PHY F111: Mechanics, Oscillations and Waves

Physics Department

Module 1. Mechanics: Kinematics

A NGULAR M OMENTUM
 A NGULAR M OMENTUM

1 Definition for Point Particle

2 Torque

Radhika Vathsan, Physics@BITS-Goa, 2025

 Angular Momentum of a point particle

Definition:

Angular momentum Definition for Point Particle 3/10

 Angular Momentum of a point particle

Definition: Always referred to a specific point

Angular momentum Definition for Point Particle 3/10

 Angular Momentum of a point particle

Definition: Always referred to a specific point

−
→
r×p
LO = ⃗ ⃗

Angular momentum Definition for Point Particle 3/10

 Angular Momentum of a point particle

Definition: Always referred to a specific point

−
→
r×p
LO = ⃗ ⃗
= (ypz − zpy )î
+ (zpx − xpz )ĵ
+ (xpy − ypx )k̂

Angular momentum Definition for Point Particle 3/10

 Angular Momentum of a point particle

Definition: Always referred to a specific point

−
→
r×p
LO = ⃗ ⃗
= (ypz − zpy )î
+ (zpx − xpz )ĵ
+ (xpy − ypx )k̂

−
→
L = | L | = rp⊥ = r⊥ p

Angular momentum Definition for Point Particle 3/10

 Angular Momentum of a point particle

Definition: Always referred to a specific point

−
→
r×p
LO = ⃗ ⃗
= (ypz − zpy )î
+ (zpx − xpz )ĵ
+ (xpy − ypx )k̂

−
→
L = | L | = rp⊥ = r⊥ p
= rp sin θ = mvr sin θ

Angular momentum Definition for Point Particle 3/10

 Example 1: Particle in linear motion

Angular momentum Definition for Point Particle 4/10

 Example 1: Particle in linear motion

−
→
L about A

Angular momentum Definition for Point Particle 4/10

 Example 1: Particle in linear motion

−
→
L about A
−
→
r A × (m⃗
LA = ⃗ v) = 0

Angular momentum Definition for Point Particle 4/10

 Example 1: Particle in linear motion

−
→
L about A
−
→
r A × (m⃗
LA = ⃗ v) = 0

−
→
L about B

Angular momentum Definition for Point Particle 4/10

 Example 1: Particle in linear motion

−
→
L about A
−
→
r A × (m⃗
LA = ⃗ v) = 0

−
→
L about B
−
→
LB = ⃗ r B × (m⃗
v)

Angular momentum Definition for Point Particle 4/10

 Example 1: Particle in linear motion

−
→
L about A
−
→
r A × (m⃗
LA = ⃗ v) = 0

−
→
L about B
−
→
LB = ⃗ r B × (m⃗
v)
= mvrB sin θ î

Angular momentum Definition for Point Particle 4/10

 Example 1: Particle in linear motion

−
→
L about A
−
→
r A × (m⃗
LA = ⃗ v) = 0

−
→
L about B
−
→
LB = ⃗ r B × (m⃗
v)
= mvrB sin θ î
= mvb î

Angular momentum Definition for Point Particle 4/10

 Example 2: Conical Pendulum

Angular momentum Definition for Point Particle 5/10

 Example 2: Conical Pendulum
−
→
L about A

Angular momentum Definition for Point Particle 5/10

 Example 2: Conical Pendulum
−
→
L about A

Angular momentum Definition for Point Particle 5/10

 Example 2: Conical Pendulum
−
→
L about A

Angular momentum Definition for Point Particle 5/10

 Example 2: Conical Pendulum
−
→
L about A
−
→
L A = mvl sin β k̂

Angular momentum Definition for Point Particle 5/10

 Example 2: Conical Pendulum
−
→
L about A
−
→
L A = mvl sin β k̂
= mωl2 sin2 β k̂

Angular momentum Definition for Point Particle 5/10

 Example 2: Conical Pendulum
−
→
L about A
−
→
L A = mvl sin β k̂
= mωl2 sin2 β k̂
−
→
L about O

Angular momentum Definition for Point Particle 5/10

 Example 2: Conical Pendulum
−
→
L about A
−
→
L A = mvl sin β k̂
= mωl2 sin2 β k̂
−
→
r×p
L about O = ⃗ ⃗

Angular momentum Definition for Point Particle 5/10

 Example 2: Conical Pendulum
−
→
L about A
−
→
L A = mvl sin β k̂
= mωl2 sin2 β k̂
−
→
r×p
L about O = ⃗ ⃗
−
→
| L | = mvl = mωl2 sin β

