Math 1302, Week 7: Variable mass systems

Example: Coupling of two moving carriages

Consider two train carriages of mass m1 , m2 moving on the same track with speeds U1 and U2 ,
where U1 > U2 (see figure 1). When they catch each other up they couple together to make a
single coupled pair of carriages that moves with speed V . Find V .
Solution: We have conservation of momentum:

U1 U2

m1 m2

m1+m2 V

Figure 1: Two carriages coupling together into a single

mass

momentum before = momentum after

m1 U1 + m2 U2 = (m1 + m2 )V

So that
m1 U1 + m2 U2
V = .
m1 + m2
Thus the coupled carriages move with the speed of the centre of mass of the uncoupled carriages.
What about energy changes? Before colliding the total kinetic energy is
1 1
Tb = m1 U12 + m2 U22 ,
2 2
and after colliding and joining the kinetic energy is
 2
1 m1 U1 + m2 U2
Ta = (m1 + m2 )
2 m1 + m2

1
Hence the change in kinetic energy ∆T = Ta − Tb is given by
 2
1 m1 U1 + m2 U2 1 1
∆T = (m1 + m2 ) − m1 U12 − m2 U22
2 m1 + m2 2 2
2 2 2 2
1 m1 U1 + m2 U2 + 2m1 m2 U1 U2 1 1
= − m1 U12 − m2 U22
2 m1 + m2 2 2
1
m21 U12 + m22 U22 + 2m1 m2 U1 U2 ) − (m21 + m1 m2 )U12 − (m1 m2 + m22 )U22
 
=
2(m1 + m2 )
1
2m1 m2 U1 U2 ) − (m1 m2 )U12 − (m1 m2 )U22


=
2(m1 + m2 )
−m1 m2 (U1 − U2 )2
= < 0.
2(m1 + m2 )

Thus energy is lost in the collision. (Where does it go?) Notice that this is just the same as two
bodies colliding, but with coefficient of restitution e = 0.

Changing mass systems

When the mass of a system is changing with time, we will need a generalisation of Newton’s
second law. We will use that

force = rate of change of momentum.

This reduces to Newton’s 2nd law when the mass is constant with time.

Motion of particle through cloud of stationary dust

δt

m,v m + δ m, v + δ v,

M M - δm

Figure 2: Particle moving through a cloud of stationary

dust particles

2
We consider a particle moving through a cloud of stationary dust (see figure 2). The particle
has mass m(t) at time t, and the total mass of the dust cloud is M (t). Since the cloud dust is
stationary, it has no momentum. Let the velocity of the particle at time t be v(t) and at time
t + δt let it be v + δv. Then
total momentum at t = mv + M0 = mv.
|{z} |{z}
momentum of particle momentum of dust

total momentum at t + δt = (m + δm)(v + δv) + (M − δm)0 = mv + mδv + δmv + δmδv.

| {z } | {z }
mtm of particle zero mtm of dust
Hence
change in momentum 1
= {(mv + mδv + δmv + δmδv) − (mv)}
δt δt
Now let δt → 0 to obtain
1 dv dm d
rate of change of momentum = lim (mδv + δmv + δmδv) = m + v = (mv).
δt→0 δt dt dt dt
When there is an external force F acting on the system we obtain
d
F = rate of change of momentum = (mv). (1)
dt

Example: falling raindrop

Suppose that a raindrop falls through a cloud and accumulates mass at a rate kmv where k > 0
is a constant, m is the mass of the raindrop, and v its velocity. What is the speed of the raindrop
at a given time if it starts from rest, and what is its mass?
Solution: We are taking x as distance fallen and v = ẋ. Then the external force is its weight
mg and so from (1) we have
d dv dm dv
mg = (mv) = m + v = m + kmv 2 ,
dt dt dt dt
since we are told that dm/dt = kmv. Cancelling the mass and rearranging
dv
= g − kv 2 ,
dt
so that Z v Z t
dv
= dt = t.
0 g − kv 2 0
Now set V 2 = g/k and use partial fractions to get
Z v Z v  
dv 1 1 1 1 V +v
t= 2
= + dv = log
0 g − kv 2kV 0 V + v V − v 2kV V −v
 2kV t 
−1
so V + v = (V − v)e2kV t , i.e. v = V ee2kV t +1 = V tanh(V kt), so that
r
g p
v= tanh( kgt).
k

