Dynamics CH13

DYNAMICS
Vector Mechanics for Engineers

- DYNAMICS -
CH. 13 Kinetics of Particles
: Energy and Momentum Methods
Professor Jae-Sang Park
Department of Aerospace Engineering,

Chungnam National University
Fall Semester, 2022

1 Prof. Jae-Sang Park Dept. of Aerospace Eng., Chungnam National Univ.
DYNAMICS
13.0 Introduction
▪
- Previously, problems dealing with the motion of particles were solved through the fundamental
equation of motion, F  ma .
- Current chapter introduces 2 additional methods of analysis.
▪ Method of work and energy

- Directly relates force, mass, velocity and displacement.
▪ Method of impulse and momentum

- Directly relates force, mass, velocity and time.

DYNAMICS
13.1A Work of a force

• Work of a force
▪ Definition
- Work of the force is defined as
dU  F dr
  Fx i  Fy j  Fz k   dxi  dyj  dzk 
 Fx dx  Fy dy  Fz dz  Fds cos 
where the differential vector dr is the displacement of particle.
- Work is a scalar quantity, i.e., it has magnitude and sign but not direction.
▪ Dimension
- The unit of work is given as Joule
1 J (Joule) = (1N) (1m)
1 ft·lb = 1.356 J
Note : The moment of a force must be expressed in N·m and not in joules, since the moment of a
3 force
Prof. Jae-Sang is not a form of energy.
Park Dept. of Aerospace Eng., Chungnam National Univ.
DYNAMICS

•
▪
- Work of a force during a finite displacement is defined as
A2
U1 2   F dr
A1
 F dx  F dy  F dz 
A2
 x y z
A1
 F cos  ds  S
S2 S2
 Ft ds
S1 1
- Work is represented by the area under the curve

of Ft plotted against s.

DYNAMICS

•
▪ Work of a constant force in rectilinear motion
 F cos  dx  x  F cos  dx   F cos   x2  x1 

A2 x2
U1 2  
A1 1
  F cos   x
▪ Work of the force of gravity
dU  Fx dx  Fy dy  Fz dz  Wdy
U12   Wdy  W  y2  y1   W y
y2
y1
- Work of the weight is equal to product of weight W and

vertical displacement y .
- Work of the weight is positive when y  0 , i.e., when the weight moves down
- Work of the weight is negative when y  0 , i.e., when the weight moves up
DYNAMICS

•
▪ Work of the force exerted by a spring
- The magnitude of the force exerted by a spring is

proportional to deformation.
F  kx
where k = spring constant [N/m] or [kN/m]
- Work of the force exerted by spring
dU  Fx dx  Fy dy  Fz dz   Fdx  kxdx
x2 1 2 1 2
U12    kxdx  kx1  kx2
x1 2 2
- Work of the force exerted by spring is positive when x2  x1 ,

i.e., when the spring is returning to its undeformed position.
- Work of the force exerted by the spring = negative of area under curve of
1
F plotted against x, U1 2    F1  F2  x
6 Prof. Jae-Sang Park 2 Dept. of Aerospace Eng., Chungnam National Univ.
DYNAMICS

•
▪ Work of the gravitational force (g ≠ constant)
- Work of a gravitational force (assume particle M occupies

fixed position O while particle m follows path shown).
Mm
dU   Fdr  G 2
dr
r
r2 Mm Mm Mm
U1 2    G dr  G  G
r1 r2 r2 r1
where M is the mass of the earth.
The work of the force exerted by the earth on a body of mass m at a distance r from
the center of the earth, when r is larger than the radius R of the earth.

DYNAMICS
13.1B Principle of work and energy

• Kinetic energy
▪ Definition
- Consider a particle of mass m acted upon by force F .
From the Newton’s 2nd Law,
dv
Ft  mat  m
dt
dv ds dv dv
m  m v  mv
ds dt ds ds
 Ft ds  mvdv
S2 v2 1 1
- Integrating from A1 to A2 , 
S1
Ft ds  m  vdv 
v1 2
mv2 2  mv12
2
1 2
The kinetic energy is defined as T mv
2
2
 kg     kg 2  m  N  m  J
1
Units of work and kinetic energy are the same : T  mv 2
m m
8 Prof. Jae-Sang Park
2 s  s 
Dept. of Aerospace Eng., Chungnam National Univ.
DYNAMICS
13.1B Principle of work and energy

