Chapter 19 Angular Momentum
Chapter 19 Angular Momentum
Chapter 19 Angular Momentum
19.1 Introduction
When we consider a system of objects, we have shown that the external force, acting at
the center of mass of the system, is equal to the time derivative of the total momentum of
the system,
ext
dpsys
F =
.
(19.1.1)
dt
We now introduce the rotational analog of Equation (19.1.1). We will first introduce the
concept of angular momentum for a point-like particle of mass m with linear momentum
(19.1.2)
L S = rS p ,
where rS is the vector from the point S to the particle. We will show in this chapter that
the torque about the point S acting on the particle is equal to the rate of change of the
angular momentum about the point S of the particle,
dL S
S =
.
dt
(19.1.3)
rotation about the z-axis with angular velocity = z k . We divide up the rigid body
into N elements labeled by the index i , i = 1, 2, N , the ith element having mass mi
and position vector rS , i . The rigid body has a moment of inertia I S about some point S
on the fixed
axis, (often taken to be the z-axis, but not always) which rotates with angular
velocity about this axis. The angular momentum is then the vector sum of the
individual angular momenta,
1
i= N
i= N
L S = L S ,i = rS ,i p i
i=1
(19.1.4)
i=1
When the rotation axis is the z-axis the z-component of the angular momentum, LS ,z ,
about the point S is then given by
LS ,z = I S z .
(19.1.5)
We shall show that the z-component of the torque about the point S , S ,z , is then the
time derivative of the z-component of angular momentum about the point S ,
S ,z =
dLS ,z
dt
= IS
d z
= IS z .
dt
(19.1.6)
space. Let rS denote the vector from the point S to the location of the object.
L S = rS p .
(19.2.1)
19-2
L S = rS p sin ,
(19.2.2)
where is the angle between the vectors and p , and lies within the range [0 ]
(Figure 19.2). Analogous to the magnitude of torque, there are two ways to determine the
magnitude of the angular momentum about S .
r = rS sin .
(19.2.3)
Hence the magnitude of the angular momentum is the product of the moment arm with
the magnitude of the momentum,
L S = r p .
(19.2.4)
Alternatively, define the perpendicular momentum, p , to be the magnitude of the
component of the momentum perpendicular to the line defined by the direction of the
vector rS . Thus
p = p sin .
(19.2.5)
We can think of the magnitude of the angular momentum as the product of the distance
from S to the particle with the perpendicular momentum,
L S = rS p .
(19.2.6)
19-3
We shall define the direction of the angular momentum about the point S by a right hand
rule. Draw the vectors rS and p so their tails are touching. Then draw an arc starting
from the vector rS and finishing on the vector p . (There are two such arcs; choose the
shorter one.) This arc is either in the clockwise or counterclockwise direction. Curl the
fingers of your right hand in the same direction as the arc. Your right thumb points in the
direction of the angular momentum.
19-4
Solution: Choose Cartesian coordinates with unit vectors shown in the figure above. The
vector from the origin O to the location of the particle is rO = 2.0 m i + 3.0 m j . The
angular momentum vector LO of the particle about the origin O is given by:
LO = rO p = rO m v
= (2.0m i + 3.0m j) (2kg)(3.0m s 1i + 3.0m s 1j)
+0
= 0 + 12kg m 2 s 1 k 18kg m 2 s 1(k)
= 6kg m 2 s 1 k.
In the above, the relations i j = k , j i = k , i i = j j = 0 were used.
the magnitude and the direction of the angular momentum L O relative to the origin.
Solution: The velocity of the particle is given by v = r . The vector from the center of
the circle (the point O ) to the object is given by rO = r r . The angular momentum about
the center of the circle is the vector product
L O = rO p = rO mv = rmv k = rmr k = mr 2 k .
19-5
magnitude and the direction of the angular momentum L O relative to the origin O . (b)
L O = rO mv .
(19.2.7)
The vectors rO and v are perpendicular to each other so the angular momentum is
perpendicular to the plane formed by those two vectors. The speed of the
particle is
v = r . Suppose the vector rO forms an angle with the z -axis. Then L O forms an
angle 90 with respect to the z-axis or an angle with respect to the x-y plane as
shown in Figure 19.7.
The magnitude of L O is
19-6
L O = rO m v = m(h2 + (x 2 + y 2 ))1/2 r .
