System of Particles & Rotational Motion: Chapter - 00

BBrilliant STUDY CENTRE REPEATERS PHYSICS (ONLINE) -2021
CHAPTER - 00
SYSTEM OF PARTICLES &
ROTATIONAL MOTION
Rigid Body
A body is said to be rigid only if it possess a definite size and definite shape. This is due to the fact that
the interparticle distance between various particles of the rigid body remains the same even under the
application of external forces.
The force of interaction between these particles are called internal forces. The internal forces between
any two particles are always equal and opposite. Hence such forces cancel out in pairs.
Motion if a rigid body
1. Pure translational motion
In pure translation the instantaneous velocity of every particles remains the same thought the motion.
eg: sliding motion of a block on an inclined plane.
2. Pure rotational motion
In pure rotational motion, a rigid body rotates about a fixed axis, every particle describes a circular path
with centre at the axis and plane of the circle perpendicular to axis of rotation.
 Pure rotation is possible about a fixed axis or about a fixed point.
eg: motion of ceiling fan, Giant wheel in circus
3. Combined motion of translation and rotation
In combined motion, the instantaneous velocity of every particles of the body are different throughout
the motion.
eg: Rolling motion
Centre of Mass
Centre of mass is a point at which the entire mass of body or system of bodies are assumed to be
concentrated.
 if a body posses at least two axis of symmetry, then the CM will lie on the point of intersection
1
 if a body posses only one axis of symmetry, then the CM will lie on the axis depending upon mass
distribution of the body.
 The position of the CM of a s/m is independent of the choice of coordinate s/m.

 The position of CM depends on the shape and size of the body and distribution of its mass. Hence it
may lie within or outside the material of the body.
 The position of CM changes only under the translatory motion. There is no effect of rotatory motion on
CM of body.
Centre of mass for a s/m of point masses
  m1 ri
in general, R 
 mi
 
Let R  xiˆ  yjˆ  zkˆ ; ri  ri ˆi  yi ˆj  zi kˆ
 mi x i  m i yi  mi z i
 x y z
 mi  mi  mi
 For a 2 particle s/m and if m1 = m2.
m1x1  m 2 x 2 x1  x 2
x 
m1  m 2 2
2
m1 y1  m 2 y 2 y1  y 2
y 
m1  m 2 2
CM of the s/m will lie on the midpoint of the line joining the two point masses.
 for 3 particle system and if m1 = m2 = m3
m1x1  m 2 x 2  m3 x 3 x1  x 2  x 3
x 
m1  m 2  m 3 3
m1 y1  m 2 y 2  m3 y 3 y1  y 2  y3
y 
m1  m 2  m 3 3
ie the CM of the system will lie on the centroid of the triangle formed by three equal masses
Analysis of two particle system in the frame of CM
 mi x i
x  0   mi x i  0      1
 mi
3
m1x1  m 2 x 2  0
m1x  r1  m 2 r2  0
m1r1  m 2 r2       2 
ie mr = constant
1
r      3
m
 From equation (1) and (2) the net mass moment about center of mass of the system of particles is
always zero.
 From equation (3) it is clear that centre of mass of the system lies closer to the heavier particles
always.
 From equation (2)
m1r1  m 2 r2 Similarly,
m1d
m1r1  m 2  d  r1  r2 
m1  m 2
m 2d
r1 
m1  m 2
 
 m i r1
 We know that R   0 [CM is at origin]
 mi
 
m1 r1  m 2 r2  0
  m1 
r2  r1 ie CM divides internally the line joining the two particles in the inverse ratio of masses.
m2
Centre of mass of a rigid body
4
  r dm
For uniform mass distribution, R 
 dm
 xdm  ydm
ie x  y
 dm  dm
1. Uniform rod
Total mass M
Let   
Total length ; L
 xdm  x dx L
x  0

 dm L
2
 dx
0
2. Uniform circular arc
2R sin   / 2 
Y

5
3. Uniform Semicircular Ring

x=0

2R sin  
y  2   2R
 
4. Uniform semicircular disc
4R
Y
3
Solid hemisphere
x0
3R
y
8
6
Hollow hemisphere Solid cone
x0 x0
R h
y y
2 4
Hollow cone Triangular lamina
x0 x0
h h
y y
3 3

