Kinetics of Rigid Body

Impulse and Momentum Method

Dr. Mohammad Ilias Inam

Professor
Department of Mechanical Engineering & Technology

Khulna University of Engineering & Technology

Linear Momentum: ⃗
𝑳=𝒎 ⃗
𝒗𝑮 For particle and rigid body.

Angular Momentum:
⃗ ⃗ ×𝒎 ⃗
𝑯 𝑷 =𝒓 𝒗 For particle.
 +¿ ¿
Principle of linear impulse and momentum. 𝒕𝟐

𝒕𝟐
𝒎 ( 𝒗 𝑮𝒙 )𝟏 + ∑∫ 𝑭 𝒙 𝒅𝒕 =𝒎 ( 𝒗 𝑮𝒙 )𝟐
𝒕𝟏
𝒗 𝑮 )𝟏+ ∑ ∫ ⃗
𝒎 (⃗ 𝑭 𝒅𝒕 =𝒎 ( ⃗
𝒗 𝑮 )𝟐
𝒕𝟏 𝒕𝟐

𝒎 ( 𝒗 𝑮𝒚 )𝟏 + ∑∫ 𝑭 𝒚 𝒅𝒕 =𝒎 ( 𝒗 𝑮 𝒚 )𝟐
This is a Vector Equation. 𝒕𝟏

( Linear
moment um ) (
𝟏
+ Linear
Impulse ) (
(𝟏 →𝟐 )
= Linear
moment um )
𝟐
This is also true for system of rigid body.
 +¿ ¿
Principle of angular impulse and momentum.
𝒕𝟐

(⃗
𝑯 𝑷 ) 𝟏 + ∑∫ ⃗
𝑴 𝑷 𝒅𝒕 =( ⃗
𝑯 𝑷 )𝟐 ⃗
𝑯 𝑷= 𝑰 𝑮 ⃗ ⃗ ×( 𝒎 ⃗
𝝎 +𝒓 𝒗𝑮 )
𝒕𝟏 is position vector of G from P.

( A ngular
moment um ) (
𝑷𝟏
+ A ngular
Impulse ) (
𝑷 (𝟏 → 𝟐)
= A ngular
moment um ) 𝑷𝟐
This is also true for system of rigid body.
 ⃗
𝑯 𝑷= 𝑰 𝑮 ⃗ ⃗ ×( 𝒎 ⃗
𝝎 +𝒓 𝒗𝑮 )
Here P is any arbitrary point.

𝒕𝟐 is position vector of G from P.

(⃗
𝑯 𝑷 ) 𝟏 + ∑∫ ⃗
𝑴 𝑷 𝒅𝒕 =( ⃗
𝑯 𝑷 )𝟐
𝒕𝟏

If point P coincide G with P then .

Than:
⃗
𝑯 𝑮 =𝑰 𝑮 ⃗
𝝎
𝒕𝟐

𝑰 𝑮 𝝎 𝟏+ ∑∫ 𝑴 𝑮 𝒅𝒕= 𝑰 𝑮 𝝎 𝟐
𝒕𝟏

If point P is IC than .

Than: ⃗
𝑯 𝑰𝑪 =𝑰 𝑰𝑪 ⃗
𝝎
𝒕𝟐

𝑰 𝑰𝑪 𝝎𝟏 + ∑∫ 𝑴 𝑰𝑪 𝒅𝒕=𝑰 𝑰𝑪 𝝎 𝟐
𝒕𝟏
Important to know about

⃗
𝑯 𝑷= 𝑰 𝑮 ⃗ ⃗ ×( 𝒎 ⃗
𝝎 +𝒓 𝒗𝑮 )
For rigid body (2D) (⃗
𝑯 𝑷 ) 𝒊=𝒓⃗ × 𝒎𝒊 ⃗
𝒗 𝒊 ⃗
𝒗 𝒊= ⃗
𝒗 𝑷 +⃗
𝝎 × 𝒓⃗

𝒊 𝒙 𝒊 + 𝒚 𝒋 × [ ( 𝒗 𝑷 ) 𝒙 𝒊+ ( 𝒗 𝑷 ) 𝒚 𝒋 +𝝎 𝒌 × 𝒙 𝒊+ 𝒚 𝒋 ]
^
( 𝑯 𝑷 )𝒊 𝒌=𝒎 ( ^ ^) ^ ^ ^ ( ^ ^)

