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Chapter 12. Rotation of a Rigid BodyChapter 12. Rotation of a Rigid Body
Not all motion can be
described as that of a
particle. Rotation requires
the idea of an extended
object. This diver is moving
toward the water along a
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toward the water along a
parabolic trajectory, and
she’s rotating rapidly around
her center of mass.
Chapter Goal: To
understand the physics of
rotating objects.
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Topics:
• Rotational Motion
• Rotation About the Center of Mass
• Rotational Energy
• Calculating Moment of Inertia
• Torque
Chapter 12. Rotation of a Rigid BodyChapter 12. Rotation of a Rigid Body
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• Torque
• Rotational Dynamics
• Rotation About a Fixed Axis
• Static Equilibrium
• Rolling Motion
• The Vector Description of Rotational Motion
• Angular Momentum of a Rigid Body
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Chapter 12. Reading QuizzesChapter 12. Reading Quizzes
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Chapter 12. Reading QuizzesChapter 12. Reading Quizzes
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A new way of multiplying two vectors is
introduced in this chapter. What is it
called:
A. Dot Product
B. Scalar Product
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B. Scalar Product
C. Tensor Product
D. Cross Product
E. Angular Product
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A new way of multiplying two vectors is
introduced in this chapter. What is it
called:
A. Dot Product
B. Scalar Product
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B. Scalar Product
C. Tensor Product
D. Cross Product
E. Angular Product
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Moment of inertia is
A. the rotational equivalent of mass.
B. the point at which all forces appear to act.
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B. the point at which all forces appear to act.
C. the time at which inertia occurs.
D. an alternative term for moment arm.
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Moment of inertia is
A. the rotational equivalent of mass.
B. the point at which all forces appear to act.
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B. the point at which all forces appear to act.
C. the time at which inertia occurs.
D. an alternative term for moment arm.
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A.
B.
A rigid body is in equilibrium if
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B.
C. neither A nor B.
D. either A or B.
E. both A and B.
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A.
B.
A rigid body is in equilibrium if
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B.
C. neither A nor B.
D. either A or B.
E. both A and B.
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Chapter 12. Basic Content and ExamplesChapter 12. Basic Content and Examples
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Chapter 12. Basic Content and ExamplesChapter 12. Basic Content and Examples
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Rotational Motion
The figure shows a wheel rotating on an axle. Its angular velocity is
The units of ω are rad/s. If
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The units of ω are rad/s. If the wheel is speeding up or slowing down, its angular acceleration is
The units of α are rad/s2.
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Rotational Motion
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EXAMPLE 12.1 A rotating crankshaft
QUESTION:
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EXAMPLE 12.1 A rotating crankshaft
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EXAMPLE 12.1 A rotating crankshaft
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EXAMPLE 12.1 A rotating crankshaft
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EXAMPLE 12.1 A rotating crankshaft
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Rotation About the Center of Mass
An unconstrained object (i.e., one not on an axle or a pivot) on which there is no net force rotates about a point called the center of
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point called the center of mass. The center of mass remains motionless while every other point in the object undergoes circular motion around it.
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Rotation About the Center of Mass
The center of mass is the mass-weighted center of the
object.
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Rotational Energy
A rotating rigid body has kinetic energy because all atoms in the object are in motion. The kinetic energy due to rotation is called rotational kinetic energy.
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Here the quantity I is called the object’s moment of inertia.
The units of moment of inertia are kg m2. An object’s moment of inertia depends on the axis of rotation.
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EXAMPLE 12.5 The speed of a rotating rod
QUESTION:
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EXAMPLE 12.5 The speed of a rotating rod
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EXAMPLE 12.5 The speed of a rotating rod
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EXAMPLE 12.5 The speed of a rotating rod
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EXAMPLE 12.5 The speed of a rotating rod
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EXAMPLE 12.5 The speed of a rotating rod
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Torque
Consider the common experience of pushing open a door.
Shown is a top view of a door hinged on the left. Four
pushing forces are shown, all of equal strength. Which of
these will be most effective at opening the door?
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The ability of a force to cause a rotation depends on three
factors:
1. the magnitude F of the force.
2. the distance r from the point of application to the pivot.
3. the angle at which the force is applied.
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Torque
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Let’s define a new quantity called torque τ (Greek tau) as
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EXAMPLE 12.9 Applying a torque
QUESTION:
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EXAMPLE 12.9 Applying a torque
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EXAMPLE 12.9 Applying a torque
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EXAMPLE 12.9 Applying a torque
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Analogies between Linear and Rotational
Dynamics
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In the absence of a net torque (τnet = 0), the object either does not rotate (ω = 0) or rotates with constantangular velocity (ω = constant).
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Problem-Solving Strategy: Rotational
Dynamics Problems
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Problem-Solving Strategy: Rotational
Dynamics Problems
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Problem-Solving Strategy: Rotational
Dynamics Problems
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Problem-Solving Strategy: Rotational
Dynamics Problems
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EXAMPLE 12.12 Starting an airplane engine
QUESTION:
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EXAMPLE 12.12 Starting an airplane engine
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EXAMPLE 12.12 Starting an airplane engine
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EXAMPLE 12.12 Starting an airplane engine
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EXAMPLE 12.12 Starting an airplane engine
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Static Equilibrium
• The condition for a rigid body to be in static equilibrium is that there is no net force and no net torque.
• An important branch of engineering called staticsanalyzes buildings, dams, bridges, and other structures in total static equilibrium.
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in total static equilibrium. • No matter which pivot point you choose, an object that
is not rotating is not rotating about that point. • For a rigid body in total equilibrium, there is no net
torque about any point. • This is the basis of a problem-solving strategy.
