1.4 DIMENSIONS OF PHYSICAL QUANTITIES formula of the given physical quantity. For example, the dimensional formula of the volume The nature of a physical quantity is described is [M° L3 T°], and that of speed or velocity is by its dimensions. All the physical quantities [M° L T-1]. Similarly, [M° L T–2] is the dimensional represented by derived units can be expressed formula of acceleration and [M L–3 T°] that of in terms of some combination of seven mass density. fundamental or base quantities. We shall call An equation obtained by equating a physical these base quantities as the seven dimensions quantity with its dimensional formula is called of the physical world, which are denoted with the dimensional equation of the physical square brackets [ ]. Thus, length has the quantity. Thus, the dimensional equations are dimension [L], mass [M], time [T], electric current the equations, which represent the dimensions [A], thermodynamic temperature [K], luminous of a physical quantity in terms of the base intensity [cd], and amount of substance [mol]. quantities. For example, the dimensional The dimensions of a physical quantity are the equations of volume [V], speed [v], force [F ] and powers (or exponents) to which the base mass density [ρ] may be expressed as quantities are raised to represent that [V] = [M0 L3 T0] quantity. Note that using the square brackets [v] = [M0 L T–1] [ ] round a quantity means that we are dealing [F] = [M L T–2] with ‘the dimensions of’ the quantity. [ρ] = [M L–3 T0] In mechanics, all the physical quantities can be written in terms of the dimensions [L], [M] The dimensional equation can be obtained and [T]. For example, the volume occupied by from the equation representing the relations between the physical quantities. Thean object is expressed as the product of length, dimensional formulae of a large number andbreadth and height, or three lengths. Hence the wide variety of physical quantities, derived fromdimensions of volume are [L] × [L] × [L] = [L]3 = [L3]. the equations representing the relationships As the volume is independent of mass and time, among other physical quantities and expressed it is said to possess zero dimension in mass [M°], in terms of base quantities are given in zero dimension in time [T°] and three Appendix 9 for your guidance and ready dimensions in length. reference. Similarly, force, as the product of mass and acceleration, can be expressed as 1.6 DIMENSIONAL ANALYSIS AND ITS Force = mass × acceleration APPLICATIONS = mass × (length)/(time)2 The recognition of concepts of dimensions, which The dimensions of force are [M] [L]/[T]2 = guide the description of physical behaviour is [M L T–2]. Thus, the force has one dimension in of basic importance as only those physical Reprint 2025-26 8 PHYSICS quantities can be added or subtracted which such as angle as the ratio (length/length), have the same dimensions. A thorough refractive index as the ratio (speed of light in understanding of dimensional analysis helps us vacuum/speed of light in medium) etc., has no in deducing certain relations among different dimensions. physical quantities and checking the derivation, Now we can test the dimensional consistency accuracy and dimensional consistency or or homogeneity of the equation homogeneity of various mathematical 2expressions. When magnitudes of two or more x = x 0 + v 0 t + (1/2 ) a t physical quantities are multiplied, their units for the distance x travelled by a particle or body should be treated in the same manner as in time t which starts from the position x0 with ordinary algebraic symbols. We can cancel an initial velocity v0 at time t = 0 and has uniformidentical units in the numerator and acceleration a along the direction of motion. denominator. The same is true for dimensions The dimensions of each term may be written as of a physical quantity. Similarly, physical [x] = [L] quantities represented by symbols on both sides of a mathematical equation must have the same [x0 ] = [L] dimensions. [v0 t] = [L T–1] [T] = [L] [(1/2) a t2] = [L T–2] [T2]1.6.1 Checking the Dimensional Consistency of Equations = [L] As each term on the right hand side of this The magnitudes of physical quantities may be equation has the same dimension, namely that added together or subtracted from one another of length, which is same as the dimension of only if they have the