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v
The velocity of the particle is r is tangent
F ma mv
or
d
d
F mv mv
G G
dt
dt
mv
equals N.s.
Linear momentum equation is one of the most useful and important
relationships in dynamics, and it is valid as long as mass m of the particle is
not changing with time.
We now write the three scalar components of linear momentum equation as
Fx G x
Fy G y
Fz G z
dG
F
dt
t2
Fdt
t1
G2
G1
Fdt dG , which
dG G2 G1 G
linear impulse
Here the linear momentum at time t2 is G2=mv2 and the linear momentum at
time t1 is G1=mv1. The product of force and time is defined as the linear
impulse of the force, and this equation states that the total linear impulse
on m equals the corresponding change in linear momentum of m.
G1
Fdt G2
which says that the initial linear momentum of the body plus the linear impulse
applied to it equals its final linear momentum.
G2 mv2
v1
G1 mv1
Fdt
and then combine the integrated components. The components become the
scalar equations, which are independent of one another.
t2
F dt mv
x
x 2
mvx 1 G x2 G x1 G x
t1
t2
F dt mv mv G
y
y 2
y 1
y2
G y1 G y
t1
t2
F dt mv
z
t1
z 2
mvz 1 G z2 G z1 G z
There are cases where a force acting on a particle changes with the time in a
manner determined by experimental measurements or by other approximate
means. In this case, a graphical or numerical integration must be performed.
If, for example, a force acting on a particle in a given direction changes with
t2
t1
G 0 G1 G2
mv1 mv2
This equation expresses the principle of conservation of linear momentum.
PROBLEMS
1. The 200-kg lunar lander is descending onto the moons surface with a
velocity of 6 m/s when its retro-engine is fired. If the engine produces a
thrust T for 4 s which varies with the time as shown and then cuts off,
calculate the velocity of the lander when t=5 s, assuming that it has not yet
landed. Gravitational acceleration at the moons surface is 1.62 m/s2.
SOLUTION
m 200 kg ,
v1 6 m / s ,
g 1.62 m / s 2
v2 ?
motion
1
mg(5) (800) 2 (800)2 200v2 6
2
1620 800 1600 200v2 6
v2 6 3.9
v2 2.1 m / s
mg
t 5 s,
PROBLEMS
2. The 9-kg block is moving to the right with a velocity of 0.6 m/s on a
horizontal surface when a force P is applied to it at time t=0. Calculate the
velocity v of the block when t=0.4 s. The kinetic coefficient of friction is
mk=0.3.
SOLUTION
motion
W=mg
P
F y 0
N mg 0
N 9(9.81) 88.3 N
Ff=mkN
F f m k N 0.3(88.3)
in x direction
t
Fdt mv mv
72dt 36dt
0
t1 0.2
0
t 2 0.4
t 2 0.4
t1 0.2
v2 1.823m / s
PROBLEMS
3. A tennis player strikes the tennis ball with her racket while the ball is still
rising. The ball speed before impact with the racket is v1=15 m/s and after
impact its speed is v2=22 m/s, with directions as shown in the figure. If the
60-g ball is in contact with the racket for 0.05 s, determine the magnitude of
the average force R exerted by the racket on the ball. Find the angle b made
by R with the horizontal.
SOLUTION
v2 y
v2
in x direction
Fx dt mv2 x mv1 x
0.05
Rx t 0
0.05R x 2.127
20
10 v
1x
v1 y v1
F dt mv
y
Ryt
0.05
0
2 y
0.05R y 0.325
R 43.02 N
Rx
mv1 y
0.05
0.06(9.81)t 0
R y 6.49 N
tan b
W=mg
R x 42.53 N
in y direction
t
v2 x
Ry
Rx
b 8.68
Ry
Ry
b
Rx
PROBLEMS
4. The 40-kg boy has taken a running jump from the upper surface and lands
on his 5-kg skateboard with a velocity of 5 m/s in the plane of the figure as
shown. If his impact with the skateboard has a time duration of 0.05 s,
determine the final speed v along the horizontal surface and the total normal
force N exerted by the surface on the skateboard wheels during the impact.
PROBLEMS
(mB+mS)g
y
x
N
Linear momentum is conserved in x-direction;
mB vBx mS vSx mB mS v
40 5 cos 30 0 40 5 v
in y direction
mB v By mS vSy
0.05
N m
v 3.85 m / s
mS g dt 0
N 2440 N or N 2.44 kN
In addition to the equations of linear impulse and linear momentum, there exists
a parallel set of equations for angular impulse and angular momentum. First, we
define the term angular momentum. Figure shows a particle P of mass m moving
with
H o r mv r G
. The sense of
v
products.
by r
Ho m x
vx
so that
j
y
vy
H ox m yv z zv y
H o r mv
z m yv z zv y i mzv x xv z j m xv y yv x k
vz
H oy mzv x xv z
H oz m xv y yv x
If
We now differentiate
Mo r
F r mv
H o r mv
d
H o r mv rm
v r m
v
dt
m
a
r mr 0
Mo
The term v mv is zero since the cross product of parallel vectors is zero.
M o Ho
ox
H ox
M oy H oy
oz
H oz
or
M o dt
t1
t2
M o dt
H o 2
dH o H o
H o 1
2 H o 1 H o
r2 mv2 r1 mv1 H o
t1
The total angular impulse on m about the fixed point O equals the
corresponding change in angular momentum of m about O.
Alternatively, we may write
t2
H o 1 M o dt H o
t1
Plane-Motion Application
Most of the applications can be analyzed as plane-motion problems where
moments are taken about a single axis normal to the plane motion. In this case,
the angular momentum may change magnitude and sense, but the direction of
the vector remains unaltered.
t2
o dt
H o 2 H o 1
t1
t2
Fr sindt mv d
2 2
t1
mv1d1
H o 0 H O1 H O2
This equation expresses the principle of conservation of angular momentum.
PROBLEMS
1. The assembly starts from rest and reaches an angular speed of 150
rev/min under the action of a 20 N force T applied to the string for t
seconds. Determine t. Neglect friction and all masses except those of the
four 3-kg spheres, which may be treated as particles.
SOLUTION
t2
t1
M z dt H z2 H z1
2
20
0.1 t 4
3
0.4 150 0.4
60
T r
m
r
sphere link
pulley
vsphere
t 15.08 s
PROBLEMS
2. 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 w=6 rad/s when a 50-g bullet
traveling with velocity v=300 m/s in the direction shown strikes the lower
mass and becomes embedded in it. Calculate the angular velocity w which the
pendulum has immediately after impact and find the maximum deflection of
the pendulum.
SOLUTION
Angular momentum is conserved during impact;
(2)
M O dt H O2 H O1 0 , H O1 H O2
MO 0
r mv 1 r mv 2
(1)
v1
v2
v2
w
2
1
v1
SOLUTION
v1
v2
w
v2
w
2
1
v1
T1 Vg1 T2 Vg 2
(Datum at O)
1
0.05 3.20.4 2.772 1 3.20.2 2.772 3.20.29.81 3.2 0.050.49.81
2
2
0 3.20.29.81 cos 3.2 0.050.4 9.81 cos
52.1o