Dynamics (MEC420)

Chapter 02

Kinetics of Particles
(Impulse - Momentum Method)

RK

Outline Chapter 02

1. Kinetic analysis methods

2. Concept of impulse and momentum
3. Introduction to impulse and momentum
• Definition of impulses and momenta
• Types of impulses and momenta
4. Principle of impulses and momenta
• Principle of linear impulse and momentum (PLIM)
• Principle of angular impulse and momentum (PAIM)
5. Conservation of momenta
• Conservation of linear momentum (COLM)
• Conservation of angular momentum (COAM)
 Kinetics Analysis Methods

Kinetics analysis methods

A. Equation of motion
• F = ma - relates instantaneously F, m, a & t
• acceleration is specified/determined from kinematic analysis  determine force
• force is specified/determined from FBD  determine acceleration
• then integrate a to find v

B. Impulse & momentum methods

• ∫F.dt = ∫mdv - relates F, m, v , t
• Find v directly (determination of acceleration is not required).

C. Work & energy principles

• ∫F.dr = ∫mvdv - relates F, m, s , t
• Find v directly (determination of acceleration is not required).

Linear impulse & linear momentum

Linear Impulse & Linear Momentum

 Impulse & Momentum Method

“Impulse - momentum method”

(Relate force, velocity and time)

∫Fdt
L2
P2

Impulse applied
from r1 to r2

L1

r2 v2
P1
 r1
Σ F .dt   v1
m .d v

Impulse & Momentum Method

Linear impulse & linear momentum

Linear impulse of force = I1-2

• Application of force over a period t such as kicking
and punching ball
y
Linear Impulse = (Force) x (Time) F
Fy F
t2 v
I1 2  t1
Σ Fdt [N.s]
A = I1-2 
Fx x
P1 P2
t
@t1 x @t2

Linear momentum = L
v1 v2
• Mass in linear motion L1 L=mv L2

• Generated/absorbed by application of forces. v

P1 P2

L = mv [kgm/s] L  m(v2  v1 ) - Translation -

Momentum, L Inertia, m
Force can be impulsive (RB in motion) (RB at rest)
of non-impulsive
Resist V Resist V
Vector Scalar
Depend on m & V Depend on m
 Impulse & Momentum Method

Angular impulse & angular momentum y

P2

F
Angular impulse of moment =I1-2 @t2

• Application of moment of force over a period t

r @t1 P1
Angular Impulse = (Moment) x (Time)

t2
I12   ΣMOdt [N.ms] O
x
t 1 Mo
MO  r  F - Circular Motion -

Angular momentum = Ho y
L2 P2
• Moment of linear momentum.
L = mv
• Mass in circular motion v

• Generated/absorbed by application of moments. L1

HO  r  mv ΔH0  r  m(v2  v1 ) r P1

 Hx i  i j k
HO   Hy j   x y z O
  Ho x
HZ k mvx mvy mvz Momentum components: - Circular Motion -
Hx , Hy & Hz

Impulse & Momentum Method

Linear impulse – linear momentum relationship

Force, F applied from P1  P2

∫Fdt L2
ΣF  m a & a  dv
dt
P2

ΣF  L& Momentum
L1
Equation
P1

Principle of linear impulse & momentum (PLIM)

Linear Impulse, I1-2 = Ft
t2 t2
L1  t1
Σ Fdt  L 2  t1
Σ F dt   L • force applied for a period of time

Momentum, L = mv
“External Force change Linear Momentum” • tendency to maintain linear velocity
• ‘inertia in motion’
t2
I 1 2  
t1
Σ Fdt  Linear Impulse [N.s]
L  mv  Linear Momentum [kg.m/s]
 Impulse & Momentum Method

Principle of linear impulse & momentum

• For a particle
t2
F.dt
m v1   t1
Σ F dt  m v 2 mv2
F.dt
mv1 mv1

• For a rigid body ‘Impulse – Momentum Diagram’

t2
m v G,1   Σ Fdt  m v G,2
t1

Component Equations F.dt mv2

t2 F.dt
m(vx )1   ΣFxdt  m(vx )2
t1
mv1 mv1
t2 G G G
m(vy )1   ΣFy dt  m(vy )2
t1
t2
m(vz )1   ΣFzdt  m(vz )2 Velocity of
t1
mass centre RB in translation

Impulse & Momentum Method

Types of force

• Non-impulsive force, Fnon-imp

• Force applied slowly – eg weight force
wh
• cause small or negligible change in momentum
F
• Impulsive force, Fimp F
wn
• force applied rapidly – eg. Hitting a ball
F >>> W
• Cause large change in momentum

t2 t2 t2 Impulsive Force, F
I12   Σ Fdt   Σ Fimpdt   Σ Fnon-impdt • relatively large force acting over a very
t1 t1 t1
short period of time
• causes significant momentum change
• explosion, collision, bat-on-ball, soccer kick
 Impulse & Momentum Method

