Chapter 10

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 Learning Goals for Chapter 10
Looking forward at …
• what is meant by the torque produced by a force.
• how the net torque on a body affects the body’s rotational
motion.
• how to analyze the motion of a body that both rotates and
moves as a whole through space.
• how to solve problems that involve work and power for
rotating bodies.
• how the angular momentum of a body can remain constant
even if the body changes shape.

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 Introduction

• These jugglers toss the pins so that they rotate in midair.

• What does it take to start a stationary body rotating or to bring
a spinning body to a halt?
• We’ll introduce some new concepts, such as torque and
angular momentum, to deepen our understanding of rotational
motion.
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 Loosen a bolt
• Which of the three equal-magnitude forces in the figure is
most likely to loosen the bolt?

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 Torque
• The line of action of a force is
the line along which the force
vector lies.
• The lever arm for a force is the
perpendicular distance from O
to the line of action of the
force.
• The torque of a force with
respect to O is the product of
the force and its lever arm.

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 Three ways to calculate torque

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 Torque as a vector
• Torque can be expressed as a vector
using the vector product.
• If you curl the fingers of your right
hand in the direction of the force
around the rotation axis, your
outstretched thumb points in the
direction of the torque vector.

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 10.1

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 Torque and angular acceleration for a rigid
body
• The rotational analog of Newton’s second law for a rigid
body is:

• Loosening or tightening a screw

requires giving it an angular
acceleration and hence applying
a torque.

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 Why only external torques affect a rigid
body’s rotation
• Any two particles in the body exert equal and opposite forces
on each other.

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 10.2

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 10.3

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 Rigid body rotation about a moving axis
• The kinetic energy of a rotating and translating rigid body is
K = 1/2 Mvcm2 + 1/2 Icm2.

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 Rigid body rotation about a moving axis

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 Rolling without slipping
• The motion of a rolling wheel is the sum of the translational
motion of the center of mass plus the rotational motion of the
wheel around the center of mass.
• The condition for rolling without slipping is

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 Rolling with slipping
• The smoke rising from this drag racer’s rear tires shows that
the tires are slipping on the road, so vcm is not equal to Rω.

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 Combined translation and rotation
• Airflow around the wing of a maple seed slows the falling
seed to about 1 m/s and causes the seed to rotate about its
center of mass.

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 Combined translation and rotation: dynamics
• The acceleration of the center of mass of a rigid body is:

• The rotational motion about the center of mass is described

by the rotational analog of Newton’s second law:

• This is true as long as the axis through the center of mass is

an axis of symmetry, and the axis does not change direction.

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 10.4 + 10.6

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 Rolling friction
• We can ignore rolling friction if both the rolling body and the
surface over which it rolls are perfectly rigid.
• If the surface or the rolling body deforms, mechanical energy
can be lost, slowing the motion.

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 Hence all uniform solid cylinders (C=1/2) have the same
speed at the bottom, regardless of their mass and radii

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 The values of c tell us that the order of finish for
uniform bodies will be as follows:
(1) any solid sphere (C = 5/2),
(2) any solid cylinder ( C =1/2)
(3) any thin-walled, hollow sphere (C = 2/3) , and
(4) any thin-walled, hollow cylinder (C = 1)

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 Work in rotational motion
• A tangential force applied to a rotating body does work on it.

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 Work and power in rotational motion
• The total work done on a body by the torque is equal to the
change in rotational kinetic energy of the body, and the
power due to a torque is:

• When a helicopter’s main rotor is

spinning at a constant rate, positive
work is done on the rotor by the engine
and negative work is done on it by air
resistance.
• Hence the net work being done is zero
and the kinetic energy remains constant.
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 Angular momentum
• To find the total angular
momentum of a rigid
body rotating with
angular speed ω, first
consider a thin slice of the
body.
• Each particle in the slice
with mass mi has angular
momentum:
Li = mi ri2 ω

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 Angular momentum
• For a rigid body rotating around an axis of symmetry, the
angular momentum is:

• For any system of particles, the rate of change of the total

angular momentum equals the sum of the torques of all forces
acting on all the particles:

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 Angular momentum
• The angular momentum of a rigid body rotating about a
symmetry axis is parallel to the angular velocity and is given
by

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 10.9

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 Conservation of angular momentum
• When the net external torque acting on a system is zero, the
total angular momentum of the system is constant
(conserved).

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 Conservation of angular momentum
• A falling cat twists different parts of its body in different
directions so that it lands feet first. At all times during this
process the angular momentum of the cat as a whole remains
zero.

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 10.10

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 What about the Kinetic energy?

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 10.12

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