Chapter 15

Kinetics of a Particle:
Impulse and Momentum
(IV)

by

Dr. Toh Hoong Thiam

 Principle of Angular Impulse &
Momentum (Sections 15.5-15.7)

Objectives:

a) Determine the angular momentum of a particle and

apply the principle of angular impulse & momentum.

b) Use conservation of angular momentum to solve

problems of kinetics.
Angular Momentum

 The angular momentum of a particle about point O, 𝐻 O , is defined as

the “moment ” of the particle’s linear momentum about O.

 It is sometimes referred to as the moment of momentum.

 The angular momentum can be determined using

(a) Scalar formulation

(b) Vector formulation

 Scalar Formulation
 If a particle is moving along a curve lying in the x-y plane, the
angular momentum at any instant can be determined about O (the z
axis) by using a scalar formulation.

 The magnitude of 𝐻 O is

(HO)z = (d)(mv)

where d = the moment arm or perpendicular

distance from O to the line of
action of mԦv.

 The direction of 𝐻 O is defined by the right-hand rule.

 The unit for (HO)z is kg.m2/s.

 Vector Formulation
 If the particle is moving along a space curve, the vector cross
product can be used to determine the angular momentum about O.

𝐻 O = rԦ × mԦv
or

iˆ ˆj kˆ

H O  rx ry rz
mvx mv y mvz

where rԦ = rx𝑖Ƹ + ry 𝑗Ƹ + rz 𝑘෠ denotes a position vector drawn from point

O to the particle P.

 𝐻 O is perpendicular to the shaded plane containing rԦ and mԦv.

Relationship Between Moment of a Force and Angular
Momentum

 Single Particle
 The moments about point O of all forces
acting on the particle may be related to the
particle’s angular momentum by using the
equation of motion.

 If the mass of the particle is constant,

 
F  m v (1)
 Performing a cross-product multiplication of each side of Eq (1) by the
position vector rԦ yields
   
r  F  r  m v (2)
  d  
 Note that H O  (r  mv )
dt
   
 r  mv  r  mv

 
  
 m r  r  r  mv


as r  r   0
   
 r  mv
  
 By definition, M O  r  F

 Then, Eq.(2) can be written as

 
M O  H O (3)

 This equation states that the resultant moment about point O of all the
forces acting on the particle is equal to the time rate of change of the
particle’s angular momentum about point O.
 Newton’s second law of motion can be written as
 d 
F  m v 
dt
or
  (4)
F  L

where
 
L  mv
This equation states that the resultant force acting on the particle
is equal to the time rate of change of the particle’s linear momentum.

 Hence, Eqs.(3) & (4) are actually another way of stating Newton’s
second law of motion.
 System of Particles
 The forces acting on the arbitrary
ith particle of the system consist
of a resultant external force Fi,
and a resultant internal force Ԧfi.

 The sum of the moment of these

forces about point O is given by,
    
(ri  Fi )  (ri  f i )  ( H i )O
 Similar equations can be written for each of the other particles of the
system.

 When the results are summed vectorially, the result is

    
 (ri  Fi )   (ri  fi )   ( H i )O (5)
 Since the internal forces occur in equal but opposite ./collinear pairs,
the moment of each pair about point O is zero.
 
 (ri  fi )  0
 Thus, Eq.(5) becomes
  
 (ri  Fi )   ( H i )O
or  
 M O   HO (6)

 Eq.(6) states that the sum of the moments about point O of all the
external forces acting on a system of particle is equal to the time rate
of change of the total angular momentum of the system about point O.

 Note : Although O has been chosen here as the origin of coordinates, it

actually can represent any fixed point in the inertial frame of reference.
EXAMPLE 1

Given:

The box has a mass m and travels

down the smooth circular ramp
such that when it is at the angle q
it has a speed v.

Find:
(a) Its angular momentum about point O at this instant.

(b) The rate of increase in its speed, i.e., at.

Solution:

(a) Angular momentum

Angular momentum = Moment of linear momentum

Since vԦ is tangent to the path, the angular

moment is

HO = (r) (mv)
(b) Rate of Increase of Speed

mg
=
𝑁 mv

mg r sin q  rmv 
ሶ d
+ MO = 𝐻 O:

dt
dv
mg r sin q  rm (since r & m are
dt constants.)
dv
 g sin q
dt

⟹ at = g sin q
Note: at can also be determined using the equation of motion

mg
= m𝑎n

𝑁
m𝑎𝑡

+ ∑ Ft = mat: m g sin q = m at

⇨ at = g sin q
Principle of Angular Impulse and Momentum for a
Particle
 Eq. (3) can be written as

 dH O
 O dt
(7)
M 

 Integrating Eq. (7) between the time interval t1 to t2 yields

H O 2 



t2

t1
M O dt  H O 1 dH O
   
  

t2
M O dt  H O 2  H O 1
t1

     
 t2  
HO 1
M O dt  H O 2 (8)
t1

 This equation is referred to as the principle of angular impulse and

momentum.
Note:

• (𝐻 O )1 is the initial angular momentum at t1.

