Kinetics of a Particle: Impulse and Momentum 15.1 Principle of Linear Impulse and Momentum In this section we will integrate the equation of motion with respect to time and thereby obtain the principle of impulse and momentum, The resulting equation will be useful for solving problems involving force, velocity, and time. Using kinematics, the equation of motion for a particle of mass m can be written as ; dv SE = ma = mf asa) where a and v are both measured from an inertial frame of reference. Rearranging the terms and integrating between the limits ¥ = vat = 4, and v= yyat = ty, we have222 CHAPTER 15 KINETICS OF A PARTICLE: IMPULSE AND MOMENTUM ‘The impulse too! is used to remove the dentin the trailer fender. To do so iis end is First screwed into a hole died in the fender, then the weight is gripped and jerked upwards, striking the slop ring ‘The impulse developed is transferred along the shaft of the tool and pulls suddenly on the dent. » [Fae = ns as.2y This equation is referred to as the principle of linear impulse and ‘momentum. From the derivation it can be seen that it is simply a time integration of the equation of motion. It provides a direct means of obtaining the particle's final velocity v2 after a specified time period when the particle’ initial velocity is known and the forces acting on the particle are either constant or can be expressed as functions of time. By comparison, if v> was determined using the equation of motion, a two-step Process would be necessary; ie., apply YF = ma to obtain a, then integrate a = dv/dr to obtain v> Linear Momentum. Each of the two vectors of the form L = mv in Eq, 15-2 is referred to as the particle's linear momentum. Since m is a positive scalar, the linear-momentum vector has the same direction as ¥, and its magnitude nv has units of mass times Velocity, eg, ky+m/s, or slug: fi/s Linear Impulse. The integralT = fF drin Eg, 15-2is referred to as the linear impulse. This term is a vecior quantity which measures the effect of a force during the time the force acts. Since time is a positive scala, the impulse acts in the same direction asthe foree,andits magnitude has units of force times time, e.g, N-s oF Ibs If the force is expressed as a function of time, the impulse can be determined by direct evaluation ofthe integral, In particular if the force js constant in both magnitude and direction, the resulting impulse becomes T= [Rar Graphically the magnitude of the impulse can be represented by the shaded area under the curve of force versus time, Fig, 15-1. A constant force ereates the shaded rectangular area shown in Fig. 15-2. 1) Variable Force Constant Force Fig. 15-1 Fig. 15-2 though te units for impulse and momentum ate defined differents it ean he shown that Bq, 15-2 s dimensionally homogenews.18.1. PRINCIPLE OF LINEAR IvPULSe AND MoMENTUM 223 Principle of Linear Impulse and Momentum. For problem solving, Eq, 15-2 will be rewritten in the form (15-3) ‘which states thatthe initial momentum of the particke at time 4, plus the sum of all the impulses applied to the particle from 1, to f is equivalent to the final momentum of the particle at time 1. These three terms are illustrated graphically on the impulse and momentum diagrams shown in Fig, 15-3. The two momentum diagrams are simply outlined shapes of the particle which indicate the direction and magnitude of the partiele’s inital and final momenta, nv, and mv, Similar to the tree-body diagram, the impulse diagram is an outlined shape of the particle showing all the impulses that act on the particle when iti located at some intermediate point along its path If each of the veetors in Eq. 15-3 is resolved into its x,y,z components, ‘we can write the following three salar equations of linear impulse and ‘momentum, amo, +E if Fydt = m(wv,)s a4) (oy, +S if Fydt = miw2 mio), + ¥ i "Fedt = mvs sf'ra oe + = a = Ca = eS Fig, 15-3 ‘Many ypes of sports such as baseball ‘require application ofthe principle of Tinear impulse and momentum,224 Charter 15 KINETICS OF & PARTICLE: IMPULSE AND MOMENTUM ee ecu uel ne ‘The principle of linear impulse and momentum is used to solve problems involving force, time, and velocity, since these terms are involved in the formulation. For application it is suggested that the following procedure be used.* Free-Body Diagram ‘+ Establish the x, y, z inertial frame of reference and draw the particle's free-body diagram in order to account forall the forces that produce impulses on the particle, ‘© The dircetion and sense of the particle’ initial and final velocities should be established. ‘© Ifa vector is unknown, assume that the sense of its components is in the direction of the positive inertial coordinate(s).. © As an alternative procedure, draw the impulse and momentum diagrams for the particle as discussed in reference to Fig, 15-3. Principle of Impulse and Momentum. '* In accordance with the established coordinate system, apply the principleoflinearimpulse andmomeritum, mys + /"R dr = mevs. If motion occurs in the x-y plane, the two sealar component ‘equations can be formulated by either resolving the vector components of F from the free-body diagram, or by using the data on the impulse and momentum diagrams ‘© Realize that every force acting on the particle's free-body diagram will ereate an impulse, even though some of these Forces will do no work. ‘* Forces that are functions of time must be integrated to obtain the impulse. Graphically, the impulse is equal to the area under the force-time curve. As he wheels ofthe pitching machine rotate, Indy they apply frictional imypses to the ball thereby giving it linear momentum. These Sate impulses are shown on the impulse diagram. ere both the frictional and normal impulses ‘ser ‘ary with time. By comparison, the weight impulse is constant und is very small since wal Viva the time Ae the ball is in contact with the ‘wheels is wery small ‘This procedure will be followed when developing the proofs and theory in15:1. PRNcuPLe OF LINEAR IvPuLse AND MOMENTUM ewes i) 225 ‘The 100-kg crate shown in Fig. 1S~4ai originally at rest on the smooth horizontal surface. Ifa towing force of 200 N, acting at an angle of 45°,is applied for 10s, determine the final velocity and the normal force which the surface exerts on the erate during this time interval SOLUTION This problem can be solved using the principle of impulse and momentum sinee it involves force, velocity, and time, Free-Body Diagram. See Fig. 15-4b. Since all the forces acting are ‘constant, the impulses are simply the product of the force magnitude and 10 {1 = File ~ 4). Note the alternative procedure of drawing ‘the crate’s impulse and momentum diagrams, Fig. 15-4e. Principle of Impulse and Momentum. Applying Eqs. 15-4 yields (Ss) 0 + 200 N cos 45%(10's) = (100 kg)v» a t= Ml m/s Ans Gt (vy + ¥ [ Fydt = m(v,)a Be % 0 + NQ1O8) = 981 NUOS) + 200N sin 45°(108) = 0 Ne = 840N Ans. NOTE: Since no motion ogeurs inthe y direetion, direct application of the equilibrium equation SF, = 0 gives the same result for Ne. Try to solve the problem by first applying SF,~ma,,then v~ 0+ a Es: 200N (105) as = CODke)¥; B81 N (108), Necins} © Fig. 54226 (Charter 15. KINETICS OF A PaRTicie: IMPULSE AND MOMENTUM ‘The 50-1b crate shown in Fig, 15-Sa is acted upon by a force having a Variable magnitude P = (200) Ib, where ris in seconds. Determine the crate’s velocity 2 after P has been applied. The initial velocity is 1 = 34i/s down the plane, and the coefficient of kinetic friction between the crate and the plane is wy = 0.3 SOLUTION Free-Body Diagram. See Fig. 15-5. Since the magnitude of force P = 2ov varies with time, the impulse itereates must be determined by integrating over the 2-s time interval. Principle of Impulse and Momentum. Applying Eqs. 15-4 in the -rdirection, we have “sy meen + [Rat mods S016 s SSS sen + [20rd - 03-28) + 501b) sin30°29) = mane) [ 01 di — O.3Ne(2 8) + (50 Ib) sin 30°25) 50h mane 4.658 + 40 — 0.6Ne + 50 = 1.5530 ‘The equation of equilibrium can be applied in the y direction, Why? AREF, = 0; Ne — 50 ¢08 307 tb = 0 Solving, No = 43.3016 ve = 442 Hse Ans NOTE: We can also solve this problem using the equation of motion. From Fig. 15-5b, Fig. 18S +02F, = may 201 — 0.3143.30) + S0sin 30" = a= 12881 + 7.734 ative, ff e~ [same v= 4420/5 Ans. By comparison. application of the principle of impulse and momentum eliminates the need for using kinematies (a = d/dt) and thereby yields an easier method for solution,18-1. PRNCIPLE OF LINEAR IvPuLse AND MOMENTUM Blocks A and shown in Fig. 15-64 have @ mass of 3 kg and 5 ke, respectively: Ifthe system is released from rest, determine the velocity of block B in 6 5, Neglect the mass ofthe pulleys and cord. SOLUTION Free-Body Diagram. See Fig. 15-6b.Since the weight of each block is constant, the eord tensions will also be constant. Furthermore, since the mass of pulley D is neglected, the cord tension 7 = 27y. Note that the blocks are both assumed to be moving downward in the positive coordinate directions, sy and sp. Principle of Impulse and Momentum. Block A. eb mie = 3 [Ft = mos 0 — 21463) + 398H) NGS) = Bees oy Block &: eb nop) +E f "dt = phy 0 + 509.81) N68) — 6 8) = GB kgive)z e) Kinematics, Since the blacks are subjected to dependent motion, the volocity of A ean be related to that of B by using the kinematic analysis discussed in See. 12-9, A horizontal datum is established through the fixed point at C, Fig. 15-64, and the position coordinates, s; and sp, are related to the constant total length /of the vertical segments of the cord by the equation 2s + sy = 1 ‘Taking the time derivative yields Bey = Oy @) As indicated by the negative sign, when B moves downward A moves upward, Substituting this result into Eq. 1 and solving Eqs, | and 2 yields (vp): = 35.8m/s Ans, Ty = 19.2N NOTE: Realize that the positive (downward) direction for yy and yp is consistent in Figs. 15-6a and 15-6b and in Eqs. 1 to 3. This is important since we are secking a simultaneous solution of equations TT T= 2% SSN “(i saat) N o Fig. 15-6 227 Datum228 Charrer 15 Fig. 5-7 KINETICS OF & PARTICLE: IMPULSE AND MOMENTUM 15.2 Principle of Linear Impulse and Momentum for a System of Particles ‘The principle of linear impulse and momentum for a system of particles moving relative to an inertial reference, Fig. 1S-7, is obtained from the equation of motion applied to all the particles in the system, ie, BR, = Sm (ss) ‘The term on the left side represents only the sum of the extemal forces acting on the particles. Recall that the internal forces f, acting between partiles do not appear with this summation. since by Newton's third law they occur in equal but opposite collinear pairs and therefore cancel out. Mutiplying both sides of Eq. 15-5 by dt and integrating between the limits r= t= (99) and = 15, ¥) = (ve yields mart [ra taon| 08 ‘This equation states