Dynamics Chapter 13 Beer7

Seventh Edition
CHAPTER VECTOR MECHANICS FOR ENGINEERS:
1 DYNAMICS
3
Ferdinand P. Beer
E. Russell Johnston, Jr. Kinetics of Particles:
Energy and Momentum
Lecture Notes:
J. Walt Oler
Methods
Texas Tech University
© 2003 The McGraw-Hill Companies, Inc. All rights reserved.

Vector Mechanics for Engineers: Dynamics
Edition
Seventh
Contents
Introduction Sample Problem 13.6
Work of a Force Sample Problem 13.7
Principle of Work & Energy Sample Problem 13.9
Applications of the Principle of Work & Principle
Energy of Impulse and Momentum
Power and Efficiency Impulsive Motion
Sample Problem 13.1 Sample Problem 13.10
Sample Problem 13.4 Impact
Sample Problem 13.5 Direct Central Impact
Potential Energy Oblique Central Impact
Conservative Forces Problems Involving Energy and Momentum
Conservation of Energy Sample Problem 13.14
Motion Under a Conservative Central Force
Sample Problem 13.15
Sample Problems 13.16
Sample Problem !3.17
© 2003 The McGraw-Hill Companies, Inc. All rights reserved. 13 - 2
Edition
Seventh
Introduction
• Previously, problems dealing with the motion of particles
 were
solved through the fundamental equation of motion, F = ma.
Current chapter introduces two additional methods of analysis.
• Method of work and energy: directly relates force, mass,

velocity and displacement.
• Method of impulse and momentum: directly relates force,

mass, velocity, and time.

Edition
Seventh
Work of a Force

• Differential vector dr is the particle displacement.
• Work of the force is

 
dU = F • dr
= F ds cos α
= Fx dx + Fy dy + Fz dz
• Work is a scalar quantity, i.e., it has magnitude and

sign but not direction.
• Dimensions of work are length × force. Units are

1 J ( joule ) = (1 N )(1 m ) 1ft ⋅ lb = 1.356 J

Edition
Seventh
Work of a Force
• Work of a force during a finite displacement,
A2 

U1→2 = ∫ F • d r
A1
s2 s2
= ∫ ( F cos α ) ds = ∫ Ft ds
s1 s1
A2
= ∫ ( Fx dx + Fy dy + Fz dz )
A1
• Work is represented by the area under the

curve of Ft plotted against s.

Edition
Seventh
Work of a Force
• Work of a constant force in rectilinear motion,
U1→2 = ( F cos α ) ∆x
• Work of the force of gravity,

dU = Fx dx + Fy dy + Fz dz
= −W dy
y2
U1→2 = − ∫ W dy
y1
= −W ( y 2 − y1 ) = −W ∆y
• Work of the weight is equal to product of

weight W and vertical displacement ∆y.
• Work of the weight is positive when ∆y < 0,

i.e., when the weight moves down.
Edition
Seventh
Work of a Force
• Magnitude of the force exerted by a spring is
proportional to deflection,
F = kx
k = spring constant ( N/m or lb/in.)
• Work of the force exerted by spring,
dU = − F dx = − kx dx
x2
U1→2 = − ∫ kx dx = 12 kx12 − 12 kx22
x1
• Work of the force exerted by spring is positive

when x2 < x1, i.e., when the spring is returning to
its undeformed position.
• Work of the force exerted by the spring is equal to
negative of area under curve of F plotted against
1→2 = − 2 ( F1 + F2 ) ∆x
x, U 1

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Seventh
Work of a Force
Work of a gravitational force (assume particle M

occupies fixed position O while particle m follows path
shown),
Mm
dU = − Fdr = −G 2 dr
r
r2
Mm Mm Mm
U1→2 = − ∫ G dr = G −G
r1 r2 r2 r1

Edition
Seventh
Work of a Force
Forces which do not do work (ds = 0 or cos α = 0):
• reaction at frictionless pin supporting rotating body,
• reaction at frictionless surface when body in contact

moves along surface,
• reaction at a roller moving along its track, and
• weight of a body when its center of gravity moves

horizontally.

Edition
Seventh
Particle Kinetic Energy: Principle of Work & Energy 

• Consider a particle of mass m acted upon by force F
dv
Ft = mat = m
dt
dv ds dv
=m = mv
ds dt ds
F t ds = mv dv
• Integrating from A1 to A2 ,
s2 v2
2 2
∫ Ft ds = m ∫ v dv = 12 mv2 − 12 mv1
s1 v1
U1→2 = T2 − T1 T = 12 mv 2 = kinetic energy


• The work of the force F is equal to the change in
kinetic energy of the particle.
• Units of work and kinetic energy are the same:
2
2  m   m
T = 12 mv = kg  =  kg 2 m = N ⋅ m = J
s  s 
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Seventh
Applications of the Principle of Work and Energy

• Wish to determine velocity of pendulum
bob at A2. Consider work & kinetic energy.

• Force P acts normal to path and does no
work.
T1 + U1→2 = T2
1W 2
0 + Wl = v2
2 g
v2 = 2 gl
• Velocity found without determining
expression for acceleration and integrating.
• All quantities are scalars and can be added
directly.
• Forces which do no work are eliminated
from the problem.
Edition
Seventh
Applications of the Principle of Work and Energy

• Principle of work and energy cannot be
applied to directly determine the acceleration
of the pendulum bob.
• Calculating the tension in the cord requires

supplementing the method of work and
energy with an application of Newton’s
second law.
• As the bob passes through A2 ,
∑ Fn = m an
W v22
P −W =
g l
W 2 gl
P =W + = 3W
v2 = 2 gl g l

Edition
Seventh
Power and Efficiency

• Power = rate at which work is done.
 
dU F • dr
= =
dt dt
 
= F •v
• Dimensions of power are work/time or force*velocity.

