6.05a Angular velocity: definitions

5 A uniform rod of mass 4 kg and length 2.4 m can rotate in a vertical plane about a fixed horizontal axis through one end of the rod. The rod is released from rest in a horizontal position and a frictional couple of constant moment 20 Nm opposes the motion.

1. Find the angular acceleration of the rod immediately after it is released.
2. Find the angle that the rod makes with the horizontal when its angular acceleration is zero.
3. Find the maximum angular speed of the rod.
4. The rod first comes to instantaneous rest after rotating through an angle \(\theta\) radians from its initial position. Find an equation for \(\theta\), and verify that \(2.0 < \theta < 2.1\).

7 \includegraphics[max width=\textwidth, alt={}, center]{ab760a4b-e0ec-4256-838f-ed6c762ff18b-4_783_783_255_641} A uniform circular disc with centre \(C\) has mass \(m\) and radius \(a\). The disc is free to rotate in a vertical plane about a fixed horizontal axis passing through a point \(A\) on the disc, where \(A C = \frac { 1 } { 2 } a\). The disc is slightly disturbed from rest in the position with \(C\) vertically above \(A\). When \(A C\) makes an angle \(\theta\) with the upward vertical the force exerted by the axis on the disc has components \(R\) parallel to \(A C\) and \(S\) perpendicular to \(A C\) (see diagram).

1. Show that the angular speed of the disc is \(\sqrt { \frac { 4 g ( 1 - \cos \theta ) } { 3 a } }\).
2. Find the angular acceleration of the disc, in terms of \(a , g\) and \(\theta\).
3. Find \(R\) and \(S\), in terms of \(m , g\) and \(\theta\).
4. Find the magnitude of the force exerted by the axis on the disc at an instant when \(R = 0\).

1 A camshaft inside an engine is rotating with angular speed \(42 \mathrm { rads } ^ { - 1 }\). When the throttle is opened the camshaft speeds up with constant angular acceleration, and 8 seconds after the throttle was opened the angular speed is \(76 \mathrm { rad } \mathrm { s } ^ { - 1 }\).

1. Find the angular acceleration of the camshaft.
2. Find the time taken for the camshaft to turn through 810 radians from the moment that the throttle was opened.

6 \includegraphics[max width=\textwidth, alt={}, center]{6e3d5f5e-7ffa-4111-903d-468fb4d20192-4_640_608_267_715} A smooth wire forms a circle with centre \(O\) and radius \(a\), and is fixed in a vertical plane. The highest point on the wire is \(A\). A small ring \(R\) of mass \(m\) moves along the wire. A light elastic string, with natural length \(\frac { 1 } { 2 } a\) and modulus of elasticity \(2 m g\), has one end attached to \(A\) and the other end attached to \(R\). The string \(A R\) makes an angle \(\theta\) (measured anticlockwise) with the downward vertical (see diagram), and you may assume that the string does not become slack.

1. Taking \(A\) as the reference level for gravitational potential energy, show that the total potential energy of the system is \(m g a \left( 6 \cos ^ { 2 } \theta - 4 \cos \theta + \frac { 1 } { 2 } \right)\).
2. Show that there are two positions of equilibrium for which \(0 \leqslant \theta < \frac { 1 } { 2 } \pi\).
3. For each of these positions of equilibrium, determine whether it is stable or unstable.

7 \includegraphics[max width=\textwidth, alt={}, center]{6e3d5f5e-7ffa-4111-903d-468fb4d20192-5_584_686_264_678} \(A B C D\) is a uniform rectangular lamina with mass \(m\) and sides \(A B = 6 a\) and \(A D = 8 a\). The lamina rotates freely in a vertical plane about a fixed horizontal axis passing through \(A\), and it is released from rest in the position with \(D\) vertically above \(A\). When the diagonal \(A C\) makes an angle \(\theta\) below the horizontal, the force acting on the lamina at \(A\) has components \(R\) parallel to \(C A\) and \(S\) perpendicular to \(C A\) (see diagram).

