CH 13

VECTOR MECHANICS FOR ENGINEERS:
DYNAMICS
Tenth Edition
Ferdinand P. Beer
E. Russell Johnston, Jr.
Phillip J. Cornwell
Lecture Notes:
Brian P. Self
California Polytechnic State University

CHAPTER
2013 The McGraw-Hill Companies, Inc. All rights reserved.
13
Kinetics of Particles:
Energy and Momentum
Methods
Vector Mechanics for Engineers: Dynamics
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Contents
13 - 2
Introduction
Work of a Force
Principle of Work & Energy
Applications of the Principle of
Work & Energy
Power and Efficiency
Sample Problem 13.1
Sample Problem 13.2
Sample Problem 13.3
Sample Problem 13.4
Sample Problem 13.5
Potential Energy
Conservative Forces
Conservation of Energy
Motion Under a Conservative
Central Force
Sample Problem 13.6
Sample Problem 13.7
Sample Problem 13.9
Principle of Impulse and Momentum
Impulsive Motion
Sample Problem 13.10
Impact
Direct Central Impact
Oblique Central Impact
Problems Involving Energy and
Momentum
Sample Problems 13.16
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Energy and Momentum Methods
2 - 3
The pogo stick allows the boy
to change between kinetic
energy, potential energy from
gravity, and potential energy
in the spring.
Accidents are often analyzed
by using momentum methods.
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Introduction
13 - 4
Previously, problems dealing with the motion of
particles were solved through the fundamental
equation of motion,

The current chapter introduces two additional
methods of analysis.
. F ma E =
Method of work and energy: directly relates force,
mass, velocity and displacement.
Method of impulse and momentum: directly
relates force, mass, velocity, and time.
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Introduction
2 - 5
Forces and
Accelerations
Velocities and
Displacements
Velocities and
Time
Approaches to Kinetics Problems
Newtons Second
Law (last chapter)
Work-Energy
Impulse-
Momentum
2 2 1 1
T U T = +

G
F ma =
2
1
1 2
t
t
mv F dt mv + =
}
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Work of a Force
13 - 6
Differential vector is the particle displacement. r d
Work of the force is

dz F dy F dx F
ds F
r d F dU
z y x
+ + =
=
- =
o cos
Work is a scalar quantity, i.e., it has magnitude and

sign but not direction.
force. length Dimensions of work are Units are
( ) ( )( ) J 1.356 lb 1ft m 1 N 1 J 1 = = joule
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Work of a Force
13 - 7
What is the work of a constant force in
rectilinear motion?
( )
1 2
cos U F x o
= A
( )
1 2
sin U F x o
= A
1 2
U F x
= A
1 2
0 U

=
a)
b)
c)
d)
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Work of a Force
13 - 8
Work of the force of gravity,
( ) y W y y W
dy W U
dy W
dz F dy F dx F dU
y
y
z y x
A = =
=
=
+ + =
}
1 2
2 1
2
1
Work of the weight is equal to product of
weight W and vertical displacement Ay.
In the figure above, when is the work done by the weight positive?
a) Moving from y
1
to y
2
b) Moving from y
2
to y
1
c) Never

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Work of a Force
13 - 9
Magnitude of the force exerted by a spring is
proportional to deflection,
( ) lb/in. or N/m constant spring =
=
k
kx F
Work of the force exerted by spring,
2
2
2
1
2
1
2
1
2 1
2
1
kx kx dx kx U
dx kx dx F dU
x
x
= =
= =
}
Work of the force exerted by spring is positive
when x
2
< x
1
, i.e., when the spring is returning to
its undeformed position.
Work of the force exerted by the spring is equal to
negative of area under curve of F plotted against x,
( ) x F F U A + =
2 1
2
1
2 1
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Work of a Force
13 - 10
As the block moves from A
0
to A
1
, is
the work positive or negative?
Positive Negative
As the block moves from A
2
to A
o
, is
the work positive or negative?
Positive Negative
Displacement is
in the opposite
direction of the
force
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Work of a Force
13 - 11
Work of a gravitational force (assume particle M
occupies fixed position O while particle m follows path
shown),
1 2
2
2 1
2
2
1
r
Mm
G
r
Mm
G dr
r
Mm
G U
dr
r
Mm
G Fdr dU
r
r
= =
= =
}
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2 - 12
Does the normal force do work as the
block slides from B to A?
YES NO
Does the weight do work as
the block slides from B to A?
YES NO
Positive or
Negative work?
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Particle Kinetic Energy: Principle of Work & Energy
13 - 13
dv mv ds F
ds
dv
mv
dt
ds
ds
dv
m
dt
dv
m ma F
t
t t
=
= =
= =
Consider a particle of mass m acted upon by force F
Integrating from A
1
to A
2
,
energy kinetic mv T T T U
mv mv dv v m ds F
v
v
s
s
t
= = =
= =
} }
2
2
1
1 2 2 1
2
1
2
1
2
2
2
1
2
1
2
1
The work of the force is equal to the change in
kinetic energy of the particle.
F
Units of work and kinetic energy are the same:

J m N m
s
m
kg
s
m
kg
2
2
2
2
1
= = |
.
|
\
|
=
|
.
|
\
|
= = mv T
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Applications of the Principle of Work and Energy
13 - 14
The bob is released
from rest at position A
1
.
Determine the velocity
of the pendulum bob at
A
2
using work & kinetic
energy.
Force acts normal to path and does no
work.
P
gl v
v
g
W
Wl
T U T
2
2
1
0
2
2
2
2 2 1 1
=
= +
= +

