Angular Momentum
● Vector cross products
● Torque
● Rotation
● Angular Momentum
Vector Cross Products
Recall from our discussion of vectors that
there are two ways to multiply them.
There's the scalar (or dot) product which results in a number
⋅r
W =F work has magnitude, but no direction
There's also the vector (or cross) product which results in
another vector
The result of A x B is another vector C
A×
C= B
which has both magnitude and direction
The direction of C is simultaneously perpendicular to
both A & B
Physics 10310, Spring '13
Vector Product
a ×
b=ab sin n
The magnitude of the cross product of
a and b is the magnitudes of a & b and
the sine of the angle between them
The direction you can get from our old friend ...
Physics 10310, Spring '13
The Right-Hand Rule
Alternate RHR... lay your
fingers along a and then curl
them in the direction of b.
Either way, now do the
same thing for
b×a
Notice that when you do
that, your thumb points in
the opposite direction
Physics 10310, Spring '13
Vector Product Properties
the cross-product is non-commutative
=−
A ×B B×
A Reversing the order yields the same
magnitude in the opposite direction.
C
A× B =
A× B
A× C the cross-product is distributive
B
if A∥ then A×
B=
0 0
A× A=
d d A dB Product rule for derivatives
A × B = × B A × works on the cross product
dt dt dt
Physics 10310, Spring '13
Just for the record...
∣ ∣
i j k =a x , a y , a z
A
= a x a y az
A ×B =b x , b y , b z
B
b x b y bz
=a y b z −a z b y i −a x b z −a z b x ja x b y −a y b x z
k =0
i × i = j× j= k×
i × j=− j× i= k j× k =−k × j= i i=− i × k=
k× j
Physics 10310, Spring '13
Torque
A force applied at some distance from a
pivot point tends to produce a rotation about
the pivot. This is torque. The distance r from
F
the pivot point P is known as the moment
Fy
arm or lever arm
=r × F
P
∣=r F sin
∣ r Fx
direction of the torque can
be obtained from the right-
hand rule or computed
directly
=r i ×F x iF y j=r F y i × j=r F y k
=r × F
Physics 10310, Spring '13
Torque
The units of torque are [length] x [force]
In english units this is a foot – pound
Not to be confused with the units of
work which are pound – feet (ouch!)
The SI unit of torque is mN which is ambiguous with
milli-Newtons or Nm (Newton – meters = J) which is
ambiguous with work and energy. This is not a
coincidence since 1 Nm of torque applied for one full
rotation requires exactly 2π J of work. E=
SI recommendation is to use the Newton-meter for torque and the Joule for work/energy
Physics 10310, Spring '13
Torque
=r × F
d p
Newtons' 2 Law F =
nd
dt
d r d r
= v × p =m v × v = 0
dt dt
d p d r d
= r ×
× p = r × p
dt dt dt
Physics 10310, Spring '13
Angular Momentum
d This looks very similar d p
= r × p
to Newtons' 2nd Law for
F=
dt dt
translational motion
L≡r ×p L is the angular momentum of an
object moving along a curved path
Rotational form of Newtons' 2nd Law
d L The torque resultant on an object is
=
dt equal to the rate of change of
angular momentum in time.
Physics 10310, Spring '13
Angular Momentum
∣L∣=r p sin =mvr sin
The direction of the angular
momentum comes from the right-
hand rule, and will be in the same
direction as the angular velocity
Physics 10310, Spring '13
Angular Momentum
for a system of particles the total angular
momentum of the system is the sum of the
angular momenta of the particles
LT = i L
i d LT i
dL
= i = i i
dt dt
d⃗LT d ⃗pT
Σ ⃗τ ext = which is the rotational analog of ⃗ ext =
ΣF
dt dt
If we integrate the external torque over time
We get the impulse – angular
∫ Σ ⃗τ ext dt =Δ ⃗LT momentum theorem which is analogous
to the impulse – momentum theorem
for translational motion Physics 10310, Spring '13
Angular Momentum
is a statement of the conservation of angular
d⃗LT momentum. That is, angular momentum does not
Σ ⃗τ ext =
dt change unless something (external) is done to
make it change.
Conservation of angular momentum is a statement that is just as
important to physics as conservation of energy & conservation of
(linear) momentum
Notice that this is true regardless of what the center-of-mass of
the body is doing.
