MEC 310 – DYNAMICS

Course Name: Dynamics

Course Number: MEC 310
Part 6
Systems of Particles
 Introduction
2

• The effective force of a particle is defined as the product of

it mass and acceleration. It will be shown that the system of
external forces acting on a system of particles is equipollent
with the system of effective forces of the system.
• The mass center of a system of particles will be defined
and its motion described.
• Application of the work-energy principle and the
impulse-momentum principle to a system of particles will
be described. Result obtained are also applicable to a
system of rigidly connected particles, i.e., a rigid body.
 Application of Newton’s Laws. Effective
Forces
3

 n  
Fi   f ij  mi ai
j 1

  n  
  
ri  Fi   ri  f ij  ri  mi ai
j 1
 
Fi  external force f ij  internal forces

mi ai  effective force

• The system of external and internal

forces on a particle is equivalent to the
effective force of the particle.

• The system of external and internal forces

acting on the entire system of particles is
equivalent to the system of effective forces.
 Application of Newton’s Laws. Effective
Forces (Cont’d)
4

• Summing over all the elements,

n  n n  n 
 i   ij  i i
F  f  m a
i 1 i 1 j 1 i 1

 
 
 ri  Fi     ri  f ij   ri  mi ai 
n n n  n  
i 1 i 1 j 1 i 1

• Since the internal forces occur in equal

and opposite collinear pairs, the resultant
force and couple due to the internal
forces are zero,
  • The system of external forces and the
 i  i i
F  m a
system of effective forces are
 
 ri  Fi    ri  mi ai 
 
equipollent by not equivalent.
 Linear & Angular Momentum
5

• Linear momentum of the system of • Angular momentum about fixed point O

particles, of system of particles,
 n   n  
L   mi vi H O   ri  mi vi 
i 1 i 1
 n n 
 
 i i i  i i i 
 n  n    
L   mi vi   mi ai HO  r  m v  r  m v
i 1 i 1 i 1 i 1
n 
 
 i i i
r  m a
• Resultant of the external forces is i 1
equal to rate of change of linear
momentum of the system of • Moment resultant about fixed point O of
particles, the external forces is equal to the rate of
 
 FL change of angular momentum of the
system of particles,
 
 M H O O
 Motion of the Mass Center of a System of
Particles
6

• Mass center G of system of particles is defined


by position vector rG which satisfies
 n 
mrG   mi ri
i 1 • The mass center moves as if the entire mass and
all of the external forces were concentrated at
that point.
• Differentiating twice,
 n 
mrG   mi ri
i 1
 n  
mvG   mi vi  L
i 1
  
maG  L   F
 Angular Momentum About the Mass
Center
7
• The angular momentum of the system of
particles about the mass center,
 n  
HG    ri  mi vi 
i 1
 n  n   
HG    ri  mi ai    ri  mi ai  aG 
i 1 i 1
   n    n  
ai  aG  ai   ri  mi ai     mi r    aG
i 1  i 1 
• Consider the centroidal frame 
  ri  mi ai    ri  Fi 
n   n 
of reference Gx’y’z’, which  
i 1 i 1
translates with respect to the 
Newtonian frame Oxyz.   MG
• The centroidal frame is not, • The moment resultant about G of the external
in general, a Newtonian forces is equal to the rate of change of angular
frame. momentum about G of the system of particles.
 Angular Momentum About the Mass
Center (Cont’d)
8
• Angular momentum about G of particles in
their absolute motion relative to the
Newtonian Oxyz frame of reference.
 n  
H G   ri mi vi 
i 1
n   
  ri mi vG  vi 
i 1
• Angular momentum about G of  n   n  
   mi ri  vG   ri mi vi 
the particles in their motion
 i 1  i 1
relative to the centroidal Gx’y’z’   
frame of reference, HG  HG    MG
• Angular momentum about G of the particle
 n   momenta can be calculated with respect to
H G   ri mi vi  either the Newtonian or centroidal frames of
i 1
reference.
 Conservation of Momentum
9

• If no external forces act on the

particles of a system, then the linear • Concept of conservation of momentum
momentum and angular momentum also applies to the analysis of the mass
about the fixed point O are center motion,
conserved.    
    L  F  0 HG   M G  0
L  F  0 HO   M O  0  
  L  mvG  constant
L  constant H O  constant  
vG  constant H G  constant
• In some applications, such as
problems involving central forces,
   
L  F  0 HO   M O  0
 
L  constant H O  constant
 Example 1
10

A 20-lb projectile is moving with a

velocity of 100 ft/s when it explodes into
5 and 15-lb fragments. Immediately after
the explosion, the fragments travel in the
directions qA = 45o and qB = 30o.
Determine the velocity of each fragment.