Units for power are
J m ft ⋅ lb
1 W (watt) = 1 = 1 N ⋅ or 1 hp = 550 = 746 W
s s s
• η = efficiency
output work
=
input work
power output
=
power input

Edition
Seventh
Sample Problem 13.1

SOLUTION:
• Evaluate the change in kinetic energy.
• Determine the distance required for the
work to equal the kinetic energy
change.
An automobile weighing 4000 lb is

driven down a 5o incline at a speed of
60 mi/h when the brakes are applied
causing a constant total breaking force
of 1500 lb.
Determine the distance traveled by the
automobile as it comes to a stop.

Edition
Seventh
Sample Problem 13.1

SOLUTION:
• Evaluate the change in kinetic energy.
 mi  5280 ft  h 
v1 =  60    = 88 ft s
 h  mi  3600 s 
T1 = 12 mv12 = 12 ( 4000 32.2 )( 88) 2 = 481000 ft ⋅ lb
v2 = 0 T2 = 0
• Determine the distance required for the work
to equal the kinetic energy change.
U1→2 = ( − 1500 lb ) x + ( 4000 lb )( sin 5°) x
= −(1151 lb ) x
T1 + U1→2 = T2
481000 ft ⋅ lb − (1151 lb ) x = 0
x = 418 ft
Edition
Seventh
Sample Problem 13.2

SOLUTION:
• Apply the principle of work and
energy separately to blocks A and B.
• When the two relations are combined,

the work of the cable forces cancel.
Solve for the velocity.
Two blocks are joined by an inextensible
cable as shown. If the system is released
from rest, determine the velocity of block
A after it has moved 2 m. Assume that
the coefficient of friction between block
A and the plane is µk = 0.25 and that the
pulley is weightless and frictionless.

Edition
Seventh
Sample Problem 13.2

SOLUTION:
• Apply the principle of work and energy separately
to blocks A and B.
( )
W A = ( 200 kg ) 9.81 m s 2 = 1962 N
FA = µ k N A = µ k W A = 0.25(1962 N ) = 490 N
T1 + U1→2 = T2 :
0 + FC ( 2 m ) − FA ( 2 m ) = 12 m Av 2
FC ( 2 m ) − ( 490 N )( 2 m ) = 12 ( 200 kg ) v 2
( )
WB = ( 300 kg ) 9.81 m s 2 = 2940 N
T1 + U1→2 = T2 :
0 − Fc ( 2 m ) + WB ( 2 m ) = 12 m B v 2
− Fc ( 2 m ) + ( 2940 N )( 2 m ) = 12 ( 300 kg ) v 2

Edition
Seventh
Sample Problem 13.2

• When the two relations are combined, the work of the
cable forces cancel. Solve for the velocity.
FC ( 2 m ) − ( 490 N )( 2 m ) = 12 ( 200 kg ) v 2
− Fc ( 2 m ) + ( 2940 N )( 2 m ) = 12 ( 300 kg ) v 2
( 2940 N )( 2 m ) − ( 490 N )( 2 m ) = 12 ( 200 kg + 300 kg ) v 2

4900 J = 12 ( 500 kg ) v 2
v = 4.43 m s

Edition
Seventh
Sample Problem 13.3

SOLUTION:
energy between the initial position and
the point at which the spring is fully
compressed and the velocity is zero.
A spring is used to stop a 60 kg package The only unknown in the relation is the
which is sliding on a horizontal surface. friction coefficient.
The spring has a constant k = 20 kN/m
and is held by cables so that it is initially
compressed 120 mm. The package has a energy for the rebound of the package.
velocity of 2.5 m/s in the position shown The only unknown in the relation is the
and the maximum deflection of the velocity at the final position.
spring is 40 mm.
Determine (a) the coefficient of kinetic
friction between the package and surface
and (b) the velocity of the package as it
passes again through the position shown.
Edition
Seventh
Sample Problem 13.3

SOLUTION:
• Apply principle of work and energy between initial
position and the point at which spring is fully compressed.
T1 = 12 mv12 = 12 ( 60 kg )( 2.5 m s ) 2 = 187.5 J T2 = 0
(U1→2 ) f = − µ kW x
( )
= − µ k ( 60 kg ) 9.81m s 2 ( 0.640 m ) = −( 377 J ) µ k
Pmin = kx0 = ( 20 kN m )( 0.120 m ) = 2400 N

Pmax = k ( x0 + ∆x ) = ( 20 kN m )( 0.160 m ) = 3200 N
(U1→2 ) e = − 12 ( Pmin + Pmax ) ∆x
= − 12 ( 2400 N + 3200 N )( 0.040 m ) = −112.0 J
U1→ 2 = ( U1→ 2 ) f + ( U1→ 2 ) e = −( 377 J ) µ k − 112 J
T1 + U1→ 2 = T2 :
187.5 J - ( 377 J ) µ k − 112 J = 0 µ k = 0.20
Edition
Seventh
Sample Problem 13.3

• Apply the principle of work and energy for the rebound
of the package.
T2 = 0 T 3= 12 mv32 = 12 ( 60kg ) v32
U 2→3 = ( U 2→3 ) f + ( U 2→3 ) e = −( 377 J ) µ k + 112 J