1. Find the moment of inertia of the lamina about the axis through \(A\), in terms of \(m\) and \(a\).
2. Show that the angular speed of the lamina is \(\sqrt { \frac { 3 g ( 4 + 5 \sin \theta ) } { 50 a } }\).
3. Find the angular acceleration of the lamina, in terms of \(a , g\) and \(\theta\).
4. Find \(R\) and \(S\), in terms of \(m , g\) and \(\theta\).

2 A uniform solid circular cone has mass \(M\) and base radius \(R\).

1. Show by integration that the moment of inertia of the cone about its axis of symmetry is \(\frac { 3 } { 10 } M R ^ { 2 }\). (You may assume the standard formula \(\frac { 1 } { 2 } m r ^ { 2 }\) for the moment of inertia of a uniform disc about its axis and that the volume of a cone is \(\frac { 1 } { 3 } \pi r ^ { 2 } h\).) The axis of symmetry of the cone is fixed vertically and the cone is rotating about its axis at an angular speed of \(6 \mathrm { rad } \mathrm { s } ^ { - 1 }\). A frictional couple of constant moment 0.027 Nm is applied to the cone bringing it to rest. Given that the mass of the cone is 2 kg and its base radius is 0.3 m , find
2. the constant angular deceleration of the cone,
3. the time taken for the cone to come to rest from the instant that the couple is applied.

4 A uniform square lamina has mass \(m\) and sides of length \(2 a\).

1. Calculate the moment of inertia of the lamina about an axis through one of its corners perpendicular to its plane. \includegraphics[max width=\textwidth, alt={}, center]{639c658e-0aca-4161-9e77-0f4c494b0b55-3_693_640_434_715} The uniform square lamina has centre \(C\) and is free to rotate in a vertical plane about a fixed horizontal axis passing through one of its corners \(A\). The lamina is initially held such that \(A C\) is vertical with \(C\) above \(A\). The lamina is slightly disturbed from rest from this initial position. When \(A C\) makes an angle \(\theta\) with the upward vertical, the force exerted by the axis on the lamina has components \(X\) parallel to \(A C\) and \(Y\) perpendicular to \(A C\) (see diagram).
2. Show that the angular speed, \(\omega\), of the lamina satisfies \(a \omega ^ { 2 } = \frac { 3 } { 4 } g \sqrt { 2 } ( 1 - \cos \theta )\).
3. Find \(X\) and \(Y\) in terms of \(m , g\) and \(\theta\). \section*{Question 5 begins on page 4.}
   \includegraphics[max width=\textwidth, alt={}]{639c658e-0aca-4161-9e77-0f4c494b0b55-4_767_337_248_863}
   A pendulum consists of a uniform rod \(A B\) of length \(4 a\) and mass \(4 m\) and a spherical shell of radius \(a\), mass \(m\) and centre \(C\). The end \(B\) of the rod is rigidly attached to a point on the surface of the shell in such a way that \(A B C\) is a straight line. The pendulum is initially at rest with \(B\) vertically below \(A\) and it is free to rotate in a vertical plane about a smooth fixed horizontal axis passing through \(A\) (see diagram).
4. Show that the moment of inertia of the pendulum about the axis of rotation is \(47 m a ^ { 2 }\). A particle of mass \(m\) is moving horizontally in the plane in which the pendulum is free to rotate. The particle has speed \(\sqrt { k g a }\), where \(k\) is a positive constant, and strikes the rod at a distance \(3 a\) from \(A\). In the subsequent motion the particle adheres to the rod and the combined rigid body \(P\) starts to rotate.
5. Show that the initial angular speed of \(P\) is \(\frac { 3 } { 56 } \sqrt { \frac { k g } { a } }\).
6. For the case \(k = 4\), find the angle that \(P\) has turned through when \(P\) first comes to instantaneous rest.
7. Find the least value of \(k\) such that the rod reaches the horizontal. \includegraphics[max width=\textwidth, alt={}, center]{639c658e-0aca-4161-9e77-0f4c494b0b55-5_437_903_269_573} A uniform rod \(A B\) has mass \(m\) and length \(2 a\). The rod can rotate in a vertical plane about a smooth fixed horizontal axis passing through \(A\). One end of a light elastic string of natural length \(a\) and modulus of elasticity \(\sqrt { 3 } m g\) is attached to \(A\). The string passes over a small smooth fixed pulley \(C\), where \(A C\) is horizontal and \(A C = a\). The other end of the string is attached to the rod at its mid-point \(D\). The rod makes an angle \(\theta\) below the horizontal (see diagram).
8. Taking \(A\) as the reference level for gravitational potential energy, show that the total potential energy \(V\) of the system is given by $$V = m g a ( \sqrt { 3 } - \sin \theta - \sqrt { 3 } \cos \theta ) .$$
9. Show that \(\theta = \frac { 1 } { 6 } \pi\) is a position of stable equilibrium for the system. The system is making small oscillations about the equilibrium position.
10. By differentiating the energy equation with respect to time, show that $$\frac { 4 } { 3 } a \ddot { \theta } = g ( \cos \theta - \sqrt { 3 } \sin \theta ) .$$
11. Using the substitution \(\theta = \phi + \frac { 1 } { 6 } \pi\), show that the motion is approximately simple harmonic, and find the approximate period of the oscillations. \section*{END OF QUESTION PAPER}