same dimensions. In other left hand side of the equation, hence this words, we can add or subtract similar physical equation is a dimensionally correct equation. quantities. Thus, velocity cannot be added to It may be noted that a test of consistency of force, or an electric current cannot be subtracted dimensions tells us no more and no less than a from the thermodynamic temperature. This test of consistency of units, but has the simple principle called the principle of advantage that we need not commit ourselves homogeneity of dimensions in an equation is to a particular choice of units, and we need not extremely useful in checking the correctness of worry about conversions among multiples and an equation. If the dimensions of all the terms sub-multiples of the units. It may be borne in are not same, the equation is wrong. Hence, if mind that if an equation fails this consistency we derive an expression for the length (or test, it is proved wrong, but if it passes, it is distance) of an object, regardless of the symbols not proved right. Thus, a dimensionally correct appearing in the original mathematical relation, equation need not be actually an exact when all the individual dimensions are (correct) equation, but a dimensionally wrong simplified, the remaining dimension must be (incorrect) or inconsistent equation must be that of length. Similarly, if we derive an equation wrong. of speed, the dimensions on both the sides of ⊳equation, when simplified, must be of length/ Example 1.3 Let us consider an equation time, or [L T–1]. Dimensions are customarily used as a 1 2 m v = m g h preliminary test of the consistency of an 2 equation, when there is some doubt about the where m is the mass of the body, v its correctness of the equation. However, the velocity, g is the acceleration due to dimensional consistency does not guarantee gravity and h is the height. Check correct equations. It is uof dimensionless quantities or functions. The correct. arguments of special functions, such as the trigonometric, logarithmic and exponential Answer The dimensions of LHS are functions must be dimensionless. A pure [M] [L T–1 ]2 = [M] [ L2 T–2] number, ratio of similar physical quantities, = [M L2 T–2] Reprint 2025-26 UNITS AND MEASUREMENT 9 The dimensions of RHS are string, that oscillates under the action of [M][L T–2] [L] = [M][L2 T–2] the force of gravity. Suppose that the period = [M L2 T–2] of oscillation of the simple pendulum depends on its length (l), mass of the bobThe dimensions of LHS and RHS are the same and hence the equation is dimensionally correct. ⊳ (m) and acceleration due to gravity (g). Derive the expression for its time period ⊳ using method of dimensions. Example 1.4 The SI unit of energy is J = kg m2 s–2; that of speed v is m s–1 and Answer The dependence of time period T on of acceleration a is m s–2. Which of the the quantities l, g and m as a product may be formulae for kinetic energy (K) given below written as : can you rule out on the basis of T = k lx gy mz dimensional arguments (m stands for the mass of the body) : where k is dimensionless constant and x, y (a) K = m2 v3 and z are the exponents. (b) K = (1/2)mv2 By considering dimensions on both sides, we (c) K = ma have (d) K = (3/16)mv2 o o 1 1 x 1 –2 y 1 z [L M T ]=[L ] [L T ] [M ] (e) K = (1/2)mv2 + ma = Lx+y T–2y Mz Answer Every correct formula or equation must On equating the dimensions on both sides, have the same dimensions on both sides of the we have equation. Also, only quantities with the same x + y = 0; –2y = 1; and z = 0 physical dimensions can be added or 1 1 subtracted. The dimensions of the quantity on So that x = , y = – , z = 0 2 2the right side are [M2 L3 T–3] for (a); [M L2 T–2] for (b) and (d); [M L T–2] for (c). The quantity on the Then, T = k l½ g–½ right side of (e) has no proper dimensions since two quantities of different dimensions have been l or, T = kadded. Since the kinetic energy K has the g dimensions of [M L2 T–2], formulas (a), (c) and (e) Note that value of constant k can not be obtainedare ruled out. Note that dimensional arguments by the method of dimensions. Here it does notcannot tell which of the two, (b) or (d), is the matter if some number multiplies the right sidecorrect formula. For this, one must turn to the of this formula, because that does not affect itsactual definition of kinetic energy (see dimensions.Chapter 5). The correct formula for kinetic energy is given by (b). ⊳ l Actually, k = 2π so that T = 2π ⊳ 1.6.2 Deducing Relation among the g Physical Quantities The method of dimensions can sometimes be Dimensional analysis is very useful in deducing used to deduce relation among the physical relations among the interdependent physical quantities. For this we should know the quantities. However, dimensionless constants dependence of the physical quantity on other cannot be obtained by this method. The method quantities (upto three physical quantities or of dimensions can only test the dimensional linearly independent variables) and consider it validity, but not the exact relationship between as a product type of the dependence. Let us take physical quantities in any equation. It does not an example. distinguish between the physical quantities having same dimensions.⊳ Example 1.5 Consider a simple A number of exercises at the end of this pendulum, having a bob attached to a chapter will help you develop skill in dimensional analysis. Reprint 2025-26 10 PHYSICS SUMMARY 1. Physics is a quantitative science, based on measurement of physical quantities. Certain physical quantities have been chosen as fundamental or base quantities (such as length, mass, time, electric current, thermodynamic temperature, amount of substance, and luminous intensity). 2. Each base quantity is defined in terms of a certain basic, arbitrarily chosen but properly standardised reference standard called unit (such as metre, kilogram, second, ampere, kelvin, mole and candela). The units for the fundamental or base quantities are called fundamental or base units. 3. Other physical quantities, derived from the base quantities, can be expressed as a combination of the base units and are called derived units. A complete set of units, both fundamental and derived, is called a system of units. 4. The International System of Units (SI) based on seven base units is at present internationally accepted unit system and is widely used throughout the world. 5. The SI units are used in all physical measurements, for both the base quantities and the derived quantities obtained from them. Certain derived units are expressed by means of SI units with special names (such as joule, newton, watt, etc). 6. The SI units have well defined and internationally accepted unit symbols (such as m for metre, kg for kilogram, s for second, A for ampere, N for newton etc.). 7. Physical measurements are usually expressed for small and large quantities in scientific notation, with powers of 10. Scientific notation and the prefixes are used to simplify measurement notation and numerical computation, giving indication to the precision of the numbers. 8. Certain general rules and guidelines must be followed for using notations for physical quantities and standard symbols for SI units, some other units and SI prefixes for expressing properly the physical quantities and measurements. 9. In computing any physical quantity, the units for derived quantities involved in the relationship(s) are treated as though they were algebraic quantities till the desired units are obtained. 10. In measured and computed quantities proper significant figures only should be retained. Rules for determining the number of significant figures, carrying out arithmetic operations with them, and ‘rounding off ‘ the u 11. The dimensions of base quantities and combination of these dimensions describe the nature of physical quantities. Dimensional analysis can be used to check the dimensional consistency of equations, deducing relations among the physical quantities, etc. A dimensionally consistent equation need not be actually an exact (correct) equation, but a dimensionally wrong or inconsistent equation must be wrong. EXERCISES Note : In stating numerical answers, take care of significant figures. 1.1 Fill in the blanks (a) The volume of a cube of side 1 cm is equal to .....m3 (b) The surface area of a solid cylinder of radius 2.0 cm and height 10.0 cm is equal to ...(mm)2 (c) A vehicle moving with a speed of 18 km h–1 covers....m in 1 s (d) The relative density of lead is 11.3. Its density is ....g cm–3 or ....kg m–3. 