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Notes for School Exams

Physics XI
Rotational Motion
Pranjal K. Bharti, B. Tech., IIT Kharagpur

2007 P. K. Bharti
All rights reserved.

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2013-2015

Rotational Motion

Pranjal K. Bharti (B. Tech., IIT Kharagpur)


Rigid body

Important points about angular displacement

Ideally a rigid body is a body with a perfectly definite and


unchanging shape. The distances between different pairs of
such a body do not change on the application of force.

Pure Translation or Translation

A body is said to have pure translational motion, if each


particle of it has same velocity/acceleration at a particular
instant of time.
v
v
v

Rotational Kinematics

Kinematics is the study of motion without reference to the


forces which cause motion.
Kinetics is the study of motion which relates the action of
forces on bodies to their resulting motions.
Kinematics and Kinetics together known as Dynamics.
As earlier we have studied about displacement (r),
velocity (v) and acceleration (a) in the chapter kinematics;
in the same way we shall study here about angular
displacement (), angular velocity () and angular
acceleration () .
Angular Displacement

At time t = t

Average angular velocity ( ): It is defined as the time


rate of change of angular displacement over a time
interval.
2 1
=
=
t
t2 t1
Instantaneous angular velocity (): It is defined as the
time rate of change of angular position at an instant of
time. Clearly,
d
=
lim
=
t 0 t
dt
Angular velocity is a vector quantity.
Direction of is obtained using right hand thumb rule:
Curl your fingers of right hand in such a manner that
direction of curl is in the direction of sense of rotation
(i.e., clockwise or anticlockwise). Your extended thumb
will give the direction of angular velocity .

Anticlockwise rotation

Clockwise rotation

coming out of paper


i.e. along +ve z-axis

going into paper


i.e. along ve z-axis

P
B

Important points about angular velocity


At time t = t + t

Clearly, during this time interval, particle P rotates


through an angle from initial line OP. This angle is
known as angular displacement of the particle.
The line OP is known as reference position.
It is clear that all the particle of the body has rotated
through the same angle . Therefore, we can say that the
whole rigid body has rotated through an angle . Hence,
we can say that the rigid body has an angular
displacement .

Angular displacement is a scalar quantity. Infinitesimal


small angular displacements are vectors.
(Refer Resnick, Halliday).
Denoted by or
S.I. unit: radian (rad)
1800 = rad
Angular Velocity ()

Let us consider an arbitrary shaped rigid body rotating in


counter-clockwise direction about an axis passing through
point O. Here axis of rotation AB is passing through point
O and is perpendicular to the plane of rotation.
Let us consider a particle on the body at a distance r from
the axis of rotation. Clearly, this particle is moving along
a circle of radius r. Suppose at a time t, this particle was
at point P and after a time t + t it is at point P.
A
A
P
O

Angular velocity is a vector quantity.


Its direction is obtained by right hand thumb rule
Denoted by (average) or (instantaneous)
S.I. unit: rad/s
Another unit: rpm = revolution per minute.
Clearly, a particle has an angular displacement of 2
radian in one revolution.
2
Therefore, 1rpm =
rad / s
60

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Rotational Motion

Pranjal K. Bharti (B. Tech., IIT Kharagpur)

Angular Acceleration ()

Average angular acceleration (): It is defined as the


time rate of change of angular velocity over a time
interval.
2 1
=
=
t
t2 t1
Instantaneous angular acceleration (): It is defined as
the time rate of change of angular velocity at an instant of
time. Clearly,
d
=
=
lim
t 0 t
dt

Proof:

From (i), we have

= o + t

Angular acceleration is a vector quantity.


Direction of :
Case I: When angular speed is increasing.
In this case angular acceleration is positive. Therefore,
direction of angular acceleration is along angular velocity.
Case II: When angular speed is decreasing.
In this case angular acceleration is negative. Therefore,
direction of angular acceleration is opposite to that of
angular velocity.
Denoted by (average) or (instantaneous)
S.I. unit: rad/s2

d
=o + t
dt

d =
0

3.

= o + t

2
(Analogous to v=
2
u 2 + as )

d = d [ ]0
0

= 0 + 2
2

2
2 0 2
= =

2
2
2
0

...(iii)

Relation between angular displacement & linear distance

(Analogous to v = u + at)

Let us consider a particle P at a perpendicular distance r


from the axis of rotation on a rotating body. Clearly, this
particle moves in a circle of radius r.
Suppose the angular displacement at an instant is .
As a result of this rotation, particle P has also
travelled a circular arc of distance s. This distance s is the
linear distance moved by the particle.
From basic Trigonometry we have,
s
=
r
Relation between angular velocity & linear velocity

d
=
dt

d = dt = dt [ ]

...(ii)

d d d d
=

dt
d dt d
d

=
d

Proof:

+ t ) dt [ ]0

t2
= o [t ]0 +
2 0
t

1.