Velocity is found without determining
expression for acceleration and integrating.
All quantities are scalars and can be added
directly.
Forces which do no work are eliminated from
the problem.
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Power and Efficiency
13 - 15
rate at which work is done.
v F
dt
r d F
dt
dU
Power
- =
-
= =
=
Dimensions of power are work/time or force*velocity.
Units for power are
W 746
s
lb ft
550 hp 1 or
s
m
N 1
s
J
1 (watt) W 1 =
= = =

input power
output power
input work
k output wor
efficiency
=
=
= q
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Sample Problem 13.1
13 - 16
An automobile weighing 4000 lb is
driven down a 5
o
incline at a speed of
60 mi/h when the brakes are applied
causing a constant total breaking force
of 1500 lb.
Determine the distance traveled by the
automobile as it comes to a stop.
SOLUTION:
Evaluate the change in kinetic energy.
Determine the distance required for the
work to equal the kinetic energy change.
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Sample Problem 13.1
13 - 17
SOLUTION:
Evaluate the change in kinetic energy.
( )( ) lb ft 481000 88 2 . 32 4000
s ft 88
s 3600
h
mi
ft 5280
h
mi
60
2
2
1
2
1
2
1
1
1
= = =
=
|
.
|
\
|
|
.
|
\
|
|
.
|
\
|
=
mv T
v
( ) 0 lb 1151 lb ft 481000
2 2 1 1
=
= +

x
T U T
ft 418 = x
Determine the distance required for the work to
equal the kinetic energy change.
( ) ( )( )
( )x
x x U
lb 1151
5 sin lb 4000 lb 1500
2 1
=
+ =
0 0
2 2
= = T v
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Sample Problem 13.2
13 - 18
Two blocks are joined by an inextensible
cable as shown. If the system is released
from rest, determine the velocity of block
A after it has moved 2 m. Assume that the
coefficient of friction between block A
and the plane is
k
= 0.25 and that the
pulley is weightless and frictionless.
SOLUTION:
Apply the principle of work and
energy separately to blocks A and B.
When the two relations are combined,
the work of the cable forces cancel.
Solve for the velocity.
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Sample Problem 13.2
13 - 19
SOLUTION:
Apply the principle of work and energy separately
to blocks A and B.
( )( )
( )
( ) ( )
( ) ( )( ) ( )
2
2
1
2
2
1
2 2 1 1
2
kg 200 m 2 N 490 m 2
m 2 m 2 0
:
N 490 N 1962 25 . 0
N 1962 s m 81 . 9 kg 200
v F
v m F F
T U T
W N F
W
C
A A C
A k A k A
A
=
= +
= +
= = = =
= =

( )( )
( ) ( )
( ) ( )( ) ( )
2
2
1
2
2
1
2 2 1 1
2
kg 300 m 2 N 2940 m 2
m 2 m 2 0
:
N 2940 s m 81 . 9 kg 300
v F
v m W F
T U T
W
c
B B c
B
= +
= +
= +
= =

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Sample Problem 13.2
13 - 20
When the two relations are combined, the work of the
cable forces cancel. Solve for the velocity.
( ) ( )( ) ( )
2
2
1
kg 200 m 2 N 490 m 2 v F
C
=
( ) ( )( ) ( )
2
2
1
kg 300 m 2 N 2940 m 2 v F
c
= +
( )( ) ( )( ) ( )
( )
2
2
1
2
2
1
kg 500 J 4900
kg 300 kg 200 m 2 N 490 m 2 N 2940
v
v
=
+ =
s m 43 . 4 = v
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Sample Problem 13.3
13 - 21
A spring is used to stop a 60 kg package
which is sliding on a horizontal surface.
The spring has a constant k = 20 kN/m
and is held by cables so that it is initially
compressed 120 mm. The package has a
velocity of 2.5 m/s in the position shown
and the maximum deflection of the spring
is 40 mm.
Determine (a) the coefficient of kinetic
friction between the package and surface
and (b) the velocity of the package as it
passes again through the position shown.
SOLUTION:
Apply the principle of work and energy
between the initial position and the
point at which the spring is fully
compressed and the velocity is zero.
The only unknown in the relation is the
friction coefficient.
Apply the principle of work and energy
for the rebound of the package. The
only unknown in the relation is the
velocity at the final position.
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Sample Problem 13.3
13 - 22
SOLUTION:
Apply principle of work and energy between initial
position and the point at which spring is fully compressed.
( )( ) 0 J 5 . 187 s m 5 . 2 kg 60
2
2
2
1
2
1
2
1
1
= = = = T mv T
( )
( )( )( ) ( )
k k
k
f
x W U

J 377 m 640 . 0 s m 81 . 9 kg 60
2
2 1
= =
=
( )( )
( ) ( )( )
( ) ( )
( )( ) J 0 . 112 m 040 . 0 N 3200 N 2400
N 3200 m 160 . 0 m kN 20
N 2400 m 120 . 0 m kN 20
2
1
max min
2
1
2 1
0 max
0 min
= + =
A + =
= = A + =
= = =
x P P U
x x k P
kx P
e
( ) ( ) ( ) J 112 J 377
2 1 2 1 2 1
= + =
k
e f
U U U
( ) 0 J 112 J 377 - J 5 . 187
:
2 2 1 1
=
= +

k
T U T
20 . 0 =
k

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Sample Problem 13.3
13 - 23
Apply the principle of work and energy for the rebound
of the package.
( )
2
3
2
1
2
3
2
1
3 2
kg 60 0 v mv T T = = =
( ) ( ) ( )
J 36.5
J 112 J 377
3 2 3 2 3 2
+ =
+ = + =
k
e f
U U U
( )
2
3
2
1
3 3 2 2
kg 60 J 5 . 36 0
:
v
T U T
= +
= +

s m 103 . 1
3
= v
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Group Problem Solving
2 - 24
Packages are thrown down an
incline at A with a velocity of 1
m/s. The packages slide along
the surface ABC to a conveyor
belt which moves with a
velocity of 2 m/s. Knowing that
k
= 0.25 between the packages
and the surface ABC, determine
the distance d if the packages
are to arrive at C with a velocity
of 2 m/s.
SOLUTION:
The problem deals with a change in
position and different velocities, so use
work-energy.
Find the kinetic energy at points A
and C.
Determine the work done between
points A and C as a function of d.
Use the work-energy relationship
and solve for d.
Draw FBD of the box to help us
determine the forces that do work.
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2 - 25
SOLUTION:
Given: v
A
= 1 m/s, v
C
= 2 m/s,
k
= 0.25
Find: distance d
Will use:
Draw the FBD of the
block at points A and C
A A B B C C
T U U T

