Example 15.

1
The 100-kg stone is originally at rest
on the smooth horizontally surface. If
a towing force of 200 N, acting at an
angle of 45°, is applied to the stone
for 10 s, determine the final velocity
and the normal force which the
surface exerts on the stone during the
time interval.
Example 15.1
Free-Body Diagram. Since all
forces acting are constant, the
impulses are simply the product of the
force magnitude and 10 s [I = Fc(t2 –
t1)].
Principle of Impulse and
Momentum. Resolving the
vectors along the x, y, z axes,
⎛+⎞
⎜⎜ → ⎟⎟ m(vx )1 + ∑ ∫ Fx dt = m(vx ) 2
t2

⎝ ⎠ t1
o
0 + 200(10) cos 45 = (100)v2
v2 = 14.1m / s
 Example 15.1

(+ ↑) m(v y )1 + ∑ ∫ Fy dt = m(v y ) 2
t2
t1

0 + NC (10) − 981(10) + 200(10) sin 45o = 0

NC = 840 N

Since no motion occurs in the y

direction, direct application of the
equilibrium equation ∑Fy = 0 gives the
same result for NC
 Example 15.2

The 250-N crate is acted upon by a

force having a variable magnitude P =
(100t) N. Determine the crate’s
velocity 2 s after P has been applied.
The initial velocity is v1 = 1 m/s down
the plane, and the coefficient of
kinetic friction between the crate and
the plane is μk = 0.3.
 Example 15.2

Free-Body Diagram. The impulse

created can be determined by
integrating P = 100t over the 2-s time
interval. The weight, normal force and
frictional force are all constant, so the
impulse created by each of these
forces is simply the magnitude of the
force times 2 s.
 Example 15.2
Principle of Impulse and
Momentum.

m(vx )1 + ∑∫ Fx dt = m(vx )2
t2
+
t1
250 2 o 250
(1) + ∫ (100t) dt − 0.3NC (2) + 250(2)sin30 = v2
9.81 0 9.81
25.5 + 200− 0.6NC + 250+ 25.5v2

The equation of equilibrium can be

applied in the y direction

+ o
NC − 250 cos 30 = 0
 Example 15.2

Solving,
NC = 216.5 N

v2 = 13.6m/s
 Example 15.3

Block A and B have a mass of 3 kg

and 5 kg respectively. If the system is
released from rest, determine the
velocity of block B in 6 s.
Example 15.3
View Free Body
Diagram

Free-Body Diagram.
Since the weight
of each block is
constant, the cord
tensions will also be
constant. Furthermore,
since the mass of pulley
D is neglected, the cord
tension TA = 2TB. Note
that the blocks are both
assumed to be traveling
downward in the
positive directions, sA
and sB
 Example 15.3
Principle of Impulse and
Momentum.
Block A:

(+ ↓) m(v A )1 + ∑ ∫ Fy dt = m(v A ) 2
t2
t1
0 − 2TB (6) + 3(9.81)(6) = (3)(v A ) 2

(1)
Block B:

(+ ↓) m(vB )1 + ∑ ∫ Fy dt = m(vB ) 2
t2
t1
0 + 5(9.81)(6) − TB (6) = (5)(vB ) 2

(2)
 Example 15.3
Kinematics.
2 s A + sB = l
Taking time derivative yields

2v A = − v B
As indicated by the negative sign,
when B moves downward A moves
upward. Substituting this result into
Eq. 1 and solving Eqs. 1 and 2 yields
(vB)2 = 35.8 m/s

TB = 19.2 N
 Example 15.12

The box has a mass m and is

traveling down the smooth circular
ramp such that when it is at the angle
θ it is a speed v. Determine its
angular momentum about point O at
this instant and the rate of increase in
its speed, i.e., at.
 Example 15.12
View Free Body
Diagram

Solution
Since v is tangent to the path, the
angular momentum is

H O = rmv
From the free-body
diagram of the block, it
is seen that only the
weight W = mg
contributes a moment
about O

