Lecture 3 Particle Dynamics - Energy and Momentum

Dynamics (동역학)
Lecture 3: Particle Dynamics – Energy & Momentum
Dongjun Lee (이동준)

Department of Mechanical Engineering
Seoul National University
Dongjun Lee
Introduction
• Previously,
 the particle dynamics solved by the fundamental equation of

motion, F  m a . This chapter introduces two 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.
• can eliminate necessity of figuring out “internal” or “constraint” forces

• can solve for motion-related quantities without “integrating/solving” EoM
• typically only way to address “impact” with different restitutions
   t2  
 F  ma G
T1  U12  T2 mv1   F dt  mv2
t1
Dongjun Lee
1
Work of a Force

• Differential vector dr is the particle displacement.
• Work of the force is

 
dU  F  dr
 F ds cos
 Fxdx Fydy Fz dz
• Work is a scalar quantity, i.e., it has magnitude and

sign but not direction.
• Work is zero when there is no displacement along
the force even if force is non-zero (e.g., constraint
force).
• Dimensions of work are length  force. Units are

1 J  joule   1 N 1 m  1ft  lb  1.356 J
Dongjun Lee
Work of a Force
• Work of a force during a finite displacement,

A2 

U1 2   F  dr
A1
s2 s2
  F cos  ds   Ft ds
  s1 s1
v  vet A2
  Fx dx  Fy dy  Fz dz 
A1
• No work is done by the force orthogonal to

the motion (i.e., only tangential 𝐹 works, not
normal 𝐹 )
• Work is represented by the area under the

curve of Ft plotted against s.
Dongjun Lee
2
Work by Gravity
• Work of a constant force in rectilinear motion,
U12   F cos   x
• Work done by the force of gravity,

dU  Fx dx  Fy dy  Fz dz
 W dy
y2
U12    W dy
y1
 W  y 2  y1   W y
• Work by the gravity is equal to product of
weight W and vertical displacement y.
• Work by the gravity is positive when y < 0,

(i.e., move down: speeding-up by pumping
energy in); negative when Δ𝑦 > 0 (i.e., move
up: slow-down with extracting energy from)
Dongjun Lee
Work by Gravitational Force

Work of a gravitational force (assume particle M is at the
fixed position O while particle m follows path shown),
Mm
dU   Fdr  G 2 dr 𝑑𝜃?
r
r2
Mm Mm Mm
U12    G 2
dr  G G
r1 r r2 r1
𝑖𝑓 𝑟 > 𝑟 → 𝑈 → 𝑛𝑒𝑔𝑎𝑡𝑖𝑣𝑒 (𝑒𝑛𝑒𝑟𝑔𝑦 𝑒𝑥𝑡𝑟𝑎𝑐𝑡𝑒𝑑 𝑓𝑟𝑜𝑚 𝑚)
𝑖𝑓 𝑟 < 𝑟 → 𝑈 → 𝑝𝑜𝑠𝑖𝑡𝑖𝑣𝑒 (𝑒𝑛𝑒𝑟𝑔𝑦 𝑎𝑑𝑑𝑒𝑑 𝑜𝑛 𝑚)
• Gravitation is the attractive force existing between any two objects that
have mass.
• Gravity is the gravitational force that occurs between the earth and
other bodies.
Dongjun Lee
3
Work by Spring Force
• Magnitude of the force exerted by a linear spring
is proportional to the deflection,
F   kx
k  spring constant N/m or lb/in.
• Work done by the spring on A,
dU  F dx   kx dx
x2
U 1  2    kx dx  1
2
kx 12  1
2
kx 22
x1
• Work done by the spring to mass A is positive (i.e.,

speeding-up) when x2 < x1, i.e., spring returning to
its un-deformed position while speeding-up A.
• Work done by the spring is equal to negative of
area under curve of F plotted against x,
U12   12 F1  F2  x   12 k ( x22  x12 )
= negative of the spring potential increase.
Dongjun Lee
Work of a Force
Forces which do not do work (ds = 0 or cos   0:
• Work of the force is

 
dU  F  dr  F ds cos  Fxdx Fydy Fzdz
• reaction at frictionless surface when body in contact moves along surface,
• weight of a body when its center of gravity moves horizontally,
• reaction at frictionless pin supporting rotating body,
• reaction at a roller moving along its track with no-slip, etc.
Dongjun Lee
4
Principle of Work and Energy

• Consider a particle of mass m under the force F
dv dv ds dv
Ft  mat  m m  mv
dt ds dt ds
F t ds  mv dv (no work done by 𝐹 since 𝑑𝑟⃗ = 0)
• Integrating from A1 to A2 ,
s2 v2
2 2
 Ft ds  m  v dv  12 mv2  12 mv1
s1 v1
U12  T2  T1 T  12 mv 2  kinetic energy

 dv  v 2  𝑇 +𝑈 → =𝑇
a  et  en
dt 
work done by all the (effective) forces acting on m

• The work of the force F is equal to the change in
kinetic energy of particle (no other energy storages).
2
 m
• Units of work and kinetic energy are the same: T  12 mv 2  kg    kg 2 m  N  m  J
m
s  s 
Dongjun Lee
Applications of the Principle of Work and Energy

• Wish to determine velocity of pendulum bob
at A2. Consider work & kinetic energy.

