Rotational Kinetic Energy
Rotational Kinetic Energy
Rotational Kinetic Energy
mi ri2
X
I≡ (10.14)
i
Statement of Problem
As an example consider a uniform horizontal beam of length 8.00 m, and weight
800 N. The beam is free to rotate about a pivot in a wall on one end of the beam.
The other end of the beam is tied to a cable making an angle of 53 degrees with
respect to the beam. A 600 N man is standing 2.00 m away from the wall. What
is the tension in the cable, and the force exerted by the pivot on the beam?
Method of Solution
Again this is an equilibrium problem. Nothing is being accelerated. So the net
force must be zero in the vertical and the horizontal directions. However, there
is more than that. There is no rotation either. So the clockwise torque must be
equal to the counter clockwise torque. Essentially we have three equations: one
for the vertical forces, one for the horizontal forces, and one for the torques. We
have three unknowns: the horizontal force of the pivot, the vertical force of the
pivot, and the tension in the cable. So we can solve for the three unknowns from
the three equilibrium equations.
Lecture 17, Chapter 10: Rotational Energy and Angular Momentum 4
X
Fx = 0 = R cos θ − T sin 53
X
Fy = 0 = R sin θ + T sin 53 − 600 − 200
Our third equation is for the sum of the torques being 0. We can choose the axis
of rotation any where we want. However, the smart thing to do is chose an axis
corresponding to the location of one of the forces. That way, the torque from that
force is automatically 0. The really smart thing to do is choose an axis where
an unknown force is acting. Then you don’t have to worry about that unknown
force. In this case the really smart axis choice is at the pivot point. That give the
net toque equation as
X
τ = 0 = (T sin 53)(8.00) − (600)(2.00) − (200)(4.00)
Right away we can solve for T = 313 Newtons. We then plug this value of T into
our force equations to get
Since the net torque is negative, this means that the cylinder will rotate in the
clockwise direction.
Note that the units of torque are Newton–meters (N–m). So don’t confuse torque
with force; they are different quantities. (You have previously learned another
quantity with units of N–m. Do you recall that quantity?)
Lecture 17, Chapter 10: Rotational Energy and Angular Momentum 6
τ = Irod α
1
Irod = M L2 (thin rod about axis at one end)
3
1 M gL 3g
τ = Irod α = M L2 α = =⇒ α =
3 2 2L
This angular acceleration is common to all points along the rod. To get the
tangential acceleration at the end of the rod, you have to multiply α by the
distance of the end of the rod from the pivot point
3
atangential = Lα = g
2
Believe or NOT: This value of acceleration is actually greater than g !.
Finally, does the pivot point exert any force on the rod? Think of the situation
at the end when the rod has come down to a vertical position. If the pivot point
is exerting a force, why don’t we use it too when computing the net torque?
Lecture 17, Chapter 10: Rotational Energy and Angular Momentum 7
Worked Example
A wheel of radius R, mass M , and moment of inertia I is mounted on a hori-
zontal axle. A mass m is vertically attached by a light cord wrapped around the
circumference of the wheel. The m is dropping, and the wheel is rotating, both
with an acceleration. Calculate the angular acceleration of the wheel, the linear
acceleration of the mass m, and the tension in the cord.
This is a good example with which to test your comprehension of torques and
rotational motion. You really should understand this solution thoroughly before
being satisfied that you know about rotational motion and torques.
The solution to this problem just requires the use of Newton’s second law both
in its linear and rotational forms. Three equations will be produced. First, for
the mass m, the net force acting on m is
Fm = mg − T = mam
where T is the tension in the cord supporting the mass.
Next, for the wheel, the tension T acts to produce a torque with respect to the
axis of rotation. This torque is given by
1
τT = T R = Iα = M R2 α
2
where we have used the expression for I valid for a solid disk.
Finally, because the cord is inextensible, the linear acceleration of the mass m is
communicated to the tangential acceleration of the wheel, which in turn is related
to the angular acceleration of the wheel
am = atangential = Rα
Now work backwards substituting first for α, and then for T
am 1 am M am
α= =⇒ T R = M R2 =⇒ T =
R 2 R 2
Now substitute in the Fm equation
M am
mg − T = mam =⇒ mg − = mam
2
2gm 2gm M mg
=⇒ am = ; α= ; T =
M + 2m R(2m + M ) 2m + M
Lecture 17, Chapter 10: Rotational Energy and Angular Momentum 8
L = Iω
d~p
F~ =
dt
We have the equivalent to Newton’s Second Law for rotations
~
dL
~τ =
dt
The net toque is equal to the time rate of change of angular momentum.
Now when there is no external torque, then the angular momentum of a rigid
body must remain constant. A great example of angular momentum the spinning
of an ice skater. When there is no external torque angular momentum must be
conserved. We write
L i = Lf