MMB241(MMB222)

Dynamics of Particles
Kinetics of particle
Impulse & Momentum
➢ Impulse
➢ Momentum
➢ Angular Impulse & Momentum
➢ Collision and Impact

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 Momentum
• Another tool used for the analysis of motion by
integrating Newton’s second law with respect to time
dv
 F = ma = m dt

➢Rearranging the terms and integrating between the

limits v = v1 at t = t1 and v = v2 at t = t2

t2 v2 t2

  Fdt = m  dv or
  Fdt = mv 2 − mv1
t1 v1 t1
2
 Momentum
t2

  Fdt = mv 2 − mv1
t1

• The term on the left is called impulse and mv is the linear

momentum

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 Impulse
• Average impulse of a force is the average force
multiplied by the time interval during which the force
acts:

IMPavg = Favg  t

➢ More precisely: impulse of a force is defined as:


IMP =  F dt

Impulse is a vector quantity, and has the SI units of a

newton-second (Ns)
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 Linear Momentum
• The linear momentum of an object is the product of
its mass and velocity:

   
p = mv Or G = mv
• Momentum is a vector quantity, and has the SI units
of a kilogram meter/second (kg m/s)

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 Impulse-momentum theorem
• The concept of momentum gives a second (and
equivalent) way of stating Newton’s second law: the net
external force acting on an object is equal to its change
in momentum with respect to time
• The equation of motion for a particle of mass m can be
written as:
dv
 F = ma = m dt
➢Rearranging the terms and integrating between the
limits v = v1 at t = t1 and v = v2 at t = t2
t2 v2 t2

  Fdt = m  dv or   Fdt = mv 2 − mv1

t1 v1 t1
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 Impulse-momentum theorem
• The concept of momentum gives a second (and
equivalent) way of stating Newton’s second law: the net
external force acting on an object is equal to its change
in momentum with respect to time
t2

  Fdt = mv 2 − mv1
t1

➢This equation is called the Principle of impulse and

momentum
➢The impulse applied to an object during an interval of
time is equal to the change in the object’s linear
momentum
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In another form:
t2

mv1 +   Fdt = mv 2
t1

which states that

➢the initial momentum of the particle at t1 plus
➢the vector sum of all the impulses applied to the particle during the
time interval from t1 to t2 is equivalent to
➢the final momentum of the particle at t2.
t2

mv1   Fdt
t1
mv2
+ =

Initial momentum Impulse Final momentum

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 IMPULSE AND MOMENTUM: SCALAR
EQUATIONS
Since the principle of linear impulse and momentum is a
vector equation, it can be resolved into its x, y, z component
scalar equations: t2

m(vx)1 +   Fx dt = m(vx)2
t1
t2

m(vy)1 +   Fy dt = m(vy)2
t1
t2

m(vz)1 +   Fz dt = m(vz)2
t1
The scalar equations provide a convenient means for applying
the principle of linear impulse and momentum once the velocity
and force vectors have been resolved into x, y, z components.
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For system of particles there is an
equivalent equation in the form
t2

 m (v ) +   F dt =  m (v )
i i 1 i i i 2
t1

which states that:

Initial linear momenta of the system plus the impulses
of all the external forces acting on the system from time
t1 to t2 is equal to the system’s final linear momenta.

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The equation
t2

 m (v ) +   F dt =  m (v )
i i 1 i i i 2
t1

becomes
t2

M (v G )1 +   Fi dt = M (v G )2
t1

where vG is the velocity of the mass centre of the system

Mv G =  mi v i

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 PROBLEM SOLVING
• Establish the x, y, z coordinate system.
• Draw the particle’s free body diagram and establish the
direction of the particle’s initial and final velocities,
drawing the impulse and momentum diagrams for the
particle. Show the linear momenta and force impulse
vectors.
• Resolve the force and velocity (or impulse and momentum)
vectors into their x, y, z components, and apply the principle
of linear impulse and momentum using its scalar form.

