Transcript Torque and Motion Relationships

Angular Kinetics Review
• Source: Chapter 12 of Basic Biomechanics
by Susan Hall
• Reference to figures in this presentation
refer to the former text by Kreighbaum,
which is on reserve
Torque and Motion Relationships
• Relationship between linear and angular motion
– displacement, velocity, and acceleration (Fig H.1, p 315)
• Angular analogue of Newton’s third law (F=ma),
the instantaneous effect of a force or torque
– Torque = moment of inertia (I) X angular acc (
(Fig H.5-H.7)
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What is torque?
What is moment of inertia ?(Fig H.3, p 319)
What is radius of gyration (Fig H.4, p 320)
Changing moment of inertia and radius of gyration in the body
(Figures H.8 and H.9, p 323 and 324)
• Calculations using a 3-segment system
Relationship between linear and
angular motion (kinematics)
a = r
Instnataneous effect of net torque:
Moment of Inertia Constant
T=I

What is torque?
Instantaneous effect of net
torque: Torque is constant
What is rotational inertia,
Or moment of inertia?
Instantaneous effect of net
torque: Ang acc constant
What is Moment of Inertia?
It is the resistance of a system to rotational acceleration, and is
calculated at follows:
Here, r (the radius of rotation) is equal to k (the radius
of gyration), but that is not the case with extended bodies
What is radius of
gyration (k)?
An indicator of distribution of mass
about the axis. It is the distance from
the axis to a point at which all the
mass of a system of equal mass
would be concentrated to have the
MOI equal the original system. It
is, then, the average weighted
distance of the mass of a system
to the axis.
k
35
Equivalent systems
k
35
Determining MOI & K
• Simple 3-segment system:
– I = 3mi di2 = m1 d12 + m2 d22+
m3 d32 + . . . . . . .+ mi di2
– I = mk2 ; k = (I/m).5
•
Irregularly shaped bodies
But we can’t measure all of these small masses!
Physical pendulum method of
determining MOI and K
• Suspend object at axis
• Measure mass (m), and distance from axis to COM, r
• Measure period of oscillation (T)
– Moment of inertia (I) = T2 mr * .248387 m/sec
– Radius of gyration (K) = ( I/m).5
MOI & K – Geometric Objects
Changing I and
k in the human
body
Changing I and
k in the human body
MOI around principal axes of
human body in different positions
Angular Momentum
• Impulse-momentum relationship - effect of force or torque
applied over time
– Linear: Ft = mv
Rotational: Tt = I 
• What is angular impulse? (Fig I.1, I.2, I.3, p 327-8)
– Torque X time
• What is angular momentum? (Fig I.4, p 329)
– amount of angular movement: I 
• Conservation of angular momentum (Fig I.4, I.5, I.6
329-331)
– Angular momentum is constant if net impulse is zero
p
What is angular impulse?
Angular
Impulse:
Mediolateral
axis
Angular Impulse around vertical axis
What is angular momentum (L)?
Conservation of Momentum
Conservation of Momentum