Physics 10310, Spring '13
Rigid Body Rotation
A rigid body can be treated as a system of particles
of infinitesimal mass whose position with respect to
the other particles in the system doesn't change.
for a particle in circular motion
2
L=mvr sin 90 ˚ L=mvr L=mr
For a rotating body
LT = i Li = i mi r i =I
2
which confirms the assertion that angular momentum
is in the same direction as angular velocity
Physics 10310, Spring '13
Rigid Body Rotation
LT =I
d L⃗T dω
⃗
=I ⃗ =Σ ⃗τ ext
=I α
dt dt
The angular acceleration of an object
is the result of a net torque applied to it
So if we apply a torque to the disk in the
picture in the direction that it's rotating (F
is parallel to v), the angular acceleration
tends to increase the angular velocity and
the angular momentum. If F is anti-parallel
to v then it will tend to slow down the
rotation
Physics 10310, Spring '13
Isolated System
If the net external torque acting on a
system is zero the angular momentum
is constant (in magnitude and direction)
d LT
ext =0= Lf = L
i
dt
This is an alternate way to state
conservation of angular momentum.
Implies that I f f =I i i
(so what! Moments of inertia are constant right?)
Physics 10310, Spring '13
Conservation of Angular Momentum
This is why an ice skater who
brings in her arms while spinning
spins faster. Her moment of
inertia is dropping (reducing the
moment arm) so her angular
velocity increases to keep the
angular momentum constant
Physics 10310, Spring '13
Conservation of Angular Momentum
It's also what makes a gyroscope function
A pilot can tell the attitude (pitch &
yaw) of his airplane from a gyroscope
even if he can't see outside. As the
plane rotates on it's axis the
gyroscope counter-rotates to
compensate
A spacecraft can be
turned by turning a
gyroscope so that the
spacecraft counter-
rotates
Physics 10310, Spring '13
Example (Prob 11.21)
A ball of mass m is attached to the end of a
flagpole which is connected to the side of a
building. The length of the pole is l and it
makes an angle θ with the horizontal. The
ball becomes loose & begins to fall with an
acceleration -gj.
a) What is the angular momentum of the ball
about the point P as a function of time?
1 2 ̂i + ̂ 1 2̂
⃗r =⃗ r i+ v⃗i+
2
a
⃗ t =(l cos(θ) l sin (θ) j)− 2 g t j
v i+ ⃗a t =−g t ̂j
⃗v =⃗
L=r ×p =ml cos− 1 g t i× j=−mglt cos k
2
Physics 10310, Spring '13
Example (Prob 11.21)
A ball of mass m is attached to the end of a
flagpole which is connected to the side of a
building. The length of the pole is l and it
makes an angle θ with the horizontal. The
ball becomes loose & falls with an
acceleration -gj.
b) What physical reason is there for the balls
angular momentum to be changing?
The earth is exerting a torque (through gravity) on the
ball. Since the external torque is non-zero the rate of
change of angular momentum is non-zero
Physics 10310, Spring '13
Example (Prob 11.21)
A ball of mass m is attached to the end of a
flagpole which is connected to the side of a
building. The length of the pole is l and it
makes an angle θ with the horizontal. The
ball becomes loose & falls with an
acceleration -gj.
c) What is the rate of change of the angular
momentum of the ball about the point P?
d L d
= −mglt cos k =−mgl cos k
dt dt
Physics 10310, Spring '13
Example (Prob 11.21+)
A ball of mass m is attached to the end of a
flagpole which is connected to the side of a
building. The length of the pole is l and it
makes an angle θ with the horizontal. The
ball becomes loose & falls with an
acceleration -gj.
d) What is the torque on the ball due to gravity
about the point P?
=r × F
=l cos i l sin k ×−mg j
=−l cosmg i × j=−mgl cos k
d L
=
dt Physics 10310, Spring '13
Objective Question 1
Is it possible to calculate the torque acting on an object without
specifying an axis of rotation?
No.
Is the torque independent of the location of the axis of rotation?
No. An axis must be specified, and the moment
arm is measured from the axis so the value of
the torque depends on the choice of the axis
Physics 10310, Spring '13
Objective Question 2a
Vector A is in the negative y direction, and
vector B is in the negative x direction.
What is the direction of A x B?
a) No direction, it's a scalar
b) x
c) -y
d) z
e) -z
Physics 10310, Spring '13
Objective Question 2b
Vector A is in the negative y direction, and
vector B is in the negative x direction.
What is the direction of B x A?
a) No direction, it's a scalar
b) x
c) -y
d) z
e) -z
Physics 10310, Spring '13
Objective Question 3a
Consider three perpendicular directions. Right, up, & toward
you, with unit vectors r, u, t, respectively. Consider the quantity
(-3u x 2t)
The magnitude of this vector is
a) 6
b) 3
c) 2
d) 0
Physics 10310, Spring '13
Objective Question 3b
Consider three perpendicular directions. Right, up, & toward
you, with unit vectors r, u, t, respectively. Consider the quantity
(-3u x 2t)
The direction of this vector is
a) down
b) toward you
c) up
d) away from you
e) left
Physics 10310, Spring '13
Objective Question 5
An ice skater starts a spin with her arms stretched out to
the sides. She balances on the tip of one skate to turn
(without friction since she's a physics ice skater and
knows how to do such things). She then pulls her arms in
so that her moment of inertia decreases by a factor of 2.
