Physics (HRK) Chapter 9: System of Particles

SYSTEM OF PARTICLES

Two Particle System

Center of Mass
It is the point at which the whole mass of an object or system of particles may
suppose to be concentrated.
This point is easy to locate in perfectly symmetrical objects because it coincides
with the center of symmetry. For example, in a sphere it is center of sphere and in case of
a square, it is the center of square. For irregular shapes and system of particles,
mathematical methods are necessary to find the center of mass.
Explanation
Consider a system of two particles of mass m1 and m2 having displacements x1

and x2 along x-axis respectively.

Let M is the total mass of the system (M  m1  m2 ) which may be concentrated at

point C, whose displacement xCM .

The position of the center of mass is
defined as:
m1 x1  m2 x2
xCM 
m1  m2
m1 x1  m2 x2
xCM 
M
1
xCM   m1 x1  m2 x2  ---------- (1)
M
The center of mass of the system of two particles may not be a point on the either
bodies.
Velocity of Center of Mass
The velocity of center of mass vCM is taken by the time derivative of equation (1):

dxCM
vCM 
dt
d 1
vCM    m1 x1  m2 x2 
dt  M 
1  dx1 dx 
vCM   m1  m2 2 
M  dt dt 
1
vCM   m1v1  m2v2  ---------- (2)
M
Where v1 and v2 are the velocities of bodies of masses m1 and m2 , respectively.

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Written and composed by: Prof. Muhammad Ali Malik (M. Phil. Physics), Govt. Degree College, Naushera
Physics (HRK) Chapter 9: System of Particles

Acceleration of Center of Mass

The acceleration of center of mass aCM is taken by the time derivative of equation (2):

dvCM
aCM 
dt
d 1
aCM    m1v1  m2v2 
dt  M 
1  dv1 dv 
aCM   m1  m2 2 
M dt dt 
1
aCM   m1a1  m2 a2  ---------- (3)
M
Where a1 and a2 are the acceleration of bodies of masses m1 and m2 , respectively.

Case 1. External Forces are not Present

Let the masses m1 and m2 are interacting with one another and no external forces
are applied on the system.
Let F12 is the force exerted on m1 by m2

F21 is the force exerted on m2 by m1

So F12  m1a1

F21  m2 a2
As the bodies are interacting with each other, then by Newton’s third law of motion:
F12   F21 ---------- (4)
By equation (3):
1
aCM   F12  F21 
M
Using equation (4):
1
aCM   F12  F12 
M
1
 aCM   0
M
 aCM  0
It means that if there is no external force acting on the system, then the
acceleration of center of mass is zero. So, the center of mass moves with constant
velocity in the absence of any external force.
Case 2. External Forces are Present
Let Fext1 and Fext 2 are the external forces acting on the masses m1 and

m2 respectively, in addition to internal forces F12 and F21 . So the net force (sum of

internal and external forces) on m1 is

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Written and composed by: Prof. Muhammad Ali Malik (M. Phil. Physics), Govt. Degree College, Naushera
Physics (HRK) Chapter 9: System of Particles

Fext1  F12  m1a1 ---------- (5)

Similarly, the net force (sum of internal and external forces) on m2 is

Fext 2  F21  m2 a2 ---------- (6)

From equation (3), we have:
MaCM  m1a1  m2 a2
Putting values from equation (5) and equation (6):
MaCM   Fext1  F12    Fext 2  F21 

 MaCM   Fext1  F12    Fext 2  F12  Using equation (4)

 MaCM  Fext1  F12  Fext 2  F12

 MaCM  Fext1  Fext 2

 MaCM   Fext

So we conclude that the net external force F ext is acting on the center of mass, where

whole mass of the system is concentrated.

