizontal. 3 angular speed 3 |Z its angular speed is Particles P and Q have mass 3m and m respectively. Particle P is attached to one end of a light inextensible string and Q is attached to the other end. The string passes over a circular pulley which can freely rotate in a vertical plane about a fixed horizontal axis through its centre 0. The pulley is modelled as a uniform circular disc of mass 2un and radius a. The pulley is sufficiently rough to prevent the string slipping. The system is at rest with the string taut. A third particle R of mass mm falls freely under gravity from rest for a distance a before striking and adhering to Q Immediately before R strikes Q, particles P and Q are at rest with the string taut. a Show that, immediately after R strikes Q the angular speed of the pulley is (&.-When R strikes Q, there is an impulse in the string attached to Q b Find the magnitude of this impulse, Given that P does not hit the pulley, € find the distance that P moves upwards before first coming to instantaneous rest. A uniform circular disc of mass m and radius ris free to rotate about a fixed smooth horizontal axis perpendicular to the plane of the disc and at a distance }r from the centre of the disc. The disc is” held at rest with the centre of the disc vertically above the axis. Given that the disc is slightly disturbed from its position of rest, find the magnitude of the force on the axis when the centre of the disc is in the horizontal plane of the axis. © A uniform tod AB, of mass m and length 2a, is free to rotate in a vertical plane about a fixed smooth horizontal axis through A. The rod is hanging in equilibrium with B below A when it is hit by a particle of mass m moving horizontally with speed v in a vertical plane perpendicular to the axis. The particle strikes the rod at B and immediately adheres to it. a Show that the angular speed of the rod immediately after the impact is 8a" Given that the rod rotates through 120° before first coming to instantaneous rest, b find vin terms of a and g, € find, in terms of m and g, the magnitude of the vertical component of the force acting on the rod at A immediately after the impact. @® A uniform lamina, of mass m, has the form of a quadrant of a circle radius a. a Show, by integration, that the moment of inertia of the lamina about an axis | perpendicular to the plane of the lamina and through the centre of the circle of which it is part, is ma, The lamina is free to rotate about J, which is horizontal, and when the centre of mass of the lamina is immediately below the axis of rotation the angular speed is 0. by Determine whether the lamina makes complete revolutions in the cases in Auniform rod AB, of length 2a and mass 6m, has a particle of mass 2m attached at B. The rod is free to rotate in a vertical plane about a smooth fixed vertical axis perpendicular to the rod and passing through a point X of the rod so that AX = x, where x < a. a Show that the moment of inertia of the system about this axis is Am(4a? — Sax + 2x”), b Find the period of small oscillations of the system about its equilibrium position with B below A. A body consists of two uniform circular discs, each of mass nt and radius a, with a uniform rod. The centres of the discs are fixed to the ends A and B of the rod, which has mass 3mm and length 8a. The discs and the rod are coplanar, as shown in the figure. The body is free to rotate ina vertical plane about a smooth fixed horizontal axis. The axis is perpendicular to the plane of the discs and passes through the point of the rod, where AO = 3a.a Show that the moment of inertia of the body about the axis is S4ma. The body is held at rest with AB horizontal and is then released. When the body has turned through an angle of 30°, the rod AB strikes a small fixed smooth peg P where O. a. Given that the body rebounds from the peg with its angular speed halved by the impact, b show that the magnitude of the impulse exerted on the body by the peg {[Sga\ at the impact is 9ny (=£") e a Show that the moment of inertia of a uniform solid right circular cone, of mass m, height hr and base radius 4a, about a line through its vertex and perpendicular to its axis of symmetry is El 20° (You may assume that the moment of inertia of a uniform circular disc, of mass Mand radius R, about a diameter is !MR°.) m(a? + 4h?) Aone, with h = 2a, is free to rotate about a smooth horizontal axis through its vertex, b Find the period of