=
2
0 2 +

In chapter Kinematics we have studied about uniformly


accelerated motion. Here we shall study about uniform
angular acceleration motion. For uniform angular
acceleration = constant.
Let us consider a particle on the rotating rigid body. Let at
time t = 0, its initial angular position = 0 & initial
angular velocity = o.
Again, let at a time t = t, its final angular position = &
final angular velocity = .
Then, we have three formula:

Proof:
We know that

Uniform angular acceleration

=
dt

1
= o t + t 2
2

Important points about angular acceleration

1
s ut + at 2 )
(Analogous to =
2

1
o t + t 2
2. =
2

o = (t 0)
= o + t

...(i)

= [t ]0
t

We know that, s = r

If we differentiate both sides with respect to time t, we get


relationship between angular velocity () and linear
velocity (v) straight away:
ds d
d
= =
( r ) r
dt dt
dt

(because r is constant for a particle)

v=
r
d
ds

=
v=
&

dt
dt

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Pranjal K. Bharti (B. Tech., IIT Kharagpur)


Moment of Inertia
(Rotational Inertia): I

Relation between angular acceleration & tangential


acceleration

We know that, v = r

If we differentiate both sides with respect to time t, we get


relationship between angular acceleration () and linear
tangential acceleration (at) straight away:
dv d
d
= =
( r ) r
dt dt
dt
(because r is constant for a particle)
at =
r

d
ds

=
v=
&

dt
dt

Summary
Relation between angular position & linear distance:
s
=
( in radian)
r
Relation between angular velocity & linear velocity:
(v along tangent)
v = r

Relation between angular accln & linear tangential accln:


dv
(at along tangent)
at
=
= r .
dt
v2
2
Radial acceleration = =
aR =
r
= v
r
(radially inward i.e., towards the axis of rotation)

1.

2.
3.

4.

5.

Here, at is tangential acceleration in the tangential


direction.

NOTE:
These eqns. viz. v = r, at = r & ar = 2 r are not valid
for whole body. It is valid for a particle on the rotating
body at a perpendicular distance r from the axis of
rotation.
Be careful of r. Remember r is the perpendicular distance
of the point of interest from the axis of rotation.
At a particular instant of time angular displacement,
angular velocity & angular acceleration of each particle
(excluding those on axis of rotation) on a rigid body is
same but different particles has different linear
displacement, linear velocity & linear acceleration.
As s = r, v = r, at = r & ar = 2 r , therefore a
point on the rigid body, which is farther away from the
axis of rotation, has larger linear displacement, larger
linear speed, larger tangential acceleration and larger
radial acceleration .
We can write these eqns. in vector form as:

v=
r , at =
a r, a R =
v.

Before going into the details of moment of inertia, let us


have a look at concept of mass (m) of a body. Mass gives
an idea of difficulty we face to move (translate) a body.
Higher the mass, it will be more difficult to translate a
body. Therefore mass is also known as Translational
Inertia.
Moment of Inertia (represented by I) or Rotational Inertia
represents an analogous concept in rotation as presented
by mass in translation.
Physically, Moment of Inertia gives an idea of difficulty
we face to rotate a body. Higher the moment of inertia, it
will be more difficult to rotate the body. Therefore,
Moment of Inertia is also known as Rotational Inertia.
Moment of inertia depends on mass and distance from
axis of rotation. Higher the mass, higher will be moment
of inertia. Larger the distance from axis of rotation,
larger will be moment of inertia.
Moment of Inertia of a particle

Suppose a particle of mass m is rotating at a perpendicular


distance r from the axis of rotation. Then, its moment of
Inertia about axis of rotation is defined as :

I = mr2

(Moment of Inertia of a particle)

MI for system of particles about an axis is:

I = mi ri 2

(MI for system of particles)

MI for a rigid body about an axis is:

I = r 2 dm

(MI of a rigid body)

Moment of inertia of a RING about an axis through its


centre and perpendicular to its plane

Consider a ring of mass M, radius R and centre O.


Consider an elementary portion of the ring of dm and
length dx.
I
dm
R

Clearly, moment of inertia of this elementary potion is


given by dI = R 2 dm
The moment of inertia (I) of the ring about this axis can
be found by integrating

=
I

dm
R =
2

R 2 dm

I=
MR 2

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The moment of inertia (I) of the rod about this axis can
L
be found by integrating between the limits x = to
2
L
x=
2

Moment of inertia of a DISC about an axis through its


centre and perpendicular to its plane

Consider a circular disc of mass M, radius R and centre O.