that the initial linear momenta of the system plus the impulses of all the exzernal forces acting on the system from 10 13's equal to the system’s final linear momenta, Since the location of the mass center G of the system is determined from mtg = 3m), where m = Xm, is the total mass of all the particles Fig. 15-7, then taking the time derivative, we have svg = Sm; Which states that the total linear momentum of the system of particles is equivalent to the linear momentum of a “fictitious” aggregate particle of ‘mass m = Sin; moving with the velocity of the mass center of the system. Substituting into Eq. 15-6 yields mnvan +3 f Rat = miro as Here the initial linear momentum of the aggregate particle plus the external impulses aeting on the system of particles from 1, t0 fs is equal to the aggregate particle’s final linear momentum. As a result, the above equation justifies application of the principle of linear impulse and ‘momentum to a system of particles that compose a rigid body,15.2. PRINCIPLE OF LNEAR IMPULSE AND MOMENTUM FOR A SYSTEM OF Pasnicies 229 BRL FIS-I. ‘The OS-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 docs not slip when it strikes the ‘ground, and neglect the size of the ball and the impulse produced by the weight ofthe bal FIS-2. If the coefficient of kinetic friction between the 1S0-Ib crate and the ground is jx ~ 0.2, determine the speed of the crate when 1 = 4s, The erate stars from rest and is towed by the 100-1b force. “01 Fis FIS-3, The motor exerts a force of F = @202)N on the cable, where 1 i in seconds. Determine the speed of the 25-kg crate when 1= 4s, The coefficients of static and kinetic friction between the crate and the plane are ja; = 0.3, and jy = 0.25, respectively FIS. The wheels ofthe 1.5-Me car generate the traction {oree F described by the graph If the ear starts from rest, determine its speed when f = 6 aN) PIS-8, ‘The 2.5-Me four-whecl-rive SUV tows the 15-Me trailer. The traction force developed at the wheels is Fy ~ 9KN. Determine the speed of the truck in 20, starting ‘rom rest, Alo, determine the tension developed in the coupling between the SUV and the trailer. Neglest the mass of the wheels F1S-4 The 10D block A attains a velocity of 1 fi/s in 5 seconds starting from rest. Determine the tension in the cord and the coefficient of kinetic friction hetween block A and the horizontal plane. Neglect the weight of the pulley Block B has a weight of 81b. FIs230 Charter 15 KINETICS OF & PARTICLE: IMPULSE AND MOMENTUM f Jrnosems 18-1. A 2b ull is thrown in the direction showen with an initial speed 0, = 18 f/s. Determine the time needed for it to reach its highest point und the speed at which i is ‘traveling at 8, Use the principle of impulse and momentum forthe solution, Prob. 15-1 18-2. A 20-Ih block slides down a 30° inclined plane an initial velocity of 2 fs. Determine the velocity of the block in 3 ifthe coefficient of kinetic friction between the ‘block and the plane is wy = 0.25 18-3. A S-lb block is given an initial velocity of 1011/8 up & 45° smooth slope. Determine the time it will ake to travel up the slope before it stops. ‘14, The 180-Ib iron worker is secured by a fallarrest system consisting of u harness and lanyard AB, which is fixed to the beam. If the lanyard has slack oft, determine the average impulsive force developed in the lanyard if he happens to fall 4 feet. Neglect his size in the caleulation and assume the impulse takes place in 0.6 seconds Prob. 15-4 15-8. A man hits the 50-2 gol! ball such that it leaves the tee at an angle of 40° with the horizontal and strikes the ground at the same elevation a distance of 20 m avay. Determine the impulse of the club C on the ball, Neglect the impulse caused by the ball's weight while the club is striking the ball Prob. 15-5 15-6. A train consists of « 50-Mg engine and three ears, each having a mass of 30 Mg. Iit takes 80s for the train to increase its speed uniformly to 40 km/h, starting from rest, determine the force T developed at the coupling between the engine E and the fist car A, The wheels of the engine provide a resultant frictional tractive force F which gives the train forward motion, whereas the car wheels roll [eel ‘Also, determine Facting on the engine wheels. Prob. 15-6 15.7. Crates A and B weigh 100 Ib and SD tb, respectively If they start from rest, determine their speed when f= 5 § ‘Also, find the force exerted by erate A on erate B during the motion, The coetficient of kinetic frition between the crates and the ground is 4; = 0.25 a P2501 ee Prob. 18-715.2. PRINCIPLE OF LNEAR IMPULSE AND MOMENTUM FOR A SYSTEM OF Pasnicies 231 “ISB. Ifthe jets exert a vertical thrust of T= (5008) N, ASH. When the 5-kg block is 6 m from the wall, itis where isin seconds determine the man’s speed when =38, sliding at x; ~ Mm/s. Ifthe coefficient of kinetic frition ‘The total mass of the man and the jet suits 100 kg. Neglect between the block and the horizontal plane is 4 ~ 3, the loss of mass due to the fuel consumed during the lift determine the impulse of the wall onthe block necessary 19 ‘which begins from rest on the ground, stop the block. Neglect the friction impulse acting on the ‘lock during the collision Prob, 15-11 Prob. 15-8 159, Under conan ths of T= 40 BN the Lag ESD, Fo a sort peri fine he ona ing " fore ating on the whl of the? SM vans Fy (6008) N, Agar reaches te maximum speed of 125 mys fn 8 + " staring from ext Determine the average dragresstance F_WETE i Seconds I the van as 9 speed of 20 yh during this period of time. ‘heme =D, determing ia peed when, is = 40 kN Prob, 15-9 Fo Prob. 15-12 15-10. The SOkg crate is pulled by the constant force P. tthe crate starts from rest and achieves a speed of 10:m/sia 5 s.determine the magnitude of P.The coefficient af kinetic Iriction between the erate and the ground issu = 0.2 15-43, The 25-Mg van is traveling with a speed of 100 kh when the brakes are applied and all four wheels lock. If the speed decreases to 40 km/h in 5s, determine the coelficient of kinetic friction between the ties and the road. ae Prob. 15-10) Prob, 15-13,232 Charter 15 18-14, The foree acting on a projectile having x mass m as i passes horizontally through the barrel af the cannon is F = Csin (ar/t'). Determine the projectile’ velocity when Ihe projectile reaches the end of the barrel at this instant, determine the length s —— | Prob, 15-14 48-15, During operation the breaker hammer develops on the concrete surface a force which is indicated in the graph. “To achieve this the 21h spike S is fired from rest into the surface at 200 {1/s Determine the speed of the spike just after rebounding. Fo} mas 0 os 6 22s s ° 4s) oa) 02 03 oa Prob, 15-15 "15-16, The twitch in muscle ofthe arm develops a force Which can be measured asa function of time as shown in the raph. If the effective contraction of the muscle lasts for a time fp, determine the impulse developed by the muscle. a Prob, 15-16 KINETICS OF & PARTICLE: IMPULSE AND MOMENTUM 18-17. A hammer head #7 having a weight of 0.25 Ib is ‘moving vertically downward at 40 f/s when it strikes the hhead of a nail of negligible mass and drives it into a block of ‘wood. Find the impulse om the nail if iis assumed that the rip at A is loose the handle has # negligible mass, and the hammer says in contact with the nail while it comtes to rest. [Neglect the impulse caused by the weight of the hammer hhead during contaet with the nail v= aon Prob. 15-17 15-48, ‘The dD-kg slider block is moving tothe right with 2 speed of 1.5 m/s when itis acted upon by the forces F and Fy If these loacings vary in the manner shown on the graph, determine the speed ofthe block at = 6 s. Neglect friction ‘and the mass of the pulleys and cords, Fes 5 16 Prob. 15-18,15.2. PRIVCIPLE OF LNEA® IMPULSE AND MOMENTUM FOR A SYSTEM OF Pasncies 233 15-19, Determine the velocity of each block 2s after the Docks are released from resi. Neglect the mass of the pulleys and cord, wm | 501 Prob, 15-19) "18-20, The particle P is acted upon by its weight of 3 Ib and forees Fy and F,, where f isin seconds It the particle orginally has a velocity of vj = {31+ Ij + 6k) M/s, determine its speed after 28 y= (5 2g sy Prob. 15-20 AS-21, Tit takes 35 s for the 50-Me tugboat to increase its speed uniformly to 25 kny/h. starting from rest, determine the force of the rope on the tugbout. The propeller provides the propulsion force F which gives the tugboat forward ‘motion, whereas the barge moves freely. Also, determine F acting on the tugboat. The barge has mass of 75 Ma, 15.22. If the force T exerted on the eable by the motor M is indicated by the graph, determine the speed of the SOI crate when ¢=4 5, starting from rest. The coefficients of static and kinetic friction are 1,03 and jx = 025, respectively, ra) «a 0 18) 2 yw Prob. 15-22 18.23, ‘The S-kg block is moving downward at » = 2m/s ‘when itis Sm from the sandy surface. Determine the impulse ‘of the sand on the block necessary to stop its motion, Neglect the distance the block dents into the sand and assume the block does not rebound. Neglect the weight of the block ‘during the impact with the sand. "15-24, The 5-ky block is falling downward at vy = 2 m/s when it is $m from the sandy surface, Determine the average impulsive force acting on the block by the sand if the motion of the biock is stopped in 0.9 s once the block siikes the sand. Neglect the distance the block dents into the sand and assume the black daes nat rebound, Neglect the weight of the block during the impact with the sand. Bil s-2ms | sm [| Pros, 15-2924234 Charter 15 15-25, The D.1-b golf ball is struck by the club and then travels along the trajectory shown. Determine the average ‘impulsive force the club imparts on the ball if the club maintains contact withthe ball for 0S ms. 18-26, As indicated by the deriv impulse and momentum is valid for observers in any inertial reference frame.Show that this isso, hy considering, the L0-kg block which rests on the smooth surface and is subjected to a horizontal force of 6N. If observer A is in a {fixed frame x, determine the final speed of the block in 4s if thas an intial speed of S m/s measured from the fixed frame. Compare the result with that obtained by an ‘observer B, attached to the x" axis that moves ata constant velocity of 2 m/s relative to A, jon, the principle of KINETICS OF & PARTICLE: IMPULSE AND MOMENTUM 15.27. ‘The winch delivers a horizontal towing force F to its cable at A which varies ax shown inthe graph. Determine the speed of the 70-kg bucket when r = 18s. Originally the bucket is moving upward at v, = 3 m/s “15-28, The winch delivers a horizontal towing. force F to its cable at A which varies as shown inthe graph. Determine the speed of the 80-kg bucket when ¢ = 24, Originally the bucket is released from rest 10) robs. 15-27/28 15-29, The train consists of a 30-Mg engine