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Angular

● Vector cross products ● Vector Cross Products

Recall from our discussion of vectors that there are two ways to multiply them.

There's the (or dot) product which results in a number W =F⋅r has , but no direction

There's also the vector (or cross) product which results in another vector The result of A x B is another vector C C =A ×B which has both magnitude and direction

The direction of C is simultaneously to both A & B Physics 10310, '13 Vector Product

a×b=absinn

The magnitude of the of a and b is the magnitudes of a & b and the sine of the between them

The direction you can get from our old friend ...

Physics 10310, Spring '13 The Right-Hand Rule

Alternate RHR... lay your fingers along a and then them in the direction of b.

Either way, now do the same thing for b×a Notice that when you do that, your thumb points in the opposite direction

Physics 10310, Spring '13 Vector Product Properties

the cross-product is non-commutative A ×B=−B × A Reversing the order yields the same magnitude in the opposite direction.

A ×B C = A ×B A ×C the cross-product is distributive

if A∥B then A ×B=0  A ×A =0

d d A d B Product rule for  A ×B = ×B A × dt dt dt works on the cross product

Physics 10310, Spring '13 Just for the record...

 i j k A=ax ,a y ,az     A×B= a x a y az B=bx ,b y ,bz ∣b b b ∣ x y z   =a y b z−az b y  i−ax bz−az bx  jax b y −a y b x z

i×i=j×j=k×k =0

i×j=−j×i=k j×k =−k ×j=i k×i=−i×k=j

Physics 10310, Spring '13 Torque

A applied at some from a pivot tends to produce a rotation about the pivot. This is torque. The distance r from F the pivot point P is known as the  F arm or arm y =r ×F P ∣∣=r F sin r Fx direction of the torque can  be obtained from the right- hand rule or computed directly        =r ×F=r i×F x iF y j=r F y i× j=r F y k

Physics 10310, Spring '13 Torque

The units of torque are [] x [force]

In english units this is a

Not to be confused with the units of work which are pound – feet (ouch!)

The SI unit of torque is mN which is ambiguous with milli-Newtons or Nm ( – meters = J) which is ambiguous with work and . This is not a coincidence since 1 Nm of torque applied for one full rotation requires exactly 2π J of work. E=

SI recommendation is to use the Newton-meter for torque and the for work/energy

Physics 10310, Spring '13 Torque

 =r × F d p Newtons' 2nd Law  F = dt d r d r =v  ×p=mv×v =0 dt dt d p d r d  =r ×  ×p= r×p dt dt dt

Physics 10310, Spring '13 Angular Momentum

d This looks very similar d p  = r ×p nd  dt to Newtons' 2 Law for  F= translational dt

 L is the angular momentum of an L≡r ×p object moving along a curved path

Rotational form of Newtons' 2nd Law d L  = The torque resultant on an object is dt equal to the of change of angular momentum in .

Physics 10310, Spring '13 Angular Momentum

∣L∣=r psin=mvr sin

The direction of the angular momentum comes from the right- hand rule, and will be in the same direction as the angular

Physics 10310, Spring '13 Angular Momentum

for a system of the total angular momentum of the system is the sum of the angular momenta of the particles     d LT d Li LT =i Li = =  dt i dt i i d ⃗L d ⃗p Σ⃗τ = T which is the rotational analog of Σ F⃗ = T ext dt ext dt If we integrate the external torque over time

⃗ We get the – angular ∫ Σ⃗τext dt=Δ LT momentum theorem which is analogous

to the impulse – momentum theorem for translational motion Physics 10310, Spring '13 Angular Momentum

d ⃗L is a statement of the conservation of angular Σ⃗τ = T momentum. That is, angular momentum does not ext dt change unless something (external) is done to make it change.

Conservation of angular momentum is a statement that is just as important to physics as & conservation of (linear) momentum

Notice that this is true regardless of what the center-of- of the body is doing.

