Physics 2211: Lecture 37

● Work and Kinetic Energy

● Rotational Dynamics Examples
➧ Atwood’s machine with massive pulley
➧ Falling weight and pulley
● Translational and Rotational Motion Combined
➧ Rotation around a moving axis
➧ Important kinetic energy theorem

Physics 2211 Spring 2005 Lecture 37, Page 1

© 2005 Dr. Bill Holm
 Work
r
● Consider the work done by a force F acting on an object
constrained to move around a fixed axis. For an
infinitesimal angular displacement dθ:
r r
dW  F ds  F rd cos  r
β F
= F rdθ cos ( π2 − φ )
r φ
= F rdθ sin φ r r
ds  rd ˆ
= ( F r sin φ ) dθ dθ
dW = τ dθ axis
● For constant τ : W = τ ∆θ
r r
● Analog of W = F ⋅ ∆r
● W will be negative if τ and ∆θ have opposite signs!

Physics 2211 Spring 2005 Lecture 37, Page 2

© 2005 Dr. Bill Holm
 Work & Kinetic Energy
● Recall the Work/Kinetic Energy Theorem: WNET = ∆K

● This is true in general, and hence applies to rotational

motion as well as linear motion.

● So for an object that rotates about a fixed axis:

WNET = ∆K = 12 I ( ω 2f − ωi2 )

Physics 2211 Spring 2005 Lecture 37, Page 3

© 2005 Dr. Bill Holm
 Example: Disk & String
● A massless string is wrapped 10 times around a disk of
mass M = 40 g and radius R = 10 cm. The disk is
constrained to rotate without friction about a fixed axis
though its center. The string is pulled with a force F = 10 N
until it has unwound. (Assume the string does not slip, and
that the disk is initially not spinning).

➧ How fast is the disk spinning after the string has

unwound?

M
R

Physics 2211 Spring 2005 Lecture 37, Page 4

© 2005 Dr. Bill Holm
 Disk & String
● The work done is W = τ ∆θ
➧ The torque is τ = RF (since φ = 90o)
➧ The angular displacement ∆θ is
2π rad/rev x 10 rev.
M
R

● So W = (.1 m)(10 N)(20π rad) = 62.8 J F

          
τ ∆θ

Physics 2211 Spring 2005 Lecture 37, Page 5

© 2005 Dr. Bill Holm
 Disk & String

WNET = 62.8 J = ∆ K = 12 Iω 2
Recall that I for a disk about
its central axis is given by:
M
R
I = 12 MR 2

So ∆K = 1
2 ( 1
2 MR 2 ) ω 2
ω

4WNET 4 ( 62.8 J )
ω= = ω = 792.5 rad/s
( .04 kg ) ( .1 m )
2 2
MR
( ω = 7568 rpm )
Physics 2211 Spring 2005 Lecture 37, Page 6
© 2005 Dr. Bill Holm
 Example
Work & Energy
● Strings are wrapped around the circumference of two solid disks
and pulled with identical forces for the same distance.
Disk 1 has a bigger radius, but both have the same moment of
inertia. Both disks rotate freely around axes though their
centers, and start at rest.
➧ Which disk has the biggest angular velocity after the pull ?

ω1 ω2
(1) disk 1
(2) disk 2
(3) same
F F

Physics 2211 Spring 2005 Lecture 37, Page 7

© 2005 Dr. Bill Holm
 Example
Solution
● The work done on both disks is the same!
➧W = Fd
● The change in kinetic energy of each will
therefore also be the same since W = ∆K.
1 2
But we know ∆K = Iω
2 ω1 ω2
So since I1 = I2

ω1 = ω2
F F

d
Physics 2211 Spring 2005 Lecture 37, Page 8
© 2005 Dr. Bill Holm
 Review: Torque and Angular
Acceleration

τ NET = Iα
● This is the rotational analog
of FNET = ma
● Torque is the rotational analog of force:
➧ The amount of “twist” provided by a force.
● Moment of inertia I is the rotational analog of mass
➧ If I is big, more torque is required to achieve a given
angular acceleration.