3
 pg √ √ √
Now we may find the mass: We have dm dt
= kmv = km k
tanh( kgt) = m kg tanh( kgt).
Thus Z t Z tp
1 dm p
dt = kg tanh( kgt) dt
0 m dt 0
Z m Z tp
dm p
= kg tanh( kgt) dt
m0 m 0
p
log m − log m0 = log cosh( kgt)
which gives p
m = m0 cosh( kgt).

Example: Raindrop falling through a cloud accumulating mass a given rate

A raindrop falls through a cloud while accumulating mass at a rate λr2 where r is its radius
(assume that the raindrop remains spherical) and λ > 0. Find its velocity at time t if it starts
from rest with radius a.
dm
Solution: We have that dt
= λr2 . But m = 43 πr3 ρ where ρ is the density. So
 
2 dm d 4 3 dr
λr = = πr ρ = 4ρπr2 .
dt dt 3 dt
λ
This gives dr/dt = µ where µ = 4ρπ
, which gives

r = µt + C,

where C is a constant. Using r = a at t = 0 we obtain C = a and hence r = µt + a. Now we

have
1 dm 3 2 3λ 3µ
= λr = = .
m dt 4ρπr3 4ρπr (µt + a)
d ṁ
Thus from dt
(mv) = mg we obtain v̇m + v ṁ = mg so that v̇ + m
v = g and hence

dv 3µ
+ v = g.
dt (µt + a)
R 3µ
This can be solved using the integrating factor I = exp( (µt+a) dt) = exp(3 log(a + µt)) =
3
(a + µt) . This gives
d
[v(a + µt)3 ] = g(a + µt)3 .
dt
g
Integrating v(a + µt)3 = C 0 + 4µ (a + µt)4 . Using v(0) = 0 we get C 0 = −ga4 /4µ and so
g
(a + µt) − a4 (a + µt)−3 .


v(t) =
4µ

4
 δt

m + δm
v + δv

m
v
- δm
v + δv

Figure 3: Particle moving and gaining δm > 0 or losing

δm < 0 mass from mass moving at zero relative velocity

Mass lost or gained at zero relative velocity

The example to keep in mind here is a hot air balloon containing a bag of sand. The sand is
released to control the height of the balloon. As the sand trickles out it is (effectively) stationary
relative to the balloon. Consider, then, figure 3. Particle has mass m and is moving with velocity
v at time t. At a later time t + δt it has mass m + δm and velocity v + δv. The mass moving
with the particle with zero relative velocity has mass −δm and velocity v + δv. Hence

momentum at t = mv,

and
momentum at t + δt = (m + δm)(v + δv) + (−δm)(v + δv)

1
rate of change of momentum = lim {(m + δm)(v + δv) + (−δm)(v + δv) − mv}
δt→0 δt
1
= lim {mv + δmv + mδv + δmδv − δmv − δmδv − mv}
δt→0 δt
dv
= m .
dt
Hence for an external force of F we get
dv
F =m . (2)
dt

Balloon rising

Suppose a balloon constant mass M contains a bag of sand mass m0 experiences a constant
upward thrust of C. Initially it is in equilibrium, and then the sand is released at a constant
rate so that it is all released in time t0 . Find the height of the balloon and its velocity when all
the sand has been released.