= +36.5 J
T2 + U 2→3 = T3 :
0 + 36.5 J = 12 ( 60 kg ) v32
v3 = 1.103 m s

Edition
Seventh
Sample Problem 13.4

SOLUTION:
• Apply principle of work and energy to
determine velocity at point 2.
• Apply Newton’s second law to find
normal force by the track at point 2.
A 2000 lb car starts from rest at point 1
and moves without friction down the • Apply principle of work and energy to
track shown. determine velocity at point 3.
• Apply Newton’s second law to find
Determine:
minimum radius of curvature at point 3
b) the force exerted by the track on such that a positive normal force is
the car at point 2, and exerted by the track.
c) the minimum safe value of the
radius of curvature at point 3.

Edition
Seventh
Sample Problem 13.4

SOLUTION:
• Apply principle of work and energy to determine
velocity at point 2.
1W 2
T1 = 0 T2 = 12 mv22 = v2
2g
U1→ 2 = +W ( 40 ft )
1W 2
T1 + U1→ 2 = T2 : 0 + W ( 40 ft ) = v2
2g
(
v22 = 2( 40 ft ) g = 2( 40 ft ) 32.2 ft s 2 ) v2 = 50.8 ft s
• Apply Newton’s second law to find normal force by

the track at point 2.
+ ↑ ∑ Fn = m an :
W v22 W 2( 40 ft ) g
− W + N = m an = =
g ρ 2 g 20 ft
N = 5W N = 10000 lb

Edition
Seventh
Sample Problem 13.4

• Apply principle of work and energy to determine
velocity at point 3.
1W 2
T1 + U1→3 = T3 0 + W ( 25 ft ) = v3
2g
v32 = 2( 25 ft ) g = 2( 25 ft )( 32.2 ft s ) v3 = 40.1ft s
• Apply Newton’s second law to find minimum radius of

curvature at point 3 such that a positive normal force is
exerted by the track.
+ ↓ ∑ Fn = m an :
W = m an
W v32 W 2( 25 ft ) g
= = ρ3 = 50 ft
g ρ3 g ρ3

Edition
Seventh
Sample Problem 13.5

SOLUTION:
Force exerted by the motor
cable has same direction as
the dumbwaiter velocity.
Power delivered by motor is
equal to FvD, vD = 8 ft/s.
The dumbwaiter D and its load have a • In the first case, bodies are in uniform
combined weight of 600 lb, while the motion. Determine force exerted by
counterweight C weighs 800 lb. motor cable from conditions for static
equilibrium.
Determine the power delivered by the
• In the second case, both bodies are
electric motor M when the dumbwaiter
(a) is moving up at a constant speed of accelerating. Apply Newton’s
8 ft/s and (b) has an instantaneous second law to each body to
velocity of 8 ft/s and an acceleration of determine the required motor cable
2.5 ft/s2, both directed upwards. force.

Edition
Seventh
Sample Problem 13.5

• In the first case, bodies are in uniform motion.
Determine force exerted by motor cable from
conditions for static equilibrium.
Free-body C:
+ ↑ ∑ Fy = 0 : 2T − 800 lb = 0 T = 400 lb
Free-body D:
+ ↑ ∑ Fy = 0 : F + T − 600 lb = 0
F = 600 lb − T = 600 lb − 400 lb = 200 lb
Power = Fv D = ( 200 lb )( 8 ft s )
= 1600 ft ⋅ lb s
1 hp
Power = (1600 ft ⋅ lb s ) = 2.91 hp
550 ft ⋅ lb s
Edition
Seventh
Sample Problem 13.5

• In the second case, both bodies are accelerating. Apply
Newton’s second law to each body to determine the required
motor cable force.
a D = 2.5 ft s 2 ↑ aC = − 12 a D = 1.25 ft s 2 ↓
Free-body C:
800
+ ↓ ∑ Fy = mC aC : 800 − 2T = (1.25) T = 384.5 lb
32.2
Free-body D:
600
+ ↑ ∑ Fy = m D a D : F + T − 600 = ( 2.5)
32.2
F + 384.5 − 600 = 46.6 F = 262.1 lb
Power = Fv D = ( 262.1 lb )( 8 ft s ) = 2097 ft ⋅ lb s
1 hp
Power = ( 2097 ft ⋅ lb s ) = 3.81 hp
550 ft ⋅ lb s
Edition
Seventh
Potential Energy

• Work of the force of gravity W ,
U1→2 = W y1 − W y 2
• Work is independent of path followed; depends

only on the initial and final values of Wy.
V g = Wy
= potential energy of the body with respect
to force of gravity.
U1→2 = V g ( )1 − (Vg ) 2
• Choice of datum from which the elevation y is
measured is arbitrary.
• Units of work and potential energy are the same:

V g = Wy = N ⋅ m = J

Edition
Seventh
Potential Energy
• Previous expression for potential energy of a body
with respect to gravity is only valid when the
weight of the body can be assumed constant.
• For a space vehicle, the variation of the force of

gravity with distance from the center of the earth
should be considered.
• Work of a gravitational force,

GMm GMm
U1→2 = −
r2 r1
• Potential energy Vg when the variation in the

force of gravity can not be neglected,
GMm WR 2
Vg = − =−
r r
Edition
Seventh
Potential Energy
• Work of the force exerted by a spring depends
only on the initial and final deflections of the
spring,
U1→2 = 12 kx12 − 12 kx22
• The potential energy of the body with respect

to the elastic force,
Ve = 12 kx 2
U1→2 = ( Ve ) 1 − ( Ve ) 2
• Note that the preceding expression for Ve is

valid only if the deflection of the spring is
measured from its undeformed position.