1.2 Fill in the blanks by suitable conversion of units (a) 1 kg m2 s–2 = ....g cm2 s–2 (b) 1 m = ..... ly (c) 3.0 m s–2 = .... km h–2 (d) G = 6.67 × 10–11 N m2 (kg)–2 = .... (cm)3 s–2 g–1. Reprint 2025-26 UNITS AND MEASUREMENT 11 1.3 A calorie is a unit of heat (energy in transit) and it equals about 4.2 J where 1J = 1 kg m2 s–2. Suppose we employ a system of units in which the unit of mass equals α kg, the unit of length equals β m, the unit of time is γ s. Show that a calorie has a magnitude 4.2 α–1 β–2 γ 2 in terms of the new units. 1.4 Explain this statement clearly : “To call a dimensional quantity ‘large’ or ‘small’ is meaningless without specifying a standard for comparison”. In view of this, reframe the following statements wherever necessary : (a) atoms are very small objects (b) a jet plane moves with great speed (c) the mass of Jupiter is very large (d) the air inside this room contains a large number of molecules (e) a proton is much more massive than an electron (f) the speed of sound is much smaller than the speed of light. 1.5 A new unit of length is chosen such that the speed of light in vacuum is unity. What is the distance between the Sun and the Earth in terms of the new unit if light takes 8 min and 20 s to cover this distance ? 1.6 Which of the following is the most precise device for measuring length : (a) a vernier callipers with 20 divisions on the sliding scale (b) a screw gauge of pitch 1 mm and 100 divisions on the circular scale (c) an optical instrument that can measure length to within a wavelength of light ? 1.7 A student measures the thickness of a human hair by looking at it through a microscope of magnification 100. He makes 20 observations and finds that the average width of the hair in the field of view of the microscope is 3.5 mm. What is the estimate on the thickness of hair ? 1.8 Answer the following : (a)You are given a thread and a metre scale. How will you estimate the diameter of the thread ? (b)A screw gauge has a pitch of 1.0 mm and 200 divisions on the circular scale. Do you think it is possible to increase the accuracy of the screw gauge arbitrarily by increasing the number of divisions on the circular scale ? (c) The mean diameter of a thin brass rod is to be measured by vernier callipers. Why is a set of 100 measurements of the diameter expected to yield a more reliable estimate than a set of 5 measurements only ? 1.9 The photograph of a house occupies an area of 1.75 cm2 on a 35 mm slide. The slide is projected on to a screen, and the area of the house on the screen is 1.55 m2. What is the linear magnification of the projector-screen arrangement. 1.10 State the number of significant figures in the following : (a) 0.007 m2 (b) 2.64 × 1024 kg (c) 0.2370 g cm–3 (d) 6.320 J (e) 6.032 N m–2 (f) 0.0006032 m2 1.11 The length, breadth and thickness of a rectangular sheet of metal are 4.234 m, 1.005 m, and 2.01 cm respectively. Give the area and volume of the sheet to correct significant figures. 1.12 The mass of a box measured by a grocer’s balance is 2.30 kg. Two gold pieces of masses 20.15 g and 20.17 g are added to the box. What is (a) the total mass of the box, (b) the difference in the masses of the pieces to correct significant figures ? 1.13 A famous relation in physics relates ‘moving mass’ m to the ‘rest mass’ mo of a particle in terms of its speed v and the speed of light, c. (This relation first arose as a consequence of special relativity due to Albert Einstein). A boy recalls the relation almost correctly but forgets where to put the constant c. He writes : m 0 m = 2 1/2 . 1 − v ( ) Guess where to put the missing c. Reprint 2025-26 12 PHYSICS 1.14 The unit of length convenient on the atomic scale is known as an angstrom and is denoted by Å: 1 Å = 10–10 m. The size of a hydrogen atom is about 0.5 Å. What is the total atomic volume in m3 of a mole of hydrogen atoms ? 1.15 One mole of an ideal gas at standard temperature and pressure occupies 22.4 L (molar volume). What is the ratio of molar volume to the atomic volume of a mole of hydrogen ? (Take the size of hydrogen molecule to be about 1 Å). Why is this ratio so large ? 1.16 Explain this common observation clearly : If you look out of the window of a fast moving train, the nearby trees, houses etc. seem to move rapidly in a direction opposite to the train’s motion, but the distant objects (hill tops, the Moon, the stars etc.) seem to be stationary. (In fact, since you are aware that you are moving, these distant objects seem to move with you). 