CHAPTER 4

DYNAMICS OF A SYSTEM OF PARTICLES

We consider a system consisting of n particles
One can treat individual particles, as before;
i.e.,one can draw FBD for each particle,
define a coordinate system and obtain an
expression of the absolute acceleration for the
particle. One can then use Newtons second
law and proceed to get n second-order
coupled ODEs.
Focus here is on overall motion of the systemalso a precursor to rigid body dynamics. 1

4.1 Equations of Motion:

Consider a system with:

n particles
masses - m i

Z
F1

positions - r i
r1
There are two types
O
of forces acting:
External forces - F i ; X
Internal forces - f ij

F2
m1 f12

m2

f21

f2i
C m
rC
ri

mi

fi2

Fi

Y
2

th

f ij - force on the i particle due to its

interaction with the jth particle
Newtons 3rd law

f ij

ji

(internal forces are equal and opposite)

Also
f ij 0 when i j , i.e. f ii 0
Newtons 2nd law for i

mi
ri

th

particle:

Fi

f ij , i 1, 2,3,. . . ., n
j 1
3

Now, for 3-dimensional motions, the position

of each particle (in Cartesian coordinates) is:
r i xi i yi j zi k , i 1, 2,3, . . . , n
Thus, each equation in Newtons second law
has 3 scalar second-order ordinary diff.
equations.
3n scalar second-order o.d.e.s
for the system
In order to solve for the motion, one needs to
know:
external forces F i on each of the particles
nature of internal forces f ij
4

e.g., Newtons law of gravitation:

mi m j ( r j ri )
fij G
2
r j ri r j ri
3

or , fij
Gmi m j ( ri r j ) / r j ri
We also need:
initial conditions: ri (0), ri (0), i 1, 2, . . . . , n
The general solutions to these nonlinear
ODEs are unknown; they are difficult to
solve except for in some very simple cases
and small n.
5

Suppose we would like to get overall motion of

the system, not those of individual particles.
Adding the n equations:
n

mi
ri

i 1

f ij
i 1 j 1
n

mrC (t )

f ij
i 1 j 1

Now,

Fi

i 1
n

mi

0 (net interaction force is zero)

- total mass

i 1 n
i

mi r i (t ) - defines center of mass;

1
note that it is a function of
time since the particles move.6

Thus, addition of Eqns.

Fi
i 1

mi
ri

mrC

i 1

Let F

Fi

- total external force

i 1

Fi
i 1

mrC

Equation of motion for

the center of mass

Internal forces do not affect the motion of

the center of mass.
7

4.2 Work and Kinetic Energy

The motion ofnindividual particle is defined by
mi
r i Fi
f ij , i 1, 2,3,. . . ., n
j 1

The motion of center of mass C is defined by

n

Fi

mrC

i 1
n

where the total mass is m

mi
i 1

Consider a motion of
the system. The initial
state is A, and the final
state is B. Let AC and BC
denote the positions of
the CM.
Now, for the CM
F mrC
BC

Bi

BC
m
rC

mi
Ai

mrC drC
AC

AC
ri
Y

BC

F drC
AC

2
C

(mv / 2)

BC
AC

work-energy statement for the CM

9

BC

Note that

F drC is only the work done by

AC

external forces, and it is related to the change

in translational kinetic energy associated with

the CM
Let Wi
work done on the i th particle by all
the forces acting on it in moving from A i to Bi
Bi

Wi

( Fi
Ai

f ij ) dr i
j 1

10

Now: r i
where

rC

th particle relative to
position
of
i
i
the CM of the system
Total work done=sum
of the work done on all
n
particles: W
Wi
i 1
n Bi

( Fi
i 1 Ai
n Bi

Now,

j 1
BC

( Fi
i 1 Ai

f ij ) (drC
f ij ) drC

j 1

(
AC

Fi
i 1

f ij ) drC
i 1 j 1

11

BC

n Bi

F drC

( Fi
i 1 Ai

AC

f ij ) d

j 1

work done by
total ext. forces
through the displ.
of the CM

summation of the
work done on all the
particles through their
displacements relative
to the CM
For each particle, the work done is:
Wi

1
mi r i r i
2

Bi

Ai

1
mi ( r C
2

Bi

i ) ( r C

i )
Ai
12

mr C r C

Wi
i 1

BC
AC

mi i

i 1

i 1

i
n

mi i
Ai

/2
Ai

mi

Bi

Bi

i 1

Now,

/ 2 r C

mi i

i 1

mr C r C

BC
AC

/2
i 1

Bi

mi i

/2
Ai

TB TA - the sum of increase/change in

KE of the system.
13

work-energy principle for

B
the system of particles
T = K.E. at any instant

WA

TB TA
n

mi i

2
C

mv / 2

i / 2

i 1

Recalling the work-energy principle for the CM:

n Bi

( Fi
i 1 Ai

f ij ) d
j 1

i
i 1

Bi

mi i

/2
Ai

Work done by all forces (external as well as

internal) in relative motion KE for relative
motion
14

Important: In general, internal forces f ij do

work in any motion of the system. Sometimes,
net work (that on the whole system) may be
zero even though there is work done on
individual particles.

