Chapter-8

Rotational Equilibrium
and
Rotational Dynamics

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 LESSONS TOPICS

 TORQUE
 TORQUE AND THE TWO CONDITIONS FOR
EQUILIBRIUM
 THE CENTRE OF GRAVITY
 EXAMPLES OF OBJECTS IN EQUILIBRIUM
 RELATIONSHIP BETWEEN TORQUE AND
ANGULAR ACCELERATION
 ANGULAR MOMENTUM

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 TORQUE
Forces cause accelerations; torques cause angular accelerations.

Let 𝐅 be a force acting on an object, and let 𝒓 be a position vector from

a chosen point O to the point of application of the force, with 𝐅
perpendicular to 𝒓. The magnitude of the torque 𝝉 exerted by the force 𝐅
is given by

𝜏 = 𝑟F

where r is the length of the position vector and F is the magnitude

of the force.
SI unit: Newton-meter (N.m)

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There is a definite relationship, however, between the two
concepts.

1. The product of the perpendicular component of the force with

the shortest distance between the rotation axis and the point of
application of the force.

   rF

2. The product of the magnitude of the force with its lever arm
(the perpendicular distance between the line of action of the
force and the axis of rotation).
   r F

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There are three factors that determine the effectiveness of
the torque:
 the magnitude of the force,
 the position of application of the force,
 and the angle at which it is applied.

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•The vectors 𝐫 and 𝐅 lie in a plane. Following figures illustrates
how the point of the force’s application affects the magnitude
of the torque.

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Direction of Torque

• Under these conditions, an object can rotate around the

chosen axis in one of two directions. By convention,
counterclockwise is taken to be the positive direction,
clockwise the negative direction.

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The applied force isn’t always
perpendicular to the position vector
𝐫. as in following Figure:

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Definition of Torque

Let 𝐅 be a force acting on an object, and let 𝒓 be a position

vector from a chosen point O to the point of application of
the force. The magnitude of the torque 𝝉 exerted by the
force 𝐅 is

𝜏 = 𝑟𝐹 sin 𝜃

Where, r is the length of the position vector,

F is the magnitude of the force, and
𝜃 𝑖𝑠 the angle between 𝒓 and 𝐅.
SI unit: Newton-meter (N.m)
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When the force is directed away from the axis, 𝜃 = 0°,sin (0°) = 0, and
F sin (0°) = 0.

Similarly, when the force is directed toward the axis, 𝜃 =180° and
F sin (180°) = 0.

 The maximum absolute value of F sin θ is attained only when 𝐅 is

perpendicular to 𝐫 —that is, when

𝜃 = 90° or 𝜃 = 270°.

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Torque  Torque method 1:
Top view of door
F
F
Hinge r 
(Axis) F||
Point of application of the force

  rF
r = the distance from the rotation axis (hinge) to the point
where the force F is applied.

F is the component of the force F that is perpendicular to

the door (here it is F sin).

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Torque  Torque method 2:

  r F
r is called the lever arm and F is the magnitude of the
applied force.

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Torque 

Top view of door F

Hinge
(Axis) r 


Line of
action of
Lever
the force
arm r
r
sin  
r
The torque is:   r F
r  r sin   rF sin 

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Torque
hinge Q: Where on a door do you
P
normally push to open it?
u
s
h A: Away from the hinge.

Center of Gravity

The total force of gravity can be considered to act at

a single point. This point is called the center of
gravity.