+ + =
Determine work done A B
cos30
0.25 cos 30
sin30
(sin30 cos30 )
AB
AB k AB
A B AB
k
N mg
F N mg
U mg d F d
mg d
=
= =
=
=
7 m
BC BC
BC k
B C k BC
N mg x
F mg
U mg x
= =
=
=
Determine work done B C
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2 - 26
A A B B C C
T U U T

+ + =
Determine kinetic energy at A and at C
Substitute values into
2
1
and 1m/s
2
A A A
T mv v = =
2
1
and 2 m/s
2
C C C
T mv v = =
2 2
0
1 1
(sin30 cos30 )
2 2
A k k BC
mv mg d mg x mv + =
2 2
2 2
/2 /2
(sin30 cos30 )
(2) /(2)(9.81) (0.25)(7) (1) /(2)(9.81)
sin30 0.25cos30
C k BC A
k
v g x v g
d

(
+

=

+
=

6.71m d =
Divide by m and solve for d
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2 - 27
The potential energy stored at
the top of the roller coaster is
transferred to kinetic energy
as the cars descend.
The elastic potential energy
stored in the trampoline is
transferred to kinetic energy
and gravitational potential
energy as the girl flies upwards.
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Potential Energy
13 - 28
2 1 2 1
y W y W U =
Work of the force of gravity ,

W
Work is independent of path followed; depends

only on the initial and final values of Wy.
=
=Wy V
g
potential energy of the body with respect
to force of gravity.
( ) ( )
2 1
2 1 g g
V V U =
Units of work and potential energy are the same:

J m N = = =Wy V
g
Choice of datum from which the elevation y is
measured is arbitrary.
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Potential Energy
13 - 29
Previous expression for potential energy of a body
with respect to gravity is only valid when the
weight of the body can be assumed constant.
For a space vehicle, the variation of the force of
gravity with distance from the center of the earth
should be considered.
Work of a gravitational force,
1 2
2 1
r
GMm
r
GMm
U =
Potential energy V
g
when the variation in the
force of gravity can not be neglected,
r
WR
r
GMm
V
g
2
= =
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Potential Energy
13 - 30
Work of the force exerted by a spring depends
only on the initial and final deflections of the
spring,
2
2
2
1
2
1
2
1
2 1
kx kx U =
The potential energy of the body with respect

to the elastic force,
( ) ( )
2 1
2 1
2
2
1
e e
e
V V U
kx V
=
=
Note that the preceding expression for V

e
is
valid only if the deflection of the spring is
measured from its undeformed position.
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Conservative Forces
13 - 31
Concept of potential energy can be applied if the
work of the force is independent of the path
followed by its point of application.
( ) ( )
2 2 2 1 1 1 2 1
, , , , z y x V z y x V U =
Such forces are described as conservative forces.

For any conservative force applied on a closed path,
0 = -
}
r d F


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Conservation of Energy
13 - 32
Work of a conservative force,
2 1 2 1
V V U =
Concept of work and energy,

1 2 2 1
T T U =
Follows that
constant
2 2 1 1
= + =
+ = +
V T E
V T V T
When a particle moves under the action of
conservative forces, the total mechanical
energy is constant.
Friction forces are not conservative. Total
mechanical energy of a system involving
friction decreases.
Mechanical energy is dissipated by friction
into thermal energy. Total energy is constant.
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Motion Under a Conservative Central Force
13 - 33
When a particle moves under a conservative central
force, both the principle of conservation of angular
momentum

