1

2
m
1
L
1
v
1
mv
1
F
3
F
2
F
Linear Momentum of a Particle:
Problems involve forces, masses, velocities and time can better be solved
using principles of impulse and momentum. We have learned that for a particle
( ),
ext R
d
m m
dt
= = =

F F a v
=
i
k
j
1 1
m = v L
+
1 2
( )

I
1
mv
2
mv
2
1
t
R
t
dt +
}
F
R
F
2
m
L
2
v
Momentum finally, just
after the applivation
of external Forces
final momentum =
1 2
Momentum initially
:Impulse, [N.s]
before the applivation
of external Forces
The initial momentum +acting impulses

=
I
2 2
m = v L
1 2
( )

I
( ) ,
R
dt d mv mdv = = F
2 2
1 1
( )
t v
R
t v
dt d mv =
} }
F
1 2
1 2
2
1
1 2
L L
t
R
t
mv dt mv

+ =
}
I
F
1 2 2
+ =
1
L I L
Linear Momentum of a Particle:
1
0 v =
2
v
impact
F
fr
F
Find the velocity of the particle just after impact knowing its velocity before impact is zero.
1
mv
-Find the time required for the particle to reach zero velocity up the hill
2 2
1 1
2
sin( ) (0)
t t
r
t t
mv mg F m u =
} }
Now, the impulse of the weight and friction has a significant
value it acts for a long time.
Example:
sin( ) W u
W
2
1
t
impact
t
F dt +
}
2
mv =
2
1
0
sin( )
t
t
mg u
~

}
2
1
)
t
r
t
F dt
}
2
0
mv
~
=
Example 6:
The hydraulic braking system for the truck and trailer is
applied for the two units. If the brakes are applied uniformly
for 5 sec. to bring the rig to a stop from a speed of 20
mile/hr down the 10% grade, determine the force in the
coupling between the trailer and the truck. The truck weight
is 20,000 lb and the trailer weight is 15,000 lb.
.
20, 000lb
15, 000lb
1
10
trailer
N
( )
truck
W Sin u
, r truck
F
truck
N
y
x
P
15, 000lb
P
P
, r trailer
F
( )
trailer
W Cos u
( )
trailer
W Sin u
trailer
N
y
x
0
5279
20 20 29.32 /
3600
mile ft
v ft s
hr s
= = =
0.
f
v =
. .
5
0
0
5
0
( 1) ( ) ( 2) ,
20, 000 1 10
(29.3) (20, 000 20, 000 ) 0,
32.2 101 101
x x x
for truck
m v F dt m v
P dt
| |
|
+ E =
|
\ .
+ =
}
}
5
0
0
5
0
( 1) ( ) ( 2) ,
15, 000 1 10
(29.3) (15, 000 15, 000 ) 0,
32.2 101 101
x x x
for trailer
m v F dt m v
P dt
| |
|
+ E =
|
\ .
+ + =
}
}
4214.9621 14581 , P = +
5619.952 19801.98 , P = +
5619.95 19801.98 1 -1520062.67
44.21 lb
4214.96 14581 34382.98
P = = =
A
1 5619.95 1 9834.9121
0.286
1 4214.9621 34382.98
= = =
A
Example 6:
The hydraulic braking system for the truck and trailer is
set to produce equal braking forces for the two units. If
the brakes are applied uniformly for 5 sec. to bring the
rig to a stop from a speed of 30 km/hr down the 10%
grade, determine the force in the coupling between the
trailer and the truck. The mass of the truck is 10 Mg and
the mass of the trailer is 7.5 Mg.
.
. .
Shaded Area
=Impulse
Conservation of linear momentum:
For a particle or system of group of particles, the linear momentum of the
system is conserved as long as the no external forces act on the system
Example7:
A ball is moving with a velocity , its momentum is
If the ball is suddenly exploded into two segments
and

1
v
1 mv
2
m
3
m
1
2
0
1
1
t
t
m dt
=
+ E
}
L
v F
2
2 2 3 3 G
m m m = + =
L
v v v
2 2 3 3
2 2 3 3 1 2
1 2
( ) ;
( )
G G
m m
m m m m
m m
+
+ = + =
+
r r
r r r r
In general, the center of gravity for a group of particles is

