Rigid Body
A rigid body is an object which does not change its shape or undergo any significant deformation due to an external force or movement. Mathematically speaking, the distance between any two points inside the body doesn't change in any situation.
Rigid Body Dynamics
Rigid bodies are defined as inelastic shapes with negligible deformation, giving them an unchanging center of mass. It is also generally assumed that the mass of a rigid body is uniformly distributed. This property of rigid bodies comes in handy when we deal with concepts like momentum, angular momentum, force and torque. The study of these properties – viz., force, torque, momentum, and angular momentum – of a rigid body, is collectively known as rigid body dynamics (RBD).
A uniform hoop of radius R and mass m rotates freely (without friction) about a perpendicular axis through its rim, as shown. It is released from a position, labeled "Initial", with the hoop's center directly above with the axis. It swings past position "A" where the center is level with the axis and continues swinging through "B" where the center is below the axis.
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