Rigid Body: Rotational and Translational Motion; Rolling without Slipping 8.01 W11D1

1. Rigid Body: Rotational and Translational Motion;Rolling without Slipping8.01W11D1

2. Today’s Reading Assignment: W11D1 Young and Freedman: 10.3-10.4

3. Overview: Rotation and Translation of Rigid Body Thrown Rigid Rod Translational Motion: the gravitational external force acts on center-of-mass Rotational Motion: object rotates about center-of-mass. Note that the center-of-mass may be accelerating

4. Overview: Rotation about the Center-of-Mass of a Rigid Body The total external torque produces an angular acceleration about the center-of-mass is the moment of inertial about the center-of-mass is the angular acceleration about the center-of-mass is the angular momentum about the center-of-mass

5. Fixed Axis Rotation • CD is rotating about axis passing through the center of the disc and is perpendicular to the plane of the disc. • For straight line motion, bicycle wheel rotates about fixed direction and center of mass is translating

6. Review: Relatively Inertial Reference Frames Two reference frames. Origins need not coincide. One moving object has different position vectors in different frames Relative velocity between the two reference frames is constant since the relative acceleration is zero

7. Review: Law of Addition of Velocities Suppose the object is moving; then, observers in different reference frames will measure different velocities Velocity of the object in Frame 1: Velocity of the object in Frame 2: Velocity of an object in two different reference frames

8. Center of Mass Reference Frame Frame O: At rest with respect to ground Frame Ocm: Origin located at center of mass Position vectors in different frames: Relative velocity between the two reference frames Law of addition of velocities:

9. Rolling Bicycle Wheel Reference frame fixed to ground Center of mass reference frame Motion of point P on rim of rolling bicycle wheel Relative velocity of point P on rim:

10. Rolling Bicycle Wheel Distance traveled in center of mass reference frame of point P on rim in time Δt: Distance traveled in ground fixed reference frame of point P on rim in time Δt:

11. Rolling Bicycle Wheel: Constraint relations Rolling without slipping: Rolling and Skidding Rolling and Slipping

12. Rolling Without Slipping: velocity of points on the rim in reference frame fixed to ground The velocity of the point on the rim that is in contact with the ground is zero in the reference frame fixed to the ground.

13. Concept Question: Rolling Without Slipping When the wheel is rolling without slipping what is the relation between the final center-of-mass velocity and the final angular velocity? • . • . • . • .

14. Angular Momentum for 2-Dim Rotation and Translation The angular momentum for a rotating and translating object is given by (see next two slides for details of derivation) The first term in the expression for angular momentum about S arises from treating the body as a point mass located at the center-of-mass moving with a velocity equal to the center-of-mass velocity, The second term is the angular momentum about the center-of mass,

15. Derivation: Angular Momentum for 2-Dim Rotation and Translation The angular momentum for a rotating and translating object is given by The position and velocity with respect to the center-of-mass reference frame of each mass element is given by So the angular momentum can be expressed as

16. Derivation: Angular Momentum for 2-Dim Rotation and Translation The two middle terms in the above expression vanish because in the center-of-mass frame, the position of the center-of-mass is at the origin, and the total momentum in the center-of-mass frame is zero, Then then angular momentum about S becomes The momentum of system is So the angular momentum about S is

17. Table Problem: Angular Momentum for Earth What is the ratio of the spin angular momentum to the orbital angular momentum of the Earth? What is the vector expression for the total angular momentum of the Earth about the center of its orbit around the sun (you may assume the orbit is circular and centered at the sun)?

18. Earth’s Motion Orbital Angular Momentum about Sun • Orbital angular momentum about center of sun • Center of mass velocity and angular velocity • Period and angular velocity • Magnitude

19. Earth’s MotionSpin Angular Momentum • Spin angular momentum about center of mass of earth • Period and angular velocity • Magnitude

20. Earth’s Motion about Sun: Orbital Angular Momentum For a body undergoing orbital motion like the earth orbiting the sun, the two terms can be thought of as an orbital angular momentum about the center-of-mass of the earth-sun system, denoted by S, Spin angular momentum about center-of-mass of earth Total angular momentum about S

21. Rotational Work-Kinetic Energy Theorem Change in kinetic energy of rotation about center-of-mass Change in rotational and translational kinetic energy

22. Rules to Live By: Kinetic Energy of Rotation and Translation Change in kinetic energy of rotation about center-of-mass Change in rotational and translational kinetic energy

23. Concept Question: Two cylinders of the same size and mass roll down an incline, starting from rest. Cylinder A has most of its mass concentrated at the rim, while cylinder B has most of its mass concentrated at the center. Which reaches the bottom first? 1) A 2) B 3) Both at the same time.

24. Problem: Cylinder on Inclined Plane Energy Method A hollow cylinder of outer radius R and mass m with moment of inertia I cm about the center of mass starts from rest and moves down an incline tilted at an angle q from the horizontal. The center of mass of the cylinder has dropped a vertical distance h when it reaches the bottom of the incline. Let g denote the gravitational constant. The coefficient of static friction between the cylinder and the surface is ms. The cylinder rolls without slipping down the incline. Using energy techniques calculate the velocity of the center of mass of the cylinder when it reaches the bottom of the incline.

25. Concept Question: Angular Collisions A long narrow uniform stick lies motionless on ice (assume the ice provides a frictionless surface). The center of mass of the stick is the same as the geometric center (at the midpoint of the stick). A puck (with putty on one side) slides without spinning on the ice toward the stick, hits one end of the stick, and attaches to it. Which quantities are constant? Angular momentum of puck about center of mass of stick. Momentum of stick and ball. Angular momentum of stick and ball about any point. Mechanical energy of stick and ball. None of the above 1-4. Three of the above 1.4 Two of the above 1-4.

26. Problem: Angular Collision • A long narrow uniform stick of length land mass m lies motionless on ice (assume the ice provides a frictionless surface). The center of mass of the stick is the same as the geometric center (at the midpoint of the stick). The moment of inertia of the stick about its center of mass is lcm. A puck (with putty on one side) has the same mass m as the stick. The puck slides without spinning on the ice with a speed of v0toward the stick, hits one end of the stick, and attaches to it. You may assume that the radius of the puck is much less than the length of the stick so that the moment of inertia of the puck about its center of mass is negligible compared to lcm. • What is the angular velocity of the stick plus puck after the collision? • How far does the stick's center of mass move during one rotation of the stick?

27. Next Reading Assignment: W11D1 Young and Freedman: 10.3-10.6