UNIT MOTION OF SYSTEM OF

5 PARTICLES AND RIGID BODIES

“In nature, we have to deal not with material points but with material bodies ... – Max Planck

LEARNING OBJECTIVES

In this unit, the student is exposed to

• relevance of the center of mass in various systems of particles
• torque and angular momentum in rotational motion
• types of equilibria with appropriate examples
• moment of inertia of different rigid bodies
• dynamics of rotation of rigid bodies
• distinguishing translational motion from rotational motion
• rolling motion, slipping and sliding motions.

5.1 forces. Internal forces are the forces acting

INTRODUCTION among the particles within a system that
constitute the body. External forces are
Most of the objects that we come across in the forces acting on the particles of a
our day to day life consist of large number of system from outside. In this unit, we deal
particles. In the previous Units, we studied with such system of particles which make
the motion of bodies without considering different rigid bodies. A rigid body is the
their size and shape. So far we have treated one which maintains its definite and fixed
even the bulk bodies as only point objects. In shape even when an external force acts on it.
this section, we will give importance to the This means that, the interatomic distances
size and shape of the bodies. These bodies do not change in a rigid body when an
are actually made up of a large number of external force is applied. However, in real
particles. When such a body moves, we life situation, we have bodies which are
consider it as the motion of collection of not ideally rigid, because the shape and
particles as a whole. We define the concept size of the body change when forces act on
of center of mass to deal with such a system them. For the rigid bodies we study here,
of particles. we assume that such deformations are
negligible. The deformations produced on
The forces acting on these bulk bodies non-rigid bodies are studied separately in
are classified into internal and external Unit 7 under elasticity of solids.

208
 5.1.1 For bodies of regular shape and uniform
mass distribution, the center of mass is at the
CENTER OF MASS
geometric center of the body. As examples, for
When a rigid body moves, all particles that a circle and sphere, the center of mass is at their
constitute the body need not take the same centers; for square and rectangle, at the point
path. Depending on the type of motion, their diagonals meet; for cube and cuboid, it is
different particles of the body may take at the point where their body diagonals meet.
different paths. For example, when a wheel For other bodies, the center of mass has to be
rolls on a surface, the path of the center point determined using some methods. The center
of the wheel and the paths of other points of mass could be well within the body and in
of the wheel are different. In this Unit, we some cases outside the body as well.
study about the translation, rotation and
the combination of these motions of rigid
bodies in detail.
5.1.3 Center of Mass for
Distributed Point
5.1.2 Center of Mass of Masses
a Rigid Body
A point mass is a hypothetical point particle
When a bulk object (say a bat) is thrown at which has nonzero mass and no size or shape.
an angle in air as shown in Figure 5.1; do all To find the center of mass for a collection of
the points of the body take a parabolic path? n point masses, say, m1, m2, m3 . . . mn we have
Actually, only one point takes the parabolic path to first choose an origin and an appropriate
and all the other points take different paths. coordinate system as shown in Figure 5.2.
Let, x1, x2, x3 . . . xn be the X-coordinates of
the positions of these point masses in the X
direction from the origin.

Y
m1 m2

(xCM, yCM, zCM)

Figure 5.1 Center of mass tracing the rCM m3

path of a parabola
m4

The one point that takes the parabolic o

X
path is a very special point called center of
mass (CM) of the body. Its motion is like the
motion of a single point that is thrown. The
Z
center of mass of a body is defined as a point
where the entire mass of the body appears to
Figure 5.2 Center of mass for
be concentrated. Therefore, this point can distributed point masses
represent the entire body.
Unit 5 Motion of System of Pa rticles and R igid B odies 209
 The equation for the x coordinate of the
5.1.4 Center of Mass of Two
center of mass is,
Point Masses
With the equations for center of mass, let
x CM =
∑m x i i
us find the center of mass of two point
∑m i masses m1 and m2, which are at positions
x1 and x2 respectively on the X-axis. For
this case, we can express the position of
where, 6m is the total mass M of all the
i

particles, ( ∑m = M ). Hence,
center of mass in the following three ways
i
based on the choice of the coordinate
system.

x CM =
∑m x i i
(5.1) (i) When the masses are on positive X-axis:
M
The origin is taken arbitrarily so that the
Similarly, we can also find y and z masses m1 and m2 are at positions x1 and x2 on
coordinates of the center of mass for these the positive X-axis as shown in Figure 5.3(a).
distributed point masses as indicated in The center of mass will also be on the positive
Figure (5.2). X-axis at xCM as given by the equation,

m1x1 + m2 x 2
x CM =
y CM =
∑m y i i
(5.2)
m1 + m2
M
(ii) When the origin coincides with any one
z CM =
∑m z i i
(5.3) of the masses:
M The calculation could be minimised if the
origin of the coordinate system is made to
Hence, the position of center of mass of coincide with any one of the masses as shown
these point masses in a Cartesian coordinate in Figure 5.3(b). When the origin coincides
system is (xCM, yCM, zCM). In general, the with the point mass m1, its position x1 is
position of center of mass can be written in zero, (i.e. x1 = 0). Then,
a vector form as,
m1 ( 0 ) + m2 x 2
 x CM =

rCM =
∑mi ri (5.4) m1 + m2
M
The equation further simplifies as,

where, rCM  x CMˆi  y CMˆj  z CM kˆ is the m2 x 2
x CM =
position vector of the center of mass and m1 + m2

ri  x iˆi  y i ĵ  z i k̂ is the position vector of
(iii) When the origin coincides with the
the distributed point mass; where, ˆi, ˆj and k̂ center of mass itself:
are the unit vectors along X, Y and Z-axes If the origin of the coordinate system is
respectively. made to coincide with the center of mass,
210 Unit 5 Motion of System of Particles and R igid B odies
then, xCM = 0 and the mass m1 is found EX AM P L E 5 . 1
to be on the negative X-axis as shown in
Two point masses 3 kg and 5 kg are at
Figure 5.3(c). Hence, its position x1 is
4 m and 8 m from the origin on X-axis.
negative, (i.e. -x1).
Locate the position of center of mass of the
two point masses (i) from the origin and
m1 ( − x1 ) + m2 x 2
0= (ii) from 3 kg mass.
m1 + m2
0 = m1 ( − x1 ) + m2 x 2 Solution
Let us take, m1 = 3 kg and m2= 5 kg
m1x1 m2 x 2
(i) To find center of mass from the origin:
The equation given above is known as The point masses are at positions, x1 = 4 m,
principle of moments. We will learn more x2 = 8 m from the origin along X axis.
about this in Section 5.3.3. Y

3 kg 5 kg
CM
o X
Y 4m
8m
xCM
m1 m2
CM
o X
x1
x2 The center of mass xCM can be obtained
xCM
using equation 5.4.
(a) When the masses are on positive X axis
m1x1 + m2 x 2
x CM =
m1 + m2
Y
x CM =
(3 × 4 ) + (5 × 8 )
m1 CM 3+5
X
o
x2 12 + 40 52
xCM x CM = = = 6. 5 m
8 8
(b) When the origin coincides with any The center of mass is located 6.5 m from
one of the masses
the origin on X-axis.

Y
(ii) To find the center of mass from 3 kg mass:
The origin is shifted to 3 kg mass along
m1 m2
CM
X X-axis. The position of 3 kg point mass is
o
(−x1) (+x2) zero (x1 = 0) and the position of 5 kg point
mass is 4 m from the shifted origin (x2 = 4 m).
(c) When the origin coincides with the center
of mass itself Y

5 kg
Figure 5.3. Center of mass of two 3 kg CM
X
point masses determined by shifting o
4m
the origin xCM

Unit 5 Motion of System of Pa rticles and R igid B odies 211

 x CM =
(3 × 0 ) + (5 × 4 )
3+5
0 + 20 20
x CM = = = 2. 5 m R R/2
8 8

The center of mass is located 2.5 m from

3 kg point mass, (and 1.5 m from the
5 kg point mass) on X-axis.
M-m m
x R/2
„ This result shows that the center of
mass is located closer to larger mass.
„ If the origin is shifted to the center
of mass, then the principle of Hence, the remaining portion of the
moments holds good. m1x1 m2 x 2; disc should have its center of mass to the
3 × 2. 5 = 5 × 1. 5 ; 7 . 5 7 . 5 left of the origin; say, at a distance x. We
can write from the principle of moments,
When we compare case (i) with case
(ii), the x CM = 2.5 m from 3 kg mass could (M − m ) x = (m ) 2
R
also be obtained by subtracting 4 m (the
position of 3 kg mass) from 6.5 m, where ⎛ m ⎞R
x=⎜ ⎟
the center of mass was located in case (i) ⎝ (M − m ) ⎠ 2

If σ is the surface mass density (i.e. mass

EXA MPL E 5 .2 M
per unit surface area), σ = 2 ; then, the
From a uniform disc of radius R, a small πR
mass m of small disc is,
disc of radius R is cut and removed as
2
shown in the diagram. Find the center m = surface mass density × surfacearea
2
of mass of the remaining portion of ⎛R⎞
m = σ × π⎜ ⎟
the disc. ⎝2⎠
2
Solution ⎛ M ⎞ ⎛R⎞ M R2 M
m = ⎜ 2 ⎟ π⎜ ⎟ = 2 π =
Let us consider the mass of the uncut full ⎝ πR ⎠ ⎝ 2 ⎠ πR 4 4
disc be M. Its center of mass would be at substituting m in the expression for x
the geometric center of the disc on which M M
the origin coincides. 4 R R
x= × = 4 ×
Let the mass of the small disc cut and ⎛ M ⎞ 2 ⎛ 3M ⎞ 2
removed be m and its center of mass is at ⎜M − 4 ⎟ ⎜ 4 ⎟
⎝ ⎠ ⎝ ⎠
a position R to the right of the origin as R
2 x=
shown in the figure. 6

212 Unit 5 Motion of System of Particles and R igid B odies

 The center of mass of the remaining portion 5.1.5 Center of mass for uniform
R
is at a distance to the left from the center distribution of mass
6
of the disc.
If the mass is uniformly distributed in a bulk
object, then a small mass (Δm) of the body can
„ If, the small disc is removed
be treated as a point mass and the summations
concentrically from the large disc,
can be done to obtain the expressions for the
what will be the position of the
coordinates of center of mass.
center of mass of the remaining
portion of disc? ∑ ( Δm ) x
x CM =
i i

∑Δm i

y CM =
∑ ( Δm ) y
i i
(5.5)
EXA MPL E 5 .3 ∑Δm i

The position vectors of two point masses z CM =

∑ ( Δm ) z
i i

10 kg and 5 kg are (3iˆ  2 ˆj  4kˆ) m and ∑Δm i

(3iˆ  6 ˆj  5kˆ) m respectively. Locate the On the other hand, if the small mass
position of center of mass. taken is infinitesimally small (dm) then, the
Solution summations can be replaced by integrations as
given below.

m1  10 kg
x cm =
∫xdm
m2  5 kg ∫dm

r1  (3iˆ  2 ˆj  4kˆ) m y cm =
∫ydm (5.6)

r2  (3iˆ  6 ˆj  5kˆ) m ∫dm

 m1r1  m2r2

z cm =
∫zdm
r
m1  m2 ∫dm
ˆ ˆ
G 10(3iˆ  2 ˆj  4k )  5(3iˆ  6 ˆj  5k ) EX AM P L E 5 . 4
∴r =
10  5
Locate the center of mass of a uniform rod
30iˆ  20 ˆj  40kˆ  15iˆ  30 ˆj  25kˆ of mass M and length A.

15
Solution
15iˆ  50 ˆj  65kˆ
 Consider a uniform rod of mass M and
15
length A whose one end coincides with the
G 4 ˆ 10 ˆj  13 kˆ5 m origin as shown in Figure. The rod is kept
r = 68 i  7
3 3 9 along the x axis. To find the center of mass
G ∗

Infinitesimal quantity is an extremely small
The center of mass is located at position r .
quantity.

Unit 5 Motion of System of Pa rticles and R igid B odies 213

 dx 5.1.6 Motion of Center of
Mass
o
When a rigid body moves, its center of
x
mass will also move along with the body.
For kinematic quantities like velocity ( v CM )
and acceleration ( a CM ) of the center of
mass, we can differentiate the expression
of this rod, we choose an infinitesimally
for position of center of mass with respect
small mass dm of elemental length dx at a
to time once and twice respectively.
distance x from the origin.
For simplicity, let us take the motion
along X direction only.
λ is the linear mass density (i.e. mass
M
per unit length) of the rod. λ
A G
⎛ dx i ⎞
dx CM ∑ i ⎜⎝ dt ⎟⎠
G m
The mass of small element (dm) is, G
v CM = =
dm
M
dx
dt ∑mi
A
G
Now, we can write the center of mass G
v CM =
∑mi v i
(5.7)
equation for this mass distribution as, ∑mi
G
⎛ dv i ⎞
d ⎛ dx CM ⎞ ⎛ dv CM ⎞ ∑ i ⎜⎝ dt ⎟⎠
G G m
G
= ⎜ = =
x CM =
∫xdm a CM
dt ⎝ dt ⎟⎠ ⎜⎝ dt ⎟⎠ ∑mi
∫dm G

⎛M ⎞
G
a CM =
∑mia i
(5.8)
∫ x ⎜ dx ⎟
⎝ 

⎠ = 1 xdx
∑mi
 ∫o
x CM = o
M
G
l In the absence of external force, i.e. Fext 0,
1 ⎡x ⎤ 1⎛ A ⎞
2 2
= ⎢ ⎥ = ⎜ ⎟ the individual rigid bodies of a system
A ⎣ 2 ⎦0 A ⎝ 2 ⎠
can move or shift only due to the internal
 forces. This will not affect the position of
x CM = the center of mass. This means that the
2
center of mass will be in a state of rest
G
or uniform motion. Hence, v CM will be
A
As the position is the geometric center zero when center of mass is at rest and
2 constant when center of mass has uniform
of the rod, it is concluded that the center G G
motion ( v CM = 0 or v CM = constant ) . There
of mass of the uniform rod is located at its
will be no acceleration of center of mass,
geometric center itself. 
( a CM = 0 ) .

214 Unit 5 Motion of System of Particles and R igid B odies

 From equation 5.7 and 5.8, [Given: There is friction between the man
and the boat and no friction between the

0
Ym v i i
(or) constant,
boat and water.]

Ym i Solution


vCM 
Ymv i i 
; a CM  0 Mass of the man (m1) is, m1= 50 kg
Ym i Mass of the boat (m2) is, m2 = 300 kg
With respect to a stationary observer:
Here, the individual particles may still The man moves with a velocity, v1 =
move with their respective velocities and 2 m s-1 and the boat moves with a velocity
accelerations due to internal forces. v2 (which is to be found)
In the presence of external force, (i.e.
G (i) To determine the velocity of the boat with
Fext ≠ 0 ), the center of mass of the system
respect to a stationary observer on land:
will accelerate as given by the following
As there is no external force acting on the
equation.
system, the man and boat move due to the
 friction, which is an internal force in the
    
Fext = ( ) Fext
∑mi a CM ; Fext = Ma CM ; a CM = M boat-man system. Hence, the velocity of
the center of mass is zero (vCM = 0).
Using equation 5.7,
EXA MPLE 5 .5
A man of mass 50 kg is standing at one end of 0=
∑m v i i
=
m1v 1 + m2 v 2
a boat of mass 300 kg floating on still water. ∑m i m1 + m2
He walks towards the other end of the boat 0 = m1v 1 + m2 v 2
with a constant velocity of 2 m s-1 with respect
−m 2 v 2 = m1v 1
to a stationary observer on land. What will be
the velocity of the boat, (a) with respect to the m1
v2 = − v1
stationary observer on land? (b) with respect m2
to the man walking in the boat? 50 100
v2 = − ×2 = −
300 300
v 2 = −0.33 m s−1

The negative sign in the answer implies

m CM m that the boat moves in a direction opposite
to that of the walking man on the boat to a
stationary observer on land.
(ii) To determine the velocity of the
boat with respect to the walking man:
m CM m
We can find the relative velocity as,
v 21 = v 2 − v 1

Unit 5 Motion of System of Pa rticles and R igid B odies 215

 where, v 21 is the relative velocity of the boat Solution
with respect to the walking man. It is an explosion of its own without any
external influence. After the explosion, the
v 21 = ( −0.33 ) − ( 2 ) center of mass of the projectile will continue
v 21 = −2.33 ms −1 to complete the parabolic path even though
the fragments are not following the same
The negative sign in the answer implies that
parabolic path. After the fragments have
the boat appears to move in the opposite
fallen on the ground, the center of mass
direction to the man walking in the
rests at a distance R (the range) from the
boat.
point of projection as shown in the diagram.
„ The magnitude of the relative
velocity of the boat with respect to
the walking man is greater than the
magnitude of the relative velocity of 3 kg 2 kg
the boat with respect to the stationary R CM
3R 1R d
observer. 4 4
„ The negative signs in the two R+d

answers indicate the opposite If the origin is fixed to the final position
direction of the boat with respect of the center of mass, the principle of
to the stationary observer and the moments holds good.
walking man on the boat.
m1x1 m2 x 2
Center of mass in explosions: 1
where, m1 = 3 kg, m2 = 2 kg, x1 = R. The
Many a times rigid bodies are broken in to 4
value of x2 = d
fragments. If an explosion is caused by the
internal forces in a body which is at rest or
in motion, the state of the center of mass is 1
3 × R = 2 × d;
not affected. It continues to be in the same 4
state of rest or motion. But, the kinematic 3
d R
quantities of the fragments get affected. If the 8
explosion is caused by an external agency,
then the kinematic quantities of the center The distance between the point of launching
of mass as well as the fragments get affected. and the position of 2 kg mass is R+d.

EXA MPLE 5 .6 3 11
R + d = R + R = R = 1.375R
A projectile of mass 5 kg, in its course 8 8
of motion explodes on its own into two
fragments. One fragment of mass 3 kg falls at The other fragment falls at a distance of
three fourth of the range R of the projectile. 1.375R from the point of launching. (Here
Where will the other fragment fall? R is the range of the projectile.)
216 Unit 5 Motion of System of Particles and R igid B odies
 G
5.2 where, r is the position
G vector of the point
where the force F is acting on the body as
TORQUE AND ANGULAR
shown in Figure 5.4.
MOMENTUM

When a net force acts on a body, it produces θ

linear motion in the direction of the applied F
force. If the body is fixed to a point or an r
axis, such a force rotates the body depending O
on the point of application of the force on
the body. This ability of the force to produce Figure 5.4. Torque on a
rotational motion in a body is called torque rigid body
or moment of force. Examples for such
G G
motion are plenty in day to day life. To Here, the product of r and F is called the
mention a few; the opening and closing of a vector product or cross product. The vector
door about the hinges and turning of a nut product of two vectors results in another
using a wrench. vector that is perpendicular to both the
vectors (refer Section 2.5.2). Hence, torque
G
( τ ) is a vector quantity.
Tor que has a magnitude ( rFsin
G θ ) and
G
direction perpendicular to r and F . Its unit
is N m.