Many Particle System
Now we generalize our case from two particle system to many particles system.
Let us consider a system of N-particles of masses m1 , m2 , m3 ,...., mn having

position vectors r1 ( x1 , y1 , z1 ), r2 ( x2 , y2 , z2 ),...., rn ( xn , yn , zn ) with respect to the origin of

rectangular coordinate system.
The total mass of the system M is:
M  m1  m2  m3  ....  mn
Let the total mass of the system is concentrated at the center of mass of the system
having position vector rCM ( xCM , yCM , zCM ) , where

m1 x1  m2 x2  m3 x3  ....  mn xn
xCM 
m1  m2  m3  ....  mn
m1 x1  m2 x2  m3 x3  ....  mn xn
 xCM 
M
1
 xCM   m1 x1  m2 x2  m3 x3  ....  mn xn 
M
n
1
 xCM 
M
m x
i 1
i i ---------- (1)

Similarly,
1
yCM   m1 y1  m2 y2  m3 y3  ....  mn yn 
M
n
1
 yCM 
M
m y
i 1
i i ---------- (2)

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Written and composed by: Prof. Muhammad Ali Malik (M. Phil. Physics), Govt. Degree College, Naushera
Physics (HRK) Chapter 9: System of Particles

Also,
1
zCM   m1 z1  m2 z2  m3 z3  ....  mn zn 
M
n
1
 zCM 
M
m z
i 1
i i ---------- (3)

Combining equation (1), (2) and (3), we have:

1
rCM   m1r1  m2r2  m3r3  ....  mn rn 
M
n
1
 rCM 
M
m r
i 1
i i ---------- (4)

Velocity
The velocity of the center of mass of the system is given by:
Velocity of Center of Mass
The velocity of center of mass vCM is taken by the time derivative of equation (1):

drCM
vCM 
dt
d 1
 vCM    m1r1  m2r2  m3r3  ....  mn rn 
dt  M 
1  dr1 dr2 dr3 drn 
 vCM   m1 dt  m2 dt  m3 dt  ....  mn dt 
M  
1
 vCM   m1v1  m2v2  m3v3  ....  mnvn 
M
n
1
 vCM 
M
m v
i 1
i i ---------- (5)

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Written and composed by: Prof. Muhammad Ali Malik (M. Phil. Physics), Govt. Degree College, Naushera
Physics (HRK) Chapter 9: System of Particles

Acceleration of Center of Mass

The acceleration of center of mass aCM is taken by the time derivative of equation (2):

dvCM
aCM 
dt
d 1
 aCM    m1v1  m2v2  m3v3  ....  mnvn 
dt  M 
1  dv1 dv dv dv 
 aCM   m1  m2 2  m3 3  ....  mn n 
M dt dt dt dt 
1
 aCM   m1a1  m2a2  m3a3  ....  mn an 
M
n
1
 aCM 
M
m a
i 1
i i ---------- (6)

The above expression can also be written as:

MaCM  m1a1  m2a2  m3a3  ....  mn an

 MaCM  F1  F2  F3  ....  Fn
n
 MaCM   Fi
i 1

 MaCM  F
n
Where F  F
i 1
i is the net force acting on the system of particles.

This shows that the net force acting on system of particles is equal to the mass of the
system times the acceleration f center of mass of system.
Internal and External Forces
Suppose there are internal as well as external forces acting on the particles. The internal
force are due to interaction of the particles among themselves.
Let Fnk is the force applied on object of mass mn by the particle of mass mk

Fkn is the force applied on object of mass mk by the particle of mass mn

By Newton’s third law,
Fnk   Fkn

Or Fnk  Fkn  0
As the internal forces acts in pairs (action-reaction pairs), so, they cancel each other.
Hence only the external forces are the net forces acting on the system of particles. Thus,

F ext  M aCM

In component form;

F ext , x  M aCM , x F ext , y  M aCM , y F ext , z  M aCM , z

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Written and composed by: Prof. Muhammad Ali Malik (M. Phil. Physics), Govt. Degree College, Naushera
Physics (HRK) Chapter 9: System of Particles

Conclusion
The overall translational motion of a system of particles can be analyzed using Newton’s
laws as if all the mass were concentrated at the centre of mass and the total external
forces were applied at that point.
If the resultant of forces is zero, i.e.,

F ext 0

Then aCM  0
So the center of mass moves with constant velocity.
Center of Mass of the Solid Objects
Suppose we have a solid object. Its center of mass cannot be easily found using the
relation:
n
1
rCM 
M
m r
i 1
i i