5
Solution: As the sand leaves the bag its speed relative to the ground is the same as that of the
balloon, i.e. its speed relative to the balloon is zero, so we may use (2):
dv
(M + m) = C − (M + m)g.
dt
Thus
dv C
= − g.
dt M +m
Now the sand empties in time t0 at a constant rate, say λ. Thus m(t) = m0 − λt (solve
dm/dt = −λ). If at time t0 we have m = 0 then we must have λ = m0 /t0 . Hence
dv C
= − g.
dt M + m0 − λt
Integrating over t:
 
C C M + m0 − λt
v(t) − v(0) = −gt − [log(M + m0 − λt)]t0 = −gt − log .
λ λ M + m0
Now if the balloon is initially in equilibrium the upward thrust equals its weight: C = (M +m0 )g.
Thus using that v(0) = 0 and λ = m0 /t0 we arrive at:
 
(M + m0 )gt0 m0 t
v(t) = −gt − log 1 − .
m0 (M + m0 )t0
To find the height, lets first set α = m0 /(t0 (M + m0 )). Then we have
dx g
= v = −gt − log(1 − αt).
dt α
Hence
gt2
Z
g
x(t) = − − log(1 − αt) dt + K.
2 α
d
R
We clearly need the integral log z dz. To do this we can either argue that dz
(z log z) =
d
log z + z/z = log z + 1, so that dz (z log z − z) = log z and hence
Z Z
d
log z dz = (z log z − z) dz = z log z − z + constant,
dz
or we may use integration by parts after splitting log z = log z × 1 and use u = log z, dv/dz = 1,
etc. The end result is that using the substitution z = 1 − αt
 
−1
Z Z
1 1
log(1 − αt) dt = log z dz = − z(log z − 1) + K 0 = − (1 − αt)[log(1 − αt) − 1] + K 0 .
α α α
This yields
gt2 g
x(t) = K 00 − + 2 (1 − αt) {log(1 − αt) − 1} ,
2 α
00
where K is found from initial conditions:
g gt2 g
x(t) = x(0) + 2
− + 2 (1 − αt) {log(1 − αt) − 1}
α 2 α

6
 δt

m m + δm
v v + δv

M M +δ M
u u +δu

Figure 4: Particle moving with velocity v and gaining

δm > 0 or losing δm < 0 mass from mass M moving at
velocity u.

General variable mass problems

Consider figure 4. We have

momentum before = mv + M u,

and
momentum after = (m + δm)(v + δv) + (M + δM )(u + δu).
Thus
1
rate of change in momentum = lim {(m + δm)(v + δv) + (M + δM )(u + δu) − (mv + M u)}
δt→0 δt
1
= lim {δmv + mδv + δmδv + δM u + M δu + δM δu}
δt→0 δt
dm dv dM du
= v +m +u +M .
dt dt dt dt
Now, we may also use that δm = −δM (mass conservation), so that dm/dt = −dM/dt and

d dm du
rate of change in momentum = (mv) − u +M .
dt dt dt

This is a general result. Note that when u = 0, we obtain rate of change in momentum = dtd (mv)
as in equation (1). Also, when u = v we have rate of change in momentum = (m + M ) dv dt
as in
equation (2).

Example: Rocket motion (I)

A rocket of mass m emits mass backwards at speed u relative to the rocket at a constant rate
k. Ignoring gravity and air resistance find its speed v at time t if at t = 0 it has speed v0 and

7
 m m + δm
v v + δv

(− δm)
v + δv - u

Figure 5: Rocket burning fuel that is ejected at velocity

u relative to the rocket.

mass M0 = M + m0 , where m0 is the amount of fuel for burning.

Solution: Let m be the mass of the rocket and fuel at time t. We refer to figure 5.
1
rate of change in momentum = lim {(m + δm)(v + δv) + (−δm)(v + δv − u) − mv}
δt→0 δt
1
= lim {δmv + mδv + δmδv − δmv + uδm − δmδv}
δt→0 δt
dv dm
= m +u .
dt dt
There is no external force acting so the rate of change of momentum is zero:
dv dm
m = −u .
dt dt
But dm/dt = −k is the constant loss of fuel mass. Thus m(t) = M0 − kt = M + m0 − kt for
t < m0 /k (after which there is no more fuel to burn).
Thus
dv ku
= ,
dt M0 − kt
which integrates to give
v(t) = −u log (M0 − kt) + K.
Since t = 0 we have v = v0 we obtain
 
k
v(t) = v0 − u log 1 − t , (t ≤ m0 /k).
M0

Example: Rocket motion (II)

The rocket now moves under the pull of gravity and air resistance kmv 2 and the fuel is burned
so that m = m0 e−bt where b > g/u is a constant.

