ROTATIONAL DYNAMICS

Section A: QUICK REVISION OF THE CHAPTER

1, CIRCULAR MOTION: 1
(i Frequency (n) = period
Motion ofan object along the circumferernce of circle is
called circular motion. For e.g. 1
n =T
() Motion of the earth around the sun.
(ii) Motion of the moon around the earth. (iii) s.I. unit of period is second (s)
(iii) Motion of planets around the sun. (iv) S.I. unit of frequency is Hertz (Hz) or s-1
(iv) Motion of an object tied at the end of a string CENTRIPETAL FORCE (CPF):
and whirled in a circle. 8.
The force acting on a particle performing UCM, wbich
2 CHARACTERISTIC OF CIRCULAR MOTION: along the radius of the circle and directed towards
(i) It is an accelerated motion. the centre of the circle.
() It is a periodic Motion. m = mro
(1) Magnitude of CPF =
3 KINEMATICS OF CIRCULAR MOTION: (i) S.I. Unit = N (newton)'
Arc ds (ii) Dimensions = M' L' T]
(0) Angular isplacement80= Radius 9. CENTRIFUGAL FORCE (CFF):
(a) It is a vector quantity Centrifugal force is a pseudo force in UCM. It acts
(b) Its S.I. unit is radian along the radius of circle and directed away from the
(c) It is dimensionless quantity i.e. [M°L°T°] centre of the circle.
m
(i1) Angular velocity = Angular dislpacement (1) Magnitude of CFF = r
= mro2
time (i1) S.I Unit =N (newton)
dà 1 (iii) Dimensions =[M' L'T2]
lim St or o (iv) There are two ways of writing force equation for
St->0 dt
a circular Motion.
(a) It is a vector quantity Resultant force = -mo² U or
(b) Its S.I unit is rad/s mo² r +E(real force) = 0
(c) Dimensions of angular velocity are [M°L°T]
10. APPLICATIONS OF UCM:
(ii) Angular acceleration =
Change in angular velocity
time (a) Vehicle along a Horizontal Circular Track:
For a car moving on a Horizontal circular track
a = lim do or a=o of radius 'r, plane of figure is a vertical plane
St-’0 ôt dt
perpendicular to track. Forces acting on the car are
(a) It is a vector quantity
(0) It's weight (mg) vertically downwards
(b) Its S.I unit is rad/s2 (ii) Normal reaction (N) vertically upwards that
(c) Dimensions of angular acceleration are [M°LT-2| balance the weight (mg) and
(iv) The quantities angular displacement, angular velocity (ii) Force of static friction (f) between roads and the
and angular acceleration are analogous to linear tyres.
displacement, linear velocity and linear acceleration This is static friction because it prevents the
of linear motion. vehicle from outward slipping or skidding. This is
The direction of angular displacement, angular the resultant force which is centripetal.
velocity and angular acceleration can be determined
by the right hand rule.
4 UNIFORM CIRCULAR MOTION:
Motion of an object along the circumference of circle Vmg
with constant speed is called uniform circular motion.
5 NON-UNIFORM CIRCULAR MOTION:
In circular motion if speed of an object is not constant Fig. 1.1 Vehicle on a horizontal road
then it is called as non uniform circular motion. While working in the frame of reference attached to
6 RELATION BETWEEN LINEAR VELOCITY AND
the vehicle, it balances the centrifugal force.
ANGULAR VELOCITY: N= mg ...(1)
Linear velocity = Radius x Angular velocity my²
...2)
In vector form ¼=0x. Dividing equation (2) by (1)
7. PERIOD AND FREQUENCY: f
Circumference r
Period (T) = Linear velocity
2rr 2r rg ...Asf, =HN)
T =
(4)
Vmax = Vå rg
Rotational Dynamics 5

Ib) Well (or Wall) of Death: (a) Most safe speed:

This is vertical cylindrical wall of radius 't From equation (3), v= Vrgtan
which a vehicle is driven in horizontal circles.inside
Thisb) Banking ang le:
can be seen while performing stunts. As
shown
following figure, the forces acting on the vehicle are in =tan! Irg)
From equation (3),
(c) Speed limits:
Ncos