(19.2.8)
The magnitude of L O is constant, but its direction is changing as the particle moves in a
circular orbit
about the z -axis, sweeping out a cone as shown in Figure 19.8. We draw
the vector L O at the origin because it is defined at that point.
We shall now explicitly calculate the vector product. Determining the vector product
Using the fact that r = k and k = r , the angular momentum about the origin L O
is
mr = mr 2 k hmr r .
(19.2.9)
L O = rO mv = (rr + hk)
(19.2.10)
Agreeing with our geometric argument. In Figure 19.9, denote the angle L O forms with
respect to the x-y plane by . Then
tan =
L0 z r
= = tan ,
L0r h
(19.2.11)
The important point to keep in mind regarding this calculation is that for any point along
the z -axis not at the center of the circular orbit of a single particle, the angular
momentum about that point does not point along the z -axis but it is has a non-zero
19-7
component in the x-y plane (or in the r -direction if you use polar coordinates).
However, the z -component of the angular momentum about any point along the z-axis is
independent of the location of the point along the axis.
dL S
S =
.
(19.3.1)
dt
Take the time derivative of the angular momentum about S ,
dL S d
=
r p .
dt
dt S
(19.3.2)
In this equation we are taking the time derivative of a vector product of two vectors.
There are two important facts that will help us simplify this expression. First, the time
derivative of the vector product of two vectors satisfies the product rule,
dL S d drS dp
= (rS p) =
p + rS dt .
dt
dt
dt S
(19.3.3)
drS
p = vm v = 0.
dt
(19.3.4)
dL S dp
= rS
.
dt
dt
(19.3.5)
From Newtons Second Law, the force on the particle is equal to the derivative of the
linear momentum,
dp
F=
.
(19.3.6)
dt
Therefore the rate of change in time of angular momentum about the point S is
19-8
dL S
= rS F .
dt
(19.3.7)
Recall that the torque about the point S due to the force F acting on the particle is
S = rS F .
(19.3.8)
Combining the expressions in (19.3.7) and (19.3.8), it is readily seen that the torque about
the point S is equal to the rate of change of angular momentum about the point S ,
dL S
S =
.
dt
(19.3.9)
(closed system) .
(19.3.10)
If the non-conservative work done in the system is zero, then the mechanical energy is
constant,
(19.3.11)
0 = Wnc = Emechanical = K + U , (closed system) .
The conservation of linear momentum arises from Newtons Second Law applied to
systems,
N
d
d
Fext = p i = psys
(19.3.12)
dt
i=1 dt
Thus if the external force in any direction is zero, then the component of the momentum
of the system in that direction is a constant. For example, if there are no external forces in
the x - and y -directions then
d
0 = (Fext ) x = (psys ) x
dt
ext
d
0 = (F ) y = (psys ) y .
dt
(19.3.13)
We can now use our relation between torque about a point S and the change of the
angular momentum about S , Eq. (19.3.9), to introduce a new conservation law. Suppose
we can find a point S such that torque about the point S is zero,
19-9
dL S
0 = S =
,
dt
(19.3.14)
then the angular momentum about the point S is a constant vector, and so the change in
angular momentum is zero,
L S L S , f L S ,i = 0 .
(19.3.15)
Thus when the torque about a point S is zero, the final angular momentum about S is
equal to the initial angular momentum,
L S , f = L S ,i .
(19.3.16)
Example 19.4 Meteor Flyby of Earth
A meteor of mass m = 2.1 1013 kg is approaching earth as shown in Figure 19.10. The
distance h is called the impact parameter. The radius of the earth is re = 6.37 10 6 m .
The mass of the earth is me = 5.98 10 24 kg . Suppose the meteor has an initial speed of
v0 = 1.0 101 m s 1 . Assume that the meteor started very far away from the earth.
Suppose the meteor just grazes the earth. You may ignore all other gravitational forces
except the earth. Find the impact parameter h .
Gm m
F = e2 r
r
(19.3.17)
where r is a unit vector pointing radially away from the center of the earth, and r is the
distance from the center of the earth to the meteor. The torque on the meteor is given by
19-10
S = rS , F F , where rS , F = r r is the vector from the point S to the position of the
meteor. Because the force and the position vector are collinear, the vector product
vanishes and hence the torque on the meteor vanishes about S .