Angular momentum Definition for Point Particle 5/10

 Example 2: Conical Pendulum
−
→
L about A
−
→
L A = mvl sin β k̂
= mωl2 sin2 β k̂
−
→
r×p
L about O = ⃗ ⃗
−
→
| L | = mvl = mωl2 sin β
Lz = L sin β = mωl2 sin2 β

Angular momentum Definition for Point Particle 5/10

 Example 2: Conical Pendulum
−
→
L about A
−
→
L A = mvl sin β k̂
= mωl2 sin2 β k̂
−
→
r×p
L about O = ⃗ ⃗
−
→
| L | = mvl = mωl2 sin β
Lz = L sin β = mωl2 sin2 β
L|| = L cos β
= mωl2 sin β cos β

Angular momentum Definition for Point Particle 5/10

 Example 2: Conical Pendulum
−
→
L about A
−
→
L A = mvl sin β k̂
= mωl2 sin2 β k̂
−
→
r×p
L about O = ⃗ ⃗
−
→
| L | = mvl = mωl2 sin β
Lz = L sin β = mωl2 sin2 β
L|| = L cos β
= mωl2 sin β cos β
−
→
L O precesses about z axis

Angular momentum Definition for Point Particle 5/10

 Example 2: Conical Pendulum
−
→
L about A
−
→
L A = mvl sin β k̂
= mωl2 sin2 β k̂
−
→
r×p
L about O = ⃗ ⃗
−
→
| L | = mvl = mωl2 sin β
Lz = L sin β = mωl2 sin2 β
L|| = L cos β
= mωl2 sin β cos β
−
→
L O precesses about z axis

Angular momentum Definition for Point Particle 5/10

 Torque: cause of change in angular momentum

Angular momentum Torque 6/10

 Torque: cause of change in angular momentum
−
→
dL d
= r×p
(⃗ ⃗)
dt dt

Angular momentum Torque 6/10

 Torque: cause of change in angular momentum
−
→
dL d
= r×p
(⃗ ⃗)
dt dt
d⃗
p
= v×p
⃗ r×
⃗ +⃗
dt

Angular momentum Torque 6/10

 Torque: cause of change in angular momentum
−
→
dL d
= r×p
(⃗ ⃗)
dt dt
d⃗
p
= v×p
⃗ r×
⃗ +⃗
dt

Angular momentum Torque 6/10

 Torque: cause of change in angular momentum
−
→
dL d
= r×p
(⃗ ⃗)
dt dt
d⃗
p
= v×p
⃗ r×
⃗ +⃗
dt
−
→
r× F
= ⃗

Angular momentum Torque 6/10

 Torque: cause of change in angular momentum
−
→
dL d
= r×p
(⃗ ⃗)
dt dt
d⃗
p
= v×p
⃗ r×
⃗ +⃗
dt
−
→
r× F
= ⃗
≡ ⃗
τ

Angular momentum Torque 6/10

 Torque: cause of change in angular momentum
−
→
dL d
= r×p
(⃗ ⃗)
dt dt
d⃗
p
= v×p
⃗ r×
⃗ +⃗
dt
−
→
r× F
= ⃗
≡ ⃗
τ
−
→
dL −
→
=⃗ r× F
τ =⃗
dt

Angular momentum Torque 6/10

 Torque: cause of change in angular momentum
−
→
dL d
= r×p
(⃗ ⃗)
dt dt
d⃗
p
= v×p
⃗ r×
⃗ +⃗
dt
−
→
r× F
= ⃗
≡ ⃗
τ
−
→
dL −
→
=⃗ r× F
τ =⃗ τ = |⃗
τ | = rF sin θ
dt
= r⊥ F = rF⊥

Angular momentum Torque 6/10

 Torque: cause of change in angular momentum
−
→
dL d
= r×p
(⃗ ⃗)
dt dt
d⃗
p
= v×p
⃗ r×
⃗ +⃗
dt
−
→
r× F
= ⃗
≡ ⃗
τ
−
→
dL −
→
=⃗ r× F
τ =⃗ τ = |⃗
τ | = rF sin θ
dt
= r⊥ F = rF⊥

τ = 0 =⇒ Conservation of angular momentum

⃗

Angular momentum Torque 6/10

 Example: Conical Pendulum

Torque about A:

Angular momentum Torque 7/10

 Example: Conical Pendulum

Torque about A: =0

Angular momentum Torque 7/10

 Example: Conical Pendulum

Torque about A: = 0 (Why?)

