Lecture 10.

Kinetics of a Particle:
Impulse and Momentum
(Textbook: Chapter 15)

Department of MAE, CUHK (25-26) 1

 10.1 Principle of Linear Impulse and Momentum

Application

A dent in an automotive fender can be removed

using an impulse tool, which delivers a force
over a very short time interval.

Problem:
How to determine the magnitude of the linear
impulse applied to the fender?
Could you analyze a carpenter’s hammer strik-
ing a nail in the same fashion?

2
When a nail is struck by a hammer, a large impulsive force is delivered
to the nail and drives it into the wood.
Question: If we know the initial speed of the hammer and the duration
of impact, how can we determine the magnitude of the impulsive force
delivered to the nail?

Principle of linear impulse and momentum

3
 Linear Momentum
Linear momentum: The vector denoted as L = mv.
• Measure of impact effect
– Compare
• Bullets with small mass and high velocity
• Ship with huge mass and slow velocity
• L is a vector: in same direction as v
• Unit: kgm/s or slugft/s
• Components (rectangular coordinates):
Lx=mvx , Ly=mvy , Lz=mvz

4
 Linear Impulse
Linear impulse: A vector quantity measuring the effect of a force during its
time interval of action.
t2

I = ∫ F(t )dt
t1
I acts in the same direction as F and has
unit of N·s.

The impulse may be determined by direct

integration. Graphically, it can be represented
by the area under the force vs time curve. If
F is constant,

I = Fc (t2 – t1)

5
 Principle of Linear Impulse and Momentum
The equation of motion:

∑
dv
F = ma = m
dt
The principle of linear impulse and momentum is obtained by integrating
the equation of motion with respect to time. Separating variables and
integrating between the limits v = v1 at t = t1 and v = v2 at t = t2
Principle of linear impulse
t2 v2 and momentum equation

∑ ∫ Fdt = m ∫ dv = mv2 – mv1

t1 v1

Change in momentum
Impulse

6
The principle of linear impulse and momentum in vector form:
t2
mv1 + ∑ ∫ F dt = mv2
t 1

The particle’s initial momentum plus the sum of all the impulses applied from t1
to t2 is equal to the particle’s final momentum.

The two momentum diagrams indicate direction and magnitude of the particle’s
initial and final momenta, mv1 and mv2. The impulse diagram is similar to a
FBD, but includes the time duration of the forces acting on the particle.

7
 Impulse and Momentum: Scalar Equations
Since the principle of linear impulse and momentum is a vector equation,
it can be resolved into its x, y, z component scalar equations:
t2

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

m(v y )1 + ∑ ∫ Fy dt = m(v y ) 2
t1

t2

m(v z )1 + ∑ ∫ Fz dt = m(v z ) 2
t1

The scalar equations provide a convenient means for applying the principle
of linear impulse and momentum once the velocity and force vectors have
been resolved into x, y, z components.

8
Example 10-1
The 250N crate is acted upon by a force having a variable magnitude P =
(100t) N, where t is in seconds. Determine the crate’s velocity 2s after P
has been applied. The initial velocity is v1=1 m/s down the plane, and the
coefficient of kinetic friction between the crate and the plane is μk = 0.3.

v1=1m/s

9
Soln.
t2

m(υ x )1 + ∑ ∫ Fx dt = m(υ x ) 2
t1

2
250 250
(1) + ∫ 100tdt − 0.3 N c (2) + (250 sin 30o )(2) = υ2
9.81 0
9.81

25.48 + 200 − 0.6 N c + 250 = 25.48 υ 2

∑F y =0 N c − 250 cos 30o = 0

N c = 216.5 N

υ 2 = 13.56 m / s

10
Example 10-2
Blocks A and B have a mass of 3kg and 5kg, respectively. If the system is
released from rest, determine the velocity of block B in 6s.

