DYNAMICS

Vector Mechanics for Engineers

- DYNAMICS -
CH. 14 Systems of Particles

Professor Jae-Sang Park

Department of Aerospace Engineering,

Chungnam National University

Fall Semester, 2022

1 Prof. Jae-Sang Park Dept. of Aerospace Eng., Chungnam National Univ.
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14.0 Introduction

▪
- In the current chapter, the motion of systems of particles will be studied.

- The effective force of a particle is defined as the product of its mass and acceleration.
It will be shown that the system of external forces acting on a system of particles is equipollent
with the system of effective forces of the system.

- The mass center of a system of particles will be defined and its motion described.

- Application of the work-energy principle and the impulse-momentum principle to a system of particles
will be described. Result obtained are also applicable to a system of rigidly connected particles, i.e.,
a rigid body.

2 Prof. Jae-Sang Park Dept. of Aerospace Eng., Chungnam National Univ.

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14.1A Newton’s 2nd laws : System of Particles

• Newton’s 2nd law for a system of n particles

▪ Effective force
- Newton’s 2nd law for each particle Pi in a system of n particles,

n
Fi   fij  mi ai and
j 1

ri  Fi    ri  fij   ri  mi ai
n

j 1

where Fi  external force, fij  internal force

(Force exerted on Pi
by another particle Pj of
the system)
mi ai  effective force

- The system of external and internal forces on a particle

is equivalent to the effective force of the particle.

- The system of external and internal forces on the entire system of particles is equivalent to
the system of effective forces.
3 Prof. Jae-Sang Park Dept. of Aerospace Eng., Chungnam National Univ.
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14.1A Newton’s 2nd laws : System of Particles

• Newton’s 2nd law for a system of n particles

▪
- Summing over all the elements,

n n n n

 F   f
i 1
i
i 1 j 1
ij   mi ai
i 1
and

  r  F     r  f     r  m a 
n n n n

i i i ij i i i
i 1 i 1 j 1 i 1

- Since the internal forces occur in equal and opposite collinear pairs, the resultant force and couple
due to the internal forces are zero.

n n n n

F  m a
i 1
i
i 1
i i and  r  F    r  m a 
i 1
i i
i 1
i i i

i r  fij  r j  f ji  ri  fij  ri  f ji  r j  f ji  ri  f ji
The system of the external force Fi and the
system of the effective forces miai have the  ri   fij  f ji    r j  ri   f ji  0
same resultant and the same moment
0 0
resultant.
equipollent system, not equivalent system
4 Prof. Jae-Sang Park Dept. of Aerospace Eng., Chungnam National Univ.
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14.1A Newton’s 2nd laws : System of Particles

• Newton’s 2nd law for a system of n particles

▪ Equipollent system
- The systems shown in Figs. (a) and (b) have the same
resultant and the same moment resultant. But, the 1st
system accelerates particle A and leaves particle B unaffected,
while the 2nd accelerates B and does not affect A.

- Two equipollent systems of forces acting on a rigid body are also equivalent.
But, this property could not be extended to a system of forces acting on a set of independent particles.

- Although the internal forces f ij is equipollent to zero, it does not indicate that the internal forces have
no effect on the particles under consideration.

- In our text book, the blue equals signs : equipollent system

the red equals signs : equivalent system
(one system can actually be replaced by the other)

5 Prof. Jae-Sang Park Dept. of Aerospace Eng., Chungnam National Univ.

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14.1B Linear & angular momentum of a
system of particles
• Linear momentum for a system of particles
m3 v3
▪ Definition m1 v1
- Linear momentum for a system of n particles is defined as m2 v 2

L  m1 v1  m2 v 2  m3 v 3    mn v n
n
  mi v i
i 1

- Its time derivative is

n n
L   mi vi   mi ai or F  L
i 1 i 1

Resultant of the external forces is equal to rate of change of linear momentum of the
system of particles.

6 Prof. Jae-Sang Park Dept. of Aerospace Eng., Chungnam National Univ.

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14.1B Linear & angular momentum of a
system of particles
m3 v3
• Angular momentum for a system of particles m1 v1

▪ Definition r3
r1
- Angular momentum for a system of n particles about the fixed m2 v 2
point O is defined as
r2
n
HO    ri  mi vi 
i 1

- Its time derivative is

n n
H O    ri  mi v i     ri  mi v i 
i 1 i 1
n n n
   v i  mi v i     ri  mi ai     ri  mi ai  or M O  HO
i 1 i 1 i 1

The moment resultant about the fixed point O of the external forces is equal to the
rate of change of angular momentum of the system of particles

7 Prof. Jae-Sang Park Dept. of Aerospace Eng., Chungnam National Univ.

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14.1C Motion of mass center of a
system of particles
•
▪ Definition of mass center G
- Mass center G of system of particles is defined by the position vector r which satisfies

n n
m r   mi ri where m   mi : the total mass of the particles
i 1 i 1

- Its time derivative is

n n
m r   mi ri or mv   mi vi where v is the velocity of the mass center
i 1 i 1
G of the system of particles
n
Recall L  m v
i 1
i i Thus, L  mv

The mass center moves as if the entire mass and all

- Differentiating : L  ma  F of the external forces were concentrated at that
point.

