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READING QUIZ

1. What is the work done by the force F?


A) F s B) F s
C) Zero D) None of the above.
s
s
1
s
2
F
2. If a particle is moved from 1 to 2, the work done on the
particle by the force, F
R
will be

A) B)

C) D)
2
1
s
t
s
Fds

2
1
s
t
s
Fds

2
1
s
n
s
F ds

2
1
s
n
s
F ds

APPLICATIONS
A roller coaster makes use of gravitational forces to assist the
cars in reaching high speeds in the valleys of the track.
How can we design the track (e.g., the height, h, and the radius
of curvature, r) to control the forces experienced by the
passengers?
APPLICATIONS
(continued)
Crash barrels are often used
along roadways for crash
protection.

The barrels absorb the cars
kinetic energy by deforming.
If we know the velocity of
an oncoming car and the
amount of energy that can
be absorbed by each barrel,
how can we design a crash
cushion?
WORK AND ENERGY
Another equation for working kinetics problems involving
particles can be derived by integrating the equation of motion
(F = ma) with respect to displacement.
This principle is useful for solving problems that involve
force, velocity, and displacement. It can also be used to
explore the concept of power.
By substituting a
t
= v (dv/ds) into F
t
= ma
t
, the result is
integrated to yield an equation known as the principle of work
and energy.
To use this principle, we must first understand how to
calculate the work of a force.
WORK OF A FORCE (Section 14.1)
A force does work on a particle when the particle undergoes a
displacement along the line of action of the force.
Work is defined as the product of force
and displacement components acting in
the same direction. So, if the angle
between the force and displacement
vector is q, the increment of work dU
done by the force is
dU = F ds cos q
By using the definition of the dot product
and integrating, the total work can be
written as

r
2
r
1
U
1-2
=
F dr
WORK OF A FORCE
(continued)
Work is positive if the force and the movement are in the
same direction. If they are opposing, then the work is
negative. If the force and the displacement directions are
perpendicular, the work is zero.
If F is a function of position (a common
case) this becomes

=
s
2
s
1
F cos q ds
U
1-2
If both F and q are constant (F = F
c
), this equation further
simplifies to
U
1-2
= F
c
cos q (s
2
- s
1
)
WORK OF A WEIGHT
The work done by the gravitational force acting on a particle
(or weight of an object) can be calculated by using
The work of a weight is the product of the magnitude of
the particles weight and its vertical displacement. If
Dy is upward, the work is negative since the weight
force always acts downward.
- W (y
2
y
1
) = - W Dy - W dy =
U
1-2
=

y
2
y
1
WORK OF A SPRING FORCE
When stretched, a linear elastic spring
develops a force of magnitude F
s
= ks, where
k is the spring stiffness and s is the
displacement from the unstretched position.
If a particle is attached to the spring, the force F
s
exerted on the
particle is opposite to that exerted on the spring. Thus, the work
done on the particle by the spring force will be negative or
U
1-2
= [ 0.5 k (s
2
)
2
0.5 k (s
1
)
2
] .
The work of the spring force moving from position s
1
to position
s
2
is
= 0.5 k (s
2
)
2
0.5 k (s
1
)
2

k s ds
F
s
ds U
1-2
s
2
s
1
s
2
s
1
=
=
SPRING FORCES
1. The equations above are for linear springs only! Recall
that a linear spring develops a force according to
F = ks (essentially the equation of a line).
3. Always double check the sign of the spring work after
calculating it. It is positive work if the force put on the object
by the spring and the movement are in the same direction.
2. The work of a spring is not just spring force times distance
at some point, i.e., (ks
i
)(s
i
). Beware, this is a trap that
students often fall into!
It is important to note the following about spring forces.
PRINCIPLE OF WORK AND ENERGY
(Section 14.2 & Section 14.3)
U
1-2
is the work done by all the forces acting on the particle as it
moves from point 1 to point 2. Work can be either a positive or
negative scalar.
By integrating the equation of motion, F
t
= ma
t
= mv(dv/ds), the
principle of work and energy can be written as
U
1-2
= 0.5 m (v
2
)
2
0.5 m (v
1
)
2
or T
1
+ U
1-2
= T
2
T
1
and T
2
are the kinetic energies of the particle at the initial and final
position, respectively. Thus, T
1
= 0.5 m (v
1
)
2
and T
2
= 0.5 m (v
2
)
2
.
The kinetic energy is always a positive scalar (velocity is squared!).
So, the particles initial kinetic energy plus the work done by all the
forces acting on the particle as it moves from its initial to final position
is equal to the particles final kinetic energy.
PRINCIPLE OF WORK AND ENERGY
(continued)
The principle of work and energy cannot be used, in general, to
determine forces directed normal to the path, since these forces
do no work.
Note that the principle of work and energy (T
1
+ U
1-2
= T
2
) is
not a vector equation! Each term results in a scalar value.
Both kinetic energy and work have the same units, that of
energy! In the SI system, the unit for energy is called a joule (J),
where 1 J = 1 N m. In the FPS system, units are ft lb.
The principle of work and energy can also be applied to a system
of particles by summing the kinetic energies of all particles in the
system and the work due to all forces acting on the system.
The case of a body sliding over a rough surface merits special
consideration.
This equation is satisfied if P =
k
N. However, we know from
experience that friction generates heat, a form of energy that does
not seem to be accounted for in this equation. It can be shown that
the work term (
k
N)s represents both the external work of the
friction force and the internal work that is converted into heat.
WORK OF FRICTION CAUSED BY SLIDING
The principle of work and energy would be
applied as
0.5m (v)
2
+ P s (
k
N) s = 0.5m (v)
2
Consider a block which is moving over a
rough surface. If the applied force P just
balances the resultant frictional force
k
N,
a constant velocity v would be maintained.
Given: When s = 0.6 m, the spring is
not stretched or compressed,
and the 10 kg block, which is
subjected to a force of F=
100 N, has a speed of 5 m/s
down the smooth plane.
Find: The distance s when the block stops.
Plan:
Since this problem involves forces, velocity and displacement,
apply the principle of work and energy to determine s.
EXAMPLE
Apply the principle of work and energy between position 1
(s
1
= 0.6 m) and position 2 (s
2
). Note that the normal force (N)
does no work since it is always perpendicular to the
displacement.
EXAMPLE
(continued)
Solution:
T
1
+ U
1-2
= T
2