( 𝑯 𝑷 )𝒊 =−𝒎𝒊 𝒚 ( 𝒗 𝑷 ) 𝒙 +𝒎𝒊 𝒙 ( 𝒗 𝑷 ) 𝒚 + 𝒎𝒊 𝝎 𝒓 𝟐

𝒎𝒊 → 𝒅𝒎

(∫ )( ) (∫ ) ( ) (∫ )
❑ ❑ ❑
𝟐
𝑯 𝑷 =− 𝒚𝒅𝒎 𝒗 𝑷 𝒙 + 𝒙 𝒅𝒎 𝒗 𝑷 𝒚 + 𝒓 𝒅𝒎 𝝎
𝒎 𝒎 𝒎

+ 𝑯 𝑷 =[ − 𝒚 𝒎 ( 𝒗 𝑮 ) 𝒙 + 𝒙 ( 𝒗 𝑮 ) 𝒙 ] + 𝑰 𝑮 𝝎

⃗
𝑯 𝑷= 𝑰 𝑮 ⃗ ⃗ ×( 𝒎 ⃗
𝝎 +𝒓 𝒗𝑮 )

 This equation is only valid for 2D.

When P is G, than  Direction of is always perpendicular to the

𝑯 𝑮 =𝑰 𝑮 𝝎 plane of rotation.
Remember: ⃗
𝑳=𝒎 ⃗
𝒗𝑮

𝑯 𝑮 =𝑰 𝑮 𝝎

⃗
𝑯 𝑷= 𝑰 𝑮 ⃗ ⃗ ×( 𝒎 ⃗
𝝎 +𝒓 𝒗𝑮 )

+ 𝑯 𝑷= 𝑰 𝑮 𝝎 +[ − 𝒚 𝒎 ( 𝒗 𝑮) 𝒙 + 𝒙 ( 𝒗 𝑮) 𝒙 ]

+ 𝑯 𝑷 = 𝑰 𝑮 𝝎 + Angular moment of ( 𝒎 ⃗
𝒗 𝑮 ) respect to Point P .

𝑯 𝑰𝑪 =𝑰 𝑰𝑪 𝝎
Translation

𝑳=𝒎 𝒗 𝑮

𝑯 𝑮 =𝟎
𝑯 𝑷≠𝟎
⃗ ⃗ ×( 𝒎 ⃗
𝑯 𝑷 =𝒓 𝒗𝑮 )
Rotation about fixed axis

𝑳=𝒎 𝒗 𝑮

⃗
𝑯 𝑷 =𝑰 𝑮 ⃗ ⃗ ×( 𝒎 ⃗
𝝎 +𝒓 𝒗𝑮 )

𝑯 𝑮 =𝑰 𝑮 𝝎 ⃗ =𝟎
𝒓
𝑯 𝑶 =𝑰 𝑶 𝝎 Since,
General plane motion

𝑳=𝒎 𝒗 𝑮

⃗
𝑯 𝑷 =𝑰 𝑮 ⃗ ⃗ ×( 𝒎 ⃗
𝝎 +𝒓 𝒗𝑮 )

+ 𝑯 𝑨= 𝑰 𝑮 𝝎 + 𝒅 × ( 𝒎 𝒗 𝑮 )

𝑯 𝑮 =𝑰 𝑮 𝝎 ⃗ =𝟎
𝒓
𝑯 𝑰𝑪 =𝑰 𝑰𝑪 𝝎 Since,
 Principle of Linear
Impulse and Momentum
+¿ ¿
⃗ 𝒅
∑ 𝑭=𝒎 𝒂𝑮= 𝒅𝒕 ( 𝒎 ⃗𝒗𝑮 )
⃗

𝒕𝟐

∑∫ ⃗
𝑭 𝒅𝒕 =𝒎 ( ⃗
𝒗 𝑮 )𝟐 − 𝒎 ( ⃗
𝒗 𝑮 )𝟏 𝒕𝟐
𝒕𝟏

 is known as impulse.
𝒎 ( 𝒗 𝑮𝒙 )𝟏 + ∑∫ 𝑭 𝒙 𝒅𝒕 =𝒎 ( 𝒗 𝑮𝒙 )𝟐
𝒕𝟏
 When large force acting for short time
than force is know as impulsive force.