NE
4 \0 f sin 0f
mg to centre
of motion N sin 0
Fig. 1.2 Well of death
cos
() Normal reaction (N) acting horizontally towards
the centre
(i) Weight (mg) acting vertically downwards mg
(ii) Force of static friction (f) acting vertically
upwards between walls & tyres. It has to prevent
the downward slipping. Its magnitude is equal to Fig. 1.4 Banked road: lower speed limit
mg in upward direction.
my2 The forces acting on the vehicle are
N= and mg =Ss (i) Weight mg vertically downwards and
Force of static friction (f) is always less than or equal (ii) Normal reaction N, perpendicular to the surface
to u, N. of road,
N resolve into two components N cos and N sin
: SH, N .. mg SH In practice, vehicle never travel exactly with this
r9 speed. For speeds other than this, the components of
force of static friction between roads and tyres helps
rg us uptO a certain limit
Vmin
For speed v, < Vrg tan 0
Tmv,2
lc) Vehicle on a Banked Road: < N sin 0
Banking of Roads: The arangement of keeping From figure 1.4,
the outer edge of the road surface inclined with the mg = f. sin + N cos ...3)
horizontal is called banking of roads.
mv = Nsin 0-f. cos0 ...(4)
(i) Angle of Banking: The angle made by the inclined r
road surface with the horizontal is called angle of
banking. Ncos Dividing (4) by (3) and putting f, =HN, we get
N
tan 0 - Hs
:(v;) min r9 1 + tan
... (5)
N sin 0
For u,2 tan 6, Vmin =0. This is true for rough surface
For speeds v, > Nrg tan 0
Vmg In this case, the direction of force f. is along the
Fig. 1.3 Vehicle on a banked road
inclination of the road as shown in fig. 1.5
Fig 1.3 shows the vertical section of vehicle on curved Ncos
road of radius '? banked at an angle '0' with the
to centre
horizontal. Consider the vehicle to be a point and
ignoring friction and non conservative forces like air of motion N sin 0;
resistance.
There are two forces acting on vehicle -
a Weight (mg) vertically downwards
sin
(b Normal reaction (M perpendicular to surface of mg
road.
Nresolve into two components
(i) N sin 9 - horizontal component being resultant Fig. 1.5 Banked road: upper speed limit
force, must be the necessary C.P force
From fig. 1.5 mg = Ncos 0 -f. sin 0 ..(6)
(i1) Ncos 0 - vertical component balances weight
(mg) mv,
my² = Nsin 0 +f cos 0 ...(7)
N sin 0 = ...(1)
N cos 0 = mg
Dividing equation (7) by (6) and putting F, -H,N, we get
...2)
tan t s
Dividing equation (1) by (2) (V) max = rg1 -Hs tan
tan 0 ..(3)
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UTTAM's Physics Papers Solution.
11. CONICAL PENDULUM: -Xl
Let mbe the mass of an object & r be the
Conical pendulum is a simple pendulum vertical circle. radius
such a motion that bob describes which gives o
a horizontal circle
& string describes a cone. Let v, - be the velocity of an object at highest
which is minimum poin
TÍ cos e
V¡ - be the velocity of an object at lowest point
To cos 0 is maximum which
Ve- be the velocity at point C
To sin B C.. mro?
The forces acting on object at point Aare
mg
Flg. 1.6 (a) mg Tension T, acting downward direction.
In an inertial frame Fig. 1.6 (b)
In anon-inertial frame (i) Weight mg acting vertically downward.
Above figure shows the vertical section of a conical
pendulum having bob of mass m&string of length 'L'. At point A: Centripetal Force = Weight +Tension
In given position B, the forces mv,A
acting on
(a) It's weight mg vertically downwardsbob are mg + h .(1)
(b) The force T, - along and
This T, resolved into two
string. The forces acting on object at point B are
components - (0) Tension T, acting vertically upwards
(1) T cos - balances the
weight mg (i) Weight (mg) acting vertically downwards
(ii) T, sin - becomes the
resultant force
the C.P. force. which is At point B: mvg =T - mg ...2)
T, sin 0= mro²
..(1) (a) Linear velocity at highest point A:
T, cos 8=mg At point A string becomes slack
..2)
Dividing equation (1) by (2) mv
MA_ = mg
Eq(1) becomes
g sin r

Vr cos 0 ..3) VA = Vrg

2T
But T = (b) Linear velocity at lowest point B:
r cos 0 As an object moves from point A to B there is decrease
From eq (3) T= 2r g in P.E. while K.E. increases according to
sin e law of
From fig. 1.6 r = L sin 0 conservation of energy.

