Dynamics

KINETICS OF A PARTICLE
Impulse and Momentum

Lecturer: Dr. Khoa Do

Department of Applied Mechanics
School of Mechanical Engineering

1
Department of Applied Mechanics- School of Mechanical Engineering
 Outline

1. Principle of Linear Impulse and Momentum: a particle

2. Principle of Linear Impulse and Momentum: particle system

3. Impact

4. Angular Momentum & Moment of Forces

5. Principle of Angular Impulse and Momentum

Department of Applied Mechanics- School of Mechanical Engineering 2

1. Principle of Linear Impulse and
Momentum: a particle

Department of Applied Mechanics- School of Mechanical Engineering 3

APPLICATIONS

A dent in a trailer fender can be

removed using an impulse tool,
which delivers a force over a very
short time interval. To do so, the
weight is gripped and jerked
upwards, striking the stop ring.
How can we determine the
magnitude of the linear impulse
applied to the fender?

Could you analyze a carpenter’s

hammer striking a nail in the
same fashion?
 APPLICATIONS (continued)

A good example of impulse is

the action of hitting a ball with
a bat.
The impulse is the average
force exerted by the bat
multiplied by the time the bat
and ball are in contact.
Is the impulse a vector? Is the impulse pointing in the same
direction as the force being applied?
Given the situation of hitting a ball, how can we predict the
resultant motion of the ball?
APPLICATIONS (continued)

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?
 PRINCIPLE OF LINEAR IMPULSE AND
MOMENTUM

The next method we will consider for solving particle

kinetics problems is obtained by integrating the equation of
motion with respect to time.

The result is referred to as the principle of impulse and

momentum. It can be applied to problems involving both
linear and angular motion.

This principle is useful for solving problems that involve

force, velocity, and time. It can also be used to analyze the
mechanics of impact (taken up in a later section).
 PRINCIPLE OF LINEAR IMPULSE AND MOMENTUM

The principle of linear impulse and momentum is obtained

by integrating the equation of motion with respect to time.
The equation of motion can be written
åF = m a = m (dv/dt)
Separating variables and integrating between the limits v = v1
at t = t1 and v = v2 at t = t2 results in
t2 v2
å  F dt = m  dv = mv2 – mv1
t1 v1

This equation represents the principle of linear impulse and

momentum. It relates the particle’s final velocity (v2) and
initial velocity (v1) and the forces acting on the particle as a
function of time.
 PRINCIPLE OF LINEAR IMPULSE AND MOMENTUM

Linear momentum: The vector mv is called the linear momentum,

denoted as L. This vector has the same direction as v. The linear
momentum vector has units of (kg·m)/s or (slug·ft)/s.

Linear impulse: The integral F dt is the linear impulse, denoted

I. It is a vector quantity measuring the effect of a force during its
time interval of action. I acts in the same direction as F and has
units of N·s or lb·s.
The impulse may be determined by
direct integration. Graphically, it
can be represented by the area under
the force versus time curve. If F is
constant, then
I = F (t2 – t1) .
PRINCIPLE OF LINEAR IMPULSE AND MOMENTUM

The principle of linear impulse and momentum in

vector form is written as
t2
mv1 + å  F dt = mv2
t1

The particle’s initial momentum plus the sum of all the

impulses applied from t1 to t2 is equal to the particle’s
final momentum.

The two momentum diagrams indicate direction

and magnitude of the particle’s initial and final
momentum, mv1 and mv2. The impulse diagram is
similar to a free body diagram, but includes the
time duration of the forces acting on the particle.
 IMPULSE AND MOMENTUM: SCALAR EQUATIONS

Since the principle of linear impulse and momentum is a

vector equation, it can be resolved into its x, y, z component
scalar equations: t2

m(vx)1 + å  Fx dt = m(vx)2
t1
t2

m(vy)1 + å  Fy dt = m(vy)2
t1
t2

m(vz)1 + å  Fz dt = m(vz)2
t1
The scalar equations provide a convenient means for applying
the principle of linear impulse and momentum once the velocity
and force vectors have been resolved into x, y, z components.
 PROBLEM SOLVING

•Establish the x, y, z coordinate system.