E,and cars A, Band C, which have a mass of 15 Mg, 1D Mg, and 8 Mg, respectively. If the tracks provide a traction force of F = HOKN on the engine wheels, determine the speed of| the train when ¢ = 305, starting trom rest. Also, find the horizontal coupling force at D between the engine F and car A, Neglect rolling resistance. ag D F=30kN Prob. 15-2915.2. PRINCIPLE OF LNEAR IMPULSE AND MOMENTUM FOR A SYSTEM OF Pasnicies 235 18-30, The erate B and oylinder A have @ mass of 200 ky sand 75 kg, respectively. Ifthe system is released from res. determine the speed of the crate and cylinder when [Neglect the mass of the pulleys Prob. 15-30) 15-31. Block A weighs 10lband block B weighs 31b.10 8 Is moving downward with a velocity (vg), = 3 ft/s at = 0, determine the velocity of A when / = 1s. Assume that the horizontal plane is smooth. Neglect the mass ofthe pulleys and cords, *18-32, Block A weighs 10 Ib and block Bt weighs 3 Ib. 1B is moving downward with a velocity (vp), = 3/s at 1=0, determine the velocity of A when = 1s. The coefficient of kinetic friction hetween the horizontal plane and block A is. = 0.15. coors robs, 15-31/32 15-33, ‘The log has a mass of SOO kg and rests on the ‘ground for which the coefficients of static and kinetic Iriction are 1, = 0.5 and py = 0.4, respectively. The winch delivers a horizontal towing force Tt its cable at A which varies as shown in the graph. Determine the speed af the log when ¢ = $s. Originally the tension in the cable is zero. Hint: First determine the foree needed to begin moving the log. Prob. 15-33, 15.34, The S0-kg block is hoisted up the incline using the cable and motor arrangement shown. The coctficient of kinetic Grievion between the block and the surface is 14, = 04. If the block is initially moving up the plane at 1h) = 2m/s,and at ths instant (¢ = 0) the motor develops.a tension in the cord of T= G00 + 120V%) N, where 1s in seconds determine the velocity of the block when 1 = 2s236 CHAPTER 15. KINETICS OF A PARTICLE: IMPULSE AND MOMENTUM The hammer inthe top pote applies an impulsive force to the stake. During this extremely short time of fontaet the Weight of the lake can be considered nonimpulsive, and provided the stake is driven into sof ground, the impulse of the round acting on the stake can also be considered ronimpulsve. By contrast if the sake is used in a concrete chipper to break concrete then two impulsive forces act, ‘on the stake:one ails top due te the ehipper and the other fon its battom due te the Figidity ofthe concrete 15.3 Conservation of Linear Momentum far astysian af Garticles When the sum of the external impulses acting on a system of particles is zero, Eq. 15-6 reduces to a simplified form, namely, [ Emévpy = Em(o)a (15-8) ‘This equation is referred to as the conservation of linear momentum. Itstates that the total linear momentum for a system of particles remains ‘constant during the time period 1, to f,. Substituting mvg, = Ym, into Eq, 15-8, we can also write (oi = os (15-9) ‘which indicates that the velocity vg of the mass center for the system of particles does not change if na external impulses are applied to the system. ‘The conservation of linear momentum is often applied when particles collide or interact, For application, a careful study of the free-body diagram for the entire system of particles should be made in order to identify the forces which create either external or internal impulses and thereby determine in what direction(s) linear momentum is conserved. As stated earlier, the internal impulses for the system will always cancel cut, since they occur in equal but opposite collinear pairs. If the time period over which the motion is studied is very short, some of the external impulses may also be neglected or considered. approximately equal ta zero. The forces causing these negligible impulses are called nonimpulsive forces. By comparison, forces which are Very large and act fora very short period of time produce a significant change in momentum and are called impulsive forces. They, of course, cannot be neglected in the impulse-momentum analysis, Impulsive forces normally occur due to an explosion or the striking of cone body against another, whereas nonimpulsive forces may include the weight of «body, the foree imparted by a slightly deformed spring having a relatively small stifiness or for that matter, any force that is very small ‘compared to other larger (impulsive) forces. When making this distinction ‘between impulsive and nonimpulsive forces, itis important to realize that this only applies during the time ¢, to fy. To illustrate, consider the effect of striking a tennis ball with a racket as showin in the photo, During the very short time of interaction, the force of the racket on the ball is impulsive since it changes the ball's momentum drastically. By ‘comparison, the balls weight will have a negligible effect on the change15.3. CONSERVATION OF LNEAR MOMENTUM FOR A SYSTEM OF Past 237 in momentum, and therefore it is nonimpulsive. Consequently it ean be neglected from an impulse-momentum analysis during this time. If an impulse-momentum analysis is considered during the much longer time of flight after the racket-ball interaction, then the impulse of the ball's ‘weight is important since it, along with air resistance, causes the chi in the momentum of the bail tees Generally, the principle of linear impulse and momentum or the conservation of linear momentum is applied to a system of particles in order to determine the final velocities of the particles just after the time period considered. By applying this principle to the entire system, the internal impulses acting within the system, which may be unknown, are eliminated from the analysis. For application it is suggested that the following procedure be used. Free-Body Diagram. © Establish the x,y,z inertial frame of reference and draw the free- body diagram for each particle of the system in order to identity the internal and external forces. ‘© ‘The conservation of linear momentum applies to the system in a direction which either has no external forces or the forces can be considered nonimpulsive, ‘* Establish the direction and sense of the particles’ initial and final velocities. If the sense is unknown, assume it is along a positive inertial coordinate axis. ‘© Asan alternative procedure, draw the impulse and momentum diagrams for each particle of the system, Momentum Equations. © Apply the principle of linear impulse and momentum or the conservation of linear momentum in the appropriate directions. *# If it is necessary to determine the internal impulse JF dt acting con only one particle ofa system, then the particle must be isolated (free-body diagram), and the principle of linear impulse and ‘momentum must be applied to this particle, is Afar ta apilee W caiciad) andl proviced ths Wade Al fee esl ig pate BPE gE Fag th be determined rom Fug =f Ft Bt,238 (Charter 15. KINETICS OF A PaRTicie: IMPULSE AND MOMENTUM XAMPLE [455 ‘The 15-Mg boxcar A is coasting at 1.5 m/s on the horizontal track ‘when it encounters a 12-Mg tank car B coasting at 0.75 m/s toward it as shown in Fig, 15-8a, If the cars collide and couple together, determine (a) the speed of both cars just after the coupling, and (b) the average force between them if the coupling takes place in 08s. Ls Qysm aa @ SOLUTION Part (a) Free-Body Diagram.* Here we have considered both cars. as a single system, Fig. 15-8b. By inspection, momentum is conserved in the x direction since the coupling force F is internal to the system and will therefore cancel out. It is assumed both cars, when coupled, ‘move at v2 in the positive x direction. Conservation of Linear Momentum. (s) Aiglts)s + moa), = (my + mads (15.000 ka)(1-5 m/s) ~ 12.000 kg(0.75 m/s) = 27 000 Kees 2, = 05 m/s—> Ans Part (b). ‘The average (impulsive) coupling force, Fag. ean be determined by applying the principle of linear momentum to either one of the cars, Free-Body Diagram. As shown in Fig. 15-8, by isolating the boxcar the coupling foree is external to the ear. Principle of Impulse and Momentum. Since fF dt= Fayg At = Fag), We have ) meg +3 fede = macs (15000 kg) 1.5 m/s) ~ Fiy(0.8 5) = (15 000 kg 05 m/s) Fogg = 188 kN Ans NOTE: Solution was possible ere since the borear’s inal velocity was obtained in Part (a). Try solving for Fig by applying the principle of impulse and momentum to the tank car. Only horizontal forces are shown onthe free-body15.3 CONSERVATION OF LINEAR MOMENTUM FOR A SYSTEM OF PasTiCLes Bes 239 ‘The bumper cars A and B in Fig. 15-9a each have a mass of 150 kg and are coasting with the velocities shown before they freely collide head on, Ifno energy is lost during the collision, determine their velocities, after collision, SOLUTION Free-Body Diagram. The cars will be considered as.a single system. ‘The free-body diagram is shown in Fig. 15-9. Conservation of Momentum. (sD mlvar + malvedr = ma(va)e + ma(ve)e (150 kg)(3 m/s) + (150 kg -2 m/s) = (150 kayea)e + (150 keene (ads = 1 = (onde oO Conservation of Energy. Since no energy is lost, the conservation of energy theorem gives neM ‘+ Va 1 ave eee eee ee Zialvok + zmadowk + 0= smalepF + zmalends + 0 2 $150 kX m/s)® + FSORGN2 m/s}* + 0 = $1150 keve)E + FSO keXoRHE + 0 (upd + ed} = 13 @ Substituting Eq, (1) into (2) and simplifying, we get (nl — (ta), — 6 = 0 Solving forthe two roots, (p= 3m/s and (py = m/s Since (0), = ~2 m/s refers to the velocity of B just before collision, then the velocity of B just after the collision must be (wp = 3 m/s > Ans. Substituting this result into Eq. (1),we obtain (vp2 = 1 - 3m/s = —2m/s = 2m/s— Ans:240 Charter 15 KINETICS OF & PARTICLE: IMPULSE AND MOMENTUM @ Wyn V iveo R=0 » Wyo x © Fig 1510 y= 05m Datum An 800-Ku rigid pile shown in Fig, 15-10ais driven into the ground using 42 300-kg, hammer, ‘The hammer falls from rest at a height yo = 0.5m and strikes the top of the pile, Determine the impulse which the pile ‘exerts on the hammer ifthe pile is surrounded entirely by loose sand 30 that after striking, the hammer does nor rebound off the pile. SOLUTION Conservation of Energy. The velocity at which the hammer strikes the pile ean be determined using the conservation of energy equation applied to the hammer. With the datum at the top of the pile, Fig. 15-10a, we have T+M=T1+Vy 1 ipstt ae gens + Way = smutonyt + Waar 0 + 3000981) N(OSm) = F300kENot + 0 (a) = 3132 m/s Free-Body Diagram. From the physical aspects of the problem, the free-body diagram of the hammer and pile, Fig. 15-10, indicates that during the short time from just before to just after the collision, the ‘weights of the hammer and pile and the resistance force F, of the sand are all nonimpulsive. The impulsive force R is internal to the system and therefore cancels. Consequently, momentum is conserved in the vertical direction during this short