+ ∑ MO
d
= H& O ; mg ( r sin θ ) = ( rmv )
dt
 Example 15.12

Since r and m are constant,

dv
mgr sin θ = rm
dt
dv
= g sin θ
dt
 Example 15.13

The 5 kg block rests on the smooth

horizontal plate. It is attached at A to
a slender rod of negligible mass. The
rod is attached to a ball-and-socket
join at B. If the moment M = (3t) N.m
where t is in seconds, is applied to the
rod and a horizontal force P = 10 N is
applied to the block, determine the
speed of the block in 4 s starting from
rest.
 Example 15.13

Free-Body Diagram. If we consider

the system of both rod and block, then
the resultant force reaction FB at the
ball-and-socket can be eliminated
from the analysis by applying principle
of angular impulse and momentum
about the z axis. If this is done, the
angular impulses created by the
weight and normal reaction NA are
also eliminated, since they act parallel
to z axis and therefore create zero
moment about this axis.
 Example 15.13
Principle of Angular Impulse and
Momentum.

( H z )1 + ∑ ∫ M z dt = ( H z ) 2
t2
t1
t2
( H z )1 + ∫ M dt + rBA P (Δt ) = ( H z ) 2
t1
4
0 + ∫ 3t dt + (0.4)(10)(4) = 5(v A ) 2 (0.4)
0
(v A ) 2 = 20m / s
 Example 15.14

The 0.4 kg ball B is attached to a cord

which passes through a hole at A in a
smooth table. When the ball is r1 = 0.5
m from the hole, it is rotating around in
a circle such that its speed is v1 = 1.2
m/s. By applying a force F the cord is
pulled downward through the hole with
a constant speed vc = 2 m/s.
Determine (a) the speed of the ball at
the instant it is r2 = 0.2 m from the
hole, and (b) the amount of work done
by F in shortening the radial distance
from r1 to r2.
Example 15.14
 Example 15.14

Part (a) Free-Body Diagram.

As the ball moves from r1 to r2, the
cord force F on the ball always
passes through the z axis, and the
weight and NB are parallel to it. Hence
the moments, or angular impulses
created by these forces, are all zero
about this axis. Therefore, the
conservation of angular momentum
applies about the z axis.
 Example 15.14

Conservation of Angular
Momentum.
The ball’s velocity v2 is resolved into
two components. The radial
component, 2 m/s, is known;
however, it produces zero angular
momentum about the z axis. Thus

H1 = H 2
r1m B v1 = r2 m B v2′
( 0 .5 )( 0 .4 )(1 .2 ) = ( 0 .2 )( 0 .4 ) v 2′
v 2′ = 3 m / s
 Example 15.14

The speed of the ball is thus

v2 = (3.0) + (2)2 2

= 3.606m / s

Part (b). The only force that does

work on the ball is F. The initial and
final kinetic energies of the ball can
be determine so that from the
principle of work and energy,
 Example 15.14

T1 + ∑U1− 2 = T2
1 1
(0.4)(1.2) + U F = (0.4)(3.606)
2 2
2 2
U F = 2.313 J
 Example 15.15
The 2 kg disk rests on a smooth
horizontal surface and is attached to
an elastic cord that has a stiffness kc =
20 N/m and is initially unstretched. If
the disk is given a velocity (vD)1 = 1.5
m/s, perpendicular to the cord,
determine the rate at which the cord is
being stretched and the speed of the
disk at the instant the cord is stretched
0.2 m.
 Example 15.15
View Free Body
Diagram

Free-Body Diagram. After the disk

has been launched, it slides along the
path. By inspection, angular
momentum about point O is
conserved, since none of the forces
produce an angular impulse about this
axis. Also, when the distance is 0.7 m,
only the component (v’D)2 produces
angular momentum of the disk about
O.
 Example 15.15
Conservation of Angular
Momentum.
The component (v’D)2 can be obtained
by applying the conservation of
angular momentum about O

(HO )1 = (HO )2
r1mD (vD )1 = r2mD (v′D )2
+ (0.5)(2)(1.5) = (0.7)(2)(v′D )2
(v′D )2 = 1.07m / s
 Example 15.15
Conservation of Energy.
Applying the conservation of energy
equation at the point where the disk
was launched and at the point where
the cord is stretched 0.2 m.