1.17 The Sun is a hot plasma (ionized matter) with its inner core at a temperature exceeding 107 K, and its outer surface at a temperature of about 6000 K. At these high temperatures, no substance remains in a solid or liquid phase. In what range do you expect the mass density of the Sun to be, in the range of densities of solids and liquids or gases ? Check if your guess is correct from the following data : mass of the Sun = 2.0 ×1030 kg, radius of the Sun = 7.0 × 108 m. Reprint 2025-26 CHAPTER TWO MOTION IN A STRAIGHT LINE 2.1 INTRODUCTION Motion is common to everything in the universe. We walk, run and ride a bicycle. Even when we are sleeping, air moves 2.1 Introduction into and out of our lungs and blood flows in arteries and 2.2 Instantaneous velocity and veins. We see leaves falling from trees and water flowing speed down a dam. Automobiles and planes carry people from one 2.3 Acceleration place to the other. The earth rotates once every twenty-four 2.4 Kinematic equations for hours and revolves round the sun once in a year. The sun uniformly accelerated motion itself is in motion in the Milky Way, which is again moving

6.11 Dynamics of rotational the motion of extended bodies. motion about a fixed axis A large class of problems with extended bodies can be

6.12 ANGULAR MOMENTUM IN CASE OF For computing the total angular momentum ROTATION ABOUT A FIXED AXIS of the whole rigid body, we add up the contribution of each particle of the body. We have studied in section 6.7, the angular momentum of a system of particles. We already Thus know from there that the time rate of total We denote by L ⊥ and L z the components of angular momentum of a system of particles L respectively perpendicular to the z-axis andabout a point is equal to the total external torque along the z-axis;on the system taken about the same point. When OC i × m i v i (6.42a)the total external torque is zero, the total angular L ⊥= ∑ momentum of the system is conserved. where mi and vi are respectively the mass and We now wish to study the angular momentum the velocity of the ith particle and Ci is the centrein the special case of rotation about a fixed axis. of the circle described by the particle; The general expression for the total angular momentum of the system of n particles is N and ˆ (6.42b) L = =∑i 1 ri × p i (6.25b) or L z = Iωk We first consider the angular momentum of The last step follows since the perpendicular a typical particle of the rotating rigid body. We distance of the ith particle from the axis is ri; andthen sum up the contributions of individual by definition the moment of inertia of the body particles to get L of the whole body. m i ri2 . For a typical particle l = r × p. As seen in the about the axis of rotation is I =∑ last section r = OP = OC + CP [Fig. 6.17(b)]. With Note L = L z + L ⊥ (6.42c)p = m v , l = ( OC × m v ) + ( CP × m v ) The rigid bodies which we have mainly considered in this chapter are symmetric about The magnitude of the linear velocity v of the the axis of rotation, i.e. the axis of rotation is particle at P is given by v = ωr⊥ where r⊥ is the one of their symmetry axes. For such bodies, for length of CP or the perpendicular distance of P a given OCi, for every particle which has a from the axis of rotation. Further, v is tangential velocity vi , there is another particle of velocity at P to the circle which the particle describes. –vi located diametrically opposite on the circle Using the right-hand rule one can check that with centre Ci described by the particle. TogetherCP × v is parallel to the fixed axis. The unit vector along the fixed axis (chosen as the z-axis) such pairs will contribute zero to L ⊥ and as a is ˆk . Hence result for symmetric bodies L ⊥ is zero, and CP × m v = r⊥ (mv ) kˆ hence z = Iωkˆ (6.42d) = mr⊥2ω kˆ (since υ = ωr⊥ ) L = L Similarly, we can check that OC × v is For bodies, which are not symmetric about perpendicular to the fixed axis. Let us denote the axis of rotation, L is not equal to Lz and hence the part of l along the fixed axis (i.e. the z-axis) L does not lie along the axis of rotation. by lz, then Referring to Table 6.1, can you tell in which l z = CP × m v = mr⊥2ωkˆ cases L = Lz will not apply? Let us differentiate Eq. (6.42b). Since ˆk is a and l = l z + OC × m v fixed (constant) vector, we get We note that lz is parallel to the fixed axis, ˆbut l is not. In