time, Conservation of Momentum. Since the hammer does not rebound off the pile just after collision, then (vy), = (vp)s = 2. ah ingkoyy + mapvp), = aye + mpr (300 kg)(3.132 m/s) + 0 = (300 kg)e2 + (800 kzyus 2 = 0.8542 m/s Principle of Impulse and Momentum. ‘The impulse which the pile ‘imparts to the hammer can now he determined since 1 is known, From the free-body diagram for the hammer, Fig. 15-10c, we have Gh meth [ "Fy =i (300 eg) .132 m/s) ~ fe ddr = (300 kg\0.8542 m/s) [a= ones es NOTE: The equal but opposite impulse acts on the pile. Try finding this, impulse by applying the principle of impulse and momentum to the ple,15.3 CONSERVATION OF LINEAR MOMENTUM FOR A SYSTEM OF PasTiCLes 241 ‘The 80-ky man can throw the 20-kg box horizontally at 4 m/s when standing on the ground. If instead he firmly stands in the 120-ke boat and throws the box,as showin in the photo, determine how far the boat, will move in three seconds. Neglect water resistance, SOLUTION Free-Body Diagram. If the man, boat, and box are considered as a single system, the horizontal forces between the man and the boat and the man and the box become intemal to the system, Fig. 15-1 1a, and so linear momentum will be conserved along the x axis. Conservation of Momentum. When writing the conservation of momentum equation, itis émportant that the velocities be measured from the same inertial coordinate system, assumed here to be fixed. From this coordinate system, we will assume that the boat and man go to the right while the box goes to the left, as shown in Fig, 15-11. Applying the conservation of linear momentum to the man, boat, box system, (Ss) O+0+0= (ty + mp) Wy — Myon Yan 0= (80 kg +120 kw) vp ~ 20 kg) thoy Prox = 10.05, a Kinematics. Since the velocity of the box relative to the man (and boat) thoy is known, then 0, ean also be related £0 tig, using the relative velocity equation. (4) Q) Solving Eqs. (1) and (2), 1%) = 0.3636 ms > ‘The displacement of the boat in three seconds is therefore p= vpt= (0.3636 ms)(3 s) = 1.09 m Ans, « ) Fig. 15-112a2 Charter 15 KINETICS OF & PARTICLE: IMPULSE AND MOMENTUM Recoil spring ‘The 1200-1 cannon shown in Fig, 15~12a fires an 8-1h projectile with a ‘murzle velocity of 1500 fi/s measured relative to the cannon. If firing takes place in 0.08 s, determine the recoil velocity of the cannon just after firing. The cannon support is fixed to the ground, and the horizontal recoil of the cannon is absorbed by two springs, SOLUTION Part (a) Free-Body Diagram.” As shown in Fig. 1S-12h, we will consider the projectile and cannon as a single system, since the impulsive forces, F and ~F, between the cannon and projectile are internal to the system and will thetefore cancel from the analysis. Furthermore, uring the time Ar = 003s, the two recoil springs which are attached to the support each exert a nonimpulsive force F, on the cannon, This is beeause Ar is very short, so that during this time the cannon only moves through a very small distance s. Consequently, F, = ks = O,where Ais the spring’ stifiness, which is also considered to be relatively small. Hence it can be concluded that momentum for the system is conserved in the horizontal direction Conservation of Linear Momentum. (&) mv + MA_), = —MAVI2 + MyYpy fen 8 wean (Sop) (Sea) (ups = 150 0) ao ‘These unknown velocities are measured by a fixed observer. AS in Example 15-7, they can also be related using the relative velocity equation. BS (ipho= (2+ tye (tp)2=—(u)2 + 1500 fs @ Solving Eqs. (1) and (2) yields (w2=9.93 fy/s Ans (up) = 1490 fr/s Apply the principle of impulse and momentom to the projectile (or the eannon) and show that the average impulsive force on the w projectile is 12.3 kip. Fig, 15-12 NOTE: If the cannon is firmly fixed to its support (no springs), the reactive force of the support on the cannon must be considered as an external impulse to the system, sinee the support would allow no ‘movement of the cannon. In this ease momentum is nor conserved. Only horiontal forces are shown on the free-hody diagram15.3 CONSERVATION OF LINEAR MOMENTUM FOR A SYSTEM OF PARTICLES 243 BG FIS-7. The freight ears A and # have a mass of 20 Mg and 15Mg, respectively. Determine the velocity of after collision ifthe cars collide and rebound, such that & moves to the right with a speed of 2 m/s. fA and are in contact for 055, find the average impulsive force which acts between them. ams p isms FIs FIS-8. The cart and package have a mass of 20ke and ‘kg, respectively. Ifthe cart hus a smooth surface and its ‘italy at rest, while the velocity of the package is as shown, determine the final common velocity of the cart and package after the impact. tome FIS-8 FIS.9. ‘The S-ky block A has un initial speed of S m/s as it slides down the smooth ramp, ater whieh it colides with the stationary block # of mass 8 kg. Ifthe twa blocks couple together after collision, determine their common velocity ‘immediately alter eolision, assy a FIs.9 FIS-10. ‘The spring is fixed to block A and block B is pressed against the spring. If the spring is compressed = 200mm and then the blocks are released, determine their velocity at the instant black # loses contact with the spring. The masses of blocks A and are 10ky and 15 kg, respectively FIS-AU, Blocks A and B have a mass of 15 kg and 10 ke, respectively. IFA is stationary and B has a veloeity of 15 m/s just before collision, and the blocks couple together after impact, determine the maximum compression ofthe spring k= 10 kN jm ps Fist FISAZ, The cannon and support without a projeetite have a mass of 250 kg. Ifa 20-kg projectile is fired from the ‘cannon with a Velocity of 400 m/s, measured rlauve to the ‘cannon, determine the speed of the projectile as it leaves the barrel of the cannon, Neglect rolling resistance 5-122a Charter 15 KINETICS OF & PARTICLE: IMPULSE AND MOMENTUM Press 18-35. The bus B has'a weight of 15000 b and i traveling to the right al §fi/¢ Meanwhile n 3000+ car A is traveling at 4 fYs to the left. Ifthe vehicles crash head-on and become entangled, determine their common velocity just after the collision. Assume that the vehicles are free to roll, during co E36, The $0-kg boy jumps on the S-kg skateboard with horizontal velocity of § m/s. Determine the distance s the boy reaches up the inclined plane hefore momentarily ‘coming to rest, Neglect the skateboard’ rolling resistance. 18-37. The 2.5-Mg pickup truck is owing the 1-Mg car using a cable as shown, If the car i initially at rest and the truck is coasting with a velocity of 30 km/h when the cable is slack, determine the common velocity of the truck and the car just after the cable becomes taut. Also, find the loss of energy, 15-38, A railroad car having a mass of 15 Mgis coasting at 1'Sim/s on a horizontal track. At the same time another car having a mass of 12 Me is coasting at 0.78m/s in the opposite direction, If the cars meet and couple together, termine the speed of both cars just after the coupling. Find the difference between the total kinetic energy before and after coupling has oceurred, and explain qualitatively ‘what happened to this energy. 15-39, The car A has a weight of 4300 Ib and is traveling to the right at 3 fi/s, Meanwhile 2 SK0-Ib car Bis traveling at 6fi/s to the left If the cass crash head-on and become entangled, determine their common velocity just after the collision, Assume that the brakes are not applied during collision, =3ns n= 66 Prob. 15-39) 15-40, The 200g projectile is fired with a velocity of 900 m/s towards the center of the 1S-kg wooden block, Which rests on a rough surface, If the projecile penetrates and emerges from the block with a velocity of 300 m/s determine the velocity of the block just after the projectile cemerges, How long does the block slide om the rough surface, after the projectile emerges, before it comes 10 rest agtin? The coefficient of kinetic frietion between the sturface and the block is ay = 02. 00 mys Before alter Prob, 15-40)15.3 CONSERVATION OF LINEAR MOMENTUM FOR A SYSTEM OF PasTiCLes 245 IS-41. The block has a mass of 50 ky and rests on the surface of the cart having a mass of 75 kg. If the spring ‘Which i attached (othe eart and not the black is compressed (02 m and the system is released fom rest, determine the speed of the block relative 10 the ground after the spring ‘becomes undeformed. Neglect the mass ofthe carts wheels and the spring in the calculation, Also neglect friction. Take 300 N/m, 15-42, The block has a mass of 50 kg and rests on the surface ofthe cart having a mass of 5 kg. I'the spring which isattached to the cart and not the block is compressed 0.2 m nd the system is released from rest, determine the speed of the block with respeet to the cart after the spring becomes undeformed, Neglect the mass of the wheels and the spring in the calculation. Also neglect friction. Take & = 300 N/m, 15-43, The three freight ears A,B, and C have masses of 10 Mg, 5 Mg, and 20 Mg, respectively. They are traveling along the track with the velocities shown. Car A collides with car B frst, followed by ear C. If the three ears eouple together after collision, determine the common velocity of the ears alter the two collisions have taken place 20k skim 2askomih A zy “ 4 Se Prob. 15-48 “15-44. ‘Two men A and Beach having a weight of 160 Ib, stand on the stationary 200-Tb,eart. Each then runs with a speed of 3 ft/s measured relative to the cart, Determine the final speed of the cart if (a) A runs and jumps off, then B runs and jumps off the same end, and (b) both run at the same time and jump off atthe same time. Neglect the mass ofthe ‘wheels and assume the jumps are made horizontally. ISAS. The block of mass ne ravels at vin the direction 44, shown at the top of the smooth slope. Determine its speed 2s and its direction when it reaches the bottom.246 Charter 15 18-46, The barge B weighs 30 000 Ib und supports an ‘automobile weighing 3000 Ib. the barge isnot tied to the pier P and someone drives the automobile to the other side of the barge for unloading, determine how far the barge moves away from the pier. Neglect the resistance of the water, 18-47, The 30-Mg freight car A and 15-Mg freight car B are ‘moving towards each other with the velocities. shown, Determine the maximum compression ofthe spring mounted ‘on car A. Neglect rolling resistance. 