• Principle of work and energy
▪
S2
- Using the definition of kinetic energy and U12 
S1
Ft ds
 U12  T2  T1 or  T1  U12  T2
The work of the force F is equal to the change in kinetic

energy of the particle
Principle of work and energy

DYNAMICS
13.1C Applications of the principle of work & energy

y
•
▪ Simple pendulum problem
x
- Wish to determine velocity of pendulum bob at A2.
Consider the principle of work and energy.
T1  U12  T2
1
At A1, since the initial velocity is zero, the kinetic energy is zero. T1  mv12  0
2
The tension force P acts normal to the path, thus does no work.
The only force which does work is the weight W .
U12   Wdy  W  y2  y1   W  l  0   Wl
y2
y1
1 1W 2
Therefore, the principle of work and energy is 0  Wl  mv2 2  v2  v2  2 gl
2 2 g

DYNAMICS
•
▪ Comments
- Velocity found without determining expression for acceleration and integrating.
- All quantities are scalars and can be added directly.
- Forces which do no work are eliminated from the problem.
- Principle of work and energy can not be applied to directly determine the acceleration of the pendulum
bob.
n
- Calculating the tension in the cord requires supplementing

the method of work and energy with an application of Newton’s t
2nd Law.
v2 2 W v2 2
+  F n  man  m l or P W 
g l
W v2 2 W  2 gl 
P W  W   3W
g l g l
DYNAMICS
• Sample problem 13.1

▪ An automobile weighing 1000 kg is driven down a 5 deg.
incline at a speed of 72 km/h when the brakes are applied
causing a constant total breaking force of 5000 N.
Determine the distance traveled by the automobile as it comes to a stop.
v1 = 72 km/h = 20m/s
Sol.) Use the principle of the work and energy. v2=0 km/h
T1  U12  T2
1 1
T1  mv12  1000  20   200000 J
2
2 2
1
T2  mv2 2  0
2

DYNAMICS
• Sample problem 13.1 (continued)

▪
Sol.) Draw the free body diagram to express the work done
W  mg  1000  9.81  9810 N
5
5000 N
5
N
5
The work is expressed as U12  5000 x  mg  sin 5 x  4145x
Through the principle of work and energy : T1  U12  T2 or 200000   4145 x   0
 x  48.25 [m]
DYNAMICS

▪ Two blocks are joined by an inextensible cable as shown.
If the system is release from rest, determine the velocity
of block A after it has moved 2 m. Assume that the coefficient
of friction between block A and the plane is k  0.25 and that
the pulley is weightless and frictionless.
Sol.) Apply the principle of work and energy separately to blocks A and B.
(1) Block A
Draw the free body diagram for block A.
WA
v1 = 0 v2 = v
WA  mA g  200  9.81  1962 [N]
FC
A
FA  k N A  kWA
NA FA  k N A  0.25 1962  490 [N]
14 Prof. Jae-Sang Park 2m Dept. of Aerospace Eng., Chungnam National Univ.

DYNAMICS

▪
1 1 1
Sol.) Kinetic energies : T1  mA v12  0 T2  mA v2 2   200  v   100v 2
2
and
2 2 2
The work : U12  FC  2m   FA  2m   2FC  2FA  2FC  2  490
Through the principle of work and energy :
T1  U12  T2 or
0   2FC  2  490   100v2 - (a)

DYNAMICS

v1 = 0
▪ WB  mB g FC
Sol.)  300  9.81  2940 [N]
(2) Block B B 2m
Draw the free body diagram for block B. WB
1
Kinetic energies : T1  mB v12  0
2 v2 = v
1 1
T2  mB v2 2   300  v   150v 2
2
2 2
The work : U12   FC  2m   WB  2m   2FC  2WB  2FC  2  2940
The principle of work and energy :
T1  U12  T2 or 0   2FC  2  2940  150v2 - (b)
Therefore, (a) + (b) : 4900  250 v 2  v  4.43[m/s]

DYNAMICS

▪ A spring is used to stop a 60-kg package which is sliding on
a horizontal surface. The spring has a constant k=20 kN/m
and is held by cables so that it is initially compressed 120
mm. The package has a velocity of 2.5 m/s in the position
shown and the maximum additional deformation of the spring is 40 mm.
Determine (a) the coefficient of kinetic friction between the package and surface
(b) the velocity of the package as it passes again through the position shown.
Sol.) Apply the principle of work and energy.

v1 = 2.5 m/s v2 = 0 m/s
Kinetic energies at positions 1 and 2
1 1
T1  mv12   60  2.5  187.5[J]
2
2 2
1 1
T2  mv2 2   60  0   0
2
2 2
DYNAMICS

▪
Sol.)
Work done during the motion from position 1 to position 2
Friction force : W
U12  f   Ff x   kWx
  k  60  9.81 0.6  0.04   377 k [J]
N Ff  k N  kW
Spring force :
 Fe 1  kx0 and  Fe 2  k  x0  x 
1 2 1 2 1 2 1
U12 e  kx1  kx2  kx0  k  x0  x 
2
2 2 2 2
  20  103   0.120    20 103   0.120  0.040   112.0[J]
1 2 1 2
2 2
DYNAMICS

