Lecture 16

the principle of impulse & momentum

 
derive it from Newton’s 2 Law F  ma
nd

Hirotaka SATO
hirosato@ntu.edu.sg
OUTLINE
• review the earlier lectures:
Lec 14 torque & ang momentum, Lec 15 work & kinetic energy

• derive the principle “impulse & liner momentum” from

Newton’s 2nd Law
• solve an example
– approach 1: use the principle
– approach 2: directly use Newton’s 2nd Law

• derive the principle of ang. impulse & ang. momentum

from Newton’s 2nd Law
• solve two examples
– approach 1: use the principle
– approach 2: directly use Newton’s 2nd Law
Lectures 13 & 14

 
Newton’s 2nd Law


F  ma rPA 
position
vector

d
M = H angular

torque
dt momentum
Previous Lecture (L15)

 
Newton’s 2nd Law


F

F  ma dr

dr

displacement

integration

1 1
U12  mv2  mv1
2 2

2 2
Work Kinetic Energy
done by force
 dv what?
F dx  m dx
displacement
dt
dx
v
a dt
F dx  m v dv
infinitesimal work

integration
start!

x2 v2

from Newton’s 2nd Law
 Fdx   mv dv
F  ma
x1 v1

1 2 1 2
   
Work
done by force  mv2  mv1
F  dr  ma  dr U12 2 2
infinitesimal work
Kinetic Energies
F dx  ma dx goal
“work gives change in kinetic energy”
x component alone
Previous Lecture (L15)

 
Newton’s 2nd Law


F

F  ma dr

dr

displacement

integration

1 1
U12  mv2  mv1
2 2

2 2
Work Kinetic Energy
done by force
This Lecture

 
Newton’s 2nd Law

dt
F

F  ma
at t2

infinitesimal at t1 dt time interval

time interval

 infinitesimal
F dt impulse
integration

t2 
 t1
F dt  m v 2  m v1
Linear momentum
Impulse
  
dv
F dt  m dt
dt
 a

F dt  m dv
infinitesimal impulse
start!
 
from Newton’s 2nd Law integration for

F  ma 
net impulse

t2  v2
  
t1
F dt   m dv
v1
F dt  ma dt impulse
 
infinitesimal impulse

goal
 mv2  mv1
linear momentum linear momentum
at t2 at t1
 t2 
t1
F dt  m v 2  m v1
Linear momentum
Impulse
 t2 
t1
F dt  m v 2  m v1

  
denote denote denote

I12  L2  L1
Linear
Impulse Momentum

Principle of linear impulse and linear momentum

Example 3-8 (Applications of Principle of Linear Impulse and
Momentum to a particle)

A block of mass m = 15 kg is initially sliding with a speed of 5

m/s down an inclined smooth surface, when a horizontal
force F  40t (N) is applied on it, Fig.a. Determine the
velocity of the block when t = 5 s.

v1
F(t)
Fig.a
15
   
I1 2  L2  L1
t2 

t1
F dt  m v 2  m v 1 Let’s visually show the
equation in a diagram

5 5
 Ndt   (405t sin 15  mg cos15)dt
0 0
 Ndt
N = 40t sin+ mg cos
 500 sin 15 0 5mg cos15
5
mv2
 40tdt  500
mv1
-
0 40t

40t sin =
+Y
5 mg mg cos
0
mgdt  5 mg
+X

= (-165o)

1 unknown / 2 equations
   
I12  L2  L1
t2 
 t1
F dt  m v 2  m v1
5 5

0
Ndt   (40t sin 15  mg sin 15)dt
0

 500 sin 15  5mg sin 15

5
0
40tdt  500 mv2
mv1
= -
5 +Y+Y

0
mgdt  5 mg
+X
+X
   
I12  L2  L1
t2 
t1
F dt  m v 2  m v1
5 5

0
Ndt   (40t sin 15  mg sin 15)dt
0

 500 sin 15  5mg cos15

5
 40tdt  500 mv2
mv1
-
0

=
5 +Y
0
mgdt  5 mg
+X

=
1 unknowns / 2 equations
 Direct Approach

ma = F

Kinetic Diagram N Free Body Diagram

+Y ma ma = F -15o

+X
= 40t

mg

iˆ : ma  40t cos(15)  mg cos(105) in general

dv
a a dt  dv
dt
-5 integration
t2 v2
 t1
a dt   dv
v1
(ans)
  
