6.11 DYNAMICS OF ROTATIONAL MOTION ABOUT A FIXED AXIS Table 6.2 lists quantities associated with linear motion and their analogues in rotational motion. We have already compared kinematics of the two motions. Also, we know that in rotational motion moment of inertia and torque play the same role as mass and force respectively in linear motion. Given this we should be able to guess what the other analogues indicated in the table are. For Fig. 6.30 Work done by a force F1 acting on a example, we know that in linear motion, work particle of a body rotating about a fixed done is given by F dx, in rotational motion about axis; the particle describes a circular path a fixed axis it should be τdθ , since we already with centre C on the axis; arc P1P′1(ds1) gives the displacement of the particle. know the correspondence d x → dθ and F → τ . Reprint 2025-26 SYSTEMS OF PARTICLES AND ROTATIONAL MOTION 119 Table 6.2 Comparison of Translational and Rotational Motion Linear Motion Rotational Motion about a Fixed Axis 1 Displacement x Angular displacement θ 2 Velocity v = dx/dt Angular velocity ω = dθ/dt 3 Acceleration a = dv/dt Angular acceleration α = dω/dt 4 Mass M Moment of inertia I 5 Force F = Ma Torque τ = I α 6 Work dW = F ds Work W = τ dθ 7 Kinetic energy K = Mv2/2 Kinetic energy K = Iω2/2 8 Power P = F v Power P = τω 9 Linear momentum p = Mv Angular momentum L = Iω If there are more than one forces acting on Figure 6.30 shows a cross-section of a rigid the body, the work done by all of them can bebody rotating about a fixed axis, which is taken added to give the total work done on the body. as the z-axis (perpendicular to the plane of the Denoting the magnitudes of the torques due to page; see Fig. 6.29). As said above we need to the different forces as τ1, τ2, … etc,consider only those forces which lie in planes perpendicular to the axis. Let F1 be one such d W = (τ1 + τ2 + ...)dθ typical force acting as shown on a particle of Remember, the forces giving rise to the the body at point P1 with its line of action in a torques act on different particles, but the plane perpendicular to the axis. For convenience angular displacement dθ is the same for all we call this to be the x′–y′ plane (coincident particles. Since all the torques considered are with the plane of the page). The particle at P1 parallel to the fixed axis, the magnitude τ of the describes a circular path of radius r1 with centre total torque is just the algebraic sum of the C on the axis; CP1 = r1. magnitudes of the torques, i.e., τ = τ1 + τ2 + ..... In time ∆t, the point moves to the position We, therefore, have P1′. The displacement of the particle ds1, d W = τdθ (6.39) therefore, has magnitude ds1 = r1dθ and This expression gives the work done by the direction tangential at P1 to the circular path total (external) torque τ which acts on the bodyas shown. Here dθ is the angular displacement rotating about a fixed axis. Its similarity withof the particle, dθ = ∠P1CP1′ .The work done by the corresponding expression the force on the particle is dW= F ds dW1 = F1. ds1= F1ds1 cosφ1= F1(r1 dθ)sinα1 for linear (translational) motion is obvious. where φ1 is the angle between F1 and the tangent Dividing both sides of Eq. (6.39) by dt gives at P1, and α1 is the angle between F1 and the d W dθ P = = τ = τωradius vector OP1; φ1 + α1 = 90°. d t d t The torque due to F1 about the origin is or P = τω (6.40) OP1 × F1. Now OP1 = OC + OP1. [Refer to This is the instantaneous power. Compare Fig. 6.17(b).] Since OC is along the axis, the torque this expression for power in the case of rotational resulting from it is excluded from our motion about a fixed axis with that of power in consideration. The effective torque due to F1 is the case of linear motion, τ1= CP × F1; it is directed along the axis of rotation P = Fv and has a magnitude τ1= r1F1 sinα , Therefore, In a perfectly rigid body there is no internal dW1 = τ1dθ motion. The work done by external torques