▪
Sol.)
Thus, work done during the motion from position 1 to position 2 is
U12  U12  f  U12 e   377 k  112.0 [J]
T1  U12  T2 or 187.5   377 k  112.0  0  k  0.20

DYNAMICS

▪
Sol.)
Apply the principle of work and energy for the rebound (position 3) of the package
v3 v2 = 0 m/s
Kinetic energies :
1 1
T2  mv2 2   60  0   0
2
2 2
1 1
T3  mv32   60  v3 
2
2 2

DYNAMICS

▪
Sol.) W
Fe
Ff  k N  kW N
Work done during the motion from position 2 to position 3
U 23  f   Ff x   kWx
  k  60  9.81 0.6  0.04   377 k [J]
1 2 1 2 1 1
U 23 e  kx2  kx3  k  x0  x   kx0 2
2
2 2 2 2
  20  103   0.120  0.040    20  103   0.120   112.0[J]
1 2 1 2
2 2
DYNAMICS

▪
Sol.)
Thus, work done during the motion from position 2 to position 3 is
U 23  U 23  f  U 23 e   377 k  112.0  36.5[J]
1
T2  U 23  T3 0  36.5   60  v3 
2
or
2
 v3  1.103 [m/s]

DYNAMICS

▪ A 1000-kg car starts from rest at point 1 and moves
without friction down the track shown.
Determine
(a) The force exerted by the track on the car at point 2
(b) The minimum safe value of the radius of curvature
at point 3
Sol.) Motion from position 1 to position 2
FBD for car at position 2 Kinetic energies :
v2
man  m 1
W  mg  T1  mv12  0
2
1
= T2  mv2 2
2
N
DYNAMICS

▪
Sol.) The work done from position 1 to position 2
U12   Wdy  mg  y2  y1   mg  0  12   12mg

y2
y1
1
T1  U12  T2 or 0  12mg 
2
mv2 2  v2   2 12  g  15.34 [m/s]
Apply Newton’s 2nd law to find normal force by the track at point 2.
+ F n
 man
v2 2 24 g
W  N  man  m or mg  N  m  4mg
2 6
 N  5mg   51000  9.81  49.05 [kN]
DYNAMICS

▪
Sol.) The principle of work and energy for the motion from position 1 to position 3
1
T1  U13  T3 or 0  mg  4.5  12   mv32
2
 v3  15g  12.13 [m/s]
Apply Newton’s 2nd law to find the minimum radius of curvature at point 3 such that a positive
normal force is exerted by the track.
+ F n
 man W  mg
v32
W  man or mg  m
3 =
2 v2
 3 
v3

15 g
 15 [m] N 0 man  m
g g 
DYNAMICS
13.1D Power and Efficiency

• Power
▪ Definition
- Power is the time rate at which work is done.
U U dU F dr
Average power = Power = lim   F v
t t  0 t dt dt
▪ Dimension
- Units for power are
J m ft  lb
1W (watt)  1  1N or 1hp  550  746 W
s s s
• Efficiency
▪ Definition
output work power output
 
input work power input
DYNAMICS
13.2A Potential energy

• Potential energy due to the gravity (g = constant)
▪ Definition
- Work of the force of gravity W is given as
U12   Wdy  W  y2  y1   Wy1 Wy2

y2
y1
Work is independent of path followed and depends only on

the initial and final values of Wy.
The potential energy of the body with respect to the force of gravity is defined as
Choice of datum from which the

Vg  Wy
elevation y is measured is arbitrary.
Thus,
U1 2  Wy1  Wy2  Vg   Vg 

1 2
Units of work and potential energy are the same : Vg  Wy  N  m  J

DYNAMICS

• Potential energy due to the gravitational force (g ≠ constant)
▪ Definition
- Previous expression for potential energy of a body with respect to
gravity is only valid when the weight of the body can be assumed
constant.
- For a space vehicle, the variation of the force of gravity with

distance from the center of the earth should be considered.
- Work of a gravitational force,
 Vg   Vg 
r2 Mm Mm Mm
U1 2    G dr  G  G
r1 r2 r2 r1 1 2
The potential energy when the variation in the force of gravity can not be neglected is defined as
WR 2  GMm 
Vg  
GMm
  W 
r r  R2 
DYNAMICS

• Potential energy due to the spring force
▪ Definition
- Work of the force exerted by a spring depends only on the
initial and final deformations of the spring as
x2 1 2 1 2
U1 2    kxdx  kx1  kx2
x1 2 2
 Ve 1  Ve 2
The potential energy of the body with respect to the elastic

force is defined as
1 2
Ve  kx
2
- Note that the preceding expression for Ve is valid only if

the deformation of the spring is measured from its undeformed
position.