Soln.
Block A
t2

(+ ↓) m(v A )1 + ∑ ∫ Fy dt = m(v A ) 2
t1

0 − 2TB (6) + 3(9.81)(6) = (3)(υ A ) 2

Block B
t2

(+ ↓) m(vB )1 + ∑ ∫ Fy dt = m(vB ) 2
t1

0 + 5(9.81)(6) − TB (6) = (5)(υ B ) 2

(υ B ) 2 = 35.8 m / s ↓
2S A + S B = l ⇒ 2v A = −vB TB = 19.2 N
11
 Checkpoint
1. The linear impulse and momentum equation is obtained by
integrating the ______ with respect to time.
A) friction force B) equation of motion
C) kinetic energy D) potential energy

2. Which parameter is not involved in the linear impulse and

momentum equation?
A) Velocity B) Displacement
C) Time D) Force

12
 10.2 Principle of Linear Impulse and Momentum
for a System of Particles
For the system of particles, the internal forces fi between particles always occur
in pairs with equal magnitude and opposite directions ⇒ The internal impulses
sum to zero.

The linear impulse and momentum

equation for this system only includes
the impulse of external forces.

t2

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

13
For a system of particles, define a “fictitious” center of mass of an aggregate
particle of mass m = ∑mi (the sum of all the particles). This system of particles
has an aggregate velocity of vG = (∑ mivi)/m.

The motion of this fictitious mass is based on motion of the center of mass
for the system. The position vector rG = (∑miri)/m describes the motion of
the center of mass.
t2

m( v G )1 + ∑ ∫ Fi dt = m( v G ) 2
t1
14
10.3 Conservation of Linear Momentum for a System of Particles

When the sum of external impulses acting on a

system of objects is zero, the linear impulse-
momentum equation simplifies to

∑ mi(vi)1 = ∑ mi(vi)2

Conservation of linear momentum.

Conservation of linear momentum is often applied when particles collide

or interact. When particles impact, only impulsive forces cause a change of
linear momentum.

15
Example

The hammer applies an impulsive force to the

stake. The weight of the stake can be
considered non-impulsive, and provided the
stake is driven into soft ground (with little
resistance), the impulse of the ground acting
on the stake can also be considered non-
impulsive.

However, if the stake is used in a concrete

chipper to break concrete, then two impulsive
forces act on the stake.

16
Example 10-3
The 15Mg boxcar A is coasting at 1.5m/s on the horizontal track when it
encounters a 12Mg tank car B coasting at 0.75m/s toward it. If the cars
collide and couple together, determine (a) the speed of both cars just after
the coupling & (b) the average force between them if the coupling takes
place in 0.8s.

17
Soln.
Conservation of linear momentum (x-dir):
mA(vA)1 + mB(vB)1 = (mA+mB)v2
15000(1.5) + 12000(-0.75) = (27000)v2
v2 = 0.5 m/s

Impulse and momentum on car A (x-dir):

mA(vA)1 + ∫Fdt = mA(vA)2
15000(1.5) - ∫Fdt = 15000(0.5)
∫ Fdt = 15000 N·s

The average force:

∫Fdt =15000 = Favg(0.8) ⇒ Favg=18750N

18
 Checkpoint

1) Over the short time span of a tennis ball hitting the racket during a
player’s serve, the ball’s weight can be considered
A) non-impulsive B) impulsive
C) not subject to Newton’s second law D) Both A and C

2) A drill rod is used with an air hammer for making holes in hard rock
so explosives can be placed in them. How many impulsive forces
act on the drill rod during the drilling?
A) None B) One
C) Two D) Three

19
3. The 20 g bullet is fired horizontally at 1200 m/s into the 300 g block
resting on a smooth surface. If the bullet becomes embedded in the
block, what is the velocity of the block immediately after impact.
A) 1125 m/s B) 80 m/s
1200 m/s
C) 1200 m/s D) 75 m/s

4. The 200 g baseball has a horizontal velocity of 30 m/s when it is

struck by the bat, B, weighing 900 g, moving at 47 m/s. During the
impact with the bat, how many impulses of importance are used to
find the final velocity of the ball?
A) Zero B) One
C) Two D) Three vball
vbat

20
 10.4 Impact
Application
(a). The quality of a tennis ball is
measured by the height of its
bounce. This can be quantified by
the coefficient of restitution of the
ball.

If the height from which the ball is dropped and the height of its
resulting bounce are known, how can we determine the coefficient
of restitution of the ball?

21
(b). In a game of billiards, it is important
to be able to predict the trajectory
and speed of a ball after it is struck
by another ball.

