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Chapter 4

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41 views25 pages

Chapter 4

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h50.y22b
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© © All Rights Reserved
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Chapter 4

Dynamics of a System of Particles


A. Equipollent Systems of Forces
B. Linear and Angular Momentum of a System of Particles
C. Motion of the Mass Center of a System of Particles
D. Angular Momentum of a System of Particles about Its Mass Center
E. Conservation of Momentum
F. Kinetic Energy of a System of Particles
G. Principle of Work and Energy
H. Conservation of Energy
I. Principle of Impulse and Momentum
J. Steady Stream of Particles
A. Equipollent Systems of Forces

The effective force of a particle is defined as the Two systems of forces are
product of its mass and acceleration. equivalent with respect to a
The system of external forces acting on a system system of particles if they
of particles is equipollent with the system of produce the same motion for the
effective forces of the system. (To be proved) system of particles.
Two systems of forces are
equipollent if their resulting
forces and moments are equal.
If two systems of forces acting on
a rigid body are equipollent, they
are also equivalent.

Chapter 4, Page 1
Newton's 2nd Law for a System of Particles
For each particle Conclusion:
 n 
 The system of external
Fi + ∑ f ij = mi ai
j =1
forces and the system
of effective forces are
   
( )
n
 
ri × Fi + ∑ ri × f ij = ri × mi ai equipollent.
j =1

Summing over all particles


n  n n  n

∑ i ∑ ∑ ij ∑ mi ai
F + f =
i=1 i=1 j =1 i=1

   
( )
n n n n
 
∑ ri × Fi + ∑ ∑ ri × fij = ∑ ri × mi ai
i=1 i=1 j =1 i=1

Since the internal forces occur in pairs,


n  n

∑ Fi = ∑ mi ai
i=1 i=1

 n
 
∑M O
= ∑ ri × mi ai
i=1
Chapter 4, Page 2
B. Linear and Angular Momentum
of a System of Particles Angular momentum of a system of particle
about a fixed point O:
 n
Linear momentum of a
system of particles:
 
(
H O = ∑ ri × mi vi )
i=1

 n   n 
L = ∑ mi vi 
( 
H O = ∑ ri × mi ai = ∑ M O )
i=1 i=1

 n    
L = ∑ mi ai = ∑ F ∑M O
= H O
i=1
 
∑ F = L Moment resultant about an arbitrary fixed point O of the
external forces is equal to the rate of change of angular
momentum of the system of particles about O.
Resultant of the external
Can O be replaced by an arbitrary moving point? No.
forces is equal to rate of
Can O be replaced by the mass center G? Yes, that is,
change of linear momentum  
of the system of particles. ∑ M = H (To be proved)
G G

Chapter 4, Page 3
C. Motion of the Mass Center
of a System of Particles
Mass center G is defined by
n
 
mrG = ∑ mi ri
i=1

Then
 n
 
mvG = ∑ mi vi = L
i=1
  
maG = L = ∑ F
The mass center moves as if the entire mass and all
the external forces were concentrated at that point.

 
∑ F = ma G

Chapter 4, Page 4
Problem 4.1 (Sample Problem 14.1, Page 865)

A 200-kg space vehicle is observed  at t = 0 to pass through the origin of a newtonian reference

frame Oxyz with velocity v0 = 150i (m/s) relative to the frame. Following the detonation of
explosive charge, the vehicle separates into three parts A, B, and C, of mass 100 kg, 60 kg, and
40 kg, respectively. Knowing that at t = 2.5 s the positions of parts A and B are observed to be
A(555, -180, 240) and B(255, 0, -120), where the coordinates are expressed in meters,
determine the position of part C at that time.

No external forces. Mass center moves with constant velocity. At t = 2.5 s,


  
rG = v0t = 375i (m)
Recall
   
mrG = mArA + mB rB + mC rC
or

200(375,0,0) = 100(555,−180,240) + 60(255,0,−120) + 40rC
   
rC = 105i + 450 j − 420 k (m)

Chapter 4, Page 5
Problem 4.2 (Sample Problem 14.2, Page 865)

A 10-kg projectile is moving with a velocity


of 30 m/s when it explodes into 2.5-kg and
7.5-kg fragments. Immediately after the
explosion, the fragments travel in the
directions θ A = 45 and θ B = 30 . Determine
the velocity of each fragment.