Ex: Consider the force in a spring

connecting two moving bodies - there is
net work done by the spring force evaluated by potential function sp .
15

Ex 1: Consider two particles connected by

a massless rigid (inextensible) rod, and
acted upon by a force F. F
1

m1

r1

rC

FBDs for individual

particles are:
Note: f12=- f21

C
m2

r2
F
m1

C
f12

f21

m2

16

 Work done in relative motion by internal

forces:
dW

f 12 d

constraint r 12

f 21 d

Differentiate:
2
d ( r 12 ) ( 2

) (d

f 12 (d

) (

) l

) 0

Now:
f 12
Thus,

f 12 (

f 12 (d

)/
2

0
17

Ex 2:

x
P

rough guide

A
m

Consider the system

1
shown here. A slider
l
moves on a rough
m
guide, and a pendulum
2
is attached to it at A.
m1 , m2 connected by a massless rigid link.
Coulomb friction between m1and the
horizontal guide. Force P acts on the block A.
18

The FBDs are:

y

m1g
x
P

T
T

f
N

m2
m2g

The positions of the two particles can now

be defined: r 1 (t ) x(t ) i
r 2 (t ) {x(t ) l sin } i

l cos j
19

The equations of motion for the individual

particles are:
m1 : m1
xi

(P

T sin ) i

( N m1 g T cos ) j

f
N (sgn( x ))
m2 : m2 {(
x l cos
l 2 sin ) i
where

(l sin

l 2 cos ) j}
(T cos

T sin i
m2 g ) j

Try to write the equation of motion for the

CM of the system.
20

4.3 Conservation of Mechanical Energy

Suppose that the External forces
are
n
conservative, that is, F
F i are
i 1
conservative.
EC TC VC
for the CM of the system
Total energy conserved for motion of the CM
Suppose that Internal forces also conservative:
E=T+V
Total energy conserved for the whole system.
21

Ex. 3 (4.2): Consider the system shown.

xC
x1
F

m1

C k

x2
m2

m1 and m2 connected by a massless spring.

A constant force F applied to m1 at t = 0.
No friction between the floor and the blocks
Find: x1 (t ) ; when masses areequal : m1 m2 m
IC (t = 0), x1 x2 x1 x2 0; spring
unstretched
22

Motion of the CM:

rC

mi r i ) / m

xC

( x1

x2 ) / 2

(m

m1 m2

Newton'sSecond law :
Fx

mxC

2m )

xC

F / 2m; Init.Conds. are : xC (0)

xC

( F / 2m)t ;

xC

Motion of the block m1:

FBD:
F

m1

xC

( F / 2m)t 2 / 2
x

k(x2- x1)
23

Newtons law for block m1:

Fx F k ( x2 x1 ) mx1 ; I Cs.: xC (0)
Also, note that
Also:

x2

2 xC

F 2k ( x1 xC )
mxC F / 2

x1
mx1

m(
x1
xC ) 2k ( x1 xC )

(1) (2)

xC

(1)
(2)
F /2

ICs: [ xC (0) x1 (0)] [ x1 (0) xC (0)] 0

Soln:

( xC

x1 )

F{1 cos 2k / m}/ 4k

(Harmonic oscillation)

24

Aside (steps involved in the solution):

The eqn.is :

my 2ky

Thesolution is

y (t )

F / 2 where y
yh (t ) y p (t )

y p : 2ky p

F /2

yh : yh (t )

A cos

y (0) 0
y (0) 0

A F / 4k

Soln:

y (t )

yp
n

t B sin

F{1 cos

( x1 xC )

F / 4k
n

t , where
A

2k / m

F / 4k

t} / 4 k

(Harmonic oscillation)
25

Or x1 (t ) ( F / 4m)t 2 F{1 cos 2k / mt}/ 4k

Energy considerations: (verification)
Recall that xC vC ( F / 2m)t
K.E.of CM TC

2
C

(2m)v / 2 ( F / 4m)t

Work done on CM WC

FxC

F ( F / 4m)t

(for a constant force)

