ES 12 Chapter 13

Seventh Edition
VECTOR MECHANICS FOR ENGINEERS:

DYNAMICS
CHAPTER
13
Ferdinand P Beer
13
Ferdinand P. Beer
E. Russell Johnston, Jr.
Lecture Notes:
Kinetics of Particles:
Energy and Momentum
Lecture Notes:
J. Walt Oler
Texas Tech University
Methods
2003 The McGraw-Hill Companies, Inc. All rights reserved.
Vector Mechanics for Engineers: Dynamics
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Contents
Introduction
Work of a Force
Principle of Work & Energy
Sample Problem 13.6
Sample Problem 13.7
Sample Problem 13.9 p gy
Applications of the Principle of Work
& Energy
Power and Efficiency
p
Principle of Impulse and Momentum
Impulsive Motion
SampleProblem1310
y
Sample Problem 13.1
Sample Problem 13.2
SampleProblem133
Sample Problem 13.10
Impact
Sample Problem 13.3
Sample Problem 13.4
Sample Problem 13.5
Potential Energ
Impact
Direct Central Impact
Oblique Central Impact
P bl I l i E dM
Potential Energy
Conservative Forces
Conservation of Energy
Problems Involving Energy and Momentum
13 - 2
Motion Under a Conservative Central
Force
Sample Problems 13.16
Sample Problem !3.17
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Introduction
Previously, problems dealing with the motion of particles were
solved through the fundamental equation of motion,
Current chapter introducestwoadditional methodsof analysis
. a m F

=
Current chapter introduces two additional methods of analysis.
Method of work and energy: directly relates force, mass,
velocityanddisplacement velocity and displacement.
Method of impulse and momentum: directly relates force,
l i d i mass, velocity, and time.
13 - 3
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Work of a Force
Differential vector is the particle displacement. r d
Work of the force is Work of the force is

ds F
r d F dU
=
=
cos
dz F dy F dx F
z y x
+ + =
Workisascalar quantity i e it hasmagnitudeand Work is a scalar quantity, i.e., it has magnitude and
sign but not direction.
force. length
Dimensionsof workare Unitsare
g
Dimensions of work are Units are
( ) ( )( ) J 1.356 lb 1ft m 1 N 1 J 1 = = joule
13 - 4
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Work of a Force
Work of a force during a finite displacement,
2
A
d F U

( )

= =
=
2 2
1
cos
2 1
s s
A
ds F ds F
r d F U
( )
( )

+ + =
= =
2
1 1
cos
A
z y x
s
t
s
dz F dy F dx F
ds F ds F
( )
+ +
1
A
z y x
dz F dy F dx F
Work is represented by the area under the p y
curve of F
t
plotted against s.
13 - 5
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Work of a Force
Work of a constant force in rectilinear motion,
( ) x F U =
cos
2 1
Work of the force of gravity,
dz F dy F dx F dU
z y x
+ + =
dy W U
dy W
y
=
=
2 1
2
( ) y W y y W
y
y
= =

1 2
2 1
1
Work of the weight is equal to product of
weight Wand vertical displacement y.
W k f th i ht i iti h < 0
13 - 6
Work of the weight is positive when y < 0,
i.e., when the weight moves down.
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Work of a Force
Magnitude of the force exerted by a spring is
proportional to deflection,
= kx F
( ) lb/in. or N/m constant spring = k
Work of the force exerted by spring,
d k d F dU
2
2
2
1
2
1
2
1
2 1
2
kx kx dx kx U
dx kx dx F dU
x
x
= =
= =

1
x
Work of the force exerted by spring is positive
when x
2
<x
1
, i.e., when the spring is returning to
i d f d i i its undeformed position.
Work of the force exerted by the spring is equal to
negativeof areaunder curveof F plottedagainst x,
13 - 7
negative of area under curve of F plotted against x,
( ) x F F U + =
2 1
2
1
2 1
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Work of a Force
Work of a gravitational force (assume particle M
occupiesfixedpositionO whileparticlem followspath occupies fixed position O while particle m follows path
shown),
2
dr
r
Mm
G Fdr dU = =
1 2
2
2 1
2
1
r
Mm
G
r
Mm
G dr
r
Mm
G U
r
r
r
= =

1
13 - 8
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Work of a Force
Forces which do not do work (ds =0 or cos = 0):
reaction at frictionless surface when body in contact
reaction at frictionless pin supporting rotating body,
reaction at a roller moving along its track, and
y
moves along surface,
weight of a body when its center of gravity moves
horizontally.
13 - 9
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Particle Kinetic Energy: Principle of Work & Energy
dt
dv
m ma F
t t
= =
Consider a particle of mass m acted upon by force F
dv mv ds F
ds
dv
mv
dt
ds
ds
dv
m
t
=
= =
Integrating from A
1
to A
2
,
mv mv dv v m ds F
v s
t
= =

