Chapter 7

Dynamics of Systems of N Particles

The Center of Mass

The motion of the Centre of
Mass is a simple parabola.
(just like a point particle)
The motion of the entire
object is complicated =
(motion of the CM) +
(motion of points
around the CM)

video

Center of Mass (1D)

m1

m2

m1

m2

M = m1 + m2
m1
m1g x d1 = m2g x d2

m1g

d1

CM
M

d2

m2
m2g

The Centre of Mass is that point where if

we apply a force, the object will not rotate.

Center of Mass
For a collection of masses in 3D

r = xi + yj + zk
xcm

cm

r1

ycm

r2 r3

=
rcm

mr

=
m
i i
i

1
=
mi xi

M
1
=
m i yi

1
zcm =
M

1
M

mr

i i

m z

i i

Linear Momentum of the CM

The velocity of the center of mass

d rCM
d ri
1
1
=
m=
mi vi
vCM =

i
dt
M i
dt M i

The total linear momentum

of the system = the total mass
the velocity of the center
of mass

M=
vCM

m=
i vi
i

=
pi p tot

 2nd Law of the CM

dvCM
1
=
mi a i
aCM =

dt
M i
Internal forces are canceled
(3rd law). The acceleration of
CM only depends on the
external forces

aCM m
Fi
M=
=
=

i ai
i

0
Fext + Fint =

Fext

Problem
When m slides down from M, which direction does the
CM go in the x direction?
1. If there is no friction between M and the table
A. Left
B. Right
C. Dont move
2. If there is friction between M and the table
A. Left
m
B. Right
C. Dont move
CM
M

nd Law
Rotational Newtons
2
n

L
angular momentum=

(r m v )
i =1

n
n
n
dL n
ext
( v i mi v i ) + (ri mi ai ) =
0 + ri (Fi + Fij )
=

dt i 1 =i 1
=
=i 1 =j 1

r F
i =1

ext
i

+ ri Fij
i =1 j =1

external internal
torque torque = 0

dL
= =
dt

ri Fij + r j F ji =ri Fij r j Fij

=rij Fij =0

ext
r

F
i i
i =1

dL cm
=
dt

(r r
i =1

cm

Relative to an Arbitrary Axis O

) Fi =
cm

Relative to Center of Mass

dP
=F
In analogy to translational Newtons 2nd law
dt

Rotational Motion relative to CM

ri rcm + ri
=
=
v i v cm + v i
L
=
=

(r
r
i=
n1

i 1

cm

ri : relative position to CM
v i : relative velocity to CM

+ ri ) mi ( v cm + v i )

m v

+ r m v + r m v

+ ri mi v i

cm
cm
i cm
i i
i
i cm
=i 1 =i 1 =i 1
n

rcm Mv cm + 0 + 0 + ri mi v i = rcm Mv cm + L
i =1

orbit part
(rotation of CM)

spin part
(rotation around CM)

In CM coordinate, total momentum

m v
i =1

=0

m r = 0
i =1

i i

 Total Kinetic Energy

n

n
1
1
T = mi v i v i = mi ( v i + v CM )( v i + v CM ) v i : relative
2
i 1=
i 1 2
velocity to CM
n

n
n
1
1
2
= mi vCM + mi v i v CM + mi vi2
2
i 1=
i 1 =i 1 2

n
1
1
2
2
mi vCM + mi vi

i =1 2
i =1 2

K.E. of
translational
motion of the
CM

K.E. relative to
the CM

Example
A rod of length l and mass m hangs from a pivot
point and swings. Calculate the angular momentum
and total K.E. as a function of its angular velocity.
1
Method 1:
=
2
12
l
1
l l 1
1 2
2
2
L=
LCM + L =
mvCM + ml =
m + ml =
ml
2
12
2 2 12
3

1 2
1
1 l 1 1
1 2 2
2
2 2
E = mvCM + I CM = m +
ml = ml
2
2
2 2 2 12
6
2

Method 2:

1 2
=
3

1 2
= =
3

1
1 2 2
2
=
E =
I O
ml
2
6

Method 3:

dL =rdp =r vdm =r r dr

1 2
L = r r dr = ml
0
3
l

1 2
1
( r ) 2 dr
dE =
v dm
=
2
2
l 1
1 2 2
2
( r ) dr
E =
ml
=
0 2
6

= m/l