10 km “SAR, ‘The barge weighs 45 000 Tb and supports two automobiles A and B, which weigh 400 Ib and 30 Ib, respectively. If the automobiles start from rest and drive towards each other, aeselerating at aq =-4fi/s' and aq = 811/ unl they reach a constant speed of 6 it/s relative to the barge, determine the speed of the barge just before the automobiles collide. How much time daes this take? Originally the harge isat rest. Neglect water resistance, aimee KINETICS OF & PARTICLE: IMPULSE AND MOMENTUM 18-49. ‘The man M weighs 150 Ib and jumps onto the boat B which has a weight of 200 Ib. 1 he has & horizontal component of velocity relative 1 the boat of 3 fs, just before he enters the boat, and the boat is traveling up = 211/s away from the pier when he makes the jump, determine the resulting Velocity of the man and boat. 15.50, The man M weighs 150 Ib and jumps onto the boat B ‘hich is originally at rest. If he has a horizontal component of velocity of3 {ys just before he enters the hout, determine ‘the weight of the boat it it has a velocity of 2 ft/s ance the ‘man enters i robs. 15-4950 18-81, ‘The 20-ky package has « speed of 1.S m/s when it is delivered to the smooth ramp. After sliding down the ramp it lands onto a 10-kg cart as shown. Determine the speed of the cart and package after the package stops sliding on the eart Lsmis Prob. 15-5115.3 CONSERVATION OF LINEAR MOMENTUM FOR A SYSTEM OF PARTICLES 247 “98-82. The free-rolling ramp has mass of 40 kg. A 10-ke crate is released from rest at A and slides down 35 m to point B. I the surface of the ramp is smooth, determine the xamp's speed when the erate reaches B. Also, what is the velocity ofthe erate? 18-53, The S0-Ib boy and 6O-Ib girl walk towards each’ ‘other with a constant speed on the 300-Ib cart. IF their velocities, measured relative to the cart, are 3 Fis to the right and 2 ft/s to the left, respectively, determine the velocities of the boy and gir! during the motion. Also, find the distance the eat has traveled atthe instant the boy and girl meet, 15-54, The SUI boy and 60-lb girl walk towards each fther with constant speed on the 300-Ib cart, Tf thei velocities measured relative to the cart are 34/8 to the right and 2 1/6 to the left, respectively, determine the velocity of the eat while they are walking, a Prob. 15-554 15-88, A tugboat T having a mass of 19 Mg is tied to a barge B having a mass of 75 Mg. Ifthe rope is “elastic” such that i€ has a stifiness & = 600kN/m, determine the maximum stretch in the rope during the initial towing Originally both the tugboat and barge are moving in the same direction with speeds (vz), = 13 km/h and (ap); = Wkm/h, respectively. Neglect the resistance of the water Prob, 18-85 “15-56, ‘Two boxes A and B, cach having @ weight of 160 Th, st on the 500-1b conveyor which is free to roll on the ground. If the belt starts from rest and begins to run wilh a speed of 3 fs, determine the final speed of the conveyor if (a) the boxes are not stacked and A falls off then B falls off, and (b) A is stacked on top of B and both fall off together. Prob, 18-56 15-57, ‘The 10-kg block is held at rest on the smooth inclined plane by the stop block at A, If the 10-g bullet is traveling at 300 m/s when it becomes embedded in the 10-kg block, determine the distance the block will slide up along the plane before momentarily stopping.248 Charree 15 KINETICS OF A PARTICLE: IMPULSE AND MOMENTUM 15.4 Impact Plane of sontast Impact occurs when two bodies collide with each other during a very short period of time, causing relatively large (impulsive) forces to be exerted = between the bodies. The striking of a hammer on a nail, or a golf club on a ball, are common examples of impact loadings. Tn general there are two types of impact, Central impact occurs when i a i s the direction of motion of the mass centers of the two colliding particles a is along a line passing through the mass centers of the particles. This line is ealled the fine of impact, which is perpendicular to the plane of contact, Fig. 15-134, When the motion of one or both of the particles make an angle with the line of impact, Fig. 1S-13b, the impact is said to bbe oblique impact Plane of contact Central Impact. To illustrate the method for analyzing the mechanics of impact, consider the ease involving the central impact ofthe two particles 4 [Orbligue pact) " A and B shown in Fig, 15-14. © # The particles have the initial momenta shown in Fig. 15-14a ae Provided (0); > (ey), collision will eventually oceur. © Daring the collision the particles must be thought of as deformable ‘or nonrigid. The particles will undergo a period of deformation such that they exert an equal but opposite deformation impulse / P at on each other, Fig. 15-14d, © Only at the instant of maximum deformation will both pacticles move with a common velocity ¥, since their relative motion is zero, Fig. 15-14 # Afterward a period of restitution occurs, in which case the particles will either return to their original shape or remain permanently mad mite deformed. ‘The equal but opposite restitution impulse | R de pushes the particles apart from one another, Fig. 13-14d. In na, Require deformation impulse will always be greater than that of restitution, aie Gah ie, J Pat [Rat [Before impact] © Just after separation the particles will have the final momenta @ shown in Fig. 15-L4e, where (1p)2 > (4) a a) [a a) [Deformation ipa) AB estuton tp] A (> (oa B (Miaimum deformation) rere! CO) ° o © Fig. 15-14In most problems the initial velocities of the particles will be known, and it will be necessary to determine their final velocities (v,,)3 and (ug)2. In this regard, momentum for the system of particles is conserved since during collision the internal impulses of deformation and restitution ‘cancel. Hence, referting to Fig, 15-14a and Fig, 15-L4e we require i“ inglvg)s + mg(ea)s = mealea)s + mines) (1S-10) In order to obtain a second equation necessary to solve for (v,)2 and (v)2, We must apply the principle of impulse and momentum to each particle. For example, during the deformation phase for particle A Figs. 15-I4a, 15-14b, and 15-14e, we have (s) mala = fra = mip For the restttion phase, Figs 15d, 15-14. and 15-4e, (6) mev~ [aa myers ‘The ratio of the restitution impulse to the deformation impulse is called the coefficient of restiuution, e. From the above equations, this value for particle A is Rat [ _ B= as In a similar manner, we can establish ¢ by considering particle B, Fig 15-14, This yields at [8p fou If the unknown v is eliminated from the above two equations, the coefficient of restitution can be expressed in terms of the particles’ initial and final velocities as, sa ey v1 = (es gy 154 Iweacr 249250 CHAPTER 15 KINETICS OF A PARTICLE: IMPULSE AND MOMENTUM The quality of a manufactured tennis ball i eased bythe height ofits bounce which fen be related tits coetcient of restitution. Using the mechanics of oblique impact, engineers can design a separation device 1 remove substandard tennis balls trom a production line, The mechanics of pool depends upon application af the conservation of ‘omentum nd ihe cosiient of restitution, Provided a value for eis specified, Eqs 15-10 and 15-11 ean be solved simultaneously to obtain (r4}s and (ig)s. In doing so, however, itis important to carefully establish a sign convention for defining. the positive direction for both v, and vp and then use it consistently when writing both equations. As noted from the application shown, and indicated symbolically by the arrow in parentheses. we have defined the positive direction to the right when referring to the motions of both A and B. Consequently, if a negative value results from the solution of cither (74)2 oF (Pa)ait indicates motion is tothe left. Coefficient of Restitution. From Figs. 15-14a and 15-14e, itis seen that Eq. IS-I1 states that e is equal to the ratio of the relative velocity of the particles’ separation just after impact, (ip): ~ (3a). t0 the relative velocity of the particles’ approach just before impact, (4); ~ (Wi. BY measuring these relative velocities experimentally, it has been found that ¢ varies appreciably with impact velocity as well as with the size and shape of the eoliding bodies, For these reasons the coefficient of restitution is reliable only when used with data which closely approximate the conditions which were known to exist when measurements of it were made, In general ¢ has a value between zero and one, and one should be aware of the physical meaning of these two limits, Elastic Impact (¢ = 1). Irthe collision between the two partie is perfectly elastic, he deformation impulse ( /'P dt) is equal and opposite to the restitution impulse (/R dr). Although in reality this ean never be achieved, ¢ = 1 for an elastic collision, Plastic Impact (e = 0). Theimpactis aid to be inelastic or plastic when e = 0. In this ease there is no restitution impulse (JR dr = 0). that after collision both particles couple or stick together and move with a common velocity From the above derivation it should be evident that the principle of work and energy eannot be used far the analysis of impact problems since itis not possible to know how the internal forces of deformation and restitution vary oF displace during the collision, By knowing the particle's velocities hefore and aftcr collision, however, the energy loss during collision can be calculated on the basis of the difference in the particle's kinetic energy. This energy loss, SU» = 37s — 37, oceurs because some of the initial kinetic energy of the particle is transformed into thermal energy as well as creating sound and localized deformation of the material when the collision occurs In particular, if the impact is perfectly elastic, no energy’is lost in the collision: whereas ifthe collision is plastic, the energy lost during collision is @ maximum,184 Wrscr 251 eee nek cou Mie) (rah determined just after they are subjected to direct central impact. | —¥, Provided the coefficient of restitution, the mass of each partiele,and | >” each particle’s initial velocity just before impact are known, the ‘vy o> solution to this problem can be obtained using the following two Plane of contact equations: ‘+ The conservation of momentum applies fo the system of particles, Simo = mvs. # The coefficient of restitution, ¢ = [vs ~ Coal/L(@), ~ oh relates the relative velocities of the particles along the line of impact, just before and just after collision. matrsoy Sra Wise sriting tess tro srieetin emaiol mminoms | QQ = selociy ern Seemed UfheschilondelBrnnreabvemeesiide || 8 the velocity acts in the opposite sense, vrs @ ibang * “ a pracon rapa Fae, minl¥nde Oblique Impact. When oblique impact occurs between two @= =@- oe smooth partlsthe particles move away fromeach other with velocities fh, having unknown directions as well as unknown magnitudes. Provided — !""