&   rFsin 3 nˆ (5.10)
The extent of the rotation depends on
G G
the magnitude of the force, its direction Here, θ is the angle between r and F, and
G
and the distance between the fixed point n̂ is the unit vector in the direction of W .
G
and the point of application. When torque Torque ( τ ) is sometimes called as a pseudo
G
produces rotational motion in a body, its vector as it needs the other two vectors r and
G
angular momentum changes with respect F for its existence.
to time. In this Section we will learn
about the torque and its effect on rigid The direction of torque is found using
bodies. right hand rule. This rule says that if fingers
of right hand are kept along the position
vector with palm facing the direction of the
5.2.1 'H¿QLWLRQRI7RUTXH force and when the fingers are curled the
Torque is defined as the moment of the thumb points to the direction of the torque.
external applied force about a point or axis This is shown in Figure 5.5.
of rotation. The expression for torque is, The direction of torque helps us to find
G G G the type of rotation caused by the torque.
τ = r ×F (5.9) For example, if the direction of torque is out

Unit 5 Motion of System of Pa rticles and R igid B odies 217

 separately. For direction, we use the vector
rule or right hand rule. For magnitude, we
use scalar form as,

F τ = r F sin θ (5.11)

r The expression for the magnitude of

torque can be written in two different ways
by associating sin θ either with r or F in the
&
following manner.
Figure 5.5. Direction of torque using
right hand rule τ = r ( F sin θ ) = r × ( F ⊥ ) (5.12)

τ = ( r sin θ ) F = ( r ⊥ ) × F (5.13)
of the paper, then the rotation produced by
the torque is anticlockwise. On the other G
hand, if the direction of the torque is into Here, ( F sinθ ) is the component of F
G
the paper, then the rotation is clockwise as perpendicular to r . Similarly, ( r sinθ )G is the
G
shown in Figure 5.6. component of r perpendicular to F. The
two cases are shown in Figure 5.7.
In many cases, the direction and
magnitude of the torque are found
F cos θ

θ
F

r F sin θ
τ
F O
r
θ
Page (a) τ = r (F sin θ) = r(F⊥)

(a) anticlockwise rotation

θ
θ r sin θ F
r
τ F
Page r
θ r cos θ

(b) τ =(r sin θ) F = (r⊥)F

(b) clockwise rotation

Figure 5.6. Direction of torque and the Figure 5.7. Two ways of calculating the
type of rotation torque.

218 Unit 5 Motion of System of Particles and R igid B odies

 G G
Based on the angle θ between r and F, Solution
the torque takes different values. G Arm length of the spanner, r = 15 cm
G
The torque is maximum when, r and F = 15×10−2m
are perpendicular to each other. That is when Force, F = 2.5 N
θ = 90o and sin 90o = 1, Hence, τmax = rF. G Angle between r and F, θ = 90o
G
The torque is zero when r and F are
parallel or antiparallel. If parallel, then θ = 2.5 N
90°
0o and sin 0o = 0. If antiparallel, then θ = 180o 15 cm
and sin 180o = 0. Hence, τ = 0. (i) Torque, τ = rF sin θ
The torque is zero if the force acts at the
G
reference point. i.e. as r 0, τ = 0. The different τ = 15 × 10 −2 × 2.5 × sin (90°)
cases discussed are shown in Table 5.1. [here, sin 90° = 1]

Table 5.1 The Value of τ for τ = 37.5 × 10−2 N m

different cases.
(ii) As per the right hand rule, the
F direction of torque is out of the page.
r F
r (iii) The type of rotation caused by the
O
O
torque is anticlockwise.
θ = 90ο; τmax = rF θ = 0ο; τ = 0

F EXAM P L E 5 . 8

O
r
O
F

A force of 4iˆ  3jˆ  5kˆ N is applied at a point
θ = 180ο; τ = 0 r = 0; τ = 0 
whose position vector is 7iˆ  4jˆ  2kˆ m.
Find the torque of force about the origin.

EXA MPLE 5 .7 Solution

If the force applied is perpendicular to 
the handle of the spanner as shown in the r  7iˆ  4jˆ  2kˆ

diagram, find the (i) torque exerted by the F  4iˆ  3jˆ  5kˆ
force about the center of the nut, (ii) direction G G G
of torque and (iii) type of rotation caused by Torque, τ = r × F
the torque about the nut.
ˆi ˆj kˆ

&  7 4 2
2.5 N 4 3 5
 ˆ
&  i  20  6  ˆj  35  8  kˆ  21  16


&  14iˆ  43jˆ  37kˆ N m
15 cm

Unit 5 Motion of System of Pa rticles and R igid B odies 219

EXA MPLE 5 .9 τ = r F sin θ
A crane has an arm length of 20 m inclined τ = 20 × 20000 × sin 150D ( )
at 30o with the vertical. It carries a container
of mass of 2 ton suspended from the top end (
= 400000 × sin 90D + 60D )
of the arm. Find the torque produced by the [here, sin ( 90 + θ ) = cos θ]
o

gravitational force on the container about

the point where the arm is fixed to the crane. = 400000 × cos ( 60 ) D

[Given: 1 ton = 1000 kg; neglect the weight of

1 ⎡ 1⎤
⎢cos 60 = 2 ⎥
D
the arm. g = 10 m s-2] = 400000 ×
2 ⎣ ⎦
3150
200000 N m
τ = 2 × 105 N m
r
r
30 Method – II
mg Let us take the force and perpendicular
\60
distance from the point where the arm is
fixed to the crane.
Solution

In many problems,G the angle

Note G
θ between r and F will not
r sin 60

be directly given. Thus,

r
the students must get accustomed to
identify and denote Galways the angle r
G
between the r and F as θ. The other mg
angles in the arrangement may be \60
denoted as α, β, ϕ etc. r cos 60

The force F at the point of suspension is τ = (r ⊥ ) F

due to the weight of the hanging mass. τ = r cos φ mg

F = mg = 2 × 1000 × 10 = 20000 N; τ = 20 × cos 60D × 20000

The arm length, r = 20 m 1
= 20 × × 20000
We can solve this problem by three different 2
methods. 200000 Nm

Method – I τ = 2 × 105 Nm
The angle (θ) between the arm length (r)
and the force (F) is, θ = 150o Method – III
The torque (τ) about the fixed point of Let us take the distance from the fixed
the arm is, point and perpendicular force.

220 Unit 5 Motion of System of Particles and R igid B odies

 60°
5.2.2 7RUTXHDERXWDQ$[LV
mg sin 60 mg cos 60
T=mg
In the earlier sections, we have dealt with
the torque about a point. In this section we
r will deal with the torque about an axis. Let
us consider a rigid body capable of rotating
about an axis AB as shown in Figure 5.8. Let
φ=60° the force F act at a point P on the rigid body.
The force F may not be on the plane ABP. We
can take the origin O at any random point
on the axis AB.
τ = r (F ⊥)
τ = r mg cos φ
A
τ = 20 × 20000 × cos 60D
P
1 F
= 20 × 20000 ×
2 r
O
200000 Nm
τ = 2 × 105 Nm
B

Figure 5.8. Torque about

All the three methods, give the same an axis
answer.

Tamil Nadu is known for creative and innovative

traditional games played by children. One such
very popular game is “silli” (zà‡) or “sillukodu”
(zà³ÔZ>T©). There is a rectangular area which
is further partitioned as seen in the Figure. One
has to hop through the rectangles. While doing so,
children lean on one side.

What is the reason?

Naturally the body takes this position to balance
the gravitational force (mg) and Normal force
(N) acting on the body and to nullify the torque.
Failing which, both these forces act along
different lines leading to a net torque which
makes one to fall.

Unit 5 Motion of System of Pa rticles and R igid B odies 221

 G
The torque of the force F about O is, Hereafter, for the calculation of torques on
G G G rigid bodies we will:
τ = r × F. The component of the torque along
G
the axis is the torque of F about 1. Consider only those forces that lie on
the axis. To find it, we should first find the planes perpendicular to the axis (and do
G G G
vector τ = r × F and then find the angle φ not intersect the axis).
G
between τ and AB. (Remember here, F is not 2. Consider position vectors which are
on the plane ABP). The torque about AB is perpendicular to the axis.
the parallel component of the torque along
G G • Forces parallel to the
AB, which is r u F cos φ. And the torque Note
G G axis will give torques
perpendicular to the axis AB is r u F sin φ.
perpendicular to the axis
The torque about the axis will rotate the of rotation and need not
object about it and the torque perpendicular be taken into account.
to the axis will turn the axis of rotation. „ • Forces that intersect (pass
When both exist simultaneously on a rigid through) the axis cannot
body, the body will have a precession. One produce torque as r = 0.
can witness the precessional motion in a „ • Position vectors along the
spinning top when it is about to come to rest axis will result in torques
as shown in Figure 5.9. perpendicular to the axis and
need not be taken into account.

EX AM P L E 5 . 1 0

n Three mutually perpendicular beams AB,

Precessio
atio
n OC, GH are fixed to form a structure which
Rot
is fixed to the ground firmly as shown in
the Figure. One string is tied to the point
C and its free end D is pulled with a force
mg
F. Find the magnitude and direction of the
torque produced by the force,

(i) about the

Figure 5.9. Precession of a spinning top
points D, C, O
Study of precession is beyond the scope of and B
the higher secondary physics course. Hence, (ii) about the axes
it is assumed that there are constraints CD, OC, AB
to cancel the effect of the perpendicular and GH.
components of the torques, so that the
fixed position of the axis is maintained.
Therefore, perpendicular components of
the torque need not be taken into account.
222 Unit 5 Motion of System of Particles and R igid B odies
 Solution The torque of a force about an axis is
(i) Torque about point D is zero. (as F independent of the choice of the origin as
passes through D). long as it is chosen on that axis itself. This
can be shown as below.
Torque about point C is zero. (as F
passes through C). Let O be the origin on the axis AB, which
 
Torque about point O is ( OC ) × F and is the rotational axis of a rigid body. F is the
direction is along GH. force acting at the point P. Now, choose
  another point O’ anywhere on the axis as
Torque about point B is  BD  F and
shown in Figure 5.10.
direction is along GH
  
(The ⊥ of BD with respect to F is OC). A
(ii) Torque about axis CD is zero (as F is P
parallel to CD). F
Torque about axis OC is zero (as F O′ r
intersects OC). O

Torque about axis AB is zero (as F is

parallel to AB). B
 
Torque about axis GH is ( OC ) × F and Figure 5.10. Torque about
direction is along GH. an axis is independent of origin

Identify the direction of torque in country press shown in picture

(in Tamil, ‘Marasekku’ IKÖY@Ô¤)

Unit 5 Motion of System of Pa rticles and R igid B odies 223

 The torque of F about O’ is,
(
τ = mr 2 α) (5.14)
    
(
O′P × F = O′O + OP × F
   
) Hence, the torque of the force acting
(
= O′O × F + OP × F) ( ) on the point mass produces an angular
acceleration ( α ) in the point mass about the
   axis of rotation.
As O′O × F is perpendicular to OcO , this
term will not have a component In vector notation,
  along AB.
Thus, the
component
 of O′P × F is equal to
that of OP u F.
G
( G
τ = mr 2 α) (5.15)

The directions of τ and α are along

5.2.3  RUTXHDQG$QJXODU
7 the axis of rotation. If the direction of τ is
Acceleration in the direction of α, it produces angular
Let us consider a rigid body rotating about acceleration. On the other hand if, τ is
a fixed axis. A point mass m in the body will opposite to α, angular deceleration or
execute a circular motion about a fixed axis retardation is produced on the point mass.
as
G shown in Figure 5.11. A tangential force The term mr 2 in equations 5.14 and 5.15
F acting on the point mass produces the
is called moment of inertia (I) of the point
necessary
G torque for this rotation. This force
G mass. A rigid body is made up of many such
F is perpendicular to the position vector r
point masses. Hence, the moment of inertia
of the point mass.
of a rigid body is the sum of moments of
τ inertia of all such individual point masses
α
F (
that constitute the body I = ∑miri 2 . )
Hence, torque for the rigid body can be
r m written as,

G
( G
τ = ∑mi ri 2 α ) (5.16)
G G
Figure 5.11. Torque and Angular τ = Iα (5.17)
acceleration
We will learn more about the moment of
The torque produced by the force on inertia and its significance for bodies with
the point mass m about the axis can be different shapes in section 5.4.
written as,

τ = r F sin90 = r F [' sin90 = 1] 5.2.4 Angular Momentum

τ = r ma ⎡⎣' ( F = ma ) ⎤⎦ The angular momentum in rotational
motion is equivalent to linear momentum
τ = r m rα = mr 2α ⎡⎣' ( a = rα ) ⎤⎦
in translational motion. The angular

224 Unit 5 Motion of System of Particles and R igid B odies

momentum of a point mass is defined as EX AM P L E 5 . 1 1
the moment of its linear momentum. In
other words, the angular momentum L of a A particle of mass (m) is moving with
point mass having a linear momentum p at constant velocity (v). Show that its angular
a position r with respect to a point or axis is momentum about any point remains
mathematically written as, constant throughout the motion.
Solution
G G G
L = r×p (5.18)
Q θ
p
The magnitude of angular momentum could θ

be written as, d r

L = r p sin θ (5.19)
O
G G G
where, θ is the angle between r and p. L is Let the particle of mass m move with
G G
perpendicular to the plane containing r and constant velocity v. As it is moving with
G
p. As we have written in the case of torque, constant velocity, its path is a straight line.
G G
here also we can associate sin θ with either Its momentum ( p = mv ) is also directed
G G
r or p. along the same path. Let us fix an origin
(O) at a perpendicular distance (d) from
the path. At a particular instant, we can
L = r ( p sin θ ) = r ( p ⊥ ) (5.20) connect the particle which is at positon Q
 
L = ( r sin θ ) p = ( r ⊥ ) p (5.21)
(
with a position vector r = OQ . )
G G
Take, the angle between the r and p as θ.
The magnitude of angular momentum of
where, pA is the component of linear that particle at that instant is,
momentum p perpendicular to r, and rA is the
component of position r perpendicular to p. L = OQ p sin θ = OQ mv sin θ = mv ( OQ sin θ )
The angular momentum is zero ( L = 0 ),
if the linear momentum is zero (p = 0) or if
G G The term ( OQ sinθ ) is the perpendicular
the particle is at the origin ( r = 0 ) or if r and distance (d) between the origin and line
G
p are parallel or antiparallel to each other (θ along which the mass is moving. Hence,
= 00 or 1800). the angular momentum of the particle
There is a misconception that the angular about the origin is,
momentum is a quantity that is associated
only with rotational motion. It is not true. L mvd
The angular momentum is also associated
with bodies in the linear motion. Let us The above expression for angular
understand the same with the following momentum L, does not have the angle θ.
example. As the momentum (p = mv) and the
Unit 5 Motion of System of Pa rticles and R igid B odies 225
 perpendicular distance (d) are constants,
L = rmrω
the angular momentum of the particle is also
constant. Hence, the angular momentum (
L = mr 2 ω ) (5.22)
is associated with bodies with linear motion
also. If the straight path of the particle The directions of L and ω are along the
passes through the origin, then the angular axis of rotation. The above expression can be
momentum is zero, which is also a constant. written in the vector notation as,

G
( G
L = mr 2 ω ) (5.23)
5.2.5 Angular Momentum
and Angular Velocity
As discussed earlier, the term mr 2 in
Let us consider a rigid body rotating about equations 5.22 and 5.23 is called moment of
a fixed axis. A point mass m in the body will inertia (I) of the point mass. A rigid body
execute a circular motion about the fixed is made up of many such point masses.
axis as shown in Figure 5.12. Hence, the moment of inertia of a rigid
L
body is the sum of moments of inertia of all
ω such individual point masses that constitute
( )
P
the body I = ∑miri 2 . Hence, the angular
momentum of the rigid body can be
r m
written as,

G
( G
L = ∑miri 2 ω ) (5.24)
G G
Figure 5.12. Angular momentum L = Iω (5.25)
and angular velocity
The study about moment of inertia (I) is
The point mass m is at a distance r from reserved for Section 5.4.
the axis of rotation. Its linear momentum
at any instant is tangential to the circular
G 5.2.6  RUTXHDQG$QJXODU
7
path. Then the angular momentum L is
G G Momentum
perpendicular to r and p. Hence, it is
directed along the axis of rotation. The angle We have the expression for magnitude of
G G
θ between r and p in this case is 90o. The angular momentum of a rigid body as,
magnitude of the angular momentum L L = I ω. The expression for magnitude of
could be written as, torque on a rigid body is, τ = I α

We can further write the expression for

D
L r mv sin90 r mv torque as,

where, v is the linear velocity. The relation

dω ⎛ dω ⎞
τ=I '⎜ α = (5.26)
dt ⎟⎠
between linear velocity v and angular velocity
ω in a circular motion is, v = r ω . Hence,
dt ⎝

226 Unit 5 Motion of System of Particles and R igid B odies

 Where, ω is angular velocity and α is there is no net force acting on the body.
angular acceleration. We can also write There is a lot of difference between the
equation 5.26 as, terms “no force” and “no net force” acting
on a body. The same argument holds good
d ( Iω ) for rotational conditions in terms of torque
τ= or moment of force.
dt
dL A rigid body is said to be in mechanical
τ= (5.27)
dt equilibrium when both its linear momentum
and angular momentum remain constant.
The above expression says that an
When the linear momentum remains
external torque on a rigid body fixed to
constant, the net force acting on the body
an axis produces rate of change of angular
is zero.
momentum in the body about that axis.
This is the Newton’s second law in rotational G
dp Fnet 0 (5.28)
motion as it is in the form of F which
dt
holds good for translational motion.
In this condition, the body is said to be in
Conservation of angular momentum: translational equilibrium. This implies
  that
From the above expression we could the vector sum of different forces F1 , F2 , F3 …
conclude that in the absence of external acting in different directions on the body is
torque, the angular momentum of the rigid zero.
body or system of particles is conserved.
   