If we know the velocity of ball A

before the impact, how can we
determine the magnitude and
direction of the velocity of ball B
after the impact?

22
 Impact
 Occurs when two bodies collide during a very short time period, causing
large impulsive forces to be exerted between the bodies.
 Common examples of impact are a hammer striking a nail or a bat
striking a ball. The line of impact is a line through the mass centers of the
colliding particles. In general, there are two types of impact:

Central impact occurs when the directions of

motion of the two colliding particles are along
the line of impact.

Oblique impact occurs when the direction of

motion of one or both of the particles is at an
angle to the line of impact.

23
 Central Impact
Central impact happens when the velocities of the two objects are along
the line of impact (recall that the line of impact is a line through the
particles’ mass centers).

vA vB

Line of impact

Once the particles contact, they may deform if they are non-rigid. In any
case, energy is transferred between the two particles.
There are two primary equations used when solving impact problems.
(The textbook provides extensive detail on their derivation).

24
In most problems, the initial velocities of the particles, (vA)1 and (vB)1, are
known, and it is necessary to determine the final velocities, (vA)2 and (vB)2.
The first equation used is the conservation of linear momentum, applied
along the line of impact.

mA (vA)1 + mB (vB)1 = mA (vA)2 + mB (vB)2

There are usually two unknowns, (vA)2 and (vB)2. The principle of impulse
and momentum is used to develop the second equation, which involves
the coefficient of restitution e.

25
 Coefficient of Restitution
The coefficient of restitution, e, is the ratio of the particles’ relative velocity
of the particles’ separation just after impact, (vB)2 – (vA)2, to the relative
velocity of the particles’ approach just before impact, (vA)1–(vB)1.

(vB)2 – (vA)2
e =
(vA)1 - (vB)1

If a value for e is specified, this relation provides the second equation

necessary to solve for (vA)2 and (vB)2 .

e is also an indicator of the energy lost during the impact, and has a value
between 0 and 1.

26
The two limiting conditions are considered:
• Elastic impact (e = 1): In a perfectly elastic collision, no energy is
lost and the relative separation velocity equals the relative approach
velocity of the particles. In practical situations, this condition cannot
be achieved.
• Plastic impact (e = 0): In a plastic impact, the relative separation
velocity is zero. The particles stick together and move with a common
velocity after the impact.

Some typical values of e:

Steel on steel: 0.5 – 0.8 Wood on wood: 0.4 – 0.6
Lead on lead: 0.12 – 0.18 Glass on glass: 0.93 – 0.95

27
 Impact: Energy Loss
Once the particles’ velocities before and after the collision have been
determined, the energy loss during the collision can be calculated on the
basis of the difference in the particles’ kinetic energy. The energy loss is

∑U1-2 = ∑T2 - ∑T1 where Ti = ½ mi(vi)2

During a collision, some of the particles’ initial kinetic energy will be lost
in the form of heat, sound, or due to localized deformation.

In a plastic collision (e = 0), the energy lost is a maximum, although it

does not necessarily go to zero.

28
 Oblique Impact
In an oblique impact, one or both of the particles’ motion is at an angle to
the line of impact. Typically, there will be four unknowns: the magnitudes
and directions of the final velocities.

29
The four equations required to solve for the unknowns are:

Conservation of momentum and the

coefficient of restitution equation are
applied along the line of impact (x-
axis):

mA(vAx)1+mB(vBx)1
= mA(vAx)2+mB(vBx)2

e = [(vBx)2–(vAx)2]/[(vAx)1–(vBx)1]

Momentum of each particle is conserved in the direction perpendicular to the

line of impact (y-axis):

mA(vAy)1 = mA(vAy)2 and mB(vBy)1 = mB(vBy)2

30
Example 10-4
Given: A 0.5kg ball is ejected from the tube at A with a horizontal velocity
vA = 2m/s. The coefficient of restitution at B is e = 0.6.
Find: The horizontal distance R where the ball strikes the smooth inclined
plane and the speed at which it bounces from the plane.