general, for a particle, the angular I ω) k d ( L z ) =  d (  d t momentum l is not along the axis of rotation, d t i.e. for a particle, l and ω are not necessarily Now, Eq. (6.28b) states parallel. Compare this with the corresponding dL fact in translation. For a particle, p and v are = τ dtalways parallel to each other. Reprint 2025-26 122 PHYSICS As we have seen in the last section, only We have already derived this equation using those components of the external torques which the work - kinetic energy route. are along the axis of rotation, need to be taken into account, when we discuss rotation about a 6.12.1 Conservation of angular momentum fixed axis. This means we can take τ = τkˆ . We are now in a position to revisit the principle of conservation of angular momentum in the Since L = L z + L ⊥ and the direction of Lz (vector context of rotation about a fixed axis. From Eq. ˆk ) is fixed, it follows that for rotation about a (6.43c), if the external torque is zero, fixed axis, Lz = Iω = constant (6.44) For symmetric bodies, from Eq. (6.42d), Lz d L z = τkˆ (6.43a) may be replaced by L .(L and Lz are respectively d t the magnitudes of L and Lz.) This then is the required form, for fixed axis d L rotation, of Eq. (6.29a), which expresses theand ⊥= 0 (6.43b) dt general law of conservation of angular momentum Thus, for rotation about a fixed axis, the of a system of particles. Eq. (6.44) applies to many component of angular momentum perpendicular situations that we come across in daily life. You may do this experiment with your friend. Sit on a to the fixed axis is constant. As L z = Iωkˆ , we swivel chair (a chair with a seat, free to rotate get from Eq. (6.43a), about a pivot) with your arms folded and feet not resting on, i.e., away from, the ground. Ask your d ( Iω) = τ (6.43c) friend to rotate the chair rapidly. While the chair d t is rotating with considerable angular speed If the moment of inertia I does not change with stretch your arms horizontally. What happens? time, Your angular speed is reduced. If you bring back d dω your arms closer to your body, the angular speed ( Iω) = I = Iα increases again. This is a situation where thed t d t principle of conservation of angular momentumand we get from Eq. (6.43c), is applicable. If friction in the rotational τ = I α (6.41) Fig 6.32 (a) A demonstration of conservation of Fig 6.32 (b) An acrobat employing the principle of angular momentum. A girl sits on a conservation of angular momentum in swivel chair and stretches her arms/ her performance. brings her arms closer to the body. Reprint 2025-26 SYSTEMS OF PARTICLES AND ROTATIONAL MOTION 123 mechanism is neglected, there is no external A circus acrobat and a diver take advantage torque about the axis of rotation of the chair and of this principle. Also, skaters and classical, hence Iω is constant. Stretching the arms Indian or western, dancers performing a increases I about the axis of rotation, resulting in pirouette (a spinning about a tip–top) on the toes decreasing the angular speed ω. Bringing the of one foot display ‘mastery’ over this principle. arms closer to the body has the opposite effect. Can you explain? SUMMARY 1. Ideally, a rigid body is one for which the distances between different particles of the body do not change, even though there are forces on them. 2. A rigid body fixed at one point or along a line can have only rotational motion. A rigid body not fixed in some way can have either pure translational motion or a combination of translational and rotational motions. 3. In rotation about a fixed axis, every particle of the rigid body moves in a circle which lies in a plane perpendicular to the axis and has its centre on the axis. Every Point in the rotating rigid body has the same angular velocity at any instant of time. 4. In pure translation, every particle of the body moves with the same velocity at any instant of time. 5. Angular velocity is a vector. Its magnitude is ω = dθ/dt and it is directed along the axis of rotation. For rotation about a fixed axis, this vector ω has a fixed direction. 