Concept

Moment of inertia — where it appears

The measure of how far a body's mass sits from an axis, playing for rotation the part mass plays for straight-line motion. It is the sum of each mass element times the square of its distance, so it depends on the axis chosen and not on the body alone.

Named by 18 essays across 2 fields — each of them below, with the objects they name alongside it.

Released together on a 20° slope, 1.1 s later. 3 bodies of different shape, released from the same line on a 20 degree slope and drawn where each has reached after 1.1 seconds. The order is sphere, then disc, then hoop. Each spoke is turned by the distance that body has rolled divided by its radius.

The mass, and where it sits, which is what decides the race

Release a hoop and a marble together on a slope and the marble wins, whatever they weigh and whatever their size. Neither mass nor radius survives the arithmetic; only the arrangement does.

mechanics · Rotation
Every path the body can take, at one angular momentum. The angular momentum vector, drawn in the body's own frame on the sphere its length confines it to, for a body whose principal moments are 3.068e-3, 6.817e-3 and 9.750e-3 kg m². Each closed curve is one motion, traced by integrating Euler's equations rather than by solving for the intersection of the sphere with the energy ellipsoid, so a curve closes only if the physics closes it. The low-energy curves circle the greatest-moment axis and the high-energy ones circle the least; both sets are small loops that stay near their axis, which is what stability looks like. Between them is the one curve that is not a loop at all — four arcs, drawn heavier, meeting at the intermediate axis and leaving it again. A body spun about that axis is balanced on the crossing point of paths that go somewhere else, which is the whole of why it does not stay.

The axis that will not hold

A book spun about its long edge keeps spinning about it. Spun about the axis through its covers, it keeps spinning about that. Spun about the third axis, it flips end over end, again and again, with nothing touching it. Three numbers decide, and what matters is only their order.

mechanics · Rotation
Arms in: 4.33× the rate, and 4.33× the energy. A body of 1.2 kg m² carrying two 4 kg masses on arms, spinning freely at 60 revolutions a minute with the arms out at 0.75 m, as the arms are pulled in to 0.12 m. The axis runs right to left, in the direction the arms move. Angular momentum is flat — nothing exerts a torque about the axis, and pulling inward is a force along a radius, which has no moment about the centre. The rate rises as the inverse of the moment of inertia, by a factor of 4.33 here, and the kinetic energy L²/2I rises by exactly the same factor, which is where the usual account stops and where the question starts. The fourth curve is the work done by whoever pulled the arms in, integrated from the force needed to hold each mass on its circle. It lies on the energy curve, to 1.6e-7 joules. Nothing is unaccounted for and nothing is created: the energy is bought, at full price, by pulling against the force that would otherwise fling the arms out.

The quantity that survives a change of shape

A skater pulls her arms in and spins four times faster. Angular momentum is conserved, which is the usual explanation, and it accounts for only half of what happened — because the kinetic energy has gone up by the same factor, and something had to pay for it.

mechanics · Rotation
A 120 g top at 3000 rpm, precessing once every 1.92 s. A disc of radius 30 mm spinning at 3000 revolutions a minute on a shaft 45 mm long, tilted 30° from the vertical. The weight acts at the centre of mass and the pivot holds the bottom, so the torque about the pivot is horizontal and at right angles to the plane containing the axis and the vertical. Angular momentum points along the axis; a torque at right angles to a vector turns it without changing its length, so the axis sweeps round the dashed circle instead of falling. The precession rate is Mgl divided by I₃ω₃ to leading order, which is 3.269 radians a second here, or one turn every 1.92 seconds — slower the faster it spins.