Physics 10310, Spring '13 Rotation

A rigid body can be treated as a system of particles of mass whose with respect to the other particles in the system doesn't change.

for a in L=mvr sin90 ˚ L =mvr L =mr2 

For a rotating body   2 LT =i Li= i mi ri   =I  which confirms the assertion that angular momentum is in the same direction as

Physics 10310, Spring '13 Rigid Body Rotation

 LT =I  d L⃗ d ω⃗ T =I =I α⃗=Σ⃗τ dt dt ext The angular of an object is the result of a net torque applied to it

So if we apply a torque to the in the picture in the direction that it's rotating (F is parallel to v), the tends to increase the angular velocity and the angular momentum. If F is anti-parallel to v then it will tend to slow down the rotation Physics 10310, Spring '13 Isolated System

If the net external torque acting on a system is zero the angular momentum is constant (in magnitude and direction)

d L   =0= T  L =L ext dt f i This is an alternate way to state conservation of angular momentum.

Implies that I f f =I i i

(so what! Moments of are constant right?)

Physics 10310, Spring '13 Conservation of Angular Momentum

This is why an ice skater who brings in her arms while spinning spins faster. Her is dropping (reducing the moment arm) so her angular velocity increases to keep the angular momentum constant

Physics 10310, Spring '13 Conservation of Angular Momentum

It's also what makes a

A pilot can tell the attitude (pitch & yaw) of his airplane from a gyroscope even if he can't see outside. As the rotates on it's axis the gyroscope counter-rotates to compensate

A spacecraft can be turned by turning a gyroscope so that the spacecraft counter- rotates

Physics 10310, Spring '13 Example (Prob 11.21)

A ball of mass m is attached to the end of a flagpole which is connected to the side of a building. The length of the pole is l and it makes an angle θ with the horizontal. The ball becomes loose & begins to fall with an acceleration -gj. a) What is the angular momentum of the ball about the point P as a function of time? ⃗r=r⃗+ v⃗ + 1 ⃗a t 2=(l cos(θ)̂i+ lsin(θ) ̂j)− 1 gt 2 ̂j i i 2 2 ̂ ⃗v=v⃗i+ ⃗at=−gt j L=r ×p=mlcos−1 gti×j=−mglt cosk 2 Physics 10310, Spring '13 Example (Prob 11.21)

A ball of mass m is attached to the end of a flagpole which is connected to the side of a building. The length of the pole is l and it makes an angle θ with the horizontal. The ball becomes loose & falls with an acceleration -gj. b) What physical reason is there for the balls angular momentum to be changing?

TheThe earthearth isis exertingexerting aa torquetorque (through(through )gravity) onon thethe ball.ball. SinceSince thethe externalexternal torquetorque isis non-zeronon-zero thethe raterate ofof changechange ofof angularangular momentummomentum isis non-zeronon-zero

Physics 10310, Spring '13 Example (Prob 11.21)

A ball of mass m is attached to the end of a flagpole which is connected to the side of a building. The length of the pole is l and it makes an angle θ with the horizontal. The ball becomes loose & falls with an acceleration -gj. c) What is the rate of change of the angular momentum of the ball about the point P?

d L d = −mglt cosk =−mgl cosk dt dt

Physics 10310, Spring '13 Example (Prob 11.21+)

A ball of mass m is attached to the end of a flagpole which is connected to the side of a building. The length of the pole is l and it makes an angle θ with the horizontal. The ball becomes loose & falls with an acceleration -gj. d) What is the torque on the ball due to gravity about the point P? =r ×F =l cosilsink ×−mg j =−l cosmgi×j=−mgl cosk d L = dt Physics 10310, Spring '13 Objective Question 1

Is it possible to calculate the torque acting on an object without specifying an axis of rotation?

No.No.

Is the torque independent of the location of the axis of rotation?

No.No. AnAn axisaxis mustmust bebe specified,specified, andand thethe momentmoment armarm isis measuredmeasured fromfrom thethe axisaxis soso thethe valuevalue ofof thethe torquetorque dependsdepends onon thethe choicechoice ofof thethe axisaxis

Physics 10310, Spring '13 Objective Question 2a

Vector A is in the negative y direction, and vector B is in the negative x direction.

What is the direction of A x B? a) No direction, it's a scalar b) x c) -y d) z e)e) -z-z

Physics 10310, Spring '13 Objective Question 2b

Vector A is in the negative y direction, and vector B is in the negative x direction.