DYNAMICS
13.2B Conservative forces

• Conservative forces
▪ Definition
- Concept of potential energy can be applied if the work of the force
is independent of the path followed by its point of application.
U12  V  x1 , y1 , z1   V  x2 , y2 , z2 
Such forces are described as conservative forces.
For any conservative force applied on a closed path,  F dr  0

▪
Elementary work corresponding to displacement between two neighboring points,
dU  V  x, y, z   V  x  dx, y  dy , z  dz   dV  x, y , z 
 V V V 
  dx  dy  dz   Fx dx  Fy dy  Fz dz
 x y z 
V V V The components of F should be functions of

 Fx   , Fy   , Fz  
x y z the coordinates x, y, and z.
DYNAMICS
13.2B Conservative forces

• Conservative forces
▪
Since the conservative force F can be expressed as a vector form ;
 V V V 
F  Fx i  Fy j  Fz k    i j k
 x y z 
 grad V
  
where grad    i j k
x y z

DYNAMICS
13.2C Principle of conservation of energy

• Principle of conservation of energy
▪
- In the slide 9, the concept of work and energy : U12  T2  T1 - (a)
- In the slide 27, the work of a conservative force : U12  V1  V2 - (b)
When Eq. (a) is combined with Eq. (b),
T1  V1  T2  V2 or E  T  V  constant
where E : total mechanical energy
- When a particle moves under the action of conservative forces, the total mechanical energy is constant.
- Friction forces are not conservative. Total mechanical energy of a system involving friction decreases.
- Mechanical energy is dissipated by friction into thermal energy. Thus, total energy is constant.

DYNAMICS

• Principle of conservation of energy
▪ Example : simple pendulum
At the position 1, kinetic energy : T1  0 and potential energy : V1  Wl
Total mechanical energy : E1  T1  V1  Wl
1 1W
 
2
At the position 2, kinetic energy : T2  mv2 2  2 gl  Wl
2 2 g The total mechanical
energy E is constant.
Potential energy : V2  0
Total mechanical energy : E2  T2  V2  Wl

DYNAMICS

• Problem 13.72
▪ A 1.5-kg collar slides without friction along a circular rod in
horizontal plane. The spring attached to the collar has an
undeformed length of 150 mm and a constant of 400 N/m.
If the collar is released from equilibrium A, determine the velocity of the collar
as it passes through B
Sol.) Apply the principle of conservation of energy

between positions A and B.
At the position A, kinetic energy, TA  0  vA  0 
To calculate the potential energy of the spring, its deformation is
LAD  LAD  L0   0.175  0.125  2   0.150  0.275[m]

1 1
Thus, the potential energy at the position A : VA  k  LAD    400 N/m  0.275m   15.125J
2 2
2 2
DYNAMICS

• Problem 13.72 (continued)
▪
Sol.)
1 1
At the position B, kinetic energy, TB  mvB 2  1.5kg  vB 2  0.75vB 2
2 2
To calculate the potential energy of the spring at the position B, the length of BD is
LBD   0.175  0.125  0.1252  0.325 [m]

2
Thus, the deformation of the spring is
LBD  LBD  L0  0.325  0.150  0.175 [m]
The potential energy is calculated as
1 1
VB  k  LBD    400 N/m  0.175m   6.125 [J]
2 2
2 2

DYNAMICS

• Problem 13.72 (continued)
▪
Sol.)
Through the principle of the conservation of energy,
TA  VA  TB  VB or 0  15.125  0.75vB 2  6.125
 vB  3.46 [m/s]

DYNAMICS

▪ The 250-g pellet is pushed against the spring and released
from rest at A. Neglecting friction, determine the smallest
deformation of the spring for which the pellet will travel
around the loop and remain in contact with the loop at all
times.
Sol.) Since the pellet remain in contact with the loop, the force exerted on the pellet must be greater
than or equal to zero. Setting the force exerted by the loop to zero, solve for the minimum velocity
at the position D.
At the position D,
+ F n
 man N 0
vD 2
W  man mg  m
r =
W  mg v2
 vD  rg   0.5m   9.81m/s
2 2
  4.905 [m /s ]
2 2
man  m
r
DYNAMICS

▪
Sol.) Apply the principle of conservation of energy between points A and D.
At the position A, kinetic energy is zero. TA  0  vA  0 
When we choose the datum at A,

the potential energy due to gravity is zero at the position A. V 
g A
0
But, the potential energy due to the deformation of a spring is given as
1 2 1
Ve  A  kx   600 N/m  x 2  300 x 2
2 2
Therefore, the potential energy at the position A is
VA  Vg   Ve  A  0  300 x 2  300 x 2