2
1
2
1
2
2
2
1
2 2
energy kinetic mv T T T U
v s
= = =
2
2
1
1 2 2 1
1 1
Th k f h f i l h h i F
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:
2
13 - 10
gy
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
Wish to determine velocity of pendulum bob
at A
2
. Consider work & kinetic energy.
Force acts normal to path and does no

work.
P
T U T
2 2 1 1
= +

gl v
v
g
W
Wl
2
2
1
0
2
2
2
=
= +
gl v 2
2
Velocity found without determining
expression for acceleration and integrating.
All quantities are scalars and can be added
directly.
13 - 11
Forces which do no work are eliminated from
the problem.
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Applications of the Principle of Work and Energy
Principle of work and energy cannot be
applied to directly determine the acceleration
of the pendulum bob. p
Calculating the tension in the cord requires
supplementing the method of work and energy
with an application of Newtons second law.
As the bob passes through A
2
,
l
v
g
W
W P
a m F
n n
2
2
=
=
W
l
gl
g
W
W P
l g
3
2
= + =
gl v 2
2
=
13 - 12
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Power and Efficiency
rate at which work is done.
dt
r d F
dt
dU
Power
= =
=
v F
dt dt
=
Di i f k/ti f * l it Dimensions of power are work/time or force*velocity.
Units for power are
W 746
lb ft
550 hp 1 or
m
N 1
J
1 (watt) W 1 =
= = = W 746
s
550 hp 1 or
s
N 1
s
1 (watt) W 1
efficiency =
output power
input work
k output wor
=
=
13 - 13
input power
=
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Sample Problem 13.1
SOLUTION:
Evaluate the change in kinetic energy.
Determine the distance required for the
work to equal the kinetic energy change.
Anautomobileweighing4000lbis An automobile weighing 4000 lb is
driven down a 5
o
incline at a speed of
60 mi/h when the brakes are applied
causingaconstant total breakingforce causing a constant total breaking force
of 1500 lb.
Determine the distance traveled by the
automobileasit comestoastop
13 - 14
automobile as it comes to a stop.
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Sample Problem 13.1
SOLUTION:
Evaluate the change in kinetic energy.
h f 5280 i

( )( ) 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
( )( )
2
1
2
1
Determinethedistancerequiredfor thework to
0 0
2 2
= = T v
Determine the distance required for the work to
equal the kinetic energy change.
( ) ( )( )x x U 5 sin lb 4000 lb 1500
2 1
+ =
( ) 0 lb 1151 lb ft 481000
2 2 1 1
= +

T U T
( )x lb 1151 =
13 - 15
( ) 0 lb 1151 lb ft 481000 = x
ft 418 = x
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Sample Problem 13.2
SOLUTION:
Apply the principle of work and
energy separately to blocks A and B.
When the two relations are combined,
theworkof thecableforcescancel
Two blocks are joined by an inextensible
bl h If th t i l d
the work of the cable forces cancel.
Solve for the velocity.
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 frictionbetweenblockA coefficient of friction between block A
and the plane is
k
=0.25 and that the
pulley is weightless and frictionless.
13 - 16
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Sample Problem 13.2
SOLUTION:
Apply the principle of work and energy separately
to blocks A and B.
( )( )
( )
2
N 490 N 1962 25 . 0
N 1962 s m 81 . 9 kg 200
W N F
W
A k A k A
A
= = = =
= =

( ) ( )
2
2
2
1
2 2 1 1
m 2 m 2 0
:
v m F F
T U T
A A C
= +
= +

( ) ( )( ) ( )
2
2
1
kg 200 m 2 N 490 m 2 v F
C
=
( )( )
2
N 2940 s m 81 9 kg 300 W
B
= = ( )( )
( ) ( )
2
2
1
2 2 1 1
m 2 m 2 0
:
N 2940 s m 81 . 9 kg 300
v m W F
T U T
W
B B c
B
= +
= +