is Reprint 2025-26 120 PHYSICS therefore, not dissipated and goes on to increase Answer the kinetic energy of the body. The rate at which work is done on the body is given by Eq. (6.40). This is to be equated to the rate at which kinetic energy increases. The rate of increase of kinetic energy is d  I ω2  ( 2ω) d ω I d t  2 = 2 d t We assume that the moment of inertia does not change with time. This means that the mass of the body does not change, the body remains rigid and also the axis does not change its position with respect to the body. Since α= dω/d,t we get d  I ω2  I ω α Fig. 6.31 dt  2 = (a) We use I α = τ Equating rates of work done and of increase the torque τ = F Rin kinetic energy, = 25 × 0.20 Nm (as R = 0.20m) τω= I ωα = 5.0 Nm τ = I α (6.41) I = Moment of inertia of flywheel about its Eq. (6.41) is similar to Newton’s second law 2 for linear motion expressed symbolically as axis = MR F = ma 2 Just as force produces acceleration, torque 2 20.0 × (0.2) produces angular acceleration in a body. The = = 0.4 kg m2 2 angular acceleration is directly proportional to α = angular acceleration the applied torque and is inversely proportional = 5.0 N m/0.4 kg m2 = 12.5 s–2 to the moment of inertia of the body. In this (b) Work done by the pull unwinding 2m of the respect, Eq.(6.41) can be called Newton’s second cord law for rotational motion about a fixed axis. = 25 N × 2m = 50 J u (c) Let ω be the final angular velocity. The Example 6.12 A cord of negligible mass is 1 2 kinetic energy gained = Iω , wound round the rim of a fly wheel of mass 2 20 kg and radius 20 cm. A steady pull of since the wheel starts from rest. Now, 25 N is applied on the cord as shown in 2 2 ω = ω0 + 2αθ, ω0 = 0 Fig. 6.31. The flywheel is mounted on a horizontal axle with frictionless bearings. The angular displacement θ = length of unwound string / radius of wheel (a) Compute the angular acceleration of = 2m/0.2 m = 10 rad the wheel. (b) Find the work done by the pull, when ω2 = 2 × 12 .5 × 10 .0 = 250 (rad/s )2 2m of the cord is unwound. ∴ (c) Find also the kinetic energy of the wheel at this point. Assume that the (d) The answers are the same, i.e. the kinetic energy wheel starts from rest. gained by the wheel = work done by the force. (d) Compare answers to parts (b) and (c). There is no loss of energy due to friction. ⊳ Reprint 2025-26 SYSTEMS OF PARTICLES AND ROTATIONAL MOTION 121

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

27.3 days which is also roughly equal to the Which is approximately 85 minutes. rotational period of the moon about its own axis. ⊳ Example 7.5 The planet Mars has twoSince, 1957, advances in technology have enabled moons, phobos and delmos. (i) phobos hasmany countries including India to launch artificial a period 7 hours, 39 minutes and an orbitalearth satellites for practical use in fields like radius of 9.4 ×103 km. Calculate the masstelecommunication, geophysics and meteorology. of mars. (ii) Assume that earth and mars We will consider a satellite in a circular orbit move in circular orbits around the sun,of a distance (RE + h) from the centre of the earth, with the martian orbit being 1.52 timeswhere RE = radius of the earth. If m is the mass the orbital radius of the earth. What isof the satellite and V its speed, the centripetal the length of the martian year in days ?force required for this orbit is mV 2 Answer (i) We employ Eq. (7.38) with the sun’s F(centripetal) = (7.33) ( R E + h ) mass replaced by the martian mass Mm directed towards the centre. This centripetal force 2 4 π 2 3 T = Ris provided by the gravitational force, which is GM m G m M E 4 π 2 R 3 F(gravitation) = 2 (7.34) Mm = 2 ( R E + h ) G T where ME is the mass of the earth. 