Week 13 Lecture Notes

IMPULSE-MOMENTUM PRINCIPLE FOR A RIGID BODY

For a system of particles:

Syst Momenta1 + Syst Ext Imp1→2 = Syst Momenta2

For a Rigid Body

System Momenta:
Linear:
r n r r
L = ∑ Δmi vi = mvG
i =1

Angular:
r n r r r
H G = ∑ ri 'i × vi Δmi = I G ω
i =1
 Three independent equations: Two summations of vector
components and one summation of moments about any point.

CONSERVATION OF LINEAR MOMENTUM:

When the vector sum of all linear impulses acting on the rigid
body (i.e., no net force):
r r
vG1 = vG 2
• The velocity of the center of mass is constant.
• Angular velocity changes if there is a net moment of
forces about G.

CONSERVATION OF ANGULAR MOMENTUM:

When the sum of angular impulses about point O is zero (e.g.,

when the lines of action of all external forces pass through
point
r O): r
(H O )1 = (H O )2
Example 1
Gear A has a mass of 10 kg and a radius
of gyration of 200 mm, and gear B has a
mass of 3 kg and a radius of gyration of
80 mm. The system is at rest when a
couple M of magnitude 6 N-m is applied
to gear B. Neglecting friction, determine
(a) the time required for the angular
velocity of gear B to reach 60 rpm, (b) the
tangential force which gear B exerts on
gear A.
Example 2
Two solid spheres of radius 3 in., weighing 2 lb
each, are mounted at A and B on the horizontal rod
A’B’, which rotates freely about the vertical with a
counterclockwise angular velocity of 6 rad/s. The
spheres are held in position by a cord which is
suddenly cut. Knowing that the centroidal moment
of inertia of the rod and pivot is IG=0.25 lb-ft-s2,
determine (a) the angular velocity of the rod after
the spheres have moved to positions A’ and B’, (b)
the energy lost due to the plastic impact of the
spheres and the stops at A’ and B’.
ECCENTRIC IMPACT

Let A and B be the two points of contact during collision.

The relative velocities of the two points of contact A and B are
given by

(v′B )n − (v′A )n = e[(v A )n − (v B )n ]

SOLVING AN IMPACT PROBLEM:

1. Draw diagrams:
Syst Momenta1 + Syst Ext Imp1→2 = Syst Momenta2
3 equations: 2 summation of components, and one
moment summation
2. Reduce the number of unknowns using kinematic
equations relating velocities of center of mass with angular
velocities, and velocities of points of contact before and
after impact.
Example 3.
A 0.05-lb bullet is fired into the side
of a 20-lb square panel which is
initially at rest.
Determine a) the angular velocity of
the panel immediately after the bullet
becomes embedded and b) the
impulsive reaction at A, assuming
that the bullet becomes embedded
in 0.0006 s.
Example 4
A 2-kg sphere moving horizontally to the
right with an initial velocity of 5 m/s strikes
the lower end of an 8-kg rigid rod AB. The
rod is suspended from a hinge at A and is
initially at rest. Knowing that the coefficient
of restitution between the rod and the
sphere is 0.80, determine the angular
velocity of the rod and the velocity of the
sphere immediately after impact.