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Example 8.1(Battle the Revolving Door)
Two disgruntled businesspeople are trying to use a
revolving door, as in Figure. The woman on the left exerts
a force of 625 N perpendicular to the door and 1.20 m
from the hub’s center, while the man on the right exerts
a force of 8.50 × 102 N perpendicular to the door and
0.800 m from the hub’s center. Find the net torque on
the revolving door.
Solution
F1 = 625 N, r1 = 1.2 m, 𝜃1 = 90°
F2 = 8.50× 102 N, r2 = 0.80 m, 𝜃2 = 90°

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F1 = 625 N, r1 = 1.2 m, 𝜃1 = 90°
F2 = 8.50× 102 N, r2 = 0.80 m, 𝜃2 = 90°

𝜏 = r F sin 𝜃
𝜏1 = −r1 F1
= −(1.2 m)(635 N) sin 90° = −750 N.m

𝜏2 = + r2 F2
= (0.80 m)(850 N) sin 90° = 680 N.m

𝜏 = 𝜏1 + 𝜏2
= −750 N.m + 680 N.m = −70 N.m
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A second way of understanding the sin 𝜃 factor is to
associate it with the magnitude r of the position vector
𝒓. The quantity d = r sin 𝜽 is called the lever arm,
which is the perpendicular distance from the axis of
rotation to a line drawn along the direction of the force.

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Lever arm(moment arm)
 Lever arm is the perpendicular distance from an axis to
the line of action of a force.

Remarks:

- It’s important to remember that the value of 𝝉 depends

on the chosen axis of rotation.
- Torques can be computed around any axis, regardless of
whether there is some actual, physical rotation axis present.
- Once the point is chosen, however, it must be used
consistently throughout a given problem.
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Torque and the Two Conditions
for Equilibrium
 An object in mechanical equilibrium must satisfy the
following two conditions:
1. The net external force must be zero: F=0
2. The net external torque must be zero: 𝜏=0

 The first condition is a statement

of translational equilibrium and
The second condition is a
statement of rotational
equilibrium.

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Example 8.3 (Balancing Act)

A woman of mass m = 55.0 kg sits on the left end of a seesaw— a

plank of length L = 4.00 m, pivoted in the middle as in Figure.
(a) First compute the torques on the seesaw about an axis that
passes through the pivot point. Where should a man of mass
M = 75.0 kg sit if the system (seesaw plus man and woman) is to
be balanced? (b) Find the normal force exerted by the pivot if the
plank has a mass of 𝑚𝑝𝑙 = 12.0 kg. (c) Repeat part (a), but this
time compute the torques about an axis through the left end of
the plank.

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Solution
ww = (55.0 kg)(9.8 m/𝑠 2 )= 539 N
wm = (75.0 kg)(9.8 m/𝑠 2 )= 735 N
wpl = (12.0 kg)(9.8 m/𝑠 2 )= 117.6 N
𝐿
L= 4 m, =2m
2

(a) According to the second condition for equilibrium

𝜏= 0
𝜏𝑤 + 𝜏𝑚 + 𝜏𝑛 + 𝜏𝑝𝑙 = 0
Let the man position is x–m from the pivot
𝜏 = + 𝜏𝑤 − 𝜏𝑚 + 𝜏𝑛 + 𝜏𝑝𝑙 = 0
𝐿
+ ( )𝑤𝑤 − (𝑥)𝑤𝑚 + 0 + 0 = 0
2

(2 m)(539 N) − (x-m)(735 N) = 0
735 x= 1078
x = 1.47 m
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(b) According to the first condition for equilibrium
F= 0
−Ww − Wm − Wm + n = 0
n = Ww + Wm + Wm
= 539+735 + 117.6
= 1391.6 N

(c) 𝜏 = 𝜏𝑤 − 𝜏𝑚 + 𝜏𝑛 − 𝜏𝑝𝑙 = 0
𝐿 𝐿 𝐿
0 −( + 𝑥)𝑤𝑚 + ( )𝑛 − ( )𝑤𝑝𝑙 =0
2 2 2

−(2 + x)(735 N) + (2 m)(1391.6 N)− (2 m)(117.6 N)=0

−1470 − 735x + 2783.2 −235.2 = 0
735 x = 1078
x = 1.47 m
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The Center of Gravity

 Consider an object of arbitrary shape lying in the xy-plane, as

in Figure. The object is divided into a large number of very
small particles of weight m1g, m2g, m3g, . . . having
coordinates (x1, y1), (x2, y2), (x3, y3), . . . .etc.

