Outline 16: Momentum Methods 16.2 Conservation of Linear Momentum Impacts 16.
3 Angular Momentum
Chapter 16: Momentum Methods
Outline 16: Momentum Methods 16.2 Conservation of Linear Momentum Impacts 16.3 Angular Momentum
Outline
16.1 Principle of impulse and momentum
Application (Prob 16.14, Prob 16.17)
16.2 Conservation of Linear momentum
16.3 Angular Momentum
Conservation of Angular Momentum
Outline 16: Momentum Methods 16.2 Conservation of Linear Momentum Impacts 16.3 Angular Momentum
Outline
16.1 Principle of impulse and momentum
Application (Prob 16.14, Prob 16.17)
16.2 Conservation of Linear momentum
16.3 Angular Momentum
Conservation of Angular Momentum
Outline 16: Momentum Methods 16.2 Conservation of Linear Momentum Impacts 16.3 Angular Momentum
Outline
16.1 Principle of impulse and momentum
Application (Prob 16.14, Prob 16.17)
16.2 Conservation of Linear momentum
16.3 Angular Momentum
Conservation of Angular Momentum
Outline 16: Momentum Methods 16.2 Conservation of Linear Momentum Impacts 16.3 Angular Momentum
Outline
16.1 Principle of impulse and momentum
Application (Prob 16.14, Prob 16.17)
16.2 Conservation of Linear momentum
16.3 Angular Momentum
Conservation of Angular Momentum
Outline 16: Momentum Methods 16.2 Conservation of Linear Momentum Impacts 16.3 Angular Momentum
Outline
16.1 Principle of impulse and momentum
Application (Prob 16.14, Prob 16.17)
16.2 Conservation of Linear momentum
16.3 Angular Momentum
Conservation of Angular Momentum
Outline 16: Momentum Methods 16.2 Conservation of Linear Momentum Impacts 16.3 Angular Momentum
Outline
16.1 Principle of impulse and momentum
Application (Prob 16.14, Prob 16.17)
16.2 Conservation of Linear momentum
16.3 Angular Momentum
Conservation of Angular Momentum
Outline 16: Momentum Methods 16.2 Conservation of Linear Momentum Impacts 16.3 Angular Momentum
Want change in velocity when the external forces are function of
time
16.1: Principle of Impulse and Momentum
By Newtons II,
X dv
F=m (1)
dt
Integrating with respect to time
Z t2 Z
dv
Fdt = m dt (2)
t1 dt
which can be rewritten as
Z t2
Fdt = mv2 − mv1 (3)
t1
Scalar form Z t2 X
Ft dt = mv2 − mv1 (4)
t1
Outline 16: Momentum Methods 16.2 Conservation of Linear Momentum Impacts 16.3 Angular Momentum
Want change in velocity when the external forces are function of
time
16.1: Principle of Impulse and Momentum
By Newtons II,
X dv
F=m (1)
dt
Integrating with respect to time
Z t2 Z
dv
Fdt = m dt (2)
t1 dt
which can be rewritten as
Z t2
Fdt = mv2 − mv1 (3)
t1
Scalar form Z t2 X
Ft dt = mv2 − mv1 (4)
t1
Outline 16: Momentum Methods 16.2 Conservation of Linear Momentum Impacts 16.3 Angular Momentum
Want change in velocity when the external forces are function of
time
16.1: Principle of Impulse and Momentum
By Newtons II,
X dv
F=m (1)
dt
Integrating with respect to time
Z t2 Z
dv
Fdt = m dt (2)
t1 dt
which can be rewritten as
Z t2
Fdt = mv2 − mv1 (3)
t1
Scalar form Z t2 X
Ft dt = mv2 − mv1 (4)
t1
Outline 16: Momentum Methods 16.2 Conservation of Linear Momentum Impacts 16.3 Angular Momentum
Want change in velocity when the external forces are function of
time
16.1: Principle of Impulse and Momentum
By Newtons II,
X dv
F=m (1)
dt
Integrating with respect to time
Z t2 Z
dv
Fdt = m dt (2)
t1 dt
which can be rewritten as
Z t2
Fdt = mv2 − mv1 (3)
t1
Scalar form Z t2 X
Ft dt = mv2 − mv1 (4)
t1
Outline 16: Momentum Methods 16.2 Conservation of Linear Momentum Impacts 16.3 Angular Momentum
Want change in velocity when the external forces are function of
time
16.1: Principle of Impulse and Momentum
By Newtons II,
X dv
F=m (1)
dt
Integrating with respect to time
Z t2 Z
dv
Fdt = m dt (2)
t1 dt
which can be rewritten as
Z t2
Fdt = mv2 − mv1 (3)
t1
Scalar form Z t2 X
Ft dt = mv2 − mv1 (4)
t1
Outline 16: Momentum Methods 16.2 Conservation of Linear Momentum Impacts 16.3 Angular Momentum
Want change in velocity when the external forces are function of
time
16.1: Principle of Impulse and Momentum
By Newtons II,
X dv
F=m (1)
dt
Integrating with respect to time
Z t2 Z
dv
Fdt = m dt (2)
t1 dt
which can be rewritten as
Z t2
Fdt = mv2 − mv1 (3)
t1
Scalar form Z t2 X
Ft dt = mv2 − mv1 (4)
t1
Outline 16: Momentum Methods 16.2 Conservation of Linear Momentum Impacts 16.3 Angular Momentum
Example
A 10kg box starts from rest and is subjected to a horizontal force
described in the graph. If µs = µk = 0.2, determine how fast the
box is moving at t = 12s.