What is the direction of B x A? a) No direction, it's a scalar b) x c) -y d)d) zz e) -z

Physics 10310, Spring '13 Objective Question 3a

Consider three perpendicular directions. Right, up, & toward you, with unit vectors r, u, t, respectively. Consider the (-3u x 2t)

The magnitude of this vector is

a)a) 66 b) 3 c) 2 d) 0

Physics 10310, Spring '13 Objective Question 3b

Consider three perpendicular directions. Right, up, & toward you, with unit vectors r, u, t, respectively. Consider the quantity (-3u x 2t)

The direction of this vector is

a) down b) toward you c) up d) away from you e)e) leftleft

Physics 10310, Spring '13 Objective Question 5

An ice skater starts a with her arms stretched out to the sides. She balances on the tip of one skate to turn (without since she's a physics ice skater and knows how to do such things). She then pulls her arms in so that her moment of inertia decreases by a factor of 2. Her a) increases by a factor of 4 Her angular momentum b)b) increasesincreases byby aa factorfactor ofof 22 remains constant. So as I c) remains constant decreases by 2 ω increases d) decreases by a factor of 2 by 2 and ½ Iω2 doubles e) decreases by a factor of 4

Physics 10310, Spring '13 Objective Question 6a

A pet mouse sleeps near the eastern edge of a turntable* that is supported by a frictionless, vertical axle through its center. The mouse wakes up and starts to walk north on the turntable.

As the mouse takes its first steps, what is the direction of its relative to the stationary ground below?

a)a) northnorth b) south c) none

* A prehistoric type of over-sized CD player that your parents used Physics 10310, Spring '13 Objective Question 6b

A pet mouse sleeps near the eastern edge of a turntable* that is supported by a frictionless, vertical axle through its center. The mouse wakes up and starts to walk north on the turntable. As the mouse takes its first steps, what is the direction of displacement of the spot on which it was sleeping relative to the stationary ground below? a) north The turntable counter-rotates b)b) southsouth clockwise underneath the c) none mouses feet

* A prehistoric type of over-sized CD player that your parents used Physics 10310, Spring '13 Objective Question 6c

A pet mouse sleeps near the eastern edge of a turntable* that is supported by a frictionless, vertical axle through its center. The mouse wakes up and starts to walk north on the turntable.

In this process, is the of the system (mouse+turntable) conserved?

No.No. TheThe mousemouse convertsconverts chemicalchemical energyenergy intointo mechanicalmechanical energyenergy whichwhich drivesdrives bothboth ofof thethe .motions.

* A prehistoric type of over-sized CD player that your parents used Physics 10310, Spring '13 Objective Question 6d

A pet mouse sleeps near the eastern edge of a turntable* that is supported by a frictionless, vertical axle through its center. The mouse wakes up and starts to walk north on the turntable.

Is the momentum of the system constant?

No.No. TheThe turntableturntable hashas zerozero linearlinear momentummomentum whilewhile thethe mousemouse hashas aa littlelittle bitbit ofof linearlinear momentummomentum northwards.northwards.

* A prehistoric type of over-sized CD player that your parents used Physics 10310, Spring '13 Objective Question 6e

A pet mouse sleeps near the eastern edge of a turntable* that is supported by a frictionless, vertical axle through its center. The mouse wakes up and starts to walk north on the turntable.

Is the angular momentum of the system constant?

Yes.Yes. AngularAngular momentummomentum isis constantconstant withwith aa valuevalue ofof zerozero

* A prehistoric type of over-sized CD player that your parents used Physics 10310, Spring '13 Objective Question 7a

Two ponies of equal mass are initially at diametrically opposite points on the rim of a large horizontal turntable that is rotating freely on a frictionless, vertical axle through its center. They start walking toward each other across the turntable

As they walk, what happens to the angular of the turntable?

a)a) itit increasesincreases b) it decreases c) it remains constant

Physics 10310, Spring '13 Objective Question 7b

Two ponies of equal mass are initially at diametrically opposite points on the rim of a large horizontal turntable that is rotating freely on a frictionless, vertical axle through its center. They start walking toward each other across the turntable

Is the mechanical energy of the system (ponies+turntable) conserved?

No.No. TheThe poniesponies mustmust dodo workwork toto pushpush themselvesthemselves inwardinward towardtoward thethe center,center, soso thethe mechanicalmechanical energyenergy increases.increases.

Physics 10310, Spring '13 Objective Question 7c

Two ponies of equal mass are initially at diametrically opposite points on the rim of a large horizontal turntable that is rotating freely on a frictionless, vertical axle through its center. They start walking toward each other across the turntable

Is the momentum of the system (ponies+turntable) conserved?