and the principle of conservation of energy

may be applied.
| | sin sin
0 0 0
rmv mv r =
r
GMm
mv
r
GMm
mv
V T V T
=
+ = +
2
2
1
0
2
0
2
1
0 0
Given r, the equations may be solved for v and .
At minimum and maximum r, = 90
o
. Given the
launch conditions, the equations may be solved for
r
min
, r
max
, v
min
, and v
max
.
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Sample Problem 13.9
13 - 34
A satellite is launched in a direction
parallel to the surface of the earth
with a velocity of 36900 km/h from
an altitude of 500 km.
Determine (a) the maximum altitude
reached by the satellite, and (b) the
maximum allowable error in the
direction of launching if the satellite
is to come no closer than 200 km to
the surface of the earth
SOLUTION:
For motion under a conservative central
force, the principles of conservation of
energy and conservation of angular
momentum may be applied simultaneously.
Apply the principles to the points of
minimum and maximum altitude to
determine the maximum altitude.
Apply the principles to the orbit insertion
point and the point of minimum altitude to
determine maximum allowable orbit
insertion angle error.
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Sample Problem 13.9
13 - 35
Apply the principles of conservation of energy and
conservation of angular momentum to the points of minimum
and maximum altitude to determine the maximum altitude.
Conservation of energy:
1
2
1
2
1
0
2
0
2
1
r
GMm
mv
r
GMm
mv V T V T
A A A A
= + = +
' '
Conservation of angular momentum:
1
0
0 1 1 1 0 0
r
r
v v mv r mv r = =
Combining,
2
0 0
1
0
1
0
0
2
1
2
0
2
0
2
1
2
1 1 1
v r
GM
r
r
r
r
r
GM
r
r
v = +
|
|
.
|
\
|
=
|
|
.
|
\
|
( )( )
2 3 12
2
6 2 2
6
0
0
s m 10 398 m 10 37 . 6 s m 81 . 9
s m 10 25 . 10 h km 36900
km 6870 km 500 km 6370
= = =
= =
= + =
gR GM
v
r
km 60400 m 10 4 . 60
6
1
= = r
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Sample Problem 13.9
13 - 36
Apply the principles to the orbit insertion point and the point
of minimum altitude to determine maximum allowable orbit
insertion angle error.
Conservation of energy:
min
2
max
2
1
0
2
0
2
1
0 0
r
GMm
mv
r
GMm
mv V T V T
A A
= + = +
Conservation of angular momentum:
min
0
0 0 max max min 0 0 0
sin sin
r
r
v v mv r mv r | | = =
Combining and solving for sin
0
,
=
=
5 . 11 90
9801 . 0 sin
0
0
|
= 5 . 11 error allowable
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Sample Problem 13.6
13 - 37
A 20 lb collar slides without friction
along a vertical rod as shown. The
spring attached to the collar has an
undeflected length of 4 in. and a
constant of 3 lb/in.
If the collar is released from rest at
position 1, determine its velocity after
it has moved 6 in. to position 2.
SOLUTION:
Apply the principle of conservation of
energy between positions 1 and 2.
The elastic and gravitational potential
energies at 1 and 2 are evaluated from
the given information. The initial kinetic
energy is zero.
Solve for the kinetic energy and velocity
at 2.
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Sample Problem 13.6
13 - 38
SOLUTION:
Apply the principle of conservation of energy between
positions 1 and 2.
Position 1: ( )( )
0
lb ft 2 0 lb in. 24
lb in. 24 in. 4 in. 8 in. lb 3
1
1
2
2
1
2
1
2
1
=
= + = + =
= = =
T
V V V
kx V
g e
e
Position 2: ( )( )
( )( )
2
2
2
2
2
2
2
1
2
2
2
2
1
2
2
2
1
311 . 0
2 . 32
20
2
1
lb ft 5 . 5 lb in. 66 120 54
lb in. 120 in. 6 lb 20
lb in. 54 in. 4 in. 0 1 in. lb 3
v v mv T
V V V
Wy V
kx V
g e
g
e
= = =
= = = + =
= = =
= = =
Conservation of Energy:
lb ft 5 . 5 0.311 lb ft 2 0
2
2
2 2 1 1
= +
+ = +
v
V T V T
+ = s ft 91 . 4
2
v
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2 - 39
A section of track for a roller coaster
consists of two circular arcs AB and CD
joined by a straight portion BC. The radius
of CD is 240 ft. The car and its occupants,
of total weight 560 lb, reach Point A with
practically no velocity and then drop freely
along the track. Determine the normal
force exerted by the track on the car at
point D. Neglect air resistance and rolling
resistance.
SOLUTION:
This is two part problem you
will need to find the velocity of
the car using work-energy, and
then use Newtons second law
to find the normal force.
Draw a diagram with the car
at points A and D, and
define your datum. Use
conservation of energy to
solve for v
D
Draw FBD and KD of the car
at point D, and determine the
normal force using Newtons
second law.

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2 - 40
SOLUTION:
Given: v
A
= 0 ft/s, r
CD
= 240 ft, W=560 lbs
Find: N
D
Define your datum, sketch the
situation at points of interest
Datum
Use conservation of energy to find v
D A A D D
T V T V + = +
0 0
A A
v T = =
(560 lb)(90 60)=84,000 ft lbs
A A
V Wy = = +
2 2 2
1 1 560
8.6957
2 2 32.2
D D D D
T mv v v
| |
= = =
|
\ .
Find T
A
Find V
A
Find T
D
Find V
D
0 0
D D
y V = =
Solve for v
D
2
8.6957 84000
D
v =
98.285 ft/s
D
v =
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2 - 41
Draw FBD and KD at point D
Use Newtons second law in the normal direction

n n
F ma =
W
N
D
ma
n
ma
t
2
D
D
v
N W m
R
| |
=
|
|
\ .
2
560 98.285
560
32.2 240
D
N
| |
= +
|
|
\ .
1260 lbs
D
N =
e
n
e
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Impulsive Motion
2 - 42
The impulse applied to the railcar
by the wall brings its momentum
to zero. Crash tests are often
performed to help improve safety
in different vehicles.
The thrust of a rocket acts
over a specific time period
to give the rocket linear
momentum.
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Principle of Impulse and Momentum
13 - 43
From Newtons second law,
( ) = = v m v m
dt
d
F

linear momentum
2 2 1 1
2 1
force the of impulse
2
1
v m v m
F dt F
t
t

= +
= =
}
Imp
Imp
The final momentum of the particle can be
obtained by adding vectorially its initial
momentum and the impulse of the force during
the time interval.
( )
1 2
2
1
v m v m dt F
v m d dt F
t
t

=
=
}
Dimensions of the impulse of
a force are
force*time.
Units for the impulse of a
force are
( ) s m kg s s m kg s N
2
= =
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Impulsive Motion
13 - 44
Force acting on a particle during a very short
time interval that is large enough to cause a
significant change in momentum is called an
impulsive force.
When impulsive forces act on a particle,
2 1
v m t F v m

= A +
When a baseball is struck by a bat, contact

occurs over a short time interval but force is
large enough to change sense of ball motion.
Nonimpulsive forces are forces for which
is small and therefore, may be
neglected an example of this is the weight
of the baseball.
t FA

