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Angular Momentum
Consider the body subjected to general planar
motion
Arbitrary point P has a velocity vP, and body has
an angular velocity ω
The velocity of the ith particle is
vi v P vi / P v P r
Angular Momentum
Using Cartesian vectors,
Angular Momentum
The last integral represents the body’s moment of
inertia computed about the z axis, IP = ∫r2 dm
H P y m ( v P ) x x m ( v P ) y I P
Angular Momentum
Thus H G I G
It states that the angular momentum of the body
computed about G is equal to the product of
moment of inertia of the body about an axis
passing through G and the body’s angular
velocity.
Hp can also written as
H P ym(vG ) x x m(vG ) y I G
Translation
When a rigid body of mass m is subjected to
rectilinear or curvilinear translation, its mass
center has a velocity of vG = v and ω = 0
The linear momentum and the angular
momentum computed about G is
L mvG
HG 0
Since d is the moment arm,
HA = (d)(mvG)
H O I G rG (mvG )
H A I G (d )(mvG )
t2
F dt m( vG ) 2 m( vG )1
t1
t2
M G dt I G2 I G1
t1
t2
M O dt I O2 I O1
t1
m(vGx )1 Fx dt m(vGx ) 2
t2
t1
m(vGy )1 Fy dt m(vGy ) 2
t2
t1
I G1 M G dt I G2
t2
t1
+ =
Solution
Free Body Diagrams
The loading causes the disk to rotate clockwise.
The moment of inertia of the disk about its fixed axis
of rotation is
1 2 1 100
I A mr (0.25)
2
2 2 9.81
0.31855 kg m 2
Solution
Principle of Impulse and Momentum
We have
m(v Ax )1 Fx dt m(v Ax ) 2
t2
t1
0 Ax (2) 0
m(v Ay )1 Fy dt m(v Ay ) 2
t2
t1
t1
Solution
Principle of Impulse and Momentum
Solving,
Ax 0
Ay 150 N
2 116.2 rad / s
Solution
Free Body Diagrams
All the forces are constant since the weight of the
block causes the motion.
The downward motion of the block, vB, causes ω of
the disk to be clockwise.
Solution
Principle of Impulse and Momentum
We can eliminate Ax and Ay from the analysis by
applying the angular impulse and momentum about
point A.
Disk
( ) I A M A dt I A2
0.40(1 ) T (3)(0.2) (0.4)2
Solution
Cylinder
mB (vB )1 Fy dt mB (vB ) 2
6(2) T (3) 58.86(3) 6(vB ) 2
Kinematics
Since ω = vB/r then ω1 = 2/0.2 = 10 rad/s and ω2 =
(vB)2/0.2 = 5(vB)2
Substituting and solving the equations,
(vB )2 13.0 m / s
Copyright © 2010 Pearson Education South Asia Pte Ltd
8.3 Conservation of Momentum
Kinematics
If the motion appears to be complicated,
kinematics (velocity) diagrams may be helpful in
obtaining the necessary kinematics relations.