 We wish to locate the point of

application of the single force of
magnitude w = Fg = Mg (the total weight
of the object), where the effect on the
rotation of the object is the same as that
of the individual particles. That point is
called the object’s center of gravity.

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•Equating the torque exerted by w at the center
of gravity to the sum of the torques acting on the
individual particles gives

• We assume that g is the same everywhere in the object (which is

true for all objects we will encounter).

• The center of mass(CM) and center of gravity (CG)of an object

are exactly the same when g doesn’t vary significantly over the
object.
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 • The center of gravity of a homogeneous,
symmetric body must lie on the axis of symmetry.

• When the distribution of mass of the object is not constant or the

object is not uniform the center of gravity shifts to the direction of
greater mass.

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Example 8.4
(Where Is the Center of Gravity?)

(a) Three objects are located in a

coordinate system as shown in Figure.
Find the center of gravity. (b) How does
the answer change if the object on the
left is displaced upward by 1.00 m and
the object on the right is displaced
downward by 0.500 m (Figure )? Treat
the objects as point particles.

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 Solution

𝑚𝑖 𝑥𝑖
a xcg =
𝑚𝑖
𝑚1 𝑥1 +𝑚2 𝑥2 +𝑚3 𝑥3
=
𝑚1 +𝑚2 +𝑚3
5 𝑘𝑔 −0.5 𝑚 + 2.0 𝑘𝑔 0 𝑚 +(4.0 𝑘𝑔)(1.0 𝑚)
=
(5 𝑘𝑔)+(2 𝑘𝑔)+(4 𝑘𝑔)
1.50 𝑘.𝑚
=
11.0 𝑘𝑔

= 0.136 m
𝑚𝑖 𝑦𝑖
𝑦cg = =0
𝑚𝑖

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 Because the x-coordinates have not been
(b) 𝑥cg = 0.136 m changed, the x-coordinate of the center of
gravity is also unchanged:

𝑚𝑖 𝑦 𝑖
𝑦cg =
𝑚𝑖
𝑚1 𝑦1 +𝑚2 𝑦2 +𝑚3 𝑦3
=
𝑚1 +𝑚2 +𝑚3
5 𝑘𝑔 1.0 𝑚 + 2.0 𝑘𝑔 0 𝑚 +(4.0 𝑘𝑔)(−0.5 𝑚)
=
(5 𝑘𝑔)+(2 𝑘𝑔)+(4 𝑘𝑔)
3.0 𝑘.𝑚
=
11.0 𝑘𝑔

= 0.273 m

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Example 8.5-
Locating Your Lab Partner’s Center of Gravity
In this example we show how to find the location of a person’s
center of gravity. Suppose your lab partner has a height L of
173 cm (5 ft, 8 in) and a weight w of 715 N (160 lb). You can
determine the position of his center of gravity by having him
stretch out on a uniform board supported at one end by a scale, as
shown in Figure . If the board’s weight wb is 49 N and the scale
reading F is 3.50 x 102 N, find the distance of your lab partner’s
center of gravity from the left end of the board.

p
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Solution

𝑤𝑝 = 715 N, 𝑤𝑏 = 49 N, F = 350 N
𝐿
L =173 cm= 1.73 m, = 0.865 m, 𝑥𝑐𝑔 =?
2
By the second Condition for equilibrium
𝜏=0
𝜏𝑛 + 𝜏𝑝 + 𝜏𝑏 + 𝜏 𝐹 = 0
𝐿
0 − (𝑤𝑝 )(𝑥𝑐𝑔 )− (𝑤𝑏 )( )+ (F)(L)= 0 p
2

𝐹𝐿− (𝑤𝑏 )(𝐿/2)

𝑥𝑐𝑔 =
𝑤𝑝

350 𝑁 1.73 𝑚 −(49 𝑁)(0.865 𝑚)