A

DYNAMICS

▪
Sol.)
At the position D, kinetic energy is

1 1 1
TD  mvD 2   0.25kg  vD 2   0.25kg  4.905  0.613 [J]
2 2 2
Since the datum is at A,

the potential energy due to gravity at the position D.
V 
g  mgy   0.25 kg   9.81m/s 2  1m   2.45 [J]
D
But, the potential energy due to the deformation of a spring

because the spring is undeformed. Ve D  0
Therefore, the potential energy at the position D is
VD  Vg   Ve  D  2.45  0  2.45 [J]

D

DYNAMICS

▪
Sol.)
Apply the principle of conservation of energy between positions A and D :
TA  VA  TD  VD or 0   300 N/m  x2   2.45  0.613 [J]
 x  0.101 [m]

DYNAMICS
13.2D Motion under a conservative central force
• Application to space mechanics

▪
- When a particle moves under a conservative central force,
both the principle of conservation of angular momentum
H0  rmv sin   r0 mv0 sin 0  constant
and the principle of conservation of energy

1 Mm 1 2 Mm
T0  V0  T  V or mv0 2  G  mv  G
2 r0 2 r
can be applied.
▪
- Given r , the equations may solved for v and  .
- At the minimum and maximum values of r ,   90 .
Given the launch conditions, the equations may be solved for

rmin , rmax , vmin , and vmax .
DYNAMICS

▪ A satellite is launched in a direction parallel to the surface
of the earth with a velocity of 36900 km/h from an altitude of
500 km.
Determine
(a) The maximum altitude reached by the satellite
(b) The maximum allowable error in the direction of launching if the satellite is to go into orbit and come
no closer than 200 km to the surface of the earth.
Sol.) For motion under a conservative central force, the principles

of conservation of energy and conservation of angular
momentum may be applied simultaneously.
∙ Conservation of energy :
1 Mm 1 Mm
TA  VA  TA  VA or mv0 2  G  mv12  G
2 r0 2 r1

DYNAMICS

▪
Sol.)
r0
∙ Conservation of angular momentum : r0 mv0  r1mv1  v1  v0
r1
1 2  r0 2  GM  r0 
Combining, v0 1  2  1   or
2  r1  r0  r1 
1 2  r0   r0  GM  r0   1
r0 2GM

v0 1   1    1  
2  r1   r1  r0  r1  r1 r0 v0 2
Recall the radius of the earth is R=6370 km,
r0  6370km  500km  6870km
v0  36900 km/h  10.25 106 [m/s]
GM  gR 2   9.81 m/s 2 10.25 106 m   398 1012 m3 /s 2

2

DYNAMICS

▪
Sol.)
Substituting the values in the previous slide, r1  66.8 106 [m]
Thus, the max. altitude = r1  R  66.8 106  6.37 106  60.4 106 [m]  60400 km
The satellite is launched from P0 in a direction

forming an angle 0 with the vertical OP0 .
∙ Conservation of angular momentum : r0 mv0 sin 0  rmin mvmax
r0
 vmax  v0 sin 0 - (a)
rmin

DYNAMICS

▪
Sol.)
∙ Conservation of energy :
1 Mm 1 Mm
T0  V0  TA  VA mv0 2  G  mvmax 2  G - (b)
2 r0 2 rmin
By the way, when we substitute Eq. (a) in the previous slide into Eq. (b),
2
1 Mm 1  r  Mm
m v0 2  G  m v0 sin 0 0   G
2 r0 2  rmin  rmin
and use the values of r0 , v0 and GM computed in the previous slide 43 and also use
the values of rmin  R  200km = 6570[km] , we can solve Eq.(b) for sin 0 .
sin 0  0.9801 0  78.5 or 101.5  0  90  11.5 ∴ Allowable error : 11.5

DYNAMICS
13.3A Principle of impulse and momentum

• Impulse
▪ Definition
- From Newton’s 2nd law,
d
F  mv  where mv is the linear momentum
dt
Fdt  d  mv  Fdt   d  mv   mv 2  mv1

t2 v2
t1 v1
t2
 t1
Fdt  Imp12 : Impulse of the force F
The final momentum of the particle can be

 mv1  Imp12  mv2 obtained by adding vectorially its initial
momentum and the impulse of the force
during the time interval.
▪ Dimension
 
- The units of the impulse of a force are N  s  kg  m/s 2  s  kg  m/s

DYNAMICS
13.3A Principle of impulse and momentum

• Conservation of momentum
▪
- For several particles,
 mv1   Imp12   mv2  mv1     F  dt   mv

t2
or 2
t1
If the resultant force on the particles is zero during an interval of time, F  0 ,
  mv   mv
1 2 Principle of conservation of linear momentum
 mv   mv
1 2 or 0  mA vA  mB vB

DYNAMICS
13.3B Impulsive motion

•
▪ Impulsive force
- Force acting on a particle during a very short time interval
that is large enough to cause a significant change in momentum
is called an impulsive force.
when impulsive forces act on a particle,
mv1   Ft  mv2
- When a baseball is struck by a bat, contact occurs over a short time interval but force is large enough
to change sense of ball motion.
- Nonimpulsive forces are forces for which Ft is small and therefore, may be neglected.