•Draw the particle’s free body diagram and establish the

direction of the particle’s initial and final velocities, drawing
the impulse and momentum diagrams for the particle. Show
the linear momenta and force impulse vectors.

•Resolve the force and velocity (or impulse and momentum)

vectors into their x, y, z components, and apply the principle
of linear impulse and momentum using its scalar form.

•Forces as functions of time must be integrated to obtain

impulses. If a force is constant, its impulse is the product of
the force’s magnitude and time interval over which it acts.
 EXAMPLE I

Given: A 0.5 kg ball strikes the rough

ground and rebounds with the
velocities shown. Neglect the
ball’s weight during the time it
impacts the ground.

Find: The magnitude of impulsive force exerted on the ball.

Plan:
1) Draw momentum and impulse diagrams of the ball
as it hits the surface.
2) Apply the principle of impulse and momentum to
determine the impulsive force.
 EXAMPLE I (continued)

Solution:

1) Impulse and momentum diagrams can be drawn as:

 W dt  0 mv2

45°
+ = 30°

mv1  F dt  N dt  0

The impulse caused by the ball’s weight and the normal

force N can be neglected because their magnitudes are
very small as compared to the impulse from the ground.
 EXAMPLE I (continued)

2) The principle of impulse and momentum can be applied along

the direction of motion:
t2
mv1 + å t F dt = mv2
1
t2
0.5 (25 cos 45° i − 25 sin 45° j) + å F dt
Þ t1
= 0.5 (10 cos 30° i + 10 sin 30° j)
The impulsive force vector is
t2
I =  å F dt = (4.509 i + 11.34 j ) Ns
t1
Magnitude: I = √ 4.5092 + 11.342 = 12.2 Ns
 EXAMPLE II

Given:The wheels of the 1500 kg

car generate a traction force
F described by the graph.

Find: The speed of the car when

t = 6 s if the car starts
from rest.

Plan: 1) Draw the momentum and impulse diagrams of the

car.
2) Apply the principle of impulse and momentum to
determine the speed.
 EXAMPLE II (continued)

Solution:
1) The impulse and momentum diagrams can be drawn as:

mv1 = 0  W dt mv2

+ =
 F dt
 N dt

Why is the traction force F drawn acting to the right?

The impulse caused by the weight W and the normal force

N can be canceled. Why?
 EXAMPLE II (continued)

2) The principle of impulse and momentum can be

applied along the direction of motion:
t2
+  mv1 + å t F dt = mv2
1

(1500 kg) (0 m/s) + 0.5 (6000 N) (2 s) + (6000 N) (4 s)

= (1500 kg) (v2 m/s)

v2 = 20 m/s
 CONCEPT QUIZ

1. Calculate the impulse due to the force. 10 N Force

curve
A) 20 kg·m/s B) 10 kg·m/s
C) 5 N·s D) 15 N·s 2s
t

2. A constant force F is applied for 2 s to change the particle’s

velocity from v1 to v2. Determine the force F if the particle’s
mass is 2 kg.
A) (17.3 j) N B) (–10 i +17.3 j) N v2=20 m/s

C) (20 i +17.3 j) N D) ( 10 i +17.3 j) N

60 v1=10 m/s
 GROUP PROBLEM SOLVING

Given: The 40 kg crate is moving

downward at 10 m/s. The
motor M pulls on the cable
with a force of F, which
has a magnitude that varies
as shown on the graph.
Find: The speed of the crate
when t = 6 s.
Plan: 1) Draw the momentum and impulse diagrams of the
crate.
2) Apply the principle of impulse and momentum to
determine the speed.
 GROUP PROBLEM SOLVING (continued)
Solution:
1) The momentum and impulse diagrams are
 2F dt

+ = mv2

mv1  W dt

The impulse due to cable force is:

6
+↑  2 F dt = 2 [0.5 ( 150 + 450 ) 6 ] = 3600 Ns
0

The impulse due to weight is:

6
+↑  (− W) dt = −40 (9.81) (6) = − 2354 Ns
0
 GROUP PROBLEM SOLVING (continued)

2) Apply the principle of impulse and momentum to determine

the velocity.
t2
mv1 + å t F dt = mv2
1
6 6
+  mv1 - 0 W dt + 0 2F dt = mv2
40 (-10) − 2354 + 3600 = 40 v2

Þ v2 = 21.1 m/s 
 ATTENTION QUIZ

1. Jet engines on the 100 Mg VTOL aircraft exert a constant

vertical force of 981 kN as it hovers. Determine the net
impulse on the aircraft over t = 10 s.
A) -981 kN·s B) 0 kN·s
C) 981 kN·s D) 9810 kN·s

2. A 100 lb cabinet is placed on a smooth

surface. If a force of a 100 lb is applied
for 2 s, determine the net impulse on the
cabinet during this time interval.
A) 0 lb·s B) 100 lb·s 30

C) 200 lb·s D) 300 lb·s

2. Principle of Linear Impulse and
Momentum: particle system

Department of Applied Mechanics- School of Mechanical Engineering 24

APPLICATIONS

As the wheels of this pitching machine

rotate, they apply frictional impulses to
the ball, thereby giving it linear
momentum in the direction of Fdt and
F’dt.
The weight impulse, Wt is very small
since the time the ball is in contact
with the wheels is very small.

Does the release velocity of the ball

depend on the mass of the ball?
 APPLICATIONS (continued)

This large crane-mounted hammer is

used to drive piles into the ground.
Conservation of momentum can be
used to find the velocity of the pile
just after impact, assuming the
hammer does not rebound off the pile.

If the hammer rebounds, does the pile velocity change from

the case when the hammer doesn’t rebound? Why?
In the impulse-momentum analysis, do we have to consider
the impulses of the weights of the hammer and pile and the
resistance force? Why or why not?
 PRINCIPLE OF LINEAR IMPULSE AND MOMENTUM
FOR A SYSTEM OF PARTICLES

For the system of particles shown,

the internal forces fi between
particles always occur in pairs with
equal magnitude and opposite
directions. Thus the internal
impulses sum to zero.

The linear impulse and momentum equation for this system

only includes the impulse of external forces.
t2
å mi(vi)1 + å
t
1
Fi dt = å mi(vi)2
 MOTION OF THE CENTER OF MASS

For a system of particles, we can define a “fictitious” center

of mass of an aggregate particle of mass mtot, where mtot is
the sum (å mi) of all the particles. This system of particles
then has an aggregate velocity of vG = (å mivi) / mtot.

The motion of this fictitious mass is based on motion of the

center of mass for the system.

The position vector rG = (å miri) / mtot describes the motion

of the center of mass.
 CONSERVATION OF LINEAR MOMENTUM FOR A
SYSTEM OF PARTICLES

When the sum of external impulses acting on a system

of objects is zero, the linear impulse-momentum
equation simplifies to
åmi(vi)1 = åmi(vi)2
This equation is referred to as the conservation of
linear momentum. Conservation of linear momentum
is often applied when particles collide or interact.
When particles impact, only impulsive forces cause a
change of linear momentum.
The sledgehammer applies an impulsive force to the stake. The weight
of the stake is considered negligible, or non-impulsive, as compared to
the force of the sledgehammer. Also, provided the stake is driven into
soft ground with little resistance, the impulse of the ground acting on the
stake is considered non-impulsive.
 EXAMPLE I

Given: Spring constant k = 10 kN/m

mA = 15 kg, vA = 0 m/s, mB = 10 kg, vB = 15 m/s
The blocks couple together at impact.
Find: The maximum compression of the spring.
Plan: 1) We can consider both blocks as a single system and apply the
conservation of linear momentum to find the velocity after impact, but
before the spring compresses.
2) Then use the energy conservation to find the compression of the
spring.
 EXAMPLE I (continued)

Solution:

1) Conservation of linear momentum

+  åmi(vi)0 = åmi(vi)1
10 (-15 i) = (15+10) (v i )
v = -6 m/s
= 6 m/s 
2) Energy conservation equation
T1 + V1 = T2 + V2
0.5 (15+10) (-6)2 + 0 = 0 + 0.5 (10000) (smax) 2

So the maximum compression of the spring is smax = 0.3 m.