®)" the intial velocities are known, then four unknowns are present in the » problem. As shown in Fig 15-TSa, these unknowns may be represented either as (v4)3,(vg)2.0s, and by, or as the x and y components of the Fig Ba final velocities Procedure for Analysis (Oblique Impact) [If the y axis is established within the plane of contact and the x axis along the line of impact, the impulsive forces of deformation and restitution act only in the x direction, Fig, 15-15. By resolving the velocity or ‘momentum veetors into components along the x and y axes, Fig, 15-15, itis then possible to write four independent scalar equations in order to determine (04,)z. (aya, (Yax)an and (08,)2 ‘* Momentum of the system is conserved along the line of impact, x axis,so that Sin(v,), = Sm(v,)>. * The cocfficient of restitution, ¢ = [(0p,)2~ (Vax)a]/[(was)i ~ (ms)il+ relates the relative-velocity components of the particles along the line of impact (x axis). ST eee ene at eone rere ten ee ‘* Momentum of particle A is conserved along the y axis, perpendicular tothe line of impact, since no impulse acts on particle A in this direction. AS a result m(4,): = Mea(%ay)2 0F Cash = (84y)2 ‘© Momentum of particle Bis conserved along the y axis, perpendicular to the line of impact, since no impulse acts on particle B in this direction. Consequently (vp,); = (Ppy)2. Application of these four equations is illustrated in Example 15.11252 Charter 15 XAMPLE [455 0 (o), = OTR Just before impact (ms ust after impact o Wale Fig. 15-16 6 Ms 1 n 13g impact @ —§@- KINETICS OF & PARTICLE: IMPULSE AND MOMENTUM ‘The bag A, having a weight of 6 Ibis released from restat the position 4 = 07, as shown in Fig. 15-160. After falling to @ = 90 i strikes an 181b box B. Ifthe coefficient of restitution between the bag and box is e = 05, determine the velocities of the bag and box just after impact. What isthe los of energy during collision? SOLUTION This problem involves central impact. Why? Before analyzing the mechanics ofthe impact, however, itis first necessary to obtain the ‘elocty of the bag use before it strikes the box. Conservation of Energy. With the datum at 0 = 0°, Fig. 15-166, we have T+ W=T4+Vi 1/_6w hs ora 3 oa Conservation of Momentum. After impact we will assume A and B travel to the lelt, Applying the conservation of momentum to the system, Fig. 15-160, we have (4) mala) + maCoah = mala) + malas 6 181b 6b +(e Ne = (Neosho toa , iS nye \ SERIA G 2 nye } mgs tate ) (0: = 1390 ~ Kem, @ Coefficient of Restitution. Realizing that for separation to occur after eolision (r4)s > (04)3 Fit. 15-16¢, we have ~_twa)s ~ (vada (nla ~ (vse (vali — 6 1b :e4)1 = 13.90 fY/s (2) eh = Comb 1390s = 0 (os = (092 = 6.950 @ Solving Eqs 1 and simultancousy yields Gide = “IAR/6 = 17AH/E=F and Cp) =S2U8/R Ant Loss of Energy. Applying the principle of work and energy to the bag and box just before and just after collision, we have Wia=h- Mh [5 Goa )e2t nro? +582 )a.r tye] - EG Sea hony] BUy-2 = - 10.1 felb Ans. NOTE: The energy loss oecurs due (0 inelastic deformation during the collision. 20,154 Iweact 253 Ear in Fig, 15-17a has a mass of 1.5 kg and is suspended from the ceiling by a I-m-long elastic cord. If the cord is stretched param — oO downward 0.25 m and the balls released from rest, determine how far the cord stretches after the ball rebounds from the ceiling. Thestifiness 4g _ 599 Nn) y = of the cord is & = 800 N/m, and the coefficient of restitution between +025) the ball and ceiling is ¢ = 0.8. The ball makes a central impact with 4 the ceiling o @ SOLUTION First we must obtain the velocity of the ball just before it strikes the ceiling using energy methods, then consider the impulse and ‘momentum between the ball and ceiling, and finally again use energy methods to determine the stretch in the cord. Conservation of Energy. With the datum located as shown in Fig. 15-174, realizing that initially y = yy = (I + 0.25) m = 1.25 m, we have T+ =Th+Vi , denoaik — Wayy + dks? = intus)? +0 0 — 159.81)N(1.25 m) + {800N/my0.25 my? = $0.5 kgKes)E = © (op): = 2.968 m/s ‘The interaction of the ball with the cciling will now be considered using the principles of impact. Since an unknown portion of the mass ofthe eelingis involved inthe impact, the conservation of momentum |_| (d= 247m for the ball-ceiling system will not be writen. The “velocity” ofthis portion of ceiling is zero since it (or the earth) are assumed to remain ® at rest both before and after impact. Coefficient of Restitution. Fig. 15-17b. op) = (9 wo pa C= og oO Wie, ia 0 2968 mjs (v9); = 2374 m/s = 2374 m/s | Conservation of Energy. ‘The maximum stretch ss in the cord can be determined by again applying the conservation of energy equation to the ball just after collision, Assuming that y ~ yy = (1 + s3)m, Fig. 15-17c, then Tz + Va=Ty + Va (Ug) + O = bmow)h — Ways + 2Kst 4(1.5 kg)(2.37 m/s}? = 0 — 981(1.5) NOI m + 55) 4008} = 14.7155 ~ 18.94 = 0 Solving this quadratic equation for the positive root yields 54 = 0.237 m = 237 mm Ans. “The weight ofthe balls considered nonimpulsve force, 300 N /m)s} Fig 15-17254 (Charter 15. KINETICS OF A PaRTicie: IMPULSE AND MOMENTUM XAMPLE |/45) “Two smooth disks A and B, having a mass of 1 kg and 2 kg, respectively, (ead = Lins collide with the velocities shown in Fig, 15-18a. If the coefficient of restitution for the disks ise = 0.75, determine the x and y components amet ‘of the final velocity of each disk just after collision. “Line of impact SOLUTION plane of contact This problem involves oblique impact. Why? In order to solve it, we have established the x and y axes along the line of impact and the o plane of contact, respectively, Fig. 15-184. Resolving each of the initial velocities into x and y components, we have (ugh = 3.00830 = 2598m/s (yy); = 3sin 30° (vg)i =I cos45°=—0,7071 m/s &y) ‘The four unknown velocity components after collision are assumed to act in the positive directions, Fig, 15-18b. Since the impact occurs in the mony Sp _ qymtyeds x direction (line of impact), the conservation of momentum for both —=@10=— disks can be applied in this dtection, Why? miedl mibatt Conservation of "x" Momentum. In reference to the momentum a - diagrams, we have (5) mba), + Malad = made + malades 1 kg(2.598 m/s) + 2 kg(-0.707 m/s) = 1 kg(ay.)2 + 2 kel gd» agen St atv =@) ratte (epg)2 + 2dggda = 1.184 a Coefficient of Restitution (x) maison ais a (adi (sh =Sms mtv (mda = ashe 2598 m/s — (0.7071 ms) (ade — (@yahe = 2482 2 Solving Eqs. 1 and 2 for (v4,)2 and (p> yields (er = =126m/s = 1.26m/s— (eyo = 122m/s > Ans. Conservation of “y” Momentum. The momentum of each disk is conserved in the y direction (plane of contact), since the disks are x smooth and therefore no external impulse aets in this direction, From n= 0 Fig. 15-186, [a= MP” +f mah = maPadsd Wage = LS0m/s P Ans. (ods = 1a ms — ED Imgldg ds = malty si (Wy) = -0.707 m/s = 0.707 m/s | Ans o © NOTE: Show that when the velocity componentsare summed vectorial, Fig 15-18 tne obtains the results shown sn Fi. 15-18.18.4 Iweacr 255 Mai FIS-13. Determine the coefficient of restitution e between ball A and ball B.The velocities of A and B before and alter the collision aze shown, Before collision Am Simi eo oe After collision FIsA3 FIS-Ud, The 15-Mg tank car A and 25-Mg freight car travel towards each other with the velocities shown. Ifthe coefficient of restitution between the bumpers is e = 0.6, determine the velocity of each car just after the collision Sm si » ine Fist FIS-IS. The 30-Ib package A has a speed of 5 fi/s when it centers the smooth ramp. AS it slides down the ramp, it strikes the 80-Ib package B which is initially at rest. IF the coctticiemt of restitution between A and B is «= 0.6, determine the velocity off just after the impact sa Piss FIS-16._ The ball strikes the smooth wall with a velacity of (4), = 20m/s. Ifthe coefficient of restitution between the ball and the wall is e = 0.75, determine the velocity of the Dall jus ater the impact to 2206 ae PISA7. Disk A weighs 21 and slides on the smooth horizontal plane with a velocity of 3/s. Disk B weighs 11 Th and is initially at rest after impact 4 has a velocity of 1 lis, parallel tothe positive x axis, determine the speed of disk B after impact FIST FIS-AS, Two disks A and B each have a weight of 2 Tb and the intial velocities shown just before they collide. If the ‘coefficient of restitution ise = 0.5, determine their speces just after impact. (ost256 Charter 15 KINETICS OF & PARTICLE: IMPULSE AND MOMENTUM P feropiems 15-58. A ball having @ mass of 200g is released from sest ats height of 400mm above a very large fied metal surface. the ball rebounds to a height of 325mm above the surface, determine the coeificient of restitution between the ball and the surface. 18-59, The S-Mg truck and 2-Mg car are traveling with the free-rolling velocities shown just before they collide. After the collision, the car moves with a velocity of 1Skm/h to the right relative to the truck. Determine the coefficient of restitution between the truck and car and the loss of energy due tothe calision. 0 kmh oe oxen Prob. 15-59) *1S-60. Disk A has a mass of 2 kg and is sliding forward ‘on the smoosh surface with a velocity (v4), = 3 m/s when it strikes the ky disk J, which is sliding towards at ugh = 21n/s, with direct contra impact. If the eoeticient ‘of restitution between the disks is e = 04, compute the velocities of A and B just after eolision. eQeSms (yh =2ms Prob. 15-60) 18-61. Black A has a mass of 3 kg and is sliding on a rough horizontal surface with a velocity (»,), = 2m/s when it makes a direct collision with block B, which has a mass of 2 kg and is originally at rest. If the collision is periectly elastic (e = 1, determine the velocity of each block just after collision and the distance between the blocks when they stop sliding. The coefficient of kinetic friction between the blocks and the plane is 4, = 0.3 oo Prob. 15-61 15-62. IE (wo disks A and B have the same mass and are subjected to ditect central impact such that the collision is perfectly elastic (e = 1), prove that the kinetic energy before collision equals the kinetic energy after collision, ‘The surface upon which they slide is smooth, 15-63, Fach bull has a mass m and the coefficient of restitution between the ballsis eI they are moving towards fone another with a velocity », determine their speeds after collision. Also, determine their common velocity when they reach the state of maximum deformation, Neglect the size cof each ball. 15-64, ‘The three bulls each have a mass m. If A has speed 1 just before a direct collision with B, determine the speed of C after collision. The coefficient of restitution ‘between each pair of balls is ¢ Neglect the size ofeach ball Prob 15-64 18-65. A L-lb ball A is traveling horizontally at 20 ts ‘when it strikes. 