Appendix A: Conservation of Mechanical

Energy = Conservation of Linear Momentum

Consider the dynamics of a 2nd order system composed of the

fundamental mechanical elements, inertia or mass (M), stiffness
(K), and viscous damping coefficient, (D). The Principle of
Conservation of Linear Momentum (Newtons 2nd Law of
Motion) leads to the following 2nd order differential equation:

M X + D X + K X = F ( t ) (1)

where X(t) represents the coordinate describing the system motion

and F(t)=Fext is the external force applied to the system.

Now, integrate Eq. (1) between two displacements X1 = X(t1) and

X2= X(t2) occurring at times t1 and t2, respectively At these times
the system velocities are also given by X 1 = X ( t1 ), X 2 = X ( t 2 ) ,
respectively. From Eq. (1) obtain:

MEEN 617 notes: Appendix A Luis San Andrs, 2008 A-1

 X2 X2 X2 X2

X M X dX + X D X dX + X K X dX = X F ( t ) dX (2)
1 1 1 1


 = d X , X = d X
X
The acceleration and velocity are defined as dt dt
,
respectively. Using these definitions, write Eq. (2) as:

t2 t2 X2 X2
d X dX dX 1

t1
M
dt d t
dt + D X
t
d t
dt +
X1
K d X 2 =
2 X1
F ( t ) dX
1

or,

t2 t2 X2 X2
d X  1

t
M
dt t

X dt + D X X dt +
X
K d X 2 =
2 X F ( t ) dX
1 1 1 1

(3)
X 2 t2 X2 X2
1 1

X
2 t
M d X 2 + D X X dt +
X
K d X 2 =
2 X F ( t ) dX
1 1 1 1

and since (M,K,D) are constants, express Eq. (3) as:

t2 X2
1 1
2 t

M ( X 22 X 12 ) + D X 2 dt + K ( X 22 X 12 ) = F ( t ) dX
2 X
(4)
1 1

Recognize several of the terms in equation above. These are

known as

MEEN 617 notes: Appendix A Luis San Andrs, 2008 A-2

Change in kinetic energy,
1 1
T2 T1 = M X 22 M X 12 (5.a)
2 2

Change in potential energy,

1 1
V2 V1 = K X 22 K X 12 (5.b)
2 2

Total work from external force input into the system,

X2

W1 2 = F ( t ) dX
X1
(5.c)

With v = D X as the viscous power dissipation, Then

2

the dissipated energy (removed from system) is,

t2 t2

t1

E v1 2 = D X 2 dt = v dt
t1
(5.d)

With these definitions, write Eq. (4) as

(T 2
) ( )
T1 + V2 V1 + Ev12 = W1 2 (6)

That is, the change in (kinetic energy + potential energy) + the

viscous dissipated energy = External work. This is also known as
the Principle of Conservation of Mechanical Energy.

Note that Eq. (1) and Eq. (6) are NOT independent. They actually
represent the same physical concept. Note also that Eq. (6) is not to

MEEN 617 notes: Appendix A Luis San Andrs, 2008 A-3

be mistaken with the first-law of thermodynamics since it does not
account for heat flow and/or changes in temperature.

One can particularize Eqn. (6) for the initial time t0 with initial
displacement and velocities given as ( X 0 , X 0 ) , and at an arbitrary
time (t) with displacements and velocities equal to ( X ( t ), X ( t )) ,
respectively, i.e.,

(T + V ) + E
t t vt = Wt + T0 + V0 (7)

or, using Eq. (4),

t X(t )
1 1 1 1
2
M X (2t ) + K X (2t ) +
2
t0
D X 2 dt =
X0
F ( t ) dX + M X 02 + K X 02
2 2
(8)

Note that the last two terms in the right hand side of equation (8)
are constant and represent the initial state of (kinetic + potential)
energy of the system.

Now, take the time derivative of Eq.. (8), i.e.

d 1
t X(t )
1 1 1
d t 2
M X (2t ) + K X (2t ) +
2 D X 2 dt = F ( t ) dX + M X 02 + K X 02
2 2
t0 X0
(9)
2 dX ( t ) 2 dX ( t ) dX ( t )

M X(t ) + K X(t ) + D X 2 = F ( t )
2 dt 2 dt dt

Recall that the derivative of an integral function is just the

integrand.

MEEN 617 notes: Appendix A Luis San Andrs, 2008 A-4

  d X  d X
Using well-known definitions X = ,X = , then Eq. (9) is
dt dt
M X ( t ) X( t ) + K X ( t ) X ( t ) + D X X ( t ) = F (t ) X ( t )

and factoring out the velocity, obtain

M X(t ) + K X(t ) + DX X (t ) = F(t) X (t )

Since for most times the velocity is different from zero, i.e. system
is moving; then

M X + D X + K X = F ( t ) (1)

i.e., the equation for conservation of linear momentum.

Suggestion/recommended work:
Rework the problem for a rotational (torsional) mechanical system
and show the equivalence of conservation of mechanical energy to
the principle of angular
momentum, i.e. start with the
following Eqn.

I  + D  + K = T ( t )
where (I, D, K) are the equivalent
mass moment of inertia, rotational
viscous damping and stiffness
coefficients, T(t)=Text is an applied
external moment or torque, and (t) is the angular displacement of
the rotational system.

MEEN 617 notes: Appendix A Luis San Andrs, 2008 A-5