Edition
Seventh
Conservative Forces
• Concept of potential energy can be applied if the
work of the force is independent of the path
followed by its point of application.
U1→2 = V ( x1 , y1 , z1 ) − V ( x2 , y 2 , z 2 )
Such forces are described as conservative forces.
• For any conservative force applied on a closed path,
 
∫ F • dr = 0
• Elementary work corresponding to displacement
between two neighboring points,
dU = V ( x, y, z ) − V ( x + dx, y + dy, z + dz )
= − dV ( x, y, z )
 ∂V ∂V ∂V 
Fx dx + F y dy + Fz dz = − dx + dy + dz 
 ∂x ∂y ∂z 
  ∂V ∂V ∂V 
F = − + +  = −grad V
 ∂x ∂y ∂z 
Edition
Seventh
Conservation of Energy
• Work of a conservative force,
U1→ 2 = V1 − V2
• Concept of work and energy,

U1→ 2 = T2 − T1
• Follows that
T1 + V1 = T2 + V2
E = T + V = constant
T1 = 0 V1 = W • When a particle moves under the action of
T1 + V1 = W conservative forces, the total mechanical
energy is constant.
1W
T2 = 12 mv22 = ( 2 g) = W V2 = 0 • Friction forces are not conservative. Total
2g
mechanical energy of a system involving
T2 + V2 = W
friction decreases.
• Mechanical energy is dissipated by friction
into thermal energy. Total energy is constant.
Edition
Seventh
Motion Under a Conservative Central Force

• When a particle moves under a conservative central
force, both the principle of conservation of angular
momentum
r0 mv0 sin φ 0 = rmv sin φ
and the principle of conservation of energy
T0 + V0 = T + V
1 mv 2 GMm 1 2 GMm
2 0 − = 2 mv −
r0 r
may be applied.
• Given r, the equations may be solved for v and ϕ.
• At minimum and maximum r, ϕ = 90o. Given the

launch conditions, the equations may be solved for
rmin, rmax, vmin, and vmax.

Edition
Seventh
Sample Problem 13.6

SOLUTION:
• Apply the principle of conservation of
energy between positions 1 and 2.
• The elastic and gravitational potential
energies at 1 and 2 are evaluated from
the given information. The initial
kinetic energy is zero.
A 20 lb collar slides without friction • Solve for the kinetic energy and
along a vertical rod as shown. The velocity at 2.
spring attached to the collar has an
undeflected length of 4 in. and a
constant of 3 lb/in.
If the collar is released from rest at
position 1, determine its velocity after
it has moved 6 in. to position 2.
Edition
Seventh
Sample Problem 13.6

SOLUTION:
• Apply the principle of conservation of energy between
positions 1 and 2.
Position 1: Ve = 12 kx12 = 12 ( 3 lb in.)( 8 in. − 4 in.) = 24 in. ⋅ lb

2
V1 = Ve + Vg = 24 in. ⋅ lb + 0 = 2 ft ⋅ lb
T1 = 0
Position 2: Ve = 12 kx2 = 12 ( 3 lb in.)(10 in. − 4 in.) = 54 in. ⋅ lb
2 2
Vg = Wy = ( 20 lb )( − 6 in.) = −120 in. ⋅ lb

V2 = Ve + Vg = 54 − 120 = −66 in. ⋅ lb = −5.5 ft ⋅ lb
1 20 2
T2 = 12 mv22 = v2 = 0.311v22
2 32.2
Conservation of Energy:
T1 + V1 = T2 + V2
0 + 2 ft ⋅ lb = 0.311v22 − 5.5 ft ⋅ lb
v2 = 4.91ft s ↓
Edition
Seventh
Sample Problem 13.7

SOLUTION:
• Since the pellet must remain in contact
with the loop, the force exerted on the
pellet must be greater than or equal to
zero. Setting the force exerted by the
loop to zero, solve for the minimum
velocity at D.
energy between points A and D. Solve
The 0.5 lb pellet is pushed against the for the spring deflection required to
spring and released from rest at A. produce the required velocity and
Neglecting friction, determine the kinetic energy at D.
smallest deflection of the spring for
which the pellet will travel around the
loop and remain in contact with the
loop at all times.

Edition
Seventh
Sample Problem 13.7

SOLUTION:
• Setting the force exerted by the loop to zero, solve for the
minimum velocity at D.
+ ↓ ∑ Fn = man : W = man mg = m vD2
r
2
vD = rg = ( 2 ft )( 32.2 ft s ) = 64.4 ft 2 s 2
• Apply the principle of conservation of energy between

points A and D.
V1 = Ve + Vg = 12 kx 2 + 0 = 12 ( 36 lb ft ) x 2 = 18 x 2
T1 = 0
V2 = Ve + Vg = 0 + Wy = ( 0.5 lb )( 4 ft ) = 2 ft ⋅ lb
2
T2 = 12 mvD =
1 0.5 lb
2 32.2 ft s 2
(
64 . 4 ft 2 2
)
s = 0.5 ft ⋅ lb
T1 + V1 = T2 + V2
0 + 18 x 2 = 0.5 + 2 x = 0.3727 ft = 4.47 in.
Edition
Seventh
Sample Problem 13.9