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13 - 45
An automobile weighing 4000 lb is
driven down a 5
o
incline at a speed of
60 mi/h when the brakes are applied,
causing a constant total braking force of
1500 lb.
Determine the time required for the
automobile to come to a stop.
SOLUTION:
Apply the principle of impulse and
momentum. The impulse is equal to the
product of the constant forces and the
time interval.
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13 - 46
SOLUTION:
momentum.
2 2 1 1
v m v m

= +

Imp
Taking components parallel to the
incline,
( )
( ) ( ) 0 1500 5 sin 4000 s ft 88
2 . 32
4000
0 5 sin
1
= + |
.
|
\
|
= +
t t
Ft t W mv
s 49 . 9 = t
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13 - 47
A 4 oz baseball is pitched with a
velocity of 80 ft/s. After the ball is hit
by the bat, it has a velocity of 120 ft/s
in the direction shown. If the bat and
ball are in contact for 0.015 s,
determine the average impulsive force
exerted on the ball during the impact.
SOLUTION:
momentum in terms of horizontal and
vertical component equations.
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13 - 48
SOLUTION:
Apply the principle of impulse and momentum in
terms of horizontal and vertical component equations.
2 2 1 1
v m v m

= +

Imp
x
y
x component equation:
( ) ( ) ( )
lb 89
40 cos 120
2 . 32
16 4
15 . 0 80
2 . 32
16 4
40 cos
2 1
=
= +
= A +
x
x
x
F
F
mv t F mv
y component equation:
( ) ( )
lb 9 . 39
40 cos 120
2 . 32
16 4
15 . 0
40 sin 0
2
=
=
= A +
y
y
y
F
F
mv t F
( ) ( ) lb 5 . 97 , lb 9 . 39 lb 89 = + = F j i F

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13 - 49
A 10 kg package drops from a chute
into a 24 kg cart with a velocity of 3
m/s. Knowing that the cart is initially at
rest and can roll freely, determine (a)
the final velocity of the cart, (b) the
impulse exerted by the cart on the
package, and (c) the fraction of the
initial energy lost in the impact.
SOLUTION:
momentum to the package-cart system
to determine the final velocity.
Apply the same principle to the package
alone to determine the impulse exerted
on it from the change in its momentum.
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13 - 50
SOLUTION:
Apply the principle of impulse and momentum to the package-cart
system to determine the final velocity.
( )
2 2 1 1
v m m v m
c p p

+ = +

Imp
x
y
x components: ( )
( )( ) ( )
2
2 1
kg 25 kg 10 30 cos m/s 3 kg 10
0 30 cos
v
v m m v m
c p p
+ =
+ = +
m/s 742 . 0
2
= v
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13 - 51
Apply the same principle to the package alone to determine the impulse
exerted on it from the change in its momentum.
x
y
2 2 1 1
v m v m
p p

= +

Imp
x components:
( )( ) ( )
2
2 1
kg 10 30 cos m/s 3 kg 10
30 cos
v t F
v m t F v m
x
p x p
= A +
= A +
s N 56 . 18 = At F
x
y components:
( )( ) 0 30 sin m/s 3 kg 10
0 30 sin
1
= A +
= A +
t F
t F v m
y
y p
s N 15 = At F
y
( ) ( ) s N 9 . 23 s N 5 1 s N 56 . 18
2 1
= A + = A =

t F j i t F

Imp
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13 - 52
To determine the fraction of energy lost,
( )( )
( ) ( )( )
2
2
1 1
1 1 2 2
2
2
1 1
2 2 2 2
10 kg 3m s 45 J
10 kg 25 kg 0.742m s 9.63 J
p
p c
T m v
T m m v
= = =
= + = + =
786 . 0
J 45
J 9.63 J 45
1
2 1
=
T
T T
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2 - 53
The jumper approaches the takeoff
line from the left with a horizontal
velocity of 10 m/s, remains in contact
with the ground for 0.18 s, and takes
off at a 50
o
angle with a velocity of 12
m/s. Determine the average impulsive
force exerted by the ground on his
foot. Give your answer in terms of the
weight W of the athlete.
SOLUTION:
Draw impulse and momentum diagrams
of the jumper.
momentum to the jumper to determine
the force exerted on the foot.
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2 - 54
Draw impulse and momentum diagrams of the jumper
1
mv
2
mv
+ =
50
Use the impulse momentum equation in y to find F
avg

W t A
Given: v
1
= 10 m/s, v
2
= 12 m/s at 50,
t= 0.18 s
Find: F
avg
in terms of W
avg
F t A
1 2
( ) 0.18 s m t m t + A = A = v P W v
x
y
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2 - 55
1
mv
2
mv
+ =
50
Use the impulse momentum equation in x and y to find F
avg

W t A
avg
F t A
1 2
( ) 0.18 s
avg
m t m t + A = A = v F W v
0 ( )(0.18) (12)(sin 50 )
(12)(sin 50 )
(9.81)(0.18)
avg y
avg y
W
F W
g
F W W
+ =
= +
(10) ( )(0.18) (12)(cos 50 )
10 (12)(cos 50 )
(9.81)(0.18)
avg x
avg x
W W
F
g g
F W
+ =

=
1.295 6.21
avg
W W = + F i j
x
y
F
avg-x
is positive, which means we
guessed correctly (acts to the left)
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2 - 56
The coefficient of restitution is used
to characterize the bounciness of
different sports equipment. The U.S.
Golf Association limits the COR of
golf balls at 0.83
Civil engineers use the
coefficient of restitution to
model rocks falling from
hillsides
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Impact
13 - 57
Impact: Collision between two bodies which
occurs during a small time interval and during
which the bodies exert large forces on each other.
Line of Impact: Common normal to the surfaces
in contact during impact.
Central Impact: Impact for which the mass
centers of the two bodies lie on the line of impact;
otherwise, it is an eccentric impact..
Direct Impact: Impact for which the velocities of
the two bodies are directed along the line of
impact.
Oblique Impact: Impact for which one or both of
the bodies move along a line other than the line of
impact.
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13 - 58
Bodies moving in the same straight line,
v
A
>

v
B
.
Upon impact the bodies undergo a
period of deformation, at the end of which,
they are in contact and moving at a
common velocity.
A period of restitution follows during
which the bodies either regain their
original shape or remain permanently
deformed.
Wish to determine the final velocities of the
two bodies. The total momentum of the
two body system is preserved,
B B B B B B A A
v m v m v m v m
'
+
'
= +
A second relation between the final
velocities is required.
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13 - 59
Period of deformation: u m Pdt v m
A A A
=
}
Period of restitution:
A A A
v m Rdt u m
'
=
}
1 0 s s