SOLUTION:
• Since there are no external forces, the
linear momentum of the system is
conserved.

• Write separate component equations • Solve the equations simultaneously

for the conservation of linear for the fragment velocities.
momentum.
 Example 1 (Cont’d)
11

SOLUTION: • Write separate component equations for

the conservation of linear momentum.
• Since there are no external forces, the   
linear momentum of the system is m Av A  mB vB  mv0
conserved. 5 g vA  15 g vB  20 g v0
x components:
5v A cos 45  15vB cos 30  20100

y components:
y 5v A sin 45  15vB sin 30  0
x
• Solve the equations simultaneously for the
fragment velocities.
v A  207 ft s vB  97.6 ft s
 Kinetic Energy
12
• Kinetic energy of a system of particles,
n   n
T 2 i i
1 m v  vi   2  mi vi2
1
i 1 i 1
• Expressing the velocity in terms of the
centroidal reference frame,
n
T 2
1 mi vG  vi  vG  vi
i 1

1  m v 2  v 
n n  1 n
 2  i G G  m v 
i i 2  m v
i i 2
 i 1  i 1 i 1
n
   1 mv 2  1
vi  vG  vi  2 G 2  mi vi2
i 1

• Kinetic energy is equal to kinetic energy of

mass center plus kinetic energy relative to
the centroidal frame.
 Work-Energy Principle. Conservation of
Energy
13

• Principle of work and energy can be applied to each particle Pi ,

T1  U12  T2

where U12 represents the workdone by the internal forces f ij
and the resultant external force Fi acting on Pi .
• Principle of work and energy can be applied to the entire system by
adding the kinetic energies of all particles and considering the work
done by all external and internal forces.
 
• Although f ij and f ji are equal and opposite, the work of these
forces will not, in general, cancel out.

• If the forces acting on the particles are conservative, the work is equal to the
change in potential energy and
T1  V1  T2  V2
which expresses the principle of conservation of energy for the system of
particles.
 Principle of Impulse and Momentum
14

   
F  L  M O  HO
t2
   t2  
  Fdt  L2  L1   M O dt  H 2  H1
t1 t1
 t2    t2  
L1    Fdt  L2 H1    M O dt  H 2
t1 t1

• The momenta of the particles at time t1 and the impulse of the forces
from t1 to t2 form a system of vectors equipollent to the system of
momenta of the particles at time t2 .
 Example 2
15

SOLUTION:
• With no external horizontal forces, it
follows from the impulse-momentum
principle that the horizontal component
of momentum is conserved. This
relation can be solved for the velocity of
B at its maximum elevation.

Ball B, of mass mB,is suspended from a cord, • The conservation of energy

of length l, attached to cart A, of mass mA, principle can be applied to relate
which can roll freely on a frictionless the initial kinetic energy to the
horizontal tract. While the cart is at rest, the maximum potential energy. The
ball is given an initial velocity maximum vertical distance is
determined from this relation.
Determine (a) the velocity of B as it reaches it
maximum elevation, and (b) the maximum
vertical distance h through which B will rise.
 Example 2 (Cont’d)
16

SOLUTION:
• With no external horizontal forces, it follows from the
impulse-momentum principle that the horizontal
component of momentum is conserved. This relation can
be solved for the velocity of B at its maximum elevation.
 t2  
L1    Fdt  L2
t1
y x component equation:
x m Av A,1  mB vB,1  m Av A,2  mB vB,2

Velocities at positions 1 and 2 are

v A,1  0 vB,1  v0 (velocity of B relative to
v v v
B,2 A, 2 v
B A, 2 A, 2
A is zero at position 2)

mB v0  m A  mB v A, 2 mB
v A, 2  vB , 2  v0
m A  mB
 Example 2 (Cont’d)
17

• The conservation of energy principle can be applied to relate

the initial kinetic energy to the maximum potential energy.
T1  V1  T2  V2
Position 1 - Potential Energy: V1  m A gl
Kinetic Energy: T1  12 mB v02
Position 2 - Potential Energy: V2  m A gl  mB gh
Kinetic Energy: T2  12 mA  mB v 2A,2

1 m v2
2 B 0
 mA gl  12 mA  mB v 2A,2  mA gl  mB gh

2 2
v02 m A  mB v A,2 v02 m A  mB  mB 
h     v0 
2g mB 2g 2g 2 g mB  m A  mB 

v02 mB v02
h  mA v02
2 g m A  mB 2 g h
m A  mB 2 g