13 - 17
( ) ( )( ) ( )
2
2
1
2
kg 300 m 2 N 2940 m 2 v F
c
= +
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Sample Problem 13.2
When the two relations are combined, the work of the
cable forces cancel. Solve for the velocity.
( ) ( )( ) ( )
2
1
k 200 2 N 490 2 F ( ) ( )( ) ( )
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
=
+ =
( )
2
kg 500 J 4900 v
s m 43 . 4 = v
13 - 18
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Sample Problem 13.3
SOLUTION:
Apply the principle of work and energy
betweentheinitial positionandthe
A spring is used to stop a 60 kg package
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
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
d120 Th k h
y
friction coefficient.
Apply the principle of work and energy
for thereboundof thepackage The
compressed 120 mm. The package has a
velocity of 2.5 m/s in the position shown
and the maximum deflection of the spring
is40mm
for the rebound of the package. The
only unknown in the relation is the
velocity at the final position.
is 40 mm.
Determine (a) the coefficient of kinetic
friction between the package and surface
d(b) h l i f h k i
13 - 19
and (b) the velocity of the package as it
passes again through the position shown.
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Sample Problem 13.3
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
f
x W U
2 1
=
( )( )( ) ( )
k k
J 377 m 640 . 0 s m 81 . 9 kg 60
2
= =
( )( ) N 2400 m 120 . 0 m kN 20
0 min
= = = kx P
( ) ( )( )
( ) ( )
( )( ) J 0 112 m 040 0 N 3200 N 2400
N 3200 m 160 . 0 m kN 20
1
max min
2
1
2 1
0 max
= + =
+ =
= = + =
x P P U
x x k P
e
( )( ) J 0 . 112 m 040 . 0 N 3200 N 2400
2
= + =
( ) ( ) ( ) J 112 J 377
2 1 2 1 2 1
= + =
k
e f
U U U
13 - 20
( ) 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
Apply the principle of work and energy for the rebound
of the package.
( )
2
3
1
2
3
1
3 2
kg 60 0 v mv T T = = = ( )
3
2
3
2
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
J 36.5 +
( )
2
3
2
1
3 3 2 2
kg 60 J 5 . 36 0
:
v
T U T
= +
= +

( )
3
2
s m 103 . 1
3
= v
13 - 21
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Sample Problem 13.4
SOLUTION:
Apply principle of work and energy to
d i l i i 2 determine velocity at point 2.
Apply Newtons second law to find
normal force by the track at point 2.
A 2000 lb car starts from rest at point 1
and moves without friction down the
track shown.
Apply principle of work and energy to
determine velocity at point 3.
A l N t dl t fi d
Determine:
a) the force exerted by the track on
thecar at point 2 and
Apply Newtons second law to find
minimum radius of curvature at point 3
such that a positive normal force is
exertedbythetrack the car at point 2, and
b) the minimum safe value of the
radius of curvature at point 3.
exerted by the track.
13 - 22
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Sample Problem 13.4
SOLUTION:
Apply principle of work and energy to determine
velocity at point 2.
( ) ft 40
2
1
0
2 1
2
2
2
2
2
1
2 1
+ =
= = =
W U
v
g
W
mv T T
( )
( ) ( )( ) s ft 8 . 50 ft 2 . 32 ft 40 2 ft 40 2
2
1
ft 40 0 :
2
2 2
2
2
2 2 2 1 1
= = =
= + = +

v s g v
v
g
W
W T U T
( ) ( )( ) s ft 8 . 50 ft 2 . 32 ft 40 2 ft 40 2
2 2
v s g v
Apply Newtons second law to find normal force by
the track at point 2.
:
n n
a m F = +

( )g
g
W v
g
W
a m N W
n
ft 20
ft 40 2
2
2
= = = +

13 - 23
W N
g g
5
ft 20
2
=

lb 10000 = N
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Sample Problem 13.4
Apply principle of work and energy to determine
velocity at point 3.
( )
1
ft 25 0
2
+ + v
W
W T U T ( )
( ) ( )( ) s ft 1 . 40 s ft 2 . 32 ft 25 2 ft 25 2
2
ft 25 0
3
2
3
3 3 3 1 1
= = =
= + = +

v g v
v
g
W T U T
Apply Newtons second law to find minimum radius of
curvature at point 3 such that a positive normal force is
exerted by the track.
:
n n
a m F = +

a m W
n
=
( )
3 3
2
3
ft 25 2

g
g
W v
g
W
= =
ft 50
3
=
13 - 24
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Sample Problem 13.5
SOLUTION:
Force exerted by the motor
cablehassamedirectionas cable has same direction as
the dumbwaiter velocity.
Power delivered by motor is
equal to Fv
D
, v
D
= 8 ft/s.
The dumbwaiter D and its load have a
q
D
,
D
In the first case, bodies are in uniform
motion Determineforceexertedby
combined weight of 600 lb, while the
counterweight C weighs 800 lb.
Determine the power delivered by the
motion. Determine force exerted by
motor cable from conditions for static
equilibrium.
I h d b hb di
p y
electric motor Mwhen the dumbwaiter
(a) is moving up at a constant speed of
8 ft/s and (b) has an instantaneous
In the second case, both bodies are
accelerating. Apply Newtons
second law to each body to
determinetherequiredmotor cable
13 - 25
velocity of 8 ft/s and an acceleration of
2.5 ft/s
2
, both directed upwards.
determine the required motor cable
force.
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Sample Problem 13.5
In the first case, bodies are in uniform motion.
Determine force exerted by motor cable from
conditions for static equilibrium.
Free-body C:
: 0 = +

y
F lb 400 0 lb 800 2 = = T T
Free-body D:
: 0 = +

y
F 0 lb 600 = +T F
( )( )
: 0 +

y
F
lb 200 lb 400 lb 600 lb 600
0 lb 600
= = =
+
T F
T F
( )( )
s lb ft 1600
s ft 8 lb 200
=
= =
D
Fv Power
hp 1
13 - 26
( ) hp 91 . 2
s lb ft 550
hp 1
s lb ft 1600 =
= Power
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Sample Problem 13.5
In the second case, both bodies are accelerating. Apply
Newtons second law to each body to determine the required
motor cable force.
= = =
2
2
1
2
s ft 25 . 1 s ft 5 . 2
D C D
a a a
FreebodyC: Free-body C:
:
C C y
a m F = +