T1 + V1 = T2 + V2
1 1 2 1
(2)(1.5) + 0 = (2)(vD ) 2 + (20)(0.2) 2
2
2 2 2
(vD ) 2 = 1.36m / s
 Example 15.15

Having determine (vD)2 and its

component (v’D)2, the rate of stretch of
the cord (v’’D)2 is determined from the
Pythagorean theorem.

(v′D′ ) 2 = 2
(v D ) 2 − (v′D ) 2
2

= (1.36) − (1.07)
2 2

= 0.838m / s
 EXAMPLE 19.1

At a given instant, the 10 kg disk and a 5 kg

bar have the motions as shown. Determine
their angular momenta about point G and
about point B for the disk and about G and
about the IC for the bar at this instant.
 EXAMPLE 19.1
View Free Body
Diagram

Disk
• Since the disk is rotating about a fixed axis
(through point B), then vG = (8)(0.25) = 2 m/s
• Hence,
⎡1 ⎤
+ H G = I Gω = ⎢ (10)(0.25) 2 ⎥ (8)
⎣2 ⎦
= 2.50 kg ⋅ m 2 / s
+ H B = I Gω + (mvG )rG
= 2.50 + (10)(2)(0.25)
= 7.50 kg ⋅ m 2 / s
 EXAMPLE 19.1

• Also from the table on the inside back cover, IB = (3/2)

mr2, so that
⎡3 ⎤
+ H B = I Bω = ⎢ (10 )( 0 .25 ) 2 ⎥ (8) = 7 .50 kg ⋅ m 2 / s
⎣2 ⎦

Bar
• The bar undergoes general plane motion
• The IC is established as shown in figure
 EXAMPLE 19.1

• So that ω = (2)(3.464) = 0.5774 rad/s and vG =

(0.5774)(2) = 1.155 m/s
• Thus,
⎡1 ⎤
+ H G = I Gω = ⎢ (5)(4)2⎥ (0.5774) = 3.85 kg ⋅ m 2 / s
⎣12 ⎦
• Moments of IGω and mvG about IC yield
+ H IC = IGω + d (mvG )
= 3.85 + (2)(5)(1.155)
= 15.4 kg ⋅ m 2 / s
 EXAMPLE 19.2

The 100-N disk is assumed to be uniform

and is pin supported at its center. If it is
acted upon by a constant couple moment of
6 N.m and a force of 50 N which is applied
to a cord wrapped around its periphery,
determine the angular velocity of the disk
two seconds after starting from rest. Also,
what are the force components of reaction
at the pin?
 EXAMPLE 19.2

Free-Body Diagram
• The disk’s mass center does not move; however the
loading causes the disk to rotate clockwise.
• The moment of inertia of the disk about its fixed axis
of rotation is