10-1 block B that isat rest, Ifthe coefficient ofrestitution between Aand Bise ~ 06.and the coefficient fof kinetic friction between the plane and the block is my = Ged, determine the time for the block B to stop sliding.18-66, IC the gir throws the ball witha horizontal velocity fof uj = 8 fs, determine the distance d so that the ball Jpoumnces once on the smoath surface and then lands in the cup at C.Take e = 08. h 05 Ib and have « coefficient of restitution of e = 0.85, If ball A is released from rest and strikes ball B and then ball strikes ball C, determine the velocity of each bal alter the second eolision| has oceurted. The balls slide without friction. Prob. 15-67 *15-68, The girl throws the ball with a horizontal velocity ‘of », = 8'/s. I the coefficient of restitution between the pall and the ground ise = 0.8, determine (a) the velocity of ‘the ball just after it rebounds Irom the ground and (b) the ‘maximum height to which the bal rises after the fist hounce. Bays sn Prob. 15-68 154 Iweact 257 18-69. A 300-g ball is. kicked with a velocity of 4 = 25m/s at point A as shown. If the coefficient of restitution between the ball and the field is e = 0.4, determine the magnitude and direotion @ of the velocity of the rebounding bal at B, 15-70, Two smooth spheres A and B each have @ mass m: IFA is given a velocity of ny while sphere B is at rest, determine the velocity of B just alter it strikes the wall, The ‘neificient of restitution for any calision ise Prob. 18-70 15-71. It was observed that a tennis ball when served horizontally 7.5 {1 above the ground strikes the smooth ‘ground at B20 away, Determine the inital velocity vq of the ball and the velocity vp (and #) ofthe ball just after it strikes the court at B, Take e = 0.7 “18-72, ‘The tennis bal s struck with a horizontal velocity ‘yo stikes the smooth ground at B, and bounces upward at = 30°. Determine the initial velocity v, the final velocity Yp, and the coefficient of restitution between the ball and the ground. 758 ;, En robs. 15-7172258 18-73, The 1 Ib ball is dropped from rest and falls a distance of 4 11 before striking the smooth plane at A. If = O8, determine the distance d to where it again strikes the plane at B, 18-74, The 1 Ib ball is dropped from rest and falls a distance of 4 ft before striking the smooth plane at A, 1Fi¢ rebounds and in ¢= 0.5% again strikes the plane at B, determine the coetficient of restitution e between the ball and the plane. Also, what isthe distance a’ I N Probs. 15-7374 18-75, The L-kg ball is dropped from rest at point 4,2 m above the smooth plane. If the coelficient of restitution between the ball and the plane is e = 0.6, determine the distance d where the ball again strikes the plane, Prob, 18-75, (Charter 15. KINETICS OF A PaRTicie: IMPULSE AND MOMENTUM “15-76. A ball of mass m is dropped vertically from a height fy above the ground. If it rebounds to a height off, determine the enefficient of restitution between the ball and the ground, Prob. 15-76 18-77, The cue ball A is given an initial velocity Go, = Sm/s. If it makes a direct collision with. ball B(e = 0.8), determine the velocity of B and the angle # just after it rebounds from the cushion at C(e” = 0.6). Bach ball thas a mass of Ob kg. Neglect theit size. | ! | ! ) | ) ] | Prob. 1897 15-78, Using slingshot, the boy fires the (.2-1b marble at the concrete wall striking it at B. Ifthe coefficient of restitution between the matble and the wall is e = 05, determine the speed ofthe marble after it rebounds from the wal15-79, The sphere of mass falls and strikes the triangular ‘lock with a vertical velocity v Ifthe block rests on a smooth surface and has & mass 3m, determine its velocity just after the collision. The coefficient of restitution is Prob. 15-79 15-80, Block A, having a mass my, is released from rest, falls a distance hand strikes the plate B having & mass 2m, Tt the coefficient of restitution between A and B is determine the velocity of the plate just after collision. The spring has a slilfiness ; a Prob, 15-80) 18.4 Iweacr 259 15-81, The girl throws the 0.5-kg hall toward the wal ith ‘an initial velocity vy = 10mys. Determine (a) the velocity at which it trikes the wall at B,(b) the velocity at which it rebounds from the wall if the cocificient of restitution © =05, and (@) the distance s from the wall to where it strikes the ground at C. 15-82, The 20-1h box sides on the surface for which 44 = 003, The box has a Velocity # = 15 ft/s whem ibis2 ft from the plate. If it strikes the smooth plate, which has a ‘weight of 10 Tb and is held in position by an unstretched spring of stifiness k = 400 1b/fi, determine the maximum ‘compression imparted to the spring, Take ¢ ~ 08 between the box and the plate, Assume that the plate slides smoothly, sys — Prob. 15-82 15-83, Before a cranberry can make it to your dinner Plate, it must pass a bouncing test which rates its quality. I cranberries having an e = 0.8 ure to be accepted, determine the dimensions d and h for the barrier so that when a cranberry falls from rest at Ait strikes the incline at B and bounces aver the barrier at € Prob. 15-83260 (Charter 15. KINETICS OF A PaRTicie: IMPULSE AND MOMENTUM “15-84. A ball is thrown onto 2 rough floor at an angle @. 18-87. Two smooth disks A and B each have a mass of IC it rebounds at an angle 4 and the coefficient of kinetic 0.5 kg. IF both disks are moving with the velocities shown Iriction is 4, determine the coefficient of restitution e when they collide, determine their final velocities just after Neglect the size ofthe ball Hint: Show that during impact, collision. The coefiicient of restitution is ¢ = 0.75, the average impulses in the x and y directions are related by fei, Since ihe. time of impact. is the same, “18-88 Two smooth disks A and Beach have a mass of shown Atm Ar snare: =F, 5 ke. If both disks are moving with the veloc when they collide, determine the coefficient of restitution 15-85, A ball is thrown onto a rough floor at an angle between the disks if after collision B travels along a line, fof @ = 45°. IC it rebounds at the same angle ¢= 45%, counterclockwise from the y axis, determine ihe coetticiont of kinetic fiction between the Floor and the ball. The coefficient of restitution is e — 08 ‘int: Show that during impact, the average impulses inthe -rand.y directions are related by J, = jl Since the time of impact isthe same, F, t= pF, Av or F, — Wy (09), Sams robs. 15-87188 robs. 15-8485 18-86. The “stone” A used in the sport of curling slides 15-89. “Two smooth disks A and B have the inital ‘ver the ice track and strikes anotherstone” Bas shown. If Yelosities shown just before they collide at O. If they have each “stone” is smooth and has a weight of 47 Ib, and the masses m, = Ska. and my = Oke, determine their speeds coefficient of restitution between the “stones” is e = 08, justafler impact. The coefficient of restitution ise = 0.5. determine their speeds just after collision Initially A has a velocity of 8 fi/s and Bs at rest, Neglect friction, Prob. 15-89)15-90. If disk 4 is siding along the tangent to disk B and suikes B with a velocity v, determine the velocity of Batter the collision and compute the loss of kinetic energy during the collision. Neglet friction, Disk # is originally at rest. The coefficient of restitution is ¢, and each disk has the same size and mass, 16-91. ‘Two disks A and B weigh 2 Iband 5 Ib, respectively. I they are sliding on the smooth horizontal pane with the velocities shown, determine their velocities just after impact, The coefficient of restitution between the disks is = 06, rom 50h 30 Prob, 15-91 154 Iweact 261 “15-92, ‘Two smooth coins A and B,cach having the same ‘mass, slide on a smooth surface with the motion shown, Determine the speed of each coin after collision if they move off along the dashed paths. Hint: Since the line of impact as not been defined, apply the conservation of ‘momentum along the vand y axes, respectively. 15.93, Disks A and B have a mass of 15 ke. and 10 ke. respectively. If they are sliding on a smoath horizontal plane with the velocities shown, determine their speeds just after impact, The coefficient of restitution between them is e = D8. Prob, 18-93262 Charree 15 KINETICS OF A PARTICLE: IMPULSE AND MOMENTUM 15.5 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 eoncept 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. Scalar Formulation. If a particle moves along a curve lying in the s-y plane, Fig. 15-19, the angular momentum at any instant ean be determined about point O (actually the z axis) by using a scalar formulation. The magnitude of Hy is, (Ho. = ir) (15-12) Here dis the moment arm or perpendicular distance from O to the fine of action of mv. Common units for (7p). are kg m?/s or slug ft/s, The direction of H is defined by the right-hand rule. As shown, the curl of the fingers of the right hand indicates the sense of rotation of my about O, So that in this case the thumb (or Hp) is directed perpendicular to the sy plane along the +2 axis, Vector Formulation. _ If the particle moves along a space curve, Fig. 15-20, the veetor eross product ean be used to determine the angular ‘momentum about O. In this case Hy =X mv (5-13) Here r denotes a position veetor drawn from point 0 to the particle. As shown in the figure, Hy is perpendicular to the shaded plane containing ¥ and my. In order to evaluate the eross product, r and my should be expressed in terms of their Cartesian components, so that the angular momentum can be determined by evaluating the determinant: (15-14)15.6 RELATION BeTWEEN MOMENT OF A FORCE AND ANGULAR MOMENTUM 15.6 Relation Between Moment of a Force and Angular Momentum ‘The moments about point O of all the forces acting on the particle in Fig, 1S-21a can be related to the particle's angular momentum by applying the equation of motion. Ifthe mass of the particle is constant, we may write SF = mi ‘The moments of the forces about point O can be obtained by performing a cross-product multiplication of each side of this equation by the position vector r, which is measured from the x, y, z inertial frame of reference, We have Jo =X RF = FX mv From Appendix B, the derivative of r x inv can be written as a Hy = Ste x my) =X my + 8X mi at Xm) ‘The first term on the right side,# X my = m(é X #) = 0, since the eross product of a veetor with itself is zero, Hence, the above equation becomes 3Mo = Hy (15-15) which states that the resultant moment about point O ofall the forces acting ‘on the particle is equal to the time rate of change of the particle's angular ‘momentum about point O. This result is similar to Eq. 135-1, ie., (15-16) Here L = mv, so that the resultant force acting on the particle is equal to the time rate of change of the particle's linear momentum. From the derivations it is Seon that Egs, 15-15 and 15-16 are actually another way of stating Newton's second law of motion. In other sections, Of this book it will be shown that these equations have many practical applications when extended and applied to problems involving system of particles or a rigid body, Tetial coordinate syster ) ig. 15-21 263264 Charrer 15 KINETICS OF & PARTICLE: IMPULSE AND MOMENTUM System of Particles. An cquation having the same form as Bq. 15-15 may be derived for the system of particles shown in Fig. 15-21). Me forces acting on the arbitrary th partile of the system