Chapter Three

Fixed-Axis Rotation of a
Rigid Object
3-1 Basic Motion of a Rigid Object
3-1-1 Translational Motion and Rotational Motion about a Fixed-
Axis of a Rigid Object
 Translational motion.  Rotational motion.

Fig. 3-1 Translational motion Fig. 3-2 Rotational motion

3-1-2 Angular Velocity and Angular Acceleration
 The equation of rotation of a rigid object about a fixed axis:
z

 The angular velocity of a rigid object rotating about a O r y

fixed axis: 𝜃 P

Fig. 3-3 Position represented

by angular quantity
 The angular acceleration of a rigid object rotating about
a fixed axis:
 z
3-1-3 Angular and Linear Quantities

𝑣 =𝑟 𝜔 r
𝒗 P

𝑎 𝑡 =𝑟 𝛼 O

𝑎 𝑛 =𝑟 𝜔 2
Fig. 3-4 Relationship between
3-1-4 Angular Velocity as a Vector Quantity angular and linear quantity

 We regulate that the magnitude of an angular 𝝎

velocity vector is , its direction is along the axis
and follow the right-hand rule as shown in Fig.
3-5.

Fig. 3-5 Direction of angular velocity

Example 3-1 A flywheel of radius rotates with a speed of rotation . It
decelerates uniformly due to braking and stops after . Find:
(1) The angular acceleration of the flywheel.
(2) The number of rounds the flywheel has passed from the beginning of
braking to the time when the flywheel stops rotating.
(3) The angular velocity of the flywheel and the acceleration of one particle at
the rim of the flywheel when s.

Solution (1) The initial angular velocity can be calculated . For uniformly
deceleration, we have

(2) The angular displacement of the flywheel and the number of rounds are
(3) The angular velocity and linear velocity are

The corresponding tangential and centripetal acceleration are

The linear acceleration of a particle at the rim is

The direction of the acceleration is almost the direction of , which points into
the center of the wheel.
3-2 Torque; Newton’s Second Law for Rotation;
Moment of Inertia
𝑧
3-2-1 Torque Relative to an Axis
 We define the magnitude of the torque associated with 𝑭
the force by the expression 𝑂 𝒓𝑃 𝜑
𝑑𝐶
 It should be noted that the torque with respect to a point
Fig. 3-6 Toque with
is a vector quantity in general. respect to an axis

 The torque with respect to an axis is a component of the

vector quantity of torque with respect to a point.
 The distance between the line of action of and the rotation axis is usually
called the moment arm
𝑑=|𝑟 sin 𝜑| |𝑀 |=𝐹𝑑
 ‫ݖ‬ ࡲ
ࡲ૚
 In Fig. 3-7, Only makes contribution to the rotation of
the rigid object. In this case, the torque associated with ࡲ૛
ܲ
࢘
the force relative to the axis is exactly the torque due
to ܱ

Fig. 3-7 Torque relative

to an axis
3-2-2 Newton’s Second Law for Rotation
 The external force and internal force acting on 𝑧
particle are and , respectively. Suppose both and ¿
𝑭
lie in the rotation plane. 𝛽
𝑂𝑟 𝑖 𝜑 ex
𝑖 𝑭𝑖
𝑖

 Because the particle is in circular motion, we apply ∆𝑚 𝑃 𝑖

Newton’s second law on it in natural coordinate

axes. The tangential component of Newton’s
Fig. 3-8 Newton’s second
second law is law for rotation
 Multiplying both sides of the equation by yields

 Sum up the above equation from to , we have 𝑧

¿
𝑭
𝑂 𝑟 𝑖𝛽𝜑
𝑖
ex
𝑖 𝑭𝑖
∆𝑚 𝑃 𝑖
𝑛 𝑛
𝑀=∑ 𝐹 𝑟 𝑖 sin 𝜑 𝑖
ex
𝑖 𝐽=∑ ∆ 𝑚 𝑟 2
𝑖 𝑖
𝑖=1 𝑖=1 Fig. 3-8 Newton’s second
law for rotation
𝑀= 𝐽 𝛼 moment of inertia