Solution: v2 = 18m/s
Outline 16: Momentum Methods 16.2 Conservation of Linear Momentum Impacts 16.3 Angular Momentum
Example
A 10kg box starts from rest and is subjected to a horizontal force
described in the graph. If µs = µk = 0.2, determine how fast the
box is moving at t = 12s.
Solution: v2 = 18m/s
Outline 16: Momentum Methods 16.2 Conservation of Linear Momentum Impacts 16.3 Angular Momentum
Average Force
The average force (w.r.t) on an object from t1 to t2 is
X Z t2 X
1
Ft = Ft dt
ave t2 − t1 t1
Determine the average of the tangential comp of the total force on
the box on t ∈ [1.57, 12]? Solution: 17.28New
Outline 16: Momentum Methods 16.2 Conservation of Linear Momentum Impacts 16.3 Angular Momentum
Average Force
The average force (w.r.t) on an object from t1 to t2 is
X Z t2 X
1
Ft = Ft dt
ave t2 − t1 t1
Determine the average of the tangential comp of the total force on
the box on t ∈ [1.57, 12]? Solution: 17.28New
Outline 16: Momentum Methods 16.2 Conservation of Linear Momentum Impacts 16.3 Angular Momentum
Example
In an assembly-line process, the 20kg package A starts from rest
and slides down the smooth ramp. Suppose that you want to
design the hydraulic device B to exert a constant force of
magnitude F on the package and bring it to rest in 0.15s. What is
the required force F ?
Solution: F = 688.77
Outline 16: Momentum Methods 16.2 Conservation of Linear Momentum Impacts 16.3 Angular Momentum
Example
In an assembly-line process, the 20kg package A starts from rest
and slides down the smooth ramp. Suppose that you want to
design the hydraulic device B to exert a constant force of
magnitude F on the package and bring it to rest in 0.15s. What is
the required force F ?
Solution: F = 688.77
Outline 16: Momentum Methods 16.2 Conservation of Linear Momentum Impacts 16.3 Angular Momentum
16.2 Conservation of Linear Momentum
FAB - Force exerted on A by B
FBA - Force exerted on B by A
FBA = −FAB (Newton III)
Outline 16: Momentum Methods 16.2 Conservation of Linear Momentum Impacts 16.3 Angular Momentum
16.2 Conservation of Linear Momentum
FAB - Force exerted on A by B
FBA - Force exerted on B by A
FBA = −FAB (Newton III)
Outline 16: Momentum Methods 16.2 Conservation of Linear Momentum Impacts 16.3 Angular Momentum
16.2 Conservation of Linear Momentum
FAB - Force exerted on A by B
FBA - Force exerted on B by A
FBA = −FAB (Newton III)
Outline 16: Momentum Methods 16.2 Conservation of Linear Momentum Impacts 16.3 Angular Momentum
16.2 Conservation of Linear Momentum
FAB - Force exerted on A by B
FBA - Force exerted on B by A
FBA = −FAB (Newton III)
Outline 16: Momentum Methods 16.2 Conservation of Linear Momentum Impacts 16.3 Angular Momentum
Consider two interacting bodies A and B. Assume that no external
forces act on A and B or these forces are negligible compared to
FAB and FBA . Apply principle of impulse and momentum to A and
B on [t1 , t2 ]:
Z t2
FAB dt = mA (vA )2 − mA (vA )1
t
Z 1t2
FBA dt = mB (vB )2 − mB (vB )1
t1
adding equations (term on LHS cancel)
mA (vA )1 + mB (vB )1 = mA (vA )2 + mB (vB )2
i.e total linear momentum of A and B is conserved.
mA vA + mB vB = constant
Outline 16: Momentum Methods 16.2 Conservation of Linear Momentum Impacts 16.3 Angular Momentum
Example
Mass of rifle is 10kg, lying at rest on smooth horizontal plane.
