King Fahd University of Petroleum

& Minerals
Mechanical Engineering
Dynamics ME 201
BY
Dr. Meyassar N. Al-Haddad
Lecture # 39

Planar Kinetics of a Rigid Body:
Impulse and Momentum
Objective:
To develop formulations for the linear and
angular momentum of a body
To apply the principles of linear and angular
impulse and momentum to solve rigid-body
planar kinetic problems that involve force,
time, and velocity.

= =
dt
d
m m
v
a F

} }
=
2
1
2
1
v F
t
t
v
v
d m dt
Principle of linear impulse and momentum equation

}
=
2
1
1 2
v v F
t
t
m m dt
change in momentum Impulse
Newtons Second Law
Measure of impact effect
Compare
bullets with small mass and high velocity
Ship with huge mass and slow velocity
L is a vector -- points in same direction as v
Unit: kg.m/s or slug.ft/s
Linear Momentum
G
mv L =
ANGULAR MOMENTUM
For a point object the angular momentum is
r
m
v
Units - kg
.
m
2
/s or sl
.
ft
2
/s
It is a vector.
Here the vector is pointing toward you.
Using right-hand rule
) )( ( ) ( mv r H
o
=
Angular Impulse and Momentum Principles

}

= +
2 0 0 1 0
) ( ) (
2
1
H M H
t
t
dt
1 0 0 1 0
2 1
) ( ) (
2
1
2
1
H M H
v F v
= +
= +

}
t
t
t
t
dt
m dt m
}

}
= =
2
1
2
1
0
impulse Angular
t
t
t
t
dt dt F r M
}
= + +
2
1
2 1
t
t
v m r dt F r dt M v m r
Moment of Inertia
This mass analog is called the
moment of inertia, I, of the object


r = moment arm
SI units are kg m
2

}
=
m
dm r I
2
Angular Momentum
) )( ( ) ( mv r H
G
=
r v e =
) )( ( ) ( r m r H
G
e =
) )( ( ) (
2
e mr H
G
=
e
G G
I H =
Measure of Rotational effect
H is a vector quantity in the direction of e
Unit: kg.m
2
/s or slug.ft
2
/s
Angular Momentum
e
G
I = H
v H m r =
) ( ) (
0
G A
G
G
v m d H
H
v m L
=
=
=
G G G O
G G
G
v m r I H
I H
v m L
+ =
=
=
) (
G G A
G G
G
v m d I H
I H
v m L
+ =
=
=
Translation
Rotation About a Fixed Axis
General Plane Motion
I
r m I
r m I
O
G G
G G
=
+ =
+ =
) (
2
2
0
0
= =
=
G
G
m L u
u
point any For
e
G P
I H =
e u
G G IC G IC
I m r H + = ) (
/
IC G G
r
/
e u =
e e
G IC G IC G IC
I r m r H + = ) (
/ /
e ) (
/
2
IC G
G IC
r m I H + =
e
IC G IC
I H
/
=
Example 19.1
s m m s rad
G
/ 2 ) 25 . 0 )( / 8 ( = = u
= = e
G G
I H
s m kg m s m kg s m kg r m I H
G G G B
/ . 50 . 7 ) 25 . 0 )( / 2 )( 10 ( / . 50 . 2 ) (
2 2
= + = + = u e
s m kg s rad m kg I H
B B
/ . 5 . 7 ) / 8 ]( 2 ) 25 . 0 )( 10 (
2
3
[
2
= = = e
?
?
10
=
=
=
B
G
H
H
kg m
s m kg s rad m kg / . 5 . 2 ) / 8 ]( ) 25 . 0 )( 10 (
2
1
[
2 2
=
Example 19.1b
s rad m s m / 5774 . 0 ) 464 . 3 /( ) / 2 ( = = e
s m m s rad
G
/ 155 . 1 ) 2 )( / 5774 . 0 ( = = u
e
G G
I H =
s m kg s m kg m s m kg m d I H
G G IC
/ . 4 . 15 ) / 155 . 1 )( 5 )( 2 ( / . 85 . 3 ) (
2 2
= + = + = u e
?
?
=
=
IC
G
H
H
s m kg s rad m kg / . 85 . 3 ) / 5774 . 0 ]( ) 4 )( 5 (
12
1
[
2 2
= =
Principle of Impulse and Momentum
1 2
) ( ) ( ) (
) (
2
1
2
1
G G
t
t
G
t
t
G
m m dt m d dt
m
dt
d
v v F v F
v F
= =
=

} }

1 2
2
1
) (
I I dt M
I
dt
d
M
G G
t
t
G
G G
=
=

Principle of Angular Impulse and Momentum

Principle of Linear Impulse and Momentum

= o I M
G
ma =

F
2 1
2
1
I dt M I
G
t
t
G G
= +

}
+
=
2 1
2 1
2 1
2
1
2
1
2
1
) ( ) (
) ( ) (
I dt M I
v m dt F v m
v m dt F v m
G
t
t
G G
Gy
t
t
Gy
Gx
t
t
Gx
= +
= +
= +

}
1 0 0 1 0
2 1
) ( ) (
2
1
2
1
H M H
v F v
= +
= +

}
t
t
t
t
dt
m dt m
Example 19-2
? reaction Pin
rest from start
2 ?
10
. 4
20
s in
Ib F
ft Ib M
Ib W
=
=
=
=
e
0 ) 2 ( 0 ) ( ) (
2 1
= + = +

}
s A m dt F m
x Ax x Ax
u u
0 ) 2 ( 10 ) 2 ( 20 ) 2 ( 0 ) ( ) (
2 1
= + = + |

}
s Ib s Ib s A m dt F m
y Ay y Ay
u u
2
2
1
1
I dt M I
G
t
t
G G
= +

}
{ } { } { )}
2
175 . 0 ) 75 . 0 )]( 2 ( 10 [ ) 2 ( 4 0 e = + + ft s s
2 2 2
slug.ft 175 . 0 ) ft 75 . 0 )(
2 . 32
20
(
2
1
2
1
= = = mr I
A
s rad Ib A A
y x
/ 132 30 0
2
= = = e

=
=
0
0
y
x
F
F
Example 19-2
? reaction Pin
rest from start
2 ?
10
. 4
20
s in
Ib F
ft Ib M
Ib W
=
=
=
=
e
Ib 30 A 0 Ib 10 Ib 20 , 0
y
= = = |
y y
A F
2 2 2
slug.ft 175 . 0 ) ft 75 . 0 )(
2 . 32
20
(
2
1
2
1
= = = mr I
A
s rad Ib A A
y x
/ 132 30 0
2
= = = e

= = 0 A , 0
x x
F

= = + =
2
65.7ft/s (0.175) 10(0.75) 4 , o o o I M
rad/s 132 65.7(2) 0
0
= + = + = e o e e t