SOLUTION:
• For motion under a conservative central
force, the principles of conservation of
energy and conservation of angular
momentum may be applied simultaneously.
• Apply the principles to the points of
minimum and maximum altitude to
A satellite is launched in a direction
determine the maximum altitude.
parallel to the surface of the earth
with a velocity of 36900 km/h from • Apply the principles to the orbit insertion
an altitude of 500 km. point and the point of minimum altitude to
determine maximum allowable orbit
Determine (a) the maximum altitude
insertion angle error.
reached by the satellite, and (b) the
maximum allowable error in the
direction of launching if the satellite
is to come no closer than 200 km to
the surface of the earth
Edition
Seventh
Sample Problem 13.9

• Apply the principles of conservation of energy and
conservation of angular momentum to the points of minimum
and maximum altitude to determine the maximum altitude.
Conservation of energy:
1 mv 2 GMm 1 2 GMm
TA + VA = TA′ + VA′ 2 0 − = 2 mv1 −
r0 r1
Conservation of angular momentum:
r
r0 mv0 = r1mv1 v1 = v0 0
r1
Combining,
 2
1 v 2 1 − r0  = GM 1 − r0  r0 2GM
2 0 2   1 + =
 r1  r0  r1  r1 r0v02
r0 = 6370 km + 500 km = 6870 km
v0 = 36900 km h = 10.25 × 106 m s
( )( )2
GM = gR 2 = 9.81m s 2 6.37 × 106 m = 398 × 1012 m3 s 2
r1 = 60.4 × 106 m = 60400 km

Edition
Seventh
Sample Problem 13.9

• Apply the principles to the orbit insertion point and the point
of minimum altitude to determine maximum allowable orbit
insertion angle error.
Conservation of energy:
T0 + V0 = TA + V A 1 mv 2 − GMm = 1 mv 2 −
GMm
2 0 2 max
r0 rmin
Conservation of angular momentum:

r
r0 mv0 sin φ0 = rmin mvmax vmax = v0 sin φ0 0
rmin
Combining and solving for sin ϕ0,

sin φ0 = 0.9801
ϕ 0 = 90° ± 11.5° allowable error = ±11.5°

Edition
Seventh
Principle of Impulse and Momentum

• From Newton’s second law,
 d  
F = ( mv ) mv = linear momentum
dt
 
Fdt = d ( mv )
t2   
∫ F dt = mv 2 − mv 1
t1
• Dimensions of the impulse of t2  
a force are ∫ Fdt = Imp1→2 = impulse of the force F
force*time. t1
 
• Units for the impulse of a mv1 + Imp1→2 = mv2
force are
( 2
)
N ⋅ s = kg ⋅ m s ⋅ s = kg ⋅ m s
• The final momentum of the particle can be
obtained by adding vectorially its initial
momentum and the impulse of the force
during the time interval.

Edition
Seventh
Impulsive Motion
• Force acting on a particle during a very short
time interval that is large enough to cause a
significant change in momentum is called an
impulsive force.
• When impulsive forces act on a particle,

  
mv1 + ∑ F ∆t = mv2
• When a baseball is struck by a bat, contact

occurs over a short time interval but force is
large enough to change sense of ball motion.
• Nonimpulsive
 forces are forces for which
F∆t is small and therefore, may be
neglected.

Edition
Seventh

SOLUTION:
• Apply the principle of impulse and
momentum. The impulse is equal to the
product of the constant forces and the
time interval.
An automobile weighing 4000 lb is

driven down a 5o incline at a speed of
60 mi/h when the brakes are applied,
causing a constant total braking force
of 1500 lb.
Determine the time required for the
automobile to come to a stop.

Edition
Seventh

SOLUTION:
momentum.
 
mv1 + ∑ Imp1→2 = mv2
Taking components parallel to the

incline,
mv1 + ( W sin 5°) t − Ft = 0
 4000 
 ( 88 ft s ) + ( 4000 sin 5°) t − 1500t = 0
 32.2 
t = 9.49 s

Edition
Seventh

SOLUTION:
momentum in terms of horizontal and
vertical component equations.
A 4 oz baseball is pitched with a

velocity of 80 ft/s. After the ball is hit
by the bat, it has a velocity of 120 ft/s
in the direction shown. If the bat and
ball are in contact for 0.015 s,
determine the average impulsive force
exerted on the ball during the impact.

Edition
Seventh

SOLUTION:
• Apply the principle of impulse and momentum in
terms of horizontal and vertical component equations.
 
mv1 + Imp1→ 2 = mv2
x component equation:
− mv1 + Fx ∆t = mv2 cos 40°
4 16
− ( 80) + Fx ( 0.15) = 4 16 (120 cos 40°)
32.2 32.2
Fx = 89 lb
y component equation:
y
0 + Fy ∆t = mv2 sin 40°
4 16
x Fy ( 0.15) = (120 cos 40°)
32.2
Fy = 39.9 lb
  
F = ( 89 lb ) i + ( 39.9 lb ) j , F = 97.5 lb

Edition
Seventh

SOLUTION:
momentum to the package-cart system
to determine the final velocity.
• Apply the same principle to the package
alone to determine the impulse exerted
on it from the change in its momentum.
A 10 kg package drops from a chute
into a 24 kg cart with a velocity of 3
m/s. Knowing that the cart is initially
at rest and can roll freely, determine (a)
the final velocity of the cart, (b) the
impulse exerted by the cart on the
package, and (c) the fraction of the
initial energy lost in the impact.