F1 + F2 + F3 +  + Fn = 0 (5.29)
dL
If τ = 0 then, = 0; L = constant
dt   
If the forces F1 , F2 , F3 … act in different
The above expression is known as law directions on the body, we can resolve them
of conservation of angular momentum. into horizontal and vertical components
We will learn about this law further in and then take the resultant in the respective
section 5.5. directions. In this case there will be horizontal
as well as vertical equilibria possible.
5.3 Similarly, when the angular momentum
EQUILIBRIUM OF RIGID remains constant, the net torque acting on
BODIES the body is zero.

When a body is at rest without any motion

G
on a table, we say that there is no force τnet = 0 (5.30)
acting on the body. Actually it is wrong
because, there is gravitational force acting Under this condition, the body is said to
on the body downward and also the normal be in rotational equilibrium. The vector sum
  
force exerted by table on the body upward. of different torques W1 , W2 , W3 … producing
These two forces cancel each other and thus different senses of rotation on the body is zero.
Unit 5 Motion of System of Pa rticles and R igid B odies 227
     As the forces and torques are vector
τ1 + τ2 + τ3 +  + τn = 0 (5.31)
quantities, the directions are to be taken
with proper sign conventions.
Thus, we can also conclude that a rigid
body is in mechanical equilibrium when the
5.3.1 7\SHVRI(TXLOLEULXP
net force and net torque acts on the body is
zero. Based on the above discussions, we come to a
conclusion that different types of equilibrium
G G are possible based on the different conditions.
Fnet 0 and τnet = 0 (5.32)
They are consolidated in Table 5.2.

Table 5.2 Different types of Equilibrium and their Conditions.

Type of Conditions
equilibrium
Translational „ Linear momentum is constant.
equilibrium „ Net force is zero.

Rotational „ Angular momentum is constant.

equilibrium „ Net torque is zero.

Static „ Linear momentum and angular momentum are zero.

equilibrium „ Net force and net torque are zero.

Dynamic „ Linear momentum and angular momentum are constant.

equilibrium „ Net force and net torque are zero.

Stable „ Linear momentum and angular momentum are zero.

equilibrium „ The body tries to come back to equilibrium if slightly disturbed and

released.
„ The center of mass of the body shifts slightly higher if disturbed from

equilibrium.
„ Potential energy of the body is minimum and it increases if disturbed.

Unstable „ Linear momentum and angular momentum are zero.

equilibrium „ The body cannot come back to equilibrium if slightly disturbed and

released.
„ The center of mass of the body shifts slightly lower if disturbed from

equilibrium.
„ Potential energy of the body is not minimum and it decreases if disturbed.

Neutral „ Linear momentum and angular momentum are zero.

equilibrium „ The body remains at the same equilibrium if slightly disturbed and

released.
„ The center of mass of the body does not shift higher or lower if disturbed

from equilibrium.
„ Potential energy remains same even if disturbed.

228 Unit 5 Motion of System of Particles and R igid B odies

 EXA MPL E 5 .1 2 For rotational equilibrium:

Arun and Babu carry a wooden log of mass

28 kg and length 10 m which has almost
uniform thickness. They hold it at 1 m and
2 m from the ends respectively. Who will
bear more weight of the log? [g = 10 ms-2]
The net torque acting on the log
Solution must be zero. For ease of calculation,
we can take the torque caused by all the
Let us consider the log is in mechanical
forces about the point A on the log. The
equilibrium. Hence, the net force and net torque
forces are perpendicular to the distances.
on the log must be zero. The gravitational force
Hence,
acts at the center of mass of the log downwards.
It is cancelled by the normal reaction forces
RA and RB applied upwards by Arun and Babu ( 0R A ) + ( −4mg ) + ( 7R B ) = 0.
at points A and B respectively. These reaction
forces are the weights borne by them. Here, the reaction force RA cannot
produce any torque as the reaction forces
The total weight, W = mg = 28 × 10 =
pass through the point of reference A. The
280 N, has to be borne by them together.
torque of force mg produces a clockwise
The reaction forces are the weights borne
turn about the point A which is taken
by each of them separately. Let us show all
negative and torque of force RB causes
the forces acting on the log by drawing a
anticlockwise turn about A which is taken
free body diagram of the log.
positive.
For translational equilibrium:
The net force acting on the log must be 7R B 4mg
zero. 4
RB mg
7
R A + ( −mg ) + R B = 0
4
R B = × 28 × 10 = 160 N
7

By substituting for RB we get,

R A = mg − R B

Here, the forces RA an RB are R A = 28 × 10 − 160 = 280 − 160 = 120 N

taken positive as they act upward. The
gravitational force acting downward is As RB is greater than RA, it is concluded
taken negative. that Babu bears more weight than Arun.
The one closer to center of mass of the log
R A + R B = mg bears more weight.

Unit 5 Motion of System of Pa rticles and R igid B odies 229

 cause the same sense of rotation in the
5.3.2 Couple
rod. Thus, the rod undergoes a rotational
Consider a thin uniform rod AB. Its center motion or turning even though the rod is in
of mass is at its midpoint C. Let two forces translational equilibrium.
which are equal in magnitude and opposite
A pair of forces which are equal in
in direction be applied at the two ends
magnitude but opposite in direction and
A and B of the rod perpendicular to it. The
separated by a perpendicular distance so
two forces are separated by a distance of 2r
that their lines of action do not coincide that
as shown in Figure 5.13.
causes a turning effect is called a couple. We
come across couple in many of our daily
activities as shown in Figure 5.14.
A B
r C r
There are cases in which the
Note
two forces may not cancel
Figure 5.13. Couple each other. If the two forces
are not equal or the direction of the
As the two equal forces are opposite in forces is not exactly opposite, then the
direction, they cancel each other and the body will have both translational as
net force acting on the rod is zero. Now the well as rotational motion.
rod is in translational equilibrium. But, the
rod is not in rotational equilibrium. Let us
see how it is not in rotational equilibrium.
5.3.3 Principle of Moments
The moment of the force applied at the end
A taken with respect to the center point Consider a light rod of negligible mass
C, produces an anticlockwise rotation. which is pivoted at a point along its length.
Similarly, the moment of the force applied Let two parallel forces F1 and F2 act at the two
at the end B also produces an anticlockwise ends at distances d1 and d2 from the point
rotation. The moments of both the forces of pivot and the normal reaction force N at

F
F

r r r

Figure 5.14. Turning effect of Couple

230 Unit 5 Motion of System of Particles and R igid B odies

the point of pivot as shown in Figure 5.15.
d2
If the rod has to remain stationary in Mechanical Advantage ( MA ) = (5.35)
d1
horizontal position, it should be in
translational and rotational equilibrium. There are many simple machines that
Then, both the net force and net torque work on the above mentioned principle.
must be zero.

N 5.3.4 Center of Gravity

Each rigid body is made up of several point
d1 d2 masses. Such point masses experience
gravitational force towards the center of
F1 F2
Earth. As the size of Earth is very large
Figure 5.15. Principle of Moments compared to any practical rigid body we
come across in daily life, these forces appear
For net force to be zero, −F1 + N − F2 = 0 to be acting parallelly downwards as shown
in Figure 5.16.

N = F1 + F2

C
For net torque to be zero, d1F1 − d 2F2 = 0

d1F1 d 2F2 (5.33)

W3 W1
W5
The above equation represents the principle of W2
W W4
moments. This forms the principle for beam
balance used for weighing goods with the
condition d1 = d2; F1 = F2. We can rewrite the Figure 5.16. Center of gravity
equation 5.33 as,
The resultant of these parallel forces
always acts through a point. This point
F1 d2
(5.34) is called center of gravity of the body
F2 d1
(with respect to Earth). The center of
gravity of a body is the point at which the
If F1 is the load and F2 is our effort, we entire weight of the body acts irrespective
get advantage when, d1< d2. This implies of the position and orientation of the
that F1> F2. Hence, we could lift a large load body. The center of gravity and center of
⎛d ⎞ mass of a rigid body coincide when the
with small effort. The ratio ⎜ 2 ⎟ is called gravitational field is uniform across the
⎝ d1 ⎠
mechanical advantage of the simple lever. body. The concept of gravitational field
The pivoted point is called fulcrum. is dealt in Unit 6.

Unit 5 Motion of System of Pa rticles and R igid B odies 231

 We can also determine the center of gravity points like P, Q, R as shown in Figure 5.18,
of a uniform lamina of even an irregular the vertical lines PP', QQ', RR' all pass
shape by pivoting it at various points by trial through the center of gravity. Here, reaction
and error. The lamina remains horizontal force acting at the point of suspension and
when pivoted at the point where the net the gravitational force acting at the center
gravitational force acts, which is the center of of gravity cancel each other and the torques
gravity as shown in Figure 5.17. When a body caused by them also cancel each other.
is supported at the center of gravity, the sum
of the torques acting on all the point masses
of the rigid body becomes zero. Moreover the
weight is compensated by the normal reaction
force exerted by the pivot. The body is in static
equilibrium and hence it remains horizontal.

C
5.3.5 Bending of Cyclist in
Curves
Let us consider a cyclist negotiating a
circular level road (not banked) of radius r
with a speed v. The cycle and the cyclist are
considered as one system with mass m. The
center gravity of the system is C and it goes
Figure 5.17. Determination of
center of gravity of plane lamina by in a circle of radius r with center at O. Let us
pivoting choose the line OC as X-axis and the
vertical line through O as Z-axis as shown
There is also another way to determine in Figure 5.19.
the center of gravity of an irregular lamina.
If we suspend the lamina from different

P P
Q:

R C
R R:
Q

Q
P:

Figure 5.18. Determination of center of

gravity of plane lamina by suspending Figure 5.19. Bending of cyclist

232 Unit 5 Motion of System of Particles and R igid B odies

 The system as a frame is rotating The torque due to the gravitational force
about Z-axis. The system is at rest in about point A is ( mg AB ) which causes a
this rotating frame. To solve problems clockwise turn that is taken as negative.
in rotating frame of reference, we have The torque due to the centripetal force is
to apply a centrifugal force (pseudo
⎛ mv 2 ⎞
mv 2
⎜ BC ⎟ which causes an anticlockwise
force) on the system which will be . ⎝ r ⎠
r turn that is taken as positive.
This force will act through the center of
gravity. The forces acting on the system
mv 2
are, (i) gravitational force (mg), (ii) −mg AB + BC = 0
r
normal force (N), (iii) frictional force (f )
⎛ mv 2 ⎞ mv 2
and (iv) centrifugal force ⎜ mg AB BC
⎝ r ⎟⎠
. As the
r
system is in equilibrium in the rotational
frame of reference, the net external force From Δ ABC,
and net external torque must be zero. Let AB = AC sin θ and BC = AC cos θ
us consider all torques about the point A in
Figure 5.20.
mv 2
mg AC sin θ = AC cos θ
r
v2
tan θ =
mv2
rg
R
C ⎛ v2 ⎞
θ = tan −1 ⎜ ⎟ (5.36)
θ ⎝ rg ⎠

mg While negotiating a circular level road of

radius r at velocity v, a cyclist has to bend by
N an angle θ from vertical given by the above
θ expression to stay in equilibrium (i.e. to
A avoid a fall).
f B
Figure 5.20 Force diagrams for
the cyclist in turns
EX AM P L E 5 . 1 3
A cyclist while negotiating a circular path
For rotational equilibrium, with speed 20 m s-1 is found to bend an
angle by 30o with vertical. What is the
G radius of the circular path? (given,
τnet = 0
g = 10 m s-2)
Unit 5 Motion of System of Pa rticles and R igid B odies 233
 Solution motion, moment of inertia is a measure
Speed of the cyclist, v = 20 m s-1 of rotational inertia. The unit of moment
Angle of bending with vertical, θ = 30o of inertia is, kg m2. Its dimension is M L2.
In general, mass is an invariable quantity
v2
Equation for angle of bending, tan θ = of matter (except for motion comparable
rg
to that of light). But, the moment of inertia
Rewriting the above equation for radius of a body is not an invariable quantity. It
v2 depends not only on the mass of the body,
r=
tan θ g but also on the way the mass is distributed
Substituting, around the axis of rotation.
To find the moment of inertia of a
( 20 )
2
20 × 20 uniformly distributed mass; we have to
r= =
( tan 30 ) × 10 (
D
)
tan 30D × 10 consider an infinitesimally small mass (dm)
400 as a point mass and take its position (r) with
= respect to an axis. The moment of inertia of
⎛ 1 ⎞
⎜ ⎟ × 10 this point mass can now be written as,
⎝ 3⎠
r= ( 3 ) × 40 = 1.732 × 40 dI = ( dm ) r 2 (5.39)
r 69.28 m
We get the moment of inertia of the entire
bulk object by integrating the above
5.4 expression.
MOMENT OF INERTIA

In the expressions for torque and angular I = ∫dI = ∫ ( dm ) r 2

momentum for rigid bodies (which are
considered as bulk objects), we have come I = ∫r 2dm (5.40)
across a term 6mi ri2. This quantity is called
moment of inertia (I) of the bulk object. For We can use the above expression for
point mass mi at a distance ri from the fixed determining the moment of inertia of some
axis, the moment of inertia is given as, mi ri 2. of the common bulk objects of interest like
rod, ring, disc, sphere etc.
Moment of inertia for point mass,

I miri 2 (5.37) 5.4.1 Moment of Inertia of a

Uniform Rod
Moment of inertia for bulk object,
Let us consider a uniform rod of mass (M)
I = ∑miri 2
(5.38) and length (A) as shown in Figure 5.21. Let
us find an expression for moment of inertia
In translational motion, mass is a measure of this rod about an axis that passes through
of inertia; in the same way, for rotational the center of mass and perpendicular to
234 Unit 5 Motion of System of Particles and R igid B odies
 dm
A /2
M ⎡ x3 ⎤
A /2
M
A − ∫A/2
dx I= x 2
dx = ⎢ ⎥
O A ⎣ 3 ⎦ − A /2

M ⎡ A3 ⎛ A3 ⎞ ⎤ M ⎡ A3 A3 ⎤
x I = ⎢ − ⎜ − ⎟⎥ = ⎢ + ⎥
A ⎣ 24 ⎝ 24 ⎠ ⎦ A ⎣ 24 24 ⎦
−/2 /2

M ⎡ ⎛ A3 ⎞ ⎤
I = ⎢2 ⎜ ⎟ ⎥
A ⎣ ⎝ 24 ⎠ ⎦
Figure 5.21 Moment of inertia of
uniform rod 1
I= MA2 (5.41)
12

the rod. First an origin is to be fixed for

the coordinate system so that it coincides EX AM P L E 5 . 1 4
with the center of mass, which is also the
geometric center of the rod. The rod is now Find the moment of inertia of a uniform
along the x axis. We take an infinitesimally rod about an axis which is perpendicular
small mass (dm) at a distance (x) from the to the rod and touches any one end of
origin. The moment of inertia (dI) of this the rod.
mass (dm) about the axis is,
Solution
The concepts to form the integrand to find
dI = ( dm ) x 2
the moment of inertia could be borrowed
from the earlier derivation. Now, the origin
As the mass is uniformly distributed, the is fixed to the left end of the rod and the
M limits are to be taken from 0 to A.
mass per unit length (λ) of the rod is, λ
A
The (dm) mass of the infinitesimally dm
M
small length as, dm = λ dx = dx dx
A
The moment of inertia (I) of the entire
rod can be found by integrating dI, O
x


⎛M ⎞
I = ∫dI = ∫ ( dm ) x 2 = ∫ ⎜ dx ⎟ x 2
⎝ A ⎠
M 2
A ∫
A
I= x dx M
A
M ⎡ x 3 ⎤ M ⎡ A3 ⎤
I = ∫x 2 dx = ⎢ ⎥ = ⎢ ⎥
A 0 A ⎣ 3 ⎦0 A ⎣ 3 ⎦
As the mass is distributed on either side 1
of the origin, the limits for integration are I MA2
3
taken from A / 2 to A / 2.
Unit 5 Motion of System of Pa rticles and R igid B odies 235
 distributed, the mass per unit length (λ) is,
mass M
Note
The moment of inertia of λ= =
the same uniform rod is length 2πR
different about different axes The mass (dm) of the infinitesimally
of reference. The reference axes could M
be even outside the object. We have two small length is, dm = λ dx = dx
2πR
useful theorems to calculate the moments
Now, the moment of inertia (I) of the
of inertia about different axes. We shall
entire ring is,
see these theorems in Section 5.4.5.