We divide the solid into tiny elements each having mass  m . If each element
becomes infinitely small i.e.,  m  0 , then
n
1 1
lim  xi mi 
M
xCM  x dm
M  m0 i 1
n
1 1
yCM  lim  yi mi   y dm
M  m0 i 1 M
n
1 1
lim  zi mi 
M
zCM  z dm
M  m0 i 1
In vector form, these equations are written as:
1
M
r CM  r dm

The process of integration provides an easy to find the center of mass of a solid.
In terms of uniform volume mass density, the above equation becomes:
1
M
xCM  x  dv

1
yCM 
M  y  dv
1
M
zCM  z  dv

In vector form,
1
M
r CM  r  dv

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Written and composed by: Prof. Muhammad Ali Malik (M. Phil. Physics), Govt. Degree College, Naushera
Physics (HRK) Chapter 9: System of Particles

CALCULATION OF CENTER OF MASS OF VARIOUS OBJECTS

Calculation of Center of Mass of a Uniform Rod
Let us take a rod of length L arranged along x-axis. Since the rod is uniform, its mass is
uniformly distributed along its length. We can exploit the concept of linear mass density
defined by:
m dm dm
  lim  
 l 0 l dl dx
dm   dx
L
And Total Mass M   dm    dx
0

Obviously, the center of mass will lie

somewhere along its length:
L L

1   x dx  x dx
xCM 
M  x dm  0
L
 0
L

  dx
0
 dx0

L
1 2 1 2
x L
2 0 1
xCM  L
2  L
x0 L 2

i.e., the center of mass of a uniform rod lies at its center.

Calculation of Center of Mass of a Uniform Solid Cylinder
Consider a uniform solid cylinder of length L arranged along the x-axis. Since the
solid cylinder is uniform, its mass is uniformly distributed along its length.
The volume mass density  is described as:
m dm
  lim 
 V 0 V dV
And M   dm    dV

If R is the radius of cylinder, then the volume of the element of the cylinder of
infinitesimal length dx as dV   R2 dx .
Now
L L

 x dV  x  R dx
2

1
M
xCM  x dm  0
L
 0
L

  dV   R dx
2

0 0

L L
1 2
 x dx x
2 0
1 2
L
1
xCM  0
L
 L
2  L
x0 L 2
 dx
0

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Written and composed by: Prof. Muhammad Ali Malik (M. Phil. Physics), Govt. Degree College, Naushera
Physics (HRK) Chapter 9: System of Particles

Sample Problem 4:
A thin strip of material is bent into the shape of a semicircle of radius R. Find its center of
mass.
Solution.
By symmetry we can see that the x-coordinate of center of mass is zero xCM  0
and center of mass of the object under consideration lies on y-axis.
Let the element of mass dm makes and angle d . The total mass makes an angle
 . So,
dm d

M 
M
Or dm  d

The y-coordinate of element dm is
located at y  R sin  . The center of
mass of this object is:
1
yCM 
M  y dm

1 M
yCM  
M 0
R sin 

d


R
yCM 
  sin  d
0

R 
yCM   cos  0

R
yCM   cos   cos 0

R R
yCM    1  1    2
 
2
yCM  R  0.637 R

Note that the center of mass does not need to be within the volume or the material of an
object.
System of Variable Mass
Consider a system of variable mass and let
M  Mass of the system moving with velocity v in the observer’s FOR
M  Change in mass of the system after time t .
If M is positive, the mass of the system will increase. It is negative if the total mass of
the system decreases, as in case of rocket it is the mass of ejected gases ( M ).
M  M  Mass of the system moving with velocity v  v after a time t  t .

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Written and composed by: Prof. Muhammad Ali Malik (M. Phil. Physics), Govt. Degree College, Naushera
Physics (HRK) Chapter 9: System of Particles

U  Velocity of the ejected mass w r t observer’s frame of reference.

Fext  External force such as gravity or air drag on the system.