=
715 𝑁
= 0.79 m
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Examples of Object in Equilibrium
Example 8.7 –(Don’t Climb the Ladder)
A uniform ladder 10.0 m long and weighing 50.0 N rests against a
smooth vertical wall as in Figure . If the ladder is just on the verge
of slipping when it makes a 50.0° angle with the ground, find the
coefficient of static friction between the ladder and ground.
Solution

𝑤𝑙 = 50 N,
L = 10.0 m,

𝐿
= 5.0 m,
2
𝜇𝑠 = ?
A. B. C.

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By the first Condition for equilibrium

𝐹𝑥 = 0
𝑓𝑠 − 𝑃 =0
𝑓𝑠 = P -----eqt:-1

𝐹𝑦 = 0
𝑛 − 𝑤𝑔𝑟𝑎𝑣 =0
n= 𝑤𝑔𝑟𝑎𝑣 = 50.0 N

By the second Condition for equilibrium

𝜏=0
𝜏𝑛 + 𝜏𝑓 + 𝜏𝑔𝑟𝑎𝑣 + 𝜏𝑃 = 0
L
0+0 − (𝑤𝑔𝑟𝑎𝑣 )( cos 50°)+ (P)(L sin 50°)= 0
2

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 L
(wgrav )(2 cos 50°)
P=
L sin 50°

(50 𝑁)(5 cos 50°)

=
10.0 𝑚(sin 50°)
157.5 𝑁.𝑚
= = 20.5 N
7.7 𝑚

𝑓𝑠 = 𝜇𝑠 n = P

𝑃 20.5 𝑁
𝜇𝑠 = = = 0.420
𝑛 50 𝑁

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Example 8.8 –
(Walking a Horizontal Beam)
A uniform horizontal beam 5.00 m long and weighing 3.00 × 102 N
is attached to a wall by a pin connection that allows the beam to
rotate. Its far end is supported by a cable that makes an angle of
53.0° with the horizontal (Fig). If a person weighing 6.00 × 102 N
stands 1.50 m from the wall, find the magnitude of the tension
𝐓 in the cable and the force 𝐑 exerted by the wall on the beam.

Solution

A. B. C. 38
wB=300N, wM= 600N,
L=5.00 m , θ=53 ̊,
T = ?, Rx = ?,
Ry=?

By the second Condition for equilibrium

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By the first Condition for equilibrium

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RELATIONSHIP BETWEEN TORQUE
AND ANGULAR ACCELERATION
When a rigid object is subject to a net torque, it undergoes an
angular acceleration that is directly proportional to the net
torque. This result, which is analogous to Newton’s second law,
is derived as follows.

𝐹𝑡 = 𝑚𝑎𝑡
𝐹𝑡 𝑟 = 𝑚𝑟𝑎𝑡
𝐹𝑡 𝑟 = 𝑚𝑟(𝑟α)
𝜏 = m𝑟 2 𝛼

where ,the constant of proportionality m𝒓𝟐 is called

the moment of inertia of the object of mass m.
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ROTATIONAL K.E
Rotational kinetic energy of a rigid body
with rotational inertia I and angular velocity ω.

1
K rot  I  2 ( in radian per unit time)
2

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The Rotational Inertia or
the moment of Inertia
Rotational inertia is a measure of how difficult
it is to change an object' s angular velocity.

 It is scalar sum of all individual moment of inertia of

particles consisting inside a rigid body.