1 A turntable is rotating at \(3 \mathrm { rad } \mathrm { s } ^ { - 1 }\). The turntable is then accelerated so that after 4 revolutions it is rotating at \(12.4 \mathrm { rad } \mathrm { s } ^ { - 1 }\). Assuming that the angular acceleration of the turntable is constant,

1. find the angular acceleration,
2. find the time taken to increase its angular speed from \(3 \mathrm { rad } \mathrm { s } ^ { - 1 }\) to \(12.4 \mathrm { rad } \mathrm { s } ^ { - 1 }\).

6 A pendulum consists of a uniform rod \(A B\) of length \(2 a\) and mass \(2 m\) and a particle of mass \(m\) that is attached to the end \(B\). The pendulum can rotate in a vertical plane about a smooth fixed horizontal axis passing through \(A\).

1. Show that the moment of inertia of this pendulum about the axis of rotation is \(\frac { 20 } { 3 } m a ^ { 2 }\). \begin{figure}[h]
   \includegraphics[alt={},max width=\textwidth]{4b50b084-081f-48d2-ad5b-95b2c9e55dfc-4_572_86_852_575} \captionsetup{labelformat=empty} \caption{Fig. 1}
   \end{figure} \begin{figure}[h]
   \includegraphics[alt={},max width=\textwidth]{4b50b084-081f-48d2-ad5b-95b2c9e55dfc-4_582_456_842_1050} \captionsetup{labelformat=empty} \caption{Fig. 2}
   \end{figure} The pendulum is initially held with \(B\) vertically above \(A\) (see Fig.1) and it is slightly disturbed from this position. When the angle between the pendulum and the upward vertical is \(\theta\) radians the pendulum has angular speed \(\omega \mathrm { rads } ^ { - 1 }\) (see Fig. 2).
2. Show that $$\omega ^ { 2 } = \frac { 6 g } { 5 a } ( 1 - \cos \theta ) .$$
3. Find the angular acceleration of the pendulum in terms of \(g , a\) and \(\theta\). At an instant when \(\theta = \frac { 1 } { 3 } \pi\), the force acting on the pendulum at \(A\) has magnitude \(F\).
4. Find \(F\) in terms of \(m\) and \(g\). It is given that \(a = 0.735 \mathrm {~m}\).
5. Show that the time taken for the pendulum to move from the position \(\theta = \frac { 1 } { 6 } \pi\) to the position \(\theta = \frac { 1 } { 3 } \pi\) is given by $$k \int _ { \frac { 1 } { 6 } \pi } ^ { \frac { 1 } { 3 } \pi } \operatorname { cosec } \left( \frac { 1 } { 2 } \theta \right) \mathrm { d } \theta ,$$ stating the value of the constant \(k\). Hence find the time taken for the pendulum to rotate between these two points. (You may quote an appropriate result given in the List of Formulae (MF1).) \section*{END OF QUESTION PAPER}

