01

NOTE
P H Y S I C S

ROTATION
COMBINED ROTATIONAL AND
TRANSLATIONAL MOTION

What you already know

• Kinematics • Dynamics of pure rotational motion

What you will learn

• Combined rotational and translational motion • Linear momentum of a rigid body in

• Velocity and acceleration of points of a body combined motion
in combined motion

Pure Translational Motion

When a rigid body is displaced by x and the v

displacement of each particle in the body is
the same (say x) at any fixed interval of time, it
is said to be in pure translational motion.
Example: A man pushing a block on a surface
and the block moving forward without any
rotation

Pure Rotational Motion

ω

When a rigid body is rotated by θ and the

angular displacement of each particle in the
body about a fixed axis is the same at any
fixed interval of time, it is said to be in pure
rotational motion.
Example: The pulley used to fetch water from
a well

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 02

Combined Translational and Rotational Motion

As the name suggests, it is a combination of

translational and rotational motions of a rigid
body. Consider a case where a man is pushing
a cart, and the wheels of the cart rotate about
their axis and move in the forward direction.

Consider a point A on the rim of a rotating wheel, initially at the topmost position. When the wheel
completes a rotation, the displacement of point A is equal to the circumference of the wheel.
However, the trajectory of point A looks quite different than that of the centre of mass of the wheel.

A  A
ω

vcom

2 πr

These problems can be solved by considering rotational and translational motions independently
as follows:
• Assume that there is no rotation and analyse all the translational parameters of the motion.
• Analyse all the rotational parameters assuming that there is only rotational motion.
Let us first consider the translational motion.
 
ω ω

vcom vcom

(0, 0) (vcom t, 0)

vcom t

The distance covered by the wheel in time t is vcom t, where vcom is the linear velocity of the centre
of mass of the wheel.
Thus, the coordinates of the centre of mass of the wheel at time t is equal to (vcom t, 0) considering
that we have started from (0, 0).

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Now, consider the rotational motion.

Consider a point P on the rim of the wheel, initially in contact with the ground as shown in the
figure. Assume that the angular velocity of the wheel is ω and point P rotates through an angle θ
(= ωt) in time t.

R
(0, 0) v C
C R
ω ωt
(x, y) P

(0, –R) P

t=0 t=t
Thus, if rotational motion is considered, the coordinate of point P is (−R sin ωt, −R cos ωt).
Earlier in the translational part, it was seen that the coordinates of the centre of mass of the wheel
were (vcom t, 0).
Thus, by combining both translational and rotational motions, we can write the resultant position
of point P as follows:
P ( x, y ) =
( v t − R sinωt ) iˆ − R cos ωt ˆj
com

MAIN
Velocity in Combined Motion

The velocity vector of any point P on the circumference with respect to the centre of mass, C, of the
wheel can be written as follows:
  
vPC= vP − vC
     
Where
vPC=vPC=vP vand
−P v−C vC are the velocities of points P and C with respect to the ground, respectively.
  
⇒ vP = vPC + vC

Condition for rolling without slipping

Z v + ωR = 2v

Consider that a wheel of radius R is travelling ωR = v 2v R

with a linear velocity v and is rotating about the
ω
axis of its centre of mass with angular velocity v v
ω such that v = Rω. Thus, the motion of the W
Y v
wheel is described as pure rolling.
In case of pure rolling, the velocities of various
points (W, X, Y, and Z) on the circumference of ωR = v 2v
the wheel are shown in the figure.
ωR = v v
X
vx = 0

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Consider a point P lying on the circumference

of the wheel and making an angle θ with the
vertical in the third quadrant. The speed of this
point can be found as follows:
vP
= v 2 + v 2 + 2v 2 cos ( 90° + 90° − θ ) C
v
vP
⇒= 2 v × 1 + cos (180° − θ )
θ
⇒ vP = 2 v × 1 − cos θ 90° – θ
θ P v
⇒ vP = 2 v × 2 sin
2
θ
⇒ vP =
2v sin
2