1 1 ⎛ 100 ⎞
I A = mr = ⎜
2
⎟ ( 0 .25 )
2

2 2 ⎝ 9 .81 ⎠
= 0 .31855 kg ⋅ m 2
 EXAMPLE 19.2

Principle of Impulse and Momentum

m ( v Ax ) 1 + ∑
t
∫ F x dt = m ( v Ax ) 2
2

( + →) t
1

0 + Ax (2 ) = 0

(+↑ ) m ( v Ay )1 + ∑ ∫
t
2
F y dt = m ( v Ay ) 2
t
1

0 + Ay ( 2 ) − 100 ( 2 ) − 50 ( 2 ) = 0

( +) I Aω1 + ∑
t
∫ dt = I A ω 2
2
M A
t
1

0 + 6 ( 2 ) − [ 50 ( 2 )]( 0 . 25 ) = 0 .31855 ω 2

• Solving these equations yields,

Ax = 0
A y = 30 lb
ω 2 = 116 .2 rad / s
 EXAMPLE 19.3

The 100-kg spool has a radius of gyration

kG = 0.35 m. A cable is wrapped around
the central hub of the spool, and a
horizontal force having a variable
magnitude of P = (t + 10) N is applied,
where t is in seconds. If the spool is initially
at rest, determine its angular velocity in 5 s.
 EXAMPLE 19.3
Free-Body Diagram
• By inspection of the FBD, the variable force P will
cause the friction force FA to be variable, and thus
the impulses created by both P and FA must be
determined by integration. The force P causes the
mass center to have a velocity vG to the right, and
the spool has a clockwise angular velocity ω.
 EXAMPLE 19.3

• The moment of inertia of the spool about its mass

center is
I G = mk 2
G = 100 ( 0 . 35 ) 2 = 12 . 25 kg ⋅ m 2

Principle of Impulse and Momentum

( +→) m(vG)1 + ∑∫ Fx dt = m(vG)2

5
0 + ∫ (t +10) dt − ∫ FA dt =100(vG)2
0

62.5 − ∫ FA dt =100(vG)2 (1)

( +) IGω1 + ∑∫ MG dt = IGω2

+
⎡ 5
⎢⎣ 0
+
⎤
⎥⎦
( )
0 ∫ (t 10) dt (0.4) + ∫ FA dt (0.75) = (12.25)ω2

( )
25 + ∫ FA dt (0.75) = 12.25ω2 (2)
 EXAMPLE 19.3

Kinematics
• Since the spool does not slip, the instantaneous center
of zero velocity is at point A.
• Hence, the velocity of G can be expressed in terms of
the spool’s angular velocity as (vG)2 = 0.75ω2

• Substituting this into Eq.1 and eliminating the

unknown impulse ∫FA dt between Eq.1 and 2,
we obtain
ω 2 = 1 . 05 rad / s
 EXAMPLE 19.4

The block has a mass of 6 kg. It is attached

to a cord which is attached to a cord which is
wrapped around the periphery of a 20-kg
disk that has a moment of inertia IA = 0.40
kg.m2. If the block is initially moving
downward with a speed of 2 m/s, determine
its speed in 3 s.
 EXAMPLE 19.4

Solution I
Free-Body Diagram
• All the forces are constant since the weight of the
block causes the motion
• The downward motion of the block, vB, causes ω of
the disk to be clockwise.
 EXAMPLE 19.4
Principle of Impulse and Momentum
• We can eliminate Ax and Ay from the analysis by
applying the angular impulse and momentum about
point A. Hence,
Disk
( +) I + ∑ ∫ M dt = I ω
A A A 2

0.40(ω ) + T (3)(0.2) = (0.4)ω

1 2

Block

(+ ↑ ) m B ( v B )1 + ∑ ∫ F y dt = m B ( v B ) 2

− 6 ( 2 ) + T (3) − 58 .86 (3) = − 6 ( v )

B 2

Kinematics
• Since ω = vB/r then ω1 = 2/0.2 = 10 rad/s and ω2 =
(vB)2/0.2 = 5(vB)2
• Substituting and solving the equations,

(vB )2 = 13.0 m / s
 EXAMPLE 19.4

Solution II
Impulse and Momentum Diagrams
• We can obtain (vB)2 directly by considering the
system consisting of the block, the cord and the
disk
• The impulse and momentum diagrams have been
drawn to clarify application of the principle of
angular impulse and momentum about point A
 EXAMPLE 19.4