• Forces as functions of time must be integrated to obtain

impulses. If a force is constant, its impulse is the product of
the force’s magnitude and time interval over which it acts.
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 Example 1
Golf club swing
➢ Velocity ~ 46 m/s
➢ Duration ~1 millisecond
➢ Mass = 0.046 kg
Calculate:
➢ Impulse
➢ Average force

Answer: 2.12 kg meters/second, ~2116 Newtons

13
 EXAMPLE 2 The 0.5-kg ball strikes the rough ground
and rebounds with the velocities shown.
Determine the magnitude of the impulse
the ground exerts on the ball. Assume
that the ball does not slip when it strikes
the ground and neglect the size of the
ball and the impulse produced by the
weight of the ball.
Find: The magnitude of impulsive force exerted on the ball.

Plan:
1) Draw momentum and impulse diagrams of the ball
as it hits the surface.
2) Apply the principle of impulse and momentum to
determine the impulsive force.

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 EXAMPLE 2 (continued)

Solution:

1) Impulse and momentum diagrams can be drawn as:

 W dt  0 mv2

45°
+ = 30°

mv1  F dt  N dt  0

The impulse caused by the ball’s weight and the normal

force N can be neglected because their magnitudes are
very small as compared to the impulse from the ground.

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 EXAMPLE 2 (continued)

2) The principle of impulse and momentum

can be applied along the direction of motion:
t2
mv1 +  t F dt = mv2
1
t2
0.5 (25 cos 45° i − 25 sin 45° j) +   F dt
 t1
= 0.5 (10 cos 30° i + 10 sin 30° j)
The impulsive force vector is
t2
I =   F dt = (4.509 i + 11.34 j ) Ns
t1
Magnitude: I = √ 4.5092 + 11.342 = 12.2 Ns

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 Conservation of Linear Momentum
• Conservation of linear momentum is a consequence of
Newton’s second law : if the net external force acting on an
object is zero, its change in momentum must be zero, and
therefore momentum is conserved (i.e. it’s a constant).
• Conservation laws in general apply to isolated systems of
objects as well
– an isolated system is defined to be one where the sum of
external forces acting on the system is zero

– any interactions between members of the system (i.e.

internal forces), by Newton’s third law, always occur in
action-reaction pairs, and therefore exert no net force on
the system.

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 Conservation of Linear Momentum
• Conservation of linear momentum is a consequence of
Newton’s second law : if the net external force acting
on an object is zero, its change in momentum must be
zero, and therefore momentum is conserved (i.e. it’s a
constant).

Equation

Conservation of Linear Momentum for a System

of Particles

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 Example
The ballistic pendulum is a simple device to
measure projectile velocity v by observing
the maximum angle θ to which the box of
sand with embedded projectile swings.
Calculate the angle θ when the 60-g
2m
projectile is fired horizontally into the
suspended 20-kg box of sand with a velocity
v = 600 m/s.
Also find the percentage of energy lost
during impact.

Answer: 23.4o, 99.7% 19

∆G=0, G1=G2
0.06kg*600m/s=(0.06+20)kg*v2 v2=1.795m/s
Applying work-Energy principle;
U=∆T (Work done by external forces=change in kinetic energy)
mgh=(1/2)mv22
1.7952 = 2  9.81 2  (1 − cos  )
  = 23.4o 2
1 1
m1v1 − m2 v22
2
h
%energy loss = 2 2 100 = 99.7%
1
m1v12
2
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• Linear impulse = Change in Linear momentum
• Angular impulse = Change in Angular momentum
• Impact deals with finite impulses in very, very small time

➢ Linear Impulse with Small Time Intervals I = F (t 2 − t1 )

➢ Large force, small time interval
➢ Impulse = area under the curve

Same impulse for all three cases

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 Angular Momentum
• The angular momentum of a particle
about point O is defined as the
‘moment’ of the particle’s linear
momentum about O.
• Since, this concept is analogous to
finding the moment of a force about
a point, the angular momentum, HO,
is sometimes referred to as the
moment of momentum.
• Vector cross product can be used to
determine the angular momentum
about O.
H O = r  mv
Note that the order
is important.
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➢ Particle moving along a curve lying in the x-y plane, the
angular momentum can be calculated about point O
(actually z-axis) by using a scalar formulation.
Magnitude of HO:
Thumb of right
H O = d  mv hand

d - perpendicular distance
from O to the line of action y
of mv.
O
d
mv

Direction of HO is defined
x
by the right-hand rule.
Screwdriver
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• If the particle is moving along a
space curve, the vector cross
product has to be used to
determine the angular
momentum about O.
H O = r  mv
➢ The angular momentum then is a
vector perpendicular to the plane A
defined by r and v.
➢ The sense of Ho is clearly defined
by the right-hand rule for cross
product