The push that comes out sideways

Push down on a spinning wheel's axle and it swings horizontally. Nothing about that is mysterious once angular momentum is a vector — but the steady precession every demonstration shows is a solution nobody's initial conditions select, and a top released from rest does something else first.

mechanics · Rotation
Two pivots with one period, and the length between them. The period of a uniform bar 1 m long swung about a pivot, against the distance of that pivot from its centre of mass. Close to the centre the period runs away, because there is almost no restoring torque; far from it the bar behaves more and more like a simple pendulum. In between is a minimum at h = k = 0.2887 m, the radius of gyration, and because there is a minimum every period above it belongs to two pivots at once — here 0.4 m and 0.2083 m, whose product is k² and whose periods agree to 2.2e-16 seconds. Suspend the bar from those two knife edges in turn, adjust until the periods match, and the equivalent simple pendulum is the distance between them: 0.6083 m. Then g = 4π²(h+h′)/T² gives 9.8100 m/s², recovered from the drawing to 1.8e-16. The mass of the bar, the distribution of that mass, and the position of the centre of mass appear nowhere in the answer.

The length nobody has to measure

A pendulum's period depends on its length, so a pendulum will measure gravity — except that a real swinging bar has no single length, and finding where its mass effectively sits is far harder than timing it. Kater's answer was to build the instrument so that the awkward quantity cancels, leaving a distance between two knife edges that a rule can read to five figures.

mechanics · Pendulum
The same top, let go four ways. The path traced by the top of the axis, seen from directly above, over 1.2 precession periods. The dashed circle is the tilt the top was released at and the outer circle is 46.8° from the vertical. Released from rest the axis falls, and the fall is what generates the sideways motion: the path comes to a cusp each time it returns to the starting tilt, because at that instant the precession rate is momentarily zero. Launched at exactly the steady rate the path is a circle and the nutation is absent. Launched slower it waves; launched faster it loops: at 0× the steady rate the path comes to cusps, at 0.45× the steady rate the path waves, at 1× the steady rate the path stays a circle, at 1.9× the steady rate the path waves. Every one of these is the same equation with the same top and the same spin.

The top that nods before it settles

A spinning top let go from rest does not begin to precess. It falls, catches itself, and comes back up, over and over, at a frequency that has nothing to do with gravity — and the steady precession every textbook draws is what is left after friction has removed the nod.

mechanics · Rotation
The energy a spin is allowed, and the only direction it can go. A body with principal moments 1.000, 3.000, 4.000 spinning with a fixed angular momentum. Every possible motion has an energy somewhere in the band drawn here, and the three marks are the three principal-axis spins: energy L²/2I, so the largest moment of inertia gives the smallest energy. The band runs from 0.1250 to 0.5000 in units where the momentum is one — a ratio of 4.0. Anything inside the body that flexes and warms takes energy out and leaves the momentum untouched, so the state can only move leftwards along this band, and there is exactly one place for it to stop. A spin about the axis of least inertia is at the far right: it is a perfectly good solution of the equations of motion, stable against small disturbances in a perfectly rigid body, and it sits at the top of a hill the smallest leak will roll it off.

The axis a leak of energy chooses

A body spinning with nothing pushing on it keeps its angular momentum exactly, and keeps its kinetic energy only while nothing inside it flexes. At fixed momentum the energy is least for a spin about the axis of greatest inertia — so any leak, however small, has a destination. The first American satellite found this out in orbit.

mechanics · Rotation
The gravity that grows on the way down. The acceleration due to gravity inside the Earth against distance from the centre, from Gauss's law applied to the Preliminary Reference Earth Model's density: g(r) = G M(r)/r², counting only the mass inside each radius. The model reproduces the Earth's mass to 0.02 per cent, a surface gravity of 9.82 m/s² and a moment-of-inertia factor of 0.3308, none of which it was fitted to. For a uniform Earth, drawn dashed, gravity would fall in a straight line to zero at the centre. The real one does the opposite for the first 2891 km: it rises through the whole mantle to 10.69 m/s² at the core–mantle boundary, 8.8 per cent above its surface value, and only then falls to zero through the core. Going down through the mantle removes very little mass and brings the dense core much closer, and the second effect wins.