small oscillations under gravity about the stable position of equilibrium, <0 > ens —— > A rough uniform rod, of mass m and length 4a, is held on a rough horizontal table, The rod is perpendicular to the edge of the table and a length 3a projects horizontally over the edge, as shown in the figure. a Show that the moment of inertia of the rod about the edge of the table na. ® a Show, by integra The rod is released from rest and rotates about the edge of the table. When the rod has turned through an angle 6, its angular speed is 6, Assuming that the rod has not started to slip, b show that 6? = S8sin@ Ja ¢ find the angular acceleration of the rod, find the normal reaction of the table on the rod. ‘The coefficient of friction between the rod and the edge of the table is 4. ¢ Show that the rod starts to slip when tang = fm nn, that the moment of inertia of a uniform circular disc, of mass M and radius @, about an axis which passes through its centre and is perpendicular to its plane is Ma? b Without further integration, deduce the moment of inertia of the i about an axis perpendicular to its plane and passing through a point on its circumference, about a diameter. A uniform disc, of mass M and radius a, is suspended from a smooth pivot on its circumference and rests in equilibrium. © Calculate the period of small oscillations when the centre of the disc is slightly displaced in the plane of the disc, ii perpendicular to the plane of the disc. A uniform plane circular disc, of mass 1 and radius a, hangs in equilibrium from a point B on its circumference. The disc is free to rotate about a fixed smooth horizontal axis which is in the plane of the disc and tangential to the disc at B. A patticle P, of mass m, is movinghorizontally with speed win a direction which is perpendicular to the plane of the disc, At time f = 0, P strikes the disc at its centre and adheres to the disc, a Show that the angular speed of the disc immediately after it has been struck by 4u Pis ot. It is given that u? = jag, and that air resistance is negligible. b Find the angle through which the disc turns before it first comes to instantaneous rest. The disc first returns to its initial position at time f= T. ¢ i Write down an equation of motion for the disc. ii Hence find T in terms of a, g and m, using a suitable approximation which should be justified. ©) Four uniform rods, each of mass m and length 2a, are joined together at their ends to form a plane rigid square framework ABCD of side 2a. The framework is free to rotate in a vertical plane about a fixed smooth horizontal axis through A. The axis is perpendicular to the plane of the framework. a Show that the moment of inertia of the 40ma? 3 The framework is slightly disturbed from rest when C is vertically above A. Find framework about the axis is b the angular acceleration of the framework when AC is horizontal, © the angular speed of the framework when AC is horizontal, the magnitude of the force acting on the framework at A when AC is horizontal. ® a Prove, using integration, that the moment of inertia of a uniform circular disc, of mass m and radius a, about an axis through its centre O perpendicular to the plane of the disc is $a”. The line AB is a diameter of the disc and P is the mid-point of OA. The disc is free to rotate about a fixed smooth horizontal axis L. The axis lies in the plane of the disc, passes through P and is perpendicular to OA. A particle of mass m is attached to the disc at A and a particle of mass 2m is attached to the disc at B, b Show that the moment of inertia of the loaded disc about L is 2! ima”, Attime f = 0, PB makes a small angle with the downward vertical through P and the loaded disc is released from rest. By obtaining an equation of motion for the disc and using a suitable approximation, ¢ find the time when the loaded disc first comes to instantaneous rest. o ©) 4 uniform lamina of mass m7 is in the shape of an equilateral triangle ABC of perpendicular height hi. The lamina is free to rotate in a vertical plane about a fixed smooth horizontal axis L through A and perpendicular to the plane of the lamina. a Show, by integration, that the moment of inertia of the lamina about Lis 3m, The centre of mass of the lamina is G. ‘The lamina is in equilibrium, with G below A, when itis given an angular speed {{ £5) speed y (5p) b Find the angle between AG and the downward vertical, when the lamina first comes to rest. © Find the greatest