𝒕𝟐
( Linear
moment um ) (𝒙𝟏
+ Linear
Impulse ) 𝒙 (𝟏 → 𝟐)
(
= Linear
moment um ) 𝒙𝟐

𝒗 𝑮 )𝟏+ ∑ ∫ ⃗
𝒎 (⃗ 𝑭 𝒅𝒕 =𝒎 ( ⃗
𝒗 𝑮 )𝟐 𝒕𝟐

𝒕𝟏 𝒎 ( 𝒗 𝑮𝒚 )𝟏 + ∑∫ 𝑭 𝒚 𝒅𝒕 =𝒎 ( 𝒗 𝑮 𝒚 )𝟐
𝒕𝟏

( Linear
moment um ) (
+ Linear
Impulse ) (
= Linear
moment um )
𝟏 (𝟏 →𝟐 ) 𝟐
( Linear
moment um ) (
𝒚𝟏
+ Linear
Impulse ) 𝒚 (𝟏 →𝟐)
(
= Linear
moment um ) 𝒚𝟐
Principle of linear impulse and momentum.
Principle of Linear Impulse and Momentum is also valid for
system of rigid bodies:

( Syst . Linear
∑ momen tum ) (
𝒙𝟏
+ Syst . Linear
∑ impulse ) 𝒙 (𝟏 →𝟐)
= ( Syst . Linear
∑ momen tum ) 𝒙𝟐

( Syst . Linear
∑ momen tum ) (
𝒚𝟏
+ Syst . Linear
∑ momen tum ) =
𝒚 (𝟏→ 𝟐)
( Syst . Linear
∑ momen tum ) 𝒚𝟐
 Principle of Angular
Impulse and Momentum
+¿ ¿
𝒅
∑ 𝑴 𝑮 = 𝑰 𝑮 𝜶= 𝒅𝒕
( 𝑰𝑮𝝎)

𝒕𝟐
Similarly for rotating about fixed axis since:
∑∫ 𝑴 𝑮 𝒅𝒕=𝑰 𝑮 𝝎 𝟐 − 𝑰 𝑮 𝝎 𝟏= ( 𝑯 𝑮 )𝟐 − ( 𝑯 𝑮 ) 𝟏
𝒕𝟏

𝒕𝟐

( 𝑯 𝑮 )𝟏 + ∑∫ 𝑴 𝑮 𝒅𝒕 =( 𝑯 𝑮 )𝟐
∑ 𝑴𝑶 =𝑰 𝑶 𝜶
𝒕𝟐
𝒕𝟏
⃗
𝑯 𝑷= 𝑰 𝑮 ⃗ ⃗ ×( 𝒎 ⃗
𝝎 +𝒓 𝒗𝑮 ) ∑∫ 𝑴 𝑶 𝒅𝒕= 𝑰 𝑶 𝝎 𝟐 − 𝑰 𝑶 𝝎 𝟏=( 𝑯 𝑶 )𝟐 − ( 𝑯 𝑶 )𝟏
𝒕𝟐 𝒕𝟏 𝒕𝟐
𝑰 𝑮 𝝎 𝟏+ ∑∫ 𝑴 𝑮 𝒅𝒕 = 𝑰 𝑮 𝝎 𝟐 ( 𝑯 𝑶 )𝟏+ ∑ ∫ 𝑴 𝑶 𝒅𝒕 =( 𝑯 𝑶 ) 𝟐
𝒕𝟏 𝒕𝟏
𝒕𝟐
Principle of angular impulse and momentum 𝑰 𝑶 𝝎 𝟏 + ∑∫ 𝑴 𝑶 𝒅𝒕= 𝑰 𝑶 𝝎 𝟐
about G and fixed point O. 𝒕𝟏
 Question is:
Does principle of angular impulse is true for any other point?

Means can we write?

𝒕𝟐

( 𝑯 𝑷 )𝟏 + ∑∫ 𝑴 𝑷 𝒅𝒕 =( 𝑯 𝑷 )𝟐
𝒕𝟏
 ⃗ ⃗
∑ 𝑴 𝑷 =∑ ( 𝑴 𝒌) 𝑷
⃗
∑ 𝑴 𝑷=𝒓⃗ ×𝒎 ⃗𝒂𝑮 +𝑰 𝑮 ⃗𝜶 +¿ ¿
⃗ 𝒅 𝒅
∑ 𝑴 𝑷=𝒓 × 𝒅𝒕 ( 𝒎 𝒗𝑮 ) + 𝒅𝒕 ( 𝑰 𝑮 ⃗𝝎 )
⃗ ⃗