M
Then, mass per unit area =
R2
The disc can be assumed to be made up of a large number
of concentric rings. Consider one such ring of radius x
and an infinitesimally small thickness dx. Then,
Area of ring = circumference width = 2 x dx

+L/2

M M
x dm
x =
dx
=
I
=

L
L
L/2
L/2

dx

Therefore, mass of ring


M
M
=
dm =
2 xdx )
x dx
2 (
R2
R
Using the moment of inertia of this ring about the axis
passing through its centre and perpendicular to its plane,
2M 3
2M

=
dI (=
dm ) x 2 2 x =
dx x 2
x dx
R2
R

The moment of inertia I, of the whole disc is the sum of


the moment of inertia of all such rings, which have radii
between x = 0 and x = R and is according obtained by
integrating the above between the limits x = 0 and x = R.
Therefore,
R

=
I

dI
=
0

Moment of inertia of the CYLINDER about its axis of


symmetry

Consider a cylinder of mass M, radius R and length L.


M
Then, mass per unit volume of the cylinder =
R2 L

dx
I

Consider a uniform straight rod AB of length L, mass M


M
and centre C. Then mass per unit length of the rod =
L
Consider a small element of mass dm and length dx of the
rod at a distance x from the point C. The mass of
M
elementary portion of the rod, dm =
dx
L

I
x
C
L/2

Quick Exercise: Find the MI of the rod about an axis


passing through its edge and perpendicular to rod.
ML2
Ans: I =
12
Hint: Integrate between the limits x = 0 to x = L

2M 3
2M x 4
2M R 4 0
x
=
dx
=


0 R 2
R2 4 0
R2 4 4
R

Moment of inertia of a ROD about an axis through its


centre and perpendicular to it

M x3
x
dx
=

L 3 L/2
L/2
2

MR 2
I=
2

+L/2

+L/2

ML2
I=
12

3
3
M L L M 2 L3
=
=
3L 2 2 3L 8

+L/2

dx
L/2

To find the moment of inertia of the cylinder, imagine


that the cylinder is made of a large number of coaxial
cylindrical shells. Consider one such cylindrical shell
having internal radius x and external radius x + dx.
The cross-section of the cylindrical shell is a circular ring
of radius x and thickness dx. Therefore, cross-sectional
area of cylindrical shell = circumference thickness =
2xdx
The volume of the cylindrical shell,
V = (cross-sectional area of the shell)
(length of the cylinder)
V = (2x dx) L
V = 2 L x dx
Now, mass of the cylindrical shell,
dm = V (mass per unit volume of the cylinder)
M
dm ( 2 Lxdx )
=
2
R L
2M
dm =2 x dx
R
Since the whole mass of the cylindrical shell is distributed
at the same distance x from the symmetry axis, the
moment of inertia of the cylindrical shell about the axis of
symmetry,

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Rotational Motion
dI dm
x2
=
=

Pranjal K. Bharti (B. Tech., IIT Kharagpur)

2M
xdx x 2
R2

2M
dI =2 x 3 dx
R
The moment of inertia of the cylinder (I) about the
symmetry axis can be obtained by integrating dI for all
such cylindrical shells into which the cylinder can be
divided i.e. by integrating dI between the limits x = 0 to x
= R. Thus,
R

dI
=

=
I

2M 3
2M
dx
0 R 2 x =
R2

3
x dx
0

2M x 4

R2 4 0

2M R 4
=
I
0
2
R 4

1
2
I =MR
2

The moment of inertia of the elementary portion (disc) of


the sphere about the axis,
1
1
2
dI = mass radius 2 = dm ( AC )
2
2
2
1 3M
3M
dI = 3 ( R 2 x 2 ) dx R 2 x 2 ) 2 = 3 ( R 2 x 2 ) dx
2 4R
8R

The moment of inertia of the sphere (I) about this axis


can be obtained by integrating dI between the limits
x = R to x = + R. Thus,
+R
+R
R
2
3M 2
3M
I = dI =
R x 2 ) dx = 3 ( R 4 2 R 2 x 2 + x 4 ) dx
3 (
8R R
R
R 8R

2
I = MR 2
5

Moment of inertia of a SOLID SPHERE about an axis


through its centre

Consider a sphere of mass M, radius R and centre O.