Physics 2211 Spring 2005 Lecture 37, Page 9

© 2005 Dr. Bill Holm
 Example
Rotations
● Two wheels can rotate freely about fixed axles through their
centers. The wheels have the same mass, but one has twice
the radius of the other.
● Forces F1 and F2 are applied as shown. What is F2 / F1 if the
angular acceleration of the wheels is the same?

(a) 1
F2
(b) 2
F1
(c) 4

Physics 2211 Spring 2005 Lecture 37, Page 10

© 2005 Dr. Bill Holm
 Example
Solution
We know τ = Iα
but τ = FR and I = mR 2

so FR = mR 2α F2 mR2α R2
= =
F = mRα F1 mR1α R1

F2
Since R2 = 2 R1 =2
F1
F2
F1

Physics 2211 Spring 2005 Lecture 37, Page 11

© 2005 Dr. Bill Holm
 Work & Power
● The work done by a torque τ acting through a
displacement ∆θ is given by:

W = τ ∆θ

● The power provided by a constant torque is therefore given

by:

dW dθ
P= =τ = τω
dt dt

Physics 2211 Spring 2005 Lecture 37, Page 12

© 2005 Dr. Bill Holm
 Atwood’s Machine with Massive Pulley
● A pair of masses are hung over a y
massive disk-shaped pulley as shown.
➧ Find the acceleration of the blocks. x
M
● For the hanging masses use ΣF = ma α
➧ T1 − m1g = m1(-a) R T2
T1
➧ T2 − m2g = m2a
T1 T2
a a
● For the pulley use τ = Iα = I
R
a 1 m1 m2
➧ T 1R - T 2R = I = MRa
R 2
a
1 m2g
(Since I = MR 2 for a disk) m1g
2
Physics 2211 Spring 2005 Lecture 37, Page 13
© 2005 Dr. Bill Holm
 Atwood’s Machine with Massive Pulley
● We have three equations and three y
unknowns (T1, T2, a). Solve for a.
x
T1 − m1g = − m1a (1) M
α
R T2
T2 − m2g = m2a (2) T1

T1 - T2 = 1/2 Ma (3) T1 T2
a

m1 m2
 m1 − m 2 
a= g
 m1 + m 2 + M 2  a
m2g
m1g
Physics 2211 Spring 2005 Lecture 37, Page 14
© 2005 Dr. Bill Holm
 Falling weight & pulley
● A mass m is hung by a string that is
α I
wrapped around a pulley of radius R
attached to a heavy flywheel. The moment R
T
of inertia of the pulley + flywheel is I. The
string does not slip on the pulley.
T
➧ Starting at rest, what is the speed of the
mass after it has fallen a distance L. m

a mg
L

Physics 2211 Spring 2005 Lecture 37, Page 15

© 2005 Dr. Bill Holm
 Falling weight & pulley
● For the hanging mass use ΣF = ma
α I
➧ mg - T = ma
R
● For the pulley + flywheel use τ = Iα T
➧ τ = TR = Iα
a T
● Realize that a = Rα TR = I
R
● Now solve for a using the above m
equations.
a mg
 mR 2  L
a= 2
g
 mR + I 

Physics 2211 Spring 2005 Lecture 37, Page 16

© 2005 Dr. Bill Holm
 Falling weight & pulley
● Using 1-D kinematics we can solve for
α I
the speed of the mass after it has
fallen a distance L: R
T
v f2 = v 02 + 2a∆y
T
v f = 2aL
m
where mgR 2
a= a mg
mR 2 + I
L

2mgLR 2
vf =
mR 2 + I
Physics 2211 Spring 2005 Lecture 37, Page 17
© 2005 Dr. Bill Holm
 Falling weight & pulley
● Conservation of Energy Solution:
α I
E = mv + Iω + mgy
1
2
2 1
2
2
R
T
where ω =v R
2
v
E= 1
2 ( R
)
mR 2 + I 2 + mgy T

m
Einitial = 0 + mgL
v 2 a mg
Efinal = 1
2 ( mR 2 + I f2
R
) L

2mgR 2L
Einitial = Efinal vf = y=0
mR 2 + I
Physics 2211 Spring 2005 Lecture 37, Page 18
© 2005 Dr. Bill Holm
 Rotation around a moving axis
● A string is wound around a puck (disk) of mass M and
radius R. The puck is initially lying at rest on a frictionless
horizontal surface. The string is pulled with a force F and
does not slip as it unwinds.