( ) lb 5 . 384 25 . 1
2 . 32
800
2 800 = = T T
Free-body D:
:
D D y
a m F = +

( ) 5 . 2
2 . 32
600
600= +T F
lb 1 . 262 6 . 46 600 5 . 384 = = + F F
( )( ) s lb ft 2097 s ft 8 lb 1 . 262 = = =
D
Fv Power
13 - 27
( ) hp 81 . 3
s lb ft 550
hp 1
s lb ft 2097 =
= Power
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Potential Energy
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.
W V
=
=Wy V
g
potential energy of the body with respect
to force of gravity.
( ) ( )
2 1
2 1 g g
V V U =
Choiceof datumfromwhichtheelevationy is
Unitsof workandpotential energyarethesame:
Choice of datum from which the elevation y is
measured is arbitrary.
13 - 28
Units of work and potential energy are the same:
J m N = = =Wy V
g
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Potential Energy
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. 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 g v yw ds ce o ece e o ee
should be considered.
Work of a gravitational force, g ,
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,
2
13 - 29
r
WR
r
GMm
V
g
2
= =
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Potential Energy
Work of the force exerted by a spring depends
only on the initial and final deflections of the
spring, p g,
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
kx V =
( ) ( )
2 1
2 1
2
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
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 anyconservativeforceappliedonaclosedpath For any conservative force applied on a closed path,
0 =
r d F

Elementary work corresponding to displacement

between two neighboring points,
( ) ( )
( ) z y x dV
dz z dy y dx x V z y x V dU
, ,
, , , ,
=
+ + + =
( ) y, ,
dz
z
V
dy
y
V
dx
x
V
dz F dy F dx F
z y x

= + +
13 - 31
V
z
V
y
V
x
V
F grad =

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Conservation of Energy
Work of a conservative force,
2 1 2 1
V V U =
Concept of work andenergy 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
Whenaparticlemovesunder theactionof W V T = =
1 1
0 When a particle moves under the action of
conservative forces, the total mechanical
energy is constant.
W V T
W V T
= +
1 1
1 1
0
( ) V W
W
T
2
1
0 2
1
F i ti f t ti T t l
( )

W V T
V W g
g
mv T
= +
= = = =
2 2
2
2
2
2
1
2
0 2
2
Friction forces are not conservative. Total
mechanical energy of a system involving
friction decreases.
13 - 32
Mechanical energy is dissipated by friction
into thermal energy. Total energy is constant.
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Motion Under a Conservative Central Force
When a particle moves under a conservative central
force, both the principle of conservation of angular
momentum
and the principle of conservation of energy
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
may be applied.
0
Givenr theequationsmaybesolvedfor v and Given r, the equations may be solved for v and .
At minimum and maximum r, = 90
o
. Given the
launchconditions, theequationsmaybesolvedfor
13 - 33
launch conditions, the equations may be solved for
r
min
, r
max
, v
min
, and v
max
.
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Sample Problem 13.6
SOLUTION:
Apply the principle of conservation of
energy between positions 1 and 2.
The elastic and gravitational potential
energiesat 1and2areevaluatedfrom
A 20lb ll lid ith t f i ti
energies at 1 and 2 are evaluated from
the given information. The initial kinetic
energy is zero.
l f h ki i d l i
A 20 lb collar slides without friction
along a vertical rod as shown. The
spring attached to the collar has an
undeflectedlengthof 4in anda
Solve for the kinetic energy and velocity
at 2.
undeflected length of 4 in. and a
constant of 3 lb/in.
If the collar is released from rest at
i i 1 d i i l i f
13 - 34
position 1, determine its velocity after
it has moved 6 in. to position 2.
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Sample Problem 13.6
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
2
2
1
2
1
2
1
= + = + =
= = =
T
V V V
kx V
g e
e
0
1
= T
Position 2: ( )( )
( )( )
2
2
1
2
2
2
1
lb in. 120 in. 6 lb 20
lb in. 54 in. 4 in. 0 1 in. lb 3
Wy V
kx V
g
e
= = =
= = =
2
2
2
2
2
2
2
1
2
2
311 . 0
2 32
20
2
1
lb ft 5 . 5 lb in. 66 120 54
v v mv T
V V V
g e
g
= = =
= = = + =
2 . 32 2
Conservation of Energy:
lb ft 5 5 0311 lb ft 2 0
2
2 2 1 1
+ = + V T V T
13 - 35
lb ft 5 . 5 0.311 lb ft 2 0
2
2
= + v
= s ft 91 . 4
2
v
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Sample Problem 13.7
SOLUTION:
Since the pellet must remain in contact
withtheloop theforceexertedonthe with the loop, the force exerted on the
pellet must be greater than or equal to
zero. Setting the force exerted by the
loop to zero, solve for the minimum p ,
velocity at D.
energybetweenpointsA andD Solve
The 0.5 lb pellet is pushed against the
spring and released from rest at A.
Neglecting friction, determine the
energy between points A and D. Solve
for the spring deflection required to
produce the required velocity and
kineticenergyat D.
g g ,
smallest deflection of the spring for
which the pellet will travel around the
loop and remain in contact with the
kinetic energy at D.
13 - 36
loop at all times.
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Sample Problem 13.7
SOLUTION:
Setting the force exerted by the loop to zero, solve for the
minimum velocity at D.
2
:
n n
ma F = +