2 3 18 Equating R.H.S of Eqs. (7.33) and (7.34) and 4 × ( 3.14 ) × ( 9.4 ) × 10 = -11 2cancelling out m, we get 6.67 × 10 × ( 459 × 60 ) 2 G M E 2 3 18 V = (7.35) 4 × ( 3.14 ) × ( 9.4 ) × 10 ( R E + h ) M m = 2 -5 6.67 × ( 4.59 × 6 ) × 10 Thus V decreases as h increases. From = 6.48 × 1023 kg. equation (7.35),the speed V for h = 0 is (ii) Once again Kepler’s third law comes to our V 2 (h = 0) = GM / R E = gR E (7.36) aid, where we have used the relation T M2 R MS3 2 2 = 3 g = GM / R E . In every orbit, the satellite T E R ES Reprint 2025-26 138 PHYSICS where RMS is the mars -sun distance and RES is − 13  1 2   1    d the earth-sun distance. = 10    ( 24 × 60 × 60 ) 2  ( 1 / 1000 ) 3 km 3  ∴ TM = (1.52)3/2 × 365 = 1.33 ×10–14 d2 km–3 = 684 days Using Eq. (7.38) and the given value of k, We note that the orbits of all planets except the time period of the moon is Mercury and Mars are very close to being 2 T = (1.33 × 10-14)(3.84 × 105)3 circular. For example, the ratio of the semi- T = 27.3 d ⊳ minor to semi-major axis for our Earth is, Note that Eq. (7.38) also holds for elliptical b/a = 0.99986. ⊳ orbits if we replace (RE+h) by the semi-major axis ⊳ of the ellipse. The earth will then be at one of Example 7.6 Weighing the Earth : You the foci of this ellipse. are given the following data: g = 9.81 ms–2, RE = 6.37×106 m, the distance to the moon R 7.10 ENERGY OF AN ORBITING SATELLITE = 3.84×108 m and the time period of the moon’s revolution is 27.3 days. Obtain the Using Eq. (7.35), the kinetic energy of the satellite mass of the Earth ME in two different ways. in a circular orbit with speed v is 1 m v 2Answer From Eq. (7.12) we have K i E = 2 g R E2 M E = Gm M E G = , (7.40) 2( R E + h ) 6 2 Considering gravitational potential energy at 9.81 × ( 6.37 × 10 ) = -11 infinity to be zero, the potential energy at distance 6.67 × 10 (Re+h) from the centre of the earth is = 5.97× 1024 kg. The moon is a satellite of the Earth. From G m M E P .E = − (7.41)the derivation of Kepler’s third law [see Eq. ( R E + h ) (7.38)] The K.E is positive whereas the P.E is 2 4 π2R 3 negative. However, in magnitude the K.E. is half T = G M E the P.E, so that the total E is E 4 π2R 3 E = K .E + P .E = − G m M ME = G T 2 2( R E + h ) (7.42) 4 × 3.14 × 3.14 × ( 3.84 ) 3 × 10 24 The total energy of an circularly orbiting = -11 2 satellite is thus negative, with the potential 6.67 × 10 × ( 27.3 × 24 × 60 × 60 ) energy being negative but twice is magnitude of = 6.02 × 1024 kg the positive kinetic energy. Both methods yield almost the same answer, When the orbit of a satellite becomes the difference between them being less than 1%. elliptic, both the K.E. and P.E. vary from point ⊳ to point. The total energy which remains constant is negative as in the circular orbit case. ⊳ Example 7.7 Express the constant k of Eq. This is what we expect, since as we have (7.38) in days and kilometres. Given discussed before if the total energy is positive or k = 10–13 s2 m–3. The moon is at a distance zero, the object escapes to infinity. Satellites of 3.84 × 105 km from the earth. Obtain its are always at finite distance from the earth and time-period of revolution in days. hence their energies cannot be positive or zero. Answer Given k = 10–13 s2 m–3 Reprint 2025-26 GRAVITATION 139 The change in the total energy is⊳ Example 7.8 A 400 kg satellite is in a circular ∆E = Ef – Ei orbit of radius 2RE about the Earth. How much energy is required to transfer it to a circular orbit of radius 4RE? What are the changes in  E E = G M E m =  the kinetic and potential energies ?  G M2  m R 8 R E  R E  8 Answer Initially, g m R E = 9.81 × 400 × 6. 37 × 106 = 3.13 × 10 9 J ∆ E = G M E m 8 8 E i = − 4 R E The kinetic energy is reduced and it mimics While finally ∆E, namely, ∆K = Kf – Ki = – 3.13 × 109 J. The change in potential energy is twice the G M E m E f = − change in the total energy, namely 8 R E ∆V = Vf – Vi = – 6.25 × 109 J ⊳ SUMMARY 1. Newton’s law of universal gravitation states that the gravitational force of attraction between any two particles of masses m1 and m2 separated by a distance r has the magnitude m 1m 2 F = G 2 r where G is the universal gravitational constant, which has the value 6.672 ×10–11 N m2 kg–2. 