'
= =
=
}
}
e
u v
v u
Pdt
Rdt
n restitutio of t coefficien e
A
A
A similar analysis of particle B yields
B
B
v u
u v
e
'
=
Combining the relations leads to the desired
second relation between the final velocities.
( )
B A A B
v v e v v =
'
'
Perfectly plastic impact, e = 0: v v v
A B
'
=
'
=
' ( )v m m v m v m
B A B B A A
'
+ = +
Perfectly elastic impact, e = 1:
Total energy and total momentum conserved.
B A A B
v v v v =
'
'
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13 - 60
Final velocities are
unknown in magnitude
and direction. Four
equations are required.
No tangential impulse component;
tangential component of momentum
for each particle is conserved.
( ) ( ) ( ) ( )
t
B
t
B
t
A
t
A
v v v v
'
=
'
=
Normal component of total
momentum of the two particles is
conserved.
( ) ( ) ( ) ( )
n
B B
n
A A
n
B B
n
A A
v m v m v m v m
'
+
'
= +
Normal components of relative
velocities before and after impact
are related by the coefficient of
restitution.
( ) ( ) ( ) ( ) | |
n
B
n
A
n
A
n
B
v v e v v =
'
'
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13 - 61
Block constrained to move along horizontal
surface.
Impulses from internal forces
along the n axis and from external force
exerted by horizontal surface and directed
along the vertical to the surface.
F F

and
ext
F
Final velocity of ball unknown in direction and

magnitude and unknown final block velocity
magnitude. Three equations required.
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13 - 62
Tangential momentum of ball is
conserved.
( ) ( )
t
B
t
B
v v
'
=
Total horizontal momentum of block
and ball is conserved.
( ) ( ) ( ) ( )
x
B B A A
x
B B A A
v m v m v m v m
'
+
'
= +
Normal component of relative
velocities of block and ball are related
by coefficient of restitution.
( ) ( ) ( ) ( ) | |
n
B
n
A
n
A
n
B
v v e v v =
'
'
Note: Validity of last expression does not follow from previous relation for
the coefficient of restitution. A similar but separate derivation is required.
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Problems Involving Energy and Momentum
13 - 63
Three methods for the analysis of kinetics problems:
- Direct application of Newtons second law
- Method of work and energy
- Method of impulse and momentum
Select the method best suited for the problem or part of a problem
under consideration.
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13 - 64
A ball is thrown against a frictionless,
vertical wall. Immediately before the
ball strikes the wall, its velocity has a
magnitude v and forms angle of 30
o

with the horizontal. Knowing that
e = 0.90, determine the magnitude and
direction of the velocity of the ball as
it rebounds from the wall.
SOLUTION:
Resolve ball velocity into components
normal and tangential to wall.
Impulse exerted by the wall is normal
to the wall. Component of ball
momentum tangential to wall is
conserved.
Assume that the wall has infinite mass
so that wall velocity before and after
impact is zero. Apply coefficient of
restitution relation to find change in
normal relative velocity between wall
and ball, i.e., the normal ball velocity.
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13 - 65
Component of ball momentum tangential to wall is conserved.
v v v
t t
500 . 0 = = '
Apply coefficient of restitution relation with zero wall
velocity.
( )
( ) v v v
v e v
n
n n
779 . 0 866 . 0 9 . 0
0 0
= = '
= '
SOLUTION:
Resolve ball velocity into components parallel and
perpendicular to wall.
v v v v v v
t n
500 . 0 30 sin 866 . 0 30 cos = = = =
n
t
=
|
.
|
\
|
= '
+ = '
7 . 32
500 . 0
779 . 0
tan 926 . 0
500 . 0 779 . 0
1
v v
v v v
t n


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13 - 66
The magnitude and direction of the
velocities of two identical
frictionless balls before they strike
each other are as shown. Assuming
e = 0.9, determine the magnitude
and direction of the velocity of each
ball after the impact.
SOLUTION:
Resolve the ball velocities into components
normal and tangential to the contact plane.
Tangential component of momentum for
each ball is conserved.
Total normal component of the momentum
of the two ball system is conserved.
The normal relative velocities of the
balls are related by the coefficient of
restitution.
Solve the last two equations simultaneously
for the normal velocities of the balls after
the impact.
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13 - 67
SOLUTION:
Resolve the ball velocities into components normal and
tangential to the contact plane.
( ) s ft 0 . 26 30 cos = =
A
n
A
v v ( ) s ft 0 . 15 30 sin = =
A
t
A
v v
( ) s ft 0 . 20 60 cos = =
B
n
B
v v ( ) s ft 6 . 34 60 sin = =
B
t
B
v v
Tangential component of momentum for each ball is
conserved.
( ) ( ) s ft 0 . 15 = = '
t
A
t
A
v v ( ) ( ) s ft 6 . 34 = = '
t
B
t
B
v v
Total normal component of the momentum of the two
ball system is conserved.
( ) ( ) ( ) ( )
( ) ( ) ( ) ( )
( ) ( ) 0 . 6
0 . 20 0 . 26
= ' + '
' + ' = +
' + ' = +
n
B
n
A
n
B
n
A
n
B B
n
A A
n
B B
n
A A
v v
v m v m m m
v m v m v m v m
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13 - 68
=
|
.
|
\
|
= '
+ = '
=
|
.
|
\
|
= '
+ = '
6 . 55
7 . 23
6 . 34
tan s ft 9 . 41
6 . 34 7 . 23
3 . 40
7 . 17
0 . 15
tan s ft 2 . 23
0 . 15 7 . 17
1
1
B
n t B
A
n t A
v
v
v
v