There is work done by three different forces;

1) work of a the force F =100 N;
U
F
= 100 (s
2
s
1
) = 100 (s
2
0.6)
2) work of the block weight;
U
W
= 10 (9.81) (s
2
s
1
) sin 30 = 49.05 (s
2
0.6)
3) and, work of the spring force.
U
S
= - 0.5 (200) (s
2
0.6)
2
= -100 (s
2
0.6)
2

The work and energy equation will be
T
1
+ U
1-2
= T
2

0.5 (10) 5
2
+ 100(s
2
0.6) + 49.05(s
2
0.6) 100(s
2
0.6)
2
= 0

125

+ 149.05(s
2
0.6) 100(s
2
0.6)
2
= 0

EXAMPLE
(continued)
Solving for (s
2
0.6),
(s
2
0.6) = {-149.05 (149.05
2
4(-100)125)
0.5
} / 2(-100)

Selecting the positive root, indicating a positive spring deflection,
(s
2
0.6) = 2.09 m
Therefore, s
2
= 2.69 m
CONCEPT QUIZ
1. If a spring stiffness is k = 5 s
3
N/m and the spring is
compressed by s = 0.5 m, the work done on a particle
attached to the spring will be
A) 0.625 N m B) 0.625 N m
C) 0.0781 N m D) 0.0781 N m
GROUP PROBLEM SOLVING
Given: Block A has a weight of 60 lb
and block B has a weight of 40
lb. The coefficient of kinetic
friction between the blocks and
the incline is
k
= 0.1. Neglect
the mass of the cord and pulleys.
Find: The speed of block A after block B moves 2 ft up the
plane, starting from rest.
Plan:
1) Define the kinematic relationships between the blocks.
2) Draw the FBD of each block.
3) Apply the principle of work and energy to the system
of blocks. Why choose this method?
GROUP PROBLEM SOLVING (continued)
Since the cable length is constant:
2s
A
+ s
B
= l
2Ds
A
+ Ds
B
= 0
When Ds
B
= -2 ft => Ds
A
= 1 ft
and 2v
A
+ v
B
= 0
=> v
B
= -2v
A
Note that, by this definition of s
A
and s
B
, positive motion
for each block is defined as downwards.
Solution:
1) The kinematic relationships can be determined by defining
position coordinates s
A
and s
B
, and then differentiating.
s
A

s
B

Similarly, for block B:

N
B
= W
B
cos 30
2) Draw the FBD of each block.
GROUP PROBLEM SOLVING
(continued)
y
x
N
A
N
A

2T
W
A
A
60
30
B
N
B
N
B

T
W
B
Sum forces in the y-direction for block A
(note that there is no motion in y-direction):
F
y
= 0: N
A
W
A
cos 60 = 0
N
A
= W
A
cos 60

[0.5m
A
(v
A1
)
2
+ .5m
B
(v
B1
)
2
] + [W
A
sin 60 2T N
A
]Ds
A

+ [W
B
sin 30 T + N
B
]Ds
B
= [0.5m
A
(v
A2
)
2
+ 0.5m
B
(v
B2
)
2
]
3) Apply the principle of work and energy to the system (the
blocks start from rest).
T
1
+ U
1-2
= T
2
where v
A1
= v
B1
= 0, Ds
A
= 1ft, Ds
B
= -2 ft, v
B
= -2v
A
,
N
A
= W
A
cos 60, N
B
= W
B
cos 30

GROUP PROBLEM SOLVING
(continued)
=> [0 + 0] + [60 sin 60 2T 0.1(60 cos 60)] (1)
+ [40 sin 30 T + 0.1(40 cos 30)] (2)
= [0.5(60/32.2)(v
A2
)
2
+ 0.5(40/32.2)(-2v
A2
)
2
]
GROUP PROBLEM SOLVING
(continued)
Again, the Work and Energy equation is:
=> [0 + 0] + [60 sin 60 2T 0.1(60 cos 60)] (1)
+ [40 sin 30 T + 0.1(40 cos 30)] (2)
= [0.5(60/32.2)(v
A2
)
2
+ 0.5(40/32.2)(-2v
A2
)
2
]
Note that the work due to the cable tension force on each block
cancels out.
Solving for the unknown velocity yeilds
=> v
A2
= 0.771 ft/s
ATTENTION QUIZ
1. What is the work done by the normal
force N if a 10 lb box is moved from A
to B ?
A) - 1.24 lb ft B) 0 lb ft
C) 1.24 lb ft D) 2.48 lb ft
2. Two blocks are initially at rest. How many equations would
be needed to determine the velocity of block A after block B
moves 4 m horizontally on the smooth surface?
A) One B) Two
C) Three D) Four
2 kg
2 kg
READING QUIZ
1. The formula definition of power is ___________.
A) dU / dt B) F v
C) F dr/dt D) All of the above.
2. Kinetic energy results from _______.
A) displacement B) velocity
C) gravity D) friction
APPLICATIONS
Engines and motors are often
rated in terms of their power
output. The power output of the
motor lifting this elevator is
related to the vertical force F
acting on the elevator, causing it
to move upwards.
Given a desired lift velocity for the
elevator (with a known maximum
load), how can we determine the
power requirement of the motor?
APPLICATIONS (continued)
The speed at which a truck
can climb a hill depends in
part on the power output of
the engine and the angle of
inclination of the hill.
For a given angle, how can we determine the speed of this
truck, knowing the power transmitted by the engine to the
wheels? Can we find the speed, if we know the power?
If we know the engine power output and speed of the truck, can
we determine the maximum angle of climb of this truck ?
POWER AND EFFICIENCY
(Section 14.4)
Thus, power is a scalar defined as the product of the force
and velocity components acting in the same direction.

Since the work can be expressed as dU = F dr, the power
can be written
P = dU/dt = (F dr)/dt = F (dr/dt) = F v
If a machine or engine performs a certain amount of work,
dU, within a given time interval, dt, the power generated can
be calculated as
P = dU/dt
Power is defined as the amount of work performed per unit
of time.