 EXAMPLE II

Given: Two rail cars with masses

of mA = 20 Mg and mB =
15 Mg and velocities as
shown.
Find: The speed of the car A after collision if the cars
collide and rebound such that B moves to the right
with a speed of 2 m/s. Also find the average
impulsive force between the cars if the collision
place in 0.5 s.
Plan: Use conservation of linear momentum to find the
velocity of the car A after collision (all internal
impulses cancel). Then use the principle of impulse
and momentum to find the impulsive force by looking
at only one car.
 EXAMPLE II (continued)
Solution:
Conservation of linear momentum (x-dir):
mA(vA1) + mB(vB1) = mA(vA2)+ mB(vB2)
20,000 (3) + 15,000 (-1.5)
= (20,000) vA2 + 15,000 (2)
vA2 = 0.375 m/s
Impulse and momentum on car A (x-dir):
mA (vA1)+ ∫ F dt = mA (vA2)
20,000 (3) - ∫ F dt = 20,000 (0.375)
∫ F dt = 52,500 N·s
The average force is
∫ F dt = 52,500 N·s = Favg(0.5 sec); Favg = 105 kN
 GROUP PROBLEM SOLVING I

Given: The free-rolling ramp has a

mass of 40 kg. The 10 kg
crate slides from rest at A,
3.5 m down the ramp to B.
Assume that the ramp is
smooth, and neglect the
mass of the wheels.

Find: The ramp’s speed when the crate reaches B.

Plan: Use the energy conservation equation as well as
conservation of linear momentum and the relative
velocity equation (you really thought you could
safely forget it?) to find the velocity of the ramp.
 GROUP PROBLEM SOLVING I (continued)

Solution:

To find the relations between vC and vr, use conservation

of linear momentum:
vC
vr + 0 = (40) (−vr) + (10) vCx

Þ vCx = 4 vr (1)

Since vC = vr + vC/r
Þ vCx i − vCy j = − vr i + vC/r (cos30 i − sin30 j)
Þ vCx = − vr + vC/r cos 30 (2)
vCy = vC/r sin 30 (3)

Eliminating vC/r from Eqs. (2) and (3), and substituting Eq. (1) results in vCy = 8.660 vr
 GROUP PROBLEM SOLVING I (continued)

Then, energy conservation equation can be written ;

T1 + V1 = T2 + V2
0 + 10 (9.81) (3.5 sin30) = 0.5 (10) (vC)2 + 0.5 (40) (vr)2

Þ 0 + 10 (9.81) (3.5 sin30)

= 0.5 (10) [ (vCx)2 + (vCy)2 ] + 0.5 (40) (vr)2
= 0.5 (10) [ (4.0 vr)2 + (8.660 vr)2 ] + 0.5 (40) (vr)2

Þ 171.7 = 475.0 (vr)2

vr = 0.601 m/s
 GROUP PROBLEM SOLVING II

Given: Two rail cars with masses

of mA = 30 Mg and mB =
15 Mg and velocities as
shown.
Find: The maximum compression of the spring mounted on
car A.
Plan: Use conservation of linear momentum to find the
velocity of the cars after collision. Then use the
energy conservation equation to find the compression
of the spring.
 GROUP PROBLEM SOLVING II (continued)

Solution:
v2

Conservation of linear momentum along x-axis:

mA(vA1) + mB(vB1) = ( mA + mB ) v2
where vA1 = 20 km/h = 5.556 m/s,
vB1 = -10 km/h = -2.778 m/s
30,000 (5.556) + 15,000 (-2.778) = (30,000 + 15000 ) v2

v2 = 2.778 m/s 
 GROUP PROBLEM SOLVING II (continued)

