PHYS 321A Lecture Notes 22 University of Victoria

Lecture 22: Dynamics of Systems of Particles

We have n particles, each of mass mi . The center of mass depends on

~ cm = 1
X
R mi~ri
M i

P
where M = i mi . Note that

1 X 1 X 1 X
xcm = mi xi , ycm = mi yi , zcm = mi zi ,
M i M i M i

Linear Momentum
X X
p~ = p~i = mi~vi
i i

˙ ~˙ cm or that
Since R~cm = i mi~vi we have that p~ = M R
P

p~ = M~vcm

=⇒ The linear momentum of a system of particles is equal to the velocity of the center
of mass multiplied by the total mass.

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PHYS 321A Lecture Notes 22 University of Victoria

Newton’s second law for each particle i:

X
F~i + F~ij = mi~r¨i = p~˙i
j

where F~i is the external force acting on particle i, and F~ij is the inter-particle interactions.
If we sum over all the i’s:
X X X X
F~i + F~ij = mi~r¨i = p~˙i = p~˙cm
i i,j i i

By Newton’s Third law, F~ij = −F~ji and so

X
F~ij = 0
i,j

Hence we have
X
~ cm = p~˙cm
F~i = M A
i

In the case that no external forces are acting, d~pcm /dt = 0. It follows that

Newton’s third law implies conservation of linear momentum for an isolated system

(since p~cm is constant and independent of time)

Example: At some point in its trajectory a ballistic missile of mass M breaks into three
fragments- each with mass M/3. One fragment continues with initial velocity equal to ~v0 /2,
where ~v0 is the missile trajectory just before break up. The other two pieces go off at right
angles to each other with equal speeds. Find the initial speed of each of the fragments in
terms of v0 .

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PHYS 321A Lecture Notes 22 University of Victoria

The equations of linear momentum at breakup are

M M M
M~vcm = M~v0 = ~v + ~v2 + ~v3
3 3 3

M M
= ~v0 + (~v1 + ~v3 ))
6 3
Hence
  2
1 5
3− ~v0 = (~v2 + ~v3 ) =⇒ ~v0 = |(~v2 + ~v3 )|2
2 2
25 2
=⇒ v = v22 + v32 + 2~v2 · ~v3 = 2v22
4 0
It follows that

5
v2 = √ v0 ≈ 1.77v0
2 2

Angular Momentum
X
~ =
L ~ri × p~i
i

~
dL X X
=⇒ = ~vi × p~i + ~ri × p~˙i
dt i i

But ~vi × p~i = ~vi × mi~vi = 0 and p~˙i = F~i + j F~ij and hence
P

~
dL X X
= ~ri × F~i + ~ri × F~ij
dt i i,j

Note that
X X X
~ri × F~ij = (~ri × F~ij + ~rj + F~ji ) = (~ri − ~rj ) × F~ij
i,j i<j i<j

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PHYS 321A Lecture Notes 22 University of Victoria

We see from this diagram that if the forces are central between particles, then Fij is parallel
to ~ri − ~rj and hence (~ri − ~rj ) × F~ij = 0

~
dL X
=⇒ = ~ri × F~i = N
~ (Torque)
dt i

~
Again, if the system is isolated then dL/dt ~ is constant.
= 0 and L

~ in terms of the cm :
Expressing L

(
~ri = R~ cm + ~r 0
~vi = ~vcm + ~vi 0

~ cm + ~ri 0 ) × mi p~cm + p~0

X  
~ =
L (R i
i
M

! !
ri 0
 P   P  
~ cm × mi ~ cm ×
X
i~
X
= R i
p~cm + R p~i 0 + × p~cm + ~ri 0 × p~i 0
M i
M i

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PHYS 321A Lecture Notes 22 University of Victoria

We analyze each term of the expression. In the second term,

X X
p~i 0 = mi~vi 0
i i
X
= (~vi − ~vcm )
i
X
= mi~vi − m~vcm
i
= p~cm − p~cm = 0

and hence the second term is equal to zero. In the third term
P 0 
i~
ri ~ cm
0
=R =0
M

and hence the third term is equal to zero. It follows that

X
~ = (R
L ~ cm × p~cm ) + ~ cm + L
~ri 0 × p~i 0 = L ~ relcm 0
i

~ cm × p~cm corresponds to the “orbital” motion of the center of mass.

R

0
× p~i 0 corresponds to the “spin part” motion about the center of mass.
P
i~
ri

Example: A long, thin rod of mass M and length L hangs from one of its ends. Calculate
~ of the rod as a function of angular velocity ω.
the total L

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PHYS 321A Lecture Notes 22 University of Victoria

From (a):

~ cm × p~cm | = L M L ω = 1 M L2 ω
Lcm = |R
2 2 4
From (b):

dLrel = 2rv dm = 2r(rω)(λdr) = 2r2 ωλdr

Z L/2
1
=⇒ Lrel = 2ωλr2 dr = 2ωλ(L3 /24) = M L2 ω = Icm ω
0 2

It follows that

 
1 1 1
Ltot = Lcm + Lrel = + M L2 ω = M L2 ω
12 4 3

Note that Itot = (1/3)M L2 .

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