𝒕𝟐

∑∫ ⃗ 𝒓 ×[𝒎 ( ⃗
𝑴 𝑷 𝒅𝒕=⃗ 𝒗 𝑮 ) 𝟏 ]+ [ 𝑰 𝑮 ⃗
𝒗 𝑮 )𝟐 −𝒎 ( ⃗ 𝝎𝟏 ]
𝝎𝟐 − 𝑰 𝑮 ⃗
𝒕𝟏

𝒕𝟐
⃗
∑∫ ⃗
𝑴 𝑷 𝒅𝒕=[ 𝒓
⃗ ×𝒎 ( ⃗ 𝝎𝟐 ] − [ 𝒓
𝒗 𝑮 )𝟐 + 𝑰 𝑮 ⃗ ⃗ ×𝒎 ( ⃗ 𝝎𝟏 ]
𝒗 𝑮 )𝟏 + 𝑰 𝑮 ⃗ 𝑯 𝑷= 𝑰 𝑮 ⃗ ⃗ ×( 𝒎 ⃗
𝝎 +𝒓 𝒗𝑮 )
𝒕𝟏

𝒕𝟐

𝑴 𝑷 𝒅𝒕 =( ⃗
∑∫ ⃗ 𝑯 𝑷 )𝟐 − ( ⃗
𝑯 𝑷 )𝟏
𝒕𝟏

𝒕𝟐
Principle of angular impulse and momentum
(⃗
𝑯 𝑷 ) 𝟏 + ∑∫ ⃗
𝑴 𝑷 𝒅𝒕 =( ⃗
𝑯 𝑷 )𝟐 about any arbitrary point P.
𝒕𝟏
 +¿ ¿

Finally remember: Both equations is also valid for system of

rigid bodies:
𝒕𝟐

𝒗 𝑮 )𝟏+ ∑ ∫ ⃗
𝒎 (⃗ 𝑭 𝒅𝒕 =𝒎 ( ⃗
𝒗 𝑮 )𝟐
𝒕𝟏

⃗
𝑯 𝑷= 𝑰 𝑮 ⃗ ⃗ ×( 𝒎 ⃗
𝝎 +𝒓 𝒗𝑮 )
𝒕𝟐

(⃗
𝑯 𝑷 ) 𝟏 + ∑∫ ⃗
𝑴 𝑷 𝒅𝒕 =( ⃗
𝑯 𝑷 )𝟐
𝒕𝟏
 𝒗 𝑮 )𝟏+ ∑ ∫ ⃗
𝒎 (⃗
𝒕𝟐

𝑭 𝒅𝒕 =𝒎 ( ⃗
𝒕𝟏
𝒗 𝑮 )𝟐 +¿ ¿
About point P:
𝒕𝟐

(⃗
𝑯 𝑷 ) 𝟏 + ∑∫ ⃗
𝑴 𝑷 𝒅𝒕 =( ⃗
𝑯 𝑷 )𝟐
𝒕𝟏
⃗
𝑯 𝑷= 𝑰 𝑮 ⃗ ⃗ ×( 𝒎 ⃗
𝝎 +𝒓 𝒗𝑮 ) About rotating point O:
𝒕𝟐

𝑰 𝑶 𝝎 𝟏 + ∑∫ 𝑴 𝑶 𝒅𝒕= 𝑰 𝑶 𝝎 𝟐
𝒕𝟏
⃗ 𝝎+ ⃗
𝑯 𝑶 =𝑰 𝑮 ⃗ 𝒓 × (𝒎 ⃗
𝒗 𝑮)
About point G: About rotating point IC:
𝒕𝟐 𝒕𝟐 ⃗
𝑯 𝑶 =𝑰 𝑶 ⃗
𝝎
𝑰 𝑮 𝝎 𝟏+ ∑∫ 𝑴 𝑮 𝒅𝒕 = 𝑰 𝑮 𝝎 𝟐 𝑰 𝑰𝑪 𝝎𝟏 + ∑∫ 𝑴 𝑰𝑪 𝒅𝒕=𝑰 𝑰𝑪 𝝎 𝟐
𝒕𝟏 𝒕𝟏
⃗
𝑯 𝑮 =𝑰 𝑮 ⃗
𝝎 ⃗ 𝝎 +⃗
𝑯 𝑰𝑪 =𝑰 𝑮 ⃗ 𝒓 × (𝒎 ⃗
𝒗 𝑮)
⃗
𝑯 𝑰𝑪 =𝑰 𝑰𝑪 ⃗
𝝎
 𝒕𝟐