if it is equilateral triangle the y 
2 3
7
Centre of mass for a system of rigid bodies
 mi x i
x
 mi
 m i yi
y
 mi
Centre of mass for laminas
y
A2
X
C2
X A1
C1
mass m1 m 2
Let     (same material)
area A1 A 2
m1x1  m 2 x 2 A1x1  A 2 x 2
x 
m1  m 2 A1  A 2
8
A1x1  A 2 x 2
x
A1  A 2
Similarly A1 y1  A 2 y 2
y
A1  A 2
Center of mass for residual bodies
A1x1  A 2 x 2 A1y1  A 2 y 2
x y
A1  A 2 A1  A 2
Velocity and acceleration of CM
For a system consisting of ‘n’ number of particles the velocity of CM of the system is given by
    
m v  m 2 v 2  ....  m n v n  m1v1
Vcm  1 1 
m1  m 2  ....  m n  mi
The acceleration of CM of the system is given by
    
m1a1  m 2 a 2  ...  m n a n  m i a i
A cm  
m1  m 2  ...  m n  mi
Linear momentum of a system
The total linear momentum of a system can be obtained by
   
Ps / m  p1  p 2  ....  p n
   
 m1v1  m 2 v 2  ...  m n v n   m i vi

 vcm   mi
Let  mi  M [Total mass of the system]
 
 ps / m  M Vcm
9
Motion of CM
 
We know that A cm   mi a i
 mi
   
MA cm  m1a1  m 2a 2  ...  m n a n
     
 F1  F2  ...  Fn  Ftotal  Fint  Fext

 but Fint  0 
 
MA cm  Fext
That is the centre of mass of the system of particles behaves as a point object which is under the
action of external forces applied to the system.
Whatever be the system of particles or whatever be the motion of system of particles, the CM always
 
moves according to Fext  MA cm .
Conservation of linear Momentum
 d  d 
Fextdt 
dt

Ps / m  
dt

MVcm 

if Fext  0
 
MVcm  constant  Vcm  constant
 When a bomb at rest explodes, the fragments move in opposite direction such that, the centre of
mass will remain at rest [explosion is due to internal forces only]
 When a fire cracker explodes in mid air, the individual fragments flies off in different directions, in such
a way that the center of mass will continue to move along initial parabolic path.
 When a bullet is fired from a gun, it recoils backwards such that the center of mass will remain at rest.
 If the center of mass of the system is initially at rest and
if Fx  0 then  mi x i  0
if Fy  0 then  mi yi  0
Moment of inertia (I)

It is the rotational analogy of mass. Larger the value of moment of inertia, greater will be the tendency
of the body to continue in a stable of rest or uniform motion.
10
I  mr 2
unit  kgm2
it is a tensor quantity
Moment of inertia for a system of point masses
I  I1  I2  I3  m1r12  m 2 r22  m 3 r32
I   m i ri2
Moment of inertia of rigid body
11
dI  dmr 2
I   dmr 2
Parallel axis theorem
The moment of inertia of a body about any axis equal to moment of inertia about a parallel axis through
its center of mass plus the product of mass of the body and the square of its perpendicular distance
between the two parallel axis.
IAB  Icm  md 2
Perpendicular Axis Theorem

The moment of inertia of a plane lamina about an axis perpendicular to plane of the lamina is equal to
sum of moment of inertia of the lamina about any two mutually perpendicular axis in the plane of
lamina, meeting at a point where the given axis passes through at lamina.
12
Moment of inertia of a uniform rod

Case I: (about an axis passing through center and perpendicular to rod)
dI  dmx 2
L
2
M 
I   dmx 2    L dx  x
2
L
2
ML2
L
12
Case II: (about an axis passing through end and perpendicular to rod)
2
ML2 L
I  M 
12 2
ML2
I
3
13
Case III: (axis makes an angle  with rod]
ML2
IC  sin 2 
12
ML2
IA  sin 2 
3
Moment of inertia of ring

