PHY 210

Mechanic II and Thermal

Physics

CHAPTER 1: ROTATIONAL MOTION

NOR FARANAZ SHAMIN NOR AZMI

UiTM Cawangan Sabah
FSG
 CHAPTER 1
ROTATIONAL MOTION
WEEK 1 2
 LESSON OUTCOME
At the end of this chapter you should be able to:
• Define and write the equation related to angular displacement, angular
velocity, angular acceleration and rotational kinematics.
• State the relationship between angular quantities and linear quantities
• Solve the problem using rotational kinematics equation.
• Define and solve simple problems of torque and static equilibrium.
• Define and understand the concepts of moments of inertia, angular
momentum and its conservation.
• Understand the concept and solve its simple problem regarding rotational
kinetics energy, conservation of energy in translational and rotational

3
 LESSON CONTENT
Rotational Motion (CLO 1, CLO 2, CLO3)
1.1 Angular displacement, angular velocity, angular
acceleration and rotational kinematics.
1.2 Torque (Relationship between torque and angular
acceleration)
1.3 Moment of inertia, angular momentum and its
conservation.
1.4 Rotational kinetic energy
1.5 Conservation of energy in translational and rotational
motion.
4
 WHAT IS ROTATIONAL MOTION
Rotational motion - any object can rotate and spin or move in circular
motion directed to centre of rotation.

5
 ROTATIONAL MOTION
• Uniform circular motion is the motion in which there is no
change in speed, only a change in direction.
• There are many cases of objects moving in a curve or
circular path about some point, such as bicycles or cars
turning round corners.
example:
a uniform circular motion is afforded by swinging a rock in a
circular path with a string.

6
 HOW ABOUT LINEAR MOTION?
• Linear motion is object moves from one point to another
point in the straight line.

PARAMETERS

DISPLACEMENT, S

VELOCITY, V

ACCELERATION, a
7
1.1 Angular displacement,
angular velocity, angular
acceleration and rotational
kinematics.

8
 RADIUS
•In purely rotational motion, all points on the object move
in circles around the axis (point O) of the circle rotation.

•The radius of the circles is r.

 Angular quantities
The radian : base unit when measuring angular
quantities.

Half cycle = half revolution = π rad = 1800

r Full cycle = 1 revolution = 2π rad = 3600

2π rad

10
 Exercise 1
1) Express the following angles in radians: (a) 420º (b) 360º.
Ans: (a) 7.330 rad (b) 6.283 rad

2) Express the following revolutions in radians: (a) 2.5 rev (b) 0.897 rev
Ans : (a) 15.708 rad (b) 5.636 rad

3) Express the following radians in revolutions: (a) 7.8 rad (b) 0.5 rad
Ans: (a) 1.241 rev (b) 0.080 rev

4) Express the 2.51 rev/minutes in rad/s. Ans: 0.263 rad/s

5)Express the 10.72 rad/s in rev/minutes . Ans: 102.369 rev/min

11
 ROTATIONAL VARIABLES
Table below shows the symbols used in linear and rotational
motion.

ROTATIONAL
LINEAR MOTION QUANTITY
MOTION

s Displacement 
u Initial velocity 0
v Final velocity 
a Acceleration 
t Time t
 Angular position & angular
displacement
• Angular position, θi : The angle in radians (degrees, revolutions)
through which a point or line has been rotated in a specified sense
about a specified axis.

θi is angular position

θi Try this!
Reference axis
If θi is 300 from
reference axis,
what is its angle
in radians?
13
 Angular position & angular
displacement
• Angular displacement, ∆θ is change in angular position
Angular displacement, ∆θ = θf ,final angular position θi , initial angular position

Angular displacement, ∆θ = θf - θi
θi is initial angular position
θf

θi It also can simply define as

Reference axis how much the object
turns

Unit : rad or rev or degree (o)

14
 Angular velocity, ω

• Angular velocity,ω is rate of change of angular displacement.