𝒎 ( 𝒗 𝑮𝒙 )𝟏 + ∑∫ 𝑭 𝒙 𝒅𝒕 =𝒎 ( 𝒗 𝑮𝒙 )𝟐
𝒕𝟏
𝒕𝟐

𝒎 ( 𝒗 𝑮𝒚 )𝟏 + ∑∫ 𝑭 𝒚 𝒅𝒕 =𝒎 ( 𝒗 𝑮 𝒚 )𝟐
𝒕𝟏

𝒕𝟐 𝒕𝟐
(⃗
𝑯 𝑷 ) 𝟏 + ∑∫ ⃗
𝑴 𝑷 𝒅𝒕 =( ⃗
𝑯 𝑷 )𝟐 Or, 𝑰 𝑮 𝝎 𝟏+ ∑∫ 𝑴 𝑮 𝒅𝒕 = 𝑰 𝑮 𝝎 𝟐
𝒕𝟏 𝒕𝟏

( Syst . Linear
∑ momentum ) ( 𝒙𝟏
+) Syst . Linear
∑ impulse
𝒙 (𝟏 →𝟐)
= ( Syst . Linear
∑ momentum ) 𝒙𝟐

( momentum ) (∑ impulse )
∑ Syst . Linear + Syst . Linear
𝒚𝟏 𝒚 (𝟏→ 𝟐)
= ( momentum )
∑ Syst . Linear
𝒚𝟐

( Syst . angular
∑ momentum ) ( 𝑷𝟏
+ Syst . angular
∑ impulse ) 𝑷 (𝟏 →𝟐 )
= ( Syst . angular
∑ momentum )
𝑷𝟐
 ⃗ ×( 𝒎 ⃗
𝑯 𝑷= 𝑰 𝑮 𝝎 +𝒓 𝒗𝑮 )

+ 𝑯 𝑮 = 𝑰 𝑮 𝝎 =𝟑 .𝟖𝟓 𝒌𝒈 . 𝒎/ 𝒔 𝟐
𝟐
𝝎= 𝒗 𝑮 =𝝎 𝒓 𝑮/ 𝑰𝑪 =𝟏 . 𝟏𝟓𝟓 𝒎/ 𝒔
𝟒 cos 𝟑𝟎 °

𝟐
+ 𝑯 𝑰𝑪 =𝑰 𝑮 𝝎 +𝒓 𝑮/ 𝑰𝑪 × ( 𝒎 𝒗 𝑮 ) =𝟏𝟓 . 𝟒 𝒌𝒈 . 𝒎/ 𝒔

𝟐
+ 𝑯 𝑰𝑪 =𝑰 𝑰𝑪 𝝎=𝟏𝟓 . 𝟒 𝒌𝒈 .𝒎/ 𝒔
 𝐖𝐭
𝟓𝟎 𝐭

+¿ ¿
𝑰 𝑮 𝝎𝟏 𝑰 𝑮 𝝎𝟐
𝑮 𝑮 𝑮
𝒎 ( 𝒗 𝑮 )𝟏=𝟎 𝒎 ( 𝒗 𝑮 )𝟐

𝑭𝐭
𝑭 𝒌 𝐭 =𝝁 𝒌 𝐍 𝐭

𝑵
 𝐖𝐭
𝟓𝟎 𝐭

+¿ ¿
𝑰 𝑮 𝝎𝟏 𝑰 𝑮 𝝎𝟐
𝑮 𝑮 𝑮
𝒎 ( 𝒗 𝑮 )𝟏=𝟎 𝒎 ( 𝒗 𝑮 )𝟐
𝑨 𝑨 𝑨
𝑭𝐭 𝒕𝟐
𝑭 𝒌 𝐭 =𝝁 𝒌 𝐍 𝐭
𝒎 ( 𝒗 𝑮𝒙 )𝟏 + ∑∫ 𝑭 𝒙 𝒅𝒕 =𝒎 ( 𝒗 𝑮𝒙 )𝟐
𝒕𝟏

𝑵𝒕

+¿
𝒕𝟐 𝒕𝟐
𝒎 ( 𝒗 𝑮𝒚 )𝟏 + ∑∫ 𝑭 𝒚 𝒅𝒕 =𝒎 ( 𝒗 𝑮 𝒚 )𝟐
𝒕𝟏
¿( 𝑯 ) + ∑∫ 𝑴 𝑨 𝒅𝒕 =( 𝑯 𝑨 )𝟐
𝑨 𝟏
𝒕𝟏
𝟎+ 𝑵𝒕 −𝑾𝒕 =𝟎
𝟎+ [ 𝟓𝟎 𝒕 × 𝟏 −𝝁𝒌 𝐍𝐭 ×𝟎 . 𝟓 ] = 𝑰 𝑮 𝝎 𝟐 +𝒎 ( 𝒗 𝑮 )𝟐 × 𝟎 .𝟓
𝑵 =𝑾
( 𝒗 𝑮 )𝟐=𝟎 .𝟓 × 𝝎 𝟐
𝒕𝟐 𝝎 𝟐 =𝟓𝟑.𝟓𝟎𝒓𝒂𝒅 / 𝒔
𝒎 ( 𝒗 𝑮𝒙 )𝟏 + ∑∫ 𝑭 𝒙 𝒅𝒕 =𝒎 ( 𝒗 𝑮𝒙 )𝟐 Since not slipping at
+¿ 𝒕𝟏