Case I: (about an axis passing through center and perpendicular to plane of ring)
I  MR 2
Case II: (about diameter)
by perpendicular axis theorem.
14
I  I  MR 2
MR 2
I
2
Case III: (about a tangential axis)
MR 2
 M R
2
I
2
3MR 2
I
2
Moment of inertia of a disc
MR 2
I) About an axis through center and perpendicular to plane of disc I 
2
MR 2
II) About any diameter, I 
4
5MR 2
III) About any tangent in its plane, I 
4
IV) About any tangential axis perpendicular to its plane
3MR 2
I
2
15
MI of solid sphere
about any diameter.
2
I MR 2
5
MI of hollow sphere
about any diameter
2
I MR 2
3
16
MI of solid cone MI of hollow cone
3MR 2 MR 2
I I
10 2
Solid cylinder
MR 2  2 R 2 
I I  M  
2 12 4 
hollow cylinder
 2 R 2 
I  M  
I  MR 2 12 2 
17
Rectangular lamina
m 2
I1 
12
mb 2
I2 
12
m
I3    2  b 2 
12
mb 2
I4 
3
m 2
I5 
3
Triangular lamina Square lamina
mh 2 m 2
I I5 
6 6
18
m 2
I1  I 2  I3  I 4 
12
 if mass distribution about the axis is same, the moment of inertia also remains the same.
Moment of inertia for a system of rigid bodies
m 2
Moment of inertia of rod about AB, I1 
3
2 2
mr  m    r 
2
Moment of inertia of sphere about AB, I 2 
5
Radius of gyration
Radius of gyration of a body about a given axis of rotation is the perpendicular distance of a point from
the axis, where if whole mass of the body were concentrated, the body shall have the same moment
of inertia as it has with the actual distribution of mass
I  mr12  mr22  ...  mrn2
19
 r 2  r 2  ...  rn2 
  nm   1 2 
 n 
I  M K2
Torque
The torque or moment of force is the turning effect of the force about the axis of rotation, it is measured
as the product of magnitude of the force and the  distance between the line of action of the force and
the axis of rotation.
  F  ON
=F×d
unit  Nm
 it is a vector quantity
 torque is the rotational analogy of force.
 Clockwise torque is taken as negative and anticlockwise torque is taken as positive.
Torque acting on a particle
20
 
Consider a particle P in xy plane. Suppose its position vector is OP  r . Let F be the force acting on
the particle. Then the torque action on the particle about origin.
0  F  OP  F  r sin 
  
0  rFsin  0  r  F
 When   0 o , the line of action passes through orgin sin   0  0  0
 When   90 o   rF sin 90  rF [torque is maximum]
Fradial  F cos 
Ftan gential  Fsin  ;    Fsin   r

ie torque is due to tangential component of force.
Force couple
A pair of equal and opposite forces acting along two different lines of action constitute a force couple.
21
Fnet  F  F  0
 net A  0  F  d  Fd
Fnet  0
net  0  moment of force = Force × perpendicular distance between two forces.
 Torque of a couple is independent of choice of point of rotation. If the net force acting on a system is
zero then net torque about any point remains the same.
Conditions for equilibrium of rigid body
1. A rigid body is said to be in translational eqb, if it remains at rest or moving with a constant velocity in
a particular direction. For this, the net external force or the vector sum of all the external forces acting
on the body must be zero.

ie  F  0 it implies  Fx  0  Fy  0  Fz  0
2. A rigid body is said to be in rotational eqb, if the body does not rotate or rotates with constant angular
velocity. For this, the net external torque or the vector sum of all the torques acting on the body is zero.
a body is in rotational eqb,  CM  0
Examples for force couple

 When we open the lid of a bottle by turning it, our fingers apply a couple on the lid
 When a compass needle is held arbitrarily in any direction in earth’s magnetic field, a couple acts on
the needle and aligns it along north-south direction.
Centre of Gravity
The centre of gravity of a body is a point where the weight of the body acts and total gravitational torque
on the body is zero.
 if the body is extended such that value of g varies from part to past of the body the centre of gravity
shall not coincide with centre of mass of the body.
22
Rotational Kinematic Equations
   0  t  v  u  at 
1  1 
   0 t  t 2 s  ut  at 2 
2  2 
 2  02  2  v 2  u 2  2as 
d  ds 
   v 
dt  dt 
d d 2  d
   2 
dt dt d
 dv d s2 dv 
  a   2 v 
 dt dt ds 
Angular Momentum
It is the rotational analogue of linear momentum. The angular momentum of a particle rotating about an
axis is defined as the moment of the linear momentum of the particle about that axis.
It is measured as the product of linear momentum and  distance of its line of action from the axis of
rotation
  p  r unit  Kgm2/s or Js
it is a vector quantity
Angular Momentum in vector form
Consider a particle P of mass m rotating about an axis through O as shown
23
r
sin   r  r sin 
r
 0  p  r  p   r sin  
  
