School of Engineering and Architecture

Civil Engineering Department

Summer Term 2019-2020

Energy and
Momentum
Module 5 – Dynamics of Rigid Bodies

At the end of this module, the student must know the principles of
Objective forces and accelerations in the plane motion of a rigid body as well
as be able to apply it in solving problems theoretically.

In this module, the following will be discussed:

Content • Principle of Work and Energy for Rigid Body
• Conservation of Energy
• Principle of Impulse and Momentum
• Conservation of Momentum
• Impact

Within this module, students will perform graded activities.

Activities Quiz, class discussions, problem set computations, and recitations
are to be expected.

L.G. Kraige and J.L. Meriam, (2012). Engineering Mechanics

References Volume 2 Dynamics 7th Edition. Massachusetts, USA: John Wiley &
Sons, Inc.

R.C. Hibbeler, (2010). Engineering Mechanics Statics & Dynamics

Twelfth Edition. New Jersey, USA: Pearson Prentice Hall

Instructor: Engr. Aline Benneth V. Jacobo 1

 Dynamics of Rigid Bodies
School of Engineering and Architecture
Module 5 Civil Engineering Department
Summer Term 2019-2020

I. PRINCIPLE OF WORK AND ENERGY FOR RIGID BODY

Work of a Force. Force F will do work on a particle only when the particle undergoes a displacement in
the direction of the force.

U = Fd

Energy. Energy is defined as the capacity for doing work.

 Gravitational Potential Energy. If a particle is located at a distance above a reference

line, the particle’s weight, W has positive gravitational potential energy. Likewise, if the
particle is located at a distance below the reference line, gravitational potential energy is
negative.
GPE = mgh

 Kinetic Energy. Is the work that must be done on the particle to bring it from a state of
rest to a speed v.
KE = (1/2) mv2

 Elastic Potential Energy. When an elastic spring is elongated or compressed at a distance

s from its un-stretched position, elastic potential energy, Ve can be stored in the spring.

EPE = Ve = (1/2) ks2

Instructor: Engr. Aline Benneth V. Jacobo 2

 Dynamics of Rigid Bodies
School of Engineering and Architecture
Module 5 Civil Engineering Department
Summer Term 2019-2020

II. CONSERVATION OF ENERGY

Conservation of Energy states that during the motion the sum
of the particle’s kinetic and potential energies remains
constant. For this to occur, kinetic energy must be transformed
into potential energy, and vice versa.

∑ 𝑈𝑒𝑥𝑡𝑒𝑟𝑛𝑎𝑙 𝑜𝑛𝑙𝑦 = ∑ 𝐶ℎ𝑎𝑛𝑔𝑒 𝑖𝑛 𝐸𝑛𝑒𝑟𝑔𝑖𝑒𝑠

∑ 𝑈𝑒𝑥𝑡𝑒𝑟𝑛𝑎𝑙 𝑜𝑛𝑙𝑦 = ∆𝐺𝑃𝐸 + ∆𝐾𝐸 + ∆𝐸𝑃𝐸

 Change in Gravitational Potential Energy:

∆𝐺𝑃𝐸 = 𝑚𝑔(ℎ𝑓 − ℎ𝑖 )

 Change in Kinetic Energy:

1
∆𝐾𝐸 = 𝑚(𝑣𝑓 2 − 𝑣𝑖 2 )
2

 Change in Elastic Potential Energy:

1 1
∆𝐾𝐸 = 𝑘(𝑥𝑓 2 − 𝑥𝑖 2 ) = 𝑘𝑠 2
2 2

Note: The force that the spring exerts when it

is compressed or elongated is equal to,

𝐹𝑠𝑝 = 𝑘𝑠
Where:
FSP = Force from the spring
k = spring constant
s = change in length of the spring

Instructor: Engr. Aline Benneth V. Jacobo 3

 Dynamics of Rigid Bodies
School of Engineering and Architecture
Module 5 Civil Engineering Department
Summer Term 2019-2020

Sample Problem 1:
The 8-kg block is moving with an initial speed of 5 m/s. If the
coefficient of kinetic friction between the block and plane is
μk = 0.25, determine the compression in the spring when the
block momentarily stops.

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Instructor: Engr. Aline Benneth V. Jacobo 4

 Dynamics of Rigid Bodies
School of Engineering and Architecture
Module 5 Civil Engineering Department
Summer Term 2019-2020

III. PRINCIPLE OF IMPULSE AD MOMENTUM

Impulse. Is the integral of a force, F, over the time interval, t, for which it acts.

I = Ft
Momentum. Product of the mass of a particle and its velocity. Isaac Newton’s second law of motion states
that the time rate of change of momentum is equal to the force acting on the particle.

M = mv

To derive, use the formula from Newton’s Second Law of Motion:

F = ma
Remember:
𝑑𝑣
𝑎=
𝑑𝑡
Therefore:
𝑑𝑣
𝐹= 𝑚
𝑑𝑡

𝐹𝑑𝑡 = 𝑚𝑑𝑣

𝑡𝑓 𝑣𝑓
∫ 𝐹𝑑𝑡 = ∫ 𝑚𝑑𝑣
𝑡𝑖 𝑣𝑖

𝐹(𝑡𝑓 − 𝑡𝑖 ) = 𝑚(𝑣𝑓 − 𝑣𝑖 )

∆ 𝐼𝑚𝑝𝑢𝑙𝑠𝑒 = ∆ 𝑀𝑜𝑚𝑒𝑛𝑡𝑢𝑚

Instructor: Engr. Aline Benneth V. Jacobo 5

 Dynamics of Rigid Bodies
School of Engineering and Architecture
Module 5 Civil Engineering Department
Summer Term 2019-2020

IV. CONSERVATION OF MOMENTUM

States that the momentum before impact is equal to the momentum after impact.