DYNAMICS

• Sample problem 13.13 100 km/h = 27.78 m/s
▪ An automobile weighing 1800 kg is driven down a 5 deg.

incline at a speed of 100 km/h when the brakes are applied
causing a constant total breaking force of 7000 N.
Determine the time required for the automobile to come to a stop.
Sol.) Apply the principle of impulse and momentum : mv1   Imp 12  mv2
mg t
mv1 5
mv2  0
+ =
F t
5
N t
5
DYNAMICS

▪
Sol.) Taking components parallel to the incline,
mv1   mg sin 5 t  F t  0 or
1800kg  27.78m/s   1800kg   9.81m/s2  sin 5t   7000N t  0
 t  9.16 [s]

DYNAMICS

▪ A 120-g baseball is pitched with a velocity of 24 m/s. After the ball
is hit by the bat, it has a velocity of 36 m/s in the direction shown.
If the bat and ball are in contact for 0.015 sec., determine the average
impulsive force exerted on the ball during the impact
Sol.) Apply the principle of impulse and momentum in terms of horizontal and vertical component
equations. y
mv1   Imp12  mv2
x component equation :
x
 mv1   Fx t  mv2 cos 40
  0.12kg  24m/s   Fx  0.015s 

  0.12kg  36m/s  cos 40
 Fx  412.6[N]
DYNAMICS

▪
y
Sol.)
y component equation :
x
0   Fy t  mv2 sin 40
Fy  0.015s    0.12kg 36m/s  sin 40
 Fy  185.1[N]
F Fy
 F  Fx  Fy  452 [N]
2 2
24.2
Fx

DYNAMICS

▪ A 10-kg package drops from a chute into a 25-kg cart with a velocity
of 3 m/s. Knowing that the cart is initially at rest and can roll freely,
determine
(a) the final velocity of the cart

(b) the impulse exerted by the cart on the package
(c) the fraction of the initial energy lost in the impact.
Sol.) Apply the principle of impulse and momentum to the package-cart system to determine the final
velocity.
mp v1   Imp12   mp  mc  v 2
y

DYNAMICS

▪
Sol.)
y
x component equation :
mp v1 cos30  0   mp  mc  v2
x
or
10kg 3m/s  cos30  0  10kg  25kg  v2  v2  0.742 [m/s]
Apply the same principle to the package alone to determine the impulse exerted on it from the
change in its momentum.
mp v1   Imp12  mp v2
y

DYNAMICS

▪
Sol.)
x component equation : m p v1 cos 30  Fx t  m p v2
or
10kg 3m/s  cos30  Fx t  10kg  v2  10kg  0.742m/s 
 Fx t  18.56 [N  s]
y component equation :  m p v1 sin 30  Fy t  0
or  10kg  3m/s  sin 30  Fy t  0  Fy t  15 [N  s]
  Imp 12  Ft   18.56  i  15 j [N  s]
 Ft  23.9 [N  s] 38.9

DYNAMICS

▪
Sol.)
To determine the fraction of energy lost,
1 1
T1  m p v12  10kg  3m/s   45 [J]
2
2 2
T2 
1
2
 m p  mc  v2 2  10kg+25kg  0.742m/s   9.63 [J]
1
2
2
T1  T2 45  9.63
The fraction of energy lost is   0.786
T1 45

DYNAMICS
13.4 Impact
•
▪ Impact
- Collision between two bodies which occurs during a small time interval and during which the bodies
exert large forces on each other.
▪ Line of impact
- Common normal to the surfaces in contact during impact
▪ Central impact
Direct central impact
- Impact for which the mass centers of the two bodies lie on the
line of impact; otherwise, it is an eccentric impact.
▪ Direct central impact

- Impact for which the velocities of the two bodies are directed along
the line of impact.
Oblique central impact

▪ Oblique central impact
- Impact for which one or both of the bodies move along a line other than the line of impact
DYNAMICS
13.4A Direct central impact

•
▪
- Bodies moving in the same straight line, v A  v B .
- Upon impact the bodies undergo a period of deformation,

(a) Before impact
at the end of which, they are in contact and moving at a
common velocity, u .
- A period of restitution follows during which the bodies either

regain their original shape or remain permanently deformed.
(b) At maximum deformation

- Wish to determine the final velocities of the two bodies. The
total momentum of the two body system is conserved. vA vB
(no impulsive, external force)
mA v A  mB v B  mA vA  mB vB
or mAvA  mB vB  mAvA  mB vB (c) After impact

DYNAMICS

•
▪ Coefficient of restitution
- To obtain the velocities vA and vB , it is necessary to establish 2nd relation between the scalars
vA and vB .
- During the period of deformation,

the principle of impulse and momentum :
mAvA   Pdt  mAu
- During the period of restitution,

the principle of impulse and momentum :
mAu   Rdt  mAvA
- A similar analysis of particle B yields.