0  r  p
 
The direction of angular momentum  is perpendicular to plane of r and p in the sense given by right
hand thumb rule.
Relation between torque and moment of inertia
Suppose a rigid body consists of n particles of masses m1, m2, .... mn situated at distances r1, r2, ....rn
from the axis of rotation AB.
Linear acceleration of first particle a1  r1
Force acting on first particle F1  m1a1  m1r1
Torque acting on first particle 1  F1r1  m1r12 
Total torque acting on the rigid body is
  1  2  3 ...  n  m1r12   m 2 r22   ...  m n rn2 
  m1r12  m 2 r22  ...  m n rn2      mi ri2  
   
  I which is analogs to F  m a
Relation between angular momentum and moment of inertia
Consider a rigid body rotating about a fixed axis with uniform angular velocity  . The body consists of
n particles of masses m1, m2 ..... mn.
Linear momentum of first particle, p1  m1v1  m1r1

24
Angular momentum of first particle  1  p1r1  m1r12 

The angular momentum of rigid body.
L   1   2  ....   n  m1r12   m 2 r22   ...  m n rn2 
L   m1r12  m 2 r22  ...  m n rn2  

   
L  I  which is analogous to p  m v
Newtons law in rotation
Angular momentum of a system
      
L  1  2  ...  n   i    ri  pi 
differentiating w.r.t. time
  
dL  dri   dpi 
    pi  ri 
dt  dt dt 
   
   vi  m i v i  ri  Fi 
    
  i  total  ext  int but int  0
 
dt   dp
 ext which is analogous to Fext 
dt dt
Law of conservation of angular momentum
Suppose the external torque acting on a rigid body due to external is zero. Then
dL
 0
dt
L  constant
The total external torque acting on a rigid body is zero, the total angular momentum of the body is
conserved.
I11  I 2 2
Applications of law of conservation of angular momentum

 A man carrying heavy weights in his hands and standing on a rotating turntable can change the angular
speed of the turntable by stretching his arms.
 A diver jumping from a springboard exhibits somersault in air before touching the water surface.
 An ice-skater or a ballet dancer can increase her angular velocity by folding her arms and bringing the
stretched led close to the other leg.
 The speed of the inner layers of the whirlwind in a tornado is alarmingly high.
25
Rotational Kinetic Energy
1 1
Kinetic energy of first particle K1  m1v12  m1r12 2
2 2
kinetic energy of rigid body, K r  K1  K 2  ...  K n
1 1 1
 m1r12 2  m 2 r22 2  ...  m n rn2 2
2 2 2
1 2
   m1r12 2  m 2 r22  ...  m n rn2 
2 
1 2
Kr  I
2
Analysis of rotating pulley block system
1.
m1g  T1  m1a     1
T2  m2 g  m 2 a      2 
T1R  T2 R  I
I
T1  T2       3
R
Without slipping a  R        4 
26
I a
 3   m1g  m1a    m 2a  m 2g   
R R
a
 m1  m 2  g
I
m1  m 2 
R2
2.
mg  T  ma     1
Without slipping T  R  I
I
T      2
R
a  R       3
T a mg
 2   mg  ma    a
I
R R m 2
R
Analogy between translational and rotation
s
v
a 
F
mI
P L
27
kt  kr
 
1. work done,   F.s   .
  
2. Power, P  F, v P  .
1 1
3. Work energy theorem Fs  mv 2  mu 2
2 2
1 2 1 2
  I  I0
2 2
Angular impulse
  
Linear impulse, J  F t  m v  p
Angular impulse, A.I   t  I 
 F  r  t  I 
p  r  I 
A.I  J  r  I
Rolling motion (pure rolling motion)

Rolling motion can be regarded as the combination of pure rotation and pure translation. In pure rolling
without slipping at any instant of time the contact point of the body is at rest.
ie there is no relative motion between contact point and surface.
pure rolling = pure translation + pure rotation.
For pure rolling the contact point must be at rest

28
VB = 0
Vcm  R  0
Vcm  R
VA  Vcm  R  2R
VB  Vcm  R  0
 if Vcm  R , the body undergoes forward slipping
 if Vcm  R , the body undergoes backward slipping
Acceleration of a point in rolling motion

Consider a rolling wheel, each point on the periphery of the wheel is rotating in a circle of radius R, due
to which centripetal acceleration of each point on the wheel is 2 R .
Velocity of a point in rolling wheel