• Cord tension P acts normal to the path and
does no work.
T1  U12  T2
1W 2
0  Wl  v2
2 g
v2  2 gl
• 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.
Dongjun Lee 13 - 10
5
Applications of the Principle of Work and Energy
• Principle of work and energy cannot be
applied to directly determine the acceleration
vector of the pendulum bob.
• Calculating the tension in the cord requires

supplementing the method of work and energy
with an application of Newton’s second law.
• As the bob passes through A2 ,
F n  m an
v22
P  mg  m
l
v2  2 gl
2 gl
P  mg  m  3W
 dv  v  2 l
a  et  en
dt 
Sample Problem 13.4

SOLUTION:
• Apply principle of work and energy to
determine velocity at point 2.
• Apply Newton’s second law to find
normal force by the track at point 2.
A 1000-kg car starts from rest at point
1 and moves without friction down the • Apply principle of work and energy to
track shown. determine velocity at point 3.
• Apply Newton’s second law to find
Determine:
minimum-possible radius of curvature at
a) the force exerted by the track on point 3 with always downward force W
the car at point 2, and and always upward track force N
(maximum downward normal force
b) the minimum safe value of the
limited by W with N  0).
radius of curvature (i.e.,
minimum-possible radius) at
point 3.
6
Sample Problem 13.4
SOLUTION:
• Apply principle of work and energy to determine
velocity at point 2.
T1  0 T2  12 mv22
U1 2  W 12 m   mg(12m)
1W 2
 dv  v 2  T1  U1 2  T2 : 0  W 12 m   v2
a  et  en 2 g
dt 

v22  212g  224 m  9.81 m s 2  v2  15.34 m s
• Apply Newton’s second law to find normal force by

the track at point 2.
   Fn  m an :
mv22 24 g
 W  N  m an  m  4mg  4W
 6
N  5W N  49.05 kN
Sample Problem 13.4

• Apply principle of work and energy to determine
velocity at point 3.
1 2
T1  U13  T3 0  mg 7.5 m   mv3
2

v32  15 g  15 m  9.81 m s
2
 v3  12.13 m s
2
 dv  v 
a  et  en • Apply Newton’s second law to find minimum-possible
dt  radius of curvature at point 3 such that a positive
(upward) normal force is exerted by the track.
   Fn  m an :
v32
mg  N  m , N 0

v32 15 g v2
min    subj. to mg  N  m 3 , N  0
g g 
  15 m
7
Power and Efficiency
• Power  rate at which work is done.
 
dU F  dr
 
dt dt
 
 F v
• Dimensions of power are work/time or force  velocity.

Units for power are
J m ft  lb
1 W (watt)  1  1 N  or 1 hp  550  746 W
s s s
•   efficiency
output wor k

input work gear-shaft 𝜂=
power output

power input
Dongjun Lee
Sample Problem 13.5

SOLUTION:
+ Force exerted by the motor
cable has same direction as
the dumbwaiter velocity.
Power delivered by motor is
equal to FvD, vD = 2.5 m/s.
−𝑣 = 𝑣 = −2𝑣
−𝑎 = 𝑎 = −2𝑎
The dumbwaiter D and its load have a • In the first case, bodies are in uniform
combined weight of 300 kg, while the motion. Determine force exerted by
counterweight C weighs 400 kg. motor cable from conditions for static
equilibrium.
Determine the power delivered by the
electric motor M when the dumbwaiter (a) • In the second case, both bodies are
is moving up at a constant speed of accelerating. Apply Newton’s
2.5 m/s and (b) has an instantaneous second law (dynamic equilibrium)
velocity of 2.5 m/s and an acceleration of to each body to determine the
1 m/s2, both directed upwards. required motor cable force.
Dongjun Lee
8
Sample Problem 13.5
• In the first case, bodies are in uniform motion.
Determine force exerted by motor cable from
conditions for static equilibrium.
Free-body C:
   Fy  0 : 2T  400 g  0 T  200 g  1962 N
Free-body D:
   Fy  0 : F  T  300 g  0
F  300 g  T  300 g  200 g  100 g  981 N
Power  FvD  981 N 2.5 m/s

 2450W
Sample Problem 13.5

• In the second case, both bodies are accelerating. Apply
Newton’s second law to each body to determine the required
motor cable force.
aD  1 m s 2  aC   12 aD  0.5 m s 2 
Free-body C: 400  2T  4000.5

   Fy  mC aC : (400)(9.81)  400(0.5)
T  1862 N
2
Free-body D:
   Fy  m D a D : F  T  300  3001
F  1862  3009.81  300 F  1381N
Power  FvD  1381 N 2.5 m s   3452W
Power  3450W
9
Potential Energy

• Work of the force of gravity W,
U12  mg y1  mg y2
• Work is independent of path followed; depends

only on the initial and final values of y.
V g  Wy
 potential energy of the body with respect
to force of gravity.
U12  Vg 1  Vg 2
𝑇 +𝑈 → =𝑇
• Choice of datum from which the elevation y is
measured is arbitrary.
• Units of work and potential energy are the same:

V g  Wy  N  m  J
Gravitation Potential Energy

• 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,

GMm GMm
U12    Vg ,1  Vg , 2
r2 r1
• Potential energy Vg when the variation in the

force of gravity can not be neglected,
GMm WR 2
Vg   
r r
10
Spring Potential Energy
• Work of the force exerted by a spring depends
only on the initial and final deflections of the
spring,
U12  12 kx12  12 kx22
• The potential energy of the body with respect

to the elastic force,
Ve  12 kx 2
U12  Ve 1  Ve 2
• Note that the preceding expression for Ve is

valid only if the deflection of the spring is
measured from its undeformed position.
Dongjun Lee
Conservative Forces
• Conservative force: total work done between two
points independent of the path taken:
U12  V  x1 , y1 , z1   V  x2 , y 2 , z 2 
- Conservative force defines potential energy*
- Potential energy produces conservative force
* This is in fact the famous Poincare’s lemma.
• For any conservative force applied on a closed path,