8
We have F = −mg − kmv 2 for the external force. This equals the rate of change of momentum:
dv dm
F =m +u .
dt dt
dv dm
m +u = −mg − kmv 2 .
dt dt
Expanding and dividing by m,
dv u dm
+ = −g − kv 2 .
dt m dt
Now we are told that m = m0 e−bt , so that 1 dm
m dt
= −b. This gives
dv
− bu = −g − kv 2 ,
dt
which we rewrite as
dv
= λ2 − kv 2 , where λ2 = bu − g > 0.
dt
We use partial fractions to obtain
Z
1 1
√ + √ dv = 2λt + C,
λ − kv λ + kv
where C is a constant. Thus
√ !
λ + kv √
log √ = 2λ kt + C 0 .
λ − kv
Using that v(0) = 0 we get C 0 = 0. Tidying up we finally obtain
λ √
v(t) = √ tanh(λ kt).
k
As t → ∞ we have
λ √
v → lim √ tanh(λ kt)
t→∞ k
√ !
λ 1 − e−2λ kt λ
= lim √ √ =√ .
t→∞ k 1 + e−2λ kt k
q
Thus the rocket reaches a limiting velocity √λk = bu−gk
.

Example (2004 Exam question 5)

The mass of a spacecraft at time t is m(t) and its velocity is V (t). For t < 0, m(t) = M and
V = U i where M and U are constants and i is a constant unit vector. For 0 < t < T , the
craft encounters a stream of particles which have velocity w(cos αi + sin αj) where w and α are
constants and j is a unit vector orthogonal to i.
A constant mass ρ of the particles enter the craft per unit time and these particles are thereafter
stationary relative to the craft.

9
 (a) If V = ui + vj, show that

du dm dv dm dm
m + u = ρw cos α, m + v = ρw sin α, = ρ.
dt dt dt dt dt

(b) Solve these equations to show that at time T the direction of motion of the craft has been
turned through an angle β, where
ρwT sin α
tan β =
M U + ρwT cos α

Solution: Consider the before and after picture shown in figure 6 for the momentum change

Figure 6: Rocket in a stream of particles

in time δt. Since the particles pass through the box at a constant rate, in the absence of the
spaceship the mass inside a fixed virtual box (we need only consider 2D) is some constant M .
Suppose the spaceship is passing through the box and is there at t (before figure) and t + δt
(after figure). At time t the momentum inside the box is

M (w cos αi + w sin αj) + mv,

whereas at time t + δt it is

(M − δm)(w cos αi + w sin αj) + (m + δm)(v + δv).

Since there is no external force, these must be the same:

M (w cos αi + w sin αj) + mv = (M − δm)(w cos αi + w sin αj) + (m + δm)(v + δv)

10
Thus expanding and cancelling we obtain

mδv + δmv + δmδv − δm(w cos αi + w sin αj) = 0.

Now divide by δt and take the limit as δt tends to zero:

mv̇ + ṁv = ṁ(w cos αi + w sin αj).

Mass is accumulating in the spacecraft at rate ρ so that dm/dt = ρ. This gives

mu̇ + ρu = ρw cos α (3)

mv̇ + ρv = ρw sin α (4)

which is the same as the equations stated (since ṁ = ρ).

Now ṁ = ρ can be integrated to give m = C + ρt where C is constant. But at t = 0, m(0) = M
so that C = M and m = M + ρt. From (4) we get

(M + ρt)u̇ + ρu = ρw cos α.
d
The LHS is just dt
[(M + ρt)u] and hence

d
[(M + ρt)u] = ρw cos α,
dt
which integrates to
(M + ρt)u = K + ρw cos αt,
where K is a constant. At t = 0, u = U , and so K = M U and hence

M U + (ρw cos α)t

u(t) = .
M + ρt
Similarly,
(M + ρt)v = K 0 + ρw sin αt,
where K 0 is a constant. But v(0) = 0 and hence K 0 = 0.
v(T )
After time T , the spaceship has turned through angle β where tan β = u(T )
which gives

(ρw sin α)T

tan β = .
M U + (ρw cos α)T

11