Fires a bullet (mass 15g) at a speed of 800m/s. Find velocity of
rifle immediately afterwards.
Solution: v2 = −1.2m/s
Outline 16: Momentum Methods 16.2 Conservation of Linear Momentum Impacts 16.3 Angular Momentum
Example
Mass of rifle is 10kg, lying at rest on smooth horizontal plane.
Fires a bullet (mass 15g) at a speed of 800m/s. Find velocity of
rifle immediately afterwards.
Solution: v2 = −1.2m/s
Outline 16: Momentum Methods 16.2 Conservation of Linear Momentum Impacts 16.3 Angular Momentum
Example 2016 Supp
A 2g bullet strikes the suspended 4kg wooden block and becomes
embedded in it. It is observed that the block swings upward to a
maximum angle of θ = 6◦ .Estimate the speed of the bullet.
Solution:v = 733.44m/s
Outline 16: Momentum Methods 16.2 Conservation of Linear Momentum Impacts 16.3 Angular Momentum
Example 2016 Supp
A 2g bullet strikes the suspended 4kg wooden block and becomes
embedded in it. It is observed that the block swings upward to a
maximum angle of θ = 6◦ .Estimate the speed of the bullet.
Solution:v = 733.44m/s
Outline 16: Momentum Methods 16.2 Conservation of Linear Momentum Impacts 16.3 Angular Momentum
Example (16.52, P257)
A bullet with a mass of 36 grams is moving horizontally with
velocity v and strikes a 5kg block of wood, becoming embedded in
it. After the impact, the bullet and block slide 24mm across the
floor. The coefficient of kinetic friction between the block and the
floor is µk = 0.4. Determine the velocity v .
Outline 16: Momentum Methods 16.2 Conservation of Linear Momentum Impacts 16.3 Angular Momentum
Solution
v = 60.71
Outline 16: Momentum Methods 16.2 Conservation of Linear Momentum Impacts 16.3 Angular Momentum
Solution
v = 60.71
Outline 16: Momentum Methods 16.2 Conservation of Linear Momentum Impacts 16.3 Angular Momentum
Impacts
Bodies interacting with each other over a very short period of
time.
Characterized by very large impulsive forces.
Direct Central Impact
Outline 16: Momentum Methods 16.2 Conservation of Linear Momentum Impacts 16.3 Angular Momentum
COM’s of A and B move on a straight line with velocities vA
and vB before impact.
R is the magnitude of the force A and B exert on each other
during impact.
A and B continue along the same straight line after impact.
0 0
How do we find the velocities vA and vB immediately after impact?
Since kinetic energy may be lost during impact, the impulse
imparted during restitution is generally less than the impulse
imparted during deformation.
The ratio of these impulses is called the coefficient of restitution:
0 0
v − vA
e= b
vA − vB
Outline 16: Momentum Methods 16.2 Conservation of Linear Momentum Impacts 16.3 Angular Momentum
COM’s of A and B move on a straight line with velocities vA
and vB before impact.
R is the magnitude of the force A and B exert on each other
during impact.
A and B continue along the same straight line after impact.
0 0
How do we find the velocities vA and vB immediately after impact?
Since kinetic energy may be lost during impact, the impulse
imparted during restitution is generally less than the impulse
imparted during deformation.
The ratio of these impulses is called the coefficient of restitution:
0 0
v − vA
e= b
vA − vB
Outline 16: Momentum Methods 16.2 Conservation of Linear Momentum Impacts 16.3 Angular Momentum
COM’s of A and B move on a straight line with velocities vA
and vB before impact.
R is the magnitude of the force A and B exert on each other
during impact.
A and B continue along the same straight line after impact.
0 0
How do we find the velocities vA and vB immediately after impact?
Since kinetic energy may be lost during impact, the impulse
imparted during restitution is generally less than the impulse
imparted during deformation.
The ratio of these impulses is called the coefficient of restitution:
0 0
v − vA
e= b
vA − vB
Outline 16: Momentum Methods 16.2 Conservation of Linear Momentum Impacts 16.3 Angular Momentum
COM’s of A and B move on a straight line with velocities vA
and vB before impact.