Then, energy conservation equation to find the maximum

compression of the spring ;
T1 + V1 = T2 + V2
[0.5 (30000) (5.556)2 + 0.5 (15000) (-2.778)2 ] + 0
= 0.5 (45000) (2.778)2 + 0.5 (3×106) (smax)2

The maximum compression of the spring:

smax = 0.4811 m = 481 mm
 ATTENTION QUIZ

1. The 20 g bullet is fired horizontally at 1200 m/s into the

300 g block resting on a smooth surface. If the bullet
becomes embedded in the block, what is the velocity of the
block immediately after impact.
1200 m/s
A) 1125 m/s B) 80 m/s
C) 1200 m/s D) 75 m/s
2. The 200-g baseball has a horizontal velocity of 30 m/s when it
is struck by the bat, B, weighing 900-g, moving at 47 m/s.
During the impact with the bat, how many impulses of
importance are used to find the final velocity of the ball?
A) Zero B) One vball
BAT

C) Two D) Three vbat

 3. Impact

Department of Applied Mechanics- School of Mechanical Engineering 41

 APPLICATIONS

The quality of a tennis ball is measured by the height of its

bounce. This can be quantified by the coefficient of
restitution of the ball.
If the height from which the ball is dropped and the height of
its resulting bounce are known, how can we determine the
coefficient of restitution of the ball?
 APPLICATIONS (continued)

In the game of billiards, it is important to be able to predict

the trajectory and speed of a ball after it is struck by
another ball.
If we know the velocity of ball A before the impact, how can
we determine the magnitude and direction of the velocity of
ball B after the impact?
What parameters would we need to know to do this?
 IMPACT

Impact occurs when two bodies collide during a very short time
period, causing large impulsive forces to be exerted between the
bodies. Common examples of impact are a hammer striking a
nail or a bat striking a ball. The line of impact is a line through
the mass centers of the colliding particles. In general, there are
two types of impact:
Central impact occurs when the
directions of motion of the two colliding
particles are along the line of impact.

Oblique impact occurs when the direction

of motion of one or both of the particles is
at an angle to the line of impact.
 CENTRAL IMPACT

Central impact happens when the velocities of the two objects

are along the line of impact (recall that the line of impact is a
line through the particles’ mass centers).
vA vB

Line of impact

Once the particles contact, they may

deform if they are non-rigid. In any
case, energy is transferred between the
two particles.
There are two primary equations used when solving impact
problems. The textbook provides extensive detail on their
derivation.
 CENTRAL IMPACT (continued)

In most problems, the initial velocities of the particles, (vA)1 and

(vB)1, are known, and it is necessary to determine the final
velocities, (vA)2 and (vB)2. So the first equation used is the
conservation of linear momentum, applied along the line of impact.

(mA vA)1 + (mB vB)1 = (mA vA)2 + (mB vB)2

This provides one equation, but there are usually two unknowns,
(vA)2 and (vB)2. So another equation is needed. The principle of
impulse and momentum is used to develop this equation, which
involves the coefficient of restitution, or e.
 CENTRAL IMPACT (continued)

The coefficient of restitution, e, is the ratio of the particles’

relative separation velocity after impact, (vB)2 – (vA)2, to the
particles’ relative approach velocity before impact, (vA)1 – (vB)1.
The coefficient of restitution is also an indicator of the energy
lost during the impact.

The equation defining the coefficient of restitution, e, is

(vB)2 – (vA)2
e =
(vA)1 - (vB)1

If a value for e is specified, this relation provides the second equation necessary to
solve for (vA)2 and (vB)2.
 COEFFICIENT OF RESTITUTION

In general, e has a value between zero and one.

