King Fahd University of Petroleum

& Minerals
Mechanical Engineering
Dynamics ME 201
BY
Dr. Meyassar N. Al-Haddad
Lecture # 21

Objective
To introduce the concept of angular impulse
and momentum.
Definition
Moment = = r x F
Angular momentum about point O is defined as the moment of the
particles linear momentum about O.
Angular momentum (H
o
) = moment of linear momentum ( r x mV)
Line of action of the force
F
Torque = Fl
Torque Moment = Fl

Torque = Fl
F
l
l
Cheater Pipe
F
ANGULAR MOMENTUM
For a point object the angular momentum is
r
m
v
Units - kg
.
m
2
/s or sl
.
ft
2
/s
It is a vector.
Here the vector is pointing toward you.
Using right-hand rule
) )( ( ) ( mv r H
o
=
Angular Momentum
z y x
z y x
m m m
r r r
m r a
u u u
k j i
H
v H
=
=
0
0
)
) ( ) ( ) (
)
0
u m d H
n formulatio Scalar b
z
=
k ) ( j ) ( i ) (
x y y x x z z x y z z y O
mv r mv r mv r mv r mv r mv r H + =
Relation Between Moment of a Force and Angular
Momentum
v
v r r
v r
) ( , where
0

m
m m
m m
m
dt
d
H
=
+ =
+ =
=
r
r
r v
v r
L

= =

v m F
0 0
H

M
Resultant moment = Rate of change of angular momentum
Resultant force = Rate of change of linear momentum
L v

= = = -

m ma F
v
O point about forces the of moment The
0
m = =
-

r F r M
Angular Impulse and Momentum Principles

}

= +
2 0 0 1 0
) ( ) (
2
1
H M H
t
t
dt
1 0 2 0 0
0 0
) ( ) (
2
1
H H M
H M
=
=

t
t
dt
dt
d
}

}
= =
2
1
2
1
0
impulse Angular
t
t
t
t
dt dt F r M
}
= + +
2
1
2 1
t
t
v m r dt F r dt M v m r
Scalar Formulation








Conservation of Angular Momentum
Angular impulse is zero


2 0 0 1 0
2 1
2 1
) ( ) (
) ( ) (
) ( ) (
2
1
2
1
2
1
H dt M H
v m dt F v m
v m dt F v m
t
t
y
t
t
y y
x
t
t
x x
= +
= +
= +

}
2 0 1 0
) ( ) ( H H =
2 2 1 1
u u m r m r =
) / ( 20
2 16 24
) 5 )( 4 . 0 ( ) 4 )( 10 )( 4 . 0 ( 3
2
1
) 5 ( 4 . 0 ) 4 )( 10 )( 4 . 0 ( 3 0
2
2
2
4
0
2
2
4
0
s m v
v
v t
v s N m dt t
=
= +
= +
= + +
}
horizontal smooth
v
rest from start
t
kg m
m N t M
?
sec 4
5
) ( 3
=
=
=
=
Example 15-13
2 1
) ( ) (
Momentum & Impulse Angular of Principle
2
1
z
t
t
z z
H dt M H = +

}
}
= +
2
1
2 1
t
t
BA
v m r dt P r dt M v m r
Example 15-14
W = 0.8 Ib
Smooth table
r
1
=1.7 ft
v
1
= 4 ft/s
v
c
=6ft/s
v
2
= ? at (r
2
)= 0.6ft
Work done = ?
2 2 1 1
2 1
' u u
B B
m r m r
H H
=
=
s ft / 67 . 11 '
' )
2 . 32
8 . 0
( 6 . 0 4 )
2 . 32
8 . 0
( 75 . 1
2
2
=
=
u
u
s ft / 1 . 13 ) 6 ( ) 67 . 11 (
2 2
2
= + = u
Work Done

= +
2 2 1 1
T U T
2 2
) 1 . 13 )(
2 . 32
8 . 0
(
2
1
) 4 )(
2 . 32
8 . 0
(
2
1
= +
F
U
ft.Ib 94 . 1 =
F
U
Problem 15-101
m = 400 g
v
1
= 2 m/s
M = 0.6 N.m
v
2
=?
t = 3 s

}
= +
2 1
) ( ) (
o o o
H dt M H
] ) 4 . 0 ( 3 . 0 [ 2 ) 3 ( 6 . 0 )] 2 )( 4 . 0 ( 3 . 0 [ 2
2
v = +
s m v / 50 . 9
2
=

}
= +
2 1
) ( ) (
Z Z Z
H dt M H
)] 6 . 0 )(
2 . 32
5
[( 4 ) 8 . 0 5 . 0 ( 0
2
4
0
v dt t
}
= + +
s ft v
v
/ 3 . 19
3727 . 0 2 . 7
2
2
=
=
Problem 102
m = 5-Ib
v
1
= 0 ft/s
M = ( 0.5 t + 0.8 ) Ib.ft
v
2
= ?
t = 4 s