The resultant torque associated with individual external forces is equal to the
product of the angular acceleration and the moment of inertia, which is called
Newton’s second law for rotation.
3-2-3 Moment of Inertia
d 𝑚=𝜌 d 𝑉 is the volumetric mass density
𝐽=∫ 𝑟 d𝑚
2
d 𝑚=𝜆d 𝑙 is the surface mass density
d 𝑚=𝜎 d 𝑠 is the linear mass density
Example 3-2 Calculate the moment of inertia of a uniform rigid rod of length and
mass about an axis perpendicular to the rod and passing through (1) its middle
point; (2) one end of the rod as shown in Fig. 3-9. 𝐵 𝐴
Solution (1) The linear mass density of the rod is , and . dm
According to the definition of moment of inertia, we obtain O
x
x dx
′ ′
𝐵 𝐴
Fig. 3-9 Example 3-2
(2) If the axis is moved to through one end of the rod as , we have
Example 3-3 A ring and a disk of the same mass and of the same radius
rotate about their central axes, respectively. Calculate their moments of inertia
about their individual axes.
Solution (1) The moment of inertia of a ring about its central axis
2 𝜋𝑅 2𝜋 𝑅 ܴ
†‫ݎ‬
𝐽= ∫ 2
𝑅 d 𝑚= ∫ 2 2
𝑅 λd 𝑙=𝑚 𝑅 ܱ
0 0
(2) The moment of inertia of a disk about its central axis

The surface mass density of the disk is , we have . Fig. 3-10 Example 3-3

Take a ring of differential thickness in the disk, its moment of

inertia about its central axis is

𝑅
1( 1
𝐽=∫ 2 𝜋𝜎 𝑟 d 𝑟 = 𝜋 𝑅 𝜎 𝑅 = 𝑚 𝑅
)
3 2 2 2

0 2 2
The moment of inertia of a rigid object is associated with the following
factors:
Table 3-1 Moments of Inertia of Homogeneous Rigid
Objects with Different Geometrics

(1) The mass of a rigid object

𝑙 𝑙 𝑅
Long thin rod with Long thin rod with Hoop or thin
rotation axis through rotation axis through cylindrical shell
(2) The distribution of masses center
1
end

1 2
𝐽=𝑚 𝑅
2
𝐽= 𝑚𝑙 𝐽= 𝑚𝑙
2
12 3

𝑅 2𝑅1
(3) The position of the axis 𝑅 𝑅

Solid disk or cylinder Hollow cylinder Solid sphere

1 2 1 2 2 2 2
𝐽= 𝑚 𝑅 𝐽= 𝑚( 𝑅1 +𝑅 2) 𝐽= 𝑚 𝑅
2 2 5
3-2-4 Parallel-axis Theorem 𝑧 ′
Suppose the moment of inertia about an axis through the
𝑧
center of mass of a rigid object is . The parallel-axis 𝑑𝐶
theorem states that the moment of inertia about any axis 𝑂
parallel to and a distance away from this axis is
Fig. 3-11 Parallel-axis theorem

Example 3-4 Calculate the moment of inertia of a disk of radius and mass about an
axis through one point at its rim as shown in Fig. 3-12.
Solution The axis through the center of mass of the disk,
𝑧 𝑧
′
so the moment of inertia about axis is
1
𝑂 𝑅𝑂𝑚
2
𝐽= 𝑚 𝑅 ′
2
The moment of inertia about the axis is
Fig. 3-12 Example 3-4
3-2-5 Applications of Newton’s Second Law for Rotation
 In the expression of , the torque is the net torque exerted on a rigid object.
 The relationship between the net torque and the angular acceleration is
instantaneous one.
Example 3-5 Two blocks having masses and (assume is
sufficiently greater than ) are connected to each other by a 𝑅
light cord that passes over a frictionless pulley having a
𝑚1 𝒂
moment of inertia and radius , as shown in Fig. 3-13. Find 𝑚2
the acceleration of each block and the tensions and . Fig. 3-13 Example 3-5
(Assume no slipping between cord and pulley.) ′
𝑇1 𝑇2 𝑇
Solution The free-body diagrams of the two blocks and 𝑎1
the pulley are shown in Fig. 3-14.
𝑎2 ′
(1) 𝑚1 𝑔 𝑚2 𝑔 𝑇 1 𝑇
′
2

