Kinetics of A Particle

15
Impulse and Momentum

Course Instructor: Lt Sajid Yasin PN

Chapter Outline

• To develop the principle of linear impulse and

momentum for a particle and apply it to solve
problems that involve force, velocity, and time.
• To study the conservation of linear momentum
for particles.
• To analyze the mechanics of impact.
• To introduce the concept of angular impulse and
momentum.
• To solve problems involving steady fluid streams
and propulsion with variable mass.
APPLICATIONS

When a stake is struck by a

sledgehammer, a large impulse
force is delivered to the stake and
drives it into the ground.

If we know the initial speed of the

sledgehammer and the duration of
impact, how can we determine the
magnitude of the impulsive force
delivered to the stake?
Chapter Objectives

• To develop the principle of linear impulse and

momentum for a particle.
• To study the conservation of linear momentum for
particles.
• To analyze the mechanics of impact.
Chapter Outline

• Principle of Linear Impulse and Momentum

• Principle of Linear Impulse and Momentum for a
System of Particles
• Conservation of Linear Impulse for a System of
Particles
• Impact
15.1 Principle of Linear Impulse and
Momentum
• The equation of motion for a particle of mass m
can be written as
∑F = ma = m dv/dt
where a and v are both measured from an inertial
frame of reference.
• Rearranging the terms and integrating between
the limits v = v1 at t = t1 and v = v2 at t = t2
t2 v2 t2
 t1 F dt mv1 dv or
 t1 F dt mv 2  mv1
15.1 Principle of Linear Impulse and
Momentum
• This equation referred to as the principle of linear
impulse and momentum.
• It provides a direct means of obtaining the
particle’s final velocity after a specified time
period when the initial velocity is known and the
forces acting on the particle are either constant or
can be expressed as a function of time.

t2 v2 t2
 t1 F dt mv1 dv  t1 F dt mv 2  mv1
15.1 Principle of Linear Impulse and
Momentum

Linear Momentum
• Each of the two vectors of the form L = mv is
referred to as the particle’s linear momentum.
• The linear-momentum vector has the same
direction as v, and its magnitude mv has unit of
mass-velocity, kg.m/s
15.1 Principle of Linear Impulse and
Momentum

Linear Impulse (the change in momentum)

• The integralI  F dt is referred to as the linear

impulse, which is a vector quantity which
measures the effect of a force during the time the
force acts.
• The impulse acts in the same direction as the
force, and its magnitude has unit of force-time,
N.s
 15.1 Principle of Linear Impulse and
Momentum

Principle of Linear Impulse and Momentum

• The equation is rewritten in the form
t2
mv1    F dt mv 2
t1

which state that the initial momentum of

the particle at t1 plus the sum of all the
impulses applied to the particle from t1
to t2 is equivalent to the final momentum
of the particle at t2
15.1 Principle of Linear Impulse and
Momentum

• If the magnitude or direction of a force varies with

time, the impulse is represented on the impulse
diagram as t2
 F dt
t1
• If the force is constant, the impulse applied to the
particle is Fc(t1 – t2), and it acts in the same
direction as Fc
15.1 Principle of Linear Impulse and
Momentum
Scalar Equations
• Resolving each of the vectors in the equation of
principle of linear impulse and momentum into its
x, y, z components,
t2
m(vx )1    Fx dt m(vx ) 2
t1
t2
m(v y )1    Fy dt m(v y ) 2
t1
t2
m(vz )1    Fz dt m(vz ) 2
t1
PROCEDURE FOR ANALYSIS

Free-Body Diagram
• Establish the x, y, z inertial frame of reference
and draw the particle’s free-body diagram in order
to account for all the forces that produce impulses
on the particle.
• The direction and sense of the particle’s initial
and final velocities should be established.
• If a vector is unknown, assume that the sense of
its components is in the direction of the positive
inertial coordinate(s).
PROCEDURE FOR ANALYSIS

• As an alternative procedure, draw the impulse

and momentum diagrams for the particle.
Principle of Impulse and Momentum
• In accordance with the established coordinate
system apply the principle of linear impulse and
momentum,
t2
mv1    F dt mv2
t1
PROCEDURE FOR ANALYSIS