;
i i
i i G i G
i
m
m m
m
E
E = E =
E
r
r r r
The velocity of the center of gravity for a group of particles is
( ) ; ( )
i G
i i i i i G
d d
m m m m
dt dt
E = E E = E
L L
r r
v v
i i
G
i
m
m
E
=
E
v
v

1 mv
G
3 3
m v 3
r
G
r
2
r
1 G
m m = v v
G
r
1 mv
3 3
m v
2 2
m v
2 2
m v
1 1
m v
2 2
m v
i i
m v
3 3
m v
1
r
G
2
r
3
r
i
r
Where G is the center of gravity for both exploded segments, it is defined according to the following
relation.
0.05
1 2
0
0
, ,
x
L F d t L + + =
}
,2
80 80 10
( 16cos(30) 0 ( )
32.2 32.2
x
v
+
+ =
,2
12.32 /
x
v ft s =
0.05
1
0
, 0,
y
L F dt
+
| + =
}
80
16sin(30) 0.05[ ( ) ] 0,
32.2
boy skate
W W N + + + =
487 N lb =
80 . lb
10 . lb
30
16 / . ft s
Example 10:

Example 10: The 80-lb boy has taken a
running jump from the upper surface and
lands on his 10-lb skateboard with a
velocity of 16 ft/s in the plane of the
figure as shown. If his impact with the
skateboard has a time duration of o.o5 s,
determine the final speed v along the
horizontal surface and the total normal
force N excreted by the surface on the
skateboard wheels during the impact.

( )
A B G
m m + v
1 2
1 2
1 1 2 2
1 2
( ) ( ) 0 ( ) ( )
( )( ) 0 ( )( )
A A B B A A B B
A B G A B G
m m m m
m m m m
+ + = +
+ + = +
L L
L L
v v v v
v v
Example 8:
( )
A B G
m m + v
1
( )
A A
m v
1
( )
B B
m v
1
( )
A A
m v
Before impact
1
( )
B B
m v
1
( )
B
v
1
( )
A
v
1 1 1
( )
A A B
m m + v 2
( )
A A
m v
2
( )
B B
m v
2
( )
A A
m v
After impact
2
( )
B
v
2
( )
A
v
2
( )
B B
m v
2
( )
A A
m v
Does not
change
1 2
1 2
( ) ( )
( ) 0 ( ) ;
x x
x x
m m + =
L L
v v
1 2
2
1 2
1
( ) ( )
( ) ( )
y y
t
y y
t
m Ndt m + =
}
L L
v v
1
( ) m v
During impact
2
( ) m v
Before impact
After impact
N
The linear momentum may be conserved in one direction while it is not in the other direction
Angular Impulse and Angular Momentum
Linear momentum
m = L v
Angular momentum
2
( ), . /
o
m kg m s = H r v
Perpendicular to plane A which passes through r an L

| | | ( ) | sin( )
o
m rmv u = = H r v
( ) x y z x y z
o
x y z x y z
r r r r r r
m m
mv mv mv v v v
= = =
i j k i j k
H r v
x
y
z
x
mv
y
mv
z
mv
r
y
r
x
r
z
r
[ ] [ ] [ ]
y
x z
o y z z y x z z x x y y x
H
H H
m r v r v m r v r v m r v r v = + H i j k
Rate of Change of Angular Momentum
o
m
m m

E = =


M r v
F a r F r a
0
( ) ( ) ( )
o
m m m = + =
v
H r v r v r v
o o
= M H
( ) ( ( ) ( ( ) ( ' ') ; ') ; )
o x o y o z
M H M H M H
o x o y o z
= = =
Angular Impulse and Angular Momentum
( )
1 2
( )
1 1
;
t
o
o o
t
o
o
dt
o o
d
d
dt
= = = } }
H
H
M M
H
H H
2
1
1 2
Initial angular Final angular
momentum momentum Angular Impulse
( ) ( )
t
o
t
dt
o o
= + }
M H H
2
1
1 2
( ) ( )
t
ox
t
M dt
ox ox
H H = + }
2
1
1 2
( ) ( )
t
oy
t
M dt
oy oy
H H = + }
Conservation of angular Momentum
2
1
0
t
o
t
dt =

}
M
1 2 1 2
Initial angular Final angular
momentum momentum
( ) ( ) ( ) ( )
o o o o
= = H H H H
1 1
( ) m r v
Example: Plane Motion,
2
1
t
t
dt +