The two limiting conditions can be considered:

• Elastic impact (e = 1): In a perfectly elastic collision, no

energy is lost and the relative separation velocity equals the
relative approach velocity of the particles. In practical
situations, this condition cannot be achieved.
• Plastic impact (e = 0): In a plastic impact, the relative
separation velocity is zero. The particles stick together and
move with a common velocity after the impact.
Some typical values of e are:
Steel on steel: 0.5 – 0.8 Wood on wood: 0.4 – 0.6
Lead on lead: 0.12 – 0.18 Glass on glass: 0.93 – 0.95
 IMPACT: ENERGY LOSSES

Once the particles’ velocities before and after the collision

have been determined, the energy loss during the collision
can be calculated on the basis of the difference in the
particles’ kinetic energy. The energy loss is
å U1-2 = å T2 − å T1 where Ti = 0.5mi (vi)2

During a collision, some of the particles’ initial kinetic

energy will be lost in the form of heat, sound, or due to
localized deformation.

In a plastic collision (e = 0), the energy lost is a maximum,

although the energy of the combined masses does not
necessarily go to zero. Why?
 OBLIQUE IMPACT

In an oblique impact, one or both of the

particles’ motion is at an angle to the line of
impact. Typically, there will be four
unknowns: the magnitudes and directions of
the final velocities.

The four equations required to solve for the unknowns are:

Conservation of momentum and the coefficient
of restitution equation are applied along the line
of impact (x-axis):
mA(vAx)1 + mB(vBx)1 = mA(vAx)2 + mB(vBx)2
e = [(vBx)2 – (vAx)2]/[(vAx)1 – (vBx)1]

Momentum of each particle is conserved in the direction perpendicular to

the line of impact (y-axis):
mA(vAy)1 = mA(vAy)2 and mB(vBy)1 = mB(vBy)2
 PROCEDURE FOR ANALYSIS

• In most impact problems, the initial velocities of the particles and the coefficient of
restitution, e, are known, with the final velocities to be determined.

• Define the x-y axes. Typically, the x-axis is defined along the line of impact and the y-
axis is in the plane of contact perpendicular to the x-axis.

• For both central and oblique impact problems, the following equations apply along
the line of impact (x-dir.):
å m(vx)1 = å m(vx)2 and e = [(vBx)2 – (vAx)2]/[(vAx)1 – (vBx)1]

• For oblique impact problems, the following equations are also required, applied
perpendicular to the line of impact (y-dir.):
mA(vAy)1 = mA(vAy)2 and mB(vBy)1 = mB(vBy)2
 EXAMPLE

y Given: The ball strikes the smooth wall

with a velocity (vb)1 = 20 m/s. The
coefficient of restitution between
the ball and the wall is e = 0.75.
x

Find: The velocity of the ball just after the

impact.
Plan:
The collision is an oblique impact, with the line of impact
perpendicular to the plane (through the relative centers of
mass).
Thus, the coefficient of restitution applies perpendicular to the
wall and the momentum of the ball is conserved along the wall.
 EXAMPLE (continued)

Solution:
Solve the impact problem by using x-y axes defined along and
perpendicular to the line of impact, respectively:
y The momentum of the ball is conserved in the
y-dir:
m(vb)1 sin 30° = m(vb)2 sin 
x (vb)2 sin  = 10 m/s (1)
The coefficient of restitution applies in the x-dir:
e = [ 0 – (vbx)2 ] / [ (vbx)1 – 0 ]
Þ 0.75 = [ 0 – (-vb)2 cos  ] / [ 20 cos 30° – 0]
Þ (vb)2 cos  = 12.99 m/s (2)
Using Eqs. (1) and (2) and solving for the velocity and  yields:
(vb)2 = 12.992+102 = 16.4 m/s
 = tan-1(10/12.99)=37.6°
 CONCEPT QUIZ

1. Two balls impact with a coefficient of restitution of 0.79.

Can one of the balls leave the impact with a kinetic energy
greater than before the impact?
A) Yes B) No
C) Impossible to tell D) Don’t pick this one!

2. Under what condition is the energy lost during a collision

maximum?
A) e = 1.0 B) e = 0.0
C) e = -1.0 D) Collision is non-elastic.
 GROUP PROBLEM SOLVING

Given: The tennis ball is served

horizontally 7.5 ft above
the ground and strikes
the smooth ground at B.
It is known that e = 0.8.