magnitude of the angular acceleration during the motion. @D To the end B of a thin uniform rod AB, of length 3a and mass m, is attached a thin uniform circular disc, of radius a and‘mass m, so that the rod and the diameter BC of the disc are in a straight line and AC = Sa. a Show that the moment of inertia of this composite body, about an axis through A and perpendicular to AB and in the plane of the disc, is Za”. The body is held at rest with the end A smoothly hinged to a fixed pivot and with the plane of the disc horizontal. The body is released and has angular speed w when AC is vertical. b Find o in terms of a and g. When AC is vertical, the centre of the dise strikes a stationary particle of mass 3m. Given that the particle adheres to the centre of the disc, © show that the angular speed of the body immediately after impact is ow. a Prove, by integration, that the moment of inertia of a uniform rod, of mass m and length a, about an axis through its mid-point and perpendicular to the rod 2 ma’ ig Ma 12 Four uniform rods AB, BC, CD and DA, each of length a, are rigidly joined to form. a square ABCD. Each of the rods AB, CD and DA has mass m and the rod BC has mass 3m. The rods are free to rotate about a smooth horizontal axis L which passes through A and is perpendicular to the plane of the square. b Show that the moment of inertia of the system about L is 6ma? and find the distance of the centre of mass of the system from A. The system is released from rest with AB horizontal and C vertically below B. ¢ Find the greatest value of the angular speed of the system in the subsequent motion. d Find the period of small oscillations of the system about the position of stable equilibrium, © A compound pendulum consists of a thin uniform rod AB, of length 2a and mass 3m, with a particle of mass 2m attached at B, The pendulum is free to rotate in a vertical plane about a horizontal axis 1 which is perpendicular to the rod through a point C of the rod, where AC=x," Smgsin © 33}rad bx Y= jgeose a tng 8 9 5) M80 - 45) 1b 4 horizontal zero vertial 2mg(Bv2 ~ 2) img H horizontal 22 = 1) vertical ng ImgAnswers Exercise 4C 7 ante 1 256Nms . 2 324Nms 8a 3 024 4b 27351) 9b Many @ MTF 3 a ddnds (2s) b Ist) _ 2s (97a 6 ag ow BF 7 b a8 ash) ns 8 2a ’ " 2 Exercise 4D 1a 32si2st) b 188258) © 11si@st) 2a O6imest) —& a7Eme2st) © 0.16m(2s1) 3 1z & 4 099m 2s.) wa 54 Mc 3O112dp) Gerace 2a i- 8 sinew 2e pads wd ae im Lid © Jmgsing fa 280 sane ve » » ’ » Sa a (4120 10 »e wb 29(82 sd " pw 2 b 9546s) 13 ie 21 ¥ lamina does not make complete qs (271s 120K2)/. revolutions 2412 + Sky H.lamina does make complete revolutions Mixed exercise 4€ 2» a 1 ards! 2st) a Sa 24 b 20/8 © \ 6g 2s « se a 416006 26 bi Mat ii LM? (ba Sa cine rec sas » Lee i Ve 27 b 85" (newest 0.) © Amgcose dd Sy ay sae 6 1S2kgm? (3s) oe Byea7 3gv2\* 310 © (222) Ong 238 3h ae +124 | Along AC mate + Stfeys 286 Peqpendicularto AC {mgsin yn isa awe of Answers see eum 38 7, «Sr Be ur mG ad 163m 40 a Sma? Aha? Sma? pee 7) 33e Examination style paper La -W+atk Bb 6L7Nmast) 2 264+ 0.2) Sk 343 _ stats 4) oe ‘231+ 2) 6 b Png (ala 7» 2/Gte 6m, » eaacceleration 85-9 accretion 37-8 additive rule 57-9, 61 angular momentum 92-8 conservation of 93-4 impulses causing rotation 92-8 angular velocity angular momentum 92-3, 95-6 force exerted on axis 85-9 kinetic energy 80 moments of inertia 51 rotations about axes 80, 85-9, 92-3, 95-6 annuli $7, 68 answers 121-5 arbitrary constant vectors 2-3, S7 Cartesian equations 8-9, 22 centre of mass 53, 67, 80, 86-8 CE (complementary function) 5,78 chain rule 35, 58, 87 circle ‘equation of 62 coefficients equating 8, 15, 21 column vectors 2-3, 13 complementary function (CE) 5,7-8 complex roots of equations 5 compound pendulums 98-9 cones 63-4 conservation of angular ‘momentum 93-4 conservation of energy 81-2 constant forces 11-12 couples 17-22 cross products 21-2 cylinders 61, 64, 71 determinant method vectors 13 difference of two squares 57 differential equations first order 2-S second order 5-10 variable mass 29-38, vectors 2-10 differentiation differential equations 2-10, 29-38 rotations about axes 86-8, 90 discs ‘moments of inertia 54-5, 63-4, 67-9, 71 rotations about axes 81-2, 88-90, 94-6, 100-1 displacement vectors L112 distance formula 89 divers 50 dot products 11 energy 80-4 conservation of 81-2 Kinetic 37, 80-4 potential 80-4 ‘equating coefficients 8, 15, 21 ‘equation of rotational motion 85-8, 90 equations Cartesian 