POWER
Using scalar notation, power can be written
P = F v = F v cos q
where q is the angle between the force and velocity vectors.
In the FPS system, power is usually expressed in units of
horsepower (hp) where
1 hp = 550 (ft lb)/s = 746 W .
So if the velocity of a body acted on by a force F is known,
the power can be determined by calculating the dot product
or by multiplying force and velocity components.

The unit of power in the SI system is the Watt (W) where
1 W = 1 J/s = 1 (N m)/s .
EFFICIENCY
If energy input and removal occur at the same time, efficiency
may also be expressed in terms of the ratio of output energy
to input energy or
e = (energy output) / (energy input)
Machines will always have frictional forces. Since frictional
forces dissipate energy, additional power will be required to
overcome these forces. Consequently, the efficiency of a
machine is always less than 1.
The mechanical efficiency of a machine is the ratio of the
useful power produced (output power) to the power supplied
to the machine (input power) or
e = (power output) / (power input)
PROCEDURE FOR ANALYSIS
Multiply the force magnitude by the component of velocity
acting in the direction of F to determine the power supplied
to the body (P = F v cos q ).
If the mechanical efficiency of a machine is known, either
the power input or output can be determined.
Determine the velocity of the point on the body at which the
force is applied. Energy methods or the equation of motion
and appropriate kinematic relations, may be necessary.
In some cases, power may be found by calculating the work
done per unit of time (P = dU/dt).
Find the resultant external force acting on the body causing
its motion. It may be necessary to draw a free-body diagram.
EXAMPLE
Given: A 50 kg block (A) is hoisted by the pulley
system and motor M. The motor has an
efficiency of 0.8. At this instant, point P
on the cable has a velocity of 12 m/s
which is increasing at a rate of 6 m/s
2
.
Neglect the mass of the pulleys and
cable.
Find: The power supplied to the motor at this
instant.
Plan:
1) Relate the cable and block velocities by defining position
coordinates. Draw a FBD of the block.
2) Use the equation of motion to determine the cable tension.
3) Calculate the power supplied by the motor and then to the
motor.
EXAMPLE (continued)
Solution:
Here s
P
is defined to a point on the cable. Also
s
A
is defined only to the lower pulley, since the
block moves with the pulley. From kinematics,
s
P
+ 2 s
A
= l
a
P
+ 2 a
A
= 0
a
A
= a
P
/ 2 = 3 m/s
2
()


s
B
s
m
1) Define position coordinates to relate velocities.
Datum
S
A
S
P
Draw the FBD and kinetic diagram of the block:
2T
W
A

A
m
A
a
A

A =
2) The tension of the cable can be obtained by applying the
equation of motion to the block.
+ F
y
= m
A
a
A
2T 490.5 = 50 (3) T = 320.3 N

EXAMPLE
(continued)
3) The power supplied by the motor is the product of the force
applied to the cable and the velocity of the cable.
P
o
= F v = (320.3)(12) = 3844 W
P
i
= P
o
/e = 3844/0.8 = 4804 W = 4.8 kW
The power supplied to the motor is determined using the
motors efficiency and the basic efficiency equation.

READING QUIZ
1. The linear impulse and momentum equation is obtained by
integrating the ______ with respect to time.

A) friction force B) equation of motion
C) kinetic energy D) potential energy
2. Which parameter is not involved in the linear impulse and
momentum equation?

A) Velocity B) Displacement
C) Time D) Force
APPLICATIONS
A dent in an automotive fender
can be removed using an impulse
tool, which delivers a force over a
very short time interval. To do so
the weight is gripped and jerked
upwards, striking the stop ring.
How can we determine the
magnitude of the linear impulse
applied to the fender?

Could you analyze a carpenters
hammer striking a nail in the
same fashion?
Sure!
APPLICATIONS
(continued)
When a stake is struck by a
sledgehammer, a large impulse
force is delivered to the stake and
drives it into the ground.
If we know the initial speed of the
sledgehammer and the duration of
impact, how can we determine the
magnitude of the impulsive force
delivered to the stake?
PRINCIPLE OF LINEAR IMPULSE AND MOMENTUM
(Section 15.1)
This principle is useful for solving problems that involve
force, velocity, and time. It can also be used to analyze the
mechanics of impact (taken up in a later section).
The result is referred to as the principle of impulse and
momentum. It can be applied to problems involving both
linear and angular motion.
The next method we will consider for solving particle
kinetics problems is obtained by integrating the equation of
motion with respect to time.
This equation represents the principle of linear impulse and
momentum. It relates the particles final velocity (v
2
) and
initial velocity (v
1
) and the forces acting on the particle as a
function of time.
The principle of linear impulse and momentum is obtained
by integrating the equation of motion with respect to time.
The equation of motion can be written
F = m a = m (dv/dt)
Separating variables and integrating between the limits v = v
1

at t = t
1
and v = v
2
at t = t
2
results in
mv
2
mv
1
dv
m
F dt
v
2
v
1
t
2
t
1
= =



PRINCIPLE OF LINEAR IMPULSE AND MOMENTUM
(continued)
PRINCIPLE OF LINEAR IMPULSE AND MOMENTUM
(continued)
Linear impulse: The integral F dt is the linear impulse, denoted
I . It is a vector quantity measuring the effect of a force during its
time interval of action. I acts in the same direction as F and has
units of N s or lb s.
Linear momentum: The vector mv is called the linear momentum,
denoted as L. This vector has the same direction as v. The linear
momentum vector has units of (kg m)/s or (slug ft)/s.
The impulse may be determined by
direct integration. Graphically, it
can be represented by the area under
the force versus time curve. If F is
constant, then
I = F (t
2
t
1
) .
The two momentum diagrams indicate direction
and magnitude of the particles initial and final
momentum, mv
1
and mv
2
. The impulse diagram is
similar to a free body diagram, but includes the
time duration of the forces acting on the particle.
PRINCIPLE OF LINEAR IMPULSE AND MOMENTUM
(continued)
The particles initial momentum plus the sum of all the
impulses applied from t
1
to t
2
is equal to the particles
final momentum.
The principle of linear impulse and momentum in
vector form is written as
F dt
t
2
t
1


mv
1
+ = mv
2

IMPULSE AND MOMENTUM: SCALAR EQUATIONS
The scalar equations provide a convenient means for applying
the principle of linear impulse and momentum once the velocity
and force vectors have been resolved into x, y, z components.
Since the principle of linear impulse and momentum is a
vector equation, it can be resolved into its x, y, z component
scalar equations:
m(v
x
)
1
+ F
x
dt = m(v
x
)
2