No external force. Linear momentum conserved.


  
mv0 = mAv A + mB v B
10(30,0) = 2.5v A (cos 45 ,sin 45 ) + 7.5v B (cos30 ,− sin 30 )
 
v A = 62.2 m/s (  45∗ ) , v B = 29.3 m/s (  30∗ )

Chapter 4, Page 6
Problem 4.3 (Problem 14.25, Page 871)


rA = (−2.5,0,0) Unit vectors:
   
(−2.5,0,−6) v A = v Aλ A
rB = (6,3,0) λA =
 6.5  
rC = (0,−4.5,0) vB = vBλB
 (6,3,−6)
 λB =  
rD = (0,0,6) 9 vC = vC λ B
 
rA D = (−2.5,0,−6) (0,−4.5,−6)
λC =
 7.5    
rB D = (6,3,−6) mv0 = mAv A + mB v B + mC vC

rC = (0,−4.5,−6) v A = 562.5 m/s , v B = 459.7 m/s , vC = 407.2 m/s
D

Chapter 4, Page 7
D. Angular Momentum of a System of
Particles about Its Mass Center
 n

( 
H G = ∑ ri′ × mi vi )
i=1
n

( 
)
= ∑ ⎡⎣ ri′ × mi vi′ + vG ⎤⎦
i=1
n
⎛ n ⎞ 

( 
)
= ∑ ri′ × mi vi′ + ⎜ ∑ mi ri′⎟ × vG
⎝ i=1 ⎠
i=1
n

( 
= ∑ ri′ × mi vi′ )
i=1

= H G′

  
ri = rG + ri′  n

  

( 
H G = ∑ ri′ × mi vi ) Angular momentum about G can
vi = vG + vi′ i=1
be calculated with respect to either
 n
  
ai = aG + ai′

( 
H G′ = ∑ ri′ × mi vi′ ) the Newtonian or centroidal frames
i=1 of reference.

Chapter 4, Page 8
 n

( 
H G′ = ∑ ri′ × mi ai′ )
i=1
n
  

(
 
= ∑ ⎡⎣ ri′ × mi ai − aG ⎤⎦ ) ∑M G
= H G = H G′
i=1

⎡ n   ⎤ ⎛ n ⎞ 
( )
= ⎢ ∑ ri′ × mi ai ⎥ − ⎜ ∑ mi ri′⎟ × aG
⎣ i=1 ⎦ ⎝ i=1 ⎠
Moment resultant about the mass center
⎡ n   ⎤
( )
= ⎢ ∑ ri′ × mi ai ⎥ − 0 × aG
 G is equal to the rate of change of
angular momentum of the system of
⎣ i=1 ⎦
n ⎡
 ⎛  n ⎞⎤ particles about G.
= ∑ ⎢ ri′ × ⎜ Fi + ∑ f ij ⎟ ⎥ Angular momentum about G can be
i=1 ⎢
⎣ ⎝ j =1 ⎠ ⎥⎦
calculated with respect to either the
n
 
(
= ∑ ri′ × Fi ) Newtonian or centroidal frames of
i=1
 reference.
= ∑ MG

Chapter 4, Page 9
E. Conservation of Momentum

If no external forces act on a system, then the linear


momentum and angular momentum about a fixed point O
or about the mass center are conserved.

L = const
 
H O = const , or H G = const
In some applications, such as problems involving central
forces,

L ≠ const

H O = const

Chapter 4, Page 10
Problem 4.4 (Sample Problem 14.3, Page 876)

For the 200-kg space vehicle of Problem 4.1, it is known


that at t = 2.5 s, the velocity of part A is
   
v A = 270i − 120 j + 160 k (m/s) and the velocity of part B is
parallel to the xz plane. Determine the velocity of part C.