How about curvilinear motion? F  ma
Lecture14
slide # 5 - 10

d
at t2 MA  HA
dt
  torque angular
F L 
rPA  F momentum

A 
 P rPA  L
rPA at t1

dt
time interval
what we get?
 dH A
M A dt  dt
dt
infinitesimal
angular impulse

 dH A
integration for
net angular impulse

d
MA  HA t2 H A2

dt t1
M A dt  
H A1
dH A
angular impulse

d
M A dt  H A dt  H A 2  H A1
dt
infinitesimal
angular impulse
 t2

t1
M A dt  H A 2  H A1
angular momentum angular momentum
angular impulse at t2 at t1
from t1 to t2

 ( ang )
t2 H A2
denote
t1
M A dt  
H A1
dH A

I 12  H A 2  H A1
simple example: circular motion on horizontal plane

F = 10t N constantly 60O to

fixed the normal direction
point A
60o

o r = 5m
• 5 kg
• v1 = 0
Determine v2 after 5 sec
 t2
 t1
M dt  H 2  H1
torque angular
momentum
angular
momentum
 ( ang ) angular 2 1

I 12 Impulse
torque
about O
F = 10t N
moment
A of inertia

o T =
free body diagram

2
as v = r

2
(ans)
 Direct Approach
Newton’s 2nd Law: ma = F

STEP 1 STEP 2
kinematic diagram
kinetic diagram free body diagram
mr STEP 3
ma = F F = 10t N
in general
=
T
mr 2

3 unknowns / 2 equations

(ans)
 
F  ma
t2 

t1
F dt  mv 2  mv 1
Impulse Linear momentum

d
MA  HA
dt
t2
t1
M A dt  H A 2  H A1
Angular impulse Angular momentum
thank you for your attention

Ed by Hirotaka Sato
Example 3-9

A block A of mass mA = 250 kg is connected to a double

pulley of negligible mass and friction as shown. Determine
the constant force F, which is required to slow the descent of
the block from 3 m/s to 0 in 5 seconds.

r=50 mm
100 mm
O

A
ĵ
+ B Fig.a
iˆ
mA g
F
 t2
 M dt  H 2  H1
ccw is
positive
t1
+ torque angular
momentum
angular
momentum
 ( ang ) angular 2 1

I 12 Impulse
massless 100 mm
pulley
50
mm Torque due to T1

Let’s use O as axis point to consider M, I, H = Torque due to F

(explain later)

torque on A about O
O r1 = 50 mm
C O

T1   
rA  rC  rAC
A parallel to
mAg F the forces
(no torque)

interval: 5 sec
v1 = 3 m/s
v2 = 0 m/s 1 unknown / 1 equation (ans)
 t2
 M dt  H 2  H1
ccw is
positive
t1
+ torque angular
momentum
angular
momentum
 ( ang ) angular 2 1

I 12 Impulse
massless 100 mm
pulley
50
mm
Let’s use O as axis point to consider M, I, H
r1 = torque on A about O
O 50 mm
C O

  
rA  rC  rAC
A parallel to
mAg F the forces
(no torque)

interval: 5 sec
v1 = 3 m/s
v2 = 0 m/s 1 unknown / 1 equations (ans)
 100 mm torque on A about O

50
True?
massless mm
pulley
for B mBaB= F – T2
Newton’s 2nd Law =0
B is
T1 massless point F = T2
O T2
for pulley I= T1r1 – T2r2
T1 T2 =0
moment of inertia x angualr accel.
B = torque massless
pulley
T1 = (r2/r1) T2
mAg
F = (r2/r1) F
50 mm for A
C O
   torque about O Mo = mAgr1 – T1r1
rA  rC  rAC O
T1 = mAgr1 – (r2/r1) Fr1
parallel to
A the forces
mg
   
I1 2  L2  L1
t2 
t1
F dt  m v 2  m v 1 Let’s visually show the
equation in a diagram

5

0
Ndt
5
mv2
 40tdt  500
mv1
-
0

=
+Y
5

0
mgdt  5 mg
+X

= (-165o)

1 unknown / 2 equations
   
I1 2  L2  L1
t2 
t1
F dt  m v 2  m v 1 Let’s visually show the
equation in a diagram

5
0
Ndt
5
mv2

N = 40t sin+ mg cos 40tdt  500
mv1
-
0

40t
=
40t sin
+Y
5

0
mgdt  5 mg
mg mg cos +X

= (-165o)

1 unknown / 2 equations