31
Soln.
1) Apply the equations of projectile motion to determine R. Place the
origin at A (xo=yo=0) with the initial velocity of vyo = 0, vxo=vA=2m/s:

x = xo + vxot ⇒ R = 0 + 2t
y = yo + vyot – 0.5gt2 ⇒ -(4 + R tan30°) = 0 + 0 – 0.5(9.81)t2

t = 1.028 s and R = 2.06 m

Calculate the velocity of the ball just before impact:

vx = vxo = 2 m/s ( )
vy = vyo – gt = 0 – 9.81(1.028) = -10.09 m/s ( )
v = 10.285 m/s 78.8°

32
2) Solve the impact problem by using x-y axes defined along and ⊥ to the
line of impact, respectively:

vA1 Denoting the ball as A and plane as B, the

y 48.8° x momentum of the ball is conserved in the y-
vA2 dir:
mA(-vAy)1 = mA(-vAy)2
30° (vAy)2 = (vAy)1 = vA cos48.8° = 6.77 m/s

The coefficient of restitution applies in the x-dir and (vBx)1=(vBx)2=0:

e = [(vBx)2 – (vAx)2]/[(vAx)1 – (vBx)1]
⇒ 0.6 = [0 - (vAx)2]/[-10.285 sin48.8° – 0]
⇒ (vAx)2 = 4.64 m/s
The speed is the magnitude of the velocity vector
vA2 = ((vAx)2)2 + ((vAy)2)2 = 8.21 m/s

33
 Checkpoint
1. Two balls impact with a coefficient of restitution of 0.79. Can one of
the balls leave the impact with a kinetic energy greater than before
the impact?
A) Yes B) No
C) Impossible to tell D) Don’t pick this one!

2. Under what condition is the energy lost during a collision maximum?

A) e = 1.0 B) e = 0.0
C) e = -1.0 D) Collision is non-elastic

34
3. Block B (1 kg) is moving on the smooth surface at 10 m/s when it
squarely strikes block A (3 kg), which is at rest. If the velocity of
block A after the collision is 4 m/s to the right, (vB)2 is
A) 2 m/s B) 7 m/s vB=10 m/s
C) 7 m/s D) 2 m/s A
B

4. A particle strikes the smooth surface with a

velocity of 30 m/s. If e = 0.8, (vx) 2 is _____
y
after the collision.
v
A) zero B) equal to (vx) 1
30°
30 m/s x
θ
C) less than (vx) 1 D) greater than (vx) 1

35
 10.5 Angular Momentum
Application:

Planets and most satellites move in elliptical orbits. This motion is caused
by gravitational attraction forces. Since these forces act in pairs, the sum
of the moments of the forces acting on the system will be zero. This
means that angular momentum is conserved.

36
The passengers on the amusement-
park ride experience conservation of
angular momentum about the axis of
rotation (the z-axis).

 FBD, the line of action of the normal

force, N, passes through the z-axis and
the weight’s line of action is parallel to
it. Therefore, the sum of moments of
these two forces about the z-axis is zero.

37
 Angular Momentum

• Moment = r × F

• Angular momentum of a particle about point

O is defined as the “moment” of the particle’s
linear momentum about O.

• Angular momentum

Ho = moment of linear momentum (r × mv)

38
• For a point object, the magnitude of angular momentum Ho is

( H o ) = (r )(mv) v
m
Units: kg.m2/s or sl.ft2/s
Using right-hand rule to determine the r
direction of Ho. Here the vector is
pointing toward you.

39
a) H 0 = r × m v
i j k
H 0 = rx ry rz
mv x mv y mv z

H O = (ry mv z − rz mv y )i − (rx mv z − rz mv x ) j

+ (rx mv y − ry mv x )k

b) Scalar formulation
( H 0 ) z = (d ) (mv)

40
10.6 Relation Between Moment of a Force and Angular Momentum
The resultant force acting on the particle is equal to the time rate of
change of the particle’s linear momentum.
•
∑F = L = mv
•

The resultant moment acting on the particle about point O is equal to the
time rate of change of the particle’s angular momentum about point O, i.e.,
•
∑Mo = r × ∑F = Ho

(Proof can be found from the Appendix)

41
 System of Particles

∑ (H ) = ∑ (r × F ) + ∑ (r × f )
i 0 i i i i

i th particle

Internal force cancel each other

∑ 0 0
M = 
H

Sum of the moments about O of all the external forces acting on a

system of particle
=
Rate of change of the total angular momentum of the system of
particles about point O.