( )( )
2 2 2
2
s ft 4 . 64 s ft 32.2 ft 2 = = =
= =
rg v
r v m mg ma W
D
D n
Apply the principle of conservation of energy between
points A and D.
( ) 18 ft lb 36 0
2 2
2
1
2
2
1
1
= = + = + = x x kx V V V
g e
( )
0
1
2 2
= T
g
( )( ) lb ft 2 ft 4 lb 5 . 0 0
2
= = + = + =
g e
Wy V V V
( ) lb ft 5 . 0 s ft 4 . 64
s ft 2 . 32
lb 5 . 0
2
1
2 2
2
2
2
1
2
= = =
D
mv T
V T V T
13 - 37
2 5 . 0 18 0
2
2 2 1 1
+ = +
+ = +
x
V T V T
in. 47 . 4 ft 3727 . 0 = = x
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Sample Problem 13.9
SOLUTION:
For motion under a conservative central
force, theprinciplesof conservationof force, the principles of conservation of
energy and conservation of angular
momentum may be applied simultaneously.
Applytheprinciplestothepointsof
A satellite is launched in a direction
parallel to the surface of the earth
Apply the principles to the points of
minimum and maximum altitude to
determine the maximum altitude.
with a velocity of 36900 km/h from
an altitude of 500 km.
Determine (a) the maximum altitude
Apply the principles to the orbit insertion
point and the point of minimum altitude to
determine maximum allowable orbit
i ti l
( )
reached by the satellite, and (b) the
maximum allowable error in the
direction of launching if the satellite
insertion angle error.
13 - 38
is to come no closer than 200 km to
the surface of the earth
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Sample Problem 13.9
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
= + = +

Conservationof angular momentum: Conservation of angular momentum:
1
0
0 1 1 1 0 0
r
r
v v mv r mv r = =
Combining, 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 = +
km 6870 km 500 km 6370 = + = r

( )( )
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
13 - 39
( )( ) s 0 398 0 37 . 6 s 8 . 9 g G
km 60400 m 10 4 . 60
6
1
= = r
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Sample Problem 13.9
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
0

13 - 40
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Principle of Impulse and Momentum
From Newtons second law,
( ) = = v m v m
d
d
F

linear momentum ( )
dt
( )
2
v m d dt F
t
2
t

1 2
1
v m v m dt F
t

Dimensions of the impulse of

f
2 2 1 1
2 1
force the of impulse
1
v m v m
F dt F
t

= +
= =

Imp
Imp
a force are
force*time.
Units for the impulse of a
The final momentum of the particle can be
obtained by adding vectorially its initial
momentumandtheimpulseof theforceduring
force are
( ) s m kg s s m kg s N
2
= =
13 - 41
momentum and the impulse of the force during
the time interval.
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Impulsive Motion
Force acting on a particle during a very short
time interval that is large enough to cause a
significant changeinmomentumiscalledan significant change in momentum is called an
impulsive force.
When impulsive forces act on a particle,
2 1
v m t F v m

= +
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.
N i l i f f f hi h Nonimpulsive forces are forces for which
is small and therefore, may be
neglected.
t F

13 - 42
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SOLUTION:
Apply the principle of impulse and
momentum. The impulse is equal to the
product of the constant forces and the
time interval.
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.
13 - 43
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SOLUTION:
momentum. momentum.
2 2 1 1
v m v m