(2) Fig. 3-14 Example 3-5

As for the pulley, we apply Newton’s second law for rotation and we have
(3)
Because the mass of the light cord is negligible, we have
and (4)
Also because no slipping between cord and pulley, we have
(5)
Solving these five equations for , and , yields
Example 3-6 A uniform rod of length and mass rotates about a frictionless
fixed axis through one end of the rod in the vertical plane as shown in Fig. 3-
15. The rod is at rest initially. Find the angular acceleration and angular velocity
when it rotates at an angle below the horizontal direction.
Solution Take a differential segment in the rod and the
differential torque due to the gravitational force is 𝑂 𝜃
𝑙d 𝑙
The net torque on the rod about axis is
𝒈d 𝑚
Fig. 3-15 Example 3-6

Using Newton’s second law for rotation , we have

As for the angular velocity, it can also be found from Newton’s second law
for rotation. That is

Substituting into the above equation and separating variables on different sides
yield

𝜃 𝜔
3 𝑔 ∫ cos 𝜃 d 𝜃=2 𝐿∫ 𝜔 d 𝜔
0 0

Arranging it yields
3-3 Work, Power, and Energy in Rotation
3-3-1 Work Done by a Torque
The magnitude of is 𝑧
The differential work done by the force over the time 𝑭
d 𝑠𝛽𝜑
interval is d𝜃
𝑂𝒓
Since we have , and . And the torque about axis due to
the force is , so the above equation can be rewritten as Fig. 3-16 Work done by a torque

If the torque is a varying one, when the angular position sweeps from to , the
work done by the varying torque is
3-3-2 Rotational Kinetic Energy of a Rigid Object
Suppose is one of the particles of the rigid object of mass and distance away
from the axis. The linear velocity of particle is and the kinetic energy of this
particle is

And the total energy of the rigid object is

It is exactly

The rotational kinetic energy of a rigid object rotating about a fixed axis is half the
product of the moment of inertia and the square of the angular velocity.
3-3-3 Work-Kinetic Energy Theorem for Rotational Motion
Suppose a rigid object rotates about a fixed axis . Over a differential time
interval , the angular displacement took place. The work done by the net torque
is

Substituting Newton’s second law for rotation into the above equation yields

Assume that the angular velocity of the rigid object is at time and changes into at
time under the action of the net torque, we have

The work done by the net torque on a rigid object rotating about a fixed axis is equal
to the change in its rotational kinetic energy.
 The potential energy of a rigid object:

The mechanical energy of the rigid object is the sum of the rotational kinetic
energy and the gravitational potential energy, that is

For a system consisting of particles and rigid object rotating about a fixed axis,
the work-energy theorem is
Example 3-7 A light cord passes over a frictionless pulley with one end
connected to a block of mass . The pulley has a radius of and mass . Initially,
the block is at a position of height , then it is released from at rest as shown in
Fig. 3-17. Find the speed of the block when it falls right before hitting the
ground. (no slipping between cord and pulley)
Solution By the work-kinetic energy theorem for a 𝑻 𝑵
particle, we have
(1) 𝑅
By the work-kinetic energy for rotational motion, we
𝑚1 𝑚1 𝒈 𝑚 𝒈𝑻
have
(2) h 2
Fig. 3-17 Example 3-7

Solving the equations (1) and (2) for , we have after some algebra:
This problem can also be solved using conservation of mechanical energy.