Edition
Seventh

SOLUTION:
• Apply the principle of impulse and momentum to the package-cart
system to determine the final velocity.

( 
m p v1 + ∑ Imp1→ 2 = m p + mc v2 )
x components: (
m p v1 cos 30° + 0 = m p + mc v2 )
(10 kg )( 3 m/s ) cos 30° = (10 kg + 25 kg ) v2
v2 = 0.742 m/s

Edition
Seventh

• Apply the same principle to the package alone to determine the impulse
exerted on it from the change in its momentum.
 
m p v1 + ∑ Imp1→ 2 = m p v2
x components: m p v1 cos 30° + Fx ∆t = m p v2

(10 kg )( 3 m/s ) cos 30° + Fx ∆t = (10 kg ) v2 Fx ∆t = −18.56 N ⋅ s
y components: − m p v1 sin 30° + Fy ∆t = 0

− (10 kg )( 3 m/s ) sin 30° + Fy ∆t = 0 Fy ∆t = 15 N ⋅ s
  
∑ Imp1→2 = F∆t = ( − 18.56 N ⋅ s ) i + (15 N ⋅ s ) j F∆t = 23.9 N ⋅ s

Edition
Seventh
To determine the fraction of energy lost,
T1 = 12 m p v12 = 12 (10 kg )( 3 m s ) 2 = 45 J
( )
T1 = 12 m p + mc v22 = 12 (10 kg + 25 kg )( 0.742 m s ) 2 = 9.63 J
T1 − T2 45 J − 9.63 J
= = 0.786
T1 45 J

Edition
Seventh
Impact
• Impact: Collision between two bodies which
occurs during a small time interval and during
which the bodies exert large forces on each other.
• Line of Impact: Common normal to the surfaces

in contact during impact.
• Central Impact: Impact for which the mass

Direct Central Impact centers of the two bodies lie on the line of impact;
otherwise, it is an eccentric impact..
• Direct Impact: Impact for which the velocities of

the two bodies are directed along the line of
impact.
• Oblique Impact: Impact for which one or both of

the bodies move along a line other than the line of
impact.
Oblique Central Impact
Edition
Seventh
Direct Central Impact

• Bodies moving in the same straight line,
vA > vB .
• Upon impact the bodies undergo a
period of deformation, at the end of which,
they are in contact and moving at a
common velocity.
• A period of restitution follows during
which the bodies either regain their
original shape or remain permanently
deformed.
• Wish to determine the final velocities of
the two bodies. The total momentum of the
two body system is preserved,
m A v A + m B v B = m B v′B + m B v ′B
• A second relation between the final
velocities is required.
Edition
Seventh
Direct Central Impact
e = coefficient of restitution
• Period of deformation: m A v A − ∫ Pdt = m Au
= ∫ Rdt = u − v′A
∫ Pdt v A − u
0 ≤ e ≤1
• Period of restitution: m Au − ∫ Rdt = m A v′A
v′B − u
• A similar analysis of particle B yields e=
u − vB
• Combining the relations leads to the desired v′B − v′A = e( v A − v B )

second relation between the final velocities.
• Perfectly plastic impact, e = 0: v′B = v′A = v′ m Av A + mB v B = ( m A + mB ) v′
• Perfectly elastic impact, e = 1: v′B − v′A = v A − v B

Total energy and total momentum conserved.
Edition
Seventh

• Final velocities are
unknown in magnitude
and direction. Four
equations are required.
• No tangential impulse component; ( v A ) t = ( v′A ) t ( v B ) t = ( v′B ) t

tangential component of momentum
for each particle is conserved.
• Normal component of total m A ( v A ) n + m B ( v B ) n = m A ( v′A ) n + m B ( v′B ) n
momentum of the two particles is
conserved.
• Normal components of relative ( v′B ) n − ( v′A ) n = e[ ( v A ) n − ( v B ) n ]
velocities before and after impact
are related by the coefficient of
restitution.
Edition
Seventh
• Block constrained to move along horizontal

surface.
 
• Impulses from internal forces F and − F
along the n axis and from external force Fext
exerted by horizontal surface and directed
along the vertical to the surface.
• Final velocity of ball unknown in direction and

magnitude and unknown final block velocity
magnitude. Three equations required.

Edition
Seventh
• Tangential momentum of ball is ( v B ) t = ( v′B ) t

conserved.
• Total horizontal momentum of block m A ( v A ) + m B ( v B ) x = m A ( v ′A ) + m B ( v′B ) x
and ball is conserved.
• Normal component of relative ( v′B ) n − ( v′A ) n = e[ ( v A ) n − ( v B ) n ]
velocities of block and ball are related
by coefficient of restitution.
• Note: Validity of last expression does not follow from previous relation for
the coefficient of restitution. A similar but separate derivation is required.
Edition
Seventh
Problems Involving Energy and Momentum

• Three methods for the analysis of kinetics problems:
- Direct application of Newton’s second law
- Method of work and energy
- Method of impulse and momentum
• Select the method best suited for the problem or part of a problem
under consideration.

Edition
Seventh

SOLUTION:
• Resolve ball velocity into components
normal and tangential to wall.
• Impulse exerted by the wall is normal
to the wall. Component of ball
momentum tangential to wall is
conserved.
• Assume that the wall has infinite mass
A ball is thrown against a frictionless,
so that wall velocity before and after
vertical wall. Immediately before the
impact is zero. Apply coefficient of
ball strikes the wall, its velocity has a
restitution relation to find change in
magnitude v and forms angle of 30o
normal relative velocity between wall
with the horizontal. Knowing that
and ball, i.e., the normal ball velocity.
e = 0.90, determine the magnitude
and direction of the velocity of the
ball as it rebounds from the wall.