8-9, 22 complex roots 5 differential 2-10, 29-38 quadratic 5 rotational motion 85-8, 90 vectors 2-10, 22 equivalence of systems of forces 1721 equivalent simple pendulum 99-101 examination style paper 118-20, 125 factorisation 57 figure skaters SO first order differential equations 25 first principles starting from 33 forces constant 11-12 exerted on/by axis 85-92 F= ma 85-9 skewed 18 vectors 11-24 see also systems of forces gyration radius of 63-4, 68 hoops ‘moments of inertia $2, 55, 63, 66 rotations about axes 80 identities vectors 7-8 impulses 92-8 impulse-momentam principle 29-42 impulsive moments 93, 95 inertia see moments of inertia integration by parts 59 ‘moments of inertia 53-5, 58-9, 61-2, 71 rotations about axes 93 variable mass 34, 36-8 inverse chain rule 58 joules 11 kinetic energy (K-E.) 37, 80-4 laminae moments of inertia $8-61, 64, 68-71perpendicular axes theorem 68-71 rectangular 60-1, 64, 70 square 70-1 length proportional to mass 52 Maclaurin series 98 mass centre of 53, 67, 80, 86-8 F= ma 85-9 ‘moments of inertia 51-3, 53, 0 proportional to length 52 proportional to volume 35 variable 28-42 MAL. see moments of inertia moments impulsive moments 93, 95 of inertia 50-82, 85, 89, 93, 95, 99-101 magnitude 12-14 vector moments 12-17, 20, 22, ‘moments of inertia (M.1.) 50-78 about axes $1-60 additive rule $7-9, 61 angular momentum 93, 95 angular velocity 51 annuli $7, 68 cones 63-4 cylinders 61, 64, 71 discs 54-5, 63-4, 67-9, 71 force exerted on axis 85, 89 formula 51 gyration radius 63-4, 68 hoops 52, 55, 63, 66 integration 53-5, 58-9, 61-2, n kinetic energy 80-2 laminae 58-61, 64, 68-71 parallel axes theorem 66-8 pendulums 99-101 perpendicular axes theorem 68-71 potential energy 80-2 radius of gyration 63-4, 68 rods 52-7, 59, 67 rotations about axes 79-82, 85, 89, 93, 95, 99-101 spheres 62-4, 66 standard results 52-5, 58, 60-7, 70, 7 stretch rule 61-2 units 51 ‘momentum angular 92-8 impulse-momentum principle 29-42 Newton's third law 86-8, 93 parallel axes theorem 66-8, 80-1, 101 particular integral (PL) 5, 7-8 pendulums 79, 98-101 petiods of pendulums 79, 98-101 perpendicular axes theorem 68-71 PLL (particular integral) 5, 7-8 position vectors 2, 13-15, 22, 86 potential energy 80-4 principle of conservation of angular momentum 93-4 principle of conservation of energy 81-2 prisms 62, product rule 6 pulleys 81-2, 88-9, 95-6 Pythagoras’ theorem 14, 56-7, 68,71 ‘quadratic equations § radius of gyration 63-4, 68 rectangular laminae 60-1, 64, 70 resistance to motion 32 review exercises 43-9, 108-17, 122, 124-8 rigid bodies ‘moments of inertia 50-78 rotations about axes 79-107 rods ‘moments of inertia 52-7, 59, 67 rotations about axes 81, 94, 100-1 rotations about axes 79-107 angular momentum 92-8 differentiation 86-8, 90 discs 81-2, 88-90, 94-6, 100-1 INDEX equation of rotational motion 85-8, 90 F= ma 85-9 force exerted on axis 85-92 force exerted by axis 86-90 hoops 80 impulses 92-8 integration 93 Kinetic energy 80-4 MIL. 79-82, 85, 89, 93, 95, 99-101 pendulums 79, 98-101 potential energy 80-4 pulleys 81-2, 88-9, 95-6 rigid bodies 79-107 rods 81, 94, 100-1 vectors 86 scalar products 11 scalar quantities 2 second order differential equations 5-10 simple harmonic motion 98-9 simple pendulums 98-9 skaters 50. skewed forces 18, speed angular 51, 80, 85-9, 92-3, 95-6 variable mass 29-38, spheres 62-4, 66 square laminae 70-1 stretch rule 61-2 systems of forces 17-24 2. dimensions 17 3 dimensions 18 couples 17-22 in equilibrium 17-19 equivalence 17-21 identifying forms 18-19 single force 17-19, 21 skewed forces 18, vectors 17-24 tight rope walkers 50 trigonometry ‘moments of inertia $3-4, 57 periods of pendulums 98-101 rotations about axes 98-101 turning effects of forces 12-161Noex variable mass 28-42 accretion 37-8 lifferential equations 29-38 first principles 33 impulse-momentum principle 29-42 integration 34, 36-8 ‘mass proportional to volume 35, resistance to motion 32 vectors 1-27 applications 1-27 arbitrary constant 2-3, 5-7 auxiliary equations 5-6 couples 17-22 cross products 21-2 differential equations 2-10 moments of couples 17, 20 moments of forces about point 12-17, 20, 22 position vectors 2, 13-15, 22, 86 rotations about axes 86 systems of forces 17-24 vector products 14-15 work done by constant force 12 zero vectors 5, 14 velocity angular 51, 80, 85-9, 92-3, 95-6 volume ‘mass proportional to 35, work done vectors 11-12, Work-Energy Principle 11 zero vectors §, 14