M
Then, mass per unit volume of the sphere = 4
3
3R
Let the moment of inertia of the sphere about the axis ZZ
passing through its centre O be I. Consider the portion of
the sphere between two planes perpendicular to the axis at
distance x and x + dx from its centre. This elementary
portion of the sphere will be a disc, whose centre is C;
radius is AC=x and thickness is dx. Therefore, volume of
the elementary portion of the cylinder,
V = area thickness
V = ( AC ) dx =
2

=
V ( R 2 x 2 ) dx

R2 x2

dx

A
R

Moment of inertia of a few rigid bodies


Body
Thin rod of
length L

Axis
Passing
through
centre and
to the rod

Moment of Inertia

I=

I
L

Circular ring
or hoop of
radius R

Circular ring
or hoop of
radius R

Passing
through its
centre and
to its plane
Diameter

I = M R2
I
R

I=

I
O x

ML2
12

MR 2
2
I

MR 2
2

C dx
Circular disc
of radius R

Passing
through its
centre and
to its plane

I=

Mass of the elementary portion of the sphere,


dm = V mass per unit volume of the sphere
M
dm = ( R 2 x 2 ) dx
4
R3

3
3M
dm
=
( R 2 x 2 ) dx
4 R3

Circular disc
of radius R

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Diameter

I=

MR 2
4

I
R

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Rotational Motion
Body
Right
circular solid
cylinder of
radius R and
length L

Axis
Symmetry
axis

Right
circular
hollow
cylinder of
radius R and
length L

Symmetry
axis

Solid sphere
of radius R

Diameter

Pranjal K. Bharti (B. Tech., IIT Kharagpur)


Theorem of parallel axes

Moment of Inertia

I = MR

I=

MR 2
2

I=

2
MR 2
5

It states that the moment of inertia of a body about


any axis is equal to the sum of the moment of inertia of
the body about a parallel axis passing through its
centre of mass and the product of its mass and the
square of the distance between the two parallel axes.
According to the theorem of parallel axes,
=
I I cm + Mh 2
Proof. Suppose the rigid body is made up of n particles of
masses m1, m2,m3mn at perpendicular distance r1, r2,r3,
rn respectively from the axis KL passing through centre of
mass C of the body.
If ri is the perpendicular distance of a particle of mass mi
from KL, then
K
A
i=n

I cm = mi ri 2

...(i)

i =1

O
Hollow
sphere
radius R

Diameter
of

I=

2
MR 2
3

Symmetry
axis

M (L + B
2

=i n=i n
2
i
i
=i 1 =i 1

h) m (r
m ( r +=

=i n
=i 1

Rectangular
plane sheet

Square plane
sheet

Passing
through
centre and
parallel to
its length
Symmetry
axis

I=

ML2
12

=i n=i n
2
2
i i
i
=i 1 =i 1

m r

Passing
through
centre and
parallel to
its breadth

The perpendicular distance of ith particle from the axis AB


= (ri + h)

I
=

12

Rectangular
plane sheet

+h

+ h 2 + 2ri h )

m + 2h m r

i i

...(ii)

As the body is balanced about the centre of mass, the


algebraic sum of the moments of the weights (mg) of all
particles about an axis passing through C must be zero

=i n=i n

0 g mi ri =
0
(m g )r =

i
i
=i 1 =i 1
i=n

As g 0, mi ri =
0
i =1

ML2
I=
12

i=n

Also, m=
M
= total mass of the body.
i

I
B

Ma 2
6

mi

B
Rectangular
plane sheet

ri

i =1

From eqn.(i) &(ii),


I I cm + Mh 2
=
This proves the theorem of parallel axes.

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Theorem of perpendicular axes

Torque acting on a particle

It states that the moment of inertia of a planar body


(lamina) about an axis perpendicular to its plane is equal
to the sum of its moments of inertia about two
perpendicular axes concurrent with perpendicular axis
and lying in the plane of the body.
According to the theorem of perpendicular axes,
I Z= I x + IY
Proof: Suppose the lamina consists of masses m1, m2, m3, ,
mn at perpendicular distance r1, r2 ,r3, , rn respectively from
the axis OZ. Suppose the corresponding perpendicular
distances of these particles
from the axis OY are x1, x2, x3, ., xn
z
and from the axis OX are y1, y2, y3, , yn respectively.

xi

Let us consider an inertial reference frame with origin at


O. Suppose at any instant, particle has a position
vector r and force F is acting on it. Then, torque acting on
the particle with respect to the origin is defined as:

= r F
Torque is a vector quantity. Its direction is obtained by
right hand thumb rule. Its S. I. unit is Nm.