(L S )i = rS ,i p0 ,
(19.3.18)
where the vector from the center of the earth to the meteor is rS,i = xi i + h j
(we can
choose some arbitrary xi for the initial x -component of position), and the momentum is
(19.3.19)
(L S ) f = rS , f p f ,
(19.3.20)
19-11
where the vector from the center of the earth to the meteor is rS, f = re i since the meteor
is then just grazing the surface of earth, and the momentum is p f = mv f j . Therefore
(L S ) f = rS , f p f = re i (mv f j) = mre v f k .
(19.3.21)
Because the angular momentum about the center of the earth is constant throughout the
motion
(L S ) i = (L S ) f ,
(19.3.22)
which implies that
vh
mvi h k = mrev f k v f = i .
re
(19.3.23)
The mechanical energy is constant and with our choice of zero for potential energy when
the meteor is very far away, the energy condition becomes
1 2 1 2 Gme m
.
mvi = mv f
2
2
re
(19.3.24)
Therefore
v 2f = vi2 +
2Gme
re
(19.3.25)
2Gme
revi2
(19.3.26)
h = 1117.4 re = 7.12 10 9 m .
(19.3.27)
tf
J S = S dt .
ti
(19.4.1)
Because S = d Ltotal
S / dt , the angular impulse about S is equal to the change in angular
momentum about S ,
19-12
tf
t f dL
S
J S = S dt =
dt = L S = L S , f L S ,i .
ti
ti
dt
(19.4.2)
This result is the rotational analog to linear impulse, which is equal to the change in
momentum,
tf
t f dp
I = F dt =
dt = p = p f p i .
(19.4.3)
ti
ti dt
then p j = m j v j . Let rS , j be the vector from the point S to the j th particle, and let j be
L S , j = rS , j p j .
(19.5.1)
The angular momentum for the system of particles is the vector sum of the individual
angular momenta,
j= N
j= N
(19.5.2)
Lsys
=
L
=
S , j rS , j p j .
S
j=1
j=1
The change in the angular momentum of the system of particles about a point S is given
by
j= N dr
dp j
dLsys
d j= N
S, j
S
.
(19.5.3)
= LS , j =
p j + rS , j
dt
dt j=1
dt
j=1 dt
19-13
Because the velocity of the j th particle is v S , j = drS , j / dt , the first term in the
parentheses vanishes (the cross product of a vector with itself is zero because they are
parallel to each other)
drS , j
p j = vS, j mjvS, j = 0 .
(19.5.4)
dt
j= N
j= N
d
p
dLsys
S
= rS , j j = rS , j Fj .
dt
dt j=1
j=1
(19.5.5)
Because
j= N
F
=
S , j = S ext + S int
S, j
j
(r
j= N
j=1
(19.5.6)
j=1
We have already shown in Chapter 17.4 that when we assume all internal forces are
directed along the line connecting the two interacting objects then the internal torque
about the point S is zero,
(19.5.7)
int
= 0.
S
Eq. (19.5.6) simplifies to
j= N
j= N
(19.5.8)
rS , j Fj = S , j = S ext .
j=1
j=1
sys
ext dL S
S =
.
dt
(19.5.9)
The external torque about the point S is equal to the time derivative of the angular
momentum of the system about that point.
Example 19.5 Angular Momentum of Two Particles undergoing Circular Motion
Two identical particles of mass m move in a circle of radius r , 180 out of phase at an
angular speed about the z -axis in a plane parallel to but a distance h above the x-y
plane (Figure 19.14). Find the magnitude and the direction of the angular momentum L O
relative to the origin.
19-14
Solution: The angular momentum about the origin is the sum of the contributions from
each object. Since they have the same mass, the angular momentum vectors are shown in
Figure 19.15. The components that lie in the x-y plane cancel leaving only a non-zero z component,
set rO,1 = rr1 + hk and v1 = r 1 such that r1 1 = k and similarly set rO,2 = rr2 + hk
(19.5.11)
The important point about this example is that the two objects are symmetrically
distributed with respect to the z -axis (opposite sides of the circular orbit). Therefore the
angular momentum about any point S along the z -axis has the same value
L S = 2mr 2k , which is constant in magnitude and points in the + z -direction for the
motion shown in Figure 19.14.
Example 19.6 Angular Momentum of a System of Particles about Different Points
Consider a system of N particles, and two points A and B (Figure 19.6). The angular
momentum of the j th particle about the point A is given by
19-15
L A,j = rA,j m j v j .