Work done on CM (WC )=change in K.E.of CM

26

Now, consider for the whole system:

Total KE:
[(2m) xC2

T
or T

m{( x1 xC ) 2 ( x2

xC ) 2 }] / 2

( F 2 / 4m)t 2 ( F 2 / 8k ) sin 2 ( 2k / mt )

Potential Energy:
V

k ( x1 x2 ) 2 / 2 2k ( x1 xC ) 2
(Work done by internal forces)

or V

( F 2 / 8k ){1 cos( 2k / mt )}2

T V

( F / 4m)t

( F / 4k ){1 cos( 2k / mt )}
27

W = work done by the external force

2
2
2
Fx1 ( F / 4m)t ( F / 4k ){1 cos( 2k / mt )}
W T V (0 0)
Work done by all forces (external and internal)
(final total energy) (initial total energy)

28

4.4 Linear Impulse and Momentum

Let, F

t2

F ( )d - lin. impulse of external forces

t1

Considering
Newtons
laws
for
motion
of
CM:
t
t
F

Let

mrC ( )d

F ( )d

t1 n

t1

p(t )

m( v C 2

vC1 )

mvC - total linear

momentum of the
system at a given instant

mi v i (t )
i 1

Then
F

m( v C 2

vC1 )

p(t2 )

p(t1 )
29

4.5 Angular Momentum:

The key point to consider here is the point about
which the moment can be taken.
Z
Moment about a
F2
fixed reference point:
F1
m1 f12

H iO r i mi r i
(angular momentum
of theith particle about
point O)

r1
O

m2

f21

f2i

C m
rC
ri

fi2

mi
Fi

X
Y

30

Total angular momentum of the system:

n

HO

H iO
i 1

r i mi r i

i 1

Rate of change of angular momentum :

H O

r i mi r i

i 1

r i mi
ri

i 1

r i mi ri

i 1

Now, using Newton'second law for a particle :

mi
ri

Fi

f ij

H O

j 1

or

H O

r i ( Fi
i 1

f ij )
j 1

r i Fi

MO

i 1
31

 Reference point as the center of mass:

Let r i rC
i
n

HO

mi ( rC

i )

) ( rC

i 1

mrC rC

mi i

rC

i 1
n

mi

mi i ) rC

i 1

i 1

HO

mrC rC

mi

i 1
32

Thus,

HO

r C mr C
n

where H C

HC

mi i

i 1

(Ang. momentum with respect to the CM, as

viewed by a nonrotating observer moving
with the CM)
Now, differentiating:
n

H O

r C mrC

rC F

mi i
i 1

n
i
i 1

Fi
33

MO

rC F

Fi
i
i 1

H C

r C mrC

MC

Now r C F
MC

H C

r C mrC
n
i

(for motion of CM )

mi i

i 1

Reviewing :

MO

H O

(about fixed pointO)

MO

H O

(about C, the CM)

(very convenient for rigid bodies)

34

 About an arbitrary reference point P:

Z

Let P be an arbitrary
point (could be moving).
Let r i r P
i
and r C

rP

P
rP

Then, one can show

that
HP
m C HC
C

C m
rC
ri

mi

fi2

Fi

X
Y

- angular momentum about 35P

And M P

mr P H P

Choosing an arbitrary point for moments

of forces results in an additional term in the
moment equation.
If P is a fixed point
M P H P (
r P 0)
If P is the center of mass
M P H P ( C 0)
If P is such that rP and C are parallel
throughout the motion
M P H P
36

 Computation of Kinetic energy using P as

a reference point:
n

The kinetic energy is: T

Now, r i
T

[m rP

rP
2

i
n

, r i

mi i

rP

i 1

mi r i r i / 2
i

2 rP m C ] / 2

i 1

If P

C: T

[m rC

mi i ] / 2

(as before)

i 1

37

Ex. 4 (4.7):
Consider a particle traveling at a speed v to
the right. It strikes a stationary dumbbell (two
particles connected by a massless rigid rod).
y
The masses are:
l/2

m1 m2 m3 m

m3

C
m1 v

l/2

45

m2

Assumption:
Perfectly elastic impact in m1 , m2 (e=1).
Find: motion of the particles just after impact.
38

FBDs:

l/2
C

m1

F O

l/2

45

m3

m2

Observe that during impact:

Net force on the whole system = 0
linear momentum conserved for the system
Resultant moment about O (a fixed point)= 0
angular momentum about O conserved for
the system
39

Set up of the problem:

Motion before impact: v1 v i ; v2

v3

Motion after impact: It is convenient to think

in terms of the motion
ea
of the CM, and rotational
y
l/2
m3
motion about CM. Use
C
the triad ( e t , e a , e b )
l/2
et
to define the motion of
O
45
x
the CM and the particles.
m
2

40

Expressing velocities
in terms of ( e t , e a , e b )
va e a

vt e t

v2

vC

k rCO

vC

k ( le a / 2)

v2

Similarly, v3
v3

va e a

(vt
vC
(vt

l/2
l/2

( le t / 2)

va e a

m3

vC

vC

ea

45

et
x

m2

l / 2) e t
k rC 3

vC

( l / 2) e t

l / 2) e t
41

linear momentum conserved for the system:

mv i
or v i

mv1 i
v1 i

mv2

2va e a

mv3
2vt e t

(1)

(a vector equation 2 scalar equations)

angular momentum conserved for the system:
0

r O 3 v3
l (vt

lea [va ea
l / 2) k

(vt

l / 2) et ]

vt

l/2

(2)

42

Note: The vectors e t and e a can be expressed

in terms of the unit vectors i and j as:
e t i cos 45 j sin 45 ( i j ) / 2
ea

i cos 45

j sin 45

(i

j) / 2

In equations (1) and (2), v1 , vt , va ,

are unknowns but there are only 3 equations.
Thus one more relation is required.
coefficient of restitution:
A
vAx

x
vBx
43

Aside: central impact: Consider two particles

A and B that collide with each other. The
geometry and definitions of terms are:
vA2

vB2

A
B

vA1

line of impact

vB1

plane of impact

FBDs:

x No y-comp of

force
44

Let v A

v Ax i

v Ay j and v B

vBx i

vBy j

be velocities; v A1 , v B1 before, and v A 2 , v B 2 after.

The coefficient of restitution is then defined as:
the ration of the relative velocity after impact
to the relative velocity before impact, for
velocities along the line of impact:
(vBx 2 v Ax 2 )
(vBx v Ax ) 2
e
(vBx1 v Ax1 )
(vBx v Ax )1
45

 For the system at hand, elastic impact: e = 1.

Also,

v Ax1

v, v Ay1

vBx 2

(va

2vt ) / 2, vBy1

((va

e 1
v

v Ay 2 =0, vBx1

0, v Ax 2

vBy 2

v1 ,

0. Thus

2vt ) / 2 v1 )
(0 v)

va / 2

2vt

v1

(3)

Solving (1), (2), and (3)

va

(2 2 / 7)v, vt

(2 2 / 7)v, v1

v/7
46

Ex. (Problem 3.19)

Consider a cylinder rotating
m
l
at a constant rate .
P
A thin, flexible and
massless rope goes
O
around the drum.
r
There is no gravity,
and the rope does not
slip relative to the drum ;
(0) r
At t 0 , (0) 0 ,
Find: Tension in the rope as a function of time.
47

Setup:
Consider a triad e t , e n , e b
for the moving reference
frame , with coordinate
O
system located atO .
R
Let be angular
velocity of the moving
O
reference frame or triad.
The fixed reference
frame is with origin O.

P
l

r
Y
X

48

Schematic:
l

O
R
O

Y
X

be , e
t

Let

, e b - triad for moving coordinate system

be angular velocity of the moving frame.
49

Use the general formulation to express aP:

aP R
(
) ( )r 2 ( )r
Let us now consider the various terms:
) e

l r
(
Position : R
R

r(

and l

l / r
l / r ) eb ,

re t , R

de t

l / r ) eb e t

r (
Also R
l / r ) en

r(

dt
r(
l / r )

(
l / r ) eb
r

et

l / r ) en
en

50

 (
Thus R
l ) en r (
Now,

le n

(
2
aP

le
n

( )r

( )r

le n

=(
l / r ) e b ( le n ) (ll / r )e t

Also

l / r )2 e t

l / r )2 e n

) l(

( )r
[ r(
l(

2l(

l / r ) e t

l / r )2 ll / r 2l(

l / r )]e t

l / r )2 e n

Imp: The is acceleration relative to

51

Now, applying Newtons Second Law:

F ma Ten ma
et : r (
or

l / r ) 2 l
l / r 2l(
l
l l2 r 2

d (l l) dt

r2

0
2

Initial conditions: (0)

Integration
2

l / r ) 0

d (l l)

r2

0 , (0)

dt

t
52

Integrating once again,

l

en : T

d
0

ml (
or

l / r ) 2
4mr

4ml

2 2

r t

53