8 Prof. Jae-Sang Park Dept. of Aerospace Eng., Chungnam National Univ.

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14.1C Motion of mass center of a
system of particles
• Sample problem 14.1
▪ A 200-kg space vehicle is observed at t=0 to pass through the origin of a Newtonian reference frame
Oxyz with velocity v0=(150 m/s)i relative to the frame. Following the detonation of explosive charges,
the vehicle separates into 3 parts A, B, and C, of mass 100 kg, 60 kg, and 40 kg, respectively.
Knowing that at t=2.5 sec. the positions of parts A and B are observed to be A(555, -180, 240) and
B(255, 0, -120), where the coordinates are expressed in meters, determine the position of part C at that
time.

Sol.) Since there are no external forces, the mass center G of the system moves with the constant
velocity v0=(150 m/s)i. At t=2.5 sec., its position is

r  v0t  150m/s  i  2.5s    375m  i

n
From the equation, m r  m r
i 1
i i ,  mr  mArA  mB rB  mC rC

 200 kg  375 m  i  100 kg   555 m  i  180 m  j   240 m  k 

  60 kg   255 m  i  120 m  k    40 kg  rC

 rC  105m  i   450 m  j   420 m  k

9 Prof. Jae-Sang Park Dept. of Aerospace Eng., Chungnam National Univ.
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14.1D Angular momentum of a system of
particles about its mass center
• ri  r  ri
▪ Angular momentum of the system of particles about the mass center G ai  a  ai
- Consider the centroidal frame of the reference Gxyz  , which
translates with respect to the Newtonian frame Oxyz .

- The centroidal frame is not, in general, a Newtonian frame.

- The angular momentum of the system of particles about the mass r ri

center,
n
HG    ri  mi vi 
i 1

where ri and vi are the position vector and the velocity vector of the
particle Pi relative to the frame of reference Gxyz  .

- Differentiating : The moment resultant about G of the external forces

n n is equal to the rate of change of angular momentum
H G    ri  mi ai    ri  mi  ai  a   about G of the system of particles.
i 1 i 1
n
 n  n n
   ri  mi ai     mi ri   a    ri  mi ai     ri  Fi    M G   MG  HG
10 i 1
Prof. Jae-Sang Park  i 1  i 1 i 1 Dept. of Aerospace Eng., Chungnam National Univ.
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14.1D Angular momentum of a system of
particles about its mass center
•
▪ Angular momentum of the system of particles about the mass center G
- Angular momentum about G of particles in their absolute motion
relative to the Newtonian Oxyz frame of reference.
n
H G    ri  mi v i 
i 1

n
 n  n
  ri  mi  v  v i      mi ri   v    ri  mi v i 
  
i 1  i 1  i 1

n
   ri  mi v i   H G
i 1

n n Angular momentum about G of the

- Therefore, HG    ri  mi vi     ri  mi vi   HG particle momenta can be calculated
i 1 i 1 with respect to either the Newtonian
or centroidal frames of reference.
In addition,

 M G  HG

11 Prof. Jae-Sang Park Dept. of Aerospace Eng., Chungnam National Univ.

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14.1E Conservation of momentum for a
system of particles
•
▪
- If no external force acts on the particles of a system of particles,

L  F  0  L  constant

HO   MO  0  HO  constant

- In some applications, such as problems with central forces,

L  F  0  L  constant

HO   MO  0  HO  constant

- Concept of conservation of momentum also applies to the analysis of the mass center motion,

L  F  0  L  mv  constant  v  constant
The mass center G of the system moves in a straight line and at a constant speed.

HG   MG  0  HG  constant
12 Prof. Jae-Sang Park Dept. of Aerospace Eng., Chungnam National Univ.
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14.1E Conservation of momentum for a
system of particles
• Sample problem 14.2
▪ A 10-kg projectile is moving with a velocity of 30 m/s
when it explodes into 2.5 and 7.5-kg fragments. Immediately
after the explosion, the fragments travel in the directions
 A  45 and  B  30 .

Determine the velocity of each fragment.

Sol.) Since there are no external forces, the linear momentum of the system is conserved.