• (𝐻 O )2 is the final angular momentum at t2.



t2
• M O dt is the angular impulse.
t1

• The angular impulse may be expressed in vector form as

  
  

t2 t2
M O dt  r  F dt
t1 t1
Principle of Angular Impulse and Momentum for a
System of Particles

 The principle of angular impulse and momentum for a system

of particles may be written as

 t2  
 ( H O )1    M O dt 
t1
 (H O )2 (9)
Summary
 Using impulse and momentum principles, 2 vector equations
can be written to define the motion of a particle.

(1) Principle of Linear Impulse and Momentum

 t2  
mv1    F dt  mv2 (10)
t1

(2) Principle of Angular Impulse and Momentum

 t2  
( H O )1    M O dt  ( H O ) 2 (11)
t1
 Eq. (10) & (11) can be expressed in x, y, z component form,
yielding a total of 6 independent scalar equations.

 If the particle is confined to move in the x-y plane, 3 independent

scalar equations may be written to express the motion,

(1) Principle of Linear Impulse and Momentum

m(vx )1    Fx dt  m(vx ) 2
t2

t1

m(v y )1    Fy dt  m(v y ) 2
t2

t1

(2) Principle of Angular Impulse and Momentum

( H O )1    M O dt  ( H O ) 2
t2

t1
 Conservation of Angular Momentum
 When the angular impulses acting on a particle are all zero during
the time t1 to t2, Eq.(11) reduces to
 
( H O )1  ( H O ) 2

 This equation is known as the conservation of angular momentum.

 It states that from t1 to t2 the particle’s angular momentum remains

constant.

 If no external impulse is applied to the particle, both linear and angular

momentum is conserved.
 In some cases, the particle’s angular momentum will be conserved
and linear momentum may not.

 An example of this condition occurs when a particle is subjected

only to a central force.

• The impulsive central force 𝐹Ԧ is always directed toward point O as

the particle moves along the path.

• The angular impulse (moment) created by 𝐹Ԧ about z axis passing

through point O is always zero, and therefore angular momentum
of the particle is conserved about this axis.
EXAMPLE 2

Given:

Two 0.4 kg masses with initial

velocities of 2 m/s experience a
moment of 0.6 N·m.

Find:
The speed of blocks A and B when t = 3 s.
Solution:
Principle of angular impulse and momentum.

( H O )1    M O dt  ( H O ) 2
t2
+↑:
t1

mAv1  d  mBv1  d   t M O dt  mAv2  d  mB v2  d

t2

2mv1  d  M O  dt  2 mv2  d
3
(since mA = mB = m)
0

2 (0.4×2)(0.3)+ (0.6)(3) = 2 (0.4 v2 ) (0.3)

0.48 + 1.8 = 0.24 v2

⟹ v2 = 9.5 m/s
EXAMPLE 3

Given:

• A frame rotates around its z-axis.

• The cylinder C has a mass of 10 kg and

at t = 0 its speed is vo = 2 m/s

• The frame is subjected to a couple M = (8t2 + 5) N·m

• The cylinder is subjected to a force of 60 N .

Find:
The velocity of the cylinder C after 2 seconds.
Solution:
 Angular momentum:
(Hz)1 = − r m v1= 0.75(10)(2)= −15

(Hz)2 = − r m v2= 0.75(10)(v2)= −7.5 v2

 Angular impulse:
  3 

t2
M z dt
2

   8t  5 dt  2
 2
0.75 60  dt
  5 
t1 0 0


   8t 2  32 dt
0
2

2
 t3 
  8  32t 
 3 0
= − 85.33 N·m·s
 Apply the principle of angular impulse and momentum

H z 1   0 M z dt  H z 2
2
 :

− 15 − 85.33 = − 7.5 v2

⟹ v2 = 13.38 m/s
EXAMPLE 4
Given:
• The 0.4-kg ball B is attached to a cord
which passes through a hole at A in a
smooth table.
• The cord is pulled downward through the hole
with a constant speed vc= 2 m/s by a force of
magnitude F.

• 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.

Find:
(a) The speed of the ball at the instant it is r2 = 0.2 m from the hole,
(b) The amount of the work done by F in shortening the radial distance
from r1 to r2.
Solution:
(a)
 Free-Body Diagram

• As the ball moves from r1 to r2, the moments (or angular impulses)
created by the cord forces F, W & NB are all zero about the z axis.

• Therefore, angular momentum is conserved about the z axis.

 Conservation of angular momentum

 
( H A )1  ( H A ) 2

(+ ↑) : r1mB v1  r2 mB v2

0.5m 0.4kg 1.2m/s  0.2m 0.4kg  v2

v2  3.0 m/s

 The speed of the ball is

v2  v2 2  vc 2  3 m/s2  2 m/s2

v2 = 3.606 m/s
(b)
 Only force F does work on the ball.

 Principle of Work and Energy

T1 +  U1-2 = T 2

1 1
mB v1  U F  mB v22
2

2 2

(0.4) (1.2) 2  U F  0.43.606

1 1 2

2 2

UF = 2.312 J