θi is initial angular position
θf ,final angular position
∆𝜃 -1
𝜔= rad s
Takes, t time ∆𝑡
𝜃𝑓 −𝜃𝑖
θf 𝜔= ∆𝑡
θi
Reference axis

Unit :rad/s or
rps (revolution per seconds) or
rpm (revolution per minutes) 15
 Angular accerelation, 𝛼

• Angular acceleration,𝛼 is rate of change of angular velocity

∆𝜔
𝜔𝑓 α= rad s-2
∆𝑡
𝜔𝑓 −𝜔𝑖
α=
θf 𝜔𝑖 ∆𝑡
θi
Reference axis

16
 Angular velocity, ω

• Angular velocity,ω is rate of change of angular displacement.

θi is initial angular position
θf ,final angular position
∆𝜃 -1
𝜔= rad s
Takes, t time ∆𝑡
𝜃𝑓 −𝜃𝑖
θf 𝜔= ∆𝑡
θi
Reference axis

Unit :
rad/s2 or
rev/s2 or 17
• Period of rotation, T
The time taken to rotate through one round
SI unit: s 2
T=

• Frequency of rotation, f
the number of rotation performed per unit time
SI unit: s-1, Hz 1
f =
T
• Relation between frequency of rotation and angular
velocity.
 = 2 f
 Example 1
A centrifuge rotor is accelerated from rest to 20,000 rpm in
5 minute. What is its average angular acceleration?
Given  = 20,000 rev/min = 333.33 rev/s
t = 5 min = 300 s
i = 0 ,  = …..

Ans : 6.98 rad/s

19
 20222 rev 2  rad 1 min
=  
min 1rev 60 s
−1
= 2074 rads

 f − i
 =
t f − ti
2094 rad / s − 0
=
300 s
= 6.98 rad / s 2
20
 Exercise 2

A object undergoes circular motion with uniform angular

speed 100 r.p.m. Determine:
a) the period
b) the frequency of revolution.

Ans :0.6s, 1.67 Hz

 Every point on a rotating body has an
angular velocity ω and a linear velocity v.
They are related:
vt = r  
If the angular velocity ω of a rotating
object changes, it has a tangential
acceleration:
r r at = r  
Even if the angular velocity ω is constant (α zero),
each point on the object has a centripetal
acceleration: r
r Unit = m/s2
23
r r
Relationship between angular and
linear quantities
a) The position : s = r
where θ in radians

b) The velocity : vt = r
where vt : tangential / linear velocity (in ms-1)
 : angular velocity (in rads-1)

c) The acceleration : at = r
where at : tangential / linear acceleration (in ms-2)
 : angular acceleration ( in rads-2)
 Example 2
What is the linear speed of a point on the edge of a
steadily rotating 33 rpm (revolution per minute)
phonograph record whose diameter is 30 cm?

Ans : 0.53 m/s

25
 33 rev 2 rad 1 min additional notes
=  
min 1rev 60 s
= 3.5 rads −1  1 rev = 2  rad where 2 = 360o

from v = r  s
from  = when s = r ,  = 1 rad
−1
r
= (0.15 m)(3.5 rads ) s (m)
  (rad ) =
= 0.53 m / s r (m)

26
 Example 3
A car that has tires with radius 20.0 cm (0.200 m)
begins to accelerate forward. The acceleration
comes from the engine, which produces an angular
acceleration of the tires α = 12.0 rad/s2. What is the
tangential acceleration of the tires?

Ans : 2.4 m/s2

27
 Example 4
Calculate the centripetal acceleration of a point 7.5
cm from the axis of an ultracentrifuge spinning
at 7.5 x 10-4 revolutions per minute.