Yes,Yes, thethe linearlinear momentummomentum staysstays constantconstant withwith aa valuevalue ofof zero.zero.

Physics 10310, Spring '13 Objective Question 7d

Two ponies of equal mass are initially at diametrically opposite points on the rim of a large horizontal turntable that is rotating freely on a frictionless, vertical axle through its center. They start walking toward each other across the turntable

Is the angular momentum of the system (ponies+turntable) conserved?

Yes,Yes, thethe angularangular momentummomentum hashas aa non-non- zerozero value,value, butbut therethere areare nono externalexternal torquestorques soso itit remainsremains constant.constant.

Physics 10310, Spring '13 Objective Question 8

Consider an isolated system moving through empty . The system consists of objects that interact with each other and can change location with respect to one another. Which of the following can change over time.

a) the angular momentum of the system b) the linear momentum of the system c) both the linear & angular momentum of the system d)d) neitherneither thethe linearlinear && angularangular momentummomentum ofof thethe systemsystem as long as no net external or act on the system, linear and angular momentum are both conserved and do not change over time

Physics 10310, Spring '13 Conceptual Question 1

If the torque acting on a particle about an axis through a certain origin is zero, what can you say about its angular momentum about that axis?

ThatThat thethe angularangular momentummomentum aboutabout thatthat axisaxis isis conserved.conserved. YouYou cancan concludeconclude nothingnothing aboutabout thethe magnitudemagnitude ofof thethe angularangular momentummomentum aboutabout thatthat axisaxis

Physics 10310, Spring '13 Conceptual Question 2

A ball is thrown in such a way that it does not spin about its own axis. Is the angular momentum of the ball zero about any arbitrary axis?

No.No. TheThe angularangular momentummomentum aboutabout anyany axisaxis whichwhich isis notnot alongalong thethe pathpath ofof thethe ballball isis non-zero.non-zero.

Physics 10310, Spring '13 Conceptual Question 3

Why does a tightrope walker use a long pole to stay balanced?

SinceSince thethe polepole hashas aa veryvery largelarge momentmoment ofof inertiainertia aboutabout thethe tightrope,tightrope, anan imbalanceimbalance willwill producedproduced aa muchmuch smallersmaller angularangular velocityvelocity (rotation)(rotation) allowingallowing moremore timetime toto regainregain balancebalance andand notnot fallfall screamingscreaming toto hishis death.death.

Physics 10310, Spring '13 Conceptual Question 4a

Two children are playing with a roll of paper towels. One child holds the roll between the index fingers of her hands so that it is free to rotate, and the child pulls at constant speed on the free end of the paper towels. As the child pulls the paper towels, the of the roll of remaining towels decreases.

How does the torque on the roll change with time?

ThisThis isis aa torquetorque duedue toto friction,friction, andand thethe magnitudemagnitude dependsdepends onon thethe normalnormal forceforce betweenbetween thethe surfacessurfaces inin contact.contact. AsAs thethe weightweight ofof thethe rollroll decreasesdecreases thethe frictionalfrictional forceforce decreasesdecreases leadingleading toto aa decreasingdecreasing torque.torque.

Physics 10310, Spring '13 Conceptual Question 4b

Two children are playing with a roll of paper towels. One child holds the roll between the index fingers of her hands so that it is free to rotate, and the second child pulls at constant speed on the free end of the paper towels. As the child pulls the paper towels, the radius of the roll of remaining towels decreases.

How does the angular speed of the roll change in time?

TheThe childchild isis pullingpulling atat constantconstant speed,speed, asas thethe radiusradius ofof thethe rollroll decreasesdecreases thethe angularangular velocityvelocity willwill increase.increase.

Physics 10310, Spring '13 Conceptual Question 4c

Two children are playing with a roll of paper towels. One child holds the roll between the index fingers of her hands so that it is free to rotate, and the second child pulls at constant speed on the free end of the paper towels. As the child pulls the paper towels, the radius of the roll of remaining towels decreases. If the child suddenly jerks the paper towels with a large force, is the towel more likely to break free from the others when pulled from a nearly full or a nearly empty roll? ApproximateApproximate thethe rollroll asas aa ,cylinder, thethe itsits momentmoment ofof inertiainertia isis II == MRMR2 andand thethe massmass isis isis proportionalproportional toto thethe .area. SoSo thethe inertiainertia isis proportionalproportional toto RR4.. IfIf thethe rollroll isis givengiven aa suddensudden ,jerk, itsits angularangular accelerationacceleration maymay notnot bebe enoughenough toto getget itit movingmoving withwith thethe paperpaper soso itit breaks.breaks. ThisThis isis moremore likelylikely whenwhen thethe radiusradius isis large.large. Physics 10310, Spring '13 Conceptual Question 5

Both torque & work are products of force and displacement. How are they different. Do they have the same units?