t
n
The normal relative velocities of the balls are related by the
coefficient of restitution.
( ) ( ) ( ) ( ) | |
( ) | | 4 . 41 0 . 20 0 . 26 90 . 0 = =
= ' '
n
B
n
A
n
B
n
A
v v e v v
Solve the last two equations simultaneously for the normal
velocities of the balls after the impact.
( ) s ft 7 . 17 = '
n
A
v ( ) s ft 7 . 23 = '
n
B
v
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13 - 69
Ball B is hanging from an inextensible
cord. An identical ball A is released
from rest when it is just touching the
cord and acquires a velocity v
0
before
striking ball B. Assuming perfectly
elastic impact (e = 1) and no friction,
determine the velocity of each ball
immediately after impact.
SOLUTION:
Determine orientation of impact line of
action.
The momentum component of ball A
tangential to the contact plane is
conserved.
The total horizontal momentum of the
two ball system is conserved.
The relative velocities along the line of
action before and after the impact are
related by the coefficient of restitution.
Solve the last two expressions for the
velocity of ball A along the line of action
and the velocity of ball B which is
horizontal.
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13 - 70
SOLUTION:
Determine orientation of impact line of action.
=
= =
30
5 . 0
2
sin
u
u
r
r
The momentum component of ball A
tangential to the contact plane is
conserved.
( )
( )
0
0
5 . 0
0 30 sin
v v
v m mv
v m t F v m
t
A
t
A
A A
= '
' = +
' = A +

The total horizontal (x component)

momentum of the two ball system is
conserved.
( ) ( )
( ) ( )
( )
0
0
433 . 0 5 . 0
30 sin 30 cos 5 . 0 0
30 sin 30 cos 0
v v v
v v v
v m v m v m
v m v m t T v m
B
n
A
B
n
A
B
n
A
t
A
B A A
= ' + '
' ' =
' ' ' =
' + ' = A +


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13 - 71
The relative velocities along the line of action before
and after the impact are related by the coefficient of
restitution.
( ) ( ) ( ) ( ) | |
( )
( )
0
0
866 . 0 5 . 0
0 30 cos 30 sin
v v v
v v v
v v e v v
n
A B
n
A B
n
B
n
A
n
A
n
B
= ' '
= ' '
= ' '
Solve the last two expressions for the velocity of ball
A along the line of action and the velocity of ball B
which is horizontal.
( )
0 0
693 . 0 520 . 0 v v v v
B
n
A
= ' = '
= '
= =
=
|
.
|
\
|
= = '
= '
0
1
0
0 0
693 . 0
1 . 16 30 1 . 46
1 . 46
5 . 0
52 . 0
tan 721 . 0
520 . 0 5 . 0
v v
v v
v v v
B
A
n t A
o
|


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13 - 72
A 30 kg block is dropped from a height
of 2 m onto the the 10 kg pan of a
spring scale. Assuming the impact to be
perfectly plastic, determine the
maximum deflection of the pan. The
constant of the spring is k = 20 kN/m.
SOLUTION:
energy to determine the velocity of the
block at the instant of impact.
Since the impact is perfectly plastic, the
block and pan move together at the same
velocity after impact. Determine that
velocity from the requirement that the
total momentum of the block and pan is
conserved.
energy to determine the maximum
deflection of the spring.
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13 - 73
SOLUTION:
Apply principle of conservation of energy to
determine velocity of the block at instant of impact.
( )( )( )
( ) ( )( )
( )( ) ( ) s m 26 . 6 0 30 J 588 0
0 30
J 588 2 81 . 9 30 0
2
2
2
2
1
2 2 1 1
2
2
2
2
1
2
2
2
1
2
1 1
= + = +
+ = +
= = =
= = = =
A A
A A A
A
v v
V T V T
V v v m T
y W V T
Determine velocity after impact from requirement that
total momentum of the block and pan is conserved.
( ) ( ) ( )
( )( ) ( ) s m 70 . 4 10 30 0 26 . 6 30
3 3
3
2 2
= + = +
+ = +
v v
v m m v m v m
B A B B A A
T
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13 - 74
Initial spring deflection due to
pan weight:
( )( )
m 10 91 . 4
10 20
81 . 9 10
3
3
3

=
= =
k
W
x
B
Apply the principle of conservation of energy to
determine the maximum deflection of the spring.
( ) ( )( )
( )( )
( )( )
( ) ( )
( ) ( )
2
4
3
2
1
3
4
2
4
3
2
1
3 4
2
4
2
1
4
4
2
3 3
2
1
2
3
2
1
3
2
2
1
2
3
2
1
3
10 20 10 91 . 4 392
10 20 392
0
J 241 . 0 10 91 . 4 10 20 0
J 442 7 . 4 10 30
x x
x x x
kx h W W V V V
T
kx
V V V
v m m T
B A e g
e g
B A
+ =
+ =
+ + = + =
=
= = + =
+ =
= + = + =
( ) ( )
m 230 . 0
10 20 10 91 . 4 392 0 241 . 0 442
4
2
4
3
2
1
3
4
4 4 3 3
=
+ = +
+ = +
x
x x
V T V T
m 10 91 . 4 m 230 . 0
3
3 4