⎛ M ⎞
I = ∫dI = ∫ ( dm ) R 2 = ∫ ⎜ dx ⎟ R 2
⎝ 2πR ⎠
5.4.2 Moment of Inertia of a
Uniform Ring MR
2π ∫
I= dx
Let us consider a uniform ring of mass M
and radius R. To find the moment of inertia
To cover the entire length of the ring, the
of the ring about an axis passing through its
limits of integration are taken from 0 to 2πR .
center and perpendicular to the plane, let us
take an infinitesimally small mass (dm) of
2 πR
length (dx) of the ring. This (dm) is located MR
at a distance R, which is the radius of the
I=
2π ∫ dx
0
ring from the axis as shown in Figure 5.22.
MR 2 πR MR
I=
2π
[ x ]0 = 2π [2πR − 0]
I MR 2 (5.42)
dm
R dx
5.4.3 Moment of Inertia of a
Uniform Disc
Consider a disc of mass M and radius R. This
disc is made up of many infinitesimally small
Figure 5.22 Moment of rings as shown in Figure 5.23. Consider one
inertia of a uniform ring such ring of mass (dm) and thickness (dr)
and radius (r). The moment of inertia (dI)
The moment of inertia (dI) of this small of this small ring is,
mass (dm) is,
dI = ( dm ) r 2
dI = ( dm ) R 2
As the mass is uniformly distributed, the
The length of the ring is its circumference mass M
mass per unit area (σ) is, σ = =
( 2πR ). As the mass is uniformly area πR 2
236 Unit 5 Motion of System of Particles and R igid B odies
 5.4.4 Radius of Gyration
For bulk objects of regular shape with
uniform mass distribution, the expression
for moment of inertia about an axis involves
their total mass and geometrical features
like radius, length, breadth, which take care
of the shape and the size of the objects. But,
we need an expression for the moment of
inertia which could take care of not only
Figure 5.23 Moment of inertia of a the mass, shape and size of objects, but also
uniform disc its orientation to the axis of rotation. Such
an expression should be general so that it is
applicable even for objects of irregular shape
The mass of the infinitesimally small
and non-uniform distribution of mass. The
ring is,
general expression for moment of inertia is
given as,
M
dm = σ2πrdr = 2πrdr
πR 2
I M K2 (5.44)

where, the term ( 2πr dr ) is the area of this where, M is the total mass of the object and
elemental ring (2πr is the length and dr is K is called the radius of gyration.
2M The radius of gyration of an object is
the thickness). dm rdr
R2 the perpendicular distance from the axis of
rotation to an equivalent point mass, which
2M 3 would have the same mass as well as the same
dI r dr
R2 moment of inertia of the object.
As the radius of gyration is distance, its
The moment of inertia (I) of the entire unit is m. Its dimension is L.
disc is,
A rotating rigid body with respect to any
axis, is considered to be made up of point
I = ∫dI masses m1, m2, m3, . . .mn at perpendicular
R R
distances (or positions) r1, r2, r3 . . . rn
2M 2M
I = ∫ 2 r 3dr = 2 ∫ r 3dr respectively as shown in Figure 5.24.
0
R R 0
The moment of inertia of that object can
R
2M ⎡ r 4 ⎤ 2M ⎡ R 4 ⎤ be written as,
I = 2 ⎢ ⎥ = 2 ⎢ − 0⎥
R ⎣ 4 ⎦0 R ⎣ 4 ⎦ I = ∑mi ri 2 = m1r12 + m2r22 + m3r32 + " + m nrn 2
1
I MR 2 (5.43) If we take all the n number of individual
2
masses to be equal,
Unit 5 Motion of System of Pa rticles and R igid B odies 237
 In fact, the moment of inertia of any object
could be expressed in the form, I = MK 2.
For example, let us take the moment
of inertia of a uniform rod of mass M and
m1 length A. Its moment of inertia with respect
m2
r1 to a perpendicular axis passing through the
r2 1
center of mass is, I = MA2
12
r4 m4
m3 r3 In terms of radius of gyration, I MK 2
1
C Hence, MK 2 = MA2
12
1
K 2 = A2
12
Figure 5.24 Radius of gyration
l l
K= A or K = A or K = (0.289) A
12 2 3

m = m1 = m2 = m3 = . . . = m n EX AM P L E 5 . 1 5
Find the radius of gyration of a disc of
then, mass M and radius R rotating about an axis
passing through the center of mass and
perpendicular to the plane of the disc.
I = mr12 + mr22 + mr32 + " + mrn 2
Solution
(
= m r12 + r22 + r32 + " + rn 2 )
The moment of inertia of a disc about an
⎛ r + r2 + r3 + " + rn ⎞
2 2 2 2
axis passing through the center of mass
= nm ⎜ 1
⎟ 1
⎝ n ⎠ and perpendicular to the disc is, I MR 2
2
I MK 2
In terms of radius of gyration, I MK 2
1 1 2
where, nm is the total mass M of the body Hence, MK 2 MR 2; K 2 R
2 2
and K is the radius of gyration.
l l
K R or K R or K = ( 0.707 ) R
2 1.414
r12 + r22 + r32 + " + rn 2
K= (5.45) From the case of a rod and also a disc, we
n
can conclude that the radius of gyration
of the rigid body is always a geometrical
The expression for radius of gyration feature like length, breadth, radius or their
indicates that it is the root mean square (rms) combinations with a positive numerical
distance of the particles of the body from the value multiplied to it.
axis of rotation.
238 Unit 5 Motion of System of Particles and R igid B odies
 If IC is the moment of inertia of the body
Obesity, torque and of mass M about an axis passing through the
Moment of Inertia! center of mass, then the moment of inertia I
about a parallel axis at a distance d from it is
given by the relation,
N N

I = IC + Md 2 (5.46)

r
Let us consider a rigid body as shown in
mg
Figure 5.25. Its moment of inertia about an
mg axis AB passing through the center of mass
is IC. DE is another axis parallel to AB at
a perpendicular distance d from AB. The
moment of inertia of the body about DE is
Obesity and associated ailments like back I. We attempt to get an expression for I in
pain, joint pain etc. are due to the shift terms of IC. For this, let us consider a point
in center of mass of the body. Due to this
mass m on the body at position x from its
shift in center of mass, unbalanced torque
center of mass.
acting on the body leads to ailments. As
the mass is spread away from center of the D A
body the moment of inertia is more and
turning will also be difficult.

5.4.5 Theorems of Moment d x

of Inertia P
C
As the moment of inertia depends on the
axis of rotation and also the orientation
of the body about that axis, it is different
for the same body with different axes of
rotation. We have two important theorems E B
to handle the case of shifting the axis of
rotation. Figure 5.25 Parallel axis theorem

(i) Parallel axis theorem: The moment of inertia of the point mass
about the axis DE is, m ( x + d ) .
2
Parallel axis theorem states that the moment
of inertia of a body about any axis is equal The moment of inertia I of the whole
to the sum of its moment of inertia about a body about DE is the summation of the
parallel axis through its center of mass and above expression.
the product of the mass of the body and the
square of the perpendicular distance between I = ∑m ( x + d )
2

the two axes.

Unit 5 Motion of System of Pa rticles and R igid B odies 239
This equation could further be written as, the body about X and Y-axes are I X and IY
respectively and IZ is the moment of inertia
(
I = ∑m x 2 + d 2 + 2 xd ) about Z-axis, then the perpendicular axis
theorem could be expressed as,
(
I = ∑ mx 2 + md 2 + 2dmx )
I = ∑mx 2 + ∑md 2 + 2d ∑mx IZ = I X + I Y (5.47)

To prove this theorem, let us consider a plane

Here, ∑mx 2 is the moment of inertia of
laminar object of negligible thickness on
the body about the center of mass. Hence,
which lies the origin (O). The X and Y-axes
IC = ∑mx 2 lie on the plane and Z-axis is perpendicular
to it as shown in Figure 5.26. The lamina is
The term, ∑mx = 0 because, x can take
considered to be made up of a large number
positive and negative values with respect to
(
the axis AB. The summation ∑mx will be ) of particles of mass m. Let us choose one such
particle at a point P which has coordinates
zero.
(x, y) at a distance r from O.
Thus, I = IC + ∑md 2 = IC + ( ∑m ) d 2

Z
Here, 6m is the entire mass M of the Y
(
object ∑m = M ) x p
m
r y
X
O
I = IC + Md 2

Hence, the parallel axis theorem is Figure 5.26 Perpendicular axis theorem
proved.
The moment of inertia of the particle
(ii) Perpendicular axis theorem: about Z-axis is, mr 2
This perpendicular axis theorem holds good The summation of the above expression
only for plane laminar objects. gives the moment of inertia of the entire
The theorem states that the moment of lamina about Z-axis as, IZ = ∑mr 2
inertia of a plane laminar body about an
axis perpendicular to its plane is equal to Here, r 2 = x 2 + y 2
the sum of moments of inertia about two (
Then, IZ = ∑m x 2 + y 2 )
perpendicular axes lying in the plane of the
body such that all the three axes are mutually
perpendicular and have a common point. IZ = ∑mx 2 + ∑my 2

Let the X and Y-axes lie in the plane and

Z-axis perpendicular to the plane of the In the above expression, the term 6mx 2 is
laminar object. If the moments of inertia of the moment of inertia of the body about the
240 Unit 5 Motion of System of Particles and R igid B odies
Y-axis and similarly the term 6my 2 is the
moment of inertia about X-axis. Thus,

I X = ∑my 2 and IY = ∑mx 2

Substituting in the equation for Iz gives,

IZ = I X + IY
1
I MR 2
Thus, the perpendicular axis theorem is 2
proved. 1
I = × 3 × ( 0. 5 ) = 0 . 5 × 3 × 0. 5 × 0. 5
2

2
I 0.375 kg m2

(ii) The moment of inertia (I) about an axis

touching the edge and perpendicular
to the plane of the disc by parallel axis
theorem is,
EXA MPL E 5 .1 6
Find the moment of inertia of a disc of mass
3 kg and radius 50 cm about the following
axes.
(i) axis passing through the center
and perpendicular to the plane of
the disc,
(ii) axis touching the edge and
perpendicular to the plane of the disc
and I = IC + M d 2
(iii) axis passing through the center
and lying on the plane of the
1
disc. where, IC MR 2 and d = R
2
Solution
The mass, M = 3 kg, radius R = 50 cm = 1 3
I = MR 2 + MR 2 = MR 2
50 × 10−2 m = 0.5 m 2 2
(i) The moment of inertia (I) about an 3
I = × 3 × ( 0. 5 ) = 1. 5 × 3 × 0. 5 × 0. 5
2
axis passing through the center and 2
perpendicular to the plane of the
disc is, I 1.125 kg m2

Unit 5 Motion of System of Pa rticles and R igid B odies 241

(iii) The moment of inertia (I) about an Solution
axis passing through the center and
The structure is made up of three objects;
lying on the plane of the disc is, one thin rod and two solid spheres.
The mass of the rod, M = 3 kg and the
total length of the rod, ℓ = 80 cm = 0.8 m
The moment of inertia of the rod
1
about its center of mass is, Irod MA2
12
1 1
× 3 × ( 0.8 ) = × 0.64
2
Irod =
12 4
IZ = I X + IY
Irod 0.16 kg m2

where, I X IY I and IZ
1
MR 2 The mass of the sphere, M = 5 kg and the
2 radius of the sphere, R = 10 cm = 0.1 m
The moment of inertia of the sphere
1
IZ 2I; I IZ about its center of mass is, IC 2
2 MR 2
5
1 1 1
I = × MR 2 = MR 2 The moment of inertia of the sphere
2 2 4
about geometric center of the structure is,
1
I = × 3 × ( 0.5 ) = 0.25 × 3 × 0.5 × 0.5
2
Isph = IC + Md 2
4
I 0.1875 kg m2 Where, d = 40 cm + 10 cm = 50 cm = 0.5 m

About which of the above axis it is 2

„ Isph = MR 2 + Md 2
easier to rotate the disc? 5
2
Isph = × 5 × ( 0.1) + 5 × ( 0.5 )
2 2
„ It is easier to rotate the disc about 5
an axis about which the moment of Isph = (2 × 0.01) + (5 × 0.25) = 0.02 + 1.25
inertia is the least. Hence, it is case (iii). Isph 1.27 kg m2

As there are one rod and two similar solid

EXA MPL E 5 .1 7 spheres we can write the total moment of
Find the moment of inertia about the inertia (I) of the given geometric structure
geometric center of the given structure made as, I = Irod + (2 × Isph )
up of one thin rod connecting two similar
solid spheres as shown in Figure. I = (0.16) + (2 × 1.27) = 0.16 + 2.54
I 2.7 kg m2

5.4.6 Moment of Inertia of

Different Rigid Bodies
The moment of inertia of different objects
about different axes is given in the Table 5.3.
242 Unit 5 Motion of System of Particles and R igid B odies
 5.5 Solution
ROTATIONAL DYNAMICS
R
The relations among torque, angular
acceleration, angular momentum, m1

angular velocity and moment of inertia

were seen in Section 5.2. In continuation
to that, in this section, we will learn the
relations among the other dynamical
quantities like work, kinetic energy in
m2
rotational motion of rigid bodies. Finally
a comparison between the translational
and rotational quantities is made with a Let the mass of the disc be m1 and its
tabulation. radius R. The mass of the suspended
body is m2.

m1 = 500 g = 500×10−3 kg =0.5 kg

5.5.1  IIHFWRI7RUTXHRQ
(
Rigid Bodies m2 = 100 g = 100×10−3 kg = 0.1 kg
R = 10 cm = 10×10−2 m = 0.1 m
A rigid body which has non zero external
torque ( τ ) about the axis of rotation would
As the light inextensible string is wound
have an angular acceleration ( α ) about
around the disc several times it makes
that axis. The scalar relation between the
the disc rotate without slipping over it.
torque and angular acceleration is,
The translational acceleration of m2 and
tangential acceleration of m1 will be the
τ = Iα (5.48) same. Let us draw the free body diagram
(FBD) of m1 and m2 separately.
where, I is the moment of inertia of the rigid
body. The torque in rotational motion is FBD of the disc:
equivalent to the force in linear motion.
N

EXA MPLE 5 .1 8
A disc of mass 500 g and radius 10 cm
can freely rotate about a fixed axis as R
m1
shown in figure. light and inextensible
string is wound several turns around
it and 100 g body is suspended at its
free end. Find the acceleration of this
mass. [Given: The string makes the
disc to rotate and does not slip over it.
T m1 g
g = 10 m s-2.]
Unit 5 Motion of System of Pa rticles and R igid B odies 243
 Table 5.3 Moment of Inertia of Different Rigid Bodies

244
Ratio
Moment of Radius of Gyration ⎛ K 2 ⎞
No. Object About an axis Diagram
Inertia (I) kg m2 (K) ⎜ 2⎟
⎝R ⎠
1 1
Thin Uniform Rod Passing through the center and perpendicular to the length M2
12 12
1. --
Mass = M 1 2 1
Length = A Touching one end and perpendicular to the length M
3 3
Thin Uniform 1
Rectangular Sheet Passing through the center and perpendicular to the plane of the M (2  b2 ) (2  b2 )
2. 12 --
Mass = M; Length = A; sheet 12
Breadth = b

Passing through the center and perpendicular to the plane MR 2 R 1

Touching the edge perpendicular to the plane (perpendicular 2 MR 2

Thin Uniform Ring tangent)
( 2)R 2

3. Mass = M
Radius = R 1 ⎛ 1 ⎞ 1
Passing through the center lying on the plane (along diameter) MR 2 ⎜ ⎟R
2 ⎝ 2⎠ 2
3 ⎛ 3⎞ 3
Touching the edge parallel to the plane (parallel tangent) MR 2 ⎜⎜ ⎟⎟ R
2 ⎝ 2 ⎠ 2
1 1 1
Passing through the center and perpendicular to the plane MR R
2 √2 2

Touching the edge perpendicular to the plane (perpendicular 3 3

MR R
Thin Uniform Disc tangent to the plane) 2 2
4. Mass = M
Radius = R 1 1 1
Passing through the center lying on the plane (along diameter) MR R
4 2 4

Touching the edge parallel to the plane (parallel tangent to the 5 5

MR R
plane) 4 4 4

Unit 5 Motion of System of Particles and R igid B odies

 Passing through the center and along the axis of the cylinder MR R 1
Thin Uniform Hollow
Cylinder
5.
Mass = M
Length = A; Radius = R R 2 R 2
Passing perpendicular to the length and passing through the center M + + --
2 12 2 12

Uniform Passing through the center and along the axis of the cylinder 1 1 1
Solid Cylinder MR
2 √2 2
6.
Mass = M
Length = A; Radius = R Passing perpendicular to the length and passing through the center R 2 R 2
M + +
4 12 4 12 --

Passing through the center 2 2

Thin Hollow Sphere (along diameter)
MR R
3 3
(Thin Spherical Shell)
7.
Mass = M
Radius = R Touching the edge 5 5 5
(tangent)
MR R
3 3 3

Unit 5 Motion of System of Pa rticles and R igid B odies

Passing through the center 2 2
Uniform (along diameter)
MR R
5 5
Solid Sphere
8.
Mass = M
Radius = R Touching the edge 7 7
(tangent)
MR R
5 5

245
Its gravitational force (m1g) acts downward
and normal force N exerted by the fixed
(
m 2 g − m1K 2 ) Ra 2
= m2a

support at the center acts upward. The (

m 2 g = m1K 2 ) Ra
2
+ m2a
tension T acts downward at the edge. The
gravitational force (m1g) and the normal ⎡⎛ K 2 ⎞ ⎤
force (N) cancel each other. m1g = N m2g = ⎢⎜ m1 2 ⎟ + m2 ⎥ a
⎣⎝ R ⎠ ⎦
The tension T produces a torque (R T),
which produces a rotational motion in the m2
a= g
⎛ a⎞ ⎡⎛ K 2 ⎞ ⎤
disc with angular acceleration, ⎜ α = ⎟ . ⎢⎜ m1 2 ⎟ + m2 ⎥
⎝ R⎠ ⎣⎝ R ⎠ ⎦
Here, a is the linear acceleration of a point
at the edge of the disc. If the moment of
inertia of the disc is I and its radius of ⎛ K2 ⎞
The expression ⎜ 2 ⎟ for a disc rotating
gyration is K, then ⎝R ⎠
about an axis passing through the center
K2 1
R T = I α; (
R T = m1K 2 ) Ra and perpendicular to the plane is, 2
R 2
.

(Ref Table 5.3) Now the expression for

(
T = m1K 2 ) Ra 2 acceleration further simplifies as,

FBD of the body: m2 2m 2

a= g; a= g
Its gravitational force (m2g) acts downward ⎡⎛ m1 ⎞ ⎤ [m1 + 2m2 ]
⎢⎜ 2 ⎟ + m 2 ⎥
and the tension T acts upward. As ⎣⎝ ⎠ ⎦
(T < m2g), there is a resultant force (m2a)
acting on it downward.
substituting the values,
T

2 × 0. 1 0.2
a= × 10 = u 10
[ 0. 5 + 0. 2 ] 0.7
m2 m2a
a = 2.857 m s −2

5.5.2 Conservation of
m2g
Angular Momentum
When no external torque acts on the body,
m 2 g − T = m 2a the net angular momentum of a rotating
rigid body remains constant. This is
Substituting for T from the equation for known as law of conservation of angular
disc, momentum.
246 Unit 5 Motion of System of Particles and R igid B odies
 thus the angular velocity increases resulting
dL
τ= in faster spin.
dt
A diver while in air as in Figure 5.28
If τ = 0 then, L constant (5.49)
curls the body close to decrease the moment
As the angular momentum is L = I ω, the of inertia, which in turn helps to increase
conservation of angular momentum could the number of somersaults in air.
further be written for initial and final
situations as,

Ii ωi = I f ω f (or) IZ = constant (5.50)

The above equations say that if I increases

ω will decrease and vice-versa to keep the
angular momentum constant.
There are several situations where
the principle of conservation of angular
momentum is applicable. One striking
example is an ice dancer as shown in Figure 5.28 Conservation of angular
Figure 5.27. The dancer spins slowly when momentum for a diver
the hands are stretched out and spins faster
when the hands are brought close to the
body. Stretching of hands away from body
increases moment of inertia, thus the angular
velocity decreases resulting in slower spin.
When the hands are brought close to the
body, the moment of inertia decreases, and

I - large I - small
ω - small ω - large

Figure 5.27 Conservation of angular momentum for ice dancer

Unit 5 Motion of System of Pa rticles and R igid B odies 247

 EXA MPLE 5 .1 9
A jester in a circus is standing with his
arms extended on a turn table rotating with
angular velocity ω. He brings his arms closer
to his body so that his moment of inertia is
reduced to one third of the original value.
Find his new angular velocity. [Given: There
is no external torque on the turn table in
the given situation.]