= +

Imp
Taking components parallel to the
incline,
( ) 0 5 sin
1
= + Ft t W mv ( )
( ) ( ) 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
13 - 44
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SOLUTION:
Apply the principle of impulse and ppy p p p
momentum in terms of horizontal and
vertical component equations.
A 4oz baseball ispitchedwitha 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.
13 - 45
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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 component equation:
40 cos + mv t F mv
( ) ( ) ( )
lb 89
40 cos 120
2 . 32
16 4
15 . 0 80
2 . 32
16 4
40 cos
2 1
=
= +
= +
x
x
F
F
mv t F mv
y
lb 89 =
x
F
y component equation:
40 sin 0
2
= +
y
mv t F
x
( ) ( )
lb 9 . 39
40 cos 120
2 . 32
16 4
15 . 0
=
=
y
y
y
F
F
13 - 46
y
( ) ( ) lb 5 . 97 , lb 9 . 39 lb 89 = + = F j i F

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SOLUTION:
t t th k t t momentum to the package-cart system
to determine the final velocity.
Apply the same principle to the package
alonetodeterminetheimp lsee erted
A 10 kg package drops from a chute
into a 24 kg cart with a velocity of 3
alone to determine the impulse exerted
on it from the change in its momentum.
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.
13 - 47
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SOLUTION:
Apply the principle of impulse and momentum to the package-cart
system to determine the final velocity.
y
x
( )
2 2 1 1
v m m v m
c p p

+ = +

Imp
x components: ( )
2 1
0 30 cos v m m v m + = + 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
13 - 48
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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
30 F
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
= +
= +
s N 56 . 18 = t F
x
y components:
0 30 sin
1
= + t F v m
y p
y components:
( )( ) 0 30 sin m/s 3 kg 10
0 30 s
1
= + t F
t v m
y
y p
s N 15 = t F
y
( ) ( ) N 9 23 N 5 1 N 56 18
t F j i t F

I
13 - 49
( ) ( ) s N 9 . 23 s N 5 1 s N 56 . 18
2 1
= + = =

t F j i t F Imp
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To determine the fraction of energy lost,
( )( ) J 45 s m 3 kg 10
2
2
1
2
1
2
1
1
= = = v m T
p
( ) ( )( ) J 63 . 9 s m 742 . 0 kg 25 kg 10
2
2
1
2
2
2
1
1
= + = + = v m m T
c p
J 963 J 45 T T
786 . 0
J 45
J 9.63 J 45
1
2 1
=
T
T T
13 - 50
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Impact
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..
, p
Direct Impact: Impact for which the velocities of
the two bodies are directed along the line of
i t impact.
Oblique Impact: Impact for which one or both of
thebodiesmovealongalineother thanthelineof
13 - 51
the bodies move along a line other than the line of
impact.
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Bodies moving in the same straight line,
v
A
>v
B
.
Uponimpact thebodiesundergoa Upon impact the bodies undergo a
period of deformation, at the end of which,
they are in contact and moving at a
common velocity. y
A period of restitution follows during
which the bodies either regain their
original shapeor remainpermanently original shape or remain permanently
deformed.
Wish to determine the final velocities of the
twobodies Thetotal momentumof 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

+
= +
13 - 52
A second relation between the final
velocities is required.
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Periodof deformation: u m Pdt v m
A A A
=

=
Rdt
n restitutio of t coefficien e
Period of deformation: u m Pdt v m
A A A
=
1 0

= =
e
u v
v u
Pdt
Rdt
A
A
Period of restitution:
A A A
v m Rdt u m

=
A similar analysisof particleB yields

B
u v
e

=
A similar analysis of particle B yields
B
v u
e
Combining the relations leads to the desired

secondrelationbetweenthefinal velocities
( )
B A A B
v v e v v =
second relation between the final velocities.

Perfectly plastic impact, e =0: v v v
A B

=
( )v m m v m v m
B A B B A A

+ = +

13 - 53
Perfectly elastic impact, e =1:
Total energy and total momentum conserved.
B A A B
v v v v =

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Final velocities are
unknown in magnitude
anddirection Four and direction. Four
equations are required.
No tangential impulse component;
tangential component of momentum
for eachparticleisconserved
( ) ( ) ( ) ( )
t
B
t
B
t
A
t
A
v v v v

=
=
for each particle is conserved.
Normal component of total
momentum of the two particles is
d
( ) ( ) ( ) ( )
n
B B
n
A A
n
B B
n
A A
v m v m v m v m

+
= +
conserved.
Normal components of relative
velocities before and after impact
( ) ( ) ( ) ( ) [ ]
n
B
n
A
n
A
n
B
v v e v v =

13 - 54
p
are related by the coefficient of
restitution.
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Block constrained to move along horizontal
f surface.
Impulses from internal forces
alongthen axisandfromexternal force
F F

and
F
along the n axis and from external force

exerted by horizontal surface and directed
along the vertical to the surface.
ext
F
Final velocity of ball unknown in direction and
magnitude and unknown final block velocity
magnitude Threeequationsrequired magnitude. Three equations required.
13 - 55
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Tangential momentum of ball is
conserved.
( ) ( )
t
B
t
B
v v

