Rotation and Torque - Rensselaer Polytechnic Institute (RPI 旋转和扭矩-伦斯勒理工学院（RPI.pptVIP

Rotation and Torque Lecture 09 Thursday: 12 February 2004 ROTATION: DEFINITIONS Angular position: q Angular displacement: q 2 – q 1 = Dq DEFINITIONS (CONTINUED) Direction of Angular Acceleration The easiest way to get the direction of the angular acceleration is to determine the direction of the angular velocity and then… If the object is speeding up, velocity and acceleration must be in the same direction. If the object is slowing down, velocity and acceleration must be in opposite directions. For constant a Relating Linear and Angular Variables Three Accelerations Energy Considerations KINETIC ENERGY OF ROTATION Defining Rotational Inertia Determining the Rotational Inertia of an Object Comparison to Translation x ? q v ? w a ? a m ? I K=1/2mv2?1/2I?2 Force and Torque Torque as a Cross Product (Like F=Ma) The direction of the Torque is always in the direction of the angular acceleration. For objects in equilibrium, ??=0 AND ?F=0 Torque Corresponds to Force Just as Force produces translational acceleration (causes linear motion in an object starting at rest, for example) Torque produces rotational acceleration (cause a rotational motion in an object starting from rest, for example) The “cross” or “vector” product is another way to multiply vectors. Cross product results in a vector (e.g. Torque). Dot product (goes with cos ?) results in a scalar (e.g. Work) r is the vector that starts at the point (or axis) of rotation and ends on the point at which the force is applied. An Example Determining Direction of A CROSS PRODUCT Angular Momentum of a Particle Angular momentum of a particle about a point of rotation: This is similar to Torques Find the direction of the angular momentum vector-Right hand rule Does an object have to be moving in a circle to have angular momentum? No. Once we define a point (or axis) of rotation (that is, a center), any object with a linear momentum that does not move directly thro