No external forces. Both linear momentum and angular momentum


are conserved.
   
mv0 = mAv A + mB v B + mC vC
       
r0 × mv0 = rA × mAv A + rB × mB v B + rC × mC vC
or
200(150,0,0) = 100(270,−120,160) + 60(v Bx ,0,v Bz ) + 40(vCx ,vCy ,vCz )
0 = (555,−180,240) × 100(270,−120,160)
+(255,0,−120) × 60(v Bx ,0,v Bz ) + (105,450,−420) × 40(vCx ,vCy ,vCz )

vC = (−30,300,−280) m/s

Chapter 4, Page 11
F. Kinetic Energy of a System of Particles
Kinetic energy of a system of particles

T=
1 n

2 i=1
(mi vi2 )
1 n
= ∑
2 i=1
( 
)
⎡ mi vi ⋅ vi ⎤
⎣ ⎦
1 n
= ∑
2 i=1 ⎣ (  
)( 
)
⎡ mi vG + vi′ ⋅ vG + vi′ ⎤

1⎛ n ⎞  ⎛ n  ⎞ 1⎛ n ⎞
   = ⎜ ∑ mi ⎟ vG2 + vG ⋅ ⎜ ∑ mi vi′⎟ + ⎜ ∑ mi vi′ 2 ⎟
vi = vG + vi′ 2 ⎝ i=1 ⎠ ⎝ i=1 ⎠ 2 ⎝ i=1 ⎠
  1 2 1⎛ n ⎞
( v = vG ) = mvG + ⎜ ∑ mi vi′ 2 ⎟
2 2 ⎝ i=1 ⎠

Kinetic energy is equal to kinetic energy of mass center G


(assuming the entire mass concentrated at G) plus kinetic energy
relative to the centroidal frame.

Chapter 4, Page 12
G. Principle of Work and Energy

T1 + U1→2 = T2
Principle of work and energy can be applied to each particle.
Principle of work and energy can be applied to the entire system
by adding the kinetic energies of all particles and considering the
work done by all external and internal forces.
 
Although f ij and f ji are equal and opposite, the work of these
forces will not, in general, cancel out, since the particles Pi and Pj
on which they act will, in general, undergo different
displacements.
Therefore, in computing U1→2 , we must consider the work of the
external forces as well as the work of the internal forces.

Chapter 4, Page 13
H. Conservation of Energy

T1 + V1 = T2 + V2
If the forces acting on the particles are
conservative, the principle of
conservation of energy can be
applied.

Chapter 4, Page 14
Problem 4.5 (Sample Problem 14.4, Page 877)

Ball B, of mass mB , is suspended from a No external forces. The ball reaches


cord, of length l, attached to cart A, of maximum when it has the same velocity as
mass mA , which can roll freely on a the cart. Horizontally,
frictionless horizontal tract. While the mB v0 = mAv + mB v
cart is at rest, the ball is given an initial mB v0
velocity v0 . Determine v=
mA + mB
(a) the velocity of B as it reaches it
maximum elevation, and To find the height of the ball, using the
energy equation
(b) the maximum vertical distance h
through which B will rise. 1 1 1
mB v02 = mAv 2 + mB v 2 + mB gh
2 2 2
mA v02
h=
mA + mB 2g

Chapter 4, Page 15
Problem 4.6 (Sample Problem 14.5, Page 878)


Ball A has initial velocity v0 = 3 m/s parallel No external forces.
to the axis of the table. It hits ball B and then Conservation of linear momentum,
ball C which are both at rest. Balls A and C m(3,0) = m(0,v A ) + m(v Bx ,v By ) + m(vC ,0)
hit the sides of the table squarely at A′ and C ′ Conservation of angular momentum (about the
and ball B hits obliquely at B′ . Assuming lower-left corner),
perfectly elastic collisions, determine
   −0.6m(3) = 2.4mv A − 2.1mv By − 0.9mvC
velocities v A , v B , and vC with which the balls
hit the sides of the table. Conservation of energy
1 1 1 1
m(3)2 = mv 2A + m(v Bx
2
+ v By
2
) + mvC2
2 2 2 2
Solution:

v A = 1.2 m/s ( ↑ )

v B = 1.342 m/s (  63.4 )

vC = 2.4 m/s ( → )

Chapter 4, Page 16
Problem 4.7 (Problem 14.55, Page 884)

Unknows: v A , v B , vC , d
Conservation of linear
momentum: 2 equations.
Conservation of angular
momentum: 1 equation.
Assuming that the energy change
is small enough, then the
conservation of energy yields the
fourth equation.