Ans: 4.63 x 10-10 m/s2

28
 Exercise 3
1) Determine the linear velocity of a point rotating with an angular
velocity of ω = 6.1π radians per minutes at a distance r = 1.8 m
from the center of the rotating object. Ans : 0.575 m/s
2) A Ferris Wheel rotates 3 times each minute. The passengers sit in
seats at radius, r meter from the center of the wheel. The
linear velocity of the passengersin the seats is 2.512 m/s. What is
the value of r? Ans : 8 m
3) An object at a distance 20 m from the center is rotating on a
circular path. The linear velocity of the object is 150 m per minute.
What is the angular velocity of the rotating platform? Ans : 0.125
rad/s

29
 Exercise 3
4) A child spins a toy top, applying a force to the peg in the middle.
The force applied results in a tangential acceleration of the peg. If the
radius of the peg is 0.50 cm, and the tangential acceleration applied is
atan = 0.540 m/s2, what is the angular acceleration of the top.
Ans: 108 rad/s2
5) A race car accelerates around a circular track of radius r meter
with an angular acceleration of 4.8 x 10-3 rad/s2 and the tangential
acceleration of 3 m/s2 . Calculate the radius of the track. Ans: 625 m

30
 Exercise 3

6) Calculate the radial acceleration of a stone on a string if the stone

moves in circular motion at a constant speed of 4 m s-1 on a string of
length 0.75 m. Ans: 21.333 m/s2

7) The linear velocity of the car is 40 m/s. What is the radius of the
circular track if the radial acceleration of the car is 80 m/s2 ?

Ans: 20 m

31
 Resultant Acceleration

The tangential component of acceleration is

due to changing speed.
The centripetal component of the acceleration
is due to changing direction.
Total acceleration can be found from these
components:

a = a +a = r  + r  = r  +
2
t
2
r
2 2 2 4 2 4
 Example 5
A carousel is initially at rest. At t = 8 s it is given an angular velocity of the
carousel ω = 0.48 rad/s and angular acceleration of 0.06rad/s2. If a child is
located 2.5 m from the center; determine the magnitude of the following
quantities:
(a) the linear velocity of a child;
(b) the tangential (linear) acceleration of that child;
(c) the centripetal acceleration of the child; and
(d) the total linear acceleration of the child.

Ans: (a) 1.2 m/s (b) 0.15 m/s2 (c) 0.576 m/s2 (d) 0.595 m/s2
 Exercise 4
For the child on the rotating carousel, determine that
child’s:
a) Tangential acceleration
b) Centripetal acceleration
c) Total acceleration

Ans : a) 0.15 ms-2

b) 0.58 ms-2
c) 0.60 ms-2 34
Kinematic equation for angular
quantities
Linear motion with Rotational motion with
constant linear constant rotational
acceleration, a. acceleration, .

vxf = vxi + axt  f = i +t

x f = xi + (vxi + vxf )t
1
2
 f = i + (i +  f )t
1
2

1 2 1 2
x f = xi + vxit + axt  f = i + it + t
2 2
vxf = vxi + 2ax ( x f − xi )
2 2
 f = i + 2 ( f −i )
2 2

35
 Example 6
A wheel starting from rest, rotates with a constant angular
acceleration of 2.0 rad/s2. During a certain 3.0 s interval it
turns through 90 rad. (a) What was the angular velocity of
the wheel after 3.0 s interval ?

36
 Example 7
A pottery wheel is accelerated uniformly from rest to a
rotation speed of 10 rpm in 30 seconds.
a.) What was the angular acceleration? (in rad/s2)
b.) How many revolutions did the wheel undergo during that
time?

Ans : a) 0.0349 rad/s2

b) 2.50 revolutions
37
 Example 8
A carousel initially at rest. At t=0 it is given a constant
angular acceleration, 𝛼 = 0.06 rad s-2 , which increases its
angular velocity for 8.0 s. At t = 8.0 s, determine
a) The angular velocity of carousel,
b) The linear velocity of a child located 2.5 m from the
center

Ans : a) 0.48 rad/s1

b) 1.2m/s
38
 Exercise 5
1) The blades in a blender rotate at a constant rate of
6500 rpm. What is the angular displacements of the
blades in 4 s. Ans: 2722.72 rads

2) You have a toy plane on a string that goes around

three complete circles in 9.0 s. What is its angular
velocity in rev/min? Ans: 20 rev/min

3) If an object changes it angular velocity from 10 rad/s

to 25 rad/s in 3 seconds. Calculate angular
acceleration in rad/s2. Ans: 5 rad/s2
39
1.2 Torque (Relationship
between torque and
angular acceleration)

40
 What is Torque, τ

Torque is the tendency of a force to rotate an object

about axis of rotation.