2. If we have to find the resultant gravitational force acting on the particle m due to a number of masses M1, M2, ….Mn etc. we use the principle of superposition. Let F1, F2, ….Fn be the individual forces due to M1, M2, ….Mn, each given by the law of gravitation. From the principle of superposition each force acts independently and uninfluenced by the other bodies. The resultant force FR is then found by vector addition n FR = F1 + F2 + ……+ Fn = ∑ Fi i = 1 where the symbol ‘Σ’ stands for summation. 3. Kepler’s laws of planetary motion state that (a) All planets move in elliptical orbits with the Sun at one of the focal points (b) The radius vector drawn from the Sun to a planet sweeps out equal areas in equal time intervals. This follows from the fact that the force of gravitation on the planet is central and hence angular momentum is conserved. (c) The square of the orbital period of a planet is proportional to the cube of the semi-major axis of the elliptical orbit of the planet The period T and radius R of the circular orbit of a planet about the Sun are related by 2  4 π 2  3 T =   R  G M s  where Ms is the mass of the Sun. Most planets have nearly circular orbits about the Sun. For elliptical orbits, the above equation is valid if R is replaced by the semi-major axis, a. 4. The acceleration due to gravity. (a) at a height h above the earth’s surface G M E g ( h ) = 2 ( R E + h ) G M E  2 h  ≈ 2 1 − for h << RE R E  R E  Reprint 2025-26 140 PHYSICS  2 h  G M E g (h ) = g ( 0 ) 1 − where g ( 0 ) = 2  R E  R E (b) at depth d below the earth’s surface is d   1 − g (d ) = G M2 E 1 − d  = g ( 0 ) R E  R E   R E  5. The gravitational force is a conservative force, and therefore a potential energy function can be defined. The gravitational potential energy associated with two particles separated by a distance r is given by G m1 m 2 V = − r where V is taken to be zero at r → ∞. The total potential energy for a system of particles is the sum of energies for all pairs of particles, with each pair represented by a term of the form given by above equation. This prescription follows from the principle of superposition. 6. If an isolated system consists of a particle of mass m moving with a speed v in the vicinity of a massive body of mass M, the total mechanical energy of the particle is given by 1 G M m E = m v 2− 2 r That is, the total mechanical energy is the sum of the kinetic and potential energies. The total energy is a constant of motion. 7. If m moves in a circular orbit of radius a about M, where M >> m, the total energy of the system is G M m E = − 2a with the choice of the arbitrary constant in the potential energy given in the point 5., above. The total energy is negative for any bound system, that is, one in which the orbit is closed, such as an elliptical orbit. The kinetic and potential energies are G M m K = 2a G M m V = − a 8. The escape speed from the surface of the earth is 2 G M E ve = = 2 gR E R E and has a value of 11.2 km s–1. 9. If a particle is outside a uniform spherical shell or solid sphere with a spherically symmetric internal mass distribution, the sphere attracts the particle as though the mass of the sphere or shell were concentrated at the centre of the sphere. 10. If a particle is inside a uniform spherical shell, the gravitational force on the particle is zero. If a particle is inside a homogeneous solid sphere, the force on the particle acts toward the centre of the sphere. This force is exerted by the spherical mass interior to the particle. Reprint 2025-26 GRAVITATION 141 POINTS TO PONDER 1. In considering motion of an object under the gravitational influence of another object the following quantities are conserved: (a) Angular momentum (b) Total mechanical energy Linear momentum is not conserved 2. Angular momentum conservation leads to Kepler’s second law. However, it is not special to the inverse square law of gravitation. It holds for any central force. 