Let the particles have masses

𝑚𝑖, radius of rotation 𝑟𝑖, and
moment of inertia 𝐼𝑖,
Then total Moment of Inertia
I= 𝐼𝑖
n
I   mi ri 2
i 1 Department of Physics
Torque on a Rotating Object

Consider a solid disk rotating about its axis as in Figure. The

disk consists of many particles at various distances from the
axis of rotation. The torque on each one of these particles is
given by Equation. The net torque on the disk is given by the
sum of the individual torques on all the particles:

The angular acceleration of an extended rigid object is

proportional to the net torque acting on it.
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Example 8.9 –(The Baton Twirler)
In an effort to be the star of the halftime show, a majorette twirls
an unusual baton made up of four spheres fastened to the ends of
very light rods Fig (a). Each rod is 1.0 m long. (a) Find the moment
of inertia of the baton about an axis perpendicular to the page and
passing through the point where the rods cross. (b) The majorette
tries spinning her strange baton about the axis OO’, as shown in
Fig(b). Calculate the moment of inertia of the baton about this axis.

Fig.a Department of Physics Fig.b 45

Solution

(a)m1= m3=0.20 kg ,m2= m4=0.50 kg

r1= r2 = r3 = r4 = 0.50 m

the moment of inertia ,I=?

Fig.a

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(b)m1= m3=0.20 kg ,m2= m4=0.50 kg

r1= r3 =0, r2 = r4 = 0.50 m

the moment of inertia ,I=?

Fig.b

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MOMENTS OF INERTIA
.

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ANGULAR MOMENTUM

Let an object of mass m rotates in a circular path of radius r, acted

on by a net force, 𝐅𝐧𝐞𝐭 . The resulting net torque on the object
increases its angular speed from the value 𝛚𝟎 to the value 𝛚 in a
time interval ∆t. Therefore, we can write

𝐿 𝑓 − 𝐿𝑖 ∆𝐿
If we define , L = I𝝎, 𝜏= =
∆𝑡 ∆𝑡

which can be written in the form F = ∆p/∆t and states that

the net torque acting on an object is equal to the time
rate of change of the object’s angular
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CONSERVATION OF ANGULAR MOMENTUM

 It states that if the net external torque acting on a system is

zero, the total angular momentum of the system is constant,
Li = Lf
Ii ωi = If ωf
We can now state that the mechanical energy, linear momentum,
and angular momentum of an isolated system all remain
constant.

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Example 8.14- (The Spinning Stool)
A student sits on a pivoted stool while holding a
pair of weights.(Fig.) The stool is free to rotate
about a vertical axis with negligible friction. The
moment of inertia of student, weights, and stool
is 2.25 kg.m2 . The student is set in rotation with
arms outstretched, making one complete turn
every 1.26 s, arms outstretched. (a) What is the
initial angular speed of the system? (b) As he
rotates, he pulls the weights inward so that the
new moment of inertia of the system (student,
objects, and stool)becomes 1.80 kg.m2 . What is
the new angular speed of the system? (c) Find
the work done by the student on the system
while pulling in the weights. (Ignore energy lost
through dissipation in his muscles.)
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Solution
(a) T=1.26s, ωi=?

Conservation of angular momentum,

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Example 8.15- (The Merry-Go-Round)
A merry-go-round modeled as a disk of mass
M = 1.00 × 102 kg and radius R = 2.00 m is
rotating in a horizontal plane about a
frictionless vertical axle (Fig.) is an overhead
view of the system). (a) After a student with
mass m = 60.0 kg jumps on the rim of the
merry-go-round, the system’s angular speed
decreases to 2.00 rad/s. If the student walks
slowly from the edge toward the center, find the
angular speed of the system when she reaches
a point 0.500 m from the center. (b) Find the
change in the system’s rotational kinetic energy
caused by her movement to r = 0.500 m. (c)
Find the work done on the student as she
walks to r = 0.500 m.
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(a) disk M = 1.00 × 102 kg, R = 2.00 m
student m = 60.0 kg,

angular speed ωі= 2.00 rad/s

student m = 60.0 kg, r = 0.500 m

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Conservation of angular momentum,

(b) change in rotational kinetic energy ΔKE = ?

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(c ) the work done on the student W=?

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Chapter-8 Assignment
Problem
3,8,10,13,21,37,38,58
Total (8)

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Thank you for your
attention

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