Edition
Seventh

SOLUTION:
• Resolve ball velocity into components parallel and
perpendicular to wall.
vn = v cos 30° = 0.866v vt = v sin 30° = 0.500v
• Component of ball momentum tangential to wall is conserved.

vt′ = vt = 0.500v
t
• Apply coefficient of restitution relation with zero wall
n velocity.
0 − vn′ = e( vn − 0 )
vn′ = −0.9( 0.866v ) = −0.779v
  
v ′ = −0.779v λn + 0.500v λt
 0.779 
v′ = 0.926v tan −1  = 32.7°
 0.500 

Edition
Seventh

SOLUTION:
• Resolve the ball velocities into components
normal and tangential to the contact plane.
• Tangential component of momentum for

each ball is conserved.
The magnitude and direction of the • Total normal component of the momentum
velocities of two identical of the two ball system is conserved.
frictionless balls before they strike
each other are as shown. Assuming • The normal relative velocities of the
e = 0.9, determine the magnitude balls are related by the coefficient of
and direction of the velocity of each restitution.
ball after the impact. • Solve the last two equations
simultaneously for the normal velocities of
the balls after the impact.

Edition
Seventh

SOLUTION:
• Resolve the ball velocities into components normal and
tangential to the contact plane.
( v A ) n = v A cos 30° = 26.0 ft s ( vA )t = v A sin 30° = 15.0 ft s
( vB ) n = −vB cos 60° = −20.0 ft s ( vB ) t = vB sin 60° = 34.6 ft s
• Tangential component of momentum for each ball is

conserved.
( v′A ) t = ( v A ) t = 15.0 ft s ( v′B ) t = ( vB ) t = 34.6 ft s
• Total normal component of the momentum of the two

ball system is conserved.
m A ( v A ) n + mB ( vB ) n = m A ( v′A ) n + mB ( v′B ) n
m( 26.0) + m( − 20.0 ) = m( v′A ) n + m( v′B ) n
( v′A ) n + ( v′B ) n = 6.0

Edition
Seventh

• The normal relative velocities of the balls are related by the
coefficient of restitution.
( v′A ) n − ( v′B ) n = e[ ( v A ) n − ( vB ) n ]
= 0.90[ 26.0 − ( − 20.0 ) ] = 41.4
• Solve the last two equations simultaneously for the normal

velocities of the balls after the impact.
( v′A ) n = −17.7 ft s ( v′B ) n = 23.7 ft s
  
v A′ = −17.7λt + 15.0λn
n
 15.0 
v′A = 23.2 ft s tan −1  = 40.3°
 17.7 
  
vB′ = 23.7λt + 34.6λn
 34.6 
v′B = 41.9 ft s tan −1
t
 = 55.6°
 23 . 7 

Edition
Seventh

SOLUTION:
• Determine orientation of impact line of
action.
• The momentum component of ball A
tangential to the contact plane is
conserved.
• The total horizontal momentum of the
two ball system is conserved.
Ball B is hanging from an inextensible •
The relative velocities along the line of
cord. An identical ball A is released
action before and after the impact are
from rest when it is just touching the
related by the coefficient of restitution.
cord and acquires a velocity v0 before
striking ball B. Assuming perfectly • Solve the last two expressions for the
elastic impact (e = 1) and no friction, velocity of ball A along the line of action
determine the velocity of each ball and the velocity of ball B which is
immediately after impact. horizontal.
Edition
Seventh

SOLUTION:
• Determine orientation of impact line of action.
r
sin θ = = 0 .5
2r • The momentum component of ball A
θ = 30° tangential to the contact plane is
conserved.

 
mv A + F∆t = mv A′
mv0 sin 30° + 0 = m( v′A ) t
( v′A ) t = 0.5v0
• The total horizontal (x component)

momentum of the two ball system is
conserved.
   
mv A + T∆t = mv A′ + mvB′
0 = m( v′A ) t cos 30° − m( v′A ) n sin 30° − mv′B
0 = ( 0.5v0 ) cos 30° − ( v′A ) n sin 30° − v′B
0.5( v′A ) n + v′B = 0.433v0
Edition
Seventh

• The relative velocities along the line of action before
and after the impact are related by the coefficient of
restitution.
( v′B ) n − ( v′A ) n = e[ ( v A ) n − ( vB ) n ]
v′B sin 30° − ( v′A ) n = v0 cos 30° − 0
0.5v′B − ( v′A ) n = 0.866v0
• Solve the last two expressions for the velocity of ball

A along the line of action and the velocity of ball B
which is horizontal.
( v′A ) n = −0.520v0 v′B = 0.693v0
  
v A′ = 0.5v0λt − 0.520v0λn
β = tan −1
0.52 
v′A = 0.721v0  = 46.1°
 0.5 
α = 46.1° − 30° = 16.1°
v′B = 0.693v0 ←
Edition
Seventh

SOLUTION:
energy to determine the velocity of the
block at the instant of impact.
• Since the impact is perfectly plastic, the
block and pan move together at the same
velocity after impact. Determine that
velocity from the requirement that the
total momentum of the block and pan is
A 30 kg block is dropped from a height conserved.
of 2 m onto the the 10 kg pan of a
spring scale. Assuming the impact to
energy to determine the maximum
be perfectly plastic, determine the
deflection of the spring.
maximum deflection of the pan. The
constant of the spring is k = 20 kN/m.