• If the motion occurs in the x-y plane, the two

scalar components 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
FBD will create an impulse, even though some of
these forces will do no work.
PROCEDURE FOR ANALYSIS

• Forces that are functions of time must be

integrated to obtain the impulse. The impulse is
equal to the area under the force-time curve.
• If the problem involves the dependent motion of
several particles, use method to relate their
velocities. Make sure the positive coordinate
directions used for writing these kinematics
equations are the same as those used for writing
the equations of impulse and momentum.
Example 15.1

The 100-kg stone is originally at rest on the smooth

horizontally surface. If a towing force of 200 N,
acting at an angle of 45°, is applied to the stone for
10 s, determine the final velocity and the normal
force which the surface exerts on the stone during
the time interval.
Example 15.1

Free-Body Diagram. Since all forces acting are

constant, the impulses are simply the product of
the force magnitude and 10 s [I = Fc(t2 – t1)].
Principle of Impulse and Momentum. Resolving
the vectors along the x, y, z axes,
  t2
   m(vx )1    Fx dt m(vx ) 2
  t1

0  200(10) cos 45 (100)v2

v2 14.1m / s
Example 15.1

t2
   m(v y )1    Fy dt m(v y ) 2
t1

0  NC (10)  981(10)  200(10) sin 45 0

NC 840 N
Since no motion occurs in the y direction, direct
application of the equilibrium equation ∑Fy = 0 gives
the same result for NC
Example 15.2

The 250-N crate is acted upon by a force having a

variable magnitude P = (100t) N. Determine the
crate’s velocity 2 s after P has been applied. The
initial velocity is v1 = 1 m/s down the plane, and the
coefficient of kinetic friction between the crate and
the plane is μk = 0.3.
Example 15.2

Free-Body Diagram. The impulse created can be

determined by integrating P = 100t over the 2-s
time interval. The weight, normal force and
frictional force are all constant, so the impulse
created by each of these forces is simply the
magnitude of the force times 2 s.
Example 15.2

Principle of Impulse and Momentum.

t2
+ m ( v x )1    t1
Fx dt  m ( v x ) 2

250 2  250
(1)   (100t ) dt  0.3 NC (2)  250(2) sin 30  v2
9.81 0 9.81
25.5  200  0.6 NC  250  25.5v2
The equation of equilibrium can be applied in the y
direction

+ NC  250 cos 30 0
Example 15.2

Solving,
NC = 216.5 N v2 = 13.6m/s
Example 15.3

Block A and B have a mass of 3 kg and 5 kg

respectively. If the system is released from rest,
determine the velocity of block B in 6 s.
Example 15.3

View Free Body Diagram

Free-Body Diagram. Since the weight

of each block is constant, the cord
tensions will also be constant.
Furthermore, since the mass of pulley D
is neglected, the cord tension TA = 2TB.
Note that the blocks are both assumed to
be traveling downward in the positive
directions, sA and sB
 Example 15.3

Principle of Impulse and Momentum.

Block A:
t2
   m(v A )1    Fy dt m(v A ) 2
t1
0  2TB (6)  3(9.81)(6) (3)(v A ) 2 (1)
Block B:
t2
   m(vB )1    Fy dt m(vB ) 2
t1
0  5(9.81)(6)  TB (6) (5)(vB ) 2 (2)
Example 15.3

Kinematics.
2 s A  sB l
Taking time derivative yields
2 v A  v B
As indicated by the negative sign, when B moves
downward A moves upward. Substituting this result
into Eq. 1 and solving Eqs. 1 and 2 yields
(vB)2 = 35.8 m/s TB = 19.2 N
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 is obtained from the equation
applied to all the particles in the system

dv i
 Fi  mi dt
15.2 Principle of Linear Impulse and
Momentum for a System of Particles
• The left term represents only the sum of the
external forces acting on the system of particles.
• The internal forces Fi acting between particles do
not appear with this summation, since by
Newton’s third law they occur in equal but
opposite collinear pairs and therefore cancel out.
t2
 mi vi 1   t1 Fi dt  mi vi 2
15.2 Principle of Linear Impulse and
Momentum for a System of Particles
• When the sum of the external impulses acting on
a system of particles is zero, the equation is