 
 F  dr  0
• Work corresponding to displacement between two
neighboring points,
dU  Fx dx  Fy dy  Fz dz
 V x, y, z   V x  dx, y  dy, z  dz 
 V V V 
  dV  x, y, z    dx  dy  dz 
 x y z 
  V V V 
F   ; ;   gradV
 x y z 
Dongjun Lee
11
Energy Conservation
• Particle moving under a force:
U1 2  T2  T1
• If this force is a conservative force:

U1 2  V1  V2
• Combining these  energy conservation

T1  V1  T2  V2
E  T  V  constant
T1  0 V1  W
• When a particle moves under conservative
T1  V1  W
forces, total mechanical energy is constant.
1W
T2  12 mv22  2 g   W V2  0 • Friction forces are not conservative. Total
2g mechanical energy of a system involving
T2  V2  W friction decreases.
• Mechanical energy is dissipated by friction

into thermal energy. Total energy is constant.
Dongjun Lee
Sample Problem 13.1
SOLUTION:
• Evaluate the change in kinetic energy.
• Determine the distance required for the
work to equal the kinetic energy change.
An automobile weighing 1000 kg is

driven down a 5o 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.
Dongjun Lee
12
Sample Problem 13.1
SOLUTION:
• Evaluate the change in kinetic energy.
 km  1000 m  1h 
v1   72     20 m s
 h  1km  3600 s 
T1  12 mv12  1
2 1000kg 20m/s 2  20,000 j
v2  0 T2  0
• Determine the distance required for the work
to equal the kinetic energy change.
 
U12  5000 x  1000 kg  9.81m/s 2 sin 5x
 4145 x
T1  U12  T2
200,000  4145x  0
x  48.25 m
Dongjun Lee
Sample Problem 13.2

Fc SOLUTION:
• Apply the principle of work and
energy separately to blocks A and B.
• When the two relations are combined,

the work of the cable forces cancel.
Solve for the velocity.
Two blocks are joined by an inextensible

cable as shown. If the system is released
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 mk = 0.25 and that the
pulley is weightless and frictionless.
Dongjun Lee
13
Sample Problem 13.2
SOLUTION:
• Apply the principle of work and energy separately
to blocks A and B.
 
W A  200 kg  9.81 m s 2  1962 N
FA  m k N A  m kW A  0.251962 N   490 N
T1  U12  T2 :
0  FC 2 m   FA 2 m   12 m Av 2
FC 2 m   490 N 2 m   12 200 kg v 2
 
WB  300 kg  9.81 m s 2  2940 N
T1  U12  T2 :
0  Fc 2 m   WB 2 m   12 m B v 2
 Fc 2 m   2940 N 2 m   12 300 kg v 2

Dongjun Lee
Sample Problem 13.2

• When the two relations are combined, the work of the
cable forces cancel. Solve for the velocity.
FC 2 m   490 N 2 m   12 200 kg v 2
 Fc 2 m   2940 N 2 m   12 300 kg v 2
2940 N 2 m   490 N 2 m   12 200 kg  300 kg v 2

4900 J  12 500 kg v 2
• Energy conservation: v  4.43 m s

0  FC 2 m   FA 2 m   m Av
1
2
2
0  Fc 2 m   mB g 2 m   12 mB v 2
 12 m A 0 2  12 mB 02  mB g 2 m   FA 2 m   12 m Av 2  12 mB v 2
Dongjun Lee
14
Sample Problem 13.3
SOLUTION:
• Apply the principle of work and energy
between the initial position and the
point at which the spring is fully
compressed and the velocity is zero.
A spring is used to stop a 60 kg package The only unknown in the relation is the
which is sliding on a horizontal surface. friction coefficient.
The spring has a constant k = 20 kN/m
and is held by cables so that it is initially • Apply the principle of work and energy
compressed 120 mm. The package has a for the rebound of the package. The
velocity of 2.5 m/s in the position shown only unknown in the relation is the
and the maximum deflection of the spring velocity at the final position.
is 40 mm.
Determine (a) the coefficient of kinetic
friction between the package and surface
and (b) the velocity of the package as it
passes again through the position shown.
Dongjun Lee
Sample Problem 13.3

SOLUTION:
• Apply principle of work and energy between initial
position and the point at which spring is fully compressed.
T1  12 mv12  12 60 kg 2.5 m s 2  187.5 J T2  0
U12  f   m kW x
 
  m k 60 kg  9.81m s 2 0.640 m   377 J m k
Pmin  kx0  20 kN m 0.120 m   2400 N

Pmax  k  x0  x   20 kN m 0.160 m   3200 N
U12 e   12 Pmin  Pmax x
  12 2400 N  3200 N 0.040 m   112.0 J
U1 2  U1 2  f  U1 2 e  377 J m k  112 J
T1  U1 2  T2 :
187.5 J - 377 J m k  112 J  0 m k  0.20
Dongjun Lee
15
Sample Problem 13.3
• Apply the principle of work and energy for the rebound
of the package.
T2  0 T 3 12 mv32  12 60kg v32
U 23  U 23  f  U 23 e  377 J m k  112 J

