Machine engineering - Lecture 2
Kinetics of a particle - Impulse and momentum
Lecturer: Bernard Heikema
Contents
Dynamics, Chapter 15
Kinetics of a particle - Impulse and momentum
• Section 15.1
Principle of linear impulse and momentum
(for a particle)
• Section 15.2
Principle of linear impulse and momentum
for systems of particles
• Section 15.3
Conservation of linear momentum for
systems of particles
Objectives
Students will be able to:
• Calculate the linear momentum of a particle
and linear impulse of a force.
• Apply the principle of linear impulse and
momentum.
• Apply the principle of linear impulse and
momentum to a system of particles.
• Understand the conditions for conservation
of momentum.
Applications
A dent in a trailer fender can be removed using
an impulse tool, which delivers a force over a
very short time interval. To do so, the weight is
gripped and jerked upwards, striking the stop
ring.
How can we determine the magnitude of the
linear impulse applied to the fender?
Could you analyze a carpenter’s hammer
striking a nail in the same fashion? Sure!
Principle of linear impulse and momentum
The principle of linear impulse and momentum is obtained by integrating the equation of
motion with respect to time. The equation of motion can be written as:
ΣF = m · a = m · (dv/dt)
Separating variables and integrating between the limits v = v 1 at t = t1 and v = v2 at t = t2
results in: t2 v2
mv2 – mv1
Σ F dt dv
ò = m
ò =
t1 v1
This equation represents the principle of linear impulse and momentum. It relates the
particle’s final velocity (v2) and initial velocity (v1) and the forces acting on the particle as
a function of time.
Principle of linear impulse and momentum
Linear momentum: The vector mv is called the linear momentum, denoted as L. This
vector has the same direction as v. The linear momentum vector has units of kg·m/s.
Linear impulse: The integral F∙dt is the linear impulse, denoted I. It is a vector
quantity measuring the effect of a force during its time interval of action. I acts in the
same direction as F and has units of N·s.
The impulse may be determined by direct integration.
Graphically, it can be represented by the area under
the force versus time curve.
If F is constant, then: I = F (t2 – t1)
Principle of linear impulse and momentum
The principle of linear impulse and momentum in vector form is written as
t2
mv1 +
å = mv2
ò F dt
t1
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 momentum, mv1 and mv2. The
impulse diagram is like a free body diagram but includes the time duration of the forces acting on the particle.
Principle of linear impulse and momentum
Since the principle of linear impulse and momentum is a vector equation, it can be
resolved into its x, y, z component scalar equations:
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.
Problem solving
1. Establish the x, y, z coordinate system.
2. Draw the particle’s free body diagram and establish the direction of the particle’s
initial and final velocities.
3. Resolve the force and velocity (or impulse and momentum) vectors into their x, y, z
components, and apply the principle of linear impulse and momentum using its
scalar form.
4. Forces as functions of time must be integrated to obtain impulses. If a force is
constant, its impulse is the product of the force’s magnitude and time interval over
which it acts.
Example 1
The 100 kg stone is initially resting on the smooth horizontal surface. For 10 s a tensile
force of 200 N is applied at an angle of 45 °.
Determine the final speed and the normal force that the surface exerts on the stone
during the time interval.
Solution 1
Free body diagram:
All forces are constant, so the impulse is: I = Fc·(t2
– t1)
Resolving force and velocity vectors into their components,
results
in:
t
2
m ( v )
x 1 Fx dt m(v x ) 2
t1
0 200(10) cos 45 (100)v2 v2 14,1 m/s
m(v ) F
y 1
t2
t1
y dt m(v y ) 2
0 N C (10) 981(10) 200(10) sin 45 0 N C 840 N
Exercise
The log has a mass of 500 kg and rests on the ground for which the static and kinetic
friction coefficients are equal to μs = 0.5 and μk = 0.4, respectively. The winch delivers a
horizontal towing force T to its cable in A, which varies as shown in the graph. Determine
the speed of the log when t = 5 s.
Originally the tension in the cable is zero.
Hint: First determine the force needed to
start moving the log.
Applications
As the wheels of this pitching machine rotate, they
apply frictional impulses to the ball, thereby giving it
linear momentum in the direction of Fdt and F’dt.
The weight impulse, Wt is very small since the
time the ball is in contact with the wheels is very
small.
Does the release velocity
of the ball depend on the
mass of the ball?
Principle of linear impulse and momentum
for systems of particles
For the system of particles shown, the internal forces f i between particles always occur in
pairs with equal magnitude and opposite directions. Thus, the internal impulses sum to
zero.
The linear impulse and momentum equation for this
system only includes the impulse of external forces.
Applications
This large crane-mounted hammer is used to drive
piles into the ground.
If the hammer rebounds, does the pile velocity
change from the case when the hammer doesn’t
rebound? Why?
In the impulse-momentum analysis, do we have to
consider the impulses of the weights of the hammer
and pile and the resistance force? Why or why not?
Conservation of momentum can be used to find the
velocity of the pile just after impact, assuming the
hammer does not rebound off the pile.
Conservation linear momentum for systems of particles
When the sum of external impulses acting on a
system of objects is zero, the linear impulse-
momentum equation simplifies to
å mi(vi)1 = å
mi(vi)2
This equation is referred to as the conservation of
linear momentum. Conservation of linear
momentum is often applied when particles collide
or interact.
When particles impact, only external impulsive
forces cause a change in the sum of linear
Conservation linear momentum for systems of particles
The sledgehammer applies an impulsive force to the stake.
The weight of the stake is considered negligible, or non-impulsive
(as compared to the impulsive force of the sledgehammer).
Also, provided the stake is driven into soft ground with little
resistance, the impulse of the ground acting on the stake is
considered non-impulsive.
Typical examples of impulsive forces are explosions and
collisions.
Typical examples of non-impulsive forces are weight, soft spring
forces, soft-ground forces, friction, etc.
Problem solving • Apply the principle of conservation of
linear momentum:
• Determine the inertial x-y-z reference
system and draw the free body å mi(vi)1 = å mi(vi)2
diagram
• Conservation of linear momentum in a • Determine the internal impulse ∫F·dt
certain direction applies if: that works on a particle of a system by
– No external forces are present or isolating the body and using the
– Applicable forces may be principle of linear impulse and
considered non-impulsive momentum:
• Determine the direction of the initial
and final speeds of the particles
• Direction of (speed) vector unknown?
Assumption: vector works in the • The average impulse force Favg is
positive direction of the coordinate determined by:
system
Favg = ∫F dt/∆t
Example 15.4
Solution 15.4
Solution 15.4 (cont’d)
Example 15.5
Solution 15.5
Solution 15.5 (cont’d)
Solution 15.5 (cont’d)
Example 15.6
Solution 15.6 (cont’d)
Solution 15.6 (cont’d)
Solution 15.6 (cont’d)
Solution 15.6 (cont’d)
Questions?