R is the magnitude of the force A and B exert on each other
during impact.
A and B continue along the same straight line after impact.
0 0
How do we find the velocities vA and vB immediately after impact?
Since kinetic energy may be lost during impact, the impulse
imparted during restitution is generally less than the impulse
imparted during deformation.
The ratio of these impulses is called the coefficient of restitution:
0 0
v − vA
e= b
vA − vB
Outline 16: Momentum Methods 16.2 Conservation of Linear Momentum Impacts 16.3 Angular Momentum
COM’s of A and B move on a straight line with velocities vA
and vB before impact.
R is the magnitude of the force A and B exert on each other
during impact.
A and B continue along the same straight line after impact.
0 0
How do we find the velocities vA and vB immediately after impact?
Since kinetic energy may be lost during impact, the impulse
imparted during restitution is generally less than the impulse
imparted during deformation.
The ratio of these impulses is called the coefficient of restitution:
0 0
v − vA
e= b
vA − vB
Outline 16: Momentum Methods 16.2 Conservation of Linear Momentum Impacts 16.3 Angular Momentum
If e = 0, then A and B stay together after impact.
Impact is perfectly plastic. If e = 1, then the total kinetic energy
remains the same before and after impact. Impact is perfectly
elastic.
Example
The 4 kg collars A and B slide on the smooth horizontal bar with
velocities shown. If e = 0.8, determine their velocities after
collision.
Outline 16: Momentum Methods 16.2 Conservation of Linear Momentum Impacts 16.3 Angular Momentum
Example
Two 1 N masses hang from strings of length L = 3m. The left
mass is released from rest with θ = 35◦ . The coefficient of
restitution is e = 0.9. What is the maximum angle through which
the right mass will swing?
Outline 16: Momentum Methods 16.2 Conservation of Linear Momentum Impacts 16.3 Angular Momentum
16.3 Angular Momentum
Angular Impulse and Angular Momentum
Vector form: Object moving along path
Consider the total moment of the external forces about O.
X X
Mo = r × F
dv
= r×m
dt
where m is mass of object.
Outline 16: Momentum Methods 16.2 Conservation of Linear Momentum Impacts 16.3 Angular Momentum
16.3 Angular Momentum
Angular Impulse and Angular Momentum
Vector form: Object moving along path
Consider the total moment of the external forces about O.
X X
Mo = r × F
dv
= r×m
dt
where m is mass of object.
Outline 16: Momentum Methods 16.2 Conservation of Linear Momentum Impacts 16.3 Angular Momentum
16.3 Angular Momentum
Angular Impulse and Angular Momentum
Vector form: Object moving along path
Consider the total moment of the external forces about O.
X X
Mo = r × F
dv
= r×m
dt
where m is mass of object.
Outline 16: Momentum Methods 16.2 Conservation of Linear Momentum Impacts 16.3 Angular Momentum
Note that
d
(r × mv)
dt
dr dv
= ( × mv) + (r × m )
dt dt
dv
= r×m
dt
So that we have
X d
Mo = (r × mv)
dt
X dHo
or M0 = (5)
dt
where we have introduced the vector
Ho = r × mv
called the angular momentum about O ( or the moment of the
linear momentum)
Outline 16: Momentum Methods 16.2 Conservation of Linear Momentum Impacts 16.3 Angular Momentum
So (5) ⇒ the torque of external forces about O is the rate of
change of the angular momentum about O.
Integrating (1) w.r.t time:
Principle of Angular Impulse and Momentum
Z t2 X
Mo dt = (Ho )2 − (Ho )1
t1
Scalar form: Motion in a plane use polar coords
r = r er and v = vr er + vθ eθ
Ho = r × mv
= r er × m(vr er + vθ eθ )
= mrvθ ez
So magnitude of Ho : Ho = mrvθP P
The magnitude od the torque is Mo = r Fθ
Outline 16: Momentum Methods 16.2 Conservation of Linear Momentum Impacts 16.3 Angular Momentum
Summary
P P
a torque about O: Mo = r Fθ
b angular mom. about O: Ho = mrvθ
c Principle
R t2 P of angular impulse and momentum:
t1 Mo dt = (Ho )2 − (Ho )1
Example
The disk of mass m slides on the smooth horizontal table. It is
attached to a string that is drawn through a hole in the table at O
at constant velocity v0 . At t = 0 the radial position is r = r0 and
the transverse velocity of the disk is zero. The disk is subjected to
a force that has constant magnitude F and is perpendicular to the
string. Determine the disk’s velocity as a function of time.