41
 Relation Torque, τ and Force, F

•Force caused acceleration

•What cause angular accelerations ?

TORQUE, τ

42
 Torque, τ
If a spanar is rotated about an axis. What are the
factors that determine the effectiveness of the force in
opening the screw.
There are three factors that determine the
effectiveness of the force:
• The magnitude of the force
• The position of the application of the force
• The angle at which the force is applied

43
 Definition of Torque, τ
• Let F be a force acting on an object, and let r be a position
vector from a rotational center to the point of application of
the force, with F perpendicular to r. The magnitude of the
torque is given by

44
• Torque, , is the tendency of a force to rotate an object
about some axis.

 = Fd sin 
•  is the torque (unit : Nm)
• d is the lever arm (unit : m)
• F is the force (unit : N)
• θ is the angle between F and d

d
 Torque Units and Direction
Torque will have direction
• If the turning tendency of the force is
counterclockwise, the torque will be positive
• If the turning tendency is clockwise, the torque will
be negative
 Example 9

A force of 50 newtons is applied to a wrench that is 30

centimeters long. Calculate the torque if the force is applied
perpendicular to the wrench which the lever arm is 30 cm.

47
 Example 10
A 20-centimeter wrench is used to loosen a bolt. The force is applied
0.20 m from the bolt. It takes 50 N to loosen the bolt when the force is
applied perpendicular to the wrench.
i) Calculate the torque

48
 Example 11
ii) How much force would it take if the force was applied at a 30-
degree angle from perpendicular and produce the same torque in (i) ?
(ans:57.74 N)

49
 Net Torque

The net torque is the sum of all the torques produced by all the
forces
• Remember to account for the direction of the tendency for rotation
• The force F1 will tend to cause a
counterclockwise rotation about O
• The force F2 will tend to cause a
clockwise rotation about O
• S = 1 + 2 = F1d1 – F2d2
• If S  0, starts rotating
• If S = 0, rotation rate does not
change
50
 General Definition of Torque
• The applied force is not always perpendicular to the position
vector
• The component of the force perpendicular to the object will
cause it to rotate
• When the force is parallel to the position vector, no rotation
occurs
• When the force is at some angle, the perpendicular component
causes the rotation
 Example 12
Two thin disk-shaped wheels, of radii RA = 30 cm and RB = 50 cm, are
attached to each other on an axle that passes through the center of each, as
shown.
Calculate the net torque on this compound wheel due to the two forces
shown, each of magnitude 50 N.

Ans: - 6.65 Nm
 Example 13
Three forces are applied to a door, as shown in figure.
Suppose a wedge is placed 1.5 m from the hinges on the
other side of the door. What minimum force must the wedge
exert so that the force applied won’t open the door? Assume
F1 = 150 N, F2 = 100 N, F3 = 300 N, θ = 30°

F3 F2
θ

2.0m F1
Fw
 Newton’s Second Law for a Rotating
Object
• When a rigid object is subject to a net torque (≠0), it
undergoes an angular acceleration

S = I
• The angular acceleration is directly proportional to the net
torque
• The angular acceleration is inversely proportional to the
moment of inertia of the object
• The relationship is analogous to  F = ma
 Relationship between torque and
angular acceleration
• Torque as known as the rate of change of angular momentum.

 = FT r
 = ma r , a = r  ( in rads ) −1

= mr (r  )
= mr 2

= I
55
TORQUE AND MOMENT INERTIA

 = I
τ = torque, around a defined axis (Nm)
I = moment inertia (kg∙m2)
α = angular acceleration (rad/s2)
 CHAPTER 1
ROTATIONAL MOTION
WEEK 2 57
 1.3 Moment of inertia,
angular momentum and its
conservation.