Conservation of linear momentum

When no net or negligible impulse force,

wh
• Since F >>>>>> W  W is negligible
• F = 0  cancelled out
F
F
t2 wn
I 1 2  t1
Σ Fdt  0
F >>> W
F ‘s cancelled out

Conservation of linear momentum

mv1  mv2  Particle

Σmi ( vi )1  Σmi ( vi )2  System of Particle
Useful for
collision analysis

Impulse & Momentum Method

Application of conservation of linear momentum

Impact
• Collision of two bodies in short period of time
• Exert large impulsive force on each other
• Causing large change in momenta
• Normally initial velocities are known
• Complex event involving material deformation and recovery
• Generation of heat and sound

• Type of impact
Line of impact Line of impact

vA vB vA vB

Impact plane Impact plane

Direct Central Impact Oblique Central Impact

 Impulse & Momentum Method

Impact

vA vB v vA’ vB’

∫Fdt -∫Fdt
mA mB mA mB mA mB

vA  vB Force of A on B Force of B on A vA’  vB’

Before impact Impact Period After impact
(shapes deformation & restoration)

• Objective - to determine final velocities

• Procedure of analysis:
• conservation of momentum
mAvA  mBvB mA v'A  mBv'B e = 1  Perfectly elastic impact
• Total energy and total momentum conserved
• A&B return to original shapes & remain
• Coefficient of restitution; separated
• There is restitution period
vB  vA
e e = 0  Perfectly plastic impact
vA  vB • Permanently deformed
• A & B stay together
• No restitution period

Linear Impulse & Momentum

Application of impulse-momentum equation

1. Any problem involving F, v, t.

• Not directly helpful for determining acceleration or displacement.
2. Most helpful for impulsive force
• Example, during impact/collision.
3. Problems involving graph of F vs. T.
• Area under the curve is impulse – may need to find tstart for motion.
 Impulse & Momentum Method

Problem solving procedure

t2 t2
L1  
t1
Σ Fdt  L 2  t1
Σ F dt   L

1. Define P1 and P2 (position of the body)

2. Set up reference frame (ℱ )
3. Draw FBD – Find F components (i.e. Fx, Fy, Fz)
4. Apply PLIM or COLM in each direction of motion
• Check if there is F =0 or F  0 (non-impulsive force is negligible)
• PLIM – work in all cases
• COLM - ONLY work if there is F =0 or F  0

Linear Impulse & Momentum

Example 01 (PLIM)

• An automobile weighing 4000 N is driven

down a 5o incline at a speed of 88 m/s
when the brakes are applied, causing a
constant total braking force of 1500 N.
• Determine the time required for the
automobile to come to a stop.

t = 31.2 s [Ans]

t2 t2
L1   Σ Fdt  L 2  Σ Fdt   L
t1 t1
Apply PAIM in each direction
of motion components
 Linear Impulse & Momentum

Example 04 - Solution

• SOLUTION:
• Apply the principle of impulse and momentum.

• Taking components parallel to the incline,

mv1  W sin 5t  Ft  0

 4000 
 88 m s  4000 sin 5t  1500t  0
 9.81 

t  31.2 s

Impulse & Momentum Method

Example 02 (PLIM)
• Initially block A has a speed of 3 m/s as shown. Determine the speed of block B at t=6s.
The coefficient of kinetic friction between block A and the surface is k= 0.15. The
pulleys are weightless and frictionless.

Solve using PLIM;

T = 86.0 N
vA,2 = 17 .5 m/s (to the right)
vB,2 = 8.76 m/s (downward) [Ans]
 Impulse & Momentum Method

Example 02 – Solution

• Solve using PLIM;

T = 86.0 N
vA,2 = 17 .5 m/s (to the right)
vB,2 = 8.76 m/s (downward)

• Solve using both F = ma?

Impulse & Momentum

Sample Problem 13.11

• A 0.5 kg baseball is pitched with a velocity of 80
m/s. After the ball is hit by the bat, it has a
velocity of 120 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.