Consider a point P on a rolling body, the velocity of point P is the vector sum of velocity due to translation
and due to rotation.
29
  
vp  v t  vr
v p  vcm
2
 vcm
2
 2vcm
2
cos 
 2 v cm 1  cos 

v p  2 v cm cos  
2
Kinetic energy in rolling motion
Krolling  Kt   Kr cm
1 1 1 1 v2
 2
mvcm  Icm 2  mvcm
2
 mk 2 cm2
2 2 2 2 R
1 2  K2 
K rolling  mv cm 1  2 
2  R 
K2 Kt 1
let   1  
R2 K rolling 
Kr 1
K rolling  K t   1
K rolling 
Angular momentum in combined motion
  
L0  L t  Lr   cm
30
L t  mv cm r
L r  Icm 
Rolling motion on an inclined plane
Consider a body of mass m and radius R rolling down an inclined plane of inclination  . Due to action
of mg sin  component the contact point has a tendency to slip downwards as a result the force of
static friction acts in the upward direction which provides angular acceleration. So if the inclined plane
is sufficiently rough at any constant of the motion v cm  R . The body executes pure rolling motion.
Acceleration down an inclined plane
mg sin   fs  ma     1
fs  R  I      2 
a  R       3
a
from (2) f s  R  mk 
2
k2
fs  ma     4
R2
k2
(1)  mg sin   ma 2  ma
R
g sin  g sin 
a 
 k  2

1  R 2 
 
31
Minimum friction required for pure rolling
g sin  2 mg sin 
k 2 k  fs min 
 R2 
fs  ma 2  ln 1  k 
2
R  R2  1  k 2 
   
Minimum coefficient of friction required for pure rolling
 fs min mg sin  1
 s min   
N  R  mg cos 
2
1  k 2 
 
tan 
 s min 
R2
1 2
k
Velocity on reaching bottom
Loss of potential energy = gain in kinetic energy
1 2gh
mgh  mv 2   v
2 
Time taken to reach bottom
vcm  u cm  a cm t  0  a cm t
v 2gh 
t  
a  g sin 
1 2h
t
sin  g
32

System of Particles & Rotational Motion: Chapter - 00

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BBrilliant STUDY CENTRE REPEATERS PHYSICS (ONLINE) -2021

 The position of the CM of a s/m is independent of the choice of coordinate s/m.

 For a 2 particle s/m and if m1 = m2.

Analysis of two particle system in the frame of CM

Centre of mass of a rigid body

2. Uniform circular arc

3. Uniform Semicircular Ring

Hollow hemisphere Solid cone

Hollow cone Triangular lamina

Centre of mass for a system of rigid bodies

Centre of mass for laminas

Center of mass for residual bodies

Let  mi  M [Total mass of the system]

Conservation of linear Momentum

Moment of inertia (I)

I  I1  I2  I3  m1r12  m 2 r22  m 3 r32

Moment of inertia of rigid body

Perpendicular Axis Theorem

Moment of inertia of a uniform rod

Case III: (axis makes an angle  with rod]

Moment of inertia of ring

Case II: (about diameter)

by perpendicular axis theorem.

MI of solid cone MI of hollow cone

Triangular lamina Square lamina

I  mr12  mr22  ...  mrn2

 When   0 o , the line of action passes through orgin sin   0  0  0

 When   90 o   rF sin 90  rF [torque is maximum]

Ftan gential  Fsin  ;    Fsin   r

a body is in rotational eqb,  CM  0

Examples for force couple

Rotational Kinematic Equations

 2  02  2  v 2  u 2  2as 

Linear acceleration of first particle a1  r1

Force acting on first particle F1  m1a1  m1r1

Torque acting on first particle 1  F1r1  m1r12 

Total torque acting on the rigid body is

  1  2  3 ...  n  m1r12   m 2 r22   ...  m n rn2 

  m1r12  m 2 r22  ...  m n rn2      mi ri2  

Linear momentum of first particle, p1  m1v1  m1r1

Angular momentum of first particle  1  p1r1  m1r12 

L   1   2  ....   n  m1r12   m 2 r22   ...  m n rn2 

L   m1r12  m 2 r22  ...  m n rn2  

Applications of law of conservation of angular momentum

Rotational Kinetic Energy

kinetic energy of rigid body, K r  K1  K 2  ...  K n

m1g  T1  m1a     1

Analogy between translational and rotation

Angular impulse, A.I   t  I 

Rolling motion (pure rolling motion)

For pure rolling the contact point must be at rest

VA  Vcm  R  2R

 if Vcm  R , the body undergoes forward slipping

 if Vcm  R , the body undergoes backward slipping

Acceleration of a point in rolling motion

Velocity of a point in rolling wheel

Kinetic energy in rolling motion

Angular momentum in combined motion