m(v
y
)
1
+ F
y
dt = m(v
y
)
2


m(v
z
)
1
+ F
z
dt = m(v
z
)
2
t
2
t
1

t
2
t
1

t
2
t
1

PROBLEM SOLVING
Establish the x, y, z coordinate system.
Forces as functions of time must be integrated to obtain
impulses. If a force is constant, its impulse is the product of
the forces magnitude and time interval over which it acts.
Resolve the force and velocity (or impulse and momentum)
vectors into their x, y, z components, and apply the principle
of linear impulse and momentum using its scalar form.
Draw the particles free body diagram and establish the
direction of the particles initial and final velocities, drawing
the impulse and momentum diagrams for the particle. Show
the linear momenta and force impulse vectors.
EXAMPLE
Given: A 0.5 kg ball strikes the rough
ground and rebounds with the
velocities shown. Neglect the
balls weight during the time it
impacts the ground.
Find: The magnitude of impulsive force exerted on the ball.

Plan:
1) Draw the momentum and impulse diagrams of the
ball as it hits the surface.
2) Apply the principle of impulse and momentum to
determine the impulsive force.
EXAMPLE
(continued)
Solution:
1) The impulse and momentum diagrams can be drawn as:
The impulse caused by the balls weight and the normal
force N can be neglected because their magnitudes are
very small as compared to the impulse from the ground.
+
=
W dt 0
N dt 0
F dt
mv
2
30
mv
1

45
2) The principle of impulse and momentum can be applied along
the direction of motion:
mv
1
+ F dt = mv
2
t
2
t
1

EXAMPLE
(continued)
0.5 (25 cos 45 i 25 sin 45 j) + F dt
= 0.5 (10 cos 30 i + 10 sin 30 j)

t
2
t
1


The impulsive force vector is

I = F dt = (4.509 i + 11.34 j ) Ns

Magnitude: I = 4.509
2
+ 11.34
2
= 12.2 Ns


t
1
t
2
GROUP PROBLEM SOLVING
Given: The 20 kg crate is resting
on the floor. The motor M
pulls on the cable with a
force of F, which has a
magnitude that varies as
shown on the graph.
Find: The speed of the crate
when t = 6 s.
Plan:
1) Determine the force needed to begin lifting the crate, and
then the time needed for the motor to generate this force.
2) After the crate starts moving, apply the principle of
impulse and momentum to determine the speed of the
crate at t = 6 s.
GROUP PROBLEM SOLVING (continued)
Solution:
F = mg = (20) (9.81) = 196.2 N
F = 196.2 N = 50 t
t = 3.924 s
2) Apply the principle of impulse and momentum from the time
the crate starts lifting at t
1
= 3.924 s to t
2
= 6 s.
Note that there are two external forces (cable force and
weight) we need to consider.
1) The crate begins moving when the cable force F exceeds the
crate weight. Solve for the force, then the time.
A. The impulse due to cable force:
F dt = [0.5(250) 5 + (250) 1] 0.5(196.2)3.924= 490.1 Ns

3.924

6

+
GROUP PROBLEM SOLVING (continued)
B. The impulse due to weight:
+ ( mg) dt = 196.2 (6 3.924) = 407.3 Ns

3.924

6

Now, apply the principle of impulse and momentum
mv
1
+ F dt = mv
2
where v
1
= 0
t
2
t
1

0 + 490.1 407.3 = (20) v
2

=> v
2
= 4.14 m/s
+
READING QUIZ
1. The internal impulses acting on a system of particles
always __________
A) equal the external impulses. B) sum to zero.
C) equal the impulse of weight. D) None of the above.
2. If an impulse-momentum analysis is considered during the
very short time of interaction, as shown in the picture, weight
is a/an __________
A) impulsive force.
B) explosive force.
C) non-impulsive force.
D) internal force.
APPLICATIONS
Does the release velocity of the ball
depend on the mass of the ball?
As the wheels of this pitching machine
rotate, they apply frictional impulses to
the ball, thereby giving it linear
momentum in the direction of Fdt and
F dt.
The weight impulse, Wt is very small
since the time the ball is in contact
with the wheels is very small.
APPLICATIONS (continued)
This large crane-mounted hammer is
used to drive piles into the ground.
Conservation of momentum can be
used to find the velocity of the pile
just after impact, assuming the
hammer does not rebound off the pile.
If the hammer rebounds, does the pile velocity change from
the case when the hammer doesnt rebound ? Why ?
In the impulse-momentum analysis, do we have to consider
the impulses of the weights of the hammer and pile and the
resistance force ? Why or why not ?
PRINCIPLE OF LINEAR IMPULSE AND MOMENTUM
FOR A SYSTEM OF PARTICLES
(Section 15.2)
The linear impulse and momentum equation for this system
only includes the impulse of external forces.
m
i
(v
i
)
2
dt F
i
m
i
(v
i
)
1
t
2
t
1
= +

For the system of particles shown,
the internal forces f
i
between
particles always occur in pairs with
equal magnitude and opposite
directions. Thus the internal
impulses sum to zero.
For a system of particles, we can define a fictitious center
of mass of an aggregate particle of mass m
tot
, where m
tot
is
the sum ( m
i
) of all the particles. This system of particles
then has an aggregate velocity of v
G
= ( m
i
v
i
) / m
tot
.
MOTION OF THE CENTER OF MASS
The motion of this fictitious mass is based on motion of the
center of mass for the system.