Torque acting on a rigid body

Let us consider a rigid body rotating about a fixed axis of


rotation with origin O. Suppose we have to find out the
torque of a force F having position vector r about a point
O. Then, torque acting on the particle with respect to the
origin is defined as:

(Torque)

= r F

Let the angle between r & F be . Therefore, magnitude


of torque is,

= r F

O
yi

ri
mi

y
I x= m y + m2 y + m3 y + ...m3 y =
2
1 1

2
2

2
3

2
n

=
rF sin

i=n

m y
i =1

2
i

...(i)

i=n

I y = m1 x12 + m2 x22 + m3 x32 + ...mn xn2 = mi xi2

. ..(ii)

i =1

We can write this as = F (r sin).


If we draw a line perpendicular to force F from point O,
we find its length is also r sin using little Trigonometry.
This perpendicular line of length r = r sin is also known
as lever arm or moment arm of torque. Therefore,

i=n

I z = m1r12 + m2 r22 + m3 r32 + ...mn r32 = mi ri 2

...(iii)

= F r

i =1

Adding eqns. (i) and (ii) ,we get


=i n=i n
2
x
y
i i
=i 1 =i 1

where r = lever arm

=i n
2
i i
=i 1

I +I =
=
=
m y + m x =
mi ( yi2 + xi2 )
2
As is clear from figure, ri=
xi2 + yi2

Iy
Ix +
=

i =1

i i

Therefore, to find torque, we draw a perpendicular from


the point (about which torque is acting) to the line (or
extended line) of action of force. Then we find its length
(lever arm). Finally we take product of lever arm and
magnitude of force to get the magnitude of torque.

i=n

r
m=

(Torque)

Iz

Hence I=
Ix + I y ,
z
which proves the theorem of perpendicular axes.

Newtons 2nd Law of Rotation

Radius of Gyration (k)

Radius of gyration (k) is the distance from the required


axis such that if the total mass of the body were
concentrated at that distance, the moment of inertia
would be the same as for the actual body (which could
have an arbitrary distribution of mass).
The radius of gyration (k) of a body of mass m about an
axis, is defined by the equation

I
I = mk2 k =
m
where, I = MI of the object about the given specified axis
and k = radius of gyration.

Newtons 2nd law of rotation is quite analogues to the


Newtons 2 nd law of motion (translation). Newtons 2 nd
law of rotation states that the total external torque acting
on a rigid body about an axis of rotation in an inertial
frame of reference is directly proportional to the

i.

Moment of Inertia I of the rigid body about that axis,


and

ii.

Angular acceleration of the particle .

=
I

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Important points to note about = I :

1.
2.

Frame of reference should be inertial.


It is valid only for rigid body. Not valid for particle or
system of particles.
= total external torque acting on a rigid body about an
axis of rotation.
This eqn. can be applied only about two axis in a rigid
body:
a) About axis of rotation (if known)
b) About an axis passing through centre of mass (if axis
of rotation is unknown).
Torque and Moment of Inertia I should be calculated
about same axis of rotation.

3.
4.

5.

Angular momentum of a rigid body

Kinetic energy in fixed axis of rotation

Kinetic
Energy
of
the
rotating about fixed axis is given by:

KE = I2

rigid

body

KE = I2 is not a new kind of kinetic energy.


Actually, it is the sum of kinetic energies mv2 of all the
particles on the rigid body.

Work done by applied torque:


Suppose a rigid body is undergoing fixed axis rotation. If
it undergoes an angular displacement from initial angular
position 1 to the final angular position 2 under the action
of torque , then work done by this torque is given by:
2

W = d
1

Special case:
Work done by a constant torque: W =

Average Power:
Work done
P = work done / time taken
Pavg =
time
Instantaneous
power
(power) is
given
dW
P =
=
dt
Work Kinetic Energy Theorem:
2
1

by

Angular momentum of a particle

Let us consider an inertial reference frame with origin at

O. Suppose a particle of mass m at position vector r is

moving with velocity v with at an instant. Then, angular

momentum L of the particle with respect to the origin is


defined as:

(Angular momentum)

L= r p
Angular momentum is a vector quantity. Its direction is
obtained by right hand thumb rule.

L=I

(Angular momentum)

Clearly, angular momentum L direction is along the


direction of .

1.
2.
3.

Important things to note about L = I :


Frame of reference should be inertial.
This eqn. will be applicable about a fixed axis of rotation.
Angular momentum L and Moment of Inertia I should be
calculated about same fixed axis of rotation.
Torque & angular momentum

We know that total external torque acting on a rigid body


is given by:

= I

d
But, =
dt
Therefore, we have

d d
I=
I =
=
I
dt dt

dL
=
dt

(because, angular momentum L = I )


Hence, total external torque acting on a rigid body is
equal to time rate of change in angular momentum of the
rigid body.