 36.5 J
T2  U 23  T3 :
0  36.5 J  12 60 kg v32
v3  1.103 m s
• Energy conservation:
E12 : 12 mv12  m k mg (0.6  0.04)  12 K (0.12) 2  12 K (0.16) 2

E23 : 12 K (0.16) 2  m k mg (0.6  0.04)  12 mv32  12 K (0.12) 2
U1 2  U1 2  f  U12 e  377 J m k  112 J

U 23  U 23  f  U 23 e  377 J m k  112 J
Dongjun Lee
Sample Problem 13.6
SOLUTION:
• Apply the principle of conservation of
energy between positions 1 and 2.
• The elastic and gravitational potential
energies at 1 and 2 are evaluated from
the given information. The initial kinetic
energy is zero.
A 1.5-kg collar slides without friction • Solve for the kinetic energy and velocity
along a circular rod in horizontal plane. at 2.
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 its velocity (a)
as it passes through B and C.
Dongjun Lee
16
Sample Problem 13.6
SOLUTION:
• Apply the principle of conservation of energy between
positions 1 and 2.
Position 1: LAD  LO  175mm  250mm  150mm 
 275mm  0.275mm
V A  12 k LAD   400N/m 0.275m 2
2 1
2
V A  15.125J
Position 2: TB  12 mvB  
2  1.5  2
 
kg  vB  0.75 vB2  
 2 

LBD  300 2 mm  1252 mm 
1/ 2
 325 mm
BD  LBD  325mm  150m   175 mm  0.175 m
1
VB 12  k ( BD ) 2  400N/m0.175m 2
2
 6.125 j
Conservation of Energy: TA  VA  TB  VB  0  15.125  0.75vB2  6.125

 15.125  6.125 
vB2     12.00m 2 /s 2
 0.75  vB  3.46 m s
Dongjun Lee
Sample Problem 13.7

SOLUTION:
• Since the pellet must 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 D.
energy between points A and D. Solve
The 250-g pellet is pushed against the for the spring deflection required to
spring and released from rest at A. produce the required velocity and
Neglecting friction, determine the kinetic energy at D.
smallest deflection of the spring for
which the pellet will travel around the
loop and remain in contact with the
loop at all times.
Dongjun Lee
17
Sample Problem 13.7
SOLUTION:
• Setting the force exerted by the loop to zero, solve for the
minimum velocity at D.
   Fn  man :
W  N  man mg  N  m vD2 r , N  0
v 2
D , min  rg  0.5 m 9.81 m s   4.905 m 2 s 2
• Apply the principle of conservation of energy between
points A and D.
V1  Ve  Vg  12 kx 2  0  1
2 600 N m x 2  300 x 2
T1  0

V2  Ve  Vg  0  mgy  0.25 kg  9.81 m s 2 1 m   2.45 j
T2  12 mvD2 
1
2
 
 0.25kg  4.905 m 2 s 2  0.613 j
T1  V1  T2  V2
0  300 x 2  2.45 j  0.613 j
x  0.101m  101 mm
Dongjun Lee
Motion Under a Conservative Central Force

d 2u GM • When a particle moves under a conservative and
u  2 central force, both angular momentum conservation
d 2 h
and total energy conservation are satisfied:
r0 mv0 sin 0  rmv sin 
T0  V0  T  V
GMm 1 2 GMm
1
2 mv02   2 mv 
r0 r
• Given r, we can directly/analytically obtain v and 𝜙.
• At minimum and maximum r, 𝜙 = 90𝑜. Given the

launch conditions, we can also directly/analytically
obtain (rmin, vmax), and (rmax, vmin).
1 GM
 2  C cos 
r h
Dongjun Lee
18
Sample Problem 13.9
SOLUTION:
• For motion under a conservative central
force, the principles of conservation of
energy and conservation of angular
momentum may be applied simultaneously.
• Apply the principles to the points of
minimum and maximum altitude to
A satellite is launched in a direction
determine the maximum altitude.
parallel to the surface of the earth
with a velocity of 36900 km/h from • Apply the principles to the orbit insertion
an altitude of 500 km. point and the point of minimum altitude to
determine maximum allowable orbit
Determine (a) the maximum altitude
insertion angle error.
reached by the satellite, and (b) the
maximum allowable error in the
direction of launching if the satellite
is to come no closer than 200 km to
the surface of the earth
Dongjun Lee
Sample Problem 13.9

• Apply the principles of conservation of energy and
conservation of angular momentum to the points of minimum
and maximum altitude to determine the maximum altitude.
Conservation of energy:
1 mv 2 GMm 1 2 GMm
TA  VA  TA  VA 2 0   2 mv1 
r0 r1
Conservation of angular momentum:
r
r0 mv0  r1mv1 v1  v0 0
r1
Combining,
 2
1 v 2 1  r0   GM 1  r0  r 2GM
2 0 2   1 0 
 r1  r0  r1  r1 r0v02
r0  6370 km  500 km  6870 km
v0  36900 km h  10.25  106 m s
  2
GM  gR 2  9.81m s 2 6.37  106 m  398  1012 m3 s 2
r1  60.4  106 m  60400 km