The pull that grows on the way down

Inside a uniform ball, gravity falls in a straight line from the surface to nothing at the centre, and that is the answer usually given for the Earth. It is wrong for almost three thousand kilometres. Going down through the mantle, gravity rises, reaching nearly nine per cent above its surface value where the core begins — because Gauss's law counts only the mass inside, and the local form of the law says gravity grows inward wherever the rock is lighter than two thirds of the average beneath it.

electromagnetism · Gauss's law
Three bodies of one mass, one field outside, three fields inside. The gravitational field against distance from the centre, both in units of the body's surface values, for 3 spherical bodies of the same mass and radius: a uniform ball; a dense core under a light mantle; a hollow shell. Outside the surface the three curves are one curve — checked at 1.7 radii by adding up the pull of every mass element in each body, which agrees with the pull of a point of the same mass to better than a part in five hundred. Inside they part: the uniform ball's field falls in a straight line, the layered body's rises to 1.24 times the surface value at the top of its core, and the hollow shell's is zero throughout its cavity. Their moment-of-inertia factors are 0.400 (uniform ball), 0.330 (dense core under a light mantle), 0.551 (hollow shell) — a number that no measurement of the field outside can supply.

The field outside that cannot find the core

Gauss's law gives the field outside a body from what it encloses, and read backwards it is a limit. A uniform ball, a planet with an iron core and a hollow shell of the same mass have identical gravity everywhere outside. The field fixes a list of numbers — the mass, the flattening, higher moments — and leaves free everything else, including the moment of inertia; the Earth's core was weighed by its wobble, not by its pull.

electromagnetism · Gauss's law
Where to strike so the pivot feels nothing. The impulse the pivot has to supply, as a fraction of the blow, against where along the body the blow lands, measured from the pivot, for a uniform rod pivoted at one end and for a 0.84 m wooden bat held 15 cm from its knob, with the blow's position as a fraction of the length beyond the grip. For the rod the reaction is 1 − 3q/2L, positive for blows nearer the pivot, negative beyond, and zero at 0.6667 of the length. For the bat it is zero 51.9 cm from the grip, 17.1 cm from the end of the barrel. A blow there sets the body turning about the pivot as though the pivot were not needed.

The point that takes the blow without a jolt

Hit a stick held at one end and the hand feels a jolt — forwards if the blow lands near the hand, backwards if it lands near the tip, and nothing at all if it lands two-thirds of the way along. That point is the centre of percussion, and it is exactly where a simple pendulum with the same period would end: two different questions about a swinging body with one answer.

mechanics · Pendulum
The wobble slows as the body yields. The period of the Earth's free wobble against how far the body yields to its own rotation, measured as the Love number k over its value for a fluid Earth, kₛ = 0.941, computed from the Earth's flattening. A rigid Earth, at zero, wobbles in 303.6 days, Euler's period. The observed 433 days requires k/kₛ = 0.299, an effective k of 0.281: the Earth yields about 30 per cent as much as a fluid would. The period grows without limit as the body approaches a fluid, because a fluid body's bulge re-forms round any new spin axis and leaves nothing to push the axis back.

The wobble that is slow because the Earth gives

Euler worked out in 1765 that a spinning, flattened Earth whose axis is knocked slightly off its figure should wobble, the pole wandering in a small circle once every ten months. Astronomers looked for a ten-month period for a century and found nothing. In 1891 Seth Chandler found a wobble of fourteen months instead. The four extra months are not an error in Euler's arithmetic. They are the Earth yielding: its bulge partly re-forms round the displaced axis, weakening the torque that drives the wobble, and the lengthening measures how soft the planet is.

mechanics · Rotation
Every path a rolling ball can take on a turntable, seen from the room. The paths, seen from the room, of four solid balls rolling without slipping on a turntable of radius 15 cm turning at 33.3 revolutions a minute (grey disc), over 6.3 seconds. A ball set down at rest relative to the room stays exactly where it is, spinning on the spot while the table turns under it. Every other ball moves on a circle, turning the same way as the table at 2/7 of its rate — once every 3.5 turns of the table — and comes back to where it started, whatever the push. A ball set down moving with the table does not ride with it: it circles on a path three and a half times the radius it started at, and the circle's centre is on the other side of the axis.