3. In Kepler’s third law (see Eq. (7.1) and T2 = KS R3. The constant KS is the same for all planets in circular orbits. This applies to satellites orbiting the Earth [(Eq. (7.38)]. 4. An astronaut experiences weightlessness in a space satellite. This is not because the gravitational force is small at that location in space. It is because both the astronaut and the satellite are in “free fall” towards the Earth. 5. The gravitational potential energy associated with two particles separated by a distance r is given by G m 1 m 2 V = – + constant r The constant can be given any value. The simplest choice is to take it to be zero. With this choice G m 1 m 2 V = – r This choice implies that V → 0 as r → ∞. Choosing location of zero of the gravitational energy is the same as choosing the arbitrary constant in the potential energy. Note that the gravitational force is not altered by the choice of this constant. 6. The total mechanical energy of an object is the sum of its kinetic energy (which is always positive) and the potential energy. Relative to infinity (i.e. if we presume that the potential energy of the object at infinity is zero), the gravitational potential energy of an object is negative. The total energy of a satellite is negative. 7. The commonly encountered expression m g h for the potential energy is actually an approximation to the difference in the gravitational potential energy discussed in the point 6, above. 8. Although the gravitational force between two particles is central, the force between two finite rigid bodies is not necessarily along the line joining their centre of mass. For a spherically symmetric body however the force on a particle external to the body is as if the mass is concentrated at the centre and this force is therefore central. 9. The gravitational force on a particle inside a spherical shell is zero. However, (unlike a metallic shell which shields electrical forces) the shell does not shield other bodies outside it from exerting gravitational forces on a particle inside. Gravitational shielding is not possible. EXERCISES 7.1 Answer the following : (a) You can shield a charge from electrical forces by putting it inside a hollow conductor. Can you shield a body from the gravitational influence of nearby matter by putting it inside a hollow sphere or by some other means ? (b) An astronaut inside a small space ship orbiting around the earth cannot detect gravity. If the space station orbiting around the earth has a large size, can he hope to detect gravity ? (c) If you compare the gravitational force on the earth due to the sun to that due to the moon, you would find that the Sun’s pull is greater than the moon’s pull. (you can check this yourself using the data available in the succeeding exercises). However, the tidal effect of the moon’s pull is greater than the tidal effect of sun. Why ? Reprint 2025-26 142 PHYSICS 7.2 Choose the correct alternative : (a) Acceleration due to gravity increases/decreases with increasing altitude. (b) Acceleration due to gravity increases/decreases with increasing depth (assume the earth to be a sphere of uniform density). (c) Acceleration due to gravity is independent of mass of the earth/mass of the body. (d) The formula –G Mm(1/r2 – 1/r1) is more/less accurate than the formula mg(r2 – r1) for the difference of potential energy between two points r2 and r1 distance away from the centre of the earth. 7.3 Suppose there existed a planet that went around the Sun twice as fast as the earth. What would be its orbital size as compared to that of the earth ? 