}
r F
2 2
( ) m = r v
1
1 1 1
sin
d
mv r o
2
1
sin( )
t
t
r dt F u +

}
2
2 2 2
sin
d
mv r o =
1
o
2
o
2
1
1 2
( ) ( )
t
oy
t
M dt
oy oy
H H = + }
Example: Plane Motion,
Problem 3/230:
The mechanism is initially at rest, when balls of
masses m and 2m strikes and sticks with the end
cups, Determine the angular velocity of the
mechanism.
, ,
,
o before o after
= H H
5
3
v
l
e =
' '
(2 ) ( )(3 ) 2 (3 ) 5 ( ) l mv l m v mlv ml v ml l e + = + =
, ,2 , ,2
( ) ( )
o m o m before o m o m after
+ = + H H H H
, , A,z B z A,z B z
Conservationof momentumaround z-axis:
H H = = H H
A A ex
m dt + E
}
r v M cos( ) cos( ) (1)
B B o
m r mv r mv | u = = r v
A B
Conservationof energy: E E =
A A B B
T V T V + = +
Problem 3/247:
A particle is released on the smooth inside wall of a
cylindrical tank at A with a velocity v
o
which makes
an angle with the horizontal tangent. When the
particle reaches point B a distance h below A,
determine the expression for the angle made the
its velocity with the horizontal tangent at B.
(0) ( ) (2)
2 2
o B
1 1
mv mg mv mg h
2 2
+ =
Eleminate v from Eq.1 and Eq.2 to get
2 2
cos( ) cos( )
( ) ( )
2 2
o o
o o
v v
cos cos
v gh v gh
| |
u u u = =
+ +
n
r
mv
o

t
z
Mv
o,z

mv
o,t

N
mg
z
A
r
B
r
Datum
Problem 3/245:
A small 0.1 kg particle is given a velocity of 2 m/s on the horizontal
x-y plane and is guided by the fixed curved rail. Friction is
negligible. As the particle crosses the y-axis At A, its velocity is in
the x-direction, and as it crosses the x-axis at B, its velocity makes
a 60

angle with the x-axis. The radius of curvature of the path at B
is 500 mm. Determine the time rate of change of angular
momentum H
o
of the particle about o at both A and B.
At A: 0, 0
z z
z z
o o o o
o o
M H
M H
E = E =
E = =
M H
At B: , ,
z z
o o o B o B
M N b H N b E = E = = M H
2
2
2 2
2
, 0.1 0.8 , 0.8(0.15) 0.12 / 0.12 . /
0.5 z
B
B o
v
But N m N H N m kg m s

= = = = = =
Impacts:
Impact: A collision between two bodies occurs in a relatively short time interval during
which the two bodies exerts on each other relatively a large forces
Line of impact
Normal to
line of impact

Line of impact: A line normal to both surfaces in
contact.
Line of impact
Central impact
Line of impact
Eccentric impact
Central and eccentric impact:
Direct and Oblique impact:
Line of impact
Direct impact
Line of impact
Oblique impact
Before
After
During impact
Line of impact
A A
m v
B B
m v
Line of impact
A A
m ' v
B B
m ' v
1
t
*
t
2
t
Time of
deformation
Time of
restitution
Impact time
P
A B A B
Syst. m +m m ' m ' (1)
A B A B
= + v v v v
u
(2 )
(2 )
a
b

)
(3a)
(3b)

)
A
Body A:
m
A
v
*
1
A
m ,
t
t
dt u + =
}
P
2
*
A
m
t
t
u dt +
}
R
B
Body B:
m
b
+ v
A
m '
A
= v
*
1
B
m
t
t
dt u =
}
P
B
m u +
2
*
t
t
dt +
}
R
B
m '
B
= v
Direct Central Impact and Coefficient of Restitution:
2
*
*
1
2
*
*
1
' '
Coeff.of Rest.
e =
e =
Coeff.of Rest.
'
e =
t
t
A
t
A
t
A B
B A
t
t
B
t
B
t
dt
u v
v u
dt
v v
v v
dt
v u
u v
dt

)
}
}
}
}
R
P
R
P
P
R R
Eliminate from eq.2* and. 3* to get
u
' '
e=
B A
A B
v v
v v