The ball a turntable will not throw off

Set a marble down on a spinning turntable and the expectation is that it will be flung off the edge. It is not. Placed at rest relative to the room, it stays exactly where it is, spinning on the spot while the table turns beneath it. Given a push, it moves in a circle, turning the same way as the table at two-sevenths of the table's rate, and comes back to where it started. Tilt the turntable and the marble does not roll downhill: it wanders across the slope in a chain of loops. A rolling ball on a rotating surface obeys exactly the equation of an electric charge in a magnetic field, and the two-sevenths is how much of every push goes into turning the ball rather than moving it.

mechanics · Circular motion
Where the thread's line meets the floor. A spool resting on the floor on its rims of radius R, its thread wound round a hub of radius r = 0.5R and leaving the hub's underside tangentially, pulled up and to the right at 20°, 60° and 78° above the horizontal; the dashed lines continue each thread's line back down to the floor. The spool turns about the contact point, and the sense of the turn is set by where the thread's line meets the floor. At 20° it meets the floor behind the contact point, on the far side from the hand, and the spool rolls towards the hand. At 60°, where cos θ = r/R, it passes exactly through the contact point; the pull has no turning effect there, and the spool stays still while the hand pulls. At 78° it meets the floor in front of the contact point, between the spool and the hand, and the spool rolls away from the hand, paying the thread out.

The spool that rolls towards the hand pulling it

Pull gently on the thread of a cotton reel lying on its side on a table, with the thread coming off the underside of the hub, and the reel rolls towards the hand, winding the thread up as it comes. Raise the thread and at one particular angle the reel will not move at all however hard it is pulled; raise it further and the reel rolls away, paying the thread out. Which way it goes is decided by a single line — where the thread's direction, extended, meets the table — and the same line decides which way a bicycle goes when its lower pedal is pulled backwards.

mechanics · Free-body
The ladder that leaves the wall. A 4-metre ladder released from rest at 15° from the vertical, its foot on a frictionless floor and its top against a frictionless wall, drawn at equal intervals of time from release to the moment it lies flat, computed by integrating its motion; the dots trace its centre. While both ends touch, the centre moves exactly on a circle of radius L/2 about the corner (dashed). The top leaves the wall when it has come down to 2.58 m, two-thirds of its starting height of 3.86 m; from then on the centre's horizontal speed is fixed, it leaves the circle, and the ladder falls clear of the wall with its foot still sliding. The fall takes 1.34 seconds.

The ladder that lets go of the wall

A ladder whose foot slips on a smooth floor slides down a smooth wall — and partway down, its top comes away from the wall and the ladder falls the rest of the way clear of it. The point where it lets go of the wall is not set by its length, its mass or how steeply it started: it is always two-thirds of the height the top started at. The reason is a wall that can push but cannot pull, and the number falls out of energy alone, without a single force being calculated in advance.

mechanics · Energy
A floor that has to hit a rod nobody dropped. The normal force on the lower end of a uniform rod at 63° with μ = 1.6, sliding outward at √(gl) and not yet turning, against time on a logarithmic axis, for a floor whose contact stiffness is 10⁴, 10⁵ and 10⁶ times mg/l. The rigid equations have no solution here, and the compliant floor shows why: the end digs in, the deeper it digs the harder friction twists it further down, and the force climbs until the sliding stops. The stiffer the floor, the higher and briefer the spike — 20, 56, 163 times the rod's weight, ending after 41, 18, 7 thousandths of √(l/g) — a collision with no approach.