Edition
Seventh

SOLUTION:
• Apply principle of conservation of energy to
determine velocity of the block at instant of impact.
T1 = 0 V1 = WA y = ( 30 )( 9.81)( 2 ) = 588 J
T2 = 12 m A ( v A ) 22 = 12 ( 30 )( v A ) 22 V2 = 0
T1 + V1 = T2 + V2
0 + 588 J = 12 ( 30 )( v A ) 22 + 0 ( v A ) 2 = 6.26 m s
• Determine velocity after impact from requirement that

total momentum of the block and pan is conserved.
m A ( v A ) 2 + mB ( vB ) 2 = ( m A + mB ) v3
( 30)( 6.26) + 0 = ( 30 + 10) v3 v3 = 4.70 m s

Edition
Seventh

• Apply the principle of conservation of energy to
determine the maximum deflection of the spring.
T3 = 12 ( m A + mB ) v32 = 12 ( 30 + 10 )( 4.7 ) 2 = 442 J
V3 = Vg + Ve
=0+ 1 kx 2
2 3
= 1
2
(20 × 10 )(4.91× 10 )
3 −3 2
= 0.241 J
T4 = 0
Initial spring deflection due to V4 = Vg + Ve = ( WA + WB )( − h ) + 12 kx42

pan weight:
()
= −392( x4 − x3 ) + 12 20 × 103 x42
= −392( x4 − 4.91 × 10−3 ) + 12 ( 20 × 103 ) x42
WB (10 )( 9.81) −3
x3 = = 3
= 4 . 91 × 10 m
k 20 × 10
T3 + V3 = T4 + V4
( ) (
442 + 0.241 = 0 − 392 x4 − 4.91 × 10−3 + 12 20 × 103 x42 )
x4 = 0.230 m
h = x4 − x3 = 0.230 m − 4.91 × 10−3 m h = 0.225 m


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Seventh Edition

CHAPTER VECTOR MECHANICS FOR ENGINEERS:

© 2003 The McGraw-Hill Companies, Inc. All rights reserved.

• Method of work and energy: directly relates force, mass,

• Method of impulse and momentum: directly relates force,

© 2003 The McGraw-Hill Companies, Inc. All rights reserved. 13 - 3

• Work of the force is

• Work is a scalar quantity, i.e., it has magnitude and

• Dimensions of work are length × force. Units are

© 2003 The McGraw-Hill Companies, Inc. All rights reserved. 13 - 4

• Work is represented by the area under the

© 2003 The McGraw-Hill Companies, Inc. All rights reserved. 13 - 5

• Work of the force of gravity,

• Work of the weight is equal to product of

• Work of the weight is positive when ∆y < 0,

• Work of the force exerted by spring is positive

© 2003 The McGraw-Hill Companies, Inc. All rights reserved. 13 - 7

Work of a gravitational force (assume particle M

© 2003 The McGraw-Hill Companies, Inc. All rights reserved. 13 - 8

Forces which do not do work (ds = 0 or cos α = 0):

• reaction at frictionless pin supporting rotating body,

• reaction at frictionless surface when body in contact

• reaction at a roller moving along its track, and

• weight of a body when its center of gravity moves

© 2003 The McGraw-Hill Companies, Inc. All rights reserved. 13 - 9

Particle Kinetic Energy: Principle of Work & Energy 

U1→2 = T2 − T1 T = 12 mv 2 = kinetic energy

Applications of the Principle of Work and Energy

Applications of the Principle of Work and Energy

• Calculating the tension in the cord requires

© 2003 The McGraw-Hill Companies, Inc. All rights reserved. 13 - 12

Power and Efficiency

• Dimensions of power are work/time or force*velocity.

© 2003 The McGraw-Hill Companies, Inc. All rights reserved. 13 - 13

Sample Problem 13.1

An automobile weighing 4000 lb is

© 2003 The McGraw-Hill Companies, Inc. All rights reserved. 13 - 14

Sample Problem 13.1

Sample Problem 13.2

• When the two relations are combined,

© 2003 The McGraw-Hill Companies, Inc. All rights reserved. 13 - 16

Sample Problem 13.2

© 2003 The McGraw-Hill Companies, Inc. All rights reserved. 13 - 17

Sample Problem 13.2

( 2940 N )( 2 m ) − ( 490 N )( 2 m ) = 12 ( 200 kg + 300 kg ) v 2

© 2003 The McGraw-Hill Companies, Inc. All rights reserved. 13 - 18

Sample Problem 13.3

Sample Problem 13.3

Pmin = kx0 = ( 20 kN m )( 0.120 m ) = 2400 N

U1→ 2 = ( U1→ 2 ) f + ( U1→ 2 ) e = −( 377 J ) µ k − 112 J

Sample Problem 13.3

U 2→3 = ( U 2→3 ) f + ( U 2→3 ) e = −( 377 J ) µ k + 112 J

© 2003 The McGraw-Hill Companies, Inc. All rights reserved. 13 - 21

Sample Problem 13.4

© 2003 The McGraw-Hill Companies, Inc. All rights reserved. 13 - 22

Sample Problem 13.4

• Apply Newton’s second law to find normal force by

© 2003 The McGraw-Hill Companies, Inc. All rights reserved. 13 - 23