Chapter 4, Page 17
Problem 4.7 (Continued)

Conservation of linear momentum:


3m(0.4, 0) = (mvC , mv A − mv B ) (1)
Conservation of angular momentum (about O):
3m(0.2)(0.8) = −mv A x A + mv B (x A + 0.346) + mvC d (2)
Conservation of energy:
1 1 1 1 1
(3m)0.42 + 3( m0.82 ) = mv 2A + mv B2 + mvC2 (3)
2 2 2 2 2
Solution:
  
v A = 0.693 m/s ( ↑ ) , v B = 0.693 m/s ( ↓ ) , vC = 1.200 m/s ( → )
d = 200 mm

Chapter 4, Page 18
I. Principle of Impulse and Momentum

( ∫ F dt ) = L
  
L1 + ∑ 2

+ ∑ ( ∫ M dt ) = H
 
H O1 O O2

Chapter 4, Page 19
J. Steady Stream of Particles
Variable systems of particles:
systems which gain or lose
particles.
For analyses, consider auxiliary
systems which consist of the
particles instantaneously within
the system plus the particles that
enter or leave the system during
a short time interval. The
auxiliary systems, thus defined,  t2  
L1 + ∑ ⎛ ∫ F dt ⎞ = L2
are constant systems of particles. ⎝ t1 ⎠
    
⎡⎣ ∑ mi vi + (Δm)v A ⎤⎦ + ∑ FΔt = ⎡⎣ ∑ mi vi + (Δm)v B ⎤⎦

(
∑ FΔt = (Δm) vB − v A

)
 dm  
∑F = (
v − vA
dt B
)
Chapter 4, Page 20
Problem 4.8 (Sample Problem 14.6, Page 890)

Grain falls onto a chute at the rate of Linear impuse/momentum in x-direction


120 kg/s. It hits the chute with a
Cx Δt = (Δm)v B cos10
velocity of 10 m/s and leaves with a
velocity of 7.5 m/s. The combined Linear impulse/momentum in y-direction
weight of the chute and the grain it −(Δm)v A + (C y − W + B)Δt = −(Δm)v B sin10
carries is 3000 N with the center of
Angular impuse/momentum in z-direction about C
gravity at G. Determine the reactions
at C and B. −1.5(Δm)v A − 3.5W Δt + 6BΔt
= 3(Δm)v B cos10 − 6(Δm)v B sin10

Chapter 4, Page 21
Problem 4.8 (Continued)

Using
W = 3000 N , v A = 10 m/s , v B = 7.5 m/s , and
Δm
= 120 kg/s
Δt
Solve the equations for Cx , C y , and B
Solution:
Cx = 886 N ( → ) , C y = 1704 N ( ↑ ) , B = 2340 N ( ↑ )

Chapter 4, Page 22
Problem 4.9 (Sample Problem 14.8, Page 892)

A rocket of initial mass m0 is fired vertically. The fuel is consumed at a


constant rate q and is expelled at a constant speed u relative to the rocket.
Derived an expression for the magnitude of the velocity of the rocket at time
t, neglecting the resistance of the air.

At time t, the remaining mass m = m0 − qt . During the time interval Δt , a


mass of fuel Δm = qΔt is expelled. Denoting by ve the absolute velocity of
the expelled fuel, we write
(m0 − qt)v − g(m0 − qt)Δt = (m0 − qt − qΔt)(v + Δv) − qΔt(u − v)

Chapter 4, Page 23
Problem 4.9 (Continued)

(m0 − qt)v − g(m0 − qt)Δt = (m0 − qt − qΔt)(v + Δv) − qΔt(u − v)

dv ⎛ qu ⎞ v t ⎛ qu ⎞
−g(m0 − qt) = (m0 − qt)
dt
− qu , dv = ⎜
⎝ m0 − qt
− g ⎟ dt ,


0
dv = ∫ ⎜⎝ m
0 − qt
− g ⎟ dt

0

t ⎛ m0 ⎞
v = ⎡⎣ −u ln(m0 − qt) − gt ⎤⎦0 , v = u ⎜ ln ⎟ − gt
⎝ m0 − qt ⎠

Chapter 4, Page 24

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