Find: vA and vB, the speed of the ball just after it strikes the court.
Plan:
1) Using projectile motion analysis, determine vA and the
speed of the ball just before hitting the ground.
2) Apply the coefficient of restitution in the y-dir motion, and
the conservation of momentum in the x-dir motion.
3) Find  using the two components of vB
 GROUP PROBLEM SOLVING (continued)

Solution:
1) By considering the
vertical motion of the vB0

falling ball, we have:

+  Sy = S0y + v0y t + 0.5 g t2

7.5 = 0 + 0 + 0.5 (32.2) t2
t = 0.6825 s
+  vB0y = v0y + g t = 0 + 32.2 (0.6825) = 21.98 ft/s

+ d = vA t Þ vA = 20 / 0.6825 = 29.3 ft/s

 GROUP PROBLEM SOLVING (continued)

2) Apply the coefficient of

restitution in the y-dir to
determine the velocity of the vB0

ball just after it rebounds

from the ground.
v v
= Þ 0.7 =
v 21.98
vBy = 15.38 ft/s 

Apply conservation of momentum to the system in the x-dir :

+ m (vB0x) = m (vBx) Þ vBx = vB0x = vA = 29.3 ft/s 
Speed and angle of the ball just after it strikes the court :
vB = (29.3 i + 15.4 j) ft/s
 = tan-1(15.4 / 29.3) = 27.7°
 ATTENTION QUIZ

1. Block B (1 kg) is moving on the smooth surface at 10 m/s

when it squarely strikes block A (3 kg), which is at rest. If
the velocity of block A after the collision is 4 m/s to the right,
(vB)2 is
vB=10 m/s
A) 2 m/s  B) 7 m/s 
B A
C) 7 m/s  D) 2 m/s 
2. A particle strikes the smooth surface with a
velocity of 30 m/s. If e = 0.8, (vx) 2 is y
_____ after the collision. v
30
A) zero B) equal to (vx) 1 30 m/s x

C) less than (vx) 1 D) greater than (vx) 1
4. Angular Momentum & Moment of
Forces

Department of Applied Mechanics- School of Mechanical Engineering 59

 APPLICATIONS

Planets and most satellites move in elliptical orbits. This

motion is caused by gravitational attraction forces. Since
these forces act in pairs, the sum of the moments of the forces
acting on the system will be zero. This means that angular
momentum is conserved.
If the angular momentum is constant, does it mean the linear
momentum is also constant? Why or why not?
APPLICATIONS (continued)

The passengers on the amusement-park

ride experience conservation of angular
momentum about the axis of rotation
(the z-axis). As shown on the free body
diagram, the line of action of the normal
force, N, passes through the z-axis and
the weight’s line of action is parallel to
it. Therefore, the sum of moments of
these two forces about the z-axis is zero.

If the passenger moves away from the z-

axis, will his speed increase or decrease?
Why?
 ANGULAR MOMENTUM

The angular momentum of a particle about point O is

defined as the “moment” of the particle’s linear momentum
about O.

i j k
Ho = r × mv = rx ry rz
mvx mvy mvz

The magnitude of Ho is (Ho)z = mv d

 RELATIONSHIP BETWEEN MOMENT OF A FORCE
AND ANGULAR MOMENTUM

The resultant force acting on the particle is equal to the time

rate of change of the particle’s linear momentum. Showing the
time derivative using the familiar “dot” notation results in the
equation
 
åF = L = mv

We can prove that the resultant moment acting on the particle

about point O is equal to the time rate of change of the
particle’s angular momentum about point O or

åMo = r × F = Ho
 MOMENT AND ANGULAR MOMENTUM OF
A SYSTEM OF PARTICLES

å = × = ̇
The same form of the equation can be
derived for the system of particles.
The forces acting on the i-th particle of the system
consist of a resultant external force Fi and a resultant
internal force fi.