The position vector r
G
= ( m
i
r
i
) / m
tot
describes the motion
of the center of mass.
CONSERVATION OF LINEAR MOMENTUM FOR A
SYSTEM OF PARTICLES (Section 15.3)
When the sum of external impulses acting on a system
of objects is zero, the linear impulse-momentum
equation simplifies to
m
i
(v
i
)
1
= m
i
(v
i
)
2
This equation is referred to as the conservation of
linear momentum. Conservation of linear momentum
is often applied when particles collide or interact.
When particles impact, only impulsive forces cause a
change of linear momentum.
The sledgehammer applies an impulsive force to the stake. The weight
of the stake is considered negligible, or non-impulsive, as compared to
the force of the sledgehammer. Also, provided the stake is driven into
soft ground with little resistance, the impulse of the ground acting on the
stake is considered non-impulsive.
EXAMPLE I
Given: M = 100 kg, v
i
= 20j (m/s)
m
A
= 20 kg, v
A
= 50i + 50j (m/s)
m
B
= 30 kg, v
B
= -30i 50k (m/s)
An explosion has broken the
mass m into 3 smaller particles,
a, b and c.
Find: The velocity of fragment C after
the explosion.
Plan: Since the internal forces of the explosion cancel out, we can
apply the conservation of linear momentum to the SYSTEM.

z
x
y
M
v
i
v
C
C
v
B
B
v
A
A
=
mv
i
= m
A
v
A
+ m
B
v
B
+ m
C
v
C

100(20j) = 20(50i + 50j) + 30(-30i-50k) + 50(v
cx
i + v
cy
j + v
cz
k)
Equating the components on the left and right side yields:
0 = 1000 900 + 50(v
cx
) v
cx
= -2 m/s
2000 = 1000 + 50 (v
cy
) v
cy
= 20 m/s
0 = -1500 + 50 (v
cz
) v
cz
= 30 m/s
So v
c
= (-2i + 20j + 30k) m/s immediately after the explosion.
EXAMPLE I
(continued)
Solution:
EXAMPLE II
Find: The speed of the car A after collision if the cars
collide and rebound such that B moves to the right
with a speed of 2 m/s. Also find the average
impulsive force between the cars if the collision
place in 0.5 s.
Plan:
Use conservation of linear momentum to find the
velocity of the car A after collision (all internal
impulses cancel). Then use the principle of impulse
and momentum to find the impulsive force by looking
at only one car.

Given: Two rail cars with masses
of m
A
= 20 Mg and m
B
=
15 Mg and velocities as
shown.
EXAMPLE II
(continued)
Conservation of linear momentum (x-dir):
m
A
(v
A1
) + m
B
(v
B1
) = m
A
(v
A2
)+ m
B
(v
B2
)
20,000 (3) + 15,000 (-1.5)
= (20,000) v
A2
+ 15,000 (2)

v
A2
= 0.375 m/s
The average force is
F dt = 52,500 N s = F
avg
(0.5 sec); F
avg
= 105 kN
Solution:
Impulse and momentum on car A (x-dir):
m
A
(v
A1
)+ F dt = m
A
(v
A2
)
20,000 (3) - F dt = 20,000 (0.375)
F dt = 52,500 N s
READING QUIZ
1. When the motion of one or both of the particles is at an angle
to the line of impact, the impact is said to be ________
A) central impact. B) oblique impact.
C) major impact. D) None of the above.
2. The ratio of the restitution impulse to the deformation
impulse is called _________
A) impulse ratio. B) restitution coefficient.
C) energy ratio. D) mechanical efficiency.
APPLICATIONS
The quality of a tennis ball is measured by the height of its
bounce. This can be quantified by the coefficient of
restitution of the ball.
If the height from which the ball is dropped and the height of
its resulting bounce are known, how can we determine the
coefficient of restitution of the ball?
APPLICATIONS
(continued)
In the game of billiards, it is important to be able to predict
the trajectory and speed of a ball after it is struck by
another ball.
If we know the velocity of ball A before the impact, how
can we determine the magnitude and direction of the
velocity of ball B after the impact?
What parameters do we need to know for this?
IMPACT (Section 15.4)
Impact occurs when two bodies collide during a very short time
period, causing large impulsive forces to be exerted between the
bodies. Common examples of impact are a hammer striking a
nail or a bat striking a ball. The line of impact is a line through
the mass centers of the colliding particles. In general, there are
two types of impact:
Central impact occurs when the
directions of motion of the two colliding
particles are along the line of impact.
Oblique impact occurs when the direction
of motion of one or both of the particles is
at an angle to the line of impact.
CENTRAL IMPACT
There are two primary equations used when solving impact
problems. The textbook provides extensive detail on their
derivation.
Central impact happens when the velocities of the two objects
are along the line of impact (recall that the line of impact is a
line through the particles mass centers).
v
A
v
B
Line of impact
Once the particles contact, they may
deform if they are non-rigid. In any
case, energy is transferred between the
two particles.
CENTRAL IMPACT
(continued)
In most problems, the initial velocities of the particles, (v
A
)
1
and
(v
B
)
1
, are known, and it is necessary to determine the final
velocities, (v
A
)
2
and (v
B
)
2
. So the first equation used is the
conservation of linear momentum, applied along the line of impact.