7.4 Io, one of the satellites of Jupiter, has an orbital period of 1.769 days and the radius of the orbit is 4.22 × 108 m. Show that the mass of Jupiter is about one-thousandth that of the sun. 7.5 Let us assume that our galaxy consists of 2.5 × 1011 stars each of one solar mass. How long will a star at a distance of 50,000 ly from the galactic centre take to complete one revolution ? Take the diameter of the Milky Way to be 105 ly. 7.6 Choose the correct alternative: (a) If the zero of potential energy is at infinity, the total energy of an orbiting satellite is negative of its kinetic/potential energy. (b) The energy required to launch an orbiting satellite out of earth’s gravitational influence is more/less than the energy required to project a stationary object at the same height (as the satellite) out of earth’s influence. 7.7 Does the escape speed of a body from the earth depend on (a) the mass of the body, (b) the location from where it is projected, (c) the direction of projection, (d) the height of the location from where the body is launched? 7.8 A comet orbits the sun in a highly elliptical orbit. Does the comet have a constant (a) linear speed, (b) angular speed, (c) angular momentum, (d) kinetic energy, (e) potential energy, (f) total energy throughout its orbit? Neglect any mass loss of the comet when it comes very close to the Sun. 7.9 Which of the following symptoms is likely to afflict an astronaut in space (a) swollen feet, (b) swollen face, (c) headache, (d) orientational problem. 7.10 In the following two exercises, choose the correct answer from among the given ones: The gravitational intensity at the centre of a hemispherical shell of uniform mass density has the direction indicated by the arrow (see Fig 7.11) (i) a, (ii) b, (iii) c, (iv) 0. Fig. 7.11 7.11 For the above problem, the direction of the gravitational intensity at an arbitrary point P is indicated by the arrow (i) d, (ii) e, (iii) f, (iv) g. 7.12 A rocket is fired from the earth towards the sun. At what distance from the earth’s centre is the gravitational force on the rocket zero ? Mass of the sun = 2×1030 kg, mass of the earth = 6×1024 kg. Neglect the effect of other planets etc. (orbital radius = 1.5 × 1011 m). 7.13 How will you ‘weigh the sun’, that is estimate its mass? The mean orbital radius of the earth around the sun is 1.5 × 108 km. 7.14 A saturn year is 29.5 times the earth year. How far is the saturn from the sun if the earth is 1.50 × 108 km away from the sun ? 7.15 A body weighs 63 N on the surface of the earth. What is the gravitational force on it due to the earth at a height equal to half the radius of the earth ? Reprint 2025-26 GRAVITATION 143 7.16 Assuming the earth to be a sphere of uniform mass density, how much would a body weigh half way down to the centre of the earth if it weighed 250 N on the surface ? 7.17 A rocket is fired vertically with a speed of 5 km s-1 from the earth’s surface. How far from the earth does the rocket go before returning to the earth ? Mass of the earth = 6.0 × 1024 kg; mean radius of the earth = 6.4 × 106 m; G = 6.67 × 10–11 N m2 kg–2. 7.18 The escape speed of a projectile on the earth’s surface is 11.2 km s–1. A body is projected out with thrice this speed. What is the speed of the body far away from the earth? Ignore the presence of the sun and other planets. 7.19 A satellite orbits the earth at a height of 400 km above the surface. How much energy must be expended to rocket the satellite out of the earth’s gravitational influence? Mass of the satellite = 200 kg; mass of the earth = 6.0×1024 kg; radius of the earth = 6.4 × 106 m; G = 6.67 × 10–11 N m2 kg–2. 7.20 Two stars each of one solar mass (= 2×1030 kg) are approaching each other for a head on collision. When they are a distance 109 km, their speeds are negligible. What is the speed with which they collide ? The radius of each star is 104 km. Assume the stars to remain undistorted until they collide. (Use the known value of G). 7.21 Two heavy spheres each of mass 100 kg and radius 0.10 m are placed 1.0 m apart on a horizontal table. What is the gravitational force and potential at the mid point of the line joining the centres of the spheres ? Is an object placed at that point in equilibrium? If so, is the equilibrium stable or unstable ? Reprint 2025-26