The rod that friction cannot decide about

Newton's laws, a rigid rod and Coulomb's law of friction are the first things a mechanics course teaches, and in 1895 Paul Painlevé showed that together they can fail to give any answer at all. A rod sliding on a rough enough floor, at the right angle, has no motion consistent with the three — or has two. The way out is not a new law but a forgotten fact: real contacts give a little. With that, the rod jams, and the floor delivers a sudden blow to a rod that nothing struck — an impact without a collision, which is how a stick of chalk comes to hop.

mechanics · Friction
The bending a falling column must carry, along its height. The bending moment at each height of a uniform column toppling about its base, in units of its weight times its length, at tilts of 10°, 30°, 60° from upright. Every curve peaks at a third of the height, at mgL·sinθ/27: 0.0064, 0.0185, 0.0321. The base and the top carry none. The same column held still at the same tilt would carry its greatest moment at the base, mgL·sinθ/2 — 0.250 at 30°, 13.5 times as much. Falling relieves the bending by a factor of 13.5 and moves it a third of the way up.

The chimney that breaks a third of the way up

A tall brick chimney felled by demolition rarely reaches the ground in one piece. It snaps partway up, early in its fall, and the top falls behind the rest. Nothing has hit it. The cause is a free-body diagram: as the column rotates about its base, the material near the top must be dragged round faster than its own weight would take it, and the material lower down holds back. The bending this needs is largest a third of the way up, at a thirteenth and a half of what the same column would carry standing still at the same tilt — and brick, which carries no tension, cracks there after only a few degrees of lean.

mechanics · Free-body
Stopped for half a second, a raw egg starts again by itself. Two eggs spinning at 3 revolutions a second, each touched with a finger at t = 4 s so that its shell is held still for 0.5 s and then released. The cooked egg (solid) stops and stays stopped. The raw egg's shell (dashed) stops too, but its contents (dotted) are still turning — slowed to 2.15 revolutions a second during the hold, by viscosity working against the held shell — and once the finger lifts they drag the shell back into rotation, reaching 1.81 revolutions a second, 60 per cent of its speed before the touch. The table's friction is left out here, so that nothing else slows either egg. It is the oldest kitchen test of whether an egg is cooked, and the whole of the physics is a liquid's reluctance to stop turning.

The egg that keeps turning after it is stopped

Spin an egg on a table, touch it for a moment to stop it, and let go. A cooked egg stays still. A raw one starts turning again by itself, as if something inside had kept going — which it has. A raw egg is two bodies, a thin shell and a liquid that the shell can turn only through the slow grip of viscosity, and the kitchen test that tells them apart is a measurement of how long that grip takes. The same two-body arithmetic says that a raw egg wastes most of the energy of a flick, starts out spinning six times faster than a cooked one given the same twist, and keeps a record of its past rotation in its interior for a second or two after its shell has forgotten.

mechanics · Rotation
A spin set by the length of a cord. The body's spin against the cord let out, from conservation of energy and of angular momentum alone, for three values of c, one plus the body's moment of inertia over the weights' mR². Every curve passes through zero at a cord length of exactly √c radii, and a direct integration of the equations of motion, which assumes neither conservation law, lands on the same curve to a part in a thousand. Past that length the spin reverses. The starting spin does not appear in the zero's position: only the shape of the machine does. A weight on a cord cut to length therefore removes all the spin whether it was spinning at 20 or 100 revolutions a minute, provided the cord is released at that length.

The weights that stop a spinning satellite

A rocket stage is often spun up to keep it pointing straight during its burn, and the spin then has to be removed. A small cord and a weight wrapped round its rim do the whole job, with no fuel, no sensors and no moving parts besides the cord. The cord's length has no dependence on how fast the stage is spinning, so the same two weights stop it at any speed. And the cord unwinds at exactly the rate the stage was first spinning, while its spin falls away to nothing.

mechanics · Energy

Named alongside it

The objects these essays reach for when they reach for this one.

Angular momentumTorqueRigid bodyCentre of massConservation lawsFree-body diagramFrictionPrecessionRadius of gyrationRollingStabilityCentre of percussion

All concepts