(19.5.12)
Figure 19.16 Vector triangle relating position of object and points A and B
The angular momentum of the system of particles about the point A is given by the sum
N
N
L A = L A,j = rA,j m j v j
j=1
(19.5.13)
j=1
The angular momentum about the point B can be calculated in a similar way and is given
by
N
N
L B = L B ,j = rB ,j m j v j .
(19.5.14)
rA,j = rB ,j + rA,B .
(19.5.15)
j=1
j=1
j=1
j=1
The first term in Eq. (19.5.16) is the angular momentum about the point B . The vector
rA,B is a constant and so can be pulled out of the sum in the second term, and Eq.
(19.5.16) becomes
N
L A = L B + rA,B m j v j
(19.5.17)
j=1
19-16
p sys = m j v j .
(19.5.18)
j=1
Therefore the angular momentum about the points A and B are related by
L A = L B + rA,B p sys
(19.5.19)
Thus if the momentum of the system is zero, the angular momentum is the same about
any point.
LA = LB ,
(p sys = 0) .
(19.5.20)
In particular, the momentum of a system of particles is zero by definition
in the center of
mass reference frame because in that reference frame p sys = 0 . Hence the angular
momentum is the same about any point in the center of mass reference frame.
ext
= IS .
S
(19.5.21)
We shall now see that this is a special case of the more general result
d sys
ext
=
L .
S
dt S
(19.5.22)
Consider a rigid body rotating about a fixed axis passing through the point S and take
the fixed axis of rotation to be the z -axis. Recall that all the points in the rigid body
rotate about the z -axis with the same angular velocity (d / dt)k z k . In a similar
fashion, all points in the rigid body have the same angular acceleration,
19-17
Each individual element has a mass mi and is moving in a circle of radius rS , , i about
the axis of rotation. Let rS , i be the vector from the point S to the element. The velocity
L S , i = rS , i pi = rS , i mi v i .
(19.5.23)
Let the point Oi denote the center of the circular orbit of the element. Define a vector
rO ,i from the point Oi to the element. Let rS ,O denote the vector from the point S to the
i
i
perpendicular and parallel components of rS ,i with respect to the axis of rotation, denote
rS ,i = rS ,,i + rS , ,i .
(19.5.24)
L S , i = rS , i mi v i = (rS , ,i + rS , , i ) mi v i
(19.5.25)
In the last expression in Equation (19.5.25), the first term has a direction that is
perpendicular to the z -axis; the direction of a vector product of two vectors is always
Therefore the z -component of the angular momentum about the point S , (LS ,i ) z , arises
entirely from the second term, rS , ,i mi v i . The vectors rS , ,i and v i are perpendicular,
as shown in Figure 19.18.
(LS , i ) z = rS , , i mi vi .
(19.5.26)
For a rigid body, all elements have the same z -component of the angular velocity,
z = d / dt , and the tangential velocity is
vi = rS , , i z .
(19.5.27)
The expression in Equation (19.5.26) for the z -component of the momentum about S is
then
(LS , i ) z = rS , , i mi vi = mi (rS , , i )2 z .
(19.5.28)
The z -component of the angular momentum of the system about S is the summation
over all the elements,
Lsys
= (LS ,i ) z = mi (rS , ,i )2 z .
(19.5.29)
S, z
i
For a continuous mass distribution the summation becomes an integral over the body,
Lsys
=
S, z
dm (rdm )2 z ,
(19.5.30)
body
where rdm is the distance form the fixed z -axis to the infinitesimal element of mass dm .
The moment of inertia of a rigid body about a fixed z -axis passing through a point S is
given by an integral over the body
19-19
IS =
dm (rdm )2 .
(19.5.31)
bo dy
Thus the z -component of the angular momentum about S for a fixed axis that passes
through S in the z -direction is proportional to the z -component of the angular velocity,
z ,
Lsys
= IS z .
S, z
(19.5.32)
For fixed axis rotation, our result that torque about a point is equal to the time derivative
of the angular momentum about that point,
d
ext
= Lsys
,
S
dt S
(19.5.33)
ext
S ,z
dLsys
S, z
d z
d
d 2
=
= (I S z ) = I S
= IS 2 = IS z ,
dt
dt
dt
dt
(19.5.34)
in agreement with our earlier result that the z -component of torque about the point S is
equal to the product of moment of inertia about I S , and the z -component of the angular
acceleration, z .