Principle of Angular Impulse and Momentum

• Realizing that ω1 = 10 rad/s and ω2 = 5(vB)2, we
have,
⎛ syst. angular ⎞ ⎛ syst. angular ⎞
( +) ⎜ ∑ ⎟ + ⎜∑ ⎟
⎝ momentum ⎠ A1 ⎝ impulse ⎠ A(1− 2)
⎛ syst. angular ⎞
= ⎜∑ ⎟
⎝ momentum ⎠ A2
6(2)(0.2) + 0.4(10) + 58.86(3)(0.2) = 6(vB ) 2 (0.2) + 0.40[5(vB ) 2 (0.2)]
(vB ) 2 = 13.0 m / s ↓
 EXAMPLE 19.5

The Charpy impact test is used in materials

testing to determine the energy absorption
characteristics of a material during impact.
The test is performed using a pendulum as
shown on next slide, which has a mass m,
mass center G, and a radius of gyration kG
about G. Determine the distance rP from the
pin at A to the point P where the impact with
the specimen S should occur so that the
horizontal force at the pin is essentially zero
during the impact.
 EXAMPLE 19.5
View Free Body
Diagram

For the calculation, assume the specimen absorbs all

pendulum’s kinetic energy gained during the time falls
and thereby stops the pendulum from swinging when
θ = 0°.
 EXAMPLE 19.5

Principle of Impulse and Momentum

• We will apply the principle of angular impulse and
momentum about point A. Thus,

( +) I A + ∑ M A dt = I Aω2

I Aω1 −
(∫ F dt)r = 0
P

( →)
+ m(vG )1 + ∑ F dt = m(vG ) 2

− m(r ω ) + ∫ F dt = 0
1
 EXAMPLE 19.5

Free-Body Diagram
• As shown on the FBD, the conditions of the
problem require the horizontal impulse at A to be
zero.
• Just before impact, the pendulum has a clockwise
angular velocity ω1, and the mass center of the
pendulum is moving to the left at

(vG )1 = r ω1
• Eliminating the impulse ∫F dt and substituting IA = mkG2
+ mr2 yields,

[mk + mr ]ω1 − m(r ω1 )rP = 0

2
G
2

• Factoring out mω1 and solving for rP, we obtain

k G2
rP = r +
r
• The point P, so defined, is called the center of
percussion
 EXAMPLE 19.6

The 10 kg wheel has a moment of inertia IG

= 0.156 kg.m2. Assuming that the wheel
does not slip or rebound, determine the
minimum velocity vG it must have to just roll
over the obstruction at A.
 EXAMPLE 19.6

Impulse and Momentum Diagrams

• Since no slipping or rebounding occurs, the wheel
pivots about point A during contact
• The figure shown respectively , the momentum of the
wheel just before impact, the impulses given to the
wheel during impact, and the momentum of the wheel
just after impact.
 EXAMPLE 19.6

• Only two impulses (forces) act on the wheel

• By comparison, the force at A is much greater than
that of the weight, and since the time of impact is
very short, the weight can be considered as
nonimpulsive.
• The impulsive force F at A has both an unknown
magnitude and an unknown direction θ
• To eliminate this force from the analysis, angular
momentum about A is conserved
 EXAMPLE 19.6

Conservation of Angular momentum

( +) ( H A )1 = ( H A ) 2
r ′m(vG )1 + I Gω1 = rm(vG ) 2 + I Gω2
(0.2 − 0.03)(10)(vG )1 + (0.156)ω1 = (0.2)(10)(vG ) 2 + (0.156)ω2 (1)

Kinematics
• Since no slipping occurs,
in general ω = vG/r = vG/0.2 = 5vG
• Substituting this into the above equation,
(vG ) 2 = 0.892(vG )1
 EXAMPLE 19.6
Conservation of Energy
• In order to roll over the obstruction, the wheel must
pass position 3 as shown.
• Hence, if (vG)2 [or (vG)1] is to be minimum, it is
necessary that the kinetic energy of the wheel at
position 2 be equal to the potential energy at
position 3
 EXAMPLE 19.6