Example

A disc of radius 2 m is moving with a velocity ω = 2 rad s−1

of 5 ms−1 and rotating with an angular v = 5 ms−1
velocity of 2 rad s−1 about its centre of mass
as shown in the figure. Find the speed of x
point P on the disc.
30° 2 m

Solution
y

Given,
Translational velocity of the disc, v1 = 5 ms−1
Angular velocity of the disc, ω = 2 rad s−1 ω = 2 rad s−1
v = 5 ms−1
Radius of the disc, R = 2 m
Velocity of point P due to the rotational x
motion of the rod, v2 = Rω = 2 × 2 = 4 ms−1
  4 ms−1 30° 2 m
Angle between v1 and v2 = 60° + 90° = 150°
60°
P 5 ms−1

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Thus, the net velocity of point P is given by,

vP = v12 + v22 + 2v1v2 cosθ
⇒ v=
P 52 + 42 + ( 2 × 5 × 4 ) cos 150°

 3
⇒ v= 25 + 16 + 40 ×  −
P  2 
 
⇒ vP= 41 − 20 3
⇒ vP ≈ 41 − 34
⇒ vP ≈ 2.6 ms −1

Example

v = 4 ms−1
An aluminum rod of length 4 m is rotating and
translating as shown in the figure. Find the A
velocity of a particle at point A which is 1 m
away from the centre of the rod. ω = 2 rad s−1
1m

Solution

As discussed earlier, the motion of the rod can be resolved into pure translational and pure rotational
components.
v = 4 ms−1

v = 4 ms−1 1m

ω = 2 rad s−1
A
= +
1m A

ω = 2 rad s−1
1m
v2 = 2 ms−1
Given,
Translational velocity of the rod, v1 = 4 ms−1 (Upwards)
Angular velocity of the rod, ω = 2 rad s−1
Linear velocity of point A due to the rotational motion of the disc, v2 = Rω = 1 × 2 = 2 ms−1 (Downwards)
Thus, the net velocity of point A is given by, v1 − v2 = 4 − 2 = 2 ms−1 (Upwards)

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 06

Actual distance travelled by a point on the circumference of a wheel

Consider a wheel that rolls without slipping with angular velocity ω as shown in the figure. Initially,
point A is in contact with the ground. Assume that the wheel rotates by an angle θ in time t. (θ = ωt)

(0, 0) v
R
θ ω

A A
2 πr

Earlier, we saw that the velocity of point A at time t is given by,

θ
v A = 2v sin
2
Or,
ωt
v A = 2v sin ..... ( i )
2
The path traced by a point on the circumference of the wheel as it rolls without slipping in a straight
line is known as cycloid. To find the distance travelled by point A during one full rotation of the
wheel, the expression of vA needs to be integrated.
2π
Time taken by the wheel to complete one full rotation, T =
ω
Thus, by integrating equation (i) within the limits t = 0 and t = T, we get,
2π
s ω
ωt
∫v
0
A dt = ∫ 2v sin 2
0
dt

2π
ω
ωt
⇒s=2v ∫ sin dt
0
2
2π
2v  ωt  ω
⇒=s  − cos 
ω  2 0
2
 
  ω 2π  
⇒ s= 4R  − cos  ×  + cos 0 (Since v= Rω )
 2 ω  
⇒s=8R

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 07

MAIN
Acceleration in Combined Motion

Similar to the case of velocities, the acceleration vector of any point P on the circumference with
respect to the centre of mass, C, of the wheel can be written as follows:
  
aPC= aP − aC
    
Where
aPC=aPC=aP −and
a a− a are the accelerations of points P and C with respect to the ground, respectively.
  P C C
⇒ aP = aPC + aC
⇒a a= ( a )  + ( a ) + a
⇒ ⇒ P =aPa=PC a PCa+C aC
P r+ PC t PC C
       