58
 Do you have any experience playing bowling ball??

All are in SAME SIZE but why you still need to choose one
that fit to yourself?
Greater mass, easier to rotate→ rotate more faster
So, 1 factor that can influence rotation is MASS of the object
What caused them have different tendency to rotate ?
 MOMENT INERTIA, I

Moment of inertia can be defined how easily a

body can be
rotated
as the tendency of a body to resist about a
given axis
angular acceleration or change in
its rotational motion.
Factors influence moment of inertia:
1. Mass
2. Distribution of mass
3. Axis of rotation
How to calculate moment of inertia?

r
m 𝐼 = 𝑚𝑟 2 Single particle

𝐼 = σ 𝑚𝑖 𝑟𝑖 2 = 𝑚1 𝑟1 2 + Many particles
𝑚2 𝑟2 2 + 𝑚3 𝑟3 2 ….

𝑚
2 a continuous distribution of
𝐼 = න 𝐼 𝑑𝑙 = න 𝑟 𝑑𝑚 mass / extended object
0 Example: cylinder, sphere,
rod
Moment of Inertia formula for
different shape of object
 Long thin rod with axis
Single Object Solid Cylinder Solid Sphere of rotation at centre

Cylinder Shell Thin spherical shell Long thin rod with axis of
rotation through end 64
 Example 14
Two small objects of mass 5.0 kg and 7.0 kg are mounted 4.0 m apart on a
light rod (negligible mass). Calculate the moment of inertia of the system
a) When rotated about an axis halfway between the masses. (ans:48 kg m2)
b) When rotated about an axis 0.50 m to the left of 5.0 kg mass. (ans:143
kg m2)

4.0 m 0.5 m
4.0 m

axis axis
 Exercise 6

1) Determine the moment of inertia of a 10.8 kg sphere of radius

0.648 m when the axis of rotation is through its center.
Ans: 1.814 kgm2
2) Calculate the moment of inertia of a bicycle wheel 66.7 cm in
diameter. The rim and tire have a combined mass of 1.25 kg.
Ans: 0.139 kgm2
3) Calculate the moment of inertia of a thin rod of a length of
8.00 m with mass of 2 kg spinning on an axis through its
center.
Ans: 10.667 kgm2
TORQUE AND MOMENT INERTIA

 = I
τ = torque, around a defined axis (Nm)
I = moment inertia (kg∙m2)
α = angular acceleration (rad/s2)
 Exercise 7
1) The wheels of a toy car each have a mass of 0.100 kg, and radius 20.0
cm. If the angular acceleration of a wheel is 1.00 radian/s2, what is the
torque? Ans: 4.0 x 10-3 Nm
2) A DVD has a mass of 30 grams and a diameter of 12 cm. It starts at 700
revolutions per second when you first hit play and winds down to about
200 revolutions per second at the end of the DVD 50 minutes later.
What’s the average torque needed to create this acceleration?
Ans: -5.654 x 10-5 Nm
3) Calculate the torque to spin a bowling ball with mass of 1.6 kg and
having a diameter of 12.7 cm with an angular acceleration of 100 rad/s2.
Ans: 0.258 Nm
 ANGULAR MOMENTUM
• The angular momentum of a rigid object is
defined as the product of the moment of
inertia, I and the angular velocity, ω.

L = I
• It is analogous to linear momentum.
• Unit for L are kg.m2 /s.
69
 Example 14
A 2.0 kg body travels around a 3.0 m radius circle with
angular velocity 5 rads-1. Find the angular momentum for
that body.

Ans: 90 kgm2s-1
R =3.0 m
 Example 15

What is the angular momentum of a uniform rod of

mass m = 5kg and length l = 3m rotating about its
center of mass with angular speed ω = 10 rads−1?

Ans: 37.5 kgm2s-1

71
 Example 16

A uniform sphere of mass 5 kg and radius 0.2

m spins about an axis passing through its
center with period T= 0.7s . What is the
angular momentum of the sphere?