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 The scalar components of angular momentum may
be obtained from the expansion:
i j k
H O = r  mv = x y z =
mvx mv y mvz

m (vz y − v y z ) i + m (vx z − vz x ) j + m (v y x − vx y ) k

Hx Hy Hz
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 Equation of motion (for constant mass particle):

 F = mv
• Cross-product multiplication by the position vector to obtain
the moments of the forces about point O gives,

M O = r   F = r  mv

• On the other hand the derivative of can be written as

H O = (r  mv ) = r  mv + r  mv
 d
dt
• The first term on the right hand side,
• since the cross product of a vector with itself is zero. Hence,
the above equation becomes
r  mv = m(r  r ) = 0
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  O O
M = 
H

• Equation states: 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.
• The same equation can be applied for a system of
particles and in this case the equation states that the
sum of the moments about point O of all the external
forces acting on a system of particles is equal to the
time rate of change of the total angular momentum of
the system of particles about point O.

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  O O
M = 
H M O dt = dH O

Integrate
• at time t = t1 as (HO)1, and
at time t = t2 as (HO)2,
t2

M O dt = (H O )2 − (H O )1
t1
Principle of angular
or
impulse and momentum t2

(H O )1 +   M O dt = (H O )2
t1

Term on the left hand side of the equation, ∑∫MOdt, is

called angular impulse. 28
 t2 t2

angular impulse =  M O dt =  (r  F )dt

t1 t1

• Here r is a position vector, which extends from

point O to any point on the line of action of F.

• In exactly same way the principle of angular

impulse and momentum for a system of particles.

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• When the angular impulses (measured about point
O) acting on a particle are all zero during the time t1
to t2, equation reduces to the following simplified

(HO )1 = (HO )2
form,

• The equation is known as the conservation of angular

momentum.
• It states that from t1 to t2 the particle’s angular
momentum remains constant.
• The same equation applies to a system of particles.

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 Example A pendulum consists of two 3.2-kg
concentrated masses positioned as shown
on a light but rigid bar.
The pendulum is swinging through the
vertical position with a clockwise angular
velocity ω = 6 rad/s when a 50-g bullet
travelling with velocity v = 300 m/s in the
direction shown strikes the lower mass and
becomes embedded in it.
Calculate the angular velocity ω’ which the
pendulum has immediately after impact
and find the maximum angular deflection θ
of the pendulum.

Answer: 2.77 rad/s (ccw), 52.1o 31

Solution
Angular momentum is conserved during the impact
(H O )1 = (H O )2  (r  mv )1 = (r  mv )2
0.05  300 cos 20o  0.4 − 3.2  (0.2 )  6 − 3.2  (0.4 )  6 =
2 2

(0.05 + 3.2)(0.4)2  '+3.2(0.2)2  ' 

 ' = 2.77rad / s (CCW )
Consider the energy after impact (O as Datum point)
T '+V ' = T + V
0.5(0.05 + 3.2)[0.4(2.77)]2 + 0.5(3.2)[0.2(2.77)]2 +
[3.2(0.2) − (3.2 + 0.05)(0.4)]9.81 =
0 + [3.2(0.2) − (3.2 + 0.05)(0.4)]9.81cos 
 = 52.1o

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• Using impulse and momentum principles, it is
therefore possible to write two vector equations,
which define the particle motion:
t2 t2

mv1 +   Fdt = mv 2 (H O )1 +   M O dt = (H O )2
t1 t1

➢ In general, the above equations may be expressed in

x, y, z component form, yielding a total of six
independent scalar equations.
➢ If a particle is however confined to move in the x-y
plane, three independent scalar equations may be
written to express motion.
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 t2

m(v x )1 +   Fx dt = m(v x )2
t1
t2

m (v y )1 +   Fy dt = m (v y )2
t1

t2

(H O )1 +   M O dt = (H O )2
t1

➢ The first two of these equations represent the principle of

linear impulse and momentum in the x and y directions, and
➢ the third equation represents the principle of angular impulse
and momentum about the z axis.
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END
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