DYNAMICS

•
▪ Definition
e
 Rdt u  v v  u
  A B
 Pdt v  uA u v B

 u  v    v  u  v  v
A B
 B A
where 0  e  1
v  u    u  v  v  v
A B A B
or
 vB  vA   e  vA  vB 
The relative velocity of the two particles after impact can be obtained by
multiplying their relative velocity before impact by the coefficient of restitution

DYNAMICS

•
▪ Perfectly plastic impact : e  0
- From
 vB  vA   e  vA  vB   0  vB  vA  v
There is no period of restitution and both particles stay together.
mAvA  mB vB   mA  mB  v
▪ Perfectly elastic impact : e  1
- From
 vB  vA   e  vA  vB   vB  vA  vA  vB
The impulse received by each particle during the period of deformation and during the period of
restitution.
 Rdt
e 1   Rdt   Pdt
 Pdt
DYNAMICS

•
- In the case of a perfectly elastic impact, the total mechanical energy of the two particles, as well as
their total momentum, is conserved.
From the conservation of total momentum, mA  vA  vA   mB  vB  vB  (See the slide 58)
From the relationship in the previous slide, vA  vA  vB  vB
Multiplying above two equations member by member,
mA  vA  vA  vA  vA   mB  vB  vB  vB  vB 
or mA vA2  mA vA2  mB vB 2  mB vB 2
1 1 1 1
 mA vA2  mB vB 2  mA vA 2  mB vB 2
2 2 2 2
- In the general case of impact, when e is not equal to 1, the total energy of the particles is not
conserved. The lost kinetic energy is in part transformed into heat and in part spent in generating
elastic waves within the two colliding bodies.
DYNAMICS

▪ A 20-Mg railroad car moving at a speed of 0.5 m/s to the right collides with a 35-Mg car which is at rest.
If after the collision the 35-Mg car is observed to move to the right at a speed 0.3 m/s, determine the
coefficient of restitution between the two cars.
Sol.) The total momentum of the two car is conserved.
v A  0.5m/s vB  0 vA vB  0.3m/s
20 Mg 35 Mg = 20 Mg 35 Mg
mA v A mB v B mA vA mB vB
mA v A  mB v B  mA vA  mB vB
 20 Mg  0.5 m/s   35 Mg  0.0 m/s    20 Mg  vA  35 Mg 0.3 m/s 

vB  vA 0.3  ( 0.025)
 vA  0.025 [m/s] and e   0.65
v A  vB 0.5  0
DYNAMICS
13.4B Oblique central impact vB

t
n
•
vA B
▪ vB
A
- The velocities of the two colliding particles are not directed along the
line of impact.
- Final velocities are unknown in magnitude and direction. vA

4 equations are required.
- No tangential impulse component. Thus, tangential component of momentum for each particle is
conserved.
 vA t   vA t and  vB t   vB t
mB vB
t t t
n n n
Ft
B
mB v B + F t B = mA vA B
A A A
mA v A
DYNAMICS
13.4B Oblique central impact

•
▪
- Normal component of total momentum of the two particles is conserved .
mA  vA n  mB  vB n  mA  vA n  mB  vB n
- Normal components of relative velocities before and after impact are related by the coefficient of
restitution.
 vB n   vA n  e  vA n   vB n 
mB vB
t t t
n n n
Ft
B
mB v B + F t B = mA vA B
A A A
mA v A

DYNAMICS

▪ A ball is thrown against a frictionless, vertical wall. Immediately before the
ball strikes the wall, its velocity has a magnitude v and forms an angle of
30 deg. with the horizontal. Knowing that e=0.90, determine the magnitude
and direction of the velocity of the ball as it rebounds from the wall.
Sol.) Resolve ball velocity into components parallel and perpendicular to wall.
vn  v cos30  0.866v and vt  v sin 30  0.500v
Component of ball momentum tangential to wall is conserved.
vt  vt  0.500v
Apply the coefficient of restitution relation with zero wall velocity.
0  vn  e  vn  0 or vn  0.9  0.866v   0.779v Since the mass of the wall
is essentially infinite,
expressing that the total
momentum of the ball & wall
 v   0.500    0.779  v  0.926v
2 2
32.7 is conserved would yield no
66 Prof. Jae-Sang Park
useful information.
Dept. of Aerospace Eng., Chungnam National Univ.
DYNAMICS