 mi vi 1  mi vi 2
• This equation is referred to as the conservation of
linear momentum.
• It states that the total momentum for a system of
particles remains constant during the time period
t1 to t2.
15.2 Principle of Linear Impulse and
Momentum for a System of Particles
• The conservation of linear momentum is often
applied when particles collide or interact.
• Study on the FBD 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.
• The internal impulses for the system will always
cancel out, since they occur in equal but opposite
collinear pairs.
15.2 Principle of Linear Impulse and
Momentum for a System of Particles
• If the time period over the motion is very short,
some of the external impulses may also be
neglected or considered approximately equal to
zero.
• The forces causing these negligible impulses are
called non-impulsive forces.
• Forces that are very large and act for a very short
period of time produce a significant change in
momentum and are called impulsive forces.
PROCEDURE FOR ANALYSIS

Free-Body Diagram
• Establish the x, y, z inertial frame of reference
and draw the FBD for each particle of the system
in order to identify the internal and external
forces.
• The conservation of linear momentum applied to
the system in a given direction when no external
forces or if non-impulsive forces act on the
system in that direction
PROCEDURE FOR ANALYSIS

• Establish the direction and sense of the particle’s

initial and final velocities. If the sense is unknown,
assume it is along a positive inertial coordinate
axis.
• As an alternative procedure, draw the impulse
and momentum diagrams for each particle of the
system.
PROCEDURE FOR ANALYSIS

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 ∫F.dt acting on only one particle of a
system, then the particle must be isolated (free-
body diagram), and the principle of linear impulse
and momentum must be applied to the particle.
PROCEDURE FOR ANALYSIS

• After the impulse is calculated, and provided the

time ∆t for which the impulse acts is known, then
the average impulsive force Favg can be
determined from Favg = ∫F dt/∆t.
Example 15.4

The 15-Mg boxcar A is coasting at 1.5 m/s on the

horizontal track when it encounters a 12-Mg tank B
coasting at 0.75 m/s toward it. If the cars meet 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
0.8 s.
Example 15.4

Part (a) Free-Body Diagram. We will consider

both cars as a single system. 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.
Example 15.4

Conservation of Linear Momentum.

(  ) m A (v A )1  mB (vB )1 (m A  mB )v2

(15000)(1.5)  (12000)(0.75) (27000)v2

v2 0.5m / s 
Example 15.4

Part (b) The average (impulsive) coupling force

Favg, can be determined by applying the principle of
linear momentum to either one of the cars.
Free-Body Diagram. As shown in figure, by
isolating the boxcar the coupling force is external to
the car.
Example 15.4

Conservation of Momentum.
 m A (v A )1   F dt m Av2
(  )
(15000)(1.5)  Favg (0.8) (15000)(0.5)
Favg 18.8kN
Example 15.5

The 1200-lb cannon fires an 8-lb projectile with a

muzzle velocity of 1500 ft/s relative to the ground. If
firing takes place in 0.03 s, determine (a) the recoil
velocity of the cannon just after firing, and (b) the
average impulsive force acting on the projectile.
Example 15.5

Part (a) Free-Body Diagram.We will consider the

projectile and cannon as a single system, since the
impulsive forces, F, between the cannon and projectile
are internal to the system and will therefore cancel
from the analysis.
During the time ∆t = 0.03 s, the two recoil springs
which are attached to the support each exert a non-
impulsive force Fs on the cannon. This is because ∆t is
very short, so that during this time the cannon only
moves through a very small distances.
Example 15.5

Consequently, Fs = ks ≈ 0, where k is the spring’s

stiffness. It may be consluded that momentum for
the system is conserved in the horizontal direction.
We assume that the cannon moves to the left,
while the projectile moves to the right after firing.
Example 15.5

Conservation of Momentum.

+ 𝑚𝑐 ¿
( )

→
Example 15.5

Part (b) The average impulsive force exerted by

the cannon on the projectile can be determined by
applying the principle of linear impulse and
momentum to the projectile.
Principle of Impulse and Momentum.