(m
A
v
A
)
1
+ (m
B
v
B
)
1
= (m
A
v
A
)
2
+ (m
B
v
B
)
2

This provides one equation, but there are usually two unknowns,
(v
A
)
2
and (v
B
)
2
. So another equation is needed. The principle of
impulse and momentum is used to develop this equation, which
involves the coefficient of restitution, or e.
The coefficient of restitution, e, is the ratio of the particles
relative separation velocity after impact, (v
B
)
2
(v
A
)
2
, to the
particles relative approach velocity before impact, (v
A
)
1
(v
B
)
1
.
The coefficient of restitution is also an indicator of the energy
lost during the impact.
The equation defining the coefficient of restitution, e, is
(v
A
)
1
- (v
B
)
1
(v
B
)
2
(v
A
)
2
e =
If a value for e is specified, this relation provides the second
equation necessary to solve for (v
A
)
2
and (v
B
)
2
.
CENTRAL IMPACT
(continued)
COEFFICIENT OF RESTITUTION
Plastic impact (e = 0): In a plastic impact, the relative
separation velocity is zero. The particles stick together and
move with a common velocity after the impact.
Elastic impact (e = 1): In a perfectly elastic collision, no
energy is lost and the relative separation velocity equals the
relative approach velocity of the particles. In practical
situations, this condition cannot be achieved.
In general, e has a value between zero and one.
The two limiting conditions can be considered:
Some typical values of e are:
Steel on steel: 0.5 0.8 Wood on wood: 0.4 0.6
Lead on lead: 0.12 0.18 Glass on glass: 0.93 0.95
IMPACT: ENERGY LOSSES
In a plastic collision (e = 0), the energy lost is a maximum,
although it does not necessarily go to zero. Why?
During a collision, some of the particles initial kinetic
energy will be lost in the form of heat, sound, or due to
localized deformation.
Once the particles velocities before and after the collision
have been determined, the energy loss during the collision
can be calculated on the basis of the difference in the
particles kinetic energy. The energy loss is
U
1-2
= T
2
T
1
where T
i
= 0.5m
i
(v
i
)
2
OBLIQUE IMPACT
Momentum of each particle is conserved in the direction perpendicular to
the line of impact (y-axis):
m
A
(v
Ay
)
1
= m
A
(v
Ay
)
2
and m
B
(v
By
)
1
= m
B
(v
By
)
2
In an oblique impact, one or both of the
particles motion is at an angle to the line of
impact. Typically, there will be four
unknowns: the magnitudes and directions of
the final velocities.
Conservation of momentum and the coefficient
of restitution equation are applied along the line
of impact (x-axis):
m
A
(v
Ax
)
1
+ m
B
(v
Bx
)
1
= m
A
(v
Ax
)
2
+ m
B
(v
Bx
)
2
e = [(v
Bx
)
2
(v
Ax
)
2
]/[(v
Ax
)
1
(v
Bx
)
1
]
The four equations required to solve for the unknowns are:
PROCEDURE FOR ANALYSIS
In most impact problems, the initial velocities of the particles
and the coefficient of restitution, e, are known, with the final
velocities to be determined.
For oblique impact problems, the following equations are also
required, applied perpendicular to the line of impact (y-dir.):
m
A
(v
Ay
)
1
= m
A
(v
Ay
)
2
and m
B
(v
By
)
1
= m
B
(v
By
)
2

For both central and oblique impact problems, the following
equations apply along the line of impact (x-dir.):
m(v
x
)
1
= m(v
x
)
2
and e = [(v
Bx
)
2
(v
Ax
)
2
]/[(v
Ax
)
1
(v
Bx
)
1
]
Define the x-y axes. Typically, the x-axis is defined along the
line of impact and the y-axis is in the plane of contact
perpendicular to the x-axis.
EXAMPLE
Given: The ball strikes the smooth wall
with a velocity (v
b
)
1
= 20 m/s. The
coefficient of restitution between
the ball and the wall is e = 0.75.
Find: The velocity of the ball just after the
impact.

Plan:
The collision is an oblique impact, with the line of impact
perpendicular to the plane (through the relative centers of
mass).
Thus, the coefficient of restitution applies perpendicular to the
wall and the momentum of the ball is conserved along the
wall.
Solve the impact problem by using x-y axes defined along and
perpendicular to the line of impact, respectively:
The momentum of the ball is conserved in
the y-dir:
m(v
b
)
1
sin 30 = m(v
b
)
2
sin
(v
b
)
2
sin = 10 m/s (1)
The coefficient of restitution applies in the x-dir:
e = [ 0 (v
bx
)
2
] / [ (v
bx
)
1
0 ]
0.75 = [ 0 (-v
b
)
2
cos ] / [ 20

cos 30 0]
(v
b
)
2
cos = 12.99 m/s (2)
EXAMPLE
(continued)
Solution:
Using Eqs. (1) and (2) and solving for the velocity and yields:
(v
b
)
2
= (12.99
2
+10
2
)
0.5
= 16.4 m/s
= tan
-1
(10/12.99)=37.6
CONCEPT QUIZ
2. Under what condition is the energy lost during a collision
maximum?
A) e = 1.0 B) e = 0.0
C) e = -1.0 D) Collision is non-elastic.
1. Two balls impact with a coefficient of restitution of 0.79.
Can one of the balls leave the impact with a kinetic energy
greater than before the impact?
A) Yes B) No
C) Impossible to tell D) Dont pick this one!
RIGID-BODY MOTION: ROTATION ABOUT A FIXED AXIS
(Section 16.3)
The change in angular position, d, is called the
angular displacement, with units of either
radians or revolutions. They are related by
1 revolution = (2) radians

When a body rotates about a fixed axis, any
point P in the body travels along a circular path.
The angular position of P is defined by .
Angular velocity, , is obtained by taking the
time derivative of angular displacement:
= d/dt (rad/s) +
Similarly, angular acceleration is
= d
2
/dt
2
= d/dt or = (d/d) + rad/s
2

If the angular acceleration of the body is
constant, =
C,
the equations for angular
velocity and acceleration can be integrated
to yield the set of algebraic equations
below.
=
0
+
C
t
=
0
+
0
t + 0.5
C
t
2

2
= (
0
)
2
+ 2
C
(
0
)

0
and
0
are the initial values of the bodys
angular position and angular velocity. Note
these equations are very similar to the
constant acceleration relations developed for
the rectilinear motion of a particle.
RIGID-BODY MOTION: ROTATION ABOUT A FIXED AXIS
(continued)
The magnitude of the velocity of P is
equal to r (the text provides the
derivation). The velocitys direction is
tangent to the circular path of P.
In the vector formulation, the magnitude
and direction of v can be determined
from the cross product of and r
p
.
Here r
p
is a vector from any point on the
axis of rotation to P.
v = r
p
= r
The direction of v is determined by the
right-hand rule.
RIGID-BODY ROTATION: VELOCITY OF POINT P
The acceleration of P is expressed in terms of
its normal (a
n
) and tangential (a
t
) components.
In scalar form, these are a
t
= r and a
n
=
2
r.
The tangential component, a
t
, represents the
time rate of change in the velocity's
magnitude. It is directed tangent to the path of
motion.
The normal component, a
n
, represents the time
rate of change in the velocitys direction. It is
directed toward the center of the circular path.
RIGID-BODY ROTATION: ACCELERATION OF POINT P
Using the vector formulation, the acceleration
of P can also be defined by differentiating the
velocity.

a = dv/dt = d/dt r
P
+ dr
P
/dt

= r
P
+ ( r
P
)
It can be shown that this equation reduces to
a = r
2
r = a
t
+ a
n

RIGID-BODY ROTATION: ACCELERATION OF POINT P
(continued)
The magnitude of the acceleration vector is a = (a
t
)
2
+ (a
n
)
2

ROTATION ABOUT A FIXED AXIS: PROCEDURE
Establish a sign convention along the axis of rotation.
Alternatively, the vector form of the equations can be used
(with i, j, k components).
v = r
P
= r
a = a
t
+ a
n
= r
P
+ ( r
P
) = r
2
r
If is constant, use the equations for constant angular
acceleration.
If a relationship is known between any two of the variables (,
, , or t), the other variables can be determined from the
equations: = d/dt = d/dt d = d
To determine the motion of a point, the scalar equations v = r,
a
t
= r, a
n
=
2
r , and a = (a
t
)
2
+ (a
n
)
2
can be used.
EXAMPLE
Given: The motor gives the blade an angular
acceleration = 20 e
-0.6t
rad/s
2
, where t is
in seconds. The initial conditions are that
when t = 0, the blade is at rest.
Find: The velocity and acceleration of the tip P of one of the
blades when t =3 s. How many revolutions has the blade
turned in 3 s ?