WorkWork donedone byby aa torquetorque resultsresults inin aa changechange ofof rotationalrotational kinetickinetic energy,energy, workwork donedone byby aa forceforce resultsresults inin aa changechange inin translationaltranslational kinetickinetic energy.energy. BothBoth havehave similarsimilar units:units: NmNm == JJ

Physics 10310, Spring '13 Conceptual Question 6

In some motorcycle races the riders ride over small hills and the motorcycle becomes airborne for a short time. If the racer keeps the throttle open while airborne the motorcycle tends to nose up. Why?

AsAs thethe motorcyclemotorcycle leavesleaves thethe groundground thethe drivedrive wheelwheel speedsspeeds up,up, andand nono externalexternal torquetorque isis actingacting onon itit inin thethe airair soso angularangular momentummomentum isis conserved.conserved. AsAs thethe angularangular momentummomentum ofof thethe wheelwheel increasesincreases thethe * frameframe counter-rotatescounter-rotates –– frontfront upup tailtail down.down.

* This..... will not end well. Physics 10310, Spring '13 Conceptual Question 7

Stars originate as large bodies of slowly rotating gas. Because of gravity these clumps of gas slowly decrease in radius. What happens to the angular speed of a as it shrinks?

SinceSince thethe starstar isis isolatedisolated fromfrom externalexternal torques,torques, itsits angularangular momentummomentum isis conservedconserved whilewhile it'sit's compressing.compressing. AsAs thethe radiusradius decreasesdecreases thethe momentmoment ofof inertiainertia decreasesdecreases andand thethe angularangular speedspeed increases.increases.

Physics 10310, Spring '13 Conceptual Question 8

A scientist arriving at a hotel asks a bellhop to carry a heavy suitcase. When the bellhop rounds a corner the suitcase suddenly swings away from him for some unknown reason. The bellhop drops the suitcase & runs away. What might be in the suitcase?

ItIt mightmight containcontain aa gyroscope*gyroscope* IfIf thethe gyroscopegyroscope isis spinningspinning aboutabout anan axisaxis passingpassing horizontallyhorizontally throughthrough thethe bellhopbellhop thethe forceforce hehe appliesapplies toto turnturn aa cornercorner resultsresults inin aa torquetorque thatthat wouldwould makemake thethe suitcasesuitcase swingswing away.away.

** @#$(@#%[email protected]#(%@#$(@#%[email protected]#(% scientists!scientists! Physics 10310, Spring '13 Conceptual Question 9

If global warming continues over the next hundred years it is possible that some polar ice could melt and the water will be distributed closer to the equator. (a) How would that change the moment of inertia of the ? (b) Would the duration of a day increase or decrease?

a)a) IfIf massmass movedmoved fromfrom thethe polepole toto thethe equatorequator itit wouldwould bebe movingmoving awayaway fromfrom thethe axisaxis ofof rotationrotation soso thethe momentmoment ofof inertiainertia wouldwould increase.increase. b)b) SinceSince thethe earthsearths angularangular momentummomentum isis conserved,conserved, thethe dayday wouldwould bebe longerlonger (by(by aa couplecouple ofof nanoseconds).nanoseconds).

Physics 10310, Spring '13 Conceptual Question 10

A cat usually lands on it feet regardless of how it was dropped. A slow motion film of a cat falling shows the upper half of its body twisting in one direction. Why would the cat do this? SinceSince thethe catscats angularangular momentummomentum isis conservedconserved rotatingrotating oneone halfhalf ofof it'sit's bodybody willwill causecause thethe otherother toto rotaterotate inin thethe oppositeopposite directiondirection whichwhich allowsallows thethe catcat toto getget it'sit's feetfeet underneathunderneath itit

Physics 10310, Spring '13