( )

Conservation of angular momentum

W = K K = I I
2

Let us consider a rigid body rotating about a fixed axis of


rotation in an inertial frame of reference. Let us consider
the
angular
velocity
of
rigid
body
at a particular instant be . Also, assume MI of the rigid
body about axis of rotation be I.
Then, angular momentum L of the rigid body
about this fixed axis is defined as:

(Kinetic Energy)

Work & Power

It states that if no external torque acts on a system, the


angular momentum of the system remains constant.
Consider a system of two bodies on which no external
torque acts. As such, the system is said to be isolated from

the surroundings. Thus, if L be the angular momentum of


the two bodies at any instant, then in absence of external
torque

L = constant

L1 =
L2
Proof:

dL
.
We know that =
dt
Therefore, in the absence of external torque,

dL

have, =
= 0L=
constant
dt

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= 0 , we

Rotational Motion

Pranjal K. Bharti (B. Tech., IIT Kharagpur)

Physical meaning of Angular Momentum

Deduction of Keplers second law of planetary motion

Let us consider a particle rotating in XY plane about Z-axis.


Suppose that at any instant, particle is at point A, whose


position vector is OA = r and after a small time interval t;

it reaches point B, whose position vector is r + r . The


displacement of the particle is small time t is given by

AB = r + r r = r

at point A, then the small


displacement covered in
time t may be expressed
as

Draw a line OC parallel


and equal to AB. Then,

r
A


Area of parallelogram OABC= r r

1
r r
2
The area of the triangle OAB represents the area swept by the
position vector of the particle in time interval t. If the area

swept is represented by A, then


1 1
=
A
r r=
r vt
2
2

p
If p is linear momentum of the particle, then v =
m
Therefore, the above equation becomes

1 p
A
1
A=
r t =
r p
t 2m
m
2

Since r p =
L, angular momentum of the particle about Z=
or area of triangle OAB

( )

axis, we have

A
L
=
t 2m

A
L=
2m
t

A
Now,
= time rate, at which the area is swept by the
t
position vector of the particle and is called areal velocity of
the particle. Thus, geometrically, the angular momentum of a
particle is equal to twice the product of its mass and areal
velocity i.e.
angular momentum = 2 (mass areal velocity)

10

and F be gravitational force on the planet due to the sun.


The force on the planet always acts along the line joining
the centres of the planet and the sun and is directed

OC = r

r be position vector of the planet w.r.t. the sun

towards the sun. As a result, the vectors

r + r

Consider a planet moving around the sun in elliptical


orbit. Let

If v is velocity of particle


r = vt

r and F are

parallel vectors and c hence =r F =0.


Hence angular momentum is conserved. We know that,

A
L = 2m
t
Since angular momentum of the planet is a constant
vector,

A
L
= a constant vector
=
t 2m
Therefore, areal velocity of the planet must always remain
constant. It is exactly what Kepler predicted about
planetary motion in 1602, i.e. the line joining the planet to
the sun sweeps out equal areas in equal intervals of time.
It is known as the Keplers second law of planetary
motion.
General Motion (Combined Motion)

General Motion (Combined Motion) is a motion


composed of both translation as well as rotation.
Suppose we are studying a General Motion of a rigid
body in an inertial frame whose origin is at a point O.
Suppose at a particular instant of time, it has

angular velocity and linear velocity of its

centre of mass with respect to O is vcm . Let us


assume that the position vector of its centre

of mass wrt to O be r and MI about point O be I0.


Then, we can express KE and angular momentum of the
rigid body in combined motion in this frame as:

1
1
=
KE
I cm 2 + mvcm 2
2
2

=
L I cm + r mv cm

Concept, JB 20, Near Jitendra Cinema, City Centre, Bokaro

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Rotational Motion

Pranjal K. Bharti (B. Tech., IIT Kharagpur)


Pure Rolling Motion

A combined motion where point of contact remains at rest


with respect to the contacting surface is known as Pure
Rolling Motion or Rolling without slipping.
Pure rolling is a kind of combined motion where point of
contact does not moves wrt to the surface of contact but
still, the body as a whole translates with some velocity.
The motion where point of contact has some velocity with
respect to the contacting surface is known as slipping or
skidding.

Kinetic energy in pure rolling:


Kinetic energy of rolling disc (or cylinder or sphere) is
1
1
1
=
KE =
I o 2
I cm 2 + mvcm 2
2
2
2

Angular momentum pure rolling:


Angular momentum of rolling disc (or cylinder or sphere)
about point O (i.e., about axis of rotation) is

L=
Io
=
I cm + r mv cm
o
where, Io = Moment of Inertia about axis passing through
point O.

and, r = position vector of centre of mass wrt O.

vcm

As the point of contact O has zero velocity wrt to surface,


therefore disc has an instantaneous axis of rotation which
passes through lowest point O. Thus we can virtually
think rolling as a fixed axis rotation about lowest point
O. Now, we can apply all equations about this
instantaneous axis of rotation as same as that rotation
about a fixed axis.