Her kinetic energy
a) increases by a factor of 4 Her angular momentum
b) increases by a factor of 2 remains constant. So as I
c) remains constant decreases by 2 ω increases
d) decreases by a factor of 2 by 2 and ½ Iω2 doubles
e) decreases by a factor of 4
Physics 10310, Spring '13
Objective Question 6a
A pet mouse sleeps near the eastern edge of a turntable* that
is supported by a frictionless, vertical axle through its center.
The mouse wakes up and starts to walk north on the turntable.
As the mouse takes its first steps, what is the direction of
its displacement relative to the stationary ground below?
a) north
b) south
c) none
* A prehistoric type of over-sized CD player that your parents used Physics 10310, Spring '13
Objective Question 6b
A pet mouse sleeps near the eastern edge of a turntable* that
is supported by a frictionless, vertical axle through its center.
The mouse wakes up and starts to walk north on the turntable.
As the mouse takes its first steps, what is the direction
of displacement of the spot on which it was sleeping
relative to the stationary ground below?
a) north The turntable counter-rotates
b) south clockwise underneath the
c) none mouses feet
* A prehistoric type of over-sized CD player that your parents used Physics 10310, Spring '13
Objective Question 6c
A pet mouse sleeps near the eastern edge of a turntable* that
is supported by a frictionless, vertical axle through its center.
The mouse wakes up and starts to walk north on the turntable.
In this process, is the mechanical energy of the system
(mouse+turntable) conserved?
No. The mouse converts chemical
energy into mechanical energy
which drives both of the motions.
* A prehistoric type of over-sized CD player that your parents used Physics 10310, Spring '13
Objective Question 6d
A pet mouse sleeps near the eastern edge of a turntable* that
is supported by a frictionless, vertical axle through its center.
The mouse wakes up and starts to walk north on the turntable.
Is the momentum of the system constant?
No. The turntable has zero linear
momentum while the mouse has a
little bit of linear momentum
northwards.
* A prehistoric type of over-sized CD player that your parents used Physics 10310, Spring '13
Objective Question 6e
A pet mouse sleeps near the eastern edge of a turntable* that
is supported by a frictionless, vertical axle through its center.
The mouse wakes up and starts to walk north on the turntable.
Is the angular momentum of the system constant?
Yes. Angular momentum is
constant with a value of zero
* A prehistoric type of over-sized CD player that your parents used Physics 10310, Spring '13
Objective Question 7a
Two ponies of equal mass are initially at diametrically
opposite points on the rim of a large horizontal turntable that
is rotating freely on a frictionless, vertical axle through its
center. They start walking toward each other across the
turntable
As they walk, what happens to the
angular speed of the turntable?
a) it increases
b) it decreases
c) it remains constant
Physics 10310, Spring '13
Objective Question 7b
Two ponies of equal mass are initially at diametrically
opposite points on the rim of a large horizontal turntable that
is rotating freely on a frictionless, vertical axle through its
center. They start walking toward each other across the
turntable
Is the mechanical energy of the
system (ponies+turntable) conserved?
No. The ponies must do work to push
themselves inward toward the center, so
the mechanical energy increases.
Physics 10310, Spring '13
Objective Question 7c
Two ponies of equal mass are initially at diametrically
opposite points on the rim of a large horizontal turntable that
is rotating freely on a frictionless, vertical axle through its
center. They start walking toward each other across the
turntable
Is the momentum of the system
(ponies+turntable) conserved?
Yes, the linear momentum stays constant
with a value of zero.
Physics 10310, Spring '13
Objective Question 7d
Two ponies of equal mass are initially at diametrically
opposite points on the rim of a large horizontal turntable that
is rotating freely on a frictionless, vertical axle through its
center. They start walking toward each other across the
turntable
Is the angular momentum of the
system (ponies+turntable) conserved?
Yes, the angular momentum has a non-
zero value, but there are no external
torques so it remains constant.
Physics 10310, Spring '13
Objective Question 8
Consider an isolated system moving through empty space.
The system consists of objects that interact with each other
and can change location with respect to one another. Which of
the following quantities can change over time.
a) the angular momentum of the system
b) the linear momentum of the system
c) both the linear & angular momentum of the system
d) neither the linear & angular momentum of the system
as long as no net external forces or torques act on the system,
linear and angular momentum are both conserved and do not
change over time
Physics 10310, Spring '13
Conceptual Question 1
If the torque acting on a particle about an axis through a
certain origin is zero, what can you say about its angular
momentum about that axis?