▪ The magnitude and direction of the velocities of two identical
frictionless balls before they strike each other are as shown.
Assuming e=0.9, determine the magnitude and direction of the
velocity of each ball after the impact.
Sol.) Resolve ball velocity into components normal and tangential to the contact plane.
 vA n  vA cos30  7.79 m/s and  vA t  vA sin 30  4.50 m/s

 vB n  vA cos 60  6 m/s and  vB t  vB sin 60  10.39 m/s
Tangential component of momentum for each ball is conserved.
 vA t   vA t  4.5m/s
 vB t   vB t  10.39 m/s

DYNAMICS

▪
Sol.) Total normal component of the momentum of the two ball system is conserved.
mA  vA n  mB  vB n  mA  vA n  mB  vB n
or m  7.79  m  6   m  vA n  m  vB n
  vA n   vB n  1.79 - (a)
The normal relative velocities of the balls are related by the

coefficient of restitution.
 vB n   vA n  e  vA n   vB n 

 0.90 7.79   6    12.41 - (b)
Through the simultaneous equations with Eqs. (a) and (b),
  vA n  5.31[m/s] and  vB n  7.1[m/s]

DYNAMICS

▪
Sol.) Adding vectorially the velocity components of each ball.
vA   vA n n   vA t t  5.31n  4.5t or  vA  6.96 [m/s] 40.3
vB   vB n n   vB t t  7.1n  10.39t or  vB  12.58 [m/s] 55.6
10.39 vB  12.58 [m/s]
vA  6.96 [m/s]

4.5 t
40.3 55.6
A B
7.1 n
5.31

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DYNAMICS

Vector Mechanics for Engineers

Professor Jae-Sang Park

Department of Aerospace Engineering,

Fall Semester, 2022

▪ Method of work and energy

▪ Method of impulse and momentum

2 Prof. Jae-Sang Park Dept. of Aerospace Eng., Chungnam National Univ.

13.1A Work of a force

where the differential vector dr is the displacement of particle.

13.1A Work of a force

- Work is represented by the area under the curve

4 Prof. Jae-Sang Park Dept. of Aerospace Eng., Chungnam National Univ.

13.1A Work of a force

 F cos  dx  x  F cos  dx   F cos   x2  x1 

▪ Work of the force of gravity

- Work of the weight is equal to product of weight W and

13.1A Work of a force

- The magnitude of the force exerted by a spring is

where k = spring constant [N/m] or [kN/m]

- Work of the force exerted by spring

- Work of the force exerted by spring is positive when x2  x1 ,

13.1A Work of a force

- Work of a gravitational force (assume particle M occupies

where M is the mass of the earth.

7 Prof. Jae-Sang Park Dept. of Aerospace Eng., Chungnam National Univ.

13.1B Principle of work and energy

13.1B Principle of work and energy

The work of the force F is equal to the change in kinetic

Principle of work and energy

9 Prof. Jae-Sang Park Dept. of Aerospace Eng., Chungnam National Univ.

13.1C Applications of the principle of work & energy

10 Prof. Jae-Sang Park Dept. of Aerospace Eng., Chungnam National Univ.

13.1C Applications of the principle of work & energy

- Velocity found without determining expression for acceleration and integrating.

- All quantities are scalars and can be added directly.

- Forces which do no work are eliminated from the problem.

- Calculating the tension in the cord requires supplementing

13.1C Applications of the principle of work & energy

• Sample problem 13.1

Determine the distance traveled by the automobile as it comes to a stop.

12 Prof. Jae-Sang Park Dept. of Aerospace Eng., Chungnam National Univ.

13.1C Applications of the principle of work & energy

• Sample problem 13.1 (continued)

W  mg  1000  9.81  9810 N

Through the principle of work and energy : T1  U12  T2 or 200000   4145 x   0

13.1C Applications of the principle of work & energy

• Sample problem 13.2

Draw the free body diagram for block A.

14 Prof. Jae-Sang Park 2m Dept. of Aerospace Eng., Chungnam National Univ.

13.1C Applications of the principle of work & energy

• Sample problem 13.2 (continued)

The work : U12  FC  2m   FA  2m   2FC  2FA  2FC  2  490

Through the principle of work and energy :

0   2FC  2  490   100v2 - (a)

15 Prof. Jae-Sang Park Dept. of Aerospace Eng., Chungnam National Univ.

13.1C Applications of the principle of work & energy

Draw the free body diagram for block B. WB

The principle of work and energy :

T1  U12  T2 or 0   2FC  2  2940  150v2 - (b)

Therefore, (a) + (b) : 4900  250 v 2  v  4.43[m/s]

13.1C Applications of the principle of work & energy

• Sample problem 13.3

Sol.) Apply the principle of work and energy.