6. The vector or cross product of two vector a and b is a vector written as a×b. The magnitude of this vector is absinθ and its direction is given by the right handed screw or the right hand rule. 7. The linear velocity of a particle of a rigid body rotating about a fixed axis is given by v = ω × r, where r is the position vector of the particle with respect to an origin along the fixed axis. The relation applies even to more general rotation of a rigid body with one point fixed. In that case r is the position vector of the particle with respect to the fixed point taken as the origin. 8. The centre of mass of a system of n particles is defined as the point whose position vector is ri ∑m i R = M 9. Velocity of the centre of mass of a system of particles is given by V = P/M, where P is the linear momentum of the system. The centre of mass moves as if all the mass of the system is concentrated at this point and all the external forces act at it. If the total external force on the system is zero, then the total linear momentum of the system is constant. 10. The angular momentum of a system of n particles about the origin is n L = ri × pi i =∑1 The torque or moment of force on a system of n particles about the origin is τ = ∑ri × Fi 1 The force Fi acting on the ith particle includes the external as well as internal forces. Assuming Newton’s third law of motion and that forces between any two particles act along the line joining the particles, we can show τint = 0 and Reprint 2025-26 124 PHYSICS dL = τ ext dt 11. A rigid body is in mechanical equilibrium if (1) it is in translational equilibrium, i.e., the total external force on it is zero : Fi = 0 , ∑ and (2) it is in rotational equilibrium, i.e. the total external torque on it is zero : Fi = 0 . ∑ τi = ∑ri × 12. The centre of gravity of an extended body is that point where the total gravitational torque on the body is zero. 13. The moment of intertia of a rigid body about an axis is defined by the formula I m i ri2 =∑ where ri is the perpendicular distance of the ith point of the body from the axis. The 1 2 kinetic energy of rotation is K = Iω . 2 POINTS TO PONDER 1. To determine the motion of the centre of mass of a system no knowledge of internal forces of the system is required. For this purpose we need to know only the external forces on the body. 2. Separating the motion of a system of particles as the motion of the centre of mass, (i.e., the translational motion of the system) and motion about (i.e. relative to) the centre of mass of the system is a useful technique in dynamics of a system of particles. One example of this technique is separating the kinetic energy of a system of particles K as the kinetic energy of the system about its centre of mass K′ and the kinetic energy of the centre of mass MV2/2, K = K′ + MV2/2 3. Newton’s Second Law for finite sized bodies (or systems of particles) is based in Newton’s Second Law and also Newton’s Third Law for particles. 4. To establish that the time rate of change of the total angular momentum of a system of particles is the total external torque in the system, we need not only Newton’s second law for particles, but also Newton’s third law with the provision that the forces between any two particles act along the line joining the particles. 5. The vanishing of the total external force and the vanishing of the total external torque are independent conditions. We can have one without the other. In a couple, total external force is zero, but total torque is non-zero. 6. The total torque on a system is independent of the origin if the total external force is zero. 7. The centre of gravity of a body coincides with its centre of mass only if the gravitational field does not vary from one part of the body to the other. Reprint 2025-26 SYSTEMS OF PARTICLES AND ROTATIONAL MOTION 125 8. The angular momentum L and the angular velocity ω are not necessarily parallel vectors. However, for the simpler situations discussed in this chapter when rotation is about a fixed axis which is an axis of symmetry of the rigid body, the relation L = Iω holds good, where I is the moment of the inertia of the body about the rotation axis. EXERCISES 6.1 Give the location of the centre of mass of a (i) sphere, (ii) cylinder, (iii) ring, and (iv) cube, each of uniform mass density. Does the centre of mass of a body necessarily lie inside the body ? 6.2 In the HCl molecule, the separation between the nuclei of the two atoms is about 1.27 Å (1 Å = 10-10 m). Find the approximate location of the CM of the molecule, given that a chlorine atom is about 35.5 times as massive as a hydrogen atom and nearly all the mass of an atom is concentrated in its nucleus. 