Plan: 1) Determine the angular velocity and displacement of the
blade using kinematics of angular motion.
2) The magnitudes of the velocity and acceleration of
point P can be determined from the scalar equations of
motion for a point on a rotating body. Why scalar?

EXAMPLE (continued)
Solution:
1) Since the angular acceleration is given as a function of time,
= 20 e
-0.6t
rad/s
2
, the angular velocity and displacement
can be found by integration.
= dt = 20 e
-0.6t
dt

= e
-0.6t
20
(-0.6)
= dt

= e
-0.6t
dt = e
-0.6t


20
(-0.6)
20
(-0.6)
2

Angular displacement
Also , when t = 3 s, = 20 e
-0.6(3) b
= 3.306 rad/s
2

when t = 3 s,
= -5.510 rad/s
when t = 3 s,
= 9.183 rad
= 1.46 rev.
2) The velocity of point P on the the fan, at a radius of 1.75 ft,
is determined as
v
P
=

r = (5.510)(1.75) = 9.64 ft/s
The magnitude of the acceleration of P is determined by
a
P
= (a
n
)
2
+ (a
t
)
2
= (53.13)
2
+ (5.786)
2
= 53.4 ft/s
2
EXAMPLE (continued)
The normal and tangential components of acceleration of
point P are calculated as
a
n
= ()
2
r = (5.510)
2
(1.75) = 53.13 ft/s
2
a
t
=

r = (3.306)(1.75) = 5.786 ft/s
2
READING QUIZ
1. A body subjected to general plane motion undergoes a/an
A) translation.
B) rotation.
C) simultaneous translation and rotation.
D) out-of-plane movement.
2. In general plane motion, if the rigid body is represented by a
slab, the slab rotates
A) about an axis perpendicular to the plane.
B) about an axis parallel to the plane.
C) about an axis lying in the plane.
D) None of the above.
APPLICATIONS
As a part of the design process for the truck, an engineer had to
relate the velocity at which the hydraulic cylinder extends and
the resulting angular velocity of the bin.
The dumping bin on the truck rotates
about a fixed axis passing through the
pin at A. It is operated by the extension
of the hydraulic cylinder BC.

The angular position of the bin can be
specified using the angular position
coordinate and the position of point C
on the bin is specified using the
coordinate s.
APPLICATIONS (continued)
The large window is opened using a
hydraulic cylinder AB.

The position B of the hydraulic
cylinder rod is related to the angular
position, , of the window.
A designer has to relate the translational
velocity at B of the hydraulic cylinder
and the angular velocity and acceleration
of the window? How would you go
about the task?
APPLICATIONS (continued)
The position of the piston, x, can be defined as a function of
the angular position of the crank, . By differentiating x with
respect to time, the velocity of the piston can be related to the
angular velocity, w, of the crank. This is necessary when
designing an engine.
The stroke of the piston is defined as the total distance moved
by the piston as the crank angle varies from 0 to 180. How
does the length of crank AB affect the stroke?
ABSOLUTE MOTION ANALYSIS
(Section 16.4)
The absolute motion analysis method relates
the position of a point, B, on a rigid body
undergoing rectilinear motion to the angular
position, , of a line contained in the body.
Usually the chain rule must be used when taking the derivatives
of the position coordinate equation.
Once a relationship in the form of s
B
= f () is
established, the velocity and acceleration of
point B are obtained in terms of the angular
velocity and angular acceleration of the rigid
body by taking the first and second time
derivatives of the position function.
The figure below shows the window using a hydraulic cylinder AB.
Given: The platform is constrained
to move vertically by the
smooth vertical guides. The
cam C rotates with a
constant angular velocity, w.
Find: The velocity and acceleration
of platform P as a function of
the angle of cam C.
Use the fixed reference point O and define the position of
the platform, P, in terms of the parameter .
Take successive time derivatives of the position equation
to find the velocity and acceleration.
EXAMPLE I
Plan:
EXAMPLE I
(continued)
Solution:
a
P
= d(rw cos ) / dt = rw(-sin ) (w) = rw
2
sin
Differentiating v
P
to find the acceleration,
O
By geometry, y = r + r sin
By differentiating with respect to time,
v
P
= r cos () = rw cos

Note that the cam rotates with a constant
angular velocity.
Given: Crank AB rotates at a constant velocity of w = 150
rad/s .
Find: The velocity of point P when = 30.

Plan:
Define x as a function of and differentiate with
respect to time.

EXAMPLE II
EXAMPLE II (continued)
v
P
= -0.2w sin + (0.5)[(0.75)
2

(0.2sin )
2
]
-0.5
(-2)(0.2sin )(0.2cos ) w

v
P
= -0.2w sin [0.5(0.2)
2
sin2 w] / (0.75)
2
(0.2 sin )
2

At = 30, w = 150 rad/s and v
P
= -18.5 ft/s = 18.5 ft/s
x
P
= 0.2 cos + (0.75)
2
(0.2 sin )
2
Solution:
ATTENTION QUIZ
2. If v
A
=10 m/s and a
A
=10 m/s
2
, determine
the angular acceleration, a, when = 30.
A) 0 rad/s
2
B) -50.2 rad/s
2



C) -112 rad/s
2
D) -173 rad/s
2

1. The sliders shown below are confined to move in the
horizontal and vertical slots. If v
A
=10 m/s, determine the
connecting bars angular velocity when = 30.
A) 10 rad/s B) 10 rad/s