Fundamental Equation of Pure Rolling:

Let us assume surface is stationary as in the most of the


practical cases. Clearly the velocity of centre of mass of
the disc wrt point O is v = R
cm

,
vcm , acm

Similarly, acceleration of centre of mass a

cm

= R

Fundamental Equation of Pure Rolling

vcm = R
a

cm

= R

The velocity and acceleration of a point increases as it


moves upward from the surface during pure rolling
pmotion.
As we can assume virtually Rolling as a fixed axis of
rotation about the lowest point, therefore, we can use
same eqn. of KE and angular momentum as that of fixed
axis of rotation.

11

Concept, JB 20, Near Jitendra Cinema, City Centre, Bokaro

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Rotational Motion

Pranjal K. Bharti (B. Tech., IIT Kharagpur)

Physics Classes by Pranjal Sir


(Admission Notice for XI & XII - 2014-15)
Batches for Std XIIth
Batch 1 (Board + JEE Main + Advanced): (Rs. 16000)
Batch 2 (Board + JEE Main): (Rs. 13000)
Batch 3 (Board): (Rs. 10000)
Batch 4 (Doubt Clearing batch): Rs. 8000

About P. K. Bharti Sir (Pranjal Sir)

B. Tech., IIT Kharagpur (2009 Batch)


H.O.D. Physics, Concept Bokaro Centre
Visiting faculty at D. P. S. Bokaro
Produced AIR 113, AIR 475, AIR 1013 in JEE Advanced
Produced AIR 07 in AIEEE (JEE Main)
Address: Concept, JB 20, Near Jitendra Cinema, Sec 4,
Bokaro Steel City
Ph: 9798007577, 7488044834
Email: pkbharti.iit@gmail.com
Website: www.vidyadrishti.org

Physics Class Schedule for Std XIIth (Session 2014-15) by Pranjal Sir
Sl.
No.

Main Chapter
Basics from XIth

1.

Electric Charges and


Fields

2.

Electrostatic Potential
and Capacitance

PART TEST 1
3.

Current Electricity

PART TEST 2
SUMMER BREAK
4.
Moving charges and
Magnetism

PART TEST 3
5.

Magnetism and Matter

6.

Electromagnetic

12

Topics

Board level

JEE Main Level

3rd Mar to 4th Apr 14

Vectors, FBD, Work, Energy,


Rotation, SHM
Coulombs Law
Electric Field
Gausss Law
Competition Level
Electric Potential
Capacitors
Competition Level

5th & 6th Apr


10th & 12th Apr
13th & 15th Apr
NA
20th & 22nd Apr
24th & 26th Apr
NA

5th & 6th Apr


10th & 12th Apr
13th & 15th Apr
17th & 19th Apr
20th & 22nd Apr
24th & 26th Apr
27th & 29th Apr

Unit 1 & 2

4th May
NA
6th, 8th, 10th, 13th
May

NA
11th May
6th, 8th, 10th, 13th
May

NA

15th & 16th May

Basic Concepts, Drift speed,


Ohms Law, Cells, Kirchhoffs
Laws, Wheatstone bridge,
Ammeter, Voltmeter, Meter
Bridge, Potentiometer etc.
Competition Level

JEE Adv Level

18th May
NA
21st May 2013 to 30th May 2013
31st May, 1st & 3rd
Force on a charged particle
Jun
(Lorentz force), Force on a
current carrying wire,
Cyclotron, Torque on a current
carrying loop in magnetic field,
magnetic moment
Biot Savart Law, Magnetic field 5th, 7th & 8th Jun
due to a circular wire, Ampere
circuital law, Solenoid, Toroid
Competition Level
NA
Unit 4
15th Jun
NA
17th, 19th & 21st
Jun
Faradays Laws, Lenzs Laws,
24th, 26th & 28th
Unit 3

Concept, JB 20, Near Jitendra Cinema, City Centre, Bokaro

NA
20th May

5th & 6th Apr


10th & 12th Apr
13th & 15th Apr
17th & 19th Apr
20th & 22nd Apr
24th & 26th Apr
27th & 29th Apr, 1st, 3rd
& 4th May
NA
11th May
6th, 8th, 10th, 13th May

15th, 16th, 17th, 18th &


19th May
NA
20th May

31st May, 1st & 3rd


Jun

31st May, 1st & 3rd Jun

5th, 7th & 8th Jun

5th, 7th & 8th Jun

10th & 12th Jun


NA
22nd Jun
17th, 19th & 21st
Jun
24th, 26th & 28th

10th, 12th, 14th & 15th Jun


NA
22nd Jun
Not in JEE Advanced
Syllabus
24th, 26th & 28th Jun

Mb: 7488044834

Rotational Motion

Pranjal K. Bharti (B. Tech., IIT Kharagpur)


A.C. Generator, Motional Emf,
Induced Emf, Eddy Currents, Self
Induction, Mutual Induction
Competition Level
Unit 5 & 6

Induction

PART TEST 4
7.

