Civil Engineering Mechanics

CVG2149

LEC11
Conservation of Angular
Momentum

Linear Momentum of a Particle

 
 F  ma
• Replacing the acceleration by the derivative of the
velocity yields
 
dv
 F  m
dt

d  dL
 m v  
dt dt

L  linear momentum of the particle

1. Linear Momentum Conservation Principle:

If the resultant force on a particle is zero, the linear
momentum of the particle remains constant in both
magnitude and direction.
mv  cst .
m1v1  m2v2

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 Angular Momentum of a Particle
  
• H O  r  mV  moment of momentum or the
angular momentum of the particle about O.
  
• H O is perpendicular to plane containing r and mV

H O  rmV sin   rm v  mr 2

• Derivative of angular momentum with respect to time,

        
H O  r  mV  r  mV  V  mV  r  ma

Ho  rF

  MO
2. It follows from Newton’s second law that the sum of
the moments about O of the forces acting on the
particle is equal to the rate of change of the angular
momentum of the particle about O.

Conservation of Angular Momentum

• When only force acting on particle is directed
toward or away from a fixed point O, the particle
is said to be moving under a central force.

• Since the line of action of the central force

 

passes through O,
M O  H O  0 and
  
r  mV  H O  constant
• Position vector and motion
 of particle are in a
plane perpendicular to H O .

• Magnitude of angular momentum,

H O  rm V sin   constant
 r0 m V0 sin 0
or H O  mr 2  constant
HO angular momentum
 r 2  h 
m unit mass

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 SOLUTION:
• Since the satellite is moving under a central
force, its angular momentum is constant.
Equate the angular momentum at A and
B and solve for the velocity at B.

A satellite is launched in a direction

parallel to the surface of the earth
with a velocity of 36 900 km/h from
an altitude of 500km. Determine the
velocity of the satellite as it reaches
it maximum altitude of 54 030 km.
The radius of the earth is 6 345 km.
(CH.12)

SOLUTION:
• Since the satellite is moving under a
central force, its angular momentum is
constant. Equate the angular momentum
at A and B and solve for the velocity at B.

rm v sin   H O  constant
rAm v A  rB m vB
rA
vB  v A
rB

 36900 
6 345  500 
6 345  54 030  vB  4183.53 km h

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 Motion Under a Conservative Central Force
• When a particle moves under a conservative central
force, both the principle of conservation of angular
momentum
r0 mv0 sin 0  rmv sin 
and the principle of conservation of energy
T0  V0  T  V
Mm
GMm 1 2 GMm F G
1 mv 2   2 mv  r2
2 0
r0 r G  constant of gravitatio n
may be applied. m3
 66.73  10 12
kg  s2
• Given r, the equations may be solved for v and j.

• At minimum and maximum r, j  90o. Given the

launch conditions, the equations may be solved for
rmin, rmax, vmin, and vmax.

Central force by conservation of

energy

SOLUTION:
• For motion under a conservative central
force, the principles of conservation of
energy and conservation of angular
A satellite is launched in a direction momentum may be applied
parallel to the surface of the earth simultaneously.
with a velocity of 36900 km/h from
an altitude of 500 km. (CH. 13)
• Apply the principles to the points of
Determine (a) the maximum minimum and maximum altitude to
altitude reached by the satellite determine the maximum altitude.

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 • Apply the principles of conservation of energy and
conservation of angular momentum to the points of minimum
and maximum altitude to determine the maximum altitude.
Conservation of energy:
GMm 1 2 GMm
TA  VA  TA  VA 1 mv 2
2 0   2 mv1 
r0 r1
Conservation of angular momentum:
r
r0mv0  r1mv1 v1  v0 0
r1
Combining,
 2
1 v 2 1  r0   GM 1  r0  r0 2GM
1 
2 0
 r1 
2 r0  r1  r1 r0v02

r0  6345 km  500 km  6845 km  6845  103 m

v0  36900 km h  10,250 m s
GM  gR2  9.81 m s2 6345  103 m  395  1012 m3 s2
2

Mm
r1  645,852 m F G
r2

Civil Engineering Mechanics

CVG2149

System of particles

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 More than just two particles?