Dongjun Lee
19
Sample Problem 13.9
• Apply the principles to the orbit insertion point and the point
of minimum altitude to determine maximum allowable orbit
insertion angle error.
Conservation of energy:
1 mv 2 GMm 1 2 GMm
T0  V0  TA  VA 2 0   2 mvmax 
r0 rmin
Conservation of angular momentum:
r0
r0 mv0 sin 0  rmin mvmax vmax  v0 sin 0
rmin
Combining and solving for sin j0,
sin 0  0.9801
j 0  90  11.5 allowable error  11.5
 
m r  r 2   Fr   F mr  2r    F  0
1 GM
 2  C cos 
r h
Dongjun Lee
Principle of Impulse and Momentum

• From Newton’s second law,
 d  
F  mv  mv  linear momentum
dt
 
Fdt  d mv 
t2   
 Fdt  mv2  mv1
t1
t2
• Dimensions of the impulse of  
a force are  Fdt  Imp
t1
1 2  impulse of the force F
𝑓𝑜𝑟𝑐𝑒 × 𝑡𝑖𝑚𝑒.  
mv1  Imp12  mv2
• Units for the impulse of a
force are
 
N  s  kg  m s 2  s  kg  m s
• The final momentum of the particle can be
obtained by adding vectorially its initial
momentum and the impulse of the force during
the time interval.
20
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.
Dongjun Lee
Sample Problem 13.10
SOLUTION:
• Apply the principle of impulse and
momentum. The impulse is equal to the
product of the constant forces and the
time interval.
An automobile weighing 1800 kg is

driven down a 5o incline at a speed of
100 km/h when the brakes are applied,
causing a constant total braking force of
7000 N.
Determine the time required for the
automobile to come to a stop.
t
 2  
mv1   Fdt  mv2
t1
Dongjun Lee
21
SOLUTION:
momentum.
 
mv1   Imp 12  mv2
Taking components parallel to the

incline,
mv1  mg sin 5t  Ft  0

1000m 3600s
100km/h  100    27.78m
1km 1h
1800kg 27.78 m/s   17660 sin 5 N t  7000 N t  0
t  9.16 s
Dongjun Lee

t
 2  
mv1   Fdt  mv2
SOLUTION:
t1

momentum in terms of horizontal and
vertical component equations.
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 s, determine the
average impulsive force exerted on the
ball during the impact.
22
SOLUTION:
• Apply the principle of impulse and momentum in
terms of horizontal and vertical component equations.
 
mv1  Imp1 2  mv2
x component equation:
 mv1  Fx t  mv2 cos 40

 0.12kg 24m/s   Fx 0.015s   0.12kg 36m/s  cos 40
Fx  412.6 N
y component equation:
y 0  Fy t  mv2 sin 40
Fy 0.015  0.12kg 36m/s sin 40
x
Fy  185.1 N
F  452 N

SOLUTION:
momentum to the package-cart system
to determine the final velocity.
• Apply the same principle to the package
alone to determine the impulse exerted
on it from the change in its momentum.
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, and (c) the fraction of the
initial energy lost in the impact.
23
SOLUTION:
• Apply the principle of impulse and momentum to the package-cart system to determine
the final velocity.
t
 2  
m p v1   Fint dt  m p v2 t
 2  
t1  m p v1   Rdt  (m p  mc )v2
t
 2    t1
mc vo   ( Fint  R) dt  mc v2
t1
x components:  
m p v1 cos 30  0  m p  mc v2
10 kg 3 m/s cos 30  10 kg  25 kg v2 v2  0.742 m/s
Dongjun Lee

• Apply the same principle to the package alone to determine the impulse exerted on it from
the change in its momentum.
t
 2  
m p v1   Fint dt  m p v2
t1
x components: m p v1 cos 30  Fx t  m p v2

10 kg 3 m/s cos 30  Fx t  10 kg v2 Fx t  18.56 N  s
y components:  m p v1 sin 30  Fy t  0

 10 kg 3 m/s sin 30  Fy t  0 Fy t  15 N  s
  
 Imp12  Ft   18.56 N  s i  15 N  s  j Ft  23.9 N  s
Dongjun Lee
24
To determine the fraction of energy lost,
T1  12 m p v12  10 kg 3 m s 2  45 J

1
2
T2  12 m p  mc v22  12 10 kg  25 kg 0.742 m s   9.63 J

2
T1  T2 45 J  9.63 J
  0.786
T1 45 J
• Internal force doesn’t change total system momentum (only external force)
• Energy can be dissipated via impact (here, perfectly plastic impact assumed)
Concept Quiz 1
Car A and B crash into

one another. Looking
only at the impact, which
of the following
statements are true?
The total mechanical energy is the
same before and after the impact True False
If car A weighs twice as much as car B,

the force A exerts on car B is bigger True False
than the force B exerts on car A.
The total linear momentum is the same

immediately before and after the impact True False
© 2019 McGraw-Hill Education.
25
Concept Quiz 2
Car A and B crash into

one another. Looking
only at the impact, which
of the following
statements are true?
The total mechanical energy is the
same before and after the impact True False
If car A weighs twice as much as car B,

the force A exerts on car B is bigger True False
than the force B exerts on car A.
The total linear momentum is the same

immediately before and after the impact True False
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
Central Direct Impact in contact during impact.
• 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 Impact: Impact for which the velocities of