42
Example 10-5
The box has a mass m and travels down the smooth circular ramp such
that when it is at the angle θ it has a speed v. Determine its angular
momentum about point O at this instant and the rate of increase in its
speed, i.e., at.

43
Soln.
Angular momentum about O
H 0 = rmv
at = v

∑M 0 = H 0 = r m v
dv
M 0 = m g (r sin θ ) = r m
dt
dv
∴ = g sin θ Alternative method for confirmation:
dt
∑ F = ma
t t

dv dv
m g sin θ = m ∴ = g sin θ
dt dt

44
 10.7 Principle of Angular Impulse and Momentum
 Consider the relationship between moment and time rate of change of
angular momentum
•
∑Mo = Ho = dHo/dt

 Integrating between the time interval t1 to t2

t2 t2

∑ ∫t Modt = (Ho)2 − (Ho)1

1
or (Ho )1 + ∑∫ Mo dt = (Ho)2
t1

This equation is referred to as the principle of angular impulse and momentum.

The second term on the left side, ∑∫Modt, is called the angular impulse. In
cases of 2D motion, it can be applied as a scalar equation using components
about the z-axis.

45
• Vector Formulation

• Scalar Formulation

46
 Conservation of Angular Momentum
When the sum of angular impulses acting on a particle or a system of
particles is zero during the time t1 to t2, the angular momentum is
conserved
⇒ (HO)1 = (HO)2

An example of this condition occurs

when a particle is subjected only to a
central force.
 In the figure, the force F is always
directed towards point O. Thus, the
angular impulse of F about O is
always zero, and angular momentum
of the particle about O is conserved.
Angular impulse is zero

47
Example 10-6

Given: A rod assembly rotates around

its z-axis. The mass C is 10kg
and its initial velocity is 2m/s.
A moment and force both act
as shown: M = (8t2+5)N·m and
F=60N.
Find: The velocity of the mass C after
2 seconds.

48
Soln.
Angular momentum HZ = r × mv in the scalar form:
(HZ)1 = 0.75(10)(2) = 7.5(2) and (HZ)2 = 0.75(10)(v2) = 7.5v2
t2 t2

Angular impulse: ∫ M dt + ∫ (r × F) dt
t1 t1

2 2
=∫(8t2 + 5) dt +∫(0.75)(3/5)(60) dt
0 0
2
= (8/3)t3 + 5t + 27t = 85.33 N·m·s
0

Apply the principle of angular impulse and momentum:

7.5(2) + 85.33 = 7.5v2 v2 = 13.38 m/s

49
Example 10-7
The 2kg disk rests on a smooth horizontal surface and is attached to an elastic
cord that has a stiffness kc = 20N/m and is initially unstretched. If the disk is
given a velocity (vD)1 = 1.5m/s, perpendicular to the cord, determine the rate
at which the cord is being stretched and the speed of the disk at the instant the
cord is stretched 0.2 m.

50
Soln.
Angular momentum about point O is conserved, since, none of the forces produce
an angular impulse about this axis.
Angluar momentum v 2 ' :

51
 Checkpoint
1. If a particle moves in the x - y plane, its angular momentum vector
is in the
A) x direction B) y direction
C) z direction D) x-y direction

2. If there are no external impulses acting on a particle

A) only linear momentum is conserved
B) only angular momentum is conserved
C) both linear momentum and angular momentum are conserved
D) neither linear momentum nor angular momentum are conserved

52
3. A ball is traveling on a smooth surface in a 3 ft radius circle with a
speed of 6 ft/s. If the attached cord is pulled down with a constant
speed of 2 ft/s, which of the following principles can be applied to
solve for the velocity of the ball when r = 2 ft ?
A) Conservation of energy
B) Conservation of angular momentum
C) Conservation of linear momentum
D) Conservation of mass

53
 Appendix:
Proof: Relation Between Moment of a Force and Angular Momentum
• The moment of the forces about point O

∑M 0 = r × ∑ F = r × m v

∑M 0

=H 0

∑M 0

=H 0
Resultant moment = Rate of change of angular momentum

∑ F = mv = L Resultant force = Rate of change of linear momentum

54