2000, W. E.

Haisler Conservation of Linear Momentum 1

ENGR 211
Principles of Engineering I
(Conservation Principles in Engineering Mechanics)

Conservation of Linear Momentum

Introduction
Conservation of Linear Momentum Equations
Linear Momentum and Newton's Laws of Motion
Steady State
Other Special Cases
Reference Frame
 2000, W. E. Haisler Conservation of Linear Momentum 2

Introduction

The linear momentum of a system is defined to be the product

of the mass (m) and velocity ( v ) of the system. Since velocity is
a vector, then linear momentum is a vector quantity (has three
components). Because linear momentum is a conserved
property, there is no generation or consumption. Therefore, the
conservation statement becomes
 2000, W. E. Haisler Conservation of Linear Momentum 3

Ac umulationofLM LMentering LMleaving










withnsy tem sy temduring - sy temduring









duringtimep riod timep riod timep riod








 2000, W. E. Haisler Conservation of Linear Momentum 4

Acumlation fLM LMinsytem LMinsytem










withnsytem atendof -atbegin gof










duringdmepriod timepriod timepriod







 2000, W. E. Haisler Conservation of Linear Momentum 5

Linear Momentum Possessed by Mass

Linear Momentum may enter or leave the system with mass.

Linear Momentum may also enter or leave the system at a
certain rate.

When mass enters a system traveling at a velocity ( v ), it adds

momentum to the system.
The rate at which mass (m) enters the system is m in (where
dm
dt ) and therefore the rate at which linear momentum enters
m in
in

the system is given by (m v )in . Similarly, rate at which the

linear momentum leaves the system is (m v )out .
 2000, W. E. Haisler Conservation of Linear Momentum 6

The proper way to look a momentum rate is as follows

momentum momentum mass

time mass time If
p linear momentum mv , then the above can be written in equation form:
dp (mv ) m v m
dt m

If there are multiple masses entering or leaving the system (say

n of them), then we simply add them up:
n n
mv i in and mv i out

i1 i1

Note that the velocity v of a mass can be thought of as it's

linear momentum per mass.
 2000, W. E. Haisler Conservation of Linear Momentum 7

Linear Momentum in Transit: Forces

Why do we refer to "Forces" as "Linear Momentum in

Transit?" Newton's 2nd Laws states that the external forces on a
system are connected to the time rate of change of linear
momentum within the system!

f ext dp d (mv )
dt dt

Linear momentum enters the system as the result of forces that

act upon the mass in the system. By Newton's second law, an
external force f ext acting on a system provides momentum to the
system at rate fext . These forces may act as surface or contact
forces on the system boundary (called tractions), or they may
act as body forces on the entire mass of the system (for
example, body forces due to gravity).
 2000, W. E. Haisler Conservation of Linear Momentum 8

Schematic for Conservation of Linear Momentum

Surroundings Resultant External

Forces Acting
on System

System Linear
Linear Linear Momentum
Momentum Momentum Leaving
Entering System
System

System
Surroundings Boundary
 2000, W. E. Haisler Conservation of Linear Momentum 9

The external forces may be due to:

pressure acting over the surface area of the system
drag or frictional forces acting on the surface
supporting structure which holds the system in place (cause
forces acting on the surface)
gravitational and electrostatic body forces acting on the
system volume
 2000, W. E. Haisler Conservation of Linear Momentum 10

Conservation of Linear Momentum Equations

We can now state the rate equation for conservation of linear

momentum as:

dpsys
(m (m
in out ext
v) v) f
dt

The momentum of the system may change with time because of

mass that enters and leaves, and because of external forces that
act on the system.

As mass enters the system, the amount of linear momentum that

enters the system is this [mass flow rate] times the [momentum
per unit mass (i.e., the velocity) of the mass].
 2000, W. E. Haisler Conservation of Linear Momentum 11

We must keep in mind that conservation of linear momentum is a

vector equation! Consequently, we can write in component form.
For a Cartesian coordinate system, we have

d ( px)sys
x-direction: (m v x ) (m v x ) ( f x )
dt in out ext

d ( p y )sys
y-direction: (m v y ) (m v y ) ( f y )
dt in out ext

d ( pz )sys
z-direction: (m v z ) (m v z ) ( f z )
dt in out ext
 2000, W. E. Haisler Conservation of Linear Momentum 12

Linear Momentum of the System

The linear momentum of the system may be written (for n

particles in the system) as
n

psys (mv )
i

i 1 sys
 2000, W. E. Haisler Conservation of Linear Momentum 13

Rate of Change of Linear Momentum of the System

Consider the time rate of change of linear momentum of the

system (left side of conservation equation) and use the product
rule for the derivative:
dpsys d (mv )sys dmsys dvsys
vsys msys
dt dt dt dt

If the mass of the system is constant with time, then the time
rate of change of linear momentum reduces to
dpsys dvsys
msys
dt dt
Note that the time derivative of the velocity becomes the
dvsys
acceleration: asys
dt
 2000, W. E. Haisler Conservation of Linear Momentum 14