6.3 A child sits stationary at one end of a long trolley moving uniformly with a speed V on a smooth horizontal floor. If the child gets up and runs about on the trolley in any manner, what is the speed of the CM of the (trolley + child) system ? 6.4 Show that the area of the triangle contained between the vectors a and b is one half of the magnitude of a × b. 6.5 Show that a.(b × c) is equal in magnitude to the volume of the parallelepiped formed on the three vectors , a, b and c. 6.6 Find the components along the x, y, z axes of the angular momentum l of a particle, whose position vector is r with components x, y, z and momentum is p with components px, py and pz. Show that if the particle moves only in the x-y plane the angular momentum has only a z-component. 6.7 Two particles, each of mass m and speed v, travel in opposite directions along parallel lines separated by a distance d. Show that the angular momentum vector of the two particle system is the same whatever be the point about which the angular momentum is taken. 6.8 A non-uniform bar of weight W is suspended at rest by two strings of negligible weight as shown in Fig.6.33. The angles made by the strings with the vertical are 36.9° and 53.1° respectively. The bar is 2 m long. Calculate the distance d of the centre of gravity of the bar from its left end. Fig. 6.33 6.9 A car weighs 1800 kg. The distance between its front and back axles is 1.8 m. Its centre of gravity is 1.05 m behind the front axle. Determine the force exerted by the level ground on each front wheel and each back wheel. Reprint 2025-26 126 PHYSICS 6.10 Torques of equal magnitude are applied to a hollow cylinder and a solid sphere, both having the same mass and radius. The cylinder is free to rotate about its standard axis of symmetry, and the sphere is free to rotate about an axis passing through its centre. Which of the two will acquire a greater angular speed after a given time. 6.11 A solid cylinder of mass 20 kg rotates about its axis with angular speed 100 rad s-1. The radius of the cylinder is 0.25 m. What is the kinetic energy associated with the rotation of the cylinder? What is the magnitude of angular momentum of the cylinder about its axis? 6.12 (a) A child stands at the centre of a turntable with his two arms outstretched. The turntable is set rotating with an angular speed of 40 rev/min. How much is the angular speed of the child if he folds his hands back and thereby reduces his moment of inertia to 2/5 times the initial value ? Assume that the turntable rotates without friction. (b) Show that the child’s new kinetic energy of rotation is more than the initial kinetic energy of rotation. How do you account for this increase in kinetic energy? 6.13 A rope of negligible mass is wound round a hollow cylinder of mass 3 kg and radius 40 cm. What is the angular acceleration of the cylinder if the rope is pulled with a force of 30 N ? What is the linear acceleration of the rope ? Assume that there is no slipping. 6.14 To maintain a rotor at a uniform angular speed of 200 rad s-1, an engine needs to transmit a torque of 180 N m. What is the power required by the engine ? (Note: uniform angular velocity in the absence of friction implies zero torque. In practice, applied torque is needed to counter frictional torque). Assume that the engine is 100% efficient. 6.15 From a uniform disk of radius R, a circular hole of radius R/2 is cut out. The centre of the hole is at R/2 from the centre of the original disc. Locate the centre of gravity of the resulting flat body. 6.16 A metre stick is balanced on a knife edge at its centre. When two coins, each of mass 5 g are put one on top of the other at the 12.0 cm mark, the stick is found to be balanced at 45.0 cm. What is the mass of the metre stick? 6.17 The oxygen molecule has a mass of 5.30 × 10-26 kg and a moment of inertia of 1.94 ×10-46 kg m2 about an axis through its centre perpendicular to the lines joining the two atoms. Suppose the mean speed of such a molecule in a gas is 500 m/s and that its kinetic energy of rotation is two thirds of its kinetic energy of translation. Find the average angular velocity of the molecule. Reprint 2025-26 CHAPTER SEVEN GRAVITATION 7.1 INTRODUCTION Early in our lives, we become aware of the tendency of all material objects to be attracted towards the earth. Anything