Angular momentum Torque 7/10

 Example: Conical Pendulum

Torque about A: = 0 (Why?)

−
→
dLA
=⇒ = 0
dt

Angular momentum Torque 7/10

 Example: Conical Pendulum

Torque about A: = 0 (Why?)

−
→
dLA
=⇒ = 0
dt
−
→
=⇒ L A = constant

Angular momentum Torque 7/10

 Example: Conical Pendulum

Torque about A: = 0 (Why?)

−
→
dLA
=⇒ = 0
dt
−
→
=⇒ L A = constant
Torque about O

Angular momentum Torque 7/10

 Example: Conical Pendulum

Torque about A: = 0 (Why?)

−
→
dLA
=⇒ = 0
dt
−
→
=⇒ L A = constant
Torque about O

⃗
τ O = mgl sin β

Angular momentum Torque 7/10

 Example: Conical Pendulum

Torque about A: = 0 (Why?)

−
→
dLA
=⇒ = 0
dt
−
→
=⇒ L A = constant
Torque about O
−
→
τ O = mgl sin β ⊥ L O
⃗

Angular momentum Torque 7/10

 Example: Conical Pendulum

Torque about A: = 0 (Why?)

−
→
dLA
=⇒ = 0
dt
−
→
=⇒ L A = constant
Torque about O
−
→
τ O = mgl sin β ⊥ L O
⃗

Angular momentum Torque 7/10

 Precession of L of Conical Pendulum

−
→
dL −
→
τ ⊥ L
=⃗
dt

Angular momentum Torque 8/10

 Precession of L of Conical Pendulum

−
→
dL −
→
τ ⊥ L
=⃗
dt

−
→ − →
∆L ⊥ L

Angular momentum Torque 8/10

 Precession of L of Conical Pendulum

−
→
dL −
→
τ ⊥ L
=⃗
dt

−
→ − →
∆L ⊥ L
−
→
L has constant magnitude
but direction circles about the z−axis: precession

Angular momentum Torque 8/10

 Precession of L of Conical Pendulum

−
→
dL −
→
τ ⊥ L
=⃗
dt

−
→ − →
∆L ⊥ L
−
→
L has constant magnitude
but direction circles about the z−axis: precession
∆L = L cos θ∆ϕ
= τ ∆t

Angular momentum Torque 8/10

 Precession of L of Conical Pendulum

−
→
dL −
→
τ ⊥ L
=⃗
dt

−
→ − →
∆L ⊥ L
−
→
L has constant magnitude
but direction circles about the z−axis: precession
∆L = L cos θ∆ϕ
= τ ∆t

∆ϕ
Precession frequency ΩP =
∆t

Angular momentum Torque 8/10

 Precession of L of Conical Pendulum

−
→
dL −
→
τ ⊥ L
=⃗
dt

−
→ − →
∆L ⊥ L
−
→
L has constant magnitude
but direction circles about the z−axis: precession
∆L = L cos θ∆ϕ
= τ ∆t

∆ϕ τ
Precession frequency ΩP = = =ω
∆t L cos θ

Angular momentum Torque 8/10

 Eg: Angular Momentum Conservation
Kepler’s 2nd Law for Motion of a planet (under gravity)

Angular momentum Torque 9/10

 Eg: Angular Momentum Conservation
Kepler’s 2nd Law for Motion of a planet (under gravity)

−
→ GM m −
→
F gr = − 2
r̂ =⇒ ⃗ r × F gr = 0
τ gr = ⃗
r

Angular momentum Torque 9/10

 Eg: Angular Momentum Conservation
Kepler’s 2nd Law for Motion of a planet (under gravity)

−
→ GM m −
→
F gr = − 2
r̂ =⇒ ⃗ r × F gr = 0
τ gr = ⃗
r

Planetary motion is torque free:

Angular momentum Torque 9/10

 Eg: Angular Momentum Conservation
Kepler’s 2nd Law for Motion of a planet (under gravity)

−
→ GM m −
→
F gr = − 2
r̂ =⇒ ⃗ r × F gr = 0
τ gr = ⃗
r
−
→
Planetary motion is torque free: L constant, ⊥ orbit plane.

Angular momentum Torque 9/10

 Eg: Angular Momentum Conservation
Kepler’s 2nd Law for Motion of a planet (under gravity)

−
→ GM m −
→
F gr = − r̂ =⇒ ⃗ r × F gr = 0
τ gr = ⃗
r2
−
→
Planetary motion is torque free: L constant, ⊥ orbit plane.