T= 2t Lcos (T.E.) atA= (T.E.) at B

...4) (K.E. + P.E.) atA (K.E. + P.E.)t B
Frequency (n) =7 1
, mu?+ mgh, =1 mVB + mghg
g
n = Dr VL cos e ..5) Putting v =Vgr, h, = 2r and ha =0
1
12. VERTICAL CIRCULAR MOTION
(VCM): mlgr) +2 mgr = mv? +0
Two types of VCM are observed in practice 5
(a) A controlled VCM such as a giant wheel not 2 9r = v
totally controlled only by gravity
(b) VCM controlled only by gravity. VB= V5rg
13. POINT MASs UNDERGOING VERTICAL CIRCULAR (C)
MOTION UNDER GRAVITY: Linear velocity at midpoint C
Case I : Mass tied to a string: According to law of conservation of energy.
The following fig 1.7 shows a bob tied to a massless (T.E)at B= (T.E.)at c
& inextensible string. It is whirled along vertical circle 1
so that bob perform VCM. 5 mvg+ mghg = mv?+ mgh,

mg
mg cos
ma

I =3mg+T,
(retades) Putting vp = Vgr, hg = 0andh, = r, we get
5gr = v+ 2gr
D
Te= Ip T. =6mg +T
T
Case II: Mass tied to a rod:
m
mo
Consider a bob tied to a massless & rigid rod and
la
whirled along a vertical circle. The basic difference
ma
sin
ma cosa between the rod and the string is that the string
mg needs some tension at all the points including the
mg
uppermost point. Thus zero speed is possible at the
Fig. 1.7 Vertical circular motion uppermost point i.e. v, = 0
otational Dånamies 7
Linear velocity at lowest point:
According to lawof conservation of energy Consider a rigid body rotating with constant angular
speed (oo) about an axis perpendicular to the plane of
(T.E)}, (TE), paper. Suppose that the body consists of n particles
of masses m,, my, Myts.. Mn, situated at distances r
mv+mgh mNt ngh, T, T , respectively from the axis of rotation.
Let VË, Vas V..V, be their linear velocities, Consider
mv+0-0+ mg (2) particle of nass m,. When the body rotates, this
particle revolves in a circular orbit with radius r, and
V4gr velocity VË 1
V V4gr K.E. of 1 particle is E,
Similarly velocity at horizontal position is minimum 1
- m , r o (Asv= ro)
velocity V2gr
Also T - T,=6 mng Similarly K.E. of 2nd particle is E, = 5 m,ro
14. SPHERE OF DEATH:
This is a popular show in a circus. During this, two K.E. of 3d particle is E, = m,ro
wheeler rider undergo rounds inside a hollow sphere. and so on
Starting with small horizontal circles, they eventually Total K.E. of a rotating body is
perform revolutions along vertical circles. This VCM is E= E, + E, + E, + ..... +E,
same as that of the point mass tied to the string. 1 1
15. VEHICLE AT THE TOP OF CONVEX OVER
BRIDGE: N 1
E-o² (m,r?+ m,r,? + .....*mr,)
Convex
E-0,my? 1Io² ..) , where, I= 2 m?
over bridge
mg
R Equation (i) is analogous to translational K.E. = my²
Thus moment of inertia analogous to mass
and Iis defined to be the moment of inertia,
Ce
Fig. 1.8 Vehicle on a convex over bridge I= 2i- 1 mr? and I =[ dm
Above figure shows a vehicle at the top of a convex 17. MOMENT OF INTERTIA OF A UNIFORM RING:
over bridge. During its motion forces acting on the Consider a uniform ring of mass M and radius R
vehicle are rotating about an axis passing through centre of ring
(a) Weight (mg) in downward direction and perpendicular to the plane of ring.
(b) Normal reaction force (N) in upwards direction
The resultant of these two must provide the necessary
centripetal force dm
my² OR
mg - N= d

As speed is increased, N goes on decreasing. Thus for

just maintaining contact N= 0
my²
mg = Fig. 1.10 M.I. of a ring
r

V= Vrg M.I. of uniform ring rotating about an axis passing

ANALOGOUS
through point O is I = [ R2 dm
16. MOMENTS OF INERTIA AS AN I= MR2
QUANTITY FOR MASS:
We know in expression of linear momentum, force 18. M.I. OF A UNIFORM DISC:
to have Consider a uniform disc of mass M and radius R
and K.E, mass is a common term. In order
replacement for rotating about an axis which is perpendicular to its
their rotational analogous we need a
mass. To know this let us derive an expression for plane & passing through its centre.
Mass M
rotational K.E.
Surface density (o) = Area TR2
As it is a uniform circular object, it can be considered
to be consisting of a number of concentric rings of
radii increasing from zero to R. One of such ring of
Ey mass dm is shown by shaded portion (Fig 1.11)