=
Total horizontal momentumof block ( ) ( ) ( ) ( )
B B A A B B A A
v m v m v m v m

+
= + 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
velocitiesof blockandball arerelated
( ) ( ) ( ) ( ) [ ]
n
B
n
A
n
A
n
B
v v e v v =
velocities of block and ball are related

by coefficient of restitution.
lidi f l i d f ll f i l i f
13 - 56
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
Three methods for the analysis of kinetics problems:
- Direct application of Newtons second law
M th d f k d - 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.
13 - 57
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SOLUTION:
Resolve ball velocity into components
normal andtangential towall. normal and tangential to wall.
Impulse exerted by the wall is normal
to the wall. Component of ball
momentumtangential towall is
A ball isthrownagainst africtionless
momentum tangential to wall is
conserved.
Assume that the wall has infinite mass
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
so that wall velocity before and after
impact is zero. Apply coefficient of
restitution relation to find change in
l l ti l it b t ll
g g
with the horizontal. Knowing that
e =0.90, determine the magnitude and
direction of the velocity of the ball as
normal relative velocity between wall
and ball, i.e., the normal ball velocity.
13 - 58
it rebounds from the wall.
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SOLUTION:
Resolve ball velocity into components parallel and
perpendicular to wall.
Component of ball momentum tangential to wall is conserved.
v v v 500 0
v v v v v v
t n
500 . 0 30 sin 866 . 0 30 cos = = = =
v v v
t t
500 . 0 = =
Apply coefficient of restitution relation with zero wall
l i
t
velocity.
( )
( ) v v v
v e v
n
n n
779 . 0 866 . 0 9 . 0
0 0
= =
n

+ =
779 0
500 . 0 779 . 0 v v v
t n


13 - 59
=

7 . 32
500 . 0
779 . 0
tan 926 . 0
1
v v
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SOLUTION:
Resolve the ball velocities into components
normal and tangential to the contact plane.
Tangential component of momentum for
eachball isconserved
The magnitude and direction of the
velocities of two identical
each ball is conserved.
Total normal component of the momentum
of the two ball system is conserved.
frictionless balls before they strike
each other are as shown. Assuming
e =0.9, determine the magnitude
ddi ti f th l it f h
The normal relative velocities of the
balls are related by the coefficient of
restitution
and direction of the velocity of each
ball after the impact.
restitution.
Solve the last two equations simultaneously
for the normal velocities of the balls after
13 - 60
the impact.
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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
v v ( ) ( ) s ft 6 34
v v ( ) ( ) 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. y
( ) ( ) ( ) ( )
( ) ( ) ( ) ( )
( ) ( ) 0 6
0 . 20 0 . 26

+
= +

+
= +
n
B
n
A
n
B B
n
A A
n
B B
n
A A
v m v m m m
v m v m v m v m
13 - 61
( ) ( ) 0 . 6 =
n
B
n
A
v v
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The normal relative velocities of the balls are related by the
coefficient of restitution.
( ) ( ) ( ) ( ) [ ] =
n
B
n
A
n
B
n
A
v v e v v
( ) [ ] 4 . 41 0 . 20 0 . 26 90 . 0 = =
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
+ =
3 40
0 . 15
t ft 2 23
0 . 15 7 . 17
1
n t A
v

+ =
6 34
6 . 34 7 . 23
3 . 40
7 . 17
tan s ft 2 . 23
1
1
n t B
A
v
v

t
13 - 62
=

6 . 55
7 . 23
6 . 34
tan s ft 9 . 41
1
B
v
t
S
e
v
e
n
t
h
E
d
i
t
i
o
n
SOLUTION:
Determine orientation of impact line of
action. action.
The momentum component of ball A
tangential to the contact plane is
d conserved.
The total horizontal momentum of the
two ball system is conserved.
Ball B is hanging from an inextensible
cord. An identical ball A is released
from rest when it is just touching the
The relative velocities along the line of
action before and after the impact are
relatedbythecoefficient of restitution
cord and acquires a velocity v
0
before
striking ball B. Assuming perfectly
elastic impact (e =1) and no friction,
d i h l i f hb ll
related by the coefficient of restitution.
Solve the last two expressions for the
velocity of ball A along the line of action
d h l i f b ll B hi hi
13 - 63
determine the velocity of each ball
immediately after impact.
and the velocity of ball B which is
horizontal.
S
e
v
e
n
t
h
E
d
i
t
i
o
n
SOLUTION:
Determine orientation of impact line of action.
= = 5 . 0
2
sin
r
r
Themomentumcomponent of ball A
= 30
2
r The momentum component of ball A

tangential to the contact plane is
conserved.
v m t F v m
A A

= +

( )
( )
0
0
5 . 0
0 30 sin
v v
v m mv
t
A
t
A
A A
=

= +
The total horizontal (x component)
momentum of the two ball system is
conserved conserved.
( ) ( )
( ) ( ) i
30 sin 30 cos 0 v m v m v m
v m v m t T v m
B
n
A
t
A
B A A