Central Oblique Impact the two bodies are along the line of impact.
• Oblique Impact: Impact for which one or both of

the bodies move along a line other than the line of
impact (with no friction).
• Central impact with no friction  rigid body with
impact can be modeled by a particle with impact
Dongjun Lee
26
Central Direct Impact
• Bodies moving in the same straight line,
vA > vB .
• Upon impact the bodies undergo a
period of deformation, at the end of which,
they are in contact and moving at a
common velocity.
• A period of restitution follows during
which the bodies either regain their
original shape or remain permanently
deformed.
• Wish to determine the final velocities of the
two bodies. The total momentum of the
two body system is preserved,
m Av A  m B v B  m B vB  mB vB
• Another relation between the final
velocities is required.
Dongjun Lee
Central Direct Impact
e  coefficient of restitution
• Period of deformation: m Av A   Pdt  m Au

 Rdt  u  vA
 Pdt v A  u
0  e 1
• Period of restitution: m Au   Rdt  m A vA
vB  u
• A similar analysis of particle B yields e
u  vB
• Adding these relations leads to the desired vB  vA  ev A  vB 

second relation between the final velocities. not depends on m A , mB !
• Perfectly plastic impact, e = 0: vB  v A  v m Av A  m B v B  m A  m B v
• Perfectly elastic impact, e = 1: vB  v A  v A  v B

Total energy is also conserved (why?).
27
Central Oblique Impact
• Final velocities are

unknown in magnitude
and direction. Four
equations are required.
• No tangential impulse component v A t  vA t v B t  vB t

(e.g., frictionless balls); tangential
component of momentum for each
particle is conserved.
• Normal component of total m A v A n  m B v B n  m A v A n  m B v B n
momentum of the two particles is
conserved.
• Normal components of relative v B n  vA n  ev A n  v B n 
velocities before and after impact
are related by the coefficient of
restitution.
• Block constrained to move along horizontal

surface.
 
• Impulses from internal forces F and  F
along the n axis and from external force Fext
exerted by horizontal surface directed along
the vertical to the surface.
• Final velocity of ball unknown in direction and

magnitude and unknown final block velocity
magnitude. Three equations required.
Dongjun Lee
28
• Tangential momentum of ball is v B t  vB t

conserved (w/ no friction).
• Total horizontal momentum of block m A v A   m B v B  x  m A v A   m B v B  x
and ball conserved (w/ internal force).
• Normal component of relative vB n  vA n  ev A n  v B n 
velocities of block and ball are related
by coefficient of restitution.
• The last expression does not directly follow from the previous derivation of
the restitution coefficient as the cart motion is now constrained (the same
answer though).
∫ 𝑅𝑑𝑡 ∫ 𝑅𝑑𝑡 𝑐𝑜𝑠𝜃
𝑒= =
∫ 𝑃𝑑𝑡 ∫ 𝑃𝑑𝑡 𝑐𝑜𝑠𝜃
Dongjun Lee
block in horizontal direction ball in normal direction
𝑚 𝑣 − ∫ 𝑃𝑑𝑡 𝑐𝑜𝑠𝜃 = 𝑚 𝑢 𝑚 𝑣 + ∫ 𝑃𝑑𝑡 = 𝑚 𝑢 , 𝑢 = 𝑢𝑐𝑜𝑠𝜃

𝑚 𝑢 − ∫ 𝑅𝑑𝑡 𝑐𝑜𝑠𝜃 = 𝑚 𝑣 𝑚 𝑢 + ∫ 𝑅𝑑𝑡 = 𝑚 (𝑣 )
∫ 𝑅𝑑𝑡 𝑣 −𝑢 ∫ 𝑅𝑑𝑡 𝑐𝑜𝑠𝜃 𝑢 − 𝑣 𝑢 − 𝑣

𝑒= = = = =
∫ 𝑃𝑑𝑡 𝑢 − 𝑣 ∫ 𝑃𝑑𝑡 𝑐𝑜𝑠𝜃 𝑣 − 𝑢 (𝑣 )_𝑛 − 𝑢_𝑛
𝑣 − 𝑣
𝑒=
𝑣 − 𝑣
Dongjun Lee
29
Problems Involving Energy and Momentum
• Three methods for the analysis of kinetics problems:
- Direct application of Newton’s second law
- Method of work and energy
- Method of impulse and momentum
• Select the method best suited for the problem or part of a problem under
consideration.
Dongjun Lee

SOLUTION:
• Resolve ball velocity into components
normal and tangential to wall.
• Impulse exerted by the wall is normal
to the wall. Component of ball
momentum tangential to wall is
conserved.
• Assume that the wall has infinite mass
A ball is thrown against a frictionless,
so that wall velocity before and after
vertical wall. Immediately before the
impact is zero. Apply coefficient of
ball strikes the wall, its velocity has a
restitution relation to find change in
magnitude v and forms angle of 30o
normal relative velocity between wall
with the horizontal. Knowing that
and ball, i.e., the normal ball velocity.
e = 0.90, determine the magnitude and
direction of the velocity of the ball as
it rebounds from the wall. (unknowns:
2)
30
SOLUTION:
• Resolve ball velocity into components parallel and
perpendicular to wall.
vn  v cos 30  0.866v vt  v sin 30  0.500v
• Component of ball momentum tangential to wall is conserved.