Outline 16: Momentum Methods 16.2 Conservation of Linear Momentum Impacts 16.3 Angular Momentum
Summary
P P
a torque about O: Mo = r Fθ
b angular mom. about O: Ho = mrvθ
c Principle
R t2 P of angular impulse and momentum:
t1 Mo dt = (Ho )2 − (Ho )1
Example
The disk of mass m slides on the smooth horizontal table. It is
attached to a string that is drawn through a hole in the table at O
at constant velocity v0 . At t = 0 the radial position is r = r0 and
the transverse velocity of the disk is zero. The disk is subjected to
a force that has constant magnitude F and is perpendicular to the
string. Determine the disk’s velocity as a function of time.
Outline 16: Momentum Methods 16.2 Conservation of Linear Momentum Impacts 16.3 Angular Momentum
Summary
P P
a torque about O: Mo = r Fθ
b angular mom. about O: Ho = mrvθ
c Principle
R t2 P of angular impulse and momentum:
t1 Mo dt = (Ho )2 − (Ho )1
Example
The disk of mass m slides on the smooth horizontal table. It is
attached to a string that is drawn through a hole in the table at O
at constant velocity v0 . At t = 0 the radial position is r = r0 and
the transverse velocity of the disk is zero. The disk is subjected to
a force that has constant magnitude F and is perpendicular to the
string. Determine the disk’s velocity as a function of time.
Outline 16: Momentum Methods 16.2 Conservation of Linear Momentum Impacts 16.3 Angular Momentum
Summary
P P
a torque about O: Mo = r Fθ
b angular mom. about O: Ho = mrvθ
c Principle
R t2 P of angular impulse and momentum:
t1 Mo dt = (Ho )2 − (Ho )1
Example
The disk of mass m slides on the smooth horizontal table. It is
attached to a string that is drawn through a hole in the table at O
at constant velocity v0 . At t = 0 the radial position is r = r0 and
the transverse velocity of the disk is zero. The disk is subjected to
a force that has constant magnitude F and is perpendicular to the
string. Determine the disk’s velocity as a function of time.
Outline 16: Momentum Methods 16.2 Conservation of Linear Momentum Impacts 16.3 Angular Momentum
Conservation of Angular Momentum
Principle of angular impulse and angular momentum:
Z t2 X
Mo dt = (Ho )2 − (Ho )1
t1
If angular impulse is zero on [t1 , t2 ], then
(Ho )1 = (Ho )2
i.e angular momentum is conserved
Central-force motion: total force acting on object remains directed
towards a fixed point.
Outline 16: Momentum Methods 16.2 Conservation of Linear Momentum Impacts 16.3 Angular Momentum
motion in a plane
X X
Mo = r Fθ = 0
So Ho is conserved, i.e
(mrvθ )1 = (mrvθ )2
Outline 16: Momentum Methods 16.2 Conservation of Linear Momentum Impacts 16.3 Angular Momentum
Example
A 2kg disk slides on a smooth horizontal table and is connected to
an elastic cord whose tension is T = 6rN where r is the radial
position of the disk in meters. If the disk is at r = 1m and is given
an initial velocity of 4m/s in the transverse direction, what are the
magnitudes of the radial and transverse components of its velocity
when r = 2m.
√
Solution:v = 1.732er + 2eθ vr = 3m/s
Outline 16: Momentum Methods 16.2 Conservation of Linear Momentum Impacts 16.3 Angular Momentum
Example
A 2kg disk slides on a smooth horizontal table and is connected to
an elastic cord whose tension is T = 6rN where r is the radial
position of the disk in meters. If the disk is at r = 1m and is given
an initial velocity of 4m/s in the transverse direction, what are the
magnitudes of the radial and transverse components of its velocity
when r = 2m.
√
Solution:v = 1.732er + 2eθ vr = 3m/s
Outline 16: Momentum Methods 16.2 Conservation of Linear Momentum Impacts 16.3 Angular Momentum
Example
A 2kg disk slides on a smooth horizontal table and is connected to
an elastic cord whose tension is T = 6rN where r is the radial
position of the disk in meters. If the disk is at r = 1m and is given
an initial velocity of 4m/s in the transverse direction, what are the
magnitudes of the radial and transverse components of its velocity
when r = 2m.
√
Solution:v = 1.732er + 2eθ vr = 3m/s