Ans: 0.718 kgm2s-1

72
 Exercise 8
1. A 500 g steel rod of 30 cm in length is pivoted about its center and
rotated at 300 rev/min. What is the angular momentum?
(ans: 0.118 kg m2)
2. A sudden torque of 400 N.m is applied to the edge of a disk initially at
rest. If the rotational inertia of the disk is 4.0 kg.m2 and the torque acts for
0.02 s,
a) What is the change in angular momentum
(ans: 8.00 k.m2/s)
b) What is the final angular speed
(ans: 2.00 rad/s)
The law of CONSERVATION of angular
momentum for a rotating object:
The total angular momentum of a rotating object
remains constant if the net torque acting on its is
zero.
So, we can write :

I = I 00 = constant
 Example 17

A skater is spinning at 32.0 rad/s with her arms

and legs extended outward. In this position her
moment of inertia with respect to the vertical axis
about which she is spinning is 2 45.6 kg m2 . She
pulls her arms and legs in close to her body
changing her moment of inertia to 2 17.5kg m2 .
What is her new angular velocity?
1.4 Rotational kinetic
energy

77
The quantity ½ mv2 is the kinetic energy of an object
undergoing translational motion (also known as translational
kinetic energy).

1 2
K translational = mv
2

By substituting the rotational quantities, we find that the

rotational kinetic energy can be written:

1
K Rotational = I2
2
 Total kinetic energy
The total kinetic energy of translational and rotational of an
objet is:

KTotal =KTranslational + K Rotational

1 2 1 2
KTotal = mv + I
2 2
All these objects have the same potential energy
at the top, but the time it takes them to get down
the incline depends on how much rotational inertia
they have.
 Example 18

• A hoop and a cylinder of equal mass roll down a

ramp with height h. Which has greatest speed at
the bottom of the ramp?

A) Hoop B) Same C) Cylinder

 Example 19
A 1.20 kg disk with a radius 0f 10.0 cm rolls without slipping. The linear
speed of the disk is v = 1.41 m/s.
(a) Find the translational kinetic energy.
(b) Find the rotational kinetic energy.
(c) Find the total kinetic energy.
Answer:

Kt = 12 mv2 = 12 (1.20 kg)(1.41 m/s)2 = 1.19 J

Kr = 12 I 2 = 12 ( 12 mr 2 )(v / r )2 = 14 (1.20 kg)(1.41 m/s)2 = 0.595 J
KS = Kt + Kr = (1.19 J) + (0.595 J) = 1.79 J
82
 Exercise 9

Find the rotational kinetic energy of the earth due to its

daily rotation on its axis. Assume it to be a uniform
sphere with mass, m = 5.98 x 1024 kg and radius, r = 6.37
x 106m

Ans: 2.566 x 1029 J

 1.5 Conservation of
energy in translational and
rotational motion.

84
 The Conversation of Energy
When using conservation of energy, both rotational and
translational kinetic energy must be taken into account.
The Conversation of Energy state that the total energy (kinetic
+ potential energy) at any point is same.
Ei = E f

Ui + Klinear, i + Krotational, i = U f + Klinear, f + Krotational, f

1 2 1 2 1 2 1 2
mghi + mvi + Ii = mghf + mv f + I f
2 2 2 2
 Example 20

A uniform sphere of radius r, 0.05 m and mass m,

2 kg starts from rest at the top of an incline of
height h, 1.2 m and rolls down. How fast is the
sphere moving when it reaches the bottom?

Ans: 4.802 m/s

Summary Linear and Rotational Analogies

LINEAR ROTATIONAL
Force (F) Torque ()
Mass (m) Moment of Inertia (I)
Displacement (s) Displacement ()
Velocity (v) Velocity ()
Acceleration (a) Acceleration ()

Linear motion Rotational motion

1 1
Kinetic Energy: K = mv2 Kinetic Energy: KR = I2
2 2

Force: F = ma Torque:  = I
Momentum: p = mv Angular L = I
Momentum: 87
THE END…
Next Chapter…
CHAPTER 2 :
STATIC EQUILIBRIUM