6 A smooth solid hemisphere of radius \(a\) is fixed with its plane face in contact with a horizontal surface.
The highest point on the hemisphere is H , and the centre of its base is O . A particle of mass \(m\) is held at a point S on the surface of the hemisphere such that angle HOS is \(30 ^ { \circ }\), as shown in Fig. 6. The particle is projected from S with speed \(0.8 \sqrt { a g }\) along the surface of the hemisphere towards H . \begin{figure}[h] \end{figure}

1. Show that the particle passes through H without leaving the surface of the hemisphere. After passing through H , the particle passes through a point Q on the surface of the hemisphere, where angle \(\mathrm { HOQ } = \theta ^ { \circ }\).
2. State, in terms of \(g\) and \(\theta\), the tangential component of the acceleration of the particle when it is at Q . The particle loses contact with the hemisphere at Q and subsequently lands on the horizontal surface at a point L .
3. Find the value of \(\cos \theta\) correct to 3 significant figures.
4. Show that \(\mathrm { OL } = k a\), where \(k\) is to be found correct to 3 significant figures.

1 A small smooth ring of mass 0.5 kg is travelling round a smooth circular wire, with centre O and radius 0.8 m . The circle of wire is in a horizontal plane. The speed of the ring, \(v \mathrm {~ms} ^ { - 1 }\), at time \(t \mathrm {~s}\) after passing through a point A on the wire is given by \(\mathrm { v } = 0.2 \mathrm { t } ^ { 2 } + 0.4 \mathrm { t } + 0.1\).

1. Find the angular speed of the ring 5 seconds after it passes through A .
2. Find the distance the ring travels along the wire in the first second after passing through A . At time \(T\) s after the ring passes through A the magnitude of the force exerted on the ring by the wire is 6.4 N . You may assume that any forces acting on the ring other than the force exerted on the ring by the wire and gravity can be ignored.
3. 1. Determine the value of \(T\).
   2. Hence find the tangential acceleration of the ring at this time.

2 A smooth wire is bent to form a circle of radius 2.5 m ; the circle is in a horizontal plane. A small ring of mass 0.2 kg is travelling round the wire.

1. At one instant the ring is travelling at an angular speed of 120 revolutions per minute.
   (A) Calculate the angular speed in radians per second.
   (B) Calculate the component towards the centre of the circle of the force exerted on the ring by the wire.
2. Why must the contact between the wire and the ring be smooth if your answer to part (i) ( \(B\) ) is also the total horizontal component of the force exerted on the ring by the wire?

11 Two small uniform smooth spheres A and B , of equal radius, have masses 4 kg and 3 kg respectively. The spheres are placed in a smooth horizontal circular groove. The coefficient of restitution between the spheres is \(e\), where \(e > \frac { 2 } { 5 }\). At a given instant B is at rest and A is set moving along the groove with speed \(V \mathrm {~m} \mathrm {~s} ^ { - 1 }\). It may be assumed that in the subsequent motion the two spheres do not leave the groove.

1. Determine, in terms of \(e\) and \(V\), the speeds of A and B immediately after the first collision.
2. Show that the arc through which A moves between the first and second collisions subtends an angle at the centre of the circular groove of $$\frac { 2 \pi ( 4 - 3 e ) } { 7 e } \text { radians. }$$
3. 1. Determine, in terms of \(e\) and \(V\), the speed of B immediately after the second collision.
   2. What can be said about the motion of A and B if the collisions between A and B are perfectly elastic?