Where
⇒ a
⇒ =P a=P( ar ()a )+and
( a+ ()a )+ a+areaC the radial and tangential components of the acceleration of point P as
PCr PC t PCt PC C
seen from the centre of mass (C), respectively.
Consider a case of pure rolling where a wheel is travelling with translational acceleration a and
rotating about its axis with angular speed ω and angular acceleration α.
The accelerations of various points on the circumference of the wheel are shown in the figure.
a + Rα
D
Since a = Rα for pure rolling, Rα
 ω2R
aA = ( )
a − ω 2R iˆ − Rα ˆj = ( )
a − ω 2R iˆ − a ˆj
C a + ω2R ω2R a

aB =( a − Rα ) iˆ + ω 2R ˆj =
ω 2R ˆj A
 ωR 2

aC = ( )
a + ω 2R iˆ + Rα ˆj = ( )
a + ω 2R iˆ + a ˆj
 Rα
aD =( a + Rα ) iˆ − ω 2R ˆj =
2aiˆ − ω 2R ˆj
B
Rα a

In case of pure rolling, the point of the wheel in contact with the ground (here, B)
is momentarily at rest. However, the radial acceleration at point B is non-zero (= ω2R).
Therefore, it continues its combined motion.

Example

1m
aC = 2 ms−2
A wheel of radius 1 m rotates with angular
P
acceleration 4 rad s−2 and translates with
acceleration aC. Find the acceleration of a ω = 2 rad s−1
particle at point P as shown in the figure.

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Solution

Given,
Radius of the wheel, R = 1 m
Translational acceleration of the wheel, ac = 2 ms−2 Rα
Angular velocity of the wheel, ω = 2 rad s−1
Angular acceleration of the wheel, α = 4 rad s−2 aC + ω2R 2 ms−2
The acceleration of point P is given by, P

a =
P (
a + ω 2R iˆ + Rα ˆj
c ) 2 rad s−1

( )
⇒ aP = 2 + 22 × 1 iˆ + (1 × 4 ) ˆj

⇒ aP = 6iˆ + 4 ˆj ms −2

The magnitude of aP is given by,

aP = 62 + 42 = 52 ms −2

Linear Momentum in Combined Motion

Consider a rigid body in a combined motion. It consists of n particles having masses m1, m2, …, mn
   
and linear velocities v1, v2, …, vn, respectively. The linear momentum (p)=ofp1this 2 + ... is
+ pbody + pgiven
n by,
       
p = p1 + p2 + ... + pn ⇒p = m1v1 + m2v2 + ... + mnvn
        
⇒p = m1v1 + m2v2 + ... + mnvn ⇒= p m1 ( v1C m+1 vC ) + m2 ( v2C + vC ) + ... +
      
⇒= p m1 ( v1C + vC ) + m2 ( v2C + vC ) + ... + mn ( vnC + vC )  Where
m2 v1C , v2C , v3C ,....., vnC are the vel
 Where v1C , v2C , v3C ,....., vnC are the velocities of n particles   vC
   with respect to the COM of the rigid
 velocity of the COM of the rigid body
 with respect to the COM of the rigid body and vC is the  
 velocity of the COM of the rigid body    ω  
  ⇒= p ( m1v1C + m2v2C + ... + mnvnC ) + ( m
       
⇒= p ( m1v1C + m2v2C + ... + mnvnC ) + ( m1 + m2 + ... + mn ) vC ⇒= p MTmvnCC + MT vC
  
⇒= p MT vCC + MT vC The first term on the R.H.S. of the equ

The first term on the R.H.S. of the equation is nothing but the linear momentum
respect to the of the
COM. COMHence,with MT vCC wil
  
respect to the COM. Hence, MT vCC will be zero. ⇒p= MT vC
 
⇒p= MT vC Where MT = m1 + m2 + ... + mn = Total
Where MT = m1 + m2 + ... + mn = Total mass of the rigid body
Thus, the linear momentum of a rigid body in a combined motion does not depend on its angular
velocity, rather it will depend only on velocity of COM and the total mass of the rigid body.

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