m
Elemental ring

Fig. 1.11 M.I. of a disc

Fig. 1.9 A body of n particles
 8
UTTAM's Physics Papers
Let r and dr be the radius and width of Solution n- X
ring (OP)² =(0c+CÌ)? +(PO)?
Area of this ring is A = 2Tr.dr
(OP² = (0c)2 +2 0C-CQ + (CÌ)² + (PO2
Mass dm
Area 2Tr.dr (OP)2 = (0c? + 2 0C-CQ + (CP?
dm = 2IGT.dr ..As (CQ) +(PQ)² =(CP)21
By definition of moment of inertia (with limit 0 Multiplying by dm &integrating we get
to R)
P 2or dr J(op dm =J(oc? dm +J2 0c cQ dm +JCP?
1- 2no rdr - 2na By definition I, =(0P)² dm and putting 0C =h.
...1)
M R4
I=2rG 2T x
TR2 X 4
I,- J(CP? dm, Jdm =M=total mass
MR2 Equation (1) becomes
2
19. RADIUS OF GYRATION: I, =Mh? +2h|cQ dm +I,
The radius of Gyration of a I, =I, + Mh2 ...as cQdm=0)
of rotation is defined as the body about a given axis
distance between the axis Hence proved.
of rotation and a point at which the
the body can be supposed to be whole mass of
to possess the same moment of concentrated so as 21. THEOREM OF PERPENDICULAR AXES:
body. inertia as that of the Statement:
"The moment of inertia of a plane lamina about an axis
perpendicular to its plane is equal to the sum of its
moment of inertias about two mutually perpendicular
axes in the plane of the lamina and intersecting at the
K point where the perpendicular axes cutsthe lamina"
i.e.
Proof:
Fig. 1.12 Radius of gyration Let OX and OY be the two mutually perpendicular
I = MK2 axes in the plane of the lamina. Let OZ be the axis
K =
passing through their point of intersection '0' and
perpendicular to their plane. Let I,, L, and I, be the
20. THEOREM OF PARALLEL moment of inertias of the lamina about OX, OY and
AXES: 0Z axes respectively. Consider a particle of mass dm
Statement:
The moment of inertia (1) of a rigid body about situated at point P with co-ordinates (x,u) Join OP.
axis is equal to the sum of any Draw PM L to X - axis and PN to Y - axis.
it's moment of inertia (1 about an axis Let PN = OM = xand PM = ON = s
given ais, passing through the centre ofparallel to the
mass and
(ii) the product of the mass of the object and
the distance between the two axes (Mh²) the square of
I, =I, +Mh2
Proof :
Consider the rigid body of mass M rotating about an
axis passing through 'O, Let Cbe the centre of mass
of the body M A

pdm)
Fig. 1.14 Theorem of perpendicular
axes
From fig. (OP)? = (OM)? +(PM)?
h o

Multiplying by dm &integrating we get

[e dm = dm +ly dm ...(1)
Fig. 1.13 Theorem of parallel axes By definition of moment of inertia about X, Y&Z
axes
Consider a particle of mass dm at point P'. Join OP I,- Iy dm, I,= [ dm, I, =[P dm
&CP. Draw PQ perpendicular to OC.
In AOPQ Equation (1) becomes I, = I, +I,
(OP)? =(0Q)? +(PO)² Hence proved.
 Rotational Dynanmics 9

22. ANGULAR MOMENTUM OR MOMENT OF LINEAR

MOMENTUM:
The quantity angular momentum is analogous to
linear Momentum.
If p is the instantaneous linear momentum of a
particle undertaking circular motion, its angular
momentum is given by
r xp
L=rp sin 0
Fig. 1.16 Expression for torque
where is the smaller angle between p and r
linear
Consider first particle of mass m,. The
23. EXPRESSION FOR ANGULAR MOMENTUM IN acceleration of this particle is
TERMS OF MOMENT OF INERTIA:
a, = ra
Consider a rigid body rotating with a uniform angular
Force acting on 1st particle is
velocity (a) about a fixed axis passing through point
0. Suppose that the body consists of n particles of
masses m,, my, ma, .....m, situated at distances r,
Tz Tg.., respectively from axis of rotation. As the Torque (r) = Sr,
body rotates, all the particles performs UCM with m,r,'a
m,r,a
same angular velocity o. Similarly, torque acting on 2nd article is t, =
For 3rd particle, tz = M,r,'a and so on.
Total torque acting on body is