Solution
Let the moment of inertia of the jester
with his arms extended be I. As there is
no external torque acting on the jester Figure 5.29 Work done by torque
and the turn table, his total angular
momentum is conserved. We can write
the equation, dw F ds

As the distance ds, the angle of rotation dθ

Ii ωi = I f ω f
and radius r are related by the expression,
1 ⎛ 1 ⎞
Iω = Iωf '⎜ I f = I ⎟ ds = r dθ
3 ⎝ 3 ⎠
ωf = 3ω The expression for work done now becomes,

The above result tells that the final angular dw = F ds; dw = F r dθ

velocity is three times that of initial angular
velocity. The term (Fr) is the torque τ produced by
the force on the body.

dw = τ dθ (5.51)
5.5.3 :RUNGRQHE\7RUTXH
Let us consider a rigid body rotating This expression gives the work done by the
about a fixed axis. Figure 5.29 shows a external torque τ, which acts on the body
point P on the body rotating about an axis rotating about a fixed axis through an angle dθ.
perpendicular to the plane of the page. A The corresponding expression for work
tangential force F is applied on the body. done in translational motion is,
It produces a small displacement ds
dw F ds
on the body. The work done (dw) by the
force is,

248 Unit 5 Motion of System of Particles and R igid B odies

 2
5.5.4 Kinetic Energy in where, the term 6m r i i is the moment of
Rotation inertia I of the whole body. I = Σmiri2
Let us consider a rigid body rotating with Hence, the expression for KE of the rigid
angular velocity ω about an axis as shown body in rotational motion is,
in Figure 5.30. Every particle of the body
will have the same angular velocity ω and 1
different tangential velocities v based on its KE = Iω 2 (5.52)
2
positions from the axis of rotation.
This is analogous to the expression for
ω
kinetic energy in translational motion.

1
KE Mv 2
m 2

Relation between rotational kinetic energy

and angular momentum
Let a rigid body of moment of inertia I rotate
with angular velocity ω.
The angular momentum of a rigid body
Figure 5.30 Kinetic energy in rotation is, L = I ω
Let us choose a particle of mass mi The rotational kinetic energy of the rigid
situated at distance ri from the axis of 1
body is, KE = Iω2
rotation. It has a tangential velocity vi given 2
by the relation, vi = ri ω. The kinetic energy By multiplying the numerator and
KEi of the particle is, denominator of the above equation with I,
we get a relation between L and KE as,
1
KEi mi v i2
1 I2ω2 1 ( Iω)
2
2
KE = =
2 I 2 I
Writing the expression with the angular
velocity, L2
KE (5.53)
2I
1 1
KEi = mi ( ri ω) = mi ri2 ω 2
2
( )
2 2 EX AM P L E 5 . 2 0

For the kinetic energy of the whole body, which Find the rotational kinetic energy of a ring
is made up of large number of such particles, of mass 9 kg and radius 3 m rotating with
the equation is written with summation as, 240 rpm about an axis passing through its
center and perpendicular to its plane. (rpm
KE =
1
2
( ∑m r )ω
i i
2 2 is a unit of speed of rotation which means
revolutions per minute)
Unit 5 Motion of System of Pa rticles and R igid B odies 249
 Solution work done with respect to time, we get the
1 instantaneous power (P).
The rotational kinetic energy is, KE = Iω 2
2
The moment of inertia of the ring is,
I MR 2 dw dθ
P= =τ '(dw = τdθ)
dt dt
I = 9 × 32 = 9 × 9 = 81 kg m2
P = τω (5.54)
The angular speed of the ring is,
The analogous expression for instantaneous
240 × 2π power delivered in translational motion is,
ω = 240 rpm = rad s −1
60
2
1 ⎛ 240 × 2π ⎞ 1 G G
= × 81 × ( 8π )
2
KE = × 81 × ⎜ ⎟ P = F⋅v
2 ⎝ 60 ⎠ 2
1
KE = × 81 × 64 × (π ) = 2592 × (π )
2 2

2
KE ≈ 25920 J ' (π ) ≈ 10
2 5.5.6 Comparison of
KE = 25.920 kJ Translational and
Rotational Quantities
Many quantities in rotational motion
5.5.5 Power Delivered by have expressions similar to that of
7RUTXH translational motion. The rotational
Power delivered is the work done per unit terms are compared with the translational
time. If we differentiate the expression for equivalents in Table 5.4.

Table 5.4 Comparison of Translational and Rotational Quantities

S.No Translational Motion Rotational motion about a fixed axis
1 Displacement, x Angular displacement, θ
2 Time, t Time, t
dx dθ
3 Velocity, v Angular velocity, ω =
dt dt
dv dω
4 Acceleration, a Angular acceleration, α =
dt dt
5 Mass, m Moment of inertia, I
6 Force, F = ma Torque, τ = I α
7 Linear momentum, p = mv Angular momentum, L = Iω
8 Impulse, F Δt = Δp Impulse, τΔt = ΔL
9 Work done, w = F s Work done, w = τ θ
10 1 1
Kinetic energy, KE m v2 Kinetic energy, KE = Iω 2
2 2
11 Power, P = F v Power, P = τω

250 Unit 5 Motion of System of Particles and R igid B odies

 5.6 undergo a path which has a combination
of the translational and rotational motion.
ROLLING MOTION
Especially the point on the edge undergoes
The rolling motion is the most commonly a path of a cycloid as shown in the
observed motion in daily life. The motion Figure 5.31.
of wheel is an example of rolling motion.
Round objects like ring, disc, sphere etc. are
most suitable for rolling .
Let us study the rolling of a disc on a
horizontal surface. Consider a point P on
the edge of the disc. While rolling, the point
undergoes translational motion along with
its center of mass and rotational motion As the center of mass takes only a
with respect to its center of mass. straight line path, its velocity vCM is only
translational velocity vTRANS (vCM = vTRANS).
All the other points have two velocities.
5.6.1 Combination of One is the translational velocity vTRANS,
Translation and (which is also the velocity of center of
Rotation mass) and the other is the rotational
We will now see how these translational and velocity vROT (vROT = rω). Here, r is the
rotational motions are related in rolling. If distance of the point from the center of
the radius of the rolling object is R, in one mass and ω is the angular velocity. The
full rotation, the center of mass is displaced rotational velocity vROT is perpendicular
by 2πR (its circumference). One would to the instantaneous position vector
agree that not only the center of mass, but from the center of mass as shown in
all the points on the disc are displaced by the Figure 5.32(a). The resultant of these two
same 2πR after one full rotation. The only velocities is v. This resultant velocity v is
difference is that the center of mass takes perpendicular to the position vector from
a straight path; but, all the other points the point of contact of the rolling object

Cycloid path followed Object rolls one revolution

by the point on the rim without slipping

R R

vcm vcm vcm

2πR

Figure 5.31 Rolling is combination of translation and rotation

Unit 5 Motion of System of Pa rticles and R igid B odies 251

 with the surface on which it is rolling as
shown in Figure 5.32(b).
We shall now give importance to the
point of contact. In pure rolling, the point
of the rolling object which comes in contact
with the surface is at momentary rest. This
is the case with every point that is on the
edge of the rolling object. As the rolling
proceeds, all the points on the edge, one by
one come in contact with the surface; remain
at momentary rest at the time of contact and
(a) with respect to center of mass then take the path of the cycloid as already
mentioned.
Hence, we can consider the pure rolling
in two different ways.

(i) The combination of translational

motion and rotational motion about
the center of mass.
(or)
(ii) The momentary rotational motion
about the point of contact.

As the point of contact is at momentary

rest in pure rolling, its resultant velocity v
(b) with respect to point of contact is zero (v = 0). For example, in Figure 5.33,
at the point of contact, vTRANS is forward (to
Figure 5.32 Resultant velocity at a point right) and vROT is backwards (to the left).

Motion of ...motion of ...motion of individuals

the CM plus... the CM equals... points on the wheel..

vCM 2vCM

vCM vCM
++
==

These two velocity The bottom of

vectors sum to give the wheel is at v=0
−vCM
zero velocity at bottom. rest! But only
for an instant.

Figure 5.33 In pure rolling, the point of contact is at rest

252 Unit 5 Motion of System of Particles and R igid B odies

That implies that, vTRANS and vROT are equal P′
2vCM
in magnitude and opposite in direction
(v = vTRANS– vROT = 0). Hence, we conclude
that in pure rolling, for all the points on the Q
edge, the magnitudes of vTRANS and vROT are vCM
equal (vTRANS= vROT). As vTRANS = vCM and CM

vROT = Rω, in pure rolling we have,

P
vCM = R ω (5.55)

We should remember the special feature Figure 5.34 Velocity of different

of the equation 5.55. In rotational motion, point in pure rolling
as per the relation v = rω, the center point
will not have any velocity as r is zero. But
in rolling motion, it suggests that the
center point has a velocity vCM given by 5.6.2 Slipping and Sliding
equation 5.55. When the round object moves, it always
For the topmost point, the two velocities tends to roll on any surface which has a
vTRANS and vROT are equal in magnitude coefficient of friction any value greater than
and in the same direction (to the right). zero (μ > 0). The friction that enabling the
Thus, the resultant velocity v is the sum rolling motion is called rolling friction. In
of these two velocities, v = vTRANS + vROT. pure rolling, there is no relative motion of
In other form, v = 2 vCM as shown in the point of contact with the surface. When
Figure 5.34. the rolling object speeds up or slows down,

Perfect wheels were made with percession using conventional tools

when sophisticated instruments were not avaliable

Unit 5 Motion of System of Pa rticles and R igid B odies 253

it must accelerate or decelerate respectively. from rest or the vehicle is stuck in mud. In
If this suddenly happens it makes the rolling this case, the point of contact has more of
object to slip or slide. vROT than vTRANS. It has a resultant velocity
v in the backward direction as shown in
Figure 5.36. The kinetic frictional force (fk)
Sliding
opposes the relative motion. Hence it acts
Sliding is the case when vCM > Rω
in the opposite direction of the relative
(or vTRANS > vROT). The translation is more
velocity. This frictional force reduces
than the rotation. This kind of motion
the rotational velocity and increases the
happens when sudden break is applied in a
translational velocity till they become equal
moving vehicles, or when the vehicle enters
and the object sets pure rolling. Slipping
into a slippery road. In this case, the point
is sometimes empahasised as backward
of contact has more of vTRANS than vROT.
slipping.
Hence, it has a resultant velocity v in the
forward direction as shown in Figure 5.35.
The kinetic frictional force (fk ) opposes
the relative motion. Hence, it acts in the
opposite direction of the relative velocity.
This frictional force reduces the translational
velocity and increases the rotational velocity
till they become equal and the object sets
vROT
on pure rolling. Sliding is also referred as vTRANS

forward slipping. v fk

Figure 5.36 Slipping

vROT vTRANS

fk v

Figure 5.35 Sliding

EX AM P L E 5 . 2 1
Slipping
Slipping is the case when vCM < Rω A rolling wheel has velocity of its center of
(or vTRANS < vROT). The rotation is more mass as 5 m s-1. If its radius is 1.5 m and
than the translation. This kind of motion angular velocity is 3 rad s-1, then check
happens when we suddenly start the vehicle whether it is in pure rolling or not.
254 Unit 5 Motion of System of Particles and R igid B odies
 Solution ICM MK 2 and vCM = Rω. Here, K is radius
Translational velocity (vTRANS) or velocity of of gyration.
center of mass, vCM = 5 m s-1
The radius is, R = 1.5 m and the angular 2

velocity is, ω = 3 rad s-1

1 1
KE = Mv CM + MK
2
2

2
(
2 v CM

R2
)
Rotational velocity, vROT = Rω
2 ⎛K ⎞
2
1 1
KE = Mv CM
2
+ Mv CM ⎜ 2⎟ (5.58)
vROT = 1.5×3 2 2 ⎝R ⎠
vROT = 4.5 m s-1 1 2 ⎛ K2 ⎞
KE = Mv CM ⎜ 1 + 2 ⎟ (5.59)
2 ⎝ R ⎠
As vCM > Rω (or) vTRANS > Rω, It is not in
pure rolling, but sliding.

With point of contact as reference:

5.6.3 Kinetic Energy in Pure We can also arrive at the same expression by
Rolling taking the momentary rotation happening
with respect to the point of contact (another
As pure is the combination of translational
approach to rolling). If we take the point of
and rotational motion, we can write the total
contact as O, then,
kinetic energy (KE) as the sum of kinetic
energy due to translational motion (KETRANS)
and kinetic energy due to rotational motion 1
KE = Ioω2
(KEROT). 2

KE = KETRANS + KEROT (5.56) Here, Io is the moment of inertia of the object

about the point of contact. By parallel axis
theorem, Io = ICM + MR 2. Further we can
If the mass of the rolling object is M, the write, Io = MK 2 + MR 2. With vCM = Rω or
velocity of center of mass is vCM, its moment v
ω = CM
W
of inertia about center of mass is ICM and R
angular velocity is ω, then
v2
KE =
1
2
( )
MK 2 + MR 2 CM
R2
1 1
KE = Mv CM
2
+ ICM ω2 (5.57)
2 ⎛ K2 ⎞
2 2 1
KE = Mv CM ⎜ 1 + 2 ⎟
(5.60)
2 ⎝ R ⎠
With center of mass as reference:
The moment of inertia (ICM) of a rolling As the two equations 5.59 and 5.60 are the
object about the center of mass is, same, it is once again confirmed that the

Unit 5 Motion of System of Pa rticles and R igid B odies 255

pure rolling problems could be solved by
considering the motion as any one of the ⎛ K2 ⎞ ⎛ K2 ⎞
KE : KETRANS : KEROT :: ⎜ 1 + 2 ⎟ : 1 : ⎜ 2 ⎟
following two cases. ⎝ R ⎠ ⎝R ⎠
(i) The combination of translational motion
⎛ K2 ⎞
and rotational motion about the center of Now, KETRANS : KEROT :: 1 : ⎜ 2 ⎟
mass. (or) ⎝R ⎠
(ii) The momentary rotational motion about K2 2
For a solid sphere,
the point of contact. R2 5
2
EXA MPLE 5 .2 2 Then, KETRANS : KEROT :: 1 : or
5
A solid sphere is undergoing pure rolling. KETRANS : KEROT :: 5 : 2
What is the ratio of its translational kinetic
energy to rotational kinetic energy?

Solution
5.6.4 Rolling on Inclined
The expression for total kinetic energy in Plane
pure rolling is,
Let us assume a round object of mass m and
radius R is rolling down an inclined plane
KE = KETRANS + KEROT
without slipping as shown in Figure 5.37.
There are two forces acting on the object along
For any object the total kinetic energy as the inclined plane. One is the component of
per equation 5.58 and 5.59 is, gravitational force (mg sinθ) and the other is the
static frictional force (f). The other component
of gravitation force (mg cosθ) is cancelled by
2 ⎛K ⎞
2
1 1
KE = Mv CM + Mv CM ⎜ 2 ⎟
2
the normal force (N) exerted by the plane. As
2 2 ⎝R ⎠ the motion is happening along the incline, we
shall write the equation for motion from the
1 2 ⎛ K2 ⎞
KE = Mv CM ⎜ 1 + 2 ⎟ free body diagram (FBD) of the object.
2 ⎝ R ⎠
N

Then,
R
f θ mg sinθ
2 ⎛ ⎞ 1 2 ⎛K ⎞
2 2
1 K 1
⎜1 + 2 ⎟ = Mv CM + Mv CM ⎜ 2 ⎟
2
Mv CM mg cosθ
2 ⎝ R ⎠ 2 2 ⎝R ⎠ mg

The above equation suggests that in pure θ

rolling the ratio of total kinetic energy,
Figure 5.37 Rolling on inclined
translational kinetic energy and rotational
plane
kinetic energy is given as,

256 Unit 5 Motion of System of Particles and R igid B odies

 For translational motion, mg sinθ is the v 2 = u 2 + 2as . If the body starts rolling from
supporting force and f is the opposing force, rest, u 0. When h is the vertical height of
the incline, the length of the incline s is,
mg sinθ _ f = ma (5.61) h
s=
sinθ
For rotational motion, let us take the
torque with respect to the center of the
object. Then mg sinθ cannot cause torque as g sinθ ⎛ h ⎞ 2gh
v2 = 2
⎛ K 2 ⎞ ⎜⎝ sinθ ⎟=⎛
it passes through it but the frictional force f ⎠ K2 ⎞
can set torque of Rf. ⎜1 + 2 ⎟ ⎜ 1 + 2 ⎟
⎝ R ⎠ ⎝ R ⎠

Rf = Iα By taking square root,

By using the relation, a = r D, and moment of

inertia I mK 2, we get, 2gh
v= (5.63)
⎛ K2 ⎞
⎜1 + 2 ⎟
a ⎛ K2 ⎞ ⎝ R ⎠
Rf = mK 2 ; f = ma ⎜ 2 ⎟
R ⎝R ⎠
The time taken for rolling down the incline
Now equation (5.59) becomes, could also be written from first equation of
motion as, v = u + at . For the object which
starts rolling from rest, u 0. Then,
⎛ K2 ⎞
mg sinθ − ma ⎜ 2 ⎟ = ma
⎝R ⎠
v
t
⎛K ⎞ 2
a
mg sinθ = ma + ma ⎜ 2 ⎟
⎝R ⎠
⎛ K2 ⎞ 2gh K2
a ⎜ 1 + 2 ⎟ = g sinθ 1
t K2 R2
⎝ R ⎠ 1
R2 g sin
After rewriting it for acceleration, we get,
⎛ K2 ⎞
2h ⎜ 1 + 2 ⎟
g sinθ t= ⎝ R ⎠ (5.64)
a= (5.62) g sin2θ
⎛ K ⎞ 2

⎜1 + 2 ⎟
⎝ R ⎠
The equation suggests that for a given
We can also find the expression for final incline, the object with the least value of
velocity of the rolling object by using third radius of gyration K will reach the bottom
equation of motion for the inclined plane. of the incline first.
Unit 5 Motion of System of Pa rticles and R igid B odies 257
EXA MPLE 5 .2 3
⎛ K2 ⎞
Four round objects namely a ring, a disc, a 2h ⎜ 1 + 2 ⎟
hollow sphere and a solid sphere with same t= ⎝ R ⎠
g sin2θ
radius R start to roll down an incline at
the same time. Find out which object will
reach the bottom first. The one with least value of radius of
gyration K will take the shortest time to
Solution reach the bottom of the inclined plane.
For all the four objects namely the ring, The order of objects reaching the bottom
disc, hollow sphere and solid sphere, the is first, solid sphere; second, disc; third,
hollow sphere and last, ring.
1 2
radii of gyration K are R, R, R,
2 3
2
R (ref Table (5.3)). With numerical
5
values the radius of gyration K are 1R,
0.707R, 0.816R, 0.632R respectively. The
expression for time taken for rolling has
the radius of gyration K in the numerator
as per equation 5.63

SUMMARY

„ A rigid body is the one in which the distances between different particles remain
constant.
„ For regular shaped bodies with uniform mass distribution, center of mass always
lies at the geometrical center.
„ Net torque produces turning motion in rigid object.
„ A rigid body is in translational equilibrium if the total external force on it is zero. It
is in rotational equilibrium if the total external torque on it is zero.
„ The center of gravity of an extended body is that point where the total gravitational
torque on the body is zero.
„ If the external torque acting on the body is zero, the component of angular
momentum along the axis of rotation is constant.
„ There are rotational equivalents for all the translational quantities.
„ Rolling motion is the combination of translational and rotational motions.
„ Rolling can also be treated as the momentary rotation about the point of contact.
„ In pure rolling, the total kinetic energy is the sum of kinetic energies of translational
and rotational motions.
„ In sliding the translational motion is more than rotational motion.
„ In slipping the rotational motion is more than translational motion.