𝟎+ 𝑭𝒕 − 𝝁𝒌 𝐍𝐭 −𝟓𝟎 𝒕 =𝒎 ( 𝒗 𝑮𝒙 )𝟐
( 𝒗 𝑮 )𝟐=𝟐𝟔 .𝟖 𝒎/ 𝒔 point A.
 𝟏𝟓×𝟗.𝟖𝟏𝒕
𝑰 𝑶 𝝎 𝟏 =𝟎
𝑰 𝑶 𝝎𝟐

+¿ ¿
𝑶 𝑶𝒙 𝒕
𝑶
𝑶𝒚 𝒕
𝑭𝒕
𝑨 𝒎 𝑨 ( 𝒗 )𝟏=𝟎
𝑨 𝒎 𝑨 ( 𝒗 )𝟐
𝟒𝟎× 𝟗.𝟖𝟏𝒕
 𝟏𝟓×𝟗.𝟖𝟏𝒕
𝑰 𝑶 𝝎 𝟏 =𝟎
𝑰 𝑶 𝝎𝟐

+¿ ¿
𝑶 𝑶𝒙 𝒕
𝑶
𝑶𝒚 𝒕
𝑭𝒕
𝑨 𝒎 𝑨 ( 𝒗 )𝟏=𝟎
𝑨 𝒎 𝑨 ( 𝒗 )𝟐
𝟒𝟎× 𝟗.𝟖𝟏𝒕
𝒕𝟐

¿( 𝑯 ) + ∑ ∫ 𝑴 𝑶 𝒅𝒕 =( 𝑯 𝑶 ) 𝟐
𝑶 𝟏
𝒕𝟏
( 𝑯 𝑶 )𝟏=𝟎

( 𝑯 𝑶 )𝟐=𝑰 𝑶 𝝎𝟐 +𝒎 𝑨 ( 𝒗 )𝟐 ×𝟎 . 𝟐 ( 𝒗 )𝟐=𝟎 . 𝟐 𝝎 𝟐
𝝎 𝟐 =𝟏𝟐𝟎. 𝟒 𝒓𝒂𝒅 /𝒔
( 𝒗 )𝟐=𝟎 . 𝟐 𝝎 𝟐=𝟐𝟒 .𝟏 𝒎/ 𝒔 𝒕𝟐

∑∫ 𝑴 𝑶 𝒅𝒕= ( 𝟒𝟎 ×𝟗 .𝟖𝟏 𝒕 ) × 𝟎 .𝟐
𝒕𝟏
 +¿
𝒕𝟐

𝑰 𝑶 𝝎𝟐 𝒎 ( 𝒗 𝑮𝒚 )𝟏 + ∑∫ 𝑭 𝒚 𝒅𝒕 =𝒎 ( 𝒗 𝑮 𝒚 )𝟐
𝒕𝟏
𝟎+ 𝑵 𝑨 × 𝟒 −𝟑𝟎 ×𝟒=𝟎
𝒎 ( 𝒗 𝑮 )𝟐 𝑵 𝑨 =𝟑𝟎 𝑰𝒃

𝒕𝟐

𝒕𝟐
¿( 𝑯 ) + ∑∫ 𝑴 𝑨 𝒅𝒕 =( 𝑯 𝑨 )𝟐
𝑨 𝟏
𝒕𝟏

𝒎 ( 𝒗 𝑮𝒙 )𝟏 + ∑∫ 𝑭 𝒙 𝒅𝒕 =𝒎 ( 𝒗 𝑮𝒙 )𝟐
+¿
𝟎+ (𝟓 × 𝟒 ) ×𝟎 . 𝟔= 𝑰 𝑶 𝝎 𝟐 +𝒎 ( 𝒗 𝑮 ) 𝟐 ×𝟎 . 𝟗
𝒕𝟏