8.

Alternating current

AC, AC circuit, Phasor,


transformer, resonance,
Competition Level

Electromagnetic Waves

Jun

Jun

NA
6th Jul
NA
8th, 10th & 12th Jul

29th Jun & 1st Jul


NA
13th Jul
8th, 10th & 12th Jul

29th Jun, 1st, 3rd & 5th Jul


NA
13th Jul
8th, 10th & 12th Jul

NA
19th & 20th July

15th July
19th & 20th July

15th & 17th July


Not in JEE Advanced
Syllabus
27th Jul

PART TEST 5

Unit 7 & 8

27th Jul

27th Jul

Revision Week

Upto unit 8
Upto Unit 8

31st Jul & 2nd


Aug
3rd Aug

31st Jul & 2nd Aug

Grand Test 1

31st Jul & 2nd


Aug
3rd Aug

Reflection
Refraction
Prism
Optical Instruments

5th & 7th Aug


9th & 12th Aug
14th Aug
16th Aug

5th & 7th Aug


9th & 12th Aug
14th Aug
16th Aug

Competition Level
Huygens Principle
Interference
Diffraction
Polarization
Competition Level

NA
26th Aug
28th & 30th Aug
31st Aug
2nd Sep
NA

19th & 21st Aug


26th Aug
28th & 30th Aug
31st Aug
2nd Sep
4th & 6th Sep

5th & 7th Aug


9th & 12th Aug
14th Aug
Not in JEE Adv
Syllabus
19th, 21st, 23rd, 24th Aug
26th Aug
28th & 30th Aug
31st Aug
2nd Sep
4th, 6th, 7th, 9th, 11th Sep

9.

Ray Optics
10.

Wave Optics
PART TEST 6
Grand Test 2

14th Sep
14th Sep
Unit 9 & 10
REVISION ROUND 1 (For JEE Main & JEE Advanced Level): 13th Sep to 27th Sep
Upto Unit 10
28th Sep
28th Sep

3rd Aug

14th Sep
28th Sep

DUSSEHRA & d-ul-Zuha Holidays: 29th Sep to 8th Oct


11.

Dual Nature of
Radiation and Matter

Grand Test 3
12.

Photoelectric effect etc

9th & 11th Oct

9th & 11th Oct

9th & 11th Oct

Upto Unit 10

12th Oct

12th Oct

12th Oct

14th & 16th Oct

14th & 16th Oct

14th & 16th Oct

18th & 19th Oct


NA
26th Oct
26th, 28th, 30th Oct
& 1st Nov
2nd & 4th Nov

18th & 19th Oct


21st Oct
NA
26th, 28th, 30th Oct
& 1st Nov
2nd & 4th Nov

18th & 19th Oct


21st & 25th Oct
NA
Not in JEE Adv
Syllabus
Not in JEE Adv
Syllabus

Unit 14 & 15
Competition Level

9th Nov
NA

9th Nov
8th, 9th & 11th Nov

Unit 11, 12, 13, X-Rays


Mind Maps & Back up classes
for late registered students

NA
18th Nov to
Board Exams

16th Nov
18th Nov to Board
Exams

NA
8th, 9th, 11th, 13th & 15th
Nov
16th Nov
18th Nov to Board
Exams

18th Nov to JEE

18th Nov to JEE

18th Nov to JEE

Atoms

13.

Nuclei
X-Rays
PART TEST 7
14.
Semiconductors

Unit 11, 12 & 13


Basic Concepts and Diodes,
transistors, logic gates

15. Communication System

PART TEST 8
Unit 11, 12 & 13
PART TEST 9
Revision Round 2
(Board Level)
Revision Round 3
(XIth portion for JEE)
30 Full Test Series

13

Complete Syllabus

Date will be published after Oct 2014

Concept, JB 20, Near Jitendra Cinema, City Centre, Bokaro

Mb: 7488044834

Rotational Motion

14

Concept, JB 20, Near Jitendra Cinema, City Centre, Bokaro

Pranjal K. Bharti (B. Tech., IIT Kharagpur)

Mb: 7488044834

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