Example 19.6 Circular Ring
A circular ring of radius r , and mass m is rotating about the z -axis in a plane parallel to
but a distance h above the x-y plane. The z -component of the angular velocity is z
(Figure 19.19). Find the magnitude and the direction of the angular momentum L S along
at any point S on the central z -axis.
Solution: Use the same symmetry argument as we did in Example 19.5. The ring can be
thought of as made up of pairs of point like objects on opposite sides of the ring each of
mass m . Each pair has a non-zero z-component of the angular momentum taken about
any point S along the z -axis, L S , pair = L S ,1 + L S ,2 = 2mr 2 z k . So summing up over all
the pairs gives
L S = mr 2 z k .
(19.5.35)
dm (rdm )2 = mr 2 .
(19.5.36)
body
For the symmetric ring, the angular momentum about S points in the direction of the
angular velocity and is equal to
L S = I S z k
(19.5.37)
sys
sys
Lsys
(
L
)
(
L
)
=
0
.
S
S
f
S i
(19.5.40)
sys
(Lsys
)
=
(
L
).
S
f
S i
(19.5.41)
19-21
So far no isolated system has been encountered such that the angular momentum is not
constant so our assumption that internal torques cancel is pairs can be taken as an
experimental observation.
Example 19.7 Collision Between Pivoted Rod and Object
An object of mass m and speed v0 strikes a rigid uniform rod of length l and mass
mr that is hanging by a frictionless pivot from the ceiling. Immediately after striking the
rod, the object continues forward but its speed decreases to v0 / 2 (Figure 19.20). The
moment of inertia of the rod about its center of mass is I cm = (1/12)mr l 2 . Gravity acts
with acceleration g downward. (a) For what value of v0 will the rod just touch the
ceiling on its first swing? You may express your answer in terms of g , mr , m , and l .
(b) For what ratio mr / m will the collision be elastic?
sys
19-22
The external pivot force does not contribute any torque because rS ,S = 0 . The internal
forces
between
the rod and the object are equal in magnitude and opposite in direction,
Fr ,o = Fo,r (Newtons Third Law), and so their contributions to the torque add to zero,
parallel to rS ,cm and so rS ,cm Fr ,g = 0 . Therefore the torque on the system about the pivot
sys
(Lsys
)
=
(
L
) .
S 1
S 2
(19.5.43)
In order to calculate the angular momentum we draw a diagram showing the momentum
of the object and the angular speed of the rod in (Figure 19.22).
(Lsys
) = rS ,0 m1v 0 = l( j) m1v0 i = lm1v0k .
S 1
19-23
lm v
(Lsys
) = rS ,0 m1v 0 / 2 + I s 2 = l( j) m1 (v0 / 2)i = 1 0 k + I s 2k .
S 2
2
Therefore the condition that the angular momentum about S is constant during the
collision becomes
lm v
lm1v0k = 1 0 k + I s 2k .
2
We can solve for the angular speed immediately after the collision
2 =
lm1v0
.
2I s
By the parallel axis theorem the moment of inertial of a uniform rod about the pivot point
is
I S = m(l / 2)2 + I cm = (1/ 4)mr l 2 + (1/ 12)mr l 2 = (1/ 3)mr l 2 . (19.5.44)
Therefore the angular speed immediately after the collision is
2 =
3m1v0
.
2mr l
(19.5.45)
For the transition state 2 state 3, we know that the gravitational force is conservative
and the pivot force does no work so mechanical energy is constant.
Em,2 = Em,3
19-24
We draw an energy diagram in Figure 19.23, with a choice of zero for the potential
energy at the center of mass. We only show the rod because the object undergoes no
energy transformation during the transition state 2 state 3. The mechanical energy
immediately after the collision is
Em,2 =
1
1
I S 22 + m1 (v0 / 2)2 .
2
2
Using our results for the moment of inertia I S (Eq. (19.5.44)) and 2 (Eq. (19.5.45)), we
have that
2
3m v
3m 2 v 2 1
1
1
Em,2 = (1/ 3)mr l 2 1 0 + m1 (v0 / 2)2 = 1 0 + m1 (v0 / 2)2 . (19.5.46)
2
2
8mr
2
2mr l
The mechanical energy when the rod just reaches the ceiling when the final angular speed
is zero is then
1
Em,3 = mr g(l / 2) + m1 (v0 / 2)2 .
2
Then the condition that the mechanical energy is constant becomes
3m12 v0 2 1
1
+ m1 (v0 / 2)2 = mr g(l / 2) + m1 (v0 / 2)2 .