𝟎 − 𝑭 𝑨 × 𝟒+𝟓 × 𝟒=𝒎 ( 𝒗 𝑮𝒙 )𝟐 𝝎 𝟐 =𝟏𝟐.𝟕 𝒓𝒂𝒅 / 𝒔

( 𝒗 𝑮 )𝟐=𝟎 .𝟗 × 𝝎 𝟐
𝑭 𝑨 =𝟐 .𝟑𝟑 𝑰𝒃
𝟑𝟎×𝟗.𝟖𝟏𝒕 𝑰 𝑶 𝝎𝟐
𝒎 ( 𝒗 𝑮 )𝟐
𝑷𝒕

𝑵𝒕
𝟑𝟎×𝟗.𝟖𝟏𝒕 𝑰 𝑶 𝝎𝟐
𝒎 ( 𝒗 𝑮 )𝟐
𝑷𝒕

𝑵𝒕
𝒕𝟐

¿( 𝑯 ) + ∑∫ 𝑴 𝑨 𝒅𝒕 =( 𝑯 𝑨 )𝟐
𝑨 𝟏
𝒕𝟏
𝟒
𝟎+∫ [ 𝑷𝒕 ×𝟎 . 𝟏𝟓 ] 𝒅𝒕 = 𝑰 𝑶 𝝎 𝟐+ 𝒎 ( 𝒗 𝑮 )𝟐 ×𝟎 . 𝟓
𝟎

𝝎 𝟐 =𝟐𝟏. 𝟎𝒓𝒂𝒅 / 𝒔
( 𝒗 𝑮 )𝟐=𝟎 .𝟏𝟓 × 𝝎 𝟐
𝑷 =𝟐𝟎𝒕
Conservation of Momentum ( )(
Syst . Linear + Syst . Linear
∑ momentum ∑ impulse
𝟏
)
(𝟏→ 𝟐)
(= ∑ Syst . Linear
momen tum )
𝟐

If the sum of all the linear impulses acting on a system of

connected rigid bodies is zero in a specific direction, then
the linear momentum of the system is constant, or
conserved in this direction, that is,
 This equation may be applicable

( ) ( )
Syst . Linear = Syst . Linear where the linear impulses are small or
∑ moment ∑ moment nonimpulsive.
𝟏 𝟐  Specifically, nonimpulsive forces
occur when small forces act over very
This equation is referred to as the conservation of linear short periods of time.
momentum.  Typical examples include the force of
a slightly deformed spring, the initial
contact force with soft ground, and in
some cases the weight of the body.
Conservation of Angular Momentum
( moment )
∑ Syst . angular
𝑷𝟏
+ ( impulse )
∑ Syst . angular =
𝑷 (𝟏 →𝟐 )
( moment )
∑ Syst . angular
𝑷𝟐

The angular momentum of a system of connected rigid

bodies is conserved about the system’s center of mass G,
or a fixed point O or any other point P, when the sum of
all the angular impulses about these points is zero or
appreciably small (nonimpulsive). The above equation
then becomes
( moment )
∑ Syst . angular
𝑷𝟏
= ( moment )
∑ Syst . angular
𝑷𝟐

This equation is referred to as the conservation of

angular momentum.
¿ ( 𝑯 𝑶 )𝟏=( 𝑯 𝑶 )𝟐 Due to the impulsive force neglected impulse of weight
( 𝒗 𝑩 )𝟐 =𝟎 .𝟕𝟓 𝝎 𝟐
𝒎 𝑩 ( 𝒗 𝑩 )𝟏 csc 𝟑𝟎 ° ×𝟎 . 𝟕𝟓=𝑰 𝑮 𝝎 𝟐+ 𝒎𝒈 ( 𝒗 𝑮 ) 𝟐 ×𝟎 . 𝟓+𝒎 𝑩 ( 𝒗 𝑩 )𝟐 × 𝟎 .𝟕 𝟓 ( 𝒗 𝑮 )𝟐=𝟎 .𝟓 𝝎𝟐

𝝎 𝟐 =𝟎 .𝟔𝟐𝟑 𝒓𝒂𝒅/ 𝒔
Eccentric Impact Assume impact point is C and D of object B and A,
respectively.

( 𝒗 𝑫 )𝟐 − ( 𝒗 𝑪 ) 𝟐 ( 𝒗 𝑪 )𝟐 − ( 𝒗 𝑫 )𝟐
𝒆= =
( 𝑪 )𝟏 ( 𝑫 ) 𝟏 ( 𝒗 𝑫 )𝟏 − ( 𝒗 𝑪 )𝟏
𝒗 − 𝒗

 Where 2 and 1 represents after impact and before impact,

respectively.
𝑫
 All velocity component should be measure along the line
of impact.