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Problem-Solving Strategy: Static Equilibrium
Problems
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Problem-Solving Strategy: Static Equilibrium
Problems
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Problem-Solving Strategy: Static Equilibrium
Problems
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Problem-Solving Strategy: Static Equilibrium
Problems
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EXAMPLE 12.17 Will the ladder slip?
QUESTION:
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EXAMPLE 12.17 Will the ladder slip?
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EXAMPLE 12.17 Will the ladder slip?
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EXAMPLE 12.17 Will the ladder slip?
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EXAMPLE 12.17 Will the ladder slip?
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EXAMPLE 12.17 Will the ladder slip?
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EXAMPLE 12.17 Will the ladder slip?
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Balance and Stability
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Rolling Without Slipping
For an object that is rolling without slipping, there is a rolling constraint that links translation and rotation:
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Rolling Without Slipping
We know from the rolling constraint that Rω is the center-of-mass velocity vcm. Thus the kinetic energy of a rolling object is
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In other words, the rolling motion of a rigid body can be described as a translation of the center of mass (with kinetic energy Kcm) plus a rotation about the center of mass (with kinetic energy Krot).
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The Angular Velocity Vector
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• The magnitude of the angular velocity vector is ω.• The angular velocity vector points along the axis of
rotation in the direction given by the right-hand rule as illustrated above.
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Angular Momentum of a Particle
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A particle is moving along a trajectory as shown. At this instant of time, the particle’s momentum vector, tangent to the trajectory, makes an angle β with the position vector.
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Angular Momentum of a Particle
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We define the particle’s angular momentum vector relative to the origin to be
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Analogies between Linear and Angular Momentum and Energy
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Chapter 12. Summary SlidesChapter 12. Summary Slides
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Chapter 12. Summary SlidesChapter 12. Summary Slides
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General Principles
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General Principles
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Important Concepts
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Important Concepts
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Important Concepts
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Important Concepts
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Applications
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Applications
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Applications
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Chapter 12. Chapter 12. QuestionsQuestions
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Chapter 12. Chapter 12. QuestionsQuestions
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The fan blade is speeding up. What are the signs of ωωωω and αααα?
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A. ω is positive and α is positive.
B. ω is positive and α is negative.
C. ω is negative and α is positive.
D. ω is negative and α is negative.
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The fan blade is speeding up. What are the signs of ωωωω and αααα?
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A. ω is positive and α is positive.
B. ω is positive and α is negative.
C. ω is negative and α is positive.
D. ω is negative and α is negative.
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Four Ts are made from two identical rods of equal mass and length. Rank in order, from largest to smallest, the moments of inertia Ia
to Id for rotation about the dotted line.
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A. Ia > Id > Ib > Ic
B. Ic = Id > Ia = Ib
C. Ia = Ib > Ic = Id
D. Ia > Ib > Id > Ic
E. Ic > Ib > Id > Ia
(a) (b) (c) (d)
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Four Ts are made from two identical rods of equal mass and length. Rank in order, from largest to smallest, the moments of inertia Ia
to Id for rotation about the dotted line.
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A. Ia > Id > Ib > Ic
B. Ic = Id > Ia = Ib
C. Ia = Ib > Ic = Id
D. Ia > Ib > Id > Ic
E. Ic > Ib > Id > Ia
(a) (b) (c) (d)
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Rank in order, from largest to smallest, the five torques τa − τe. The rods all have the same length and are pivoted at the dot.
(a) (b) (c) (d) (e)
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Α.
B.
C.
D.
E.
(a) (b) (c) (d) (e)
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Rank in order, from largest to smallest, the five torques τa − τe. The rods all have the same length and are pivoted at the dot.
(a) (b) (c) (d) (e)
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Α.Α.Α.Α.
B.
C.
D.
E.
(a) (b) (c) (d) (e)
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Rank in order, from largest to smallest, the angular accelerations ααααa to ααααe.
A.
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A.
B.
C.
D.
E.
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A.
Rank in order, from largest to smallest, the angular accelerations ααααa to ααααe.
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A.
B.
C.
D.
E.
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A student holds a meter stick straight out with one or more masses dangling from it. Rank in order, from most difficult to least difficult, how hard it will be for the student to keep the meter stick from rotating.
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A. c > b > d > a
B. b = c = d > a
C. c > d > b > a
D. c > d > a = b
E. b > d > c > a
(a) (b) (c) (d)
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A student holds a meter stick straight out with one or more masses dangling from it. Rank in order, from most difficult to least difficult, how hard it will be for the student to keep the meter stick from rotating.
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A. c > b > d > a
B. b = c = d > a
C. c > d > b > a
D. c > d > a = b
E. b > d > c > a
(a) (b) (c) (d)
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Two buckets spin around in a horizontal circle on frictionless bearings. Suddenly, it starts to rain. As a result,
A. The buckets speed up because the potential energy of the
rain is transformed into kinetic energy.
B. The buckets continue to rotate at constant angular velocity
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B. The buckets continue to rotate at constant angular velocity
because the rain is falling vertically while the buckets move
in a horizontal plane.
C. The buckets slow down because the angular momentum of
the bucket + rain system is conserved.
D. The buckets continue to rotate at constant angular velocity
because the total mechanical energy of the bucket + rain
system is conserved.
E. None of the above.
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Two buckets spin around in a horizontal circle on frictionless bearings. Suddenly, it starts to rain. As a result,
A. The buckets speed up because the potential energy of the
rain is transformed into kinetic energy.
B. The buckets continue to rotate at constant angular velocity
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B. The buckets continue to rotate at constant angular velocity
because the rain is falling vertically while the buckets move
in a horizontal plane.
C. The buckets slow down because the angular momentum
of the bucket + rain system is conserved.
D. The buckets continue to rotate at constant angular velocity
because the total mechanical energy of the bucket + rain
system is conserved.
E. None of the above.