Velocity of the Center of Mass

For rigid bodies and other closed systems, it is convenient to

define a velocity that characterizes the system as a whole. This
velocity is an average velocity for the system and acts at the
center of mass. We define the velocity of the center of mass,
v , such that the system mass times the velocity of the mass
G
center is equal to system linear momentum:
n
msysv (mv )i



G i1 sys

and solving for the velocity of the center of mass:

n

(mv )i
v i 1 m sys
G
sys
 2000, W. E. Haisler Conservation of Linear Momentum 15

If the size of the elements mi becomes differentially small, the

summation process becomes an integration and the velocity of
the center of mass becomes

v sys
v dm
G m
sys

This is sometimes called the mass-average velocity of the

system.
 2000, W. E. Haisler Conservation of Linear Momentum 16

Recall that the velocity of an element of mass is defined to be the

time rate of change of the position vector describing it's location.
For a particle with velocity vG whose position is refined by the
position vector rG :
_
y vG
dr
v G
_ G dt

rG r xi yj zk
G
x
z
, x=x(t), etc.
dr
vG G d (xi yj zk ) dx i dy j dz k v
dt dt dt dt dt xi vy j vzk

The center of mass can be determined in terms of the position

vectors of all of the mass elements of the system:
 2000, W. E. Haisler Conservation of Linear Momentum 17

y
n

(mr )i
r i 1 m sys
G
_ sys
rG
x
z
As the size of mass particle becomes differentially small, we can
replace the summation by an integration to obtain

r

sys
r dm
G m
sys

This definition of the center of mass applies only for a closed

system (one in which there is no mass into or out of the system).
 2000, W. E. Haisler Conservation of Linear Momentum 18

When the system is closed (no mass in or out of system), the

conservation of linear momentum becomes

dpsys d (msys vG ) dv
f ext dt dt msys( G ) msysa
dt G
 2000, W. E. Haisler Conservation of Linear Momentum 19

Integral (Finite Time Period) Equation

The rate form of the conservation of linear momentum equation

can be integrated over a finite time period to obtain

t dpsys

t t t
t
end

beg dt
dt



t
beg
v) dt
end (m
in
t
beg
v) dt
end (m
out t
end f
beg
ext dt

The above equation can also be written for a finite time period as

( psys ) ( psys ) ( m
v ) t ( m
v) t ( f )t
end beg in out ext
or
( psys) ( psys ) ( mv ) ( mv ) ( f )t
end beg in out ext
 2000, W. E. Haisler Conservation of Linear Momentum 20

Linear Momentum and Newton's Laws of Motion

The concept of conservation of linear momentum applied to a

rigid body, together with the realization that forces exchange
momentum between the surroundings and the body, is actually a
statement of Newton's three laws of motion.

Newton's first law of motion - A body which is at rest will stay

at rest unless acted upon by an external force. In other words, a
body does not spontaneously generate momentum; momentum is
conserved.
 2000, W. E. Haisler Conservation of Linear Momentum 21

Newton's second law of motion - For a body (system) of

constant mass, the sum of the external forces is equal to the
mass times acceleration of the body. This is clearly a result of
the conservation of linear momentum when m in m out 0 so that by

dmsys
0

conservation of mass
dt

Newton's third law of motion - For every force there is an

opposite and equal reaction force. This also implies
conservation of linear momentum. A force acting on a system
by the surroundings (boundary forces or body forces) provides
an opposite and equal force exerted on the surroundings. Thus,
momentum transferred to the system must have been provided
or given up by the surroundings, implying conservation of
linear momentum.
 2000, W. E. Haisler Conservation of Linear Momentum 22

Steady State

The steady state condition for a system means that the system is
not changing with time and hence the accumulation within the
system is zero for any time period.
( psys) 0
For a finite time period: ( psys)
end beg
dpsys
or, for any instant of time: 0
dt
Through conservation of linear momentum, steady state implies:
0 (m v ) (m v )out f
in ext

dmsys
Steady state also implies that the term 0 in the
dt
conservation of mass law.
 2000, W. E. Haisler Conservation of Linear Momentum 23

For rigid body statics (no mass enters or leaves the system and
the body is at steady state), linear momentum reduces to

0 f
ext
 2000, W. E. Haisler Conservation of Linear Momentum 24

Reference Frame
In order to define velocity and liner momentum, we must define
a reference coordinate system. Position and velocity are then
measured with respect to the origin of the coordinate system. For
this purpose, we can choose any reference frame so long as it is
an inertial reference frame, i.e., one that is not accelerating (has
constant velocity and not rotating).
Consider a block sliding along a v ref
plane at a velocity of vref with an y
y
attached pendulum as shown to the x
right. The x-y frame is fixed. The x
x'-y' frame is attached to the block fixed
so that it also has a velocity of vref.
v (x, y) v v (x', y')
ref
 2000, W. E. Haisler Conservation of Linear Momentum 25