 Such as means velocity component of point C of rigid

body A along the line of impact before impact.
 𝑨𝒚 𝒕
𝑰 𝑮 𝝎𝟏 𝑨𝒙 𝒕 𝑰 𝑮 𝝎𝟐

+¿ ¿
𝒎𝑨 ( 𝒗 𝑩)𝟏 𝒎𝑨 ( 𝒗 𝑩)𝟐

𝒎𝑹( 𝒗 𝑮)𝟏 𝒎𝑮 ( 𝒗 𝑮 ) 𝟐
𝟐𝒕
𝟏𝟎 𝒕 𝒆=
( 𝒗 𝑮 )𝟐 − ( 𝒗 𝑩 )𝟐
( 𝒗 𝑮 )𝟏 − ( 𝒗 𝑩 )𝟏
¿ ( 𝑯 𝑨 )𝟏= ( 𝑯 𝑨 )𝟐 Due to the impulsive force; impulse of weight is neglected
𝟏 . 𝟓 𝝎 𝟐 − ( 𝒗 𝑩 )𝟐
𝟎 . 𝟒=
𝒎 𝑩 ( 𝒗 𝑩 )𝟏 ×𝟏 . 𝟓= 𝑰 𝑮 𝝎 𝟐+𝒎 𝑹 ( 𝒗 𝑮 )𝟐 × 𝟏 .𝟓+𝒎 𝑩 ( 𝒗 𝑩 )𝟐 ×𝟏 .𝟓 𝟑𝟎 − 𝟏
( 𝒗 𝑮 )𝟐=𝟏. 𝟓 𝝎 𝟐 𝟏𝟐=𝟏 . 𝟓 𝝎 𝟐 − ( 𝒗 𝑩 ) 𝟐
𝟐 . 𝟕𝟗𝟓=𝟎 . 𝟎𝟗𝟑𝟏𝟕 ( 𝒗 𝑩 ) 𝟐+ 𝟎. 𝟗𝟑𝟏𝟕 𝝎 𝟐

𝝎 𝟐 =𝟑 .𝟔𝟓𝒓𝒂𝒅 / 𝒔
 A 2-kg sphere with an initial velocity of 5 m/s strikes the lower end of an 8 kg rod AB. The
rod is hinged at A and initially at rest. The coefficient of restitution between the rod and
sphere is 0.8.
Determine the angular velocity of the rod and the velocity of the sphere immediately after
impact.

𝒗 ′ 𝑩− 𝒗 ′ 𝒔
𝒆=
𝒗 𝑩− 𝒗 𝒔

′
𝟏. 𝟐𝝎 − 𝒗 ′𝒔
𝟎 . 𝟖=
¿( 𝑯 𝑨 )𝟏= ( 𝑯 𝑨 )𝟐 𝟓− 𝟎

′
𝒎 𝒔 ( 𝒗 𝒔 )𝟏 ×𝟏 . 𝟐=𝑰 𝝎 + 𝒎𝑹 𝒗 ′ 𝑹 × 𝟎 .𝟔 +𝒎𝒔 𝒗 ′ 𝒔 ×𝟏 . 𝟐
𝒗 ′ 𝑹=𝟎. 𝟔 𝝎 ′
′
𝟏𝟐=𝟐 . 𝟒 𝒗 ′ 𝒔 +𝟑 . 𝟖𝟒 𝝎
′
𝝎 =𝟑 .𝟐𝟏𝒓𝒂𝒅 / 𝒔
𝒗 ′ 𝒔 =−𝟎. 𝟏𝟒𝟑𝒎/ 𝒔 𝒗 ′ 𝒔 =𝟎. 𝟏𝟒𝟑𝒎/ 𝒔 ←
A 0.05-N bullet is fired into the side of a 20-N square panel which is initially at rest.
Determine a) the angular velocity of the panel immediately after the bullet becomes
embedded and b) the impulsive reaction at A, assuming that the bullet becomes
embedded in 0.0006 s.

x components:
mB vB  Ax  t  m p v2
 0.05   20 
¿( 𝑯 𝑨 )𝟏= ( 𝑯 𝑨 )𝟐 
 10 
 1500  Ax 0.0006   3.50
   
 10 
mB vB 14 m   0  m P v2 9 m   I P2 Ax  833.3 N Ax  833.3 N
y components:
2  0.39 rad s 0  Ay  t  0 Ay  0