13 Prof. Jae-Sang Park Dept. of Aerospace Eng., Chungnam National Univ.

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14.1E Conservation of momentum for a
system of particles
• Sample problem 14.2 (continued)
▪

Sol.) Write separate component equations for the conservation of linear momentum.

mA v A  mB v B  mv0 or 2.5v A  7.5v B  10v0

x components : 2.5vA cos 45 7.5vB cos30  10  30

y components : 2.5vA sin 45 7.5vB sins30  0 y

Solve the equations simultaneously for the fragment velocities. x

vA  62.2 m/s 45

vB  29.3 m/s 30

14 Prof. Jae-Sang Park Dept. of Aerospace Eng., Chungnam National Univ.

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14.2A Kinetic energy of a system of particles

•
▪ Definition
- The kinetic energy T of a system of particles is defined as

1 n
T   mi vi 2
2 i 1

▪ Using a centroidal frame of reference

- It is often convenient when computing the kinetic energy of a system
of particles to consider separately the motion of the mass center G
of the system and the motion of the system relative to a moving frame attached to G.

Recall ri  r  ri . (see the slide 9) Then, vi  v  vi

NOTE : vi is the velocity relative to the newtonian frame of reference Oxyz .

vi is the velocity relative to the moving frame of reference Gxyz  which is translation with
respect to Oxyz .

v is the velocity of the mass center G relative to the newtonian frame Oxyz .

15 Prof. Jae-Sang Park Dept. of Aerospace Eng., Chungnam National Univ.

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14.2A Kinetic energy of a system of particles

•
▪ Using a centroidal frame of reference (continued)

1 n 1 n
T   mi vi    mi v i v i 
2

2 i 1 2 i 1
1 n
   mi  v  v i   v  v i  
2 i 1
1 n  n
1 n
   mi  v 2  v  mi v i   mi vi 2
2  i 1  i 1 2 i 1

By the way, since

 n  n
m    mi  and  m v  mv  0
i i v is the velocity of G relative to
 i 1  i 1
the frame Gxyz .

The kinetic energy of a system of particles is expressed as

1 1 n Kinetic energy is equal to kinetic energy

T  mv   mi vi 2
2
of mass center plus kinetic energy
2 2 i 1 relative to the centroidal frame
16 Prof. Jae-Sang Park Dept. of Aerospace Eng., Chungnam National Univ.
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14.2B Work-energy principle : Conservation of
energy for a system of particles
•
▪ Principle of work and energy
- The principle of work and energy can be applied to each particle Pi : T1  U12  T2

where U12 represents the work done by the internal forces f ij and the resultant external force
acting on Pi.

- The principle of work and energy can be applied to the entire system by adding the kinetic energies of
all particles and considering the work done by all external and internal forces.

- Although f ij and f ji are equal and opposite, the work of these forces will not, in general, cancel out,
since the particles Pi and Pj on which they act will, in general, undergo different displacements.

▪ Principle of conservation of energy

- If the forces acting on the particles are conservative, the work is equal to the change in potential energy
and
T1  V1  T2  V2

which expresses the principle of conservation of energy for the system of particles
17 Prof. Jae-Sang Park Dept. of Aerospace Eng., Chungnam National Univ.
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14.2C Principle of impulse and momentum for
a system of particles
•
▪ Principle of impulse and momentum
- Integrating the following equations in t from t1 to t2 :

F  L   L1    Fdt  L2
t2 t2
Fdt  L 2  L1
t1 t1

 MO dt   HO 2   HO 1   HO 1    MO dt   HO 2
t2 t2
M O  HO t1 t1

- The momenta of the particles at time t1 and the impulse of the forces from t1 to t2 form a system of
vectors equipollent to the system of momenta of the particles at time t2.

18 Prof. Jae-Sang Park Dept. of Aerospace Eng., Chungnam National Univ.

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14.2C Principle of impulse and momentum for
a system of particles
•
▪ Conservation of linear momentum and angular momentum
- If no external force acts on the particles of the system, the linear momentum and the
angular momentum about O (or about any fixed point) of the system of particles are conserved.


t2
L1  Fdt  L 2  L1  L2
t1

  HO 1   HO 2
 HO 1   t MO dt   HO 2
t2

19 Prof. Jae-Sang Park Dept. of Aerospace Eng., Chungnam National Univ.

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14.2C Principle of impulse and momentum for
a system of particles
• Sample problem 14.5
▪ Ball B, of mass mB, is suspended from a cord, of length L, attached to
cart A, of mass mA, which can roll freely on a frictionless horizontal
tract. While the cart is at rest, the ball is given an initial velocity v0  2 gL .
Determine
(a) the velocity of B as it reaches its maximum elevation
y
(b) the maximum vertical distance h through which B will rise.