258 Unit 5 Motion of System of Particles and R igid B odies

 CONCEPT MAP

Unit 5 Motion of System of Pa rticles and R igid B odies 259

EXERCISE

I. Multi Choice Question

1. The center of mass of a system of about a perpendicular
particles does not depend upon, bisector, its moment of inertia,
(a) position of particles (a) increases (b) decreases
(b) relative distance between particles (c) remains constant
(c) masses of particles (d) depends on direction of rotation.
(d) force acting on particle [IIT 1998]
[AIPMT 1997, AIEEE 2004] 6. A rigid body rotates with an angular
2. A couple produces, momentum L. If its kinetic energy is
halved, the angular momentum becomes,
(a) pure rotation
(a) L (b) L/2
(b) pure translation
(c) 2L (d) L/ 2
(c) rotation and translation
[AFMC 1998, AIPMT 2015]
(d) no motion
7. A particle undergoes uniform circular
[AIPMT 1997]
motion. The angular momentum of the
3. A particle is moving with a constant particle remain conserved about,
velocity along a line parallel to positive
(a) the center point of the circle.
X-axis. The magnitude of its angular
momentum with respect to the origin is, (b) the point on the circumference of
the circle.
(a) zero
(c) any point inside the circle.
(b) increasing with x
(d) any point outside the circle.
(c) decreasing with x
[IIT 2003]
(d) remaining constant
8. When a mass is rotating in a plane about
[IIT 2002]
a fixed point, its angular momentum is
4. A rope is wound around a hollow directed along,
cylinder of mass 3 kg and radius 40
(a) a line perpendicular to the plane of
cm. What is the angular acceleration of
rotation
the cylinder if the rope is pulled with a
force 30 N? (b) the line making an angle of 45° to
the plane of rotation
(a) 0.25 rad s–2 (b) 25 rad s–2
(c) the radius
(c) 5 m s–2 (d) 25 m s–2.
(d) tangent to the path
[NEET 2017]
[AIPMT 2012]
5. A closed cylindrical container is
partially filled with water. As the 9. Two discs of same moment of inertia
container rotates in a horizontal plane rotating about their regular axis passing
through center and perpendicular to

260 Unit 5 Motion of System of Particles and R igid B odies

 the plane of disc with angular velocities part of the disc about a perpendicular
ω1 and ω2. They are brought in to axis passing through it
contact face to face coinciding the axis (a) 15MR2/32 (b) 13MR2/32
of rotation. The expression for loss of (c) 11MR2/32 (d) 9MR2/32
energy during this process is, [NEET 2016]
1
(a) I(ZZ)2 (b) I(ZZ)2 13. The speed of a solid sphere after rolling
4
1 1 down from rest without sliding on an
(c) I(ZZ)2 (d) I(ZZ)2 inclined plane of vertical height h is,
8 2
[NEET 2017] 4 10
(a) gh (b) gh
3 7
10. A disc of moment of inertia Ia is rotating
in a horizontal plane about its symmetry 1
axis with a constant angular speed ω. (c) 2gh (d) gh
2
Another discinitially at rest of moment
of inertia Ib is dropped coaxially on to 14. The speed of the center of a wheel
the rotating disc. Then, both the discs rolling on a horizontal surface is vo. A
rotate with same constant angular point on the rim in level with the center
speed. The loss of kinetic energy due to will be moving at a speed of speed of,
friction in this process is,
(a) zero (b) vo
1 Ib2
(a) ω2
2 ( Ia + Ib ) (c) 2 vo (d) 2vo
Ib2
(b) ω2 [PMT 1992, PMT 2003, IIT 2004]
( Ia + Ib )
(I − I ) 15. A round object of mass M and radius
2

(c) b a ω 2 R rolls down without slipping along

( Ia + Ib ) an inclined plane. The fractional force,
1 Ib Ib
(d) ω2 [AIPMT 2001] (a) dissipates kinetic energy as heat.
2 ( I a + Ib )
(b) decreases the rotational motion.
11. The ratio of the acceleration for a solid (c) decreases the rotational and
sphere (mass m and radius R) rolling transnational motion
down an incline of angle θ without
(d) converts transnational energy into
slipping and slipping down the incline
rotational energy
without rolling is,
[PMT 2005]
(a) 5:7 (b)2:3 (c) 2:5 (d) 7:5
[AIPMT 2014] Answers:
12. From a disc of radius R a mass M, a 1) d 2) a 3) d 4) b
circular hole of diameter R, whose rim 5) a 6) d 7) a 8) a
passes through the center is cut. What is 9) a 10) d 11) a 12) b
the moment of inertia of the remaining 13) a 14) c 15) d

Unit 5 Motion of System of Pa rticles and R igid B odies 261

II. Short Answer Questions
1. Define center of mass. 9. Define couple.
2. Find out the center of mass for the 10. State principle of moments.
given geometrical structures. 11. Define center of gravity.
a) Equilateral triangle 12. Mention any two physical significance
b) Cylinder c) Square of moment of inertia
3. Define torque and mention its unit. 13. What is radius of gyration?
4. What are the conditions in which force 14. State conservation of angular
can not produce torque? momentum.
5. Give any two examples of torque in 15. What are the rotational equivalents for
day-to-day life. the physical quantities, (i) mass and (ii)
force?
6. What is the relation between torque
16. What is the condition for pure rolling?
and angular momentum?
17. What is the difference between sliding
7. What is equilibrium?
and slipping?
8. How do you distinguish between stable
and unstable equilibrium?

III. Long Answer Questions

1. Explain the types of equilibrium with axis passing through the center and
suitable examples. perpendicular to the plane.
2. Explain the method to find the center of 6. Derive the expression for moment
gravity of a irregularly shaped lamina. of inertia of a uniform disc about an
axis passing through the center and
3. Explain why a cyclist bends while
perpendicular to the plane.
negotiating a curve road? Arrive at the
7. Discuss conservation of angular
expression for angle of bending for a
momentum with example.
given velocity.
8. State and prove parallel axis theorem.
4. Derive the expression for moment of
9. State and prove perpendicular axis
inertia of a rod about its center and
theorem.
perpendicular to the rod.
10. Discuss rolling on inclined plane
5. Derive the expression for moment and arrive at the expression for the
of inertia of a uniform ring about an acceleration.

IV. Conceptual Questions

1. When a tree is cut, the cut is made on 3. Why is it much easier to balance a
the side facing the direction in which meter scale on your finger tip than
the tree is required to fall. Why? balancing on a match stick?
2. Why does a porter bend forward while 4. Two identical water bottles one empty
carrying a sack of rice on his back? and the other filled with water are
allowed to roll down an inclined plane.

262 Unit 5 Motion of System of Particles and R igid B odies

 Which one of them reaches the bottom by the table on the block depend
first? Explain your answer. on h?
5. Write the relation between angular 7. Three identical solid spheres move
momentum and rotational kinetic down through three inclined planes
energy. Draw a graph for the same. A, B and C all same dimensions. A is
For two objects of same angular without friction, B is undergoing pure
momentum, compare the moment of rolling and C is rolling with slipping.
inertia using the graph. Compare the kinetic energies EA, EB
6. A rectangle block rests on a horizontal and EC at the bottom.
table. A horizontal force is applied on 8. Give an example to show that the
the block at a height h above the table following statement is false. ‘any
to move the block. Does the line of two forces acting on a body can be
action of the normal force N exerted combined into single force that would
have same effect’.
V. Numerical Problems
1. A uniform disc of mass 100g has a 5. Two particles P and Q of mass 1kg and
diameter of 10 cm. Calculate the total 3 kg respectively start moving towards
energy of the disc when rolling along a each other from rest under mutual
horizontal table with a velocity of 20 cms-1. attraction. What is the velocity of their
(take the surface of table as reference) center of mass?
Ans: 0.1028 J Ans: Zero
2. A particle of mass 5 units is moving 6. Find the moment of inertia of a
with a uniform speed of v = 3 2 units hydrogen molecule about an axis
in the XOY plane along the line y = passing through its center of mass
x + 4. Find the magnitude of angular and perpendicular to the inter-atomic
momentum. axis. Given: mass of hydrogen atom
Ans: 60 units 1.7 × 10−27 kg and inter atomic distance
3. A fly wheel rotates with a uniform is equal to 4 × 10−10m.
angular acceleration. If its angular Ans: 1.36 × 10−46 kg m2
velocity increases from 20p rad/s to 7. On the edge of a wall, we build a brick
40p rad/s in 10 seconds. Find the tower that only holds because of the
number of rotations in that period. bricks’ own weight. Our goal is to build
Ans: 150 rotations a stable tower whose overhang d is
4. A uniform rod of mass m and length A greater than the length A of a single
makes a constant angle T with an axis brick. What is the minimum number
of rotation which passes through one of bricks you need?
end of the rod. Find the moment of (Hint: Find the center of mass for each
inertia about this axis. brick and add.)
Ans: 1 MA2 sin2 θ
12
Unit 5 Motion of System of Pa rticles and R igid B odies 263
 How long a skid mark do the wing
wheels leave (assume their mass is
100 kg which is distributed uniformly,
radius is 0.7 m, and the coefficient of
friction with the ground is 0.5)?
8. The 747 boing plane is landing at a Ans: 2.1 m
speed of 70m s–1. Before touching the
ground, the wheels are not rotating.

BOOKS FOR REFERENCE

1. Michael Nelkon and Philip Parker, Advanced Level Physics, 7th Edition, CBS
Publishers & Distributers Pvt. Ltd, (2006).
2. David Halliday, Robert Resnick and Jearl Walker,Fundamentals of Physics, 6th Edition,
John Wiley & Sons Inc., (2004).
3. H.C. Verma,Concepts of Physics [Part 1], 1st Edition, BharathiBhawan Publishers &
Distributers Pvt. Ltd., (2008).
4. Igor Irodov, Problems in General Physics, 3rd Edition, Mir Publishers, Mascow,
(2006).
5. Roger A. Freedman, Hugh D. Young, Sears and Zemansky’s University Physics:
Mechanics, 12th Edition, Pearson, (2011).

264 Unit 5 Motion of System of Particles and R igid B odies

 ICT CORNER
Moment of inertia

Which is harder to rotate:

Circular ring or Circular disc?

STEPS:
• Open the browser and type the given URL to open the PhET simulation on Torque. Click the picture
link or the download button. Once downloaded, click ok to open the java applet.
• Set platform mass 0.1 kg, Outer radius 4 m. (Keep inner radius = 0). Now it is a circular disc. Click the
button ‘go’ to get the value of moment of inertia.
• Adjust the values of mass and radius and then observe how moment of inertia changes in the middle
graph.
• Keep the inner and outer radius same (say R = r = 4 m.) and mass 0.1 kg. Now it becomes circular ring.
Click the button ‘go’ to start the calculation.
• Observe the moment of inertia from the middle graph. Compare the moment of inertia of a circular disc
and circular ring with same mass and radius.
Hint:,IPRPHQWRILQHUWLDLVUHODWLYHO\ODUJHLWLVYHU\GLI¿FXOWWRDFFHOHUDWHLQDQJXODUGLUHFWLRQ

Step1 Step2

Step3 Step4

PhET simulation’s URL:

https://phet.colorado.edu/en/simulation/torque
* Pictures are indicative only.
*If browser requires, allow Flash Player or Java Script to load the page.

Unit 5 Motion of System of Pa rticles and R igid B odies 265

 APPENDIX 1

By substituting in the given equation,

SOLVED EXAMPLE UNIT-1 = [ML 1T 2 ]5/6[ML3 ]1/2[ML 2 T 2 ]1/3
1. Find the dimensions of a and b in  M 5/61/21/3 L5/63/22/3T 5/32/3
a
the formula [P + 2 ][V  b]  RT where  M 0 L0T 1  [T ]
V
P is pressure and V is the volume of 3. Find the dimensions of mass in terms of
the gas Energy, length and time
Solution:
Solution:
By the principle of homogeneity,
a / V 2 is of the dimensions of Let the dimensions of Energy, Length
pressure and b is of the dimensions of and Time be [E],[L],[T ] respectively.
volume. We know that Force = mass x
acceleration
[a] = [pressure] [V2] = [ML−1T−2] [L6]
 [ ML5T 2 ] Force
Mass 
[b] = [V] = L3 acceleration
Workdone (or ) Energy

2. Show that (P 5/6 _1/2 E1/3 ) is of the acceleration  displacement
dimension of time. Here P is the pressure,
Energy
U is the density and E is the energy of a [m] =
bubble) [acceleration][displacement ]

[ E] [ E]
Solution: = 2
 2 2
 [ EL2T 2 ]
[LT ][L] L T ]
Dimension of Pressure = [ML 1T 2 ]
Dimension of density = [ML 3 ]
4. A physical quantity Q is found to
Dimension of Energy = [ML T ]2 2
depend on quantities x,y,z obeying

266 Appendix 1
 x2 y3 = 0.75% +0.2% = 0.95%
relation Q = . The percentage
z1
errors in x, y and z are 2%, 3% and 1%
6. Using a Vernier Callipers, the length of
respectively. Find the percentage error in a cylinder in different measurements is
found to be 2.36 cm, 2.27 cm, 2.26 cm,
Q.
2.28 cm, 2.31 cm, 2.28 cm and 2.29 cm.
Solution: Find the mean value, absolute error, the
relative error and the percentage error of
x2 y3
Let, Q = . the cylinder.
z
Solution:
'x 'y 'z
It is given,  2%  3%  1% The given readings are 2.36 cm, 2.27 cm,
x y z
2.26 cm, 2.28 cm, 2.31 cm, 2.28 cm and
'Q 4 'x 5 4 'y 5 4 'z 5 2.29 cm
 26 7  36 7  1 6 7
Q 8 x 9 8 y 9 8 z 9
= 2(2%) + 3 (3%) + 1(1%) The Mean value l =

'Q 2.36  2.27  2.26  2.28  2.31  2.28  2.29

 4% + 9% + 1% = 14% 7
Q
16.05
= 2.29 cm
5. The mass and volume of a body are 7
found to be 4r.03 kg and 5r.01 m 3
Absolute errors in the measurement are,
respectively. Then find the maximum
possible percentage error in density.
'l1  2.29  2.36  0.07
Solution:
'l2  2.29  2.27  0.02
Mass m = 4 r 0.03 kg (m + Δm) 'l3  2.29  2.26  0.03
Volume V = 5 r .01 m 3 (V + ΔV) 'l4  2.29  2.28  0.01
Density = ? 'l5  2.29  2.31  0.02
Δm 0.03 'l6  2.29  2.28  0.01
Error in mass = = × 100
m 4 'l7  2.29  2.29  0.00
= 0.75%
'V 0.01 Mean Absolute error
Error in volume    100
V 5
 0. 2% 'lmean 
0.07  0.02  0.03  0.01  0.02  0.01  0.00
mass
Density = . 7
volume
.16
Error in density = error in mass + error = .02
7
in volume

Appendix 1 267
 Relative error 8. Calculate the number of times a
human heart beats in the life of
'lmean .02
 `  `8.7  103 100 years old man. Time of one heart
l 2.29
beat = 0.8s.
Percentage error = `8.7  10 3  100 
0.87%  100  `(8.7  101 )  0.9% Solution:
Life of the man = 100 years
7. The shadow of a pole standing on a level 100 years includes 76 normal years and
ground is found to be 45 m longer when 24 leap years
the sun’s altitude is 30° than when it was
Total no of days = 76 × 365 + 24 × 366
60°. Determine the height of the pole.
= 36524 days
[Given 3 1.73]
Number of seconds = 36524 × 24 ×
Solution: 3600 = 3.155 x 109 second
Let the height of the pole be h.
Number of heart beats =
Total no of Seconds
Time period of heart beat
h
3.155  109
= = 3.94 × 109
60° 30° 0.8s
x 45 m
9. The parallax of a heavenly body measured
x  45 x  45 from two points diametrically opposite
Solution  cot 30 ° T h 
h cot 30° on equator of earth is 2c. Calculate the
distance of the heavenly body. [Given
x
cot 60° T x  hcot 60° radius of the earth = 6400km] [1″ = 4.85
h
x 10-6 rad]

