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Lecture 26

More on energy in rotational motion

March 26, 2015

Pulley systems revisited

previously, we ignored the mass


of the pulley
in reality, the pulley would have
a moment of inertia
this would decrease the
acceleration of the system
the pulley contributes a
rotational kinetic energy in the
energy conservation expression

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Pulley systems revisited


Example
A block of mass m is attached to one end of a string. The other end is
wrapped around a frictionless cylindrical pulley. If the block is released
from rest, what is its speed as it hits the ground?

Source: Young and Freedman, University Physics, 13th ed.


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Pulley systems revisited


Solution:
Set up conservation of energy. The initial state is when the block is at rest
at a height h. The final state is when the block is about to hit the ground.
Let the ground be the y = 0 height.
Ui + Ki = Uf + Kf
1
1
mgh + 0 = 0 + mv 2 + If2
2
2
Use the fact that I = 21 M R2 and that the angular speed of the cylinder
and the linear speed of the block is related by v = R.

 
vf 2
1 1
1
2
2
MR
mgh = mvf +
2
2 2
R

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Pulley systems revisited

Solve for vf :
s
vf =

2gh
.
1 + M/2m

Check for the limiting cases:


What happens when M is very large? vf
0
What happens when m is very large? vf 2gh

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Pulley systems revisited

Example
Two metal disks, one with radius R1 and
mass M1 and the other with radius R2 and
mass M2 , are welded together and mounted
on a frictionless axis through their common
center. A block of mass m is wound on the
smaller disk. If the block is released from
rest at a distance h above the ground, what
is its speed just before it hits the ground?

Source: Young and Freedman, University Physics

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Pulley systems revisited


Solution:
Set up conservation of energy. The initial state is when the block is at rest
at a height h. The final state is when the block is about to hit the ground.
Let the ground be the y = 0 height.
Ui + Ki = Uf + Kf
1
1
mgh + 0 = 0 + mvf2 + If2
2
2
Use the fact that I = 21 M1 R12 + 12 M2 R22 and that the angular speed of the
cylinder and the linear speed of the block is related by v = R1 .
1
1
mgh = mvf2 +
2
2

1
1
M1 R12 + M2 R22
2
2

Lecture 26



vf
R1

2

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Pulley systems revisited

Solve for vf :
v
u
u
vf = t

1+

M1
2m

2gh

1+

Lecture 26

M2 R22
M1 R12

 .

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Quiz!
A uniform thin rod of length L and mass M , pivoted at one end, is held
horizontal and then released from rest. Assuming that effects due to
friction and air resistance are negligible, find the angular speed of the rod
as it sweeps through the vertical position. The moment of inertia of a rod
pivoted at one end is I = 13 M L2 .

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Quiz!
Solution:
Set up conservation of energy. The initial state is when the rod is
horizontal. The final state is when the rod is vertical. Let the initial height
be the y = 0 height.
Ui + Ki = Uf + Kf
1
0 + 0 = M g(L/2) + If2
2
M gL = If2
Subst. the correct expression for the moment of inertia, then solve for f .


1
2
M gL =
M L f2
3
r
3g
f =
.
L
(What is vf for the center of mass of the rod?)
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Combined translation and rotation

Source: Young and Freedman, University Physics, 13th ed.

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Combined translation and rotation

Source: Young and Freedman, University Physics, 13th ed.

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Combined translation and rotation

The kinetic energy of a body with both rotational and translational motion
is just the sum of...
2 associated with the motion of
(a) the translational kinetic energy 12 M vcm
the center of mass, and

(b) the rotational kinetic energy 21 Icm 2 about the center of mass.
1
1
2
+ Icm 2
K = M vcm
2
2

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Rolling without slipping

Source: Halliday, Resnick, Fundamentals of Physics, 9th ed.

[distance travelled by center of mass] = R


Taking the time rate of change of the above equation, we get
vcm = R
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Caution!

There is a difference between


vcm = R
and
v = r
The latter pertains to the linear speed of a point on an object a distance r
from its axis. Its valid only when the axis is fixed.

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Rolling race
Example
Various objects are about to race along an inclined plane. Which shape
will win the race?

Source: Young and Freedman, University Physics, 13th ed.

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Rolling race
Solution:
We dont need to know the time at which each shape finish the race. The
shape with the fastest speed at the bottom must have won. Set up
conservation of energy. The initial state is when the object is at a height
h. The final state is when the object is at the floor. Let the floor be the
y = 0 height.
Ui + Ki = Uf + Kf
1
1
2
+ Icm f2
M gh + 0 = 0 + M vcm,f
2
2
Let Icm = cM R2 , where c is a constant (e.g. c = 1/2 for a solid cylinder).
Since the object is rolling without slipping, vcm = R.
v

1
1
cm,f 2
2
+ (cM R2 )
M gh = M vcm,f
2
2
R
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Rolling race

Solve for vcm,f :


r
vcm,f =

2gh
1+c

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