T= m,r,'a t m,r,a t myr,a t....t m,,a

T=(m,r,' +m,r,?+....t m,r,2)a

T= la
where I =2 mr2 = Moment of inertia
ANGULAR MOMENTUM:
25. CONSERVATION OF
Statemnent:
then angular
Fig. 1.15 Expression for angular
momentum "If no external torque acts on a body
momentum momentum of the body remains constant"
Consider 1st particle of mass m,. Its linear Proof:
...( v= ro)
P; = m,v,= m,r,o
Angular momentum of system is given by
is
Angular momentum of first particles
is
L=r x p
L =p, r = m,r,o x r, = m, r,o Differentiating w.r to time we get
momentum is
Similarly for 2nd particle angular dL d
dt dt (Txp)
dL dp dr
For 3rd particle it is =r
dt dt + d t P
L = m,r o and so on. dr dp
Total angular momentum (L)
of rotating body is We know dt = V
and
dt
-F

L= L + L, t Lt...t L¡ dL =TxF+ VX mv ...(."p = mv)

t....t m,0 dt
L= m,ro + m,r,o + m,r,a
- TxF+mx (Vx V)
L=[m,r, t m,r,' t...t m,r, lo dt
But v xv= 0 andx F=
of inertia
L= lo, where I = Em,r? = Moment TERMS OF
dt
FOR TORQUE IN
24. EXPRESSION Thus if t = 0, dt =0
MOMENT OF INERTIA:
rotating about a fixed axis
L= constant
Consider a rigid body uniformn angular Angular
momentum is conserved
momentum:
with i.e.
passing through point O Examples of conservation of angular
acceleration.(a) (1) Ballet dancers
consists of n-particles of swimming pool
Suppose that the body distances (2) Diving in a
situated at in a circus
My, My, Mg-.., , fromn axis of rotation.
Acrobat
masses (3)
(4) Ice Skating
respectively
T 2 g . . . . . I, on the particles.
Let fj, f, fay.f, be the forces acting
 10 UTTAM's Physics Papers
26. ROLLING MOTION: K.E, = P.E. Solution-
The object like a cylinder, sphere, wheel etc. are quite
often seen to perform rolling motion. mel-Mgh Roto
When body rolls it has both translational motion as
well as rotational motion. 2gh
Total K.E. of rolling body is V=

Total K.E, = Translational KE. + Rotational K.E. 1

1 1
Linear distance travelled is s = sino
E = Mv² +5 lo?
By 3rd kinematical equation,
Putting I =MK and o =p 2as = y2 - 2
1 2 h
2gh
E - M² +5 MK? Putting s = sin u=0and v = K
ie. Total K.E, - 5W1 gsin
27. LINEAR ACCELERATION AND SPEED We get, a=

ROLLING DOWN AN INCLINED PLANE:WHILE PURE

Consider a rigid object of mass Mand radius Rrolling
down on an inclined plane without Analogous Kinematical Equations:
slipping.
Let 0 be the angle between inclined plane
surface. & horizontal Equation for Equation for Rotational
Translational Motion Motion
uty
V
2 Oav 2
ih s(sin) V= u + at ) = 0, + at
1 1
S= ut + at
Fig. 1.17 Rolling along an plane
As the object starts rolling down, its gravitational P.E. y2= u+ 2as a=o +2a9
converted into K.E.

Object Axis Expression of moment

of inertia Figure

Thin ring or hollow cylinder Central I= MR2 R

Thin ring Diameter

Annular ring or thick walled hollow cylinder Central 1

I- MU r)

Uniform disc or solid cylinder Central

R
Uniform disc Diameter

Thin walled hollow sphere Central

RotatiOnal Dynamics

Expression of moment
Object Axis of inertia Figure

R
Solid sphere Central
I-MR?

Uniform symmetric spherical shell (,5-r,9

Central
1-M r-r)
Perpendicular to
Thin uniform rod or rectangular plate length and passing 1
through centre I-MI?
Perpendicular to
Thin uniform rod or rectangular plate length and about I-MR
one end 3

1
Uniform plate or rectangular parallelopiped Central I= M(L2+ b)
12

Uniform solid right circular cone Central

I-MR?

Uniform hollow right circular cone Central