That the angular momentum about that axis is
conserved. You can conclude nothing about the
magnitude of the angular momentum about that axis
Physics 10310, Spring '13
Conceptual Question 2
A ball is thrown in such a way that it does not spin about its
own axis. Is the angular momentum of the ball zero about any
arbitrary axis?
No. The angular momentum about any axis which
is not along the path of the ball is non-zero.
Physics 10310, Spring '13
Conceptual Question 3
Why does a tightrope walker use a long pole to stay balanced?
Since the pole has a very large moment of
inertia about the tightrope, an imbalance will
produced a much smaller angular velocity
(rotation) allowing more time to regain
balance and not fall screaming to his death.
Physics 10310, Spring '13
Conceptual Question 4a
Two children are playing with a roll of paper towels. One child holds
the roll between the index fingers of her hands so that it is free to
rotate, and the second child pulls at constant speed on the free end
of the paper towels. As the child pulls the paper towels, the radius of
the roll of remaining towels decreases.
How does the torque on the roll change with time?
This is a torque due to friction, and the magnitude depends
on the normal force between the surfaces in contact. As
the weight of the roll decreases the frictional force
decreases leading to a decreasing torque.
Physics 10310, Spring '13
Conceptual Question 4b
Two children are playing with a roll of paper towels. One child holds
the roll between the index fingers of her hands so that it is free to
rotate, and the second child pulls at constant speed on the free end
of the paper towels. As the child pulls the paper towels, the radius of
the roll of remaining towels decreases.
How does the angular speed of the roll change in time?
The child is pulling at constant speed, as the radius of the
roll decreases the angular velocity will increase.
Physics 10310, Spring '13
Conceptual Question 4c
Two children are playing with a roll of paper towels. One child holds
the roll between the index fingers of her hands so that it is free to
rotate, and the second child pulls at constant speed on the free end
of the paper towels. As the child pulls the paper towels, the radius of
the roll of remaining towels decreases.
If the child suddenly jerks the paper towels with a large
force, is the towel more likely to break free from the others
when pulled from a nearly full or a nearly empty roll?
Approximate the roll as a cylinder, the its moment of inertia
is I = MR2 and the mass is is proportional to the area. So
the inertia is proportional to R4. If the roll is given a sudden
jerk, its angular acceleration may not be enough to get it
moving with the paper so it breaks. This is more likely
when the radius is large.
Physics 10310, Spring '13
Conceptual Question 5
Both torque & work are products of force and displacement.
How are they different. Do they have the same units?
Work done by a torque results in a change of rotational
kinetic energy, work done by a force results in a
change in translational kinetic energy. Both have
similar units: Nm = J
Physics 10310, Spring '13
Conceptual Question 6
In some motorcycle races the riders ride over small hills and the
motorcycle becomes airborne for a short time. If the racer keeps
the throttle open while airborne the motorcycle tends to nose
up. Why?
As the motorcycle leaves the ground the
drive wheel speeds up, and no external
torque is acting on it in the air so angular
momentum is conserved. As the angular
momentum of the wheel increases the *
frame counter-rotates – front up tail down.
* This..... will not end well. Physics 10310, Spring '13
Conceptual Question 7
Stars originate as large bodies of slowly rotating gas. Because of
gravity these clumps of gas slowly decrease in radius. What
happens to the angular speed of a star as it shrinks?
Since the star is isolated from external torques, its angular
momentum is conserved while it's compressing. As the
radius decreases the moment of inertia decreases and the
angular speed increases.
Physics 10310, Spring '13
Conceptual Question 8
A scientist arriving at a hotel asks a bellhop to carry a heavy
suitcase. When the bellhop rounds a corner the suitcase
suddenly swings away from him for some unknown reason.
The bellhop drops the suitcase & runs away. What might be in
the suitcase?
It might contain a gyroscope* If the gyroscope is
spinning about an axis passing horizontally
through the bellhop the force he applies to turn a
corner results in a torque that would make the
suitcase swing away.
* @#$(@#%_@#(% scientists! Physics 10310, Spring '13
Conceptual Question 9
If global warming continues over the next hundred years it is
possible that some polar ice could melt and the water will be
distributed closer to the equator.
(a) How would that change the moment of inertia of the earth?
(b) Would the duration of a day increase or decrease?
a) If mass moved from the pole to the equator it would
be moving away from the axis of rotation so the
moment of inertia would increase.
b) Since the earths angular momentum is
conserved, the day would be longer (by a couple of
nanoseconds).
Physics 10310, Spring '13
Conceptual Question 10
A cat usually lands on it feet regardless of how it
was dropped. A slow motion film of a cat falling
shows the upper half of its body twisting in one
direction. Why would the cat do this?
Since the cats angular momentum is
conserved rotating one half of it's body will
cause the other to rotate in the opposite
direction which allows the cat to get it's feet
underneath it
Physics 10310, Spring '13