+ 𝑚¿
( )

→
15.4 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.
• 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 the line of impact.
15.4 Impact

• Oblique impact occurs when one or both of the

particles is at an angle with the line of impact.
• The line of impact passes through the mass
centers of the particles.
15.4 Impact

Central Impact. Consider the central impact of

two smooth particles A and B,
• The particles have the initial momenta as shown.
Provided (vA)1 > (vB)1, collision will eventually
occur.
15.4 Impact

• During the collision the particles must be thought

of as deformable or non-rigid. The particles will
undergo a period of deformable such that they
exert an equal but opposite deformation impulse
∫P dt on each other.
15.4 Impact

• Only at the instant of maximum deformation will

both particles move with a common velocity v,
since their relative motion is zero.
15.4 Impact

• Afterward a period of restitution occurs, in which

case the particles will either return to their original
shape or remain permanently deformed. The
equal but opposite restitution impulse ∫R dt
pushes the particle apart from one another. In
reality, the physical properties of any two bodies
are such that the deformation impulse is always
greater that that of restitution, i.e. ∫P dt > ∫R dt.
15.4 Impact

• Just after the separation the particles will have

the final momenta, where (vB)2 > (vA)2
15.4 Impact

• The ratio of the restitution impulse to the

deformation impulse is called the coefficient of
restitution.
• The coefficient of restitution can be expressed in
terms of the particles’ initial and final velocities,

(vB ) 2  (v A ) 2
e
(v A )1  (vB )1
15.4 Impact

Coefficient of Restitution.
• With reference to the case where the central impact
of two smooth particles A and B, it is seen that the
eqn for the coefficient of restitution states that e is
equal to the ratio of the relative velocity of the
particles’ separation just after impact (vB)2 – (vA)2, to
the relative velocity of the particles’ just before
impact, (vA)1 – (vB)1
• e has a value between zero and one.
15.4 Impact

Elastic Impact.
• If the collision between the two particles is
perfectly elastic (e = 1), the deformation impulse
(∫P dt) is equal and opposite to the restitution
impulse (∫R dt).
Plastic (inelastic) Impact.
• There is no restitution impulse given to the
particles (∫R dt = 0), so that after collision both
particles couple or stick together and move with a
common velocity
PROCEDURE FOR ANALYSIS
(CENTRAL IMPACT)

The final velocities of the two smooth particles are

to be determined just after they are subjected to
direct central impact. Provided the coefficient of
restitution, the mass of each particle and each
particle’s initial velocity just before impact are
known, the solution to the problem can be obtained
using the following two equations:
• The conservation of momentum applies to the
system of particles, ∑mv1 = ∑mv2
PROCEDURE FOR ANALYSIS
(CENTRAL IMPACT)

• The coefficient of restitution relates the relative

velocities of the particles along the line of impact,
just before and just after collision.
When applying these two equations, the sense of
an unknown velocity can be assumed. If the
solution yields a negative magnitude, the velocity is
in the opposite sense.
15.4 Impact

Oblique Impact.
• When oblique impact occurs between two
smooth particles, the particles move away from
each other with velocities having unknown
directions and unknown magnitudes.
• Provided the initial velocities are known, four
unknown are present in the problem.
15.4 Impact

• These unknown are represented either as (vA)2,

(vB)2, θ2 and Φ2, or as the x and y components of
the 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.
PROCEDURE FOR ANALYSIS
(OBLIQUE IMPACT)

Resolving the velocity or momentum vectors into

components along the x and y axes, it is possible
to write four independent scalar equations in order
to determine (vAx)2, (vAy)2, (vBx)2 and (vBy)2
• 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, e, relates the
relative-velocity components of the particles along
the line of impact (x axis).
PROCEDURE FOR ANALYSIS
(OBLIQUE IMPACT)
• 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.
• 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.
Example 15.9

The bag A, having a mass of 6 kg is released from

rest at the position θ = 0°. After falling to θ = 90°, is
strikes an 18 kg box B. If the coefficient of
restitution between the bag and the box is e = 0.5,
determine the velocities of the bag and box just
after impact and the loss of energy during collision.
Example 15.9

Conservation of Energy. With the datum at θ = 0°,

we have
T0  V0 T1  V1
1 2
0  0  (6)(v A )1  6(9.81)(1)
2
(v A )1 4.43m / s
Example 15.9

Conservation of Momentum. After impact, we

will assume A and B travel to the left.

