Motion
Physics Circular 1425 Lecture 18
Michael Fowler, UVa
How Far is it Around a Circle?
A regular hexagon (6 sides) can a
be made by putting together 6
equilateral triangles (all sides
equal).
The radius of the circle = 1.
The distance all the way round
the hexagon (red path) = 6.
The distance all the way round
the circle (green path) is a little
more: in fact, its 2r = 6.283
Arcs Subtending Angles: the Radian
Its 360 all the way round a
the circle, thats 60 from
each of the equilateral
triangles.
We say that the arc of
circle between A and B
subtends an angle of 60
at the center of the circle.
One radian is defined as
the angle subtended by an
arc equal in length to the
radius of the circle.
A
B
60
Clicker Question
One radian is:
A.
B.
C.
D.
E.
60
120
A bit less that 60
A bit more than 60
None of the above
Full Circle
For a circular path of radius r, if you walk
a distance r along the path, you have gone
around an angle of one radian relative to the
center.
If you walk all the way around the path, you
have of course gone through 360.
BUT youve walked a total distance 2r, and
therefore around an angle of 2 radians.
Conclusion: 360 = 2 radians
Radians and Trig
Measuring the angle in
radians,
= (length green arc)/r
and
sin = (length red line)/r
so for small angles
sin
a
r
Units for Angular Velocity
How fast is something rotating?
Car engine: units rpm, revs per minute, redlines
around 6,000 rpm or 100 revs/sec.
1 Hertz, written 1Hz, means one cycle/sec, used
for electrical generators, circuits. (Often called
the rotational frequency, and written f.)
Second hand on watch turns at 1 rpm, or 6/sec.
Earth goes round Sun at very close to 1/day
(probably why the degree was the original measure of angle.)
Angular Speed and Rim Speed
If a wheel of radius r
rotates one revolution
per second, a ball on the
rim is moving at speed
v = 2r m/sec.
If it rotates at one radian
per sec, v = r m/sec.
If it rotates at rad/sec,
v = r m/sec.
well measure angular
velocities in radians per
second and often use
v = r
a
v
r
Note: = 2f, if f is the
frequency in cycles per second.
Standard Angular Notation
Angle: theta, , in radians, measured
counterclockwise from the x-axis.
O
x
Angular velocity: omega, = d/dt.
Angular accleration: alpha, = d/dt = d2/dt2
Acceleration
The tangential speed
A
(along the rim) is v = r, so
the tangential acceleration
is
a = dv/dt = rd/dt = r.
The centripetal
acceleration is
v2/r = r2.
v
r
Components of Acceleration
The tangential speed (along A
the rim) is v = r, so the
tangential acceleration
total accn
(parallel to the rim) is
dv/dt = rd/dt = r.
The centripetal acceleration is
v2/r = r2.
Note: this formula is useful for comparing
accelerations at different radii.
rd/dt
r2
Clicker Question
A red ball and a green ball
A
are attached to a wheel as
shown. The wheel is
rotating at angular velocity
, with nonzero angular
acceleration .
Is the direction of total
acceleration of the red ball
parallel to that of the green
ball?
A Yes. B No.
Angular Velocity as a Vector
It will turn out to be essential later
to represent angular velocity as a
vector, with magnitude equal to
the angular speed (radians per
second) and direction along the
axis of rotation.
The convention, the right hand
rule is given by curling up your
right-hand fingers, your thumb
pointing away from the palm, then
if the fingers curl in the direction
of rotation, the thumb is in the
direction of .
Constant Angular Acceleration
The formulas for angular velocity position and as
functions of time for constant angular acceleration
are precisely analogous to those for constant linear
acceleration derived previously:
0 + t
=
t + 1 t2
= 0 + 0 2
= + 2 ( 0 )
2
2
0
Just be sure before you use these formulas that you
really do have constant acceleration!
Torque
The two kids shown have the Kids on seesaw
same torque about the axle:
Torque = force x distance
from the axle of the forces
x
line of action.
Notation: torque
2mg
= Fd 2mgx
=
Torque is also called moment of a
force the distance d the moment
arm.
2x
mg
More Ways to Balance Torques
mg
The two forces can act on Kids on seesaw
the same side of the axle.
The force does not need to
be perpendicular to the
2mg
lever arm: BUT only its
component perpendicular
d
to the arm exerts torque
= Fd sin
Alternatively, one can draw
the whole line of action of
the force and find the
perpendicular distance.
F
Rotational Dynamics
Newtons First Law: a rotating
body will continue to rotate at
constant angular velocity as
long as there is no torque acting
on it.
Picture a grindstone on a
smooth axle.
BUT the axle must be exactly at
the center of gravity
otherwise gravity will provide a
torque, and the rotation will not
be at constant velocity!
A
How is Angular Acceleration Related to Torque?
Think about a tangential
Vhas zero
force F applied to a mass m
attached to a light disk which
Light disk
can rotate about a fixed axis.
r
(A radially directed force has zero
torque, so does nothing.)
The relevant equations are:
F = ma, a = r, = rF.
Therefore F = ma becomes
= mr2
axle
m
F
Kinds of Equilibrium
Suppose now the light disk is in a Vhas zero
vertical plane, free to rotate about a
horizontal axis.
Light disk
If the red mass is at rest at the
axle
lowest point, and is then displaced
slightly, the torque from the
gravitational force mg will pull it
back towards the center. This is
called stable equilibrium.
mg
The red mass can be at rest at the
topmost pointbut this is unstable
equilibrium.
If g = 0, we have neutral equilibrium.
Newtons Second Law for Rotations
For the special case of a mass m constrained
by a light disk to circle around an axle, the
angular acceleration is proportional to the
torque exactly as in the linear case the
acceleration a is proportional to the force F.
The angular equivalent of inertial mass m is
the moment of inertia mr2.
More Complicated Rotating Bodies
Suppose now a light disk has A
several different masses
attached at different places,
and various forces act on
them. As before, radial
components cause no rotation,
we have a sum of torques.
BUT the rigid disk will cause a
force on one mass to cause a
torque on all the others! How
do we handle that?
F2
m2
r1
m1
F1
Newtons Third Law for a Rigid
Rotating Body
If a rigid body is made up of many masses mi
connected by rigid rods, the force exerted
along the rod of mi on mj is equal in
magnitude and opposite in direction to that of
mj on mi, therefore the internal torques come
in equal and opposite pairs, and therefore
cannot contribute to the angular acceleration.
It follows that the angular acceleration is
generated by the sum of the external torques.
Moment of Inertia of a Solid Body
Consider a flat square plate
rotating about a perpendicular axis
with angular acceleration . One
small part of it, mi, distance ri
from the axle, has equation of
motion
i = +
ext
i
int
i
= i ri
m
2
Adding contributions from all parts
of the wheel
=
i
ext
i
2
I
= mi ri =
i
I is the Moment of Inertia.
Z
mi