x
Sol.) With no external horizontal forces, it follows from
the impulse-momentum principle that the horizontal
component of momentum is conserved. This relation
can be solved for the velocity of B at its maximum
elevation.
L1    Fdt  L2
t2

t1

x component equation :

mA  vA 1  mB  vB 1  mA  vA 2  mB  vB 2
20 Prof. Jae-Sang Park Dept. of Aerospace Eng., Chungnam National Univ.
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14.2C Principle of impulse and momentum for
a system of particles
• Sample problem 14.5 (continued)
▪
Sol.) Velocities at position 1 are

 vA 1  0 and  vB 1  v0
When ball B reaches its maximum elevation, its velocity
 vB / A 2 relative to its support A is zero. Thus, at that
instant, its absolute velocity is

 vB 2   vA 2   vB / A 2   vA 2

mA  vA 1  mB  vB 1  mA  vA 2  mB  vB 2 or mB v0   mA  mB  vA 2

mB
  v A 2  v   vB  2
 mA  mB  0

21 Prof. Jae-Sang Park Dept. of Aerospace Eng., Chungnam National Univ.

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14.2C Principle of impulse and momentum for
a system of particles
• Sample problem 14.5 (continued)
▪
Sol.) The conservation of energy principle can be L
applied to relate the initial kinetic energy to
the maximum potential energy.

T1  V1  T2  V2

Position 1 – Potential energy : V1  mA gL Position 2 – Potential energy : V2  mA gL  mB gh

1 1
Kinetic energy : T1  T2   mA  mB  vA 2
2
mB v0 2 Kinetic energy :
2 2

1 1
mB v0 2  mA gL   mA  mB  v A 2  mA gL  mB gh
2

2 2

v0 2 mA  mB  vA 2
2
mB v0 2
Solving for h, we have h  
2g mB 2g mA  mB 2 g

22 Prof. Jae-Sang Park Dept. of Aerospace Eng., Chungnam National Univ.

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14.2C Principle of impulse and momentum for
a system of particles
• Sample problem 14.6
▪ Ball A has initial velocity v0=3m/s parallel to the axis of the
table. It hits ball B and then ball C which are both at rest.
Balls A and C hit the sides of the table squarely at Aꞌ and Cꞌ
and ball B hits obliquely at Bꞌ. Assuming perfectly elastic
collisions,
y
Determine
the velocities vA, vB, and vC with which the balls hit the sides of the table.
x

Sol.) There are 4 unknowns : vA ,  vB  x ,  vB  y , and vC .

v A  vA j , v B   vB  x i   vB  y j , vC  vC i

mv0  m  3m/s 

23 Prof. Jae-Sang Park Dept. of Aerospace Eng., Chungnam National Univ.

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14.2C Principle of impulse and momentum for
a system of particles
• Sample problem 14.6 (continued)
▪
Sol.) Since there is no external force, the initial momentum mv0 is equipollent to the system of momenta
after the two collisions (and before any of the balls hits the side of the table)


t2
L1  Fdt  L2
t1

x component equation : mv0  m  vB   mvC or m  3m/s   m  vB  x  mvC - (a)

x

y component equation : 0  mvA  m  vB  y - (b)

 HO 1   t MO dt   HO 2
t2

Angular momentum about O :

  0.6 m  mv0   2.4 m  mvA   2.1m  m  vB  y   0.9 m  mvC

or   0.6 m  m  3m/s    2.4 m  mvA   2.1m  m  vB  y   0.9 m  mvC - (c)

24 Prof. Jae-Sang Park Dept. of Aerospace Eng., Chungnam National Univ.

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14.2C Principle of impulse and momentum for
a system of particles
• Sample problem 14.6 (continued)
▪
Sol.) Solving the previous three equations, (a), (b), and (c), for vA ,  vB  x , and  vB  y
in terms of vC ,

vA   vB  y  3vC  6 - (d) and  vB x  3  vC - (e)

In addition, the conservation of energy : T1  V1  T2  V2

1 1 1 1
mv0 2  mvA2  m  vB  x   vB  y   mvC 2
2 2

2 2 2   2

 3m/s   vA2   vB  x   vB  y   vC 2
2 2 2
or - (f)
 

When we substitute Eqs. (d) and (e) into Eq. (f),

2  3vC  6    3  vC   vC 2  9  vC  1.5 m/s vC  2.4 m/s

2 2
and

25 Prof. Jae-Sang Park Dept. of Aerospace Eng., Chungnam National Univ.

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14.2C Principle of impulse and momentum for
a system of particles
• Sample problem 14.6 (continued)
▪
Sol.) For the case of v  1.5 m/s , in the Eq. (d),
C

vA  3vC  6  3 1.5 m/s   6  0 : meaningless result

For the case of vC  2.4 m/s , in the Eq. (d),

vA   vB  y  3vC  6  3  2.4 m/s   6  1.2 m/s

and for the Eq. (e),

 vB x  3  vC  3  2.4  0.6 m/s

Finally,

v A  1.2 m/s v B  1.342 m/s 63.4 vC  2.4 m/s

26 Prof. Jae-Sang Park Dept. of Aerospace Eng., Chungnam National Univ.