() mB (vB )1  m A (v A )1 mB (vB ) 2  m A (v A ) 2
0  (6)( 4.43) (18)(vB ) 2  6(v A ) 2
(v A ) 2 4.43  3(vB ) 2
Example 15.9

Conservation of Restitution. Realizing that

for separation to occur after collision (vB)2 > (vA)2,
 ( v )  ( v )
() e B 2 A 2
(v A )1  (vB )1
(v A ) 2 (vB ) 2  2.215
Solving the two equations
simultaneously,
(v A ) 2  0.554m / s 0.554m / s 
(vB ) 2 1.66m / s 
Example 15.9

Loss of Energy. Applying the principle of wrk

and energy to the bag and box just before and after
collision, we have
U1 2 T2  T1
 1 2 1 2  1 2
U1 2  2 (18)(1.66)  2 (6)(0.544)    2 (6)(4.33) 
 33.15 J
Example 15.10

The ball B 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
stretched after the ball rebounded from the ceiling.
k = 800 N/m, e = 0.8
Example 15.10

Conservation of Energy. With the datum as

shown, realizing that initially y = y0 = (1 + 0.25) m =
1.25 m, we have
T0  V0 T1  V1
1 2 1 2 1 2
m(vB )0  WB y0  ks  m(vB )1  0
2 2 2
1 2 1
0  1.5(9.81)(1.25)  (800)(0.25)  (1.5)(vB )12
2 2
(vB )1 2.97m / s 
Example 15.10

Conservation of Restitution.

( ) e
(vB ) 2  (v A ) 2
(v A )1  (vB )1
(vB ) 2  0
0.8 
0  2.97
(vB ) 2  2.37m / s 2.37m / s 
Example 15.10

Conservation of Energy. The maximum stretch

s3 in the cord may be determined by applying the
conservation of energy equation to the ball just
after the collision. Assuming that y = y3 = (1 + s3) m
T2  V2 T3  V3
1 2 1 2 1 2
m(vB ) 2  0  m(vB )3  WB y3  ks3
2 2 2
1 1
(1.5)( 2.37) 0  9.81(1.5)(1  s3 )  (800) s32
2
2 2
400s32  14.72s3  18.94 0
Example 15.10

Solving the quadratic equation for the positive root

yields,
s3 0.237m
Example 15.11

Two smooth disks A and B, having 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.
Example 15.11

View Free Body Diagram

Solution
Resolving each of the initial velocities into x and y
components, we have
(v Ax )1 3 cos 30 2.60m / s

(v Ay )1 3 sin 30 1.50m / s
(vBx )1  1cos 45  0.707m / s
(vBy )1  1sin 45  0.707m / s
Example 15.11

The four unknown velocity components after

collision are assumed to act in the positive
directions. Since the impact occurs only in the x
direction (line of impact), the conservation of
momentum for both disks can be applied in this
direction.
Example 15.11

Conservation of “x” Momentum.


( ) m A (v Ax )1  mB (vBx )1 m A (v Ax ) 2  mB (vBx ) 2
1(2.60)  2( 0.707) 1(v Ax ) 2  2(vBx ) 2
(v Ax ) 2  2(vBx ) 2 1.18
Example 15.11

Conservation of (x) Restitution. Both disks are

assumed to have components of velocity in the +x
direction after collision,

() e
(vBx ) 2  (v Ax ) 2
(v Ax )1  (vBx )1
(vBx ) 2  (v Ax ) 2
0.75 
2.60  ( 0.07)
(vBx ) 2  (v Ax ) 2 2.48
Example 15.11

Solving the two simultaneous equations,

(v Ax ) 2  1.26m / s 1.26m / s 
(vBx ) 2 1.22m / s 
Example 15.11

Conservation of “y” Momentum. The

momentum of each disk is conserved in the y
direction (plane of contact), since the disks are
smooth and therefore no external impulse acts in
this direction.
(  ) mA (v Ay )1 mA (v Ay )2
(v Ay ) 2 1.5m / s 
(  ) mB (vBy )1 mB (vBy )2
(vBy ) 2  0.707m / s 0.707m / s 