8mr
2
2
(19.5.47)
We can now solve Eq. (19.5.47) for the initial speed of the object
v0 =
mr
m1
4gl
.
3
(19.5.48)
We now return to the transition state 1 state 2 and determine the constraint on the
mass ratio in order for the collision to be elastic. The mechanical energy before the
collision is
1
Em,1 = m1v0 2 .
(19.5.49)
2
If we impose the condition that the collision is elastic then
Em,1 = Em,2 .
(19.5.50)
19-25
3m 2 v 2 1
1
m1v0 2 = 1 0 + m1 (v0 / 2)2 .
2
8mr
2
This simplifies to
3m 2 v 2
3
m1v0 2 = 1 0
8
8mr
Hence we can solve for the mass ratio necessary to ensure that the collision is elastic if
the final speed of the object is half its initial speed
mr
= 1.
m1
(19.5.51)
Notice that the mass ratio is independent of the initial speed of the object.
ext f ext
J S S dt .
(19.5.52)
ti
Then the external angular impulse about S is equal to the change in angular momentum
t
tf
ext f ext
sys
dLsys
.
J S S dt = S dt = Lsys
L
S, f
S ,i
dt
t
t
i
(19.5.53)
Notice that this is the rotational analog to our statement about impulse and momentum,
t
tf
ext f ext
dpsys
IS F dt =
dt = psys, f psys,i .
dt
t
t
i
(19.5.54)
19-26
washer is only in contact with the first washer. The collision takes place over a time
tint = tb ta . Assume the frictional torque on the axle is independent of speed, and
remains the same when the second washer is dropped. The two washers continue to slow
down during the time interval t2 = t f tb until they stop at time t = t f . (a) What is the
angular acceleration while the washer and motor are slowing down during the interval
t1 = ta ? (b) Suppose the collision is nearly instantaneous, tint = (tb ta ) 0 . What is
the angular speed b of the two washers immediately after the collision is finished (when
the washers rotate together)?
Now suppose the collision is not instantaneous but that the frictional torque is
independent of the speed of the rotor. (c) What is the angular impulse during the
collision? (d) What is the angular velocity b of the two washers immediately after the
collision is finished (when the washers rotate together)? (e) What is the angular
deceleration 2 after the collision?
Solution: a) The angular acceleration of the motor and washer from the instant when the
power is shut off until the second washer was dropped is given by
1 =
a 0
< 0.
t1
(19.5.55)
(b) If the collision is nearly instantaneous, then there is no angular impulse and therefore
the z -component of the angular momentum about the rotation axis of the motor remains
constant
0 = Lz = L f ,z L0,z = (I 0 + I w ) b I 0 a .
(19.5.56)
We can solve Eq. (19.5.56) for the angular speed b of the two washers immediately
after the collision is finished
I0
(19.5.57)
b =
.
I0 + I w a
(c) The angular acceleration found in part a) is due to the frictional torque in the motor.
Let f = f k where f is the magnitude of the frictional torque (Figure 19.24) then
f = I 01 =
I 0 ( a 0 )
.
t1
(19.5.58)
During the collision with the second washer, the frictional torque exerts an angular
impulse (pointing along the z -axis in the figure),
tb
tint
ta
t1
J z = f dt = f tint = I 0 ( a 0 )
(19.5.59)
(d) The z -component of the angular momentum about the rotation axis of the motor
changes during the collision,
Lz = L f ,z L0,z = (I 0 + I w ) b I 0 a .
(19.5.60)
The change in the z -component of the angular momentum is equal to the z -component
of the angular impulse
(19.5.61)
J z = Lz .
Thus, equating the expressions in Equations (19.5.59) and (19.5.60), yields
t
I 0 ( a 0 ) int = (I 0 + I w ) b (I 0 ) a .
t1
(19.5.62)
Solve Equation (19.5.62) for the angular velocity immediately after the collision,
b =
tint
I0
+ a .
( a 0 )
(I 0 + I w )
t1
(19.5.63)
If there were no frictional torque, then the first term in the brackets would vanish, and the
second term of Eq. (19.5.63) would be the only contribution to the final angular speed.
(e) The final angular acceleration 2 is given by
2 =
tint
0 b
I0
=
(
)
+
0
a
t2
(I 0 + I w )t2 a
t1
(19.5.64)
19-28