C) 8.7 rad/s D) 8.7 rad/s
READING QUIZ
1. When a relative-motion analysis involving two sets of
coordinate axes is used, the x - y coordinate system will
A) be attached to the selected point for analysis.
B) rotate with the body.
C) not be allowed to translate with respect to the fixed frame.
D) None of the above.
2. In the relative velocity equation, v
B/A
is
A) the relative velocity of B with respect to A.
B) due to the rotational motion.
C) r
B/A
.
D) All of the above.
APPLICATIONS
As the slider block A moves horizontally to the left with v
A
, it
causes the link CB to rotate counterclockwise. Thus v
B
is directed
tangent to its circular path.
Which link is undergoing general plane motion? Link AB or
link BC?
How can the angular velocity, of link AB be found?
APPLICATIONS (continued)
Planetary gear systems are used in many
automobile automatic transmissions.
By locking or releasing different gears,
this system can operate the car at
different speeds.
How can we relate the angular velocities of the various gears in
the system?
RELATIVE MOTION ANALYSIS
(Section 16.5)
When a body is subjected to general plane motion, it undergoes a
combination of translation and rotation.
dr
B
= dr
A
+ dr
B/A
Disp. due to translation and rotation

Disp. due to translation

Disp. due to rotation

Point A is called the base point in this analysis. It generally has a
known motion. The x- y frame translates with the body, but does not
rotate. The displacement of point B can be written:
The velocity at B is given as : (dr
B
/dt) = (dr
A
/dt) + (dr
B/A
/dt)

or
v
B
= v
A
+ v
B/A
RELATIVE MOTION ANALYSIS: VELOCITY
Since the body is taken as rotating about A,
v
B/A
= dr
B/A
/dt = r
B/A

Here will only have a k component since the axis of rotation
is perpendicular to the plane of translation.
When using the relative velocity equation, points A and B
should generally be points on the body with a known motion.
Often these points are pin connections in linkages.
v
B
= v
A
+ r
B/A

RELATIVE MOTION ANALYSIS: VELOCITY (continued)
For example, point A on link AB must
move along a horizontal path, whereas
point B moves on a circular path.
The directions of v
A
and v
B
are known
since they are always tangent to their
paths of motion.
Furthermore, point B at the center of the wheel moves along a
horizontal path. Thus, v
B
has a known direction, e.g., parallel
to the surface.
v
B
= v
A
+ r
B/A
When a wheel rolls without slipping, point A is often selected
to be at the point of contact with the ground.

Since there is no slipping, point A has zero velocity.
RELATIVE MOTION ANALYSIS: VELOCITY
(continued)
PROCEDURE FOR ANALYSIS
3. Write the scalar equations from the x and y components of
these graphical representations of the vectors. Solve for
the unknowns.
1. Establish the fixed x-y coordinate directions and draw a
kinematic diagram for the body. Then establish the
magnitude and direction of the relative velocity vector v
B/A
.
Scalar Analysis:
2. Write the equation v
B
= v
A
+ v
B/A
. In the kinematic diagram,
represent the vectors graphically by showing their
magnitudes and directions underneath each term.
The relative velocity equation can be applied using either a
Cartesian vector analysis or by writing scalar x and y component
equations directly.
Vector Analysis:
3. If the solution yields a negative answer, the sense of
direction of the vector is opposite to that assumed.
2. Express the vectors in Cartesian vector form (CVN) and
substitute them into v
B
= v
A
+ r
B/A
. Evaluate the cross
product and equate respective i and j components to obtain
two scalar equations.
1. Establish the fixed x - y coordinate directions and draw the
kinematic diagram of the body, showing the vectors v
A
, v
B
,
r
B/A
and . If the magnitudes are unknown, the sense of
direction may be assumed.
PROCEDURE FOR ANALYSIS
(continued)
Given: Roller A is moving to the
right at 3 m/s.
Find: The velocity of B at the
instant = 30.

Plan:
1. Establish the fixed x - y directions and draw a kinematic
diagram of the bar and rollers.
2. Express each of the velocity vectors for A and B in terms
of their i, j, k components and solve v
B
= v
A
+ r
B/A
.
EXAMPLE I
EXAMPLE I (continued)
Equating the i and j components gives:
0 = 3 0.75
-v
B
= 1.299
Express the velocity vectors in CVN
v
B
= v
A
+ r
B/A
-v
B
j

= 3 i + [ k
(-1.5cos30i +1.5sin 30j )]
-v
B
j

= 3 i 1.299 j 0.75 i
Solution:

Solving: = 4 rad/s or

= 4 rad/s k
v
B
= 5.2 m/s or v
B
= -5.2 m/s j
y
Kinematic diagram:
y
Given: Crank rotates OA with an
angular velocity of 12 rad/s.
Find: The velocity of piston B
and the angular velocity of
rod AB.

Plan:
Notice that point A moves on a circular path. The
directions of v
A
is tangent to its path of motion.
Draw a kinematic diagram of rod AB and use
v
B
= v
A
+
AB
r
B/A
.
EXAMPLE II
EXAMPLE II (continued)
By comparing the i, j components:
i: 0 = -3.6 + 0.3
AB

AB
= 12 rad/s
j: v
B
= 0.5196
AB
v
B
= 6.24 m/s
Rod AB. Write the relative-velocity
equation:
v
B
= v
A
+
AB
r
B/A
Solution:

Since crack OA rotates with an angular
velocity of 12 rad/s, the velocity at A
will be: v
A
= -0.3(12) i = -3.6 i m/s
Kinematic diagram of AB:
v
B
j

= -3.6 i +
AB
k (0.6cos30 i 0.6sin30 j )
v
B
j

= -3.6 i +0.5196
AB
j + 0.3
AB
i
CHECK YOUR UNDERSTANDING QUIZ
1. If the disk is moving with a velocity at point
O of 15 ft/s and = 2 rad/s, determine the
velocity at A.
A) 0 ft/s B) 4 ft/s
C) 15 ft/s D) 11 ft/s
2. If the velocity at A is zero, then determine the angular
velocity, .
A) 30 rad/s B) 0 rad/s
C) 7.5 rad/s D) 15 rad/s
2 ft
V=15 ft/s

A
O

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