➧ What length of string L has unwound after the puck has

moved a distance D?

M
R
F

Top view
Physics 2211 Spring 2005 Lecture 37, Page 19
© 2005 Dr. Bill Holm
 Rotation around a moving axis
F
● The CM moves according to F = MA A=
M
1 2 F 2
● The distance moved by the CM is thus D = At = t
2 2M

● The disk will rotate about τ RF 2F

α= = 1 =
its CM according to τ = Iα I 2 MR 2
MR

1 F 2
● So the angular displacement is θ = α t 2 = t
2 MR

M A
1 α
I = MR 2 R
2
Physics 2211 Spring 2005
F
Lecture 37, Page 20
© 2005 Dr. Bill Holm
 Rotation around a moving axis
● So we know both the distance moved by the CM and the
angle of rotation about the CM as a function of time:
F 2 F 2
D= t (a) θ= t (b)
2M MR
θ 2 The length of string
Divide (b) by (a): = Rθ = 2D
D R pulled out is L = Rθ :

L = 2D
θ

F F

D L
Physics 2211 Spring 2005 Lecture 37, Page 21
© 2005 Dr. Bill Holm
 Comments on CM acceleration
● We just used τ = Iα for rotation about an axis through the CM
even though the CM was accelerating!
➧ The CM is not an inertial reference frame! Is this OK??
(After all, we can only use F = ma in an inertial reference
frame).

● YES! We can always write τ = Iα for an axis through the CM.

➧ This is true even if the CM is accelerating.
➧ We will prove this when we discuss angular momentum!

M A
α
R
F
Physics 2211 Spring 2005 Lecture 37, Page 22
© 2005 Dr. Bill Holm
 Important kinetic energy theorem
● Consider the total kinetic energy of a system of two masses:

K = 21 m1v12 + 21 m2v 22
Now write the velocities as a sum of r r r
v1 = v CM + u1
the velocity of the center of mass and r r r
a velocity relative to the center of massv 2 = v CM + u2
r r r r
v1 = v1 ⋅ v1 = v CM + u1 + 2v CM ⋅ u1
2 2 2
r r r r
so v 2 = v 2 ⋅ v 2 = v CM + u2 + 2v CM ⋅ u2
2 2 2

r r r
K = 2 ( m1 + m2 ) v CM + 2 m1u1 + 2 m2u2 + v CM ⋅ ( m1u1 + m2u2 )
1 2 1 2 1 2

= KCM = KREL =0*

r r
*m ur + m ur r r r r r r r  m1v1 + m2v 2 
= m1 ( v1 − v CM ) + m2 ( v 2 − vCM ) = ( m1v1 + m2v 2 ) − MvCM = M  −
r
1 1 2 2  Mv CM = 0
 m 1 + m2 
Physics 2211 Spring 2005 Lecture 37, Page 23
© 2005 Dr. Bill Holm
 Important kinetic energy theorem
● Thus K= 1
2 ( m1 + m2 ) vCM
2
+ 21 m1u12 + 21 m2u22

= KCM = KREL

So
K = 21 Mv CM
2
+ K REL

2
1
2
MvCM is the kinetic energy of the center of mass (M is total mass).

KREL is the kinetic energy due to motion relative to the center of mass.

Physics 2211 Spring 2005 Lecture 37, Page 24

© 2005 Dr. Bill Holm
 Connection with rotational motion

K = 21 MvCM
2
+ ∑ 21 mi ui2
i

KCM KREL

● For a solid object rotating about its center of mass:

K REL = ∑ 21 mi ui
2
where ui = ω ri
i

 
K REL = ∑ 21 mi ω 2 ri 2 = 21  ∑ mi ri 2  ω 2 but I CM = ∑ ii
m r 2

i  i  i

K REL = 12 I CMω
2

Physics 2211 Spring 2005 Lecture 37, Page 25

© 2005 Dr. Bill Holm
 Translational & rotational motion
combined
● For a solid object which rotates about its center or mass
and whose CM is moving:

K NET = 21 ICMω 2 + 21 MVCM

2

VCM

Physics 2211 Spring 2005 Lecture 37, Page 26

© 2005 Dr. Bill Holm