Take the pulley, block and the Earth as a whole system. Because , , the
mechanical energy of the system is conserved. We have

Substituting into the above equation yields

3-4 Angular Momentum; Conservation of
Angular Momentum
3-4-1 Angular Momentum of a Particle Relative to an Axis
The product of the magnitude of the position vector, the
magnitude of the momentum and the sine of the angle 𝑧
between the position vector and the momentum is
defined to be the angular momentum of the particle
𝑂 𝑦
relative to axis:
𝒓 𝑚𝒗
𝐿=𝑟𝑚𝑣 sin 𝜑 𝑥 𝜑
Fig. 3-18 Angular momentum of
a particle relative to an axis

In general, the angular momentum is a vector quantity with respect to a point.

However, in this chapter, we only focus on rotation about a fixed axis, so we only
discuss the component along axis, which is an algebraic quantity.
3-4-2 Angular Momentum of a Rigid Object Rotating about a
Fixed Axis
 is one particle making up the rigid object; moving in 𝑧
circular path in the shown rotation plane. 𝒗𝑖
 The mass of is and the distance to axis is . The 90°
angular momentum of the particle about axis is 𝒓 𝑖∆𝑚𝑃
𝑖
𝑂
 The above expression can be rewritten as
Fig. 3-19 Angular momentum of a
rigid object rotating about a fixed axis
 Hence we have
3-4-3 Theorem of Angular Momentum for a Rigid Object
Rotating about a Fixed Axis
 Newton’s second law for rotation can be expressed as

That is

If the angular momentum of a rigid object is at time , over a time interval its
angular momentum changes into at time . We have

angular impulse
3-4-4 Conservation of Angular Momentum
If the net torque on a rigid object is zero, or there is no external torque acting on
the rigid object, then the angular momentum of the rigid object keeps constant,
that is

This statement is called the law of conservation of angular momentum for a

rigid object rotating about a fixed axis.

Fig. 3-20 Conservation of angular momentum of a rigid object

Example 3-8 Fig. 3-21 shows the diagram illustration of the clutch that is used
in automobiles. The shafts of flywheels and are along the same line. The
moment of inertia of and are and , respectively. Initially, the rotational speed
of is rpm and is at rest. is the massless clutch. Find the change in
mechanical energy of and before and after clutching.

Solution Take the system consisting of two flywheels

and clutch into our consideration.
The angular momentum of the system is conserved. ߱஺ ߱

Fig. 3-21 Example 3-8

𝐽 A𝜔A −1
𝜔= 𝜔 =20.9 rad ∙ s .
𝐽 A+ 𝐽 B
And the lost mechanical energy is
Example 3-9 As shown in Fig. 3-22, a rod of length and mass can rotate
freely in a vertical plane about a fixed axis that is perpendicular to the page.
The rod is at rest initially and then struck by a bullet of velocity . The bullet is
stuck inside the rod after collision. Find the maximal angle the rod and the
bullet can reach from the vertical direction.
Solution Suppose the common angular speed the system 𝑂
obtained by collision is , then we have
(1) 𝑚𝜃
𝑙
𝑚0 𝒗 0
If the maximal angle the rod swept after collision is , we have
(2) Fig. 3-22 Example 3-9

Solving Eq. (1) and (2) for , yields

3-5 Limits of Validity of Classical Mechanics

Mechanics based on Newton’s laws of motion is called Classical Mechanics,

often referred to as Newtonian mechanics.
 Classical mechanics is only applicable for objects moving at relative low speed
() and is invalid for dealing with issues involving high speed ( approaches ). It is
the relativistic mechanics that is applicable to deal with high speed related
problems.
 Classical mechanics is only applicable for macro objects and in general it does
not work for microscopic particles. It is quantum mechanics that is used to
tackle problems involving microscopic particles.
Thank you!