𝑚𝐴 𝑣𝐴 + 𝑚𝐵 𝑣𝐵 + ⋯ = 𝑚𝐴 𝑣 ′𝐴 + 𝑚𝐵 𝑣 ′ 𝐵 + ⋯
Where:

mA and mB = mass of the objects

vA and vB = velocity of each object before the impact
v’A and v’B = velocity of each object after the impact

Sample Problem 2:
The 50-kg boy jumps on the 5-kg skateboard with a horizontal
velocity of 5 m/s. Determine the distance s the boy reaches
up the inclined plane before momentarily coming to rest.
Neglect the skateboard’s rolling resistance.
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Instructor: Engr. Aline Benneth V. Jacobo 6

 Dynamics of Rigid Bodies
School of Engineering and Architecture
Module 5 Civil Engineering Department
Summer Term 2019-2020

V. IMPACT
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.

In general, there are two types of impact. Central impact occurs

when the direction of motion of the mass centers of the two
colliding particles is along a line passing through the mass centers
of the particles. This line is called the line of impact, which is
perpendicular to the plane of contact. When the motion of one or
both of the particles make an angle with the line of impact, the
impact is said to be oblique impact.

Restitution is understood to be the amount of respective kinetic

energy lost in collision between two moving objects.

Central Impact:

Instructor: Engr. Aline Benneth V. Jacobo 7

 Dynamics of Rigid Bodies
School of Engineering and Architecture
Module 5 Civil Engineering Department
Summer Term 2019-2020

The ratio of the restitution impulse to the deformation impulse is called the coefficient of restitution, e.
𝑣 ′𝐴 − 𝑣 ′ 𝐵
𝑒=
𝑣𝐴 − 𝑣𝐵
In general, e has a value between zero and one, and one should be aware of the physical meaning of these
two limits.

 Elastic Impact. (e = 1) If the collision between the two particles is perfectly elastic, the
deformation impulse is equal and opposite to the restitution impulse Although in reality
this can never be achieved, e = 1 for an elastic collision.

 Plastic Impact (e = 0). The impact is said to be inelastic or plastic when e = 0. In this case
there is no restitution impulse so 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 cannot be used for
the analysis of impact problems since it is not possible to know how the internal forces of deformation
and restitution vary or displace during the collision.

By knowing the particle’s velocities before and after 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 occurs 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 if the
collision is plastic, the energy lost during collision is at maximum.

Oblique Impact.
When oblique impact
occurs between two
smooth particles, the
particles move away
from each other with
velocities having
unknown directions
as well as unknown
magnitudes.

Instructor: Engr. Aline Benneth V. Jacobo 8

 Dynamics of Rigid Bodies
School of Engineering and Architecture
Module 5 Civil Engineering Department
Summer Term 2019-2020

Notes:
 Momentum of the system is conserved along the line of impact, x axis, so that:

∑ 𝑚(𝑣𝑥 )1 = ∑ 𝑚(𝑣𝑥 )2

 The coefficient of restitution,

(𝑣𝐵𝑥 )2 − (𝑣𝐴𝑥 )2
𝑒=
(𝑣𝐵𝑥 )1 − (𝑣𝐴𝑥 )1

relates the relative-velocity components of the particles along the line of impact (x axis).

 If these two equations are solved simultaneously, we obtain (𝑣𝐴𝑥 )2 and (𝑣𝐵𝑥 )2 .

 Momentum of particle A is conserved along the y axis, perpendicular to the line of impact, since
no impulse acts on particle A in this direction. As a result,

𝑚𝐴 (𝑣𝐴𝑦 )1 = 𝑚𝐴 (𝑣𝐴𝑦 )2 or (𝑣𝐴𝑦 )1 = (𝑣𝐴𝑦 )2

 Momentum of particle B is conserved along the y axis, perpendicular to the line of impact, since
no impulse acts on particle B in this direction. Consequently:

(𝑣𝐵𝑦 )1 = (𝑣𝐵𝑦 )2

Instructor: Engr. Aline Benneth V. Jacobo 9

 Dynamics of Rigid Bodies
School of Engineering and Architecture
Module 5 Civil Engineering Department
Summer Term 2019-2020

Sample Problem 3:
Ball B shown has a mass of 1.5 kg and is suspended from the
ceiling by a 1-m-long elastic cord. If the cord is stretched
downward 0.25 m and the ball is released from rest, determine
how far the cord stretches after the ball rebounds from the
ceiling. The stiffness of the cord is k = 800 N/m and the
coefficient of restitution between the ball and ceiling is e = 0.8.
The ball makes a central impact with the ceiling.
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Instructor: Engr. Aline Benneth V. Jacobo 10

 Dynamics of Rigid Bodies
School of Engineering and Architecture
Module 5 Civil Engineering Department
Summer Term 2019-2020

Sample Problem 4:
Two smooth disks A and B, having a mass of 1 kg and 2 kg,
respectively, collide with the velocities shown. If the coefficient
of restitution for the disks is e = 0.75, determine the x and y
components of the final velocity of each disk just after collision.
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Instructor: Engr. Aline Benneth V. Jacobo 11