• Constructing the datum through the center of

gravity, and applying the conservation of energy
equation, we have
{T2 }+ {V2 } = {T3 }+ {V3 }
⎧1 2⎫
⎨ (10 )( vG ) 2 + ( 0 .156 )ω 2 ⎬ + {0} = {0} + {(9 .81)( 0 .03 )}
2 1
⎩2 2 ⎭

• Substituting ω2 = 5(vG)2 and Eq. 1 into this

equation, and solving
(vG )1 = 0.729 m / s →
 EXAMPLE 19.7
The 5-kg slender rod is pinned at O and is
initially at rest. If a 4-kg bullet is fired into the
rod with a velocity of 400 m/s as shown in
the figure, determine the angular velocity of
the rod just after the bullet becomes
embedded in it.
 EXAMPLE 19.7

View Free Body

Diagram

Impulse and Momentum Diagrams

• The impulse which the bullet exerts on the rod can
be eliminated from the analysis, and the angular
velocity of the rod just after impact can be
determined by considering the bullet and the rod as
a single system.
 EXAMPLE 19.7

• The momentum diagrams are drawn just before and

just after impact.
• During impact, the bullet and rod exchange equal
but opposite internal impulses at A
• As shown on the impulse diagram, the impulses that
are external to the system are due to the reactions at
O and the weights of the bullet and rod.

• Since the time of impact, Δt, is very short, the rod

moves only a slight amount, and so the “moments”
of the weight impulses about point O are essentially
zero
• Therefore angular momentum is conserved about
this point.
 EXAMPLE 19.7

Conservation of Angular Momentum

( +) ∑ (H ) =
O 1 ∑ (H O )2
m B ( v B )1 cos 30 o ( 0 .75 ) = m B ( v B ) 2 ( 0 .75 ) + m R ( v G ) 2 ( 0 .5 ) + I G ω 2
1 .039 = 0 .003 ( v B ) 2 + 2 .50 ( v G ) 2 + 0 .417 ω 2
(1)
Kinematics
• Since the rod is pinned at O, we have

( vG )2 = ( 0.5 )ω 2 ; ( vB )2 = ( 0.75 )ω 2
• Substituting into Eq. 1 and
solving yields

ω 2 = 0.623 rad / s
 EXAMPLE 19.8

The 5-kg slender rod is suspended from

the pin at A. If a 1-kg ball B is thrown at the
rod and strikes its center with a horizontal
velocity of 9 m/s, determine the angular
velocity of the rod just after impact. The
coefficient of restitution is e = 0.4
 EXAMPLE 19.8
View Free Body
Diagram

Conservation of Angular Momentum

• Consider the ball and rod as a system
• Angular momentum is conserved about point A since
the impulsive force between the rod and the ball is
internal
• The weights of the ball and rod are nonimpulsive
 EXAMPLE 19.8

• Noting the directions of the velocities of the ball

and rod just after impact as shown on the
kinematics diagram, we require
( +) ∑ (H ) =
A 1 ∑ (H A )2
m B ( v B )1 ( 0 .5 ) = m B ( v B ) 2 ( 0 .5 ) + m R ( v G ) 2 ( 0 .5 ) + I G ω 2
⎡1 ⎤
(1)( 9 )( 0 . 5 ) = (1)( v B ) 2 ( 0 . 5 ) + ( 5 )( v G ) 2 ( 0 . 5 ) + ⎢ ( 5 )(1) 2 ⎥ ω 2
⎣ 12 ⎦
• Since (vG)2 = 0.5ω2, then
4 . 5 = 0 . 5 ( v B ) 2 + 1 . 6667 ω 2
 EXAMPLE 19.8

Coefficient of restitution

⎛+⎞ (vG )2 − (vB )2 (0.5)ω2 − (vB )2

⎜⎜ → ⎟⎟ e= 0.4 =
⎝ ⎠ (vB )1 − (vG )1 9−0
Solving 3.6 = 0.5ω2 − (vB )2

(vB )2 = − 1.96 m / s = 1.96 m / s ←

ω2 = 3.287 rad / s