Dynamics of Rigid Bodies
dv
F ma m dt
t2 v2
Fdt m dv
t1 v1
Principle of Linear
t2
Impulse and Momentum Fdt mv 2 mv1
t1
Linear Momentum, L If each of the vectors in the
L = mv equation is resolved into its
x, y, z components
Linear Impulse, I
Principle of Linear Impulse
and Momentum t
2
mv1 Fdt mv 2
t1
When the sum of the
external impulses acting on a
system of particles is zero,
Free-Body Diagram. Momentum Equations.
• Establish the x, y, Z inertial frame of reference and • Apply the principle of linear impulse and
draw the free body diagram for each particle of the momentum or the conservation of linear
system in order to identify the internal and external momentum in the appropriate directions.
forces.
• If it is necessary to determine the internal
• The conservation of linear momentum applies to the impulse 𝑡𝑑 𝐹 acting on only one particle of a
system in a direction which either has no external system, then the particle must be isolated
forces or the forces can be considered nonimpulsive. (free-body diagram), and the principle of linear
• Establish the direction and sense of the particles' impulse and momentum must be applied to
initial and final velocities. If the sense is unknown, this particle.
assume it is along a positive inertial coordinate axis. • After the impulse is calculated, and provided
• As an alternative procedure, draw the impulse and the time Δt for which the impulse acts is
momentum diagrams for each particle of the system. known, then the average impulsive 𝑑𝑡
force Favg
can be determined from Favg = 𝐹 .
Δ𝑡
15-10. The 20-lb cabinet is
subjected to the force F = (3 +
2t) Ib, where t is in seconds. If
the cabinet is initially moving
down the plane with a speed of 6
ft/s, determine how long for the
force to bring the cabinet to rest.
F always acts parallel to the
plane.
15-22. At the instant the cable
fails, the 200-lb crate is traveling
up the plane with a speed of 15
ft/s. Determine the speed of the
crate 2 s afterward. The coefficient
of kinetic friction between the crate
and the plane is k = 0.20.
15-39. Two cars A and B have a
mass of 2 Mg and 1.5 Mg,
respectively. Determine the
magnitudes of vA and VB if the
cars collide and stick together
while moving with a common
speed of 50 km/h in the
direction shown.
15-41. A 4-kg projectile travels with
a horizontal velocity of 600 m/s
before it explodes and breaks into
two fragments A and B of mass 1.5
kg and 2.5 kg, respectively. If the
fragments travel along the
parabolic trajectories shown,
determine the magnitude of velocity
of each fragment just after the
explosion and the horizontal
distance dB where segment B
strikes the ground at D.
IMPACT
Impact occurs when two bodies collide with each other
during a very short period of time, causing relatively large
(impulsive) forces to be exerted between the bodies.
(e.g. The striking of a hammer on a nail, or a golf club on a
ball, are common examples of impact loadings.)
If the unknown v is eliminated from the above two
equations, the coefficient of restitution can be expressed
in terms of the particles' initial and final velocities as:
Coefficient of
Restitution.
Elastic Impact (e = 1 )
Plastic/Inelastic Impact (e = 0)
1. σ 𝒎𝒗𝟏 = σ 𝒎𝒗𝟐
𝒗𝑩𝟐−𝒗𝑨𝟐
2. e =
𝒗𝑨𝟏−𝒗𝑩𝟏
If the y axis is established within the plane of
contact and the x axis along the line of impact,
the impulsive forces of deformation and
restitution act only in the x direction, Fig. I5-b.
By resolving the velocity or momentum vectors
into components along the x and y axes, it is then
possible to write four independent scalar
equations in order to determine vAx, vAy, vBx, and
vBy.
1. σ 𝒎𝒗𝒙𝟏 = σ 𝒎𝒗𝒙𝟐
𝒗𝑩𝒙𝟐−𝒗𝑨𝒙𝟐
2. e =
𝒗𝑨𝒙𝟏−𝒗𝑩𝒙𝟏
If the first two equations are solved
simultaneously, we obtain vAx2 and vBx2.
3. mAvAy1 = mAvAy2 or VAy1 = vAy2
4. mBvBy1 = mBvBy2 or VBy1 = vBy2
