Sharif University of Technology, International Campus (Kish island) & Course title: Dynamics (Part 11) Instructor: Abdolreza Pasharavesh 4.3. Linear momentum principle Let us define the total linear momentum of a multi-particle system as the summation of the linear momenta of every single particle in the system. Substituting equation (19) of the previous part ina so derived expression for momentum, one oblains: G= Dy, =D + Domb, = mvs Doh, |G anwe a which states that when calculating the total linzar momentum of assume that the total mass is concentrated in the mass center of the system, stem of particles, one can Differentiating with respect to time from equation (1), provided that the total mass of the system is.constant, results in: G=nv=ma Q) From equation (15) of the previousspart, the above equation yields in: IG=>F 3) which expresses that the time fate of change of total momentum of a system of particles is equal to the resultant force externally exerted on the’ system. Equation (3) would reduce to conservation ofmomentuim law. ifthe resultant external force applied to the system during some time interval vanishes. Denoting the initial ané‘final momentum of the system before and after such a ti interval by Gand G, , one has: GG, a) 4.4, Angular momentum principle Similar to the definition of linear momentum the angular momentum of a system of particles about some arbitrary fixed point“@, may be derived by adding up the angular momenta of all particles in the system: H, = (xm, (3) ion with respect to time, yields: Differentiating the above expres Hy = Dives) +S (nxma,)= D(x) © where F, denotes the resultant of all forces, whether of extemal or internal source, acting on the ith particle. Since internal forces appear in pairs of equal magnitude and opposite direction acting along the same line, their cumulative effect in the right hand side of equation (6) vanishes leaving only the summation of the moments of external forces about point O.. Therefore: HH, =M, ”Sharif University of Technology, International Campus (Kish island) Course title: Dynamics (Part 11) Instructor: Abdolreza Pasharavesh If the total moment applied to the system abcut point vanishes in some time interval, the above relation reduces to conservation of angular momentum law. Therefore, for_any two arbitrary times |, and f, one has: (Ho) In what follows the equation of angular momentum principle will be found fortwo more cases. ‘AL the first case the reference point about which the angular momentum and the moment of forces are measured coincides the mass center of the system, and in the second one an accelerating arbitrary point will be chosen as the reference. H,), 3) Case 1) Principle of angular momentum about the mass center G It ean be shown that both equations (5) and (7) hold if O coincides the mass center of the system which is not necessarily a fixed point./By definition, for the total angular momentum about the mass center G , one has: H = Lojxmi, @) Expressing the absolute velocity #/as the summation of velocity relative to mass center p, and the velocity of mass center itSélf in accordance to equation (19) of the previous part, equation (8), may be written H, =Dip,xm,(F+p,)=Dop,xmi+ Dip, xmp, (1v) One can easily show by pulling out F that the'first term in the right hand side of the above equation vanishes. Hence: (Ho), = ie. xmb a) > The above equation states that when mass center is chosen as the reference point, both absolute and relative angular momenta are equal Differentiating the above relation with respect to time, one has: H, = Dao, + Dp, xmi, (2) Replacing the relative acceleration term ji, in the right hand side of the above equation by i — . one obtains: H, = Dp,xmit— Levent = Tp, xmi, (3) Using a similar reasoning as described above cquation (7), the above equation finally reduces ts a4) Setting )°M, the above equation assuming that no net moment is acting on the system about its mass center, the law of conservation of angular momentum is derived as: 2Sharif University of Technology, International Campus (Kish island) Course title: Dynamics (Part 11) Instructor: Abdolreza Pasharavesh (He), =(H, Case 2) Prineiple of angular momentum about arbitrary point P Before deriving the expression for the angular momentum, about point P, consider the case that total moment of forces about point P is given or can conveniently be calculated and let’s see how this total moment may be related to time rate of change in H,,. Denoting the position vector of the particles with respect to point P by p’ (See Fig.1), forces acting on the system about point P maybe written as: DM, =DpxE =>(6+p,)xB => M, +pxma (16) The moment of all Finally substituting )°M,, from equation (14), one obtains: EM, =H, +pxmal (7) Fig. 1 as) > Therefore for problems inwhich )°M., can be more easily derived than ))M,,, using the above relation would be more helpful than equation (14). Now let us see how JM," may be related to the time rate of change in angular momentum measnred hy an ohserverin P ic (H,),, Ry definition, the relative angular momentum ahont P is: (Hy), = Sop; xm Using the equality. p; = p +p, , the right and side may be expanded as: (H,),,=Dpxmp+ Dpxmp, + Do-nip +Dp.xmp, Denoting p by ¥,, which is the mass center velocity relative to P, one has: (Ay) = He + Px m1 Differentiating both sides 6f the above equation, yields: (i), -H ‘Now using equetion (14) together with the equality #1, = + penis +p xn, 3, one has: >, (H.)., +B %ma,, (18) a9) 20) en (22) Similar to the previous chapter, all relations obtained in the last three sections hold when used by an observér in @ frame translating with a constant velocity. That’s because all those relations are derived from Newton’s second law which zs discussed before holds in all inertial frames. Examp!Sharif University of Technology, International Campus (Kish island) Course title: Dynamics (Part 11) Instructor: Abdolreza Pasharavesh Two steel balls, each of mass mm, are welded to a light rod of length Z and negligible mass and are initially a: rest on a smooth horizontal surface. A horizontal force of magnitude F is suddenly applied to the rod as shown. Determine: a) ‘The instantaneous acceleration 7 of the mass center G h) The corresponding rate 4 at which the angular veloci of the assembly G is changing with time. Solution: ‘Using equation (15) of the previous part, the|acceleration of the mass €enteF equals total applied external force divided by total mass of the system. Therefiore: Py m The angular momentum of the system when rotating with- in’clockwise direction about its mass center The moment of external force F about mass center G is: (Mo=Fb (14), one obtains: Example: ‘The 50,0001b flatear supports'a.15,0001b vehicle on a § ramp hilt an the latear lf the vehicle is wlanced from rest with the flatcar also at rest, determine the velocity v of the flatear when the vehicle has rolled s=40ft down the ramp just before hitting the stop at B. Neglect all friction and treat the vehicle and the flatear as particles. Solution: Assumingall surfaces to be frictionless and s in the horizontal direction, both mechanical energy and horizontal linear momentum are conserved. Denoting the mass of the flatcar, the mass of the vehicle, the final velocity of the temSharif University of Technology, International Campus (Kish island) Course title: Dynamics (Part 11) Instructor: Abdolreza Pasharavesh vehicle relative to the flatcar, and the ramp angle by M , m, V , and az , respectively, the initial mechanical energy of the system may be written as: (Pl) For the final energy one has: +e where v and V are assumed as positive when directed toward left and right, respectively. My +m (vr-V osc +(vsine Also the horizontal components of the initial and final linear momentum of the system are: en G6, =86Mewt cosa) (PO Conservation of energy and horizontal lineat momentum indicate: G,=G,, E,=E Substituting equations (P1) to (P3)jinto the abcve equation} results in: ‘Mv-4m(v=V cosa) =0 pa +im((v-Vensay! +(vsina)!) =messi Solving the above system of equations for v, ene obtaii 2m M +m((M/m) +(sina)) yssina: Substituting s=40ft, M =50,0001b, 1m velocity of the flatear is derived as: 5,0001b, @=5S', and g=322fi/s*, the final v=3.94fUsec