(4)
e=0 : Perfect Plastic collision bodies stick together,
and energy loss is maxinum)
: elastic Plastic collision. 0<e 1 <
e=1 : Perfect elastic collision (the magnitude of relative velocities before
and after impact is the same, the energy loss during impact is zero)
You can use equation 1 and 4 to solve for two unknowns only.
Oblique Impacts: not required
During impact
A
(v )
t
A
(v )
n
B
(v )
t
B
(v )
n
B B A A B B A A
m (v ) m (v ) m (v' ) m (v' ) (1)
n n n n
+ = +
n +
t
n + n
t
+
B
(v )
n
A
(v )
n
n +
Direct impact
frictionless contact
A A A A
m (v ) m (v' ) (3)
t t
=
B A A B
[(v ) (v ) ] (v' ) (v' ) (2)
n n n n
e =
B B B B
m (v ) m (v' ) (4)
t t
=
Impact energy loss: is the difference between the total energy before impact and
that after impact
Motion Constraint: The particle is not allowed to move freely.
B
v
( )
B n
v
( )
B t
v
c
v
x
y
Before
n
t
R t A
u
sin R t u A
sin R t u A
During
1)Motion of the carriage is constraint in the x-direction
2) Momentum is conserved in the x-direction, (no external force acts in this direction)
( ) ' ( ' )
c c b b x c c b b x
m v m v m v m v =
3) Momentum of the ball alone is conserved in the tangential direction
( ) ( ' )
b b t b b t
m v m v =
4) The relation between the relative velocities of the bodies before and after the
impact remains valid along the line of impact
( ' ) ( ' )
e=
( ) ( )
b n c n
c n b n
v v
v v

'
B
v
( ' )
B n
v
( ' ) ( )
B t B t
= v v
After
' c
v
2 2 2 ' 2 '
0.05(300)(0.4cos(20 ) 3.2(0.2) (6) 3.2(0.4) 6 (0.05 3.2)(0.4) (3.2)(0.2) e e = + +
'
2.77 / , rad s CCW e =
Find The Energy Loss :
before after
E E E A =
| |
, just after Impact
, just after Impact
2
2
,
1 1
(0.05 3.2) (0.4)(2.77) (3.2)[(0.2)(2.77)] [3.2(0.2)9.81 (3.2 0.05)(0.4)9.81]
2 2
0 3.2(0.2)9.81cos( ) (3.2 0.05)(0.4)9.81cos( )
T
V
V
u u
+ + + +
= + +
At max. height
52.1 u =
Conservation of energy after impact:
' '
T V T + =
max.height, 0 T
V
=
+
Problem 3/248:
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 =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

which
the pendulum has immediately after impact and find the maximum
angular deflection of the pendulum.
Datum
y
The system angular momentum is conserved during impact:
1 2
o o
H H + =
Just before
During
Just After
Problem 278:
A 2.0 kg sphere is moving horizontally with a velocity of 10
m/s and strikes the inclined face of a 10 kg carriage which is
initially at rest and backed by unstretched spring of 1600 N/m.
Knowing that the coefficient of restitution between the sphere
and the wedge is e = 0.6, determine (a) the angle , (b) the
rebound velocity v of the sphere, (c) the maximum travel of
the carriage after the impact (c) the energy lost due to the
impact.
'
v sin(60 ) cos( 30 )
Coefficient of Restitution: 0.6= (3)
10cos(30 ) 0
o
v u +
+
'
: 0; (2)(10) 0 2 cos 10 (1)
x o
For All ystem L v v u A = + = +
'
: 0; (2)(10sin(30 ) 2 sin( 30 ) (2)
t
For sphere alone L v u A = =
' '
o
Equation 3is: 5.196=0.866v 0.866 cos( ) 0.5 sin( ) v v u u + +
'
solve Eq. 4 and 5 to get
6.04 / , 85.9 v m s u = =
' ' ' '
' '
Substitute in Eq. 1 to eleminate v : 5.196=0.866(2+0.2v cos ) 0.866 cos( ) 0.5 sin( )
: 1.039v cos 0.5 sin( )=3.464 (4)
v v
or v
u u u
u u
+ +
+
'
Eq. 2 becomes
0.866v sin 0.5cos 5 (5) u u =
o
2 2
spring
From Eq. 1 v 2.087 /
1 1
For carriage: T+ V 0; (10)(2.087) 1600 0
2 2
m s
o
=
A A = + =
0.1650 , 165.0 m or mm o o = =
Momentum Diagram