= = x x h m 225 . 0 = h
T
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2 - 75
A 2-kg block A is pushed up against a spring
compressing it a distance x= 0.1 m. The block is
then released from rest and slides down the 20
incline until it strikes a 1-kg sphere B, which is
suspended from a 1 m inextensible rope. The
spring constant k=800 N/m, the coefficient of
friction between A and the ground is 0.2, the
distance A slides from the unstretched length of
the spring d=1.5 m, and the coefficient of
restitution between A and B is 0.8. When o=40
o
,
find (a) the speed of B (b) the tension in the rope.
SOLUTION:
This is a multiple step problem.
Formulate your overall approach.
Use work-energy to find the
velocity of the block just
before impact
Use conservation of
momentum to determine
the speed of ball B after
the impact
Use work energy to find
the velocity at o
Use Newtons 2
nd
Law to
find tension in the rope
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2 - 76
Given: m
A
= 2-kg m
B
= 1-kg,
k= 800 N/m,
A
=0.2, e= 0.8
Find (a) v
B
(b) T
rope
Use work-energy to find the velocity of
the block just before impact
Determine the friction force acting on the block A
cos 0
A
N m g u =
cos
(2)(9.81) cos 20
18.4368 N
(0.2)(18.4368)
3.6874 N
A
f k
N m g
F N
u
=
=
=
= =
=

0:
y
F =
Sum forces in the y-direction
Solve for N
T
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2 - 77
Set your datum, use work-energy to determine v
A
at impact.

1
2
Datum
x
d
1 1 1 1 2 2 2 2
( ) ( ) ( ) ( )
e g e g
T V V U T V V
+ + + = + +
Determine values for each term.
2 2
1 1 1
1 1
0, ( ) (800)(0.1) 4.00 J
2 2
e
T V kx = = = =
1 1
( ) ( )sin (2)(9.81)(1.6)sin 20 10.7367 J
g A A
V m gh m g x d u = = + = =
1 2
( ) (3.6874)(1.6) 5.8998 J
f
U F x d
= + = =
2 2 2
2 2
1 1
(1)( ) 1.000 0
2 2
A A A A
T m v v v V = = = =

2
1 1 1 2 2 2
: 0 4.00 10.7367 5.8998 1.000 0
A
T V U T V v
+ + = + + + = +
2 2 2
8.8369 m /s
A
v =

2.9727 m/s
A
= v
Substitute into the Work-Energy equation and solve for v
A
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2 - 78
Use conservation of momentum to determine
the speed of ball B after the impact
Draw the impulse diagram
Note that the ball is constrained to move only
horizontally immediately after the impact.
Apply conservation of
momentum in the x direction
(2)(2.9727) cos 20 2 cos 20 (1.00)
A B
v v
' = +
cos 0 cos
A A A A B B
m v m v m v u u ' + = +
( ) ( ) [( ) ( ) ]
B n A n B n A n
v v e v v ' ' =
cos [ 0]
cos 20 (0.8)(2.9727)
B A A
B A
v v e v
v v
u ' ' =
' ' =

Use the relative velocity/coefficient
of restitution equation
(1)
(2)
Solve (1) and (2) simultaneously
1.0382 m/s 3.6356 m/s
A B
v v ' ' = =
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2 - 79

Use work energy to find the velocity at o
Set datum, use Work-Energy to determine v
B
at o= 40
o
1
2
Datum
1 1 1 1 2 2 2 2
( ) ( ) ( ) ( )
e g e g
T V V U T V V
+ + + = + +
Determine values for each term.
2
1 1
2
2 2 2 2
1
( ) 0
2
1
(1 cos )
2
B B
B B B
T m v V
T m v V m gh m gl o
' = =
= = =
2 2
1 1 2 2 2
2 2
2
2
2 2
1 1
: ( ) 0 (1 cos )
2 2
( ) 2 (1 cos )
(3.6356) (2)(9.81)(1 cos 40 )
8.6274 m /s
B B B B
B
T V T V m v m v m g
v v gl
o
o
' + = + + = +
' =
=
=
2
2.94 m/s v =
Substitute into the Work-Energy equation and solve for v
A
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2 - 80
Use Newtons 2
nd
Law to find tension in the rope
Draw your free-body and
kinetic diagrams
:
n B n
F m a =
cos
( cos )
B B n
B n
T m g m a
T m a g
o
o
=
= +
e
t
e
n
2
2 2
1.00 m
8.6274
8.6274 m/s
1.00
n
v
a
=
= = =
(1.0)(8.6274 9.81cos40 ) T = +
Sum forces in the normal direction Determine normal acceleration
16.14 N T =
Substitute and solve
T
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Concept Question
2 - 81
If the coefficient of restitution is
smaller than the 0.8 in the
problem, the tension T will be
Smaller Bigger
If the rope length is smaller than
the 1 m in the problem, the
tension T will be
Smaller Bigger
If the coefficient of friction is
smaller than 0.2 given in the
problem, the tension T will be
Smaller Bigger
If the mass of A is smaller
than the 2 kg given in the
problem, the tension T will
be
Smaller Bigger
Compare the following statement to the problem you just solved.

CH 13

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CH 13

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VECTOR MECHANICS FOR ENGINEERS:

Work of the force is

Work is a scalar quantity, i.e., it has magnitude and

Units of work and kinetic energy are the same:

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2013 The McGraw-Hill Companies, Inc. All rights reserved.

Work of the force of gravity ,

Work is independent of path followed; depends

Units of work and potential energy are the same:

The potential energy of the body with respect

Note that the preceding expression for V

Such forces are described as conservative forces.

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Concept of work and energy,

When a baseball is struck by a bat, contact

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Final velocity of ball unknown in direction and

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The total horizontal (x component)

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2013 The McGraw-Hill Companies, Inc. All rights reserved.

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