Angular momentum Torque 9/10

 Eg: Angular Momentum Conservation
Kepler’s 2nd Law for Motion of a planet (under gravity)

−
→ GM m −
→
F gr = − r̂ =⇒ ⃗ r × F gr = 0
τ gr = ⃗
r2
−
→
Planetary motion is torque free: L constant, ⊥ orbit plane.

∆A =

Angular momentum Torque 9/10

 Eg: Angular Momentum Conservation
Kepler’s 2nd Law for Motion of a planet (under gravity)

−
→ GM m −
→
F gr = − r̂ =⇒ ⃗ r × F gr = 0
τ gr = ⃗
r2
−
→
Planetary motion is torque free: L constant, ⊥ orbit plane.

1
∆A = r∆r
2

Angular momentum Torque 9/10

 Eg: Angular Momentum Conservation
Kepler’s 2nd Law for Motion of a planet (under gravity)

−
→ GM m −
→
F gr = − r̂ =⇒ ⃗ r × F gr = 0
τ gr = ⃗
r2
−
→
Planetary motion is torque free: L constant, ⊥ orbit plane.

1 1
∆A = r∆r = r2 ∆θ
2 2

Angular momentum Torque 9/10

 Eg: Angular Momentum Conservation
Kepler’s 2nd Law for Motion of a planet (under gravity)

−
→ GM m −
→
F gr = − r̂ =⇒ ⃗ r × F gr = 0
τ gr = ⃗
r2
−
→
Planetary motion is torque free: L constant, ⊥ orbit plane.

1 1
∆A = r∆r = r2 ∆θ
2 2
dA 1 2
= r θ̇
dt 2

Angular momentum Torque 9/10

 Eg: Angular Momentum Conservation
Kepler’s 2nd Law for Motion of a planet (under gravity)

−
→ GM m −
→
F gr = − r̂ =⇒ ⃗ r × F gr = 0
τ gr = ⃗
r2
−
→
Planetary motion is torque free: L constant, ⊥ orbit plane.

1 1
∆A = r∆r = r2 ∆θ
2 2
dA 1 2 L
= r θ̇ =
dt 2 2m

Angular momentum Torque 9/10

 Eg: Angular Momentum Conservation
Kepler’s 2nd Law for Motion of a planet (under gravity)

−
→ GM m −
→
F gr = − r̂ =⇒ ⃗ r × F gr = 0
τ gr = ⃗
r2
−
→
Planetary motion is torque free: L constant, ⊥ orbit plane.

1 1
∆A = r∆r = r2 ∆θ
2 2
dA 1 2 L
= r θ̇ =
dt 2 2m
= constant

Angular momentum Torque 9/10

 Eg: Angular Momentum Conservation
Kepler’s 2nd Law for Motion of a planet (under gravity)

−
→ GM m −
→
F gr = − r̂ =⇒ ⃗ r × F gr = 0
τ gr = ⃗
r2
−
→
Planetary motion is torque free: L constant, ⊥ orbit plane.

1 1
∆A = r∆r = r2 ∆θ
2 2
dA 1 2 L
= r θ̇ =
dt 2 2m
= constant

Equal areas swept in equal times

Angular momentum Torque 9/10
 Eg 2: Capture Cross-section

Angular momentum Torque 10/10

 Eg 2: Capture Cross-section

Angular momentum Torque 10/10

 Eg 2: Capture Cross-section

Angular momentum Torque 10/10

 Eg 2: Capture Cross-section

⃗ =⇒ mv0 b = mvR R,
Conservation of L

Angular momentum Torque 10/10

 Eg 2: Capture Cross-section

⃗ =⇒ mv0 b = mvR R,
Conservation of L
1 1 GM m
Conservation of Energy =⇒ mv02 = mvR2
−
2 2 R

Angular momentum Torque 10/10

 Eg 2: Capture Cross-section

⃗ =⇒ mv0 b = mvR R,
Conservation of L
1 1 GM m
Conservation of Energy =⇒ mv02 = mvR2
−
2 2 R
 
2 2 mM G/R
b =R 1+
mv02 /2

Angular momentum Torque 10/10

 Eg 2: Capture Cross-section

⃗ =⇒ mv0 b = mvR R,
Conservation of L
1 1 GM m
Conservation of Energy =⇒ mv02 = mvR 2
−
2 2 R
  Effective impact parameter for capture
mM G/R
b2 = R2 1 +
mv02 /2

Angular momentum Torque 10/10