Substituting the values of x in the above Solution:

equation Angle θ = 21 = 2 x 60″ = 120″ = 120 × 4.85
× 10-6 rad
h cot 60°  45 T = 5.82 × 10-4 rad;
h=
cot 30°
The distance of heavenly body
h cot 30° = h cot 60° + 45

h(cot 30°– cot 60°) = 45 d 12800  103

D= 
3 5.82  104
45 45 D = 2.19 × 1010 m
h= = 38.97 m
cot 30° – cot 60° 1
3
3

268 Appendix 1
10. Convert a velocity of 72 kmh 1 into ms 1 According to the principle of
with the help of dimensional analysis. homogeneity,
Dimensions of LHS = Dimensions
Solution: of RHS
n1= 72 kmh−1 n2= ? ms−1 Substituting the dimensions in the
given formula
L1 = 1Km L2=1m
1
T1 = 1h T2= 1s 2
S = ut + 1/4 at , 4 is a number. It has
a b
no dimensions
n2 = n1 N L1 P N T1 P
R S R S [L] = [LT-1] [T1]+[LT-2] [T2]
O L2 Q O T2 Q
[L] = [L] + [L]
The dimensional formula for velocity is
As the dimensional formula of LHS
[L T 1 ]
is same as that of RHS, the equation is
a = 1 b = -1 dimensionally correct.
Comment:
1 1
N1Km P N1h P
n2  72 R S R 1s S But actually it is a wrong equation.
O 1m Q O Q We know that the equation of motion is
1 1
N1000m P N 3600s P s = ut +1/2 at2
n2  72 R S R S
O 1m Q O 1s Q So, a dimensionally correct
equation need not be the true (or)
= 72 × 1000 × 1/3600 = 20ms 1 ]
actual equation
72 kmh 1 = 20 ms 1 But a true equation is always
dimensionally correct.
11. Check the correctness of the following
equation using dimensional analysis. 12. Round - off the following numbers as
Make a comment on it. indicated.
S = ut + 1/4 at 2 where s is the a) 17.234 to 3 digits
displacement, u is the initial velocity, b) 3.996 × 105 to 3 digits
t is the time and a is the acceleration c) 3.6925 × 10-3 to 2 digits
produced. d) 124783 to 5 digits.
Solution:
Solution:
Dimension for distance s = [L]
Dimension for initial velocity a) 17.2 b) 4.00 × 105
c) 3.7 × 10-3 d) 124780
v = [LT ] 1

13. Solve the following with regard to

Dimension for time t = [T]
significant figures.
Dimension for acceleration
a) 4.5  3.31
2
a = [LT ]
b) 5.9 × 10 5 2.3  104
Appendix 1 269
 c) 7.18 + 4.3
d) 6.5 + .0136 [ML 2 T 2 ]= K [M] a [LT 1 ]b

Solution: By equating the dimensions,

a) Among the two, the least number of
significant after decimal is one a=1
b=2
4.5  3.31 = 1.19 =1.09 -b = -2
E = k.mc2
b) The number of minimum significant
figures is 2 The value of constant k = 1

5.9 × 10 5 2.3  104 E = mc2 This is Einstein’s mass

energy relation
= 5.9 × 10 5 0.23  105
= 5.67 × 10 5 = 5.7 × 10 5 15. The velocity of a body is given by the
equation v = b/t + ct2+dt3. Find the
c) The lowest least number of significant dimensional formula for b.
digit after decimal is one
Solution:
7.18 + 4.3 = 11.48 Rounding off we
get 11.5 (b/t) should have the dimensions of
velocity
d) The lowest least number of b has the dimensions of (velocity
significant digit after decimal is one x time)
6.5 +.0136 = 6.5136 = 6.5
[b] = [LT 1 ][T ]  [L]  [M 0 LT
1 0
]
14. Arrive at Einstein’s mass-energy relation
by dimensional method (E = mc2)

Solution: 16. The initial and final temperatures of

a liquid in a container are observed
Let us assume that the Energy E depends
to be 75.4 r 0.5°C and 56.8 r 0.2°C.
on mass m and velocity of light c.
Find the fall in the temperature of the
E α ma cb liquid.

Solution:
E =kmac b where K a constant
t1 = (75.4 ± 0.5)°C
Dimensions of E = [ML 2 T 2 ] t2 = (56.8 ± 0.2)°C
Dimensions of m = [M] Fall in temperature = (75.4 r 0.5°C) –
(56.8 r 0.2 °C)
Dimensions of c = [LT 1 ]
Substituting the values in the above
t = (18.6 r 0.7)°C
equation

270 Appendix 1
17. Two resistors of resistances R1 = 150 18. A capacitor of capacitance C =
r 2 Ohm and R 2 220 r 6 Ohm are 3.0 ` 0.1FF is charged to a voltage of
connected in parallel combination. V = 18 r 0.4Volt . Calculate the charge
Calculate the equivalent resistance. Q [Use Q= CV]

Solution:
1 1 1
Hint:   (C + ΔC) = (3.0 ± 0.1) μf
R1 R1 R2
(V + ΔV) = (18 ± 0.4) V

Solution:
Q = CV

The equivalent resistance of a parallel

combination Q = 3.0 × 10-6 × 18 = 54 × 10-6 coulomb

R1R2 'C
R′ = Error in C   100
R1  R2 C
0.1
150 220 33000   100  3.3%
= 89.1 Ohm 3
150 220 370 'V
Error in V   100
V
1 1 1 0.4
We know that,   100  2.2%
Rʹ R1 R2 18
Error in Q = Error in C + Error in V
= 3.3% + 2.2% =5.5%
'R ʹ 'R1 'R2
=  ? Charge Q = (54 × 10-6 r 5.5%) C
(R ʹ)2 R12 R22

'R1 'R
'R:  (R:)2 2
+ (R′)2 22
R1 R2 SOLVED EXAMPLE UNIT-2
2 2
4 R’5 4 R’ 5 1. The position vector for a particle is
 6 7 'R1  6 7 'R2 
8 R1 9 represented be r = 3t 2iˆ + 5tjˆ + 6kˆ, find the
8 R2 9
velocity and speed of the particle at t = 3 sec?

Solution:
Substituting the value,


 dr
89.1
2
89.1
2
v = 6tiˆ + 5 ˆj .
R ×2 ×6 dt
150 220
The velocity at any time ‘t’ is given by
= 0.070 + 0.098 = 0.168 
v = 6tiˆ + 5 ˆj .
R′ = 89.1 ±0.168 Ohm. The magnitude of velocity is speed. The speed
at any time ‘t’ is then given by
Appendix 1 271
 Then, Time taken to cover this
 6t
2
Speed =  5 = 36t  25
2 2
distance =
1100
s = 66 s
150/9

Now the velocity at t = 3sec is given by 4. Draw the resultant direction of the two
unit vectors iˆ and ˆj. Use a 2-dimensional
 Cartesian co-ordinate system. Is î + ˆj a
v = 6 ( 3 ) iˆ + 5 ˆj = 18 iˆ + 5 ˆj . unit vector?
By using the triangular law of addition
and speed at t = 3 sec, is given by î + ˆj as shown in the following figure,

y
speed = 349 m/s
∧
i ∧ ∧
i + j ∧ ∧
i + j
∧
j
2. A gun is fired from a place which is at x
∧ ∧
distance 1.2 km from a hill. The echo of j i
the sound is heard back at the same place
The definition of unit vector is Â. = 1
of firing after 8 second. Find the speed of
sound. But here,
Solution: (i + j ) . (i + j ) = iˆ.iˆ + iˆ. ˆj + ˆj.iˆ + ˆj. ˆj
The echo will be heard when the 1 0  0 1  2
sound reaches back at the place of
firing. So, the total distance travelled So, î + ˆj is not a unit vector.
by sound is 2 × 1.2 km = 2.4 km To make any vector to a unit vector,
= 2400 m. must divide the vector by its magnitude,

ˆ A
A= 
2400 m A
speed =  300m s 1
8s The norm of the vector î + ˆj = 2.
3. A train 100 m long is moving with a iˆ + ˆj
Hence, the unit vector is
speed of 60 kmh−1. In how many seconds 2
will it cross a bridge of 1 km long? 5. A swimmer moves across the Cauvery
Solution: river of 750 m wide. The velocity of the
G
Total distance to be covered = 1 km + swimmer relative to water (v sw ) is 1.5ms-1
100 m = 1100 m (including both bridge and directed perpendicular to the water
and time) current. The velocity of water relative to
G
the bank (vwb) is 1 ms-1. Calculate the
Then, Speed = 60 km h−1 (a) velocity of the swimmer with respect
G
5 150 1 to the bank of the river (v sb).
= 60 × m s−1 = ms (b) time taken by the swimmer to cross
18 9
the Cauvery river.
272 Appendix 1
 Solution: 6. A monkey hangs on a tree. A hunter
(a) We can draw the following picture aims a gun at the monkey and fires the
from the given data in the problem. bullet with velocity v0 which makes
angle D 0 with horizontal direction. At
the instant gun fires, monkey leaves the
branch and falls straight down to escape
from the bullet as shown in the figure.
Will bullet hit the monkey or will the
monkey escape the bullet? (ignore air
resistance)

The velocity of the swimmer relative to

G G G
the bank v sb  v sw  vwb
Since the swimmer travels in the
perpendicular direction against the
water current
θ
The magnitude is given by

G
v sb  v sw
2
 vwb
2
=

1.52  12  3.25ms 1 a 1.802 ms 1

As soon as the monkey begins to fall, it
will have downward vertical motion with
The direction of the swimmer relative to
acceleration due to gravity g.
the bank is given by
Its equation of motion at any time t is
v sw 1.5
tan3    1. 5 given by
vwb 1
3  tan1 1.5 56 1
ym  h  gt 2 (1)
2
(c) The time taken by the swimmer to
cross the river is equal to the total When the bullet comes out of the
distance covered by the swimmer gun, it has both vertical and horizontal
with velocity 1.802 ms-1. components of velocity given by
The total distance covered by him,
width of the river 750 v0 x  v0 cos3 ; v0 y  v0 sin3 (2)
d= D
= 904.7 m
sin56 0.829
The time taken by the swimmer, Let us assume the horizontal distance
between the monkey and hunter is ‘d’.
d 904.7 At time t, the horizontal distance
T 502 s
v sb 1.802 travelled by the bullet x = v0 cosθ t .

Appendix 1 273
 When the horizontal position of is also located on Moon. If two people
bullet, x d , the time d v0 xT . It implies jump from the top of these buildings on
that T d / v0 x Earth and Moon simultaneously, when
At this time T, the vertical distance will they reach the ground and at what
covered by the bullet is speed? (g = 10 m s−2)

Solution:

1 v0 y d 1 2 g g/6
yb  v0 yT  gT 2   gT .
2 v0 x 2
Earth Moon
d v0 sin3
1
yb   gT 2 For both persons, the Kinematic equations
v0 cos3 2
are the same, with u = 0, ae = g and
1 g
 d tan3  gT 2 (3) amoon = . Then
2 6
g
ae g and am
h 6
But from the figure we can write, tan3  .
d
For a person on earth, Vearth  2 gh
h  d tan3 .
 2 g 100  2×10×100

By substituting this in the equation (3), Hence, Vearth  2000 m s−1 gives the
we get, velocity at the ground, on earth.

1 Similarly, for a person on the moon,

yb  h  gT 2 (4)
2
2 gh 2000
Vmoon   m s−1
6 6
At this same time T, the vertical position
of the monkey can be calculated from The person on earth reaches ground
the equation (1) with greater velocity than the person on
the moon
1
ym  h  gT 2 (5) 8. The following graphs represent position
2
– time graphs. Arrange the graphs in
ascending order of increasing speed.
Note that at the time T, the y coordinate
of both monkey and bullet is same. x x
It implies that the bullet will hit the
monkey.

7. A three storey building of height 100m is

located on Earth and a similar building t t
(a) (b)

274 Appendix 1
 x x y

x
F1
F1

t t F3 F4 F3 F4
(c) (d)
F2 F2
(a) (b)
The slope in the position – time graph
will give the speed of the particle. F1
F1
In the graph (a) slope is zero. Graph
(c) has higher slope than graphs (b) and F3 F4
F3 F4
(d). So we can arrange the speeds in F2 F2
ascending order as
(c) (d)

v a M v d M v b M vc Case (a):
The forces F1 and F2 have equal length but
opposite direction. So net force along
y-direction is zero. Since the force is zero,
acceleration is also zero along Y-direction
SOLVED EXAMPLE UNIT-3
(Newton’s second law). Similarly in the
1. A body of mass 100 kg is moving with x direction, F3 and F4 have equal length
an acceleration of 50 cm s2. Calculate the and opposite in direction. So net force
force experienced by it. is zero in the x direction. So there is no
acceleration in x direction.
Solution:
Case (b):
Mass m 100 kg The forces F1 and F2 are not equal in
Acceleration a 50 cms−2 = 0.5 ms−2 length and act opposite to each other.
Using Newton’s second law, The figure (b) shows that there are
unbalanced forces along the y-direction.
F = ma So the particle has acceleration in
F = 100 kg x 0.5 m s–2 = 50 N the -y direction. The forces F3 and F4
are having equal length and act in
opposite directions. So there is no
2. Identify the free body diagram that net force along the x direction. So the
represents the particle accelerating in particle has no acceleration in the x
positive x direction in the following. direction.
The relative magnitude of forces Case (c):
should be indicated when the free body The forces F1 and F2 are equal in
diagram for mass m is drawn. magnitude and act opposite to each
Appendix 1 275
 other. The net force is zero in y direction. 4. A wooden box is lying on an inclined
So in y-direction there is no acceleration. plane. What is the coefficient of friction
The forces F3 and F4 are not equal in if the box starts sliding when the angle of
magnitude and F3 is greater than F4 . So inclination is 45°.
there is a net acceleration in negative x
Solution:
direction
Angle of inclination Θ = 45°
Case (d): ? Coefficient of friction m = tan Θ =
The forces F1 and F2 are equal in magnitude tan 45° = 1
and act opposite to each other. The net
force is zero in y direction. So there is no 5. Two masses m1 = 5 kg and m2 = 4 kg
acceleration in y-direction. The forces F3 tied to a string are hanging over a
and F4 are not equal in magnitude. The light frictionless pulley. What is the
force F4 is greater than the force F3. So acceleration of each mass when left free
there is a net acceleration in the positive to move? (g = 10ms 2 )
x direction.
m1  m2
3. A gun weighing 25 kg fires a bullet a= ug
m1  m2
weighing 30 g with the speed of
200 ms−1. What is the speed of recoil of
54 1
the gun. =  10   10  1.1ms 2
54 9
Solution:
Mass of the gun M = 25 kg
Mass of the bullet m = 30 g = 30 × 10−3 kg
Speed of bullet v = 200 ms−1
Speed of gun V = ?
The motion is in one dimension.
As per law of conservation of momentum,

MV + mv = 0 m2 = 4kg

mv
V=
M m1 = 5kg

30  10 3  200
V=  240  10 3 ms 1
25
6. A block of mass m is pushed momentarily
The negative sign shows that the gun along a horizontal surface with an initial
moves in the opposite direction of the velocity u. If μk is the coefficient of
bullet. Further the magnitude of the kinetic friction between the object and
recoil speed is very small compared to surface, find the time at which the block
the bullet’s speed. comes to rest.
276 Appendix 1
 Solution: Solution:

m V 50 N
10 kg 7 kg 2 kg

When the block slides, the force acting We know that

on the block is kinetic friction which is
equal to f k  Fk mg
N F P 50N
From Newton’s second law R
a = m m m S 
O 1 3Q 10kg  7kg  2kg
ma   Fk mg 2

50
The negative sign implies that   2.63 ms 2
19
force acts on the opposite direction of
motion.
8. The coefficient of friction between a
The acceleration of the block while 1
block and plane is . If the inclination
sliding a   Fk g . 3
The negative sign implies that the of the plane gradually increases, at what
acceleration is in opposite direction of angle will the object begin to slide?
the velocity.
1
Since the coefficient of friction is
Note that the acceleration depends 3
only on g and the coefficient of kinetic
friction Pk
1
We can apply the following kinematic Tan Θ = Ÿ Θ = 30°
3
equation

9. Find the maximum speed at which a car

v  u  at
can turn round a curve of 36 m radius
on a level road. Given the coefficient of
The final velocity is zero. friction between the tyre and the road
is 0.53.
0  u  Fk gt Radius of the curve r = 36 m
u Coefficient of friction μ = 0.53
t
Fk g Acceleration due to gravity g = 10 ms−1

7. Three blocks of masses 10 kg, 7 kg vmax rg 0.53 36 10

and 2 kg are placed in contact with 1
13.81ms
each other on a frictionless table. A
force of 50 N is applied on the heaviest
mass. What is the acceleration of the 10. Calculate the centripetal acceleration
system? of the Earth which orbits around the

Appendix 1 277
 Sun. The Sun to Earth distance is between the block and the inclined plane is
appriximately 150 million km. (Assume s and the coefficient of kinetic friction is k
the orbit of Earth to be circular)
v2
The centripetal acceleration ac
r T
V - velocity of Earth around the orbit
n
f frictio
r - radius of orbit or distance of in θ
gs
m1
Earth to Sun
m2 g
Velocity of Earth is written in terms
of angular velocity (Z ) as
What is the relation between the
v  Ir masses of block 1 and block 2 such that
the system just starts to slip?

Solution:
By substituting in the centripetal
I 2r 2 For all parts of this problem, it will
acceleration formula, ac  = Z 2r
r be convenient to use different coordinate
2π systems for the two different blocks. For
But Z = where T is time for the block 1, take the positive x -direction to be
T
Earth to orbit around the sun, which is up the incline, parallel to the plane, and the
one year. positive y -direction to be perpendicular to
the plane, directed with a positive upward
component. Take the positive direction of
T = 365 days = 365 × 24 × 60 × 60
the position of block 2 to be downward.
s = 3.1 × 107 s
The normal component N of the contact
force between block 1 and the ramp will be

I  2.02  107 rad per sec N m1g cos T . (1)

The net x -component of the force on

 
2
ac  2.02  107  150  108 block 1 is then

F1x = T− ffriction − m1 g sin θ (2)

4 2
ac  6.12  10 ms
where T is the tension in the string
For the just-slipping condition, the
11. A block 1 of mass m1, constrained to frictional force has magnitude
move along a plane inclined at angle T to
the horizontal, is connected via a massless ffriction = s N= s m1g cos θ. (3)
inextensible string that passes over a massless
pulley, to a second block 2 of mass m2. The tension in the string is the
Assume the coefficient of static friction gravitational force of the suspended mass,
278 Appendix 1
 Since there is no motion along the
T = m2 g . (4)
vertical direction, magnitude of normal
force is equivalent to the magnitude of
For the just-slipping condition,
gravitational force.
the net force on block 1 must be zero.
Equations (2), (3) and (4) gives
N mg
0=m2g- s m1g cos θ – m1g sin θ
m2=m1( s cos θ + sin θ) Applying Newton’s second law along
the x direction
12. Consider two objects of masses 5 kg and
20 kg which are initially at rest. A force G
ma = − μk mgiˆ
100 N is applied on the two objects for
5 second. G
The acceleration is a = − μk mgiˆ
a) What is the momentum gained by Note that the acceleration is along the x
each object after 5 s. direction since the frictional force acts
b) What is the speed gained by each along the negative x direction.
object after 5 s.
Final momentum on each object Or a   Fk g
'P  F 't = 100X 5 = 500 kgms−1
Final speed on the object of mass Note that the acceleration is uniform
5 kg = 500 /5 =100 m s–1 during the entire motion. We can use
Final speed on the object of mass Newton’s kinematic equation to find the
20 kg =500/20 =25 m s–1 final velocity.