=

+
= +


13 - 64
( ) ( )
( )
0
0
433 . 0 5 . 0
30 sin 30 cos 5 . 0 0
v v v
v v v
B
n
A
B
n
A
=
=
S
e
v
e
n
t
h
E
d
i
t
i
o
n
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
=
( )
0
n
A B
Solve the last two expressions for the velocity of ball
A along the line of action and the velocity of ball B
whichishorizontal which is horizontal.
( )
0 0
693 . 0 520 . 0 v v v v
B
n
A
=
520 0 5 0

= =
1
0
0 0
1 16 30 1 46
1 . 46
5 . 0
52 . 0
tan 721 . 0
520 . 0 5 . 0
v v
v v v
A
n t A

13 - 65
=
= =
0
693 . 0
1 . 16 30 1 . 46
v v
B

S
e
v
e
n
t
h
E
d
i
t
i
o
n
SOLUTION:
energytodeterminethevelocityof the energy to determine the velocity of the
block at the instant of impact.
Since the impact is perfectly plastic, the
bl k d t th t th block and pan move together at the same
velocity after impact. Determine that
velocity from the requirement that the
total momentumof theblockandpanis
A 30 kg block is dropped from a height
of 2 m onto the the 10 kg pan of a
springscale Assumingtheimpact tobe
total momentum of the block and pan is
conserved.
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.
energy to determine the maximum
deflection of the spring.
13 - 66
p g
S
e
v
e
n
t
h
E
d
i
t
i
o
n
SOLUTION:
Apply principle of conservation of energy to
determine velocity of the block at instant of impact.
( )( )( )
( ) ( )( ) 0 30
J 588 2 81 . 9 30 0
2
2
2
2
1
2
2
2
1
2
1 1
= = =
= = = =
A A A
A
V T V T
V v v m T
y W V T
( )( ) ( ) s m 26 . 6 0 30 J 588 0
2
2
2
2
1
2 2 1 1
= + = +
+ = +
A A
v v
V T 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
13 - 67
S
e
v
e
n
t
h
E
d
i
t
i
o
n
Apply the principle of conservation of energy to
determine the maximum deflection of the spring.
( ) ( )( )
2
2
1
2
3
2
1
3
J 442 7 . 4 10 30 v m m T
B A
= + = + = ( ) ( )( )
( )( )
2
3 3
2
1
2
3
2
1
3
2
3
2
3
J 241 . 0 10 91 . 4 10 20 0 kx
V V V
e g
= = + =
+ =
Initial spring deflection due to

panweight:
( )( )
( ) ( )
2 3
1
2
4
2
1
4
4
10 20 392
0
kx h W W V V V
T
B A e g
+ + = + =
=
pan weight:
( )( )
m 10 91 . 4
10 20
81 . 9 10
3
3
3

=
= =
k
W
x
B
( ) ( )
( ) ( )
2
4
3
2
1
3
4
2
4
3
2
1
3 4
10 20 10 91 . 4 392
10 20 392
x x
x x x
+ =
+ =
V T V T
( ) ( )
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
13 - 68
4
m 10 91 . 4 m 230 . 0
3
3 4

= = x x h m 225 . 0 = h

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Seventh Edition

VECTOR MECHANICS FOR ENGINEERS:

Work of the force is Work of the force is

The work of the force is equal to the change in

Force acts normal to path and does no

Vector Mechanics for Engineers: Dynamics

2003 The McGraw-Hill Companies, Inc. All rights reserved.

Work of the force of gravity ,

Work is independent of path followed; depends

The potential energy of the body with respect

Note that the preceding expression for V

Such forces are described as conservative forces.

Elementary work corresponding to displacement

Vector Mechanics for Engineers: Dynamics

Concept of work andenergy Concept of work and energy,

km 6870 km 500 km 6370 = + = r

2003 The McGraw-Hill Companies, Inc. All rights reserved.

Dimensions of the impulse of

When a baseball is struck by a bat, contact

2003 The McGraw-Hill Companies, Inc. All rights reserved.

A similar analysisof particleB yields

Combining the relations leads to the desired

second relation between the final velocities.

Vector Mechanics for Engineers: Dynamics

2003 The McGraw-Hill Companies, Inc. All rights reserved.

along the n axis and from external force

= + Total horizontal momentum of block

velocities of block and ball are related

2003 The McGraw-Hill Companies, Inc. All rights reserved.

r The momentum component of ball A

2003 The McGraw-Hill Companies, Inc. All rights reserved.

Vector Mechanics for Engineers: Dynamics

Initial spring deflection due to

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