consist of a resultant exiernal force F, and a resultant internal force f,. Expressing the moments of these forces about point O, using the form of Eq, 15-15, we have OXF) +0) XD) = do Here (Iii) is the time rate of change in the angular momentum of the ith particle about Q. Similar equations can be written for each of the other partieles of the system. When the results are summed veetorially, the result is Xe x F) + Mery xf) 2ddo ‘The second term is zero since the internal forces occur in equal but opposite collinear pairs, and hence the moment of each pair about point Q is zero. Dropping the index notation, the above equation can be written in a simplified form as My = Hy (s17) which states that de sum of the moments about point O of all the external forces acting on a system of particles is equal fo the time rate of change of the rotal angular momentum of the system about point O, Although O has been chosen here as the origin of coordinates, it actually can represent any fixed point in the inertial frame of reference. Inertial coordinate system 1) Fig. 15-21 (cont)16.6 RELATION BeTWEEN MOMENT OF & FORCE AND ANGULAR MOMENTUM 265 u cee The box shown in Fig. 15-22a has a mass mand travels down the smooth circular ramp such that when it is at the angle @ it has a speed 2. Determine its angular momentum about point O at this instant and the rate of increase in its speed, ie, o , ® ®) Fig 18-22 SOLUTION Since ¥ is tangent to the path, applying Eq. 15-12 the angular momentum i Hp = mv? Ans The rate of increase in its speed (dv/di) can be found by applying Eq 15-15, From the free-body diagram of the box, Fig, 5-226, itean be seen that only the weight W = mg contributes & moment about point OQ. We have C+EMo = Hos ingle sin 0) ad aww Since rand m are constant, a smngrsin = rm ap 2 psn Ans. eg oe NOTE: This same result ean, of course, be obtained from the equation ‘of motion applied in the tangential direction, Fig, 15-22b, ic., es) ar dv = asin Ans, 423K, 3 mg sin266 Charrer 15 KINETICS OF & PARTICLE: IMPULSE AND MOMENTUM 15.7 Principle of Angular Impulse and Momentum Principle of Angular Impulse and Momentum. If Eq.15-15 is rewritten in the form 3My di = dH and integrated, assuming that at time ¢ = 4), Ho = (Ho), and at time 1 = 13, Ho = (Ho)s, We have Hy + =f Mod = Ho) (15-18) ‘This equation is referred to as the principle of angular impulse and ‘momentum. The initial and final angular momenta (H), and (Hy)> are defined as the moment of the linear momentum of the particle (Hy =F X my) atthe instants rand r, respectively. The second term on the left side, © / Mp di, is ealled the angular impulse. Its determined by integrating, with respect to time, the moments of all the forees acting on the particle over the time period 1, to 1s. Since the moment of a farce about point O is Mg = r F, the angular impulse may be expressed in vector form as angular impulse (15-19) Here r is a position vector which extends from point O to any point on the tine of action of F. Ina similar manner, using Eq. 15-18, the principle of angular impulse and momentum for a system of particles may be written as sath, + f Moat = Satay (15-20)15.7. PRINcirce oF ANGULAR IMPULSE AND MoMeNruM 267 Here the first and third terms represent the angular momenta of all the particles [2Hp = Sr, X mv) at the instants f, and ¢3. The second term is the sum of the angular impulses given to all the particles from #) t0 ty Recall that these impulses are created only by the moments ofthe external forces acting on the system where, for the ith partiele, My = r, X Vector Formulation. — Using impulse and momentum principles. itis therefore possible to write two equations which define the particle's ‘motion, namely, Eqs 15-3 and Eqs. 15-18, restated as ee fra ae (18-21) 8) + [Mott = as Scalar Formulation, Im general, the ubove equations ean be expressed in.x, 3, ¢ eomponent form, yielding a total of six scalar equations, Ifthe particle is confined to move in the v-y plane, three scalar equations can be written to express the motion, namely, mo +E I Fydt = mvs mio), +E [ “Ryde = moa 15-22) Won + = [Moa = ‘The first two of these equations represent the principle of linear impulse and momentum in the x and y directions, which has been discussed in See. 15-1, and the third equation represents the principle of angular impulse and momentum about the z axis.268 (Charter 15. KINETICS OF A PaRTicie: IMPULSE AND MOMENTUM Fig. 15-23 A Provided air resistance is neglected, the passengers on this amusement park ride are Subjected to a conservation of angular ‘momentum about the = axis of rotation. As shovin on the frce-body diagram. the line of action a the normal force N of the seat on the ppastenger passes through this axis, and the passengers wejht W is parallel to it Thus. no ‘Angular impue acts around the z axis. Conservation of Angular Momentum. When the angular impulses acting on a particle are all zero during the time f, to fa, Eq, 15-18 reduces to the following simplified form: (Ho), = (Hob (15-23) ‘This equation is known asthe conservation of angular momentum. Itstates that from 1 to fy the particle's angular momentum remains constant. Obviously, ifno external impulse is applied to the particle, both linear and angular momentum will be conserved. In some cases, however. the particle's angular momentum will be conserved and linear momentum may not. An example of this occurs when the particle is subjected onty to a central force (Gee Sec. 13-7), As shown in Fig. 15-23, the impulsive central force F is always directed toward point O as the particle moves long the path. Hence, the angular impulse (moment) created by F about the £ axis is always zero, and therefore angular momentum of the particle is conserved about this axis From Eq. 15-20, we can also write the conservation of angular ‘momentum for a system of pau So): (15-24) In this case the summation must include the angular momenta of all particles in the system, ee tecaue oe When applying the principles of angular impulse and momentum, or the conservation of angular momentum, it is suggested that the following procedure be used, Free-Body Diagram. '* Draw the particle's free-body diagram in order to determine any axis about which angular momentum may be conserved. For this to occur, the moments of all the forces (or impulses) must either be parallel or pass through the axis so as to create zero moment throughout the time period f, to 1, ‘The direction and sense of the particle’s initial and final velocit should also be established, An alternative procedure would be to draw the impulse and Momentum diagrams for the particle, Momentum Equations. * Apply the principle of angular impulse and momentum, (Hg), + S [Moat = Cg), oF if appropriate, the conservation cof angular momentam, (Ho), = (Hp).15.7. PRINcirce oF ANGULAR IMPULSE AND MoMeNruM 269 NVI ‘The 1.5-Mg car travels along the circular road as shown in Fig. 15-24a, Ifthe traction force of the wheels on the road is F = (150°) N, where ¢ is in seconds, determine the speed of the car when ¢ = 5s, The car initially travels with a speed of S mm/s, Nexect the size of the car. @ Free-Body Diagram. ‘The free-body diagram of the ear is shown in Fig. 15-246. we apply the principle of angular impulse and momentum about the z axis, then the angular impulse ereated by the weight, normal force, and radial frietional force will be eliminated since they act, parallel to the axis or pass through it Principle of Angular Impulse and Momentum. w= 150 @80N rmgeo), + i Fa— miles ! «ido mxts00 gx m/s) +f” Goom.ISOF) NI r = (100.1500 kg}e2 Peasy 150(10°) + 500003] = 15010°%%—9 * (2 = 9.17 m/s. ‘Ans, o Fig 15-24270 Charree 15 KINETICS OF A PARTICLE: IMPULSE AND MOMENTUM cea ‘The O.1b ball B, shown in Fig, 15-25a, is attached to a cord which passes through a hole at A in a smooth table, When the ball is ry = 1.75 fufrom the hole, itis rotating around in a circte such that its speed is vj = 4ft/s. By applying the foree F the cord is pulled downward through the hole with a constant speed n, = 6tt/s. Determine (a) the speed of the ball at the instant itis r2 — 0.6 ft from the hole, and (b) the amount of work done by F in shortening the radial distance from r, to r3. Neglect the size of the ball. SOLUTION Part (a) Free-Body Diagram. As the ball moves from rj £0 r2, Fig, 15-256, the cord force F on the ball always passes through the z axis.and the weight and Ny are parallel to it. Hence the moments, or angular impulses created by these forces, are all zero about this axis, ‘Therefore, angular momentum is conserved about the z axis, Conservation of Angular Momentum. The ball’s velocity v2 is resolved into two components, The radial component, 6 fi/s. is knowns however, it produces zero angular momentum about the 2 axis. Thus, HY =H mgt, = ra’ tt) 4nys = ow a( oa v= 1167 fis ‘The speed of the ball is thus v= VOLBT RIF + CRISS = BA fi/s Part (b). ‘The only foree that does work on the ball is F. (The normal force and weight do not move vertically.) The initial and final kinetic energies of the ball can be determined so that from the principle of work and energy we have T+ 2U2=T 1( 08 1b 32.2.h/s 08 1b 22/8 nist = asa 2 Up = 196 fel ‘Ans, NOTE: The force Fis not constant because the normal component of acceleration, a, — +°/r,changes as r changes,15.7. PRINcirce oF ANGULAR IMPULSE AND MoMeNruM ‘The 2-kg disk shown in Fig, 15-26a rests on a smooth horizontal surface and is attached to an elastic cord that has a stiffness k, = 20N/m and is initially unstretched. Ifthe disk is given a velocity (vp); = 1.5m/s, perpendicular to. the cord, determine the rate at which the cord is being stretched and the speed of the disk at the instant the cord is stretched 0.2 m. SOLUTION Free-Body Diagram. After the disk has been launched, it slides, along the path shown in Fig. 5-266. By inspection, angular momentum about point O (or the < axis) is conserved, since none of the forces produce an angular impulse about this axis. Also, when the distance is 0.7 m, only the transverse component (vp), produces angular ‘momentum of the disk about O. Conservation of Angular Momentum. The component (vp), ean be obtained by applying the conservation of angular momentum about O (the z axis) (Hg), = Hobe rumph phy = Fad) 05 m (2 kgX 1.5 mis) = 0.7 m2 keKeh)s (®h), = 1.071 m/s. Conservation of Energy. ‘The speed of the disk can be obtained by applying the conservation of energy equation at the point where the disk was launched and at the point where the cord is stretched 0.2 m. T+ =Th+ Ve Ann) + Hest = Smoton)8 + ed 42 kg\LS m/s}? + 0 = 42 kgy(vpyh + 420N/my(0.2 my? (vp); = 1.360 m/s = 1.36 m/s Ans. Having determined (p)s and its component (js, the rate of stretch of the cord, or radial component, (e); is determined from the Pythagorean theorem, (eh)s = Von = WF V1 360 m/s — (1.071 m/s = 0.838 m/s Ans. (eos an 15m