vt  vt  0.500v
t
• Apply coefficient of restitution relation with zero wall velocity.
n
0  vn  evn  0 
vn  0.90.866v   0.779v
  
v   0.779v n  0.500v t
 0.779 
v  0.926v tan 1   32.7
 0.500 

SOLUTION:
• Resolve the ball velocities into components
normal and tangential to the contact plane.
• Tangential component of momentum for

each ball is conserved (2 eqs).
The magnitude and direction of the • Total normal component of the momentum
velocities of two identical of the two ball system is conserved (1 eq).
frictionless balls before they strike
each other are as shown. Assuming • The normal relative velocities of the
e = 0.9, determine the magnitude balls are related by the coefficient of
and direction of the velocity of each restitution (1eq).
ball after the impact. (unknowns: 4)
• Solve the last two equations simultaneously
for the normal velocities of the balls after
the impact.
31
SOLUTION:
• Resolve the ball velocities into components normal and
tangential to the contact plane.
v A n  v A cos 30  7.79 m s v A t  v A sin 30  4.5 m s
vB n  vB cos 60  6 m s vB t  vB sin 60  10.39 m s
• Tangential component of momentum for each ball is

conserved.
vA t  v A t  4.5 m s vB t  vB t  10.39 m s
• Total normal component of the momentum of the two
ball system is conserved.
mA v A n  mB vB n  m A vA n  mB vB n
m7.79  m 6   mvA n  mvB n
vA n  vB n  1.79

• The normal relative velocities of the balls are related by the
coefficient of restitution.
vA n  vB n  ev A n  vB n 
 0.907.79   6   12.41
• Solve the last two equations simultaneously for the normal
velocities of the balls after the impact.
vA n  5.31 m s vB n  7.1 m s
  
v A  5.31t  4.5n
n  4.5 
vA  7.1 m s tan 1    40.3
 5.31 
  
vB  7.1t  10.39n
 10.39 
t vB  12.58 m s tan 1    55.6
 7.1 
32
SOLUTION:
• Determine orientation of impact line of
action.
• The momentum component of ball A
tangential to the contact plane is
conserved.
• The total horizontal momentum of the
two ball system is conserved.
Ball B is hanging from an inextensible
• The relative velocities along the line of
cord. An identical ball A is released
action before and after the impact are
from rest when it is just touching the
related by the coefficient of restitution.
cord and acquires a velocity v0 before
striking ball B. Assuming perfectly • Solve the last two expressions for the
elastic impact (e = 1) and no friction, velocity of ball A along the line of action
determine the velocity of each ball and the velocity of ball B which is
immediately after impact. (unknowns: 3) horizontal.
Dongjun Lee

SOLUTION:
• Determine orientation of impact line of action.
r
sin    0.5
2r • The momentum component of ball A
  30 tangential to the contact plane is
conserved.

 
mv A  Ft  mv A
mv0 sin 30  0  mvA t
vA t  0.5v0
• The total horizontal (x component)

momentum of the two ball system is
conserved.
   
mv A  Tt  mv A  mvB
0  mvA t cos 30  mvA n sin 30  mvB
0  0.5v0  cos 30  vA n sin 30  vB
0.5vA n  vB  0.433v0
33
• The relative velocities along the line of action before
and after the impact are related by the coefficient of
restitution.
vB n  vA n  ev A n  vB n 
vB sin 30  vA n  v0 cos 30  0
0.5vB  vA n  0.866v0
• Solve the last two expressions for the velocity of ball

A along the line of action and the velocity of ball B
which is horizontal.
vA n  0.520v0 vB  0.693v0
  
v A  0.5v0t  0.520v0n
  tan 1
0.52 
vA  0.721v0   46.1
 0.5 
  46.1  30  16.1
vB  0.693v0 
• Energy conservation can also be used instead of coefficient of restitution, since

the impact here is assumed to be perfectly elastic (no energy dissipation).
Dongjun Lee

SOLUTION:
energy to determine the velocity of the
block at the instant of impact.
• Since the impact is perfectly plastic, the
block and pan move together at the same
velocity after impact. Determine that
velocity from the requirement that the
total momentum of the block and pan is
A 30-kg block is dropped from a height conserved.
of 2 m onto the 10 kg-pan of a spring
scale. Assuming the impact to be
energy to determine the maximum
perfectly plastic, determine the
deflection of the spring.
maximum deflection of the pan. The
constant of the spring is k = 20 kN/m.
34
SOLUTION:
• Apply principle of conservation of energy to
determine velocity of the block at instant of impact.
T1  0 V1  WA y  309.812   588 J
T2  12 m A v A 22  12 30v A 22 V2  0
T1  V1  T2  V2
0  588 J  12 30v A 22  0 v A 2  6.26 m s
• Determine velocity after impact from requirement that

total momentum of the block and pan is conserved.
m A v A 2  mB vB 2  m A  mB v3
306.26  0  30  10v3 v3  4.70 m s

• Apply the principle of conservation of energy to
determine the maximum deflection of the spring.
T3  1
2 mA  mB v32  12 30  104.7 2  442 J
V3  Vg  Ve  0  12 kx32  1
2 20 10 4.9110 
3 3 2
T4  0
V4  Vg  Ve  WA  WB  h   12 kx42
Initial spring deflection due to