SOLUTION:
• Apply the principle of impulse and
momentum in terms of horizontal and
vertical component equations.
 Impulse & Momentum

Sample Problem 13.11 - Solution

 Apply the principle of impulse and momentum
in terms of horizontal and vertical component
equations. r r
m v 1  I 1  2  mv 2
x component equation:
 mv 1  Fx t  mv 2 cos 40
 0.580   Fx 0.015  0.5120 cos 40
Fx  5730.8 N

y component equation:
 m ( v y )1  Fy  t  m ( v y ) 2 sin 40  y

0 .5( 0 )  Fy  t  0 .5( 120 ) sin 40  x

Fy 0 .015   0 .5 120 sin 40  

Fy  2571 .1 N
r r r
F  5730.8 N  i  2571.1 N  j , F  6281.1 N

Linear Impulse & Momentum

Example 03 - Solution
Start with Vector
• Given: formulation

• m= 0.5 kg
 4 N, (0  t  1)
• v1 = 10 i + 0 j [m/s], (@ t1 = 0 s) Fx  
 2 N, (1  t  3)
• v2 = ? i + ? j [m/s], (@ t2 = 3 s)

t2 r r r
t Fdt  m( v 2  v 1 )
1

x  dir;
t1
Fx dt 
t3
Fx dt  m ( v x , 2  v x , 1 )  1 N, (0  t  2)
t t Fy  
2t  3 N, (2  t  3)
0 1

1 3
0 (  4 )dt  1 (  2 )dt  0 . 5 ( v x , 2  10 )
v x ,2  6 m / s

y  dir;
2 3
0 Fy dt  2 Fy dt  m ( v y , 2  v y , 1 )
2 3
0 ( 1 )dt  2 ( 2 t  3 )dt  0 .5( v y , 2  0 ) Therefore, at t2 = 3 s
v y ,2  8 m / s v2 = -6 i + 8 j m/s
 Angular Momentum

Angular Impulse & Angular Momentum

Angular Impulse & Momentum

Moment of Force (Review)

Moment of force
• Rotational effect about an axis caused by force.

y Fy
• In scalar form: MO  Fyd x  Fx d y F
dx
Fx

• In vector form: MO  r  F r dy

 Mx i  i j k
x
O
MO   M y j   x y z
  z
M Z k  Fx Fy Fz

Moment components:
Mx , My & Mz
 Impulse & Momentum Method

Angular impulse & angular momentum relationship y

P2

F
Angular impulse of moment = (I1-2) @t2

• Application of moment of force over a period t

r @t1 P1
Angular Impulse = (Moment) x (Time)

t2

I1 2  O
t1
Σ M O dt [N.ms] Mo x
- Circular Motion -
MO  rF

y
Angular momentum = Ho L2 P2
• Moment of linear momentum. L = mv
v
• Mass in circular motion
• Generated/absorbed by application of moments. L1
H O  r  m v ΔH0  r  m(v2  v1 ) r P1

 Hx i  i j k
HO   Hy j   x
O
y z Ho x
 
HZ k mvx mvy mvz Momentum components: - Circular Motion -
Hx , Hy & Hz

Angular Impulse & Momentum

Angular impulse & momentum relationship

y
L2
Force, F applied from P1  P2
Fdt
ΣF  m a & a  dv
dt

r  F  r  L& L1

&O r
MO  H Momentum
Equation

O x

Principle of angular impulse & momentum (PAIM) Mo Ho

t2 t2
( HO )1   ΣMOdt  ( HO )2
t1 
t1
Σ M Odt  Δ H O

“External Moment change Angular Momentum”

Angular Impulse, I1-2 = Mot
• moment applied for a period of time

Momentum, Ho = r X mv
t2
I1 2   Σ M O dt  Angular Impulse • tendency to maintain angular velocity
t1 • ‘inertia in motion’
HO  r  mv  Angular Momentum
 Angular Impulse & Momentum

Conservation of angular momentum

• When no net or negligible impulse moment,
t2
I 1 2  
t1
Σ M dt  0

• Conservation of linear momentum

L

(Ho )1  (Ho )2  Particle

F
(Ho,i)1  (Ho,i)2  System of Particle r
O

• When this can happen?

a) When a force, F is directed toward or away
from O;
• F is called ‘central force’ Earth around Sun

• O is called ‘centre of force’

• F and r are parallel  Mo = 0!!
b) Car moving in curve with constant speed
• Ft = 0
• Fn  0

Impulse & Momentum

Example 01 (PAIM)
z
• A rod assembly rotates about its z-axis.
The mass C is 10 kg and its initial velocity Mo
is 2 m/s.
O
• A couple moment M = (-8t2 - 5)k Nm and C
x
force F = 36i + 18j – 18k N are applied as y
shown, and rc = 0.75j m. F

• Determine the velocity of mass C after 2

seconds.
Rotation about O is
rotation about z-axis

v2 = 13.38 m/s [Ans]

 Impulse & Momentum

SOLUTION

• Solving using PAIM O r

Fy y
t2 t2 M
( HO )1   ΣMOdt  ( HO )2
t1 
t1
Σ M Odt  Δ H O
Fx F

x
• Apply PAIM in direction of motion
(axis of rotation – z-axis)
Rotation about O is
t2
rotation about z-axis
t1
ΣM z dt  H z

HO  r  mv

End

Next lecture:
Kinematics of Rigid Body

Class dismissed