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or
d
dt
F mv mv
d
dt
G G
Fx G x Fy G y Fz G z
Here the linear momentum at time t2 is G2=mv2 and the linear momentum at
time t1 is G1=mv1. The product of force and time is defined as the linear
impulse of the force, and this equation states that the total linear impulse
on m equals the corresponding change in linear momentum of m.
Alternatively, we may write
G1
Fdt G2
I
which says that the initial linear momentum of the body plus the linear impulse
applied to it equals its final linear momentum.
G2 mv2
m v1
+ =
G1 mv1
Fdt
The impulse integral is a vector which, in general, we may involve changes in
both magnitude and direction during the time interval. Under these
conditions, it will be necessary to express
F and G in component form
and then combine the integrated components. The components become the
scalar equations, which are independent of one another.
t2
F dt mv
t1
x mv x 1 Gx
x 2 2
Gx1 Gx
t2
F dt mv mv G
t1
y y 2 y 1 y2 G y1 G y
t2
F dt mv
t1
z z 2 mv z 1 Gz2 Gz1 Gz
There are cases where a force acting on a particle changes with the time in a
If, for example, a force acting on a particle in a given direction changes with
t2
the time as indicated in the figure, the impulse,
t1
F dt , of this force from
G 0 G1 G2
mv1 mv2
1. The 200-kg lunar lander is descending onto the moons surface with a
velocity of 6 m/s when its retro-engine is fired. If the engine produces a
thrust T for 4 s which varies with the time as shown and then cuts off,
calculate the velocity of the lander when t=5 s, assuming that it has not yet
landed. Gravitational acceleration at the moons surface is 1.62 m/s2.
SOLUTION
m 200 kg , v1 6 m / s , t 5 s, mg
g 1.62 m / s 2 , v2 ?
motion
Fdt mv 2 mv1
1
mg (5) (800) 2 (800)2 200v2 6
2 + T
1620 800 1600 200v2 6
v2 6 3.9
v2 2.1 m / s
PROBLEMS
2. The 9-kg block is moving to the right with a velocity of 0.6 m/s on a
horizontal surface when a force P is applied to it at time t=0. Calculate the
velocity v of the block when t=0.4 s. The kinetic coefficient of friction is
mk=0.3.
SOLUTION y
motion
x
W=mg
P
Fy 0 N mg 0 N Ff=mkN
N 9(9.81) 88.3 N F f m k N 0.3(88.3)
in x direction
t
Fdt mv mv
0
2 1
3. A tennis player strikes the tennis ball with her racket while the ball is still
rising. The ball speed before impact with the racket is v1=15 m/s and after
impact its speed is v2=22 m/s, with directions as shown in the figure. If the
60-g ball is in contact with the racket for 0.05 s, determine the magnitude of
the average force R exerted by the racket on the ball. Find the angle b made
by R with the horizontal.
SOLUTION y
v2 y v2
in x direction
20
v2 x
Fx dt mv 2 x mv1 x
t
0
10 v
1x
x
in y direction
Rx
F dt mv mv1 y
t
y 2 y
0
4. The 40-kg boy has taken a running jump from the upper surface and lands
on his 5-kg skateboard with a velocity of 5 m/s in the plane of the figure as
shown. If his impact with the skateboard has a time duration of 0.05 s,
determine the final speed v along the horizontal surface and the total normal
force N exerted by the surface on the skateboard wheels during the impact.
PROBLEMS
y (mB+mS)g
N
Linear momentum is conserved in x-direction;
mB vBx mS vSx mB mS v
40 5 cos 30 0 40 5 v v 3.85 m / s
in y direction
0.05
mB v By mS vSy N m
0
B mS g dt 0
y
The velocity of the particle is v r, and its linear momentum is G mv . The
moment of the linear momentum vector mv about the origin O is defined as
the angular momentum H O of P about O and is given by the cross-product
relation for the moment of a vector
H o r mv r G
The angular momentum is a vector perpendicular to the plane A defined by r
and
. The sense of
v H O is clearly defined by the right-hand rule for cross
products.
The scalar components of angular momentum may be obtained from the
expansion
H o r mv
i j k
Ho m x y
z m yv z zv y i mzv x xv z j m xv y yv x k
vx vy vz
so that
H ox m yv z zv y H oy mzvx xv z
H oz m xv y yv x
Mo r
F r mv
We now differentiate H o r mv with time, using the rule for the
differentiation of a cross product and obtain
d
H o r mv rm v r mv
dt
r mr 0 m a
Mo
The term v mv is zero since the cross product of parallel vectors is zero.
Substitution into the expression for moment about O gives
M o Ho
M ox H ox
M oy H oy M oz H oz
The Angular Impulse-Momentum Principle
To obtain the effect of the moment on the angular momentum of the particle
over a finite period of time, we integrate
M o H o from time t1 to t2.
t2 H o 2
M o dt
dH o H o
2 Ho 1
H o
t1 1
Ho
or
t2
M o dt r2 mv2 r1 mv1 H o
t1 change in angularmomentum
total angularimpulse
The total angular impulse on m about the fixed point O equals the
corresponding change in angular momentum of m about O.
Alternatively, we may write
2
t2
H o 1 M o dt H o
t1
Plane-Motion Application
t2
M
t1
o dt H o 2 H o 1
t2
Fr sindt mv d
t1
2 2 mv1d1
Conservation of Angular Momentum
H o 0 H O1 H O2
1. The assembly starts from rest and reaches an angular speed of 150
rev/min under the action of a 20 N force T applied to the string for t
seconds. Determine t. Neglect friction and all masses except those of the
four 3-kg spheres, which may be treated as particles.
SOLUTION
v
t2 v
t1
M z dt H z2 H z1
2
20 0.1 t 4 3 0.4150 0.4 v
T r m 60
sphere link
r
v
z
pulley
vsphere
t 15.08 s
PROBLEMS
2. A pendulum consists of two 3.2 kg concentrated masses positioned as
shown on a light but rigid bar. The pendulum is swinging through the vertical
position with a clockwise angular velocity w=6 rad/s when a 50-g bullet
traveling with velocity v=300 m/s in the direction shown strikes the lower
mass and becomes embedded in it. Calculate the angular velocity w which the
pendulum has immediately after impact and find the maximum deflection of
the pendulum.
SOLUTION
Angular momentum is conserved during impact; (2)
t
0
M O dt H O2 H O1 0 , H O1 H O2
MO 0 r mv 1 r mv 2
(1)
1
0.05 3.20.4 2.772 1 3.20.2 2.772 3.20.29.81 3.2 0.050.49.81
2 2
0 3.20.29.81cos 3.2 0.050.49.81cos
52.1o