Then, the moments of these forces for the particles can be written as å( × )
+ å( × ) = å( ̇ )

The second term is zero since the internal forces occur in equal but opposite
collinear pairs. Thus,
å = å( × ) = å( ̇ )
 PRINCIPLE OF ANGULAR IMPULSE AND
MOMENTUM

Considering the relationship between moment and time

rate of change of angular momentum

åMo = Ho = dHo/dt
By integrating between the time interval t1 to t2
t2 t 2

å  Mo dt = ( Ho )2 - ( Ho ) 1 or ( Ho ) 1 + å  Mo dt = ( Ho )2
t1 t1

This equation is referred to as the principle of angular impulse

and momentum. The second term on the left side, å Mo dt, is
called the angular impulse. In cases of 2D motion, it can be
applied as a scalar equation using components about the z-axis.
 CONSERVATION OF ANGULAR MOMENTUM

When the sum of angular impulses acting on a particle or a

system of particles is zero during the time t1 to t2, the
angular momentum is conserved. Thus,
(HO)1 = (HO)2

An example of this condition occurs

when a particle is subjected only to
a central force. In the figure, the
force F is always directed toward
point O. Thus, the angular impulse
of F about O is always zero, and
angular momentum of the particle
about O is conserved.
 EXAMPLE

Given:Two identical 10-kg spheres are

attached to the rod, which
rotates in the plane of the page.
The spheres are subjected to
tangential forces of P = 10 N,
and the rod is subjected to a
couple moment M = (8 t) Nm,
where t is in seconds.

Find: The speed of the spheres at t = 4 s, if the system starts

from rest.
Plan: Apply the principles of conservation of energy and
conservation of angular momentum to the system.
 EXAMPLE (continued)

Solution:

Conservation of angular momentum :

å( ) +å ∫ = å( )
The above equation about the axis of
rotation (z-axis) through O can be written as

0 + ∫ 8t dt + ∫ [2 10)(0.5 ] dt = 2 [10 0.5 ]

Þ 4 (4) +2 5 4 = 10
Þ 104 = 10 v
v = 10.4 m/s
 CONCEPT QUIZ

1. If a particle moves in the x - y plane, its angular momentum

vector is in the
A) x direction. B) y direction.
C) z direction. D) x - y direction.
2. If there are no external impulses acting on a particle

A) only linear momentum is conserved.

B) only angular momentum is conserved.
C) both linear momentum and angular momentum are
conserved.
D) neither linear momentum nor angular momentum are
conserved.
 GROUP PROBLEM SOLVING

Given: The two 10 kg balls are

attached to the end of a rod
of negligible weight. A
torque acts on the rod as
shown,
M = (t2 + 2) N·m.
Find: The velocity of each ball
after 3 seconds, if each
ball has a speed v = 2 m/s
when t = 0.
Plan: Apply the principle of angular impulse and momentum
about the axis of rotation (z-axis).
 GROUP PROBLEM SOLVING (continued)

Solution:

Angular momentum: HZ = r × mv reduces to a scalar equation.

(HZ)1 = 2×{0.5 (10) 2} = 20 (kg·m2/s) and
(HZ)2 = 2×{0.5 (10) v} = 10 v (kg·m2/s)
Angular impulse:
t2 t2
M dt = (t2 + 2) dt = [(1/3) t3 + 2 t] = 15 N·m·s 3
  0
t1 t1

Apply the principle of angular impulse and momentum.

2

( Ho ) 1 + å  Mo dt = ( Ho )2
t1
20 + 15 = 10 v Þ v = 3.5 m/s
 ATTENTION QUIZ

1. A ball is traveling on a smooth surface in a 3 ft radius circle

with a speed of 6 ft/s. If the attached cord is pulled down
with a constant speed of 2 ft/s, which of the following
principles can be applied to solve for the velocity of the ball
when r = 2 ft?
A) Conservation of energy
B) Conservation of angular momentum
C) Conservation of linear momentum
D) Conservation of mass
2. If a particle moves in the z - y plane, its angular momentum
vector is in the
A) x direction. B) y direction.
C) z direction. D) z - y direction.