Note that momentum on each object

Along the x direction v 2  u2  2as
is the same after 5 seconds but speed
is not the same after 5 seconds. The
Here v = final velocity and u
heavier mass acquires lesser speed than
initial velocity to be given to travel a
the one with lower mass.
distance s.
13. An object of mass 5 kg is initially at rest In this problem s = 10 m
on the surface. The surface has coefficient Since the particle comes to rest, the
kinetic friction Fk  0.6. What initial final velocity v = 0
velocity must be given to the object so
that it travels 10 m before coming to rest?
0  u2  2 Fk gs
When the object moves on the
surface it will experience three forces.
u  2 Fk gs
a) Downward gravitational force (mg)
b) Upward normal force (N)
c) Frictional force opposite to the u 2 0.6 9.8 10 = 10.8 ms−1
motion of the object.
Appendix 1 279
14. In the section 3.7.3 (Banking of road)
we have not included the friction N cos 3  mg  f sin 3
exerted by the road on the car. Suppose Or N cos 3  f sin 3  mg (2)
the coefficient of static friction between
the car tyre and the surface of the road Diving the equation (1) by equation (2), we
is , calculate the minimum speed with get
which the car can take safe turn?
N sin 3  f cos 3 v 2
When the car takes turn in the  (3)
banked road, the following three forces N cos 3  f sin 3 rg
act on the car.
To calculate the maximum speed for the
(1) The gravitational force mg acting safe turn, we can use the maximum static
downwards friction is given by . By substituting this
(2) The normal force N acting relation in equation (3), we get
perpendicular to the surface of the
road
N sin 3  Fs N cos 3 v max 2
(3) The static frictional force f acting 
on the car along the surface. N cos 3  F s N sin 3 rg

The following figure shows the forces By taking outside the bracket in L.H.S of
acting on the horizontal and vertical equation
direction.
b4 N sin 3 5 e
N cos 3 c6 7  Fs f
d8 N cos 3 9
2
g  v max
4 N sin 3 5 rg
N cos 3 6 1  F s 7
8 N cos 3 9

 tan3  Fs 
v max 2
When the car takes turn with the 1  Fs tan 3 rg
speed v, the centripetal force is exerted
by horizontal component of normal
force and static frictional force. It is The Maximum speed for safe turn is given
given by
by v max  rg
 tan3  Fs (4)
mv 2
1  Fs tan3
N sin3  f cos 3  (1) Suppose we neglect the effect of friction
r
(μs = 0), then safe speed
In the vertical direction, there is no v safe  rg tan 3 (5)
acceleration. It implies that the vertical Note that the maximum speed with which
component of normal force is balanced the car takes safe turn is increased by friction
by downward gravitational force and (equation (4)). Suppose the car turns with
downward vertical component of frictional speed v  v safe , then the static friction acts up
force. This can be expressed as in the slope to prevent from inward skidding.
280 Appendix 1
 If the car turns with the speed little greater 3. A body of mass 10kg at rest is subjected
than, then the static friction acts down the to a force of 16N. Find the kinetic energy
slope to prevent outward skidding. But if the at the end of 10 s.
car turns with the speed greater than then
Solution:
static friction cannot prevent from outward
skidding. Mass m = 10 kg
Force F = 16 N
time t = 10 s
16
a =F m 1.6ms 2
SOLVED EXAMPLE UNIT-4 10

1. A force F = ˆi + 2jˆ + 3kˆ acts on a particle
we know that, v = u + at
and displaces it through a distance

S = 4iˆ + 6jˆ Calculate the work done. = 0 + 1.6 × 10 = 16 m s–1
1
Solution: Kinetic energy K.E = mv 2
2
 1
  10  16  16
Force F = ˆi + 2jˆ + 3kˆ
2

Distance S = 4iˆ + 6jˆ  1280J
G G
ˆ .(4iˆ + 6j)
Work done = F " S  (iˆ + 2jˆ + 3k) ˆ
4. A body of mass 5kg is thrown up
= 4+12+0 = 16 J vertically with a kinetic energy of 1000 J.
If acceleration due to gravity is 10ms−2,
2. A particle moves along X- axis from x=0
find the height at which the kinetic
to x=8 under the influence of a force
energy becomes half of the original value.
given by F= 3x 2  4 x  5. Find the work
done in the process. Solution:

Solution: Mass m = 5kg

Work done in moving a particle from K.E E = 1000J
x=0 to x=8 will be g = 10ms−2

8 8
E
W = ∫ Fdx = ∫ (3x 2 − 4 x + 5)dx − At a height ‘h’, mgh =
0 0
2
8
⎡ 3x 3 4 x 2 ⎤ 1000
⎢ − + 5x ⎥ 5  10  h 
⎣ 3 2 ⎦0 2
500
h  10m
N (8)3 P 50
4 82 5
W  R3  4 6 7  40 S
O 3 829 Q 5. Two bodies of mass 60 kg and 30 kg move
 [512  128  40]  424 J
in the same direction along straight line
with velocity 40 cms−1 and 30 cms−1

Appendix 1 281
 respectively suffer one dimensional
Force (N)
elastic collision. Find their velocities
A B
after collision. 10

Solution: Time (s)

Mass m1 = 60 kg 0 E D C
4 × 10−3 8 × 10−3 10−2

Mass m2 = 30 kg
Solution:
1
V1 40 cms
ௐ The area under the graph gives the impulse.
1
V2 30 cm s
Impulse I = area of ΔOAE+ area of
Solution: rectangle ABDE+ area of ΔDBC

m1 m2 2m2
v1 u1 u2 1
m1 m2 m1 m2 I   4  103  10  (8  4)  103
2
m2 m1 2m1 1
v2 u2 u1 10   10  10 2 (1  0.8)
m1 m2 m1 m2 2
2  10  4  10 2  1  102
2

Substituting the values, we get,  7  102 kgms 1

(60 30) 2 30 But Impulse = 2 × initial momentum

v1 40 30
90 90 of the particle= 2 × m × u

1 2mu = 7x10-2
v1 [ 1200 1800 ] 7  102 7  102
90 u  3
 50cms 1
3000 2m 2  70  10
33.3cms 1
90
Hence the particle will reverse its
direction and move with its initial speed.
Likewise,
7. A particle strikes a horizontal frictionless
floor with a speed u at an angle θ with the
(30  60) 2  60 vertical and rebounds with the speed v at
v2   30   40
90 90 an angle f with an vertical. The coefficient
1 of restitution between the particle and
v2  [900  4800]
90 floor is e. What is the magnitude of v?
3900
  43.3cms 1
90 u
v

6. A particle of mass 70 g moving at

50 cms−1 is acted upon by a variable force
θ φ
as shown in the figure. What will be its
speed once the force stops?
282 Appendix 1
 Solution:
Applying component of velocities, x=0
Fs

u sin θ
x
u cos θ θ l x

v cos φ
u

v
θ φ Let ‘x’ be the increase in the length of
the spring.
v sin φ
The new length = (l+x) = r
The x - component of velocity is When the spring is rotated in a
horizontal circle,
usin q = vsin f (1)
Spring force = centripetal force.
The magnitude of y – component of
velocity is not same, therefore, using kx = mZ2(l+x)
coefficient of restitution, mω 2l
x=
v cos h k–mω 2
e (2)
u cos 3
9. A gun fires 8 bullets per second into a
Squaring (1) and (2) and adding we get target X. If the mass of each bullet is 3
g and its speed 600 ms−1. Then, calculate
v 2 sin2 h  u2 sin2 3 the power delivered by the bullets.

v 2 cos2 h  e 2u2 cos2 3 Solution:

adding Power = work done per second = total
v 2  u2 sin2 3  e 2u2 cos 2 3 kinetic energy of 8 bullets per second
 v 2  u2 NOsin2 3  e 2 cos2 3 PQ
P  8  (kinetic energy of each
v  u sin 3  e cos 3
2 2 2
bullet per second)

8. A particle of mass m is fixed to one end

1
2

 8   3  10 3   600
2

of a light spring of force constant k and

P = 4320W
un-stretched length l. It is rotated with
an angular velocity w in horizontal P = 4.320 kW
circle. What will be the length increase
in the spring?

Solution: SOLVED EXAMPLE UNIT-5

Mass spring = m
Force constant = k 1. Three particles of masses m1 = 1 kg,
Un-stretched length = l m2 2 kg and m3 3 kg are placed at the
Angular velocity = ω corners of an equilateral triangle of side
Appendix 1 283
 1m as shown in Figure. Find the position X Coordinate of center of mass,
of center of mass. m1x1  m2 x2  m3 x3
xCM 
Solution: m1  m2  m3

1 √3 (1  0)  (2  1)  (3  0.5) 3.5
C m3 ( , ) xCM  
2 2 1 2  3 6

7
xCM m
12
G
B Y Coordinate of center of mass,
A
D 1 m1 y1  m2 y2  m3 y3
m1 m2(1,0) yCM 
2 m1  m2  m3
The center of mass of an equilateral
triangle lies at its geometrical center G. (1 0)  (2  0)  (3  0.5  3 ) 1.5 3
yCM  
1 2  3 6
The positions of the mass m1, m2 and
m3 are at positions A, B and C as shown 3
yCM m.
in the Figure. 4
From the given position of the
masses, the coordinates of the masses ? The coordinates of center of mass G
m1 and m2 are easily marked as (0,0) and
4 7 35
(1,0) respectively.  xCM , yCM is 6 ,
6 12 4 77
8 9
To find the position of m3 the
Pythagoras theorem is applied. As the
2. An electron of mass 9 1031 kg revolves
ΔDBC is a right angle triangle,
around a nucleus in a circular orbit
of radius 0.53 Å. What is the angular
BC 2  CD 2  DB 2 momentum of the electron? (Velocity of
electron is, v = 2.2 106 m s 1 )
CD 2  BC 2  DB 2
Solution:
2 Mass of the electron, m = 9 × 10−31 kg
415 415 3
CD  1  6 7  1  6 7 
2 2
Radius of the electron, r = 0.53 Å =
829 849 4
0.53 1010 m
3
CD Velocity of the electron, v = 2.2 ×
2
10 m s 1
6

The position of mass m3 is Angular momentum of electron is,

L=Iω
41 3 5
66 ,
2 2

77 or 0.5, 0.5 3 Electron is considered as a point mass.
8 9 Hence, its moment of inertia is, I = m r2
284 Appendix 1
 v In the first case,
The relation, I 
could be used.
r
v potential energy = kinetic energy
Angular momentum, L = mr2 u
r
= mvr 1
mgh = mv 2
2
1
= 9.1 1031  2.2  106  0.53  1010 mg×2 = mv 2 (1)
2
L = 1.06 × 10−34 kg m2 s−1
In second case,
3. A solid sphere of mass 20 kg and radius
0.25 m rotates about an axis passing potential energy = translational kinetic
through the center. What is the angular energy + rotational kinetic energy
momentum if the angular velocity is
5 rad s 1 1 1
mghʹ = mv 2+ IZ 2
2 2
Solution:
Mass of the sphere, m = 20 kg 1 1 4 mr 2 5 4 v 2 5
mghʹ = mv 2 + 6 76 7
Radius r = 0.25 m 2 2 8 2 98 r2 9
Angular velocity ω = 5 rad s 1
3 2
Solution: ? mghʹ = mv (2)
4
2
Angular momentum L = Iω = mr 2Z
5
Dividing (2) by (1),
2
=  20  (0.25)2  5  40  (0.0625) = 2.5
5
L = 2.5 kg m 2s 1 3 2
mv
mgh ’ 4 3 2 3
4. A solid cylinder when dropped from a  
mg 2 1 2 4 1 2
mv
height of 2 m acquires a velocity while 2
reaching the ground. If the same cylinder
hʹ = 3m
is rolled down from the top of an inclined
plane to reach the ground with same
velocity, what must be the height of the
1 2
inclined plane? Also compute the velocity. From equation (1), 2mg mv
2
Solution:

v 4g 2 g

2m h v  2  9.81
hʹ
v  6.3 m s 1

Appendix 1 285
5. A small particle of mass m is projected Solution:
with an initial velocity v at an angle θ with x Let R be the radius of the ring and M be
axis in X-Y plane as shown in Figure. Find the total mass of the complete ring.
the angular momentum of the particle.
Let m be the mass of the section
Solution: removed from the ring then, mass of the
incomplete ring is M-m

Mass, m
v sin θ

θ
θ

v cos θ Mass, M-m

Let the particle of mass m cross a

horizontal distance x in time t.
Let us introduce a positive integer (n),
G G 360
Angular momentum L  C & dt such that, n3  360˚, or n =
3
G G G
But &  r  F
  mass of incomplete ring  M  m
r = xiˆ + yjˆ and F = −mgjˆ

M
 m 3
( ) (
∴τ = xiˆ + yjˆ × −mgjˆ ) 360

 ( )
τ = −mgx iˆ × ˆj = −mgxkˆ  mass of incomplete ring  M 
M
3
L = −mg ∫ ( xdt ) kˆ = −mgv cos θ ( )
∫ tdt kˆ 360

mass of incomplete ring  M 

M
M
n  1
n n
Let initial time t = 0 and final time t = tf
360
For example, a) when 3  60; n  6
⎛tf ⎞ 60
 1
∴ L = − mgv cosθ ⎜ ∫ tdt ⎟ kˆ = − mgv cosθ t 2 f kˆ
⎜0 ⎟ 2 n  1  5
⎝ ⎠
5
G mass of incomplete ring M
Negative sign indicates, L point inwards 6

6. From a complete ring of mass M and 360

b) when 3  30, n   12
radius R, a sector angle θ is removed. 30
What is the moment of inertia of the n  1  11
incomplete ring about axis passing
through the center of the ring and 11
mass of incomplete ring = M
perpendicular to the plane of the ring? 12
286 Appendix 1
 The moment of inertia of the
100 × cos 53o = m × cos 37o
incomplete ring is, I = M
n  1 R2
3 4
n 100   m 
5 5
7. A massless right tangled triangle is 3
m  100 
suspended with its right angle corner. 4
A mass of 100 kg is suspended from
m 75 kg
another corner B which subtends an
angle 53o. Find the mass m that should be
8. If energy of 1000 J is spent in increasing
suspended from other corner C so that
the speed of a flywheel from 30 rpm to
BC (hypotenuse) remains horizontal.
720 rpm, find the moment of inertia of
Solution: the wheel.
A Solution:
90°
30
I1  30rpm = 2  rads 1 = S rads
60
53° 37°
I2  720rpm
B x1 D x2 C 720
=2  1
rads  24 rads
60
100 m

From the principle of moments, Change in kinetic energy,

1
ΔKE = I(I22  I12 )
100 × g x1  m  g  x2 2

100 × cos 53o = m × cos 37o (1)

2  'KE 2  1000
I= 
(I2  I1 )  24 2  
2 2 2
Where, x1 and x2 are the arm lengths.
The right angle triangle with angles 2000
I= Remember:
37 , 53o and 90o is a special triangle which
o
25  23
has the respective sides in the ratio, 3:4:5 a2−b2 = (a + b) (a−b)
as shown in the diagram.
I ≈ 0.35 kg m 2 and  2 10

37°
9. Consider two cylinders with same
4 radius and same mass. Let one of the
4
cylinders be solid and another one
be hollow. When subjected to same
53°
3 torque, which one among them gets
more angular acceleration than the
Substituting the values in equation (1), other?
Appendix 1 287
 Solution:
Moment of inertia of a solid cylinder
1
about its axis I s MR 2
2 O
A B
Moment of inertia of a hollow cylinder
about its axis I h MR 2

1
Is I h or I h 2 I s
2
When the insect moves towards the
torque &  I a
center (from A to O), the moment of
W inertia (I) decreases. Thus, the angular
a=
I velocity (ω) increases. When it moves
& & away from center (from O to B), the
Us  and U h 
Is Ih moment of inertia (I) increases. Thus,
Ih the angular velocity (ω) decreases.
U s I s  Uh Ih T U s  Uh
Is
11. (i) What is the shape of the graph
I between Ekr and L? (Ekr is the
Ih i I s T h i 1
Since, Is rotational kinetic energy and L is
U s i U h angular momentum)
(ii) What information can you get
For the same torque, a solid cylinder gets
from the slope of the graph?
more acceleration than a hollow cylinder.
(iii) You are given the graph of Ekr
Note: The above two cylinders must be and L for two bodies A and B.
made up of materials of different Which one has more moment of
density. (Say why?) inertia?

Solution:
10. A thin horizontal circular disc is
rotating about a vertical axis passing i) We know that, Rotational kinetic
through its center. An insect goes Energy
from A to point B along its diameter
1 2
as shown in Figure. Discuss how the Ekr = IZ
2
angular speed of the circular disc
1 1 1 L2 'L  II
changes? = II  I  .L.I 
2 2 2 I IL I
Solution:
L2
As the disc is freely rotating, with the Ekr =
2I
insect on it, the angular momentum of
the system is conserved. L2 = 2IEkr

L  I I = constant L = 2IEkr = 2I . Ekr

288 Appendix 1
 acceleration along the inclined plane
Graph of Ekr and L:
if the angle of inclination is 45˚.

Solution:
√Ekr The linear acceleration along the inclined
plane can be computed by

g sin 3
a
L K2
1 2
R
The shape of the graph is a straight
line
For a thin uniform circular ring, axis
ii) The slope of the graph gives the
passing through its center is I MR 2
value of moment of inertia I.
iii) We know that the slope gives
the value of moment of Inertia. K2
 K  R T 2  1.
2 2
The line A has higher slope and R
hence more moment of Inertia.
And the angle of inclination, θ = 45˚
A
1
√Ekr Ÿ (sin45˚ = )
B
2
Hence,

L g
a= 2
12. Consider a thin uniform circular ring 1+ 2
g
rolling down in an inclined plane a= ms −2
without slipping. Compute the linear 2 2

COMPETITIVE EXAM CORNER

Appendix 1 289