T3  V3  T4  V4
pan weight:
W 109.81  4.91  103 m

  
442  0.241  0  392 x4  4.91 103  12 20  103 x42 
x3  B  x4  0.230 m
k 20  103
h  x4  x3  0.230 m  4.91  103 m h  0.225 m
may also directly start from the equilibrium

while neglecting initial deformation of spring
35
Group Problem Solving 13
Strategy:
• This is a multiple step problem.
Formulate your overall approach.
A 2-kg block A is pushed up against a • Use work-energy to find the velocity

spring compressing it a distance x= 0.1 m. of the block just before impact.
The block is then released from rest and • Use conservation of momentum to
slides down the 20º incline until it strikes a determine the speed of ball B after
1-kg sphere B, which is suspended from a the impact.
1 m inextensible rope. The spring constant
• Use work energy to find the
is k=800 N/m, the coefficient of friction
velocity at α.
between A and the ground is 0.2, the
distance A slides from the unstretched • Use Newton’s 2nd Law to
length of the spring d = 1.5 m, and the find tension in the rope.
coefficient of restitution between A and B
is 0.8. When α = 40o, find (a) the speed of  dv  v 2 
a  et  en
B (b) the tension in the rope. dt 
Concept Question 1
Compare the following statement to the problem you just solved.

If the coefficient of restitution is
smaller than the 0.8 in the
problem, the tension T will be…
Smaller Bigger
If the rope length is smaller than

the 1 m in the problem, the tension
If the mass of A is smaller
T will be…
than the 2 kg given in the
Smaller Bigger problem, the tension T will
If the coefficient of friction is be…
Smaller Bigger
smaller than 0.2 given in the
problem, the tension T will be…  dv  v 2 
a  et  en
dt 
Smaller Bigger
36
Concept Question 2
Compare the following statement to the problem you just solved.

If the coefficient of restitution is
smaller than the 0.8 in the
problem, the tension T will be…
Smaller Bigger
If the rope length is smaller than

the 1 m in the problem, the tension
If the mass of A is smaller
T will be…
than the 2 kg given in the
Smaller Bigger problem, the tension T will
If the coefficient of friction is be…
Smaller Bigger
smaller than 0.2 given in the
problem, the tension T will be…  dv  v 2 
a  et  en
dt 
Smaller Bigger
37

Lecture 3 Particle Dynamics - Energy and Momentum

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Lecture 3 Particle Dynamics - Energy and Momentum

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Dynamics (동역학)

Lecture 3: Particle Dynamics – Energy & Momentum

Dongjun Lee (이동준)

• Method of impulse and momentum: directly

• can eliminate necessity of figuring out “internal” or “constraint” forces

• Work of the force is

• Work is a scalar quantity, i.e., it has magnitude and

• Dimensions of work are length  force. Units are

• Work of a force during a finite displacement,

• No work is done by the force orthogonal to

• Work is represented by the area under the

• Work done by the force of gravity,

• Work by the gravity is positive when y < 0,

Work by Gravitational Force

𝑖𝑓 𝑟 > 𝑟 → 𝑈 → 𝑛𝑒𝑔𝑎𝑡𝑖𝑣𝑒 (𝑒𝑛𝑒𝑟𝑔𝑦 𝑒𝑥𝑡𝑟𝑎𝑐𝑡𝑒𝑑 𝑓𝑟𝑜𝑚 𝑚)

𝑖𝑓 𝑟 < 𝑟 → 𝑈 → 𝑝𝑜𝑠𝑖𝑡𝑖𝑣𝑒 (𝑒𝑛𝑒𝑟𝑔𝑦 𝑎𝑑𝑑𝑒𝑑 𝑜𝑛 𝑚)

• Work done by the spring to mass A is positive (i.e.,

• Work of the force is

• reaction at a roller moving along its track with no-slip, etc.

U12  T2  T1 T  12 mv 2  kinetic energy

Applications of the Principle of Work and Energy

• All quantities are scalars and can be added

• Forces which do no work are eliminated from

• Calculating the tension in the cord requires

• As the bob passes through A2 ,

Sample Problem 13.4

• Apply Newton’s second law to find normal force by

Sample Problem 13.4

• Dimensions of power are work/time or force  velocity.

Sample Problem 13.5

Power  FvD  981 N 2.5 m/s

Sample Problem 13.5

Free-body C: 400  2T  4000.5

Power  FvD  1381 N 2.5 m s   3452W

• Work is independent of path followed; depends

• Units of work and potential energy are the same:

Gravitation Potential Energy

• For a space vehicle, the variation of the force of

• Work of a gravitational force,

• Potential energy Vg when the variation in the

• The potential energy of the body with respect

• Note that the preceding expression for Ve is

• For any conservative force applied on a closed path,

• If this force is a conservative force:

• Combining these  energy conservation

• Mechanical energy is dissipated by friction

Sample Problem 13.1

An automobile weighing 1000 kg is

Sample Problem 13.2

• When the two relations are combined,

Two blocks are joined by an inextensible

FC 2 m   490 N 2 m   12 200 kg v 2

 Fc 2 m   2940 N 2 m   12 300 kg v 2

Sample Problem 13.2

 Fc 2 m   2940 N 2 m   12 300 kg v 2

2940 N 2 m   490 N 2 m   12 200 kg  300 kg v 2

• Energy conservation: v  4.43 m s

Sample Problem 13.3

Pmin  kx0  20 kN m 0.120 m   2400 N

U1 2  U1 2  f  U1 2 e  377 J m k  112 J

T2  0 T 3 12 mv32  12 60kg v32

U 23  U 23  f  U 23 e  377 J m k  112 J

E12 : 12 mv12  m k mg (0.6  0.04)  12 K (0.12) 2  12 K (0.16) 2

U1 2  U1 2  f  U12 e  377 J m k  112 J