Initial Momentum Pi  MV

Final Momentum Pf   M  M V  V    M U

Now
Change in Momentum P  Pf  Pi

P   M  M V  V    M U  MV

P  MV  M .V  M .V  M .V  M .U  MV
Neglecting M .V , being small, we get:
P  M .V  M .V  M .U
By Newton’s 2nd law, we have:
dP
Fext 
dt
P
Fext  lim
t 0 t

 M .V  M .V  M .U 
Fext  lim  
t 0
 t 
V M M
Fext  lim M .  lim .V  lim .U
t 0 t t 0 t t 0 t
V M
Fext  lim M .  lim V  U 
t 0 t t 0 t
dv dM
Fext  M .  V  U  ---------- (1)
dt dt
dv
Here is the acceleration of system produced as it ejects mass  M  with
dt
dM
velocity U and is the rate of ejection of mass.
dt
Equation (1) can be written as:
dv dM dM
Fext  M . V U
dt dt dt
d dM
Fext   MV   U
dt dt
dM
If the mass of the system is constant  0 , then the above equation become
dt
the single particular form of Newton’s 2nd law.
Equation (1) can be used to analyze the motion of the rocket. Take U  V  Vrel
which is the relative velocity of the ejected mass relative to the rocket. Equation (1)
becomes:

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Written and composed by: Prof. Muhammad Ali Malik (M. Phil. Physics), Govt. Degree College, Naushera
Physics (HRK) Chapter 9: System of Particles

dv dM
Fext  M  U  V 
dt dt
dv dM
Fext  M  Vrel
dt dt
dv dM
M  Fext  Vrel
dt dt
dM
The term Vrel is called thrust of the rocket.
dt

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Written and composed by: Prof. Muhammad Ali Malik (M. Phil. Physics), Govt. Degree College, Naushera
Physics (HRK) Chapter 9: System of Particles

The Rocket Equation

Consider a rocket in distant space (out of the field of gravity of the earth), where
external force is zero i.e., Fext  0 .

dV
Let is in positive direction as the rocket accelerates and Vrel is the magnitude
dt
of the exhaust velocity and is in the negative direction. So, the eqation of motion of a
system of variable mass:
dV dM
M  Fext  Vrel reduces to
dt dt
dV dM
M  Vrel
dt dt
dM
dV  Vrel
M
Let
M  Total mass of rocket which is variable
M 0  Original mass of rocket plus fuel.

mb  Mass of the burnt out fuel

M f  M 0  mb  Final mass of the rocket

Vi  Initial velocity of the rocket

V f  final velocity of the rocket after burning fuel of mass mb

Integrating the above equation:

Vf Mf
dM
 dV  V 
Vi
rel
M0
M

V f  Vi  Vrel ln M
Mf
M0

V f  Vi  Vrel ln M f  ln M 0 

Mf
V f  Vi  Vrel ln
M0
M 0  mb
V f  Vi  Vrel ln
M0
M0
V f  Vi  Vrel ln
M 0  mb

If Vi  0

M0
V f  Vrel ln
Mf

Vf M0
 ln
Vrel Mf
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Written and composed by: Prof. Muhammad Ali Malik (M. Phil. Physics), Govt. Degree College, Naushera
Physics (HRK) Chapter 9: System of Particles

Vf M0 Mf
   ln  ln
Vrel Mf M0

Mf Vf
ln 
M0 Vrel

Mf  Vf 
 exp   
M0  Vrel 
 Vf 
M f  M 0 exp   
 Vrel 
This is the equation of mass of the rocket.

Sample Problem 12. A rocket has a mass of 13600 kg when fueled on the launching pad.
It is fired vertically upward and at burnt-out, has consumed an ejected 9100 kg of fuel.
Gases are exhausted at the rate of 146 kgs-1 with a speed of 1520 ms-1, relative to the
rocket, both quantities being assumed to be constant while the fuel is burning. (a) What is
the thrust? (b) If one can neglect all external forces, including gravity and air resistance,
what will be the velocity of the rocket at burnt-out.
Solution:
M 0  Original mass of rocket plus fuel = 13600 kg

mb  Mass of the burnt out fuel = 9100 kg

M  Total mass of rocket which is variable = 13600 – 9100 4500 kg

dM
 Rate of fuel ejection =146 kgs-1
dt
Vrel  1520 ms-1

Fthrust  ?
dM
Upward Thrust Fthrust  Vrel
dt
Fthrust  1520*146  2.22*105 N

vf  ?

 M0 
V f  Vrel ln  
 M 0  mb 
 13600 
V f  1520*ln  
 4500 
V f  1680 ms 1

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Written and composed by: Prof. Muhammad Ali Malik (M. Phil. Physics), Govt. Degree College, Naushera