Now lets write COLM with respect to the stationary x-y

reference frame (vxy v in x - y coordinate system)

d[mvxy]sys
(m v xy ) f (x,y coords.) (1)
dt in/out ext

Substitute the relation between the two coordinates systems into

(1):

d[m(v v )]sys
ref x' y' [m (v v )] f
dt ref x' y' in / out ext

Taking the time derivative on the left side and rearranging, the
above can be written:
 2000, W. E. Haisler Conservation of Linear Momentum 26

d (mv )sys dv
x' y' m ref v dmsys v
dt sys dt m
ref dt ref in / out
(m v f
x' y' in / out ext
)

The first underlined term is zero since vref is constant. The

dmsys
double underlined term m 0 since this is
dt in / out
conservation of mass (for no mass gen/con). Thus, the COLM
equation in the x'-y' frame reduces to

d[mv ]sys
x' y' (m v ) f (x',y' coords.) (2)
dt x' y' in / out ext
Note that equation (2) is identical to equation (1) except for the
change in reference frame. Since (2) was derived from (1), we
see that COLM is independent of coordinate system as long as
 2000, W. E. Haisler Conservation of Linear Momentum 27

we use an inertial reference frame for the velocities and the

external forces f ext are independent of the reference frame.
 2000, W. E. Haisler Conservation of Linear Momentum 28

Some notes on unit and radius vectors. Consider a line element

OP of length L (or a vector L ) where L (x2 y2 z2)1/ 2 . The
vector L is given by L xi yj zk . Note: "O" is at the origin.
Y

y P(x,y,z)
L
x y
0 X
z
z
x
Z
We define the following angles:
x angle between x - axis and vector L
y angle between y - axis and vector L
z angle between z - axis and vector L
 2000, W. E. Haisler Conservation of Linear Momentum 29

Now the cosine of each angle is: cos x x cos y y

L, L , and
cos z z . Note that is an angle in the plane containing the x-
L x
axis and the line segment OP. A unit vector u in the direction
of L is given by
u ( x )i ( y ) j ( z )k (cos x)i (cos y ) j (cos z )k
L L L

where L L ( x2 y2 z2)1/ 2 . The cosines of the three angles are

often referred to as the direction cosines of the line OP.

From geometry and trigonometry, one can prove that

cos2 x cos2 y cos2 z 1. Thus you only need to specify two
of the angles the third must satisfy the trig relation. This is
similar to a unit vector two of the components (say x and y) can
be specified, but the third (say z) must satisfy x2 y2 z2 1!!
 2000, W. E. Haisler Conservation of Linear Momentum 30

A line segment AB of length L (or a vector) may also be

located by the coordinates of its end points: A (xbeg, ybeg, zbeg)
and B (xend,yend,zend). Then Y
the unit vector in the direction B(xend,yend,zend )
of AB is given by:
u (x)i (y ) j (z )k where _
L L L
x x x u
end beg , etc.
0 X

A(x ,y ,z )
beg beg beg
Z
 2000, W. E. Haisler Conservation of Linear Momentum 31

y
F

40o
o
30o 50 x
z
 2000, W. E. Haisler Conservation of Linear Momentum 32

Example: Vectors P
1 and P
2 in x-y plane:
Y u cos(30)i cos(60) j cos(90)k
1
_ _ P P u
1 1 1
P P u cos(140)i cos(50) j cos(90)k
2 1 2
P P u
40o 30o 2 2 2

0 X
Z
 2000, W. E. Haisler Conservation of Linear Momentum 33

lbm ft
Note on conversion of lb f and 2 in American Engineering
sec
units.
lb ft
1 lb f 32.174 m
sec 2

lbm ft
gc 32.174
lb sec 2
f

lbm ft


F
m(lb ) g (ft/sec2)
2

m
sec

lb

g (ft/sec 2) g
f
F (lb f ) m(lbm) g
c
Note units:
gc lb


m

Notes on determining the mass entering a system. The mass

entering a system boundary (through an area) during a period of
time may be determined or specified in many ways.
 2000, W. E. Haisler Conservation of Linear Momentum 34

1. We can simple state that a certain amount of mass enters the

m mass
system during a specified time period, i.e., in time .
2. However, a more common situation is when one specifies that
a fluid (of given density) flows through an area at a specified
velocity normal to the area. In this case, consider the following
dimensional analysis: m in mass densityvolume m L31s m L2 Ls density area velocity
time time L3 L3
So the rate of mass entering a system for a mass with density
and passing through an area A with a velocity Vn normal to the
area is given by: m in AVn .
3. Another common way to describe mass flow is by the mass
flux rate, or the mass per unit area per unit time.
mass flux rate mass
areatime
densityvolume density length density velocity
areatime time .
To obtain the mass entering a system (in terms of mass flux
rate) we write:
 2000, W. E. Haisler Conservation of Linear Momentum 35

mass entering mass flux rate area time ( mass )(area )(time period) mass
areatime

m mass flux rate area time period

in