Chapter 14: System of particles

• Linear and Angular

Momentum
• Conservation of Momentum
• Kinetic Energy
• Work-Energy Principle.
Conservation of Energy
• Principle of Impulse and
Momentum

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 Linear & Angular Momentum
• Linear momentum of the system of i • Angular momentum about fixed point O
particles, of system of i particles,
 n

L   mi vi  n
 
i 1 H O   ri  mi vi 
i 1

• Resultant of the external forces • Moment resultant about fixed point O

is equal to rate of change of of the external forces is equal to the rate
linear momentum of the system of change of angular momentum of
of particles, the system of particles,
   
 F  L  M  H
O O
for F  0 for M  0
L  cst H 0  cst
(mv   mi vi ) (rmv   ri mi vi )

Conservation of Momentum

• If no external forces act on the particles of a system, then the linear

momentum and angular momentum about the fixed point O are
conserved.
   
L   F  0 H O   M O  0
 
L  constant H O  constant

• In some applications, such as problems involving central forces,

   
L   F  0 H O   M O  0
 
L  constant H O  constant

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 SOLUTION:
kg • Since there are no external forces, the
m/s linear momentum of the system is
kg
conserved.
• Write separate component equations
kg
for the conservation of linear
momentum.

• Solve the equations simultaneously

A 20 kg projectile is moving with a velocity for the fragment velocities.
of 100 m/s when it explodes into 5 kg and
15 kg fragments. Immediately after the
explosion, the fragments travel in the
directions A = 45o and B = 30o.
Determine the velocity of each fragment.

SOLUTION:
• Since there are no external forces, the
linear momentum of the system is
conserved.
• Write separate component equations for
the conservation of linear momentum.

m/s
kg
x components:
kg

kg
y components:
y

x
• Solve the equations simultaneously for the
fragment velocities.

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 Kinetic Energy
• Kinetic energy of a system of i particles,
n
T 1
2 m v
i 1
2
i i

• Expressing the velocity in terms of the

centroidal reference frame,
2 1 n
T  mvG  2  mi vi2
1
2
  
vi  vG  vi i 1

• Kinetic energy is equal to kinetic energy of mass center plus kinetic energy
relative to the centroidal frame.

• Principle of work and energy can be

applied to the entire system by adding
the kinetic energies of all particles
and considering the work done by all
external and internal forces.

Work-Energy Principle. Conservation of Energy

• Principle of work and energy can be applied to each particle Pi ,

T1  U12  T2

where U12 represents the workdone by the internal forces f ij
and the resultant external force Fi acting on Pi .

• Principle of work and energy can be applied to the entire system by

adding the kinetic energies of all particles and considering the
work done by all external and internal forces.
 
• Although f ij and f ji are equal and opposite, the work of these
forces will, in general, cancel out.

• If the forces acting on the particles are conservative, the work is

equal to the change in potential energy and
T1  V1  T2  V2
which expresses the principle of conservation of energy for
the system of particles.

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10
 Principle of Impulse and Momentum

   
 F  L  M O  H O
t2    t2   
  Fdt  L2  L1   M O dt  H 2  H1
t1 t1
  t2   t2  
L1    Fdt  L2 H1    M O dt  H 2
t1 t1

• The momenta of the particles at time t1 and the impulse of the forces
from t1 to t2 form a system of vectors equipollent to the system of
momenta of the particles at time t2 .

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 SOLUTION:
• There are four unknowns: vA, vB,x, vB,y,
and vC.
• Solution requires four equations:
conservation principles for linear
momentum (two component equations),
angular momentum, and energy.
Ball A has initial velocity v0 = 10 m/s
• Write the conservation equations in
parallel to the axis of the table. It hits ball
terms of the unknown velocities and
B and then ball C which are both at rest.
solve simultaneously.
Balls A and C hit the sides of the table
squarely at A’ and C’ and ball B hits
obliquely at B’.
Assuming perfectly elastic collisions,
determine velocities vA, vB, and vC with
which the balls hit the sides of the table.

SOLUTION: • The conservation of momentum and energy equations,

  
• There are four unknowns: vA, L1    Fdt  L2
vB,x, vB,y, and vC.
mv0  mvB, x  mvC 0  mv A  mvB, y
 
vA  vA j   
   H O ,1    M O dt  H O ,2
vB  vB , x i  vB , y j
   2 m mv0  8 m mvA  7 m mvB , y  3 m mvC
vC  vC i
T1  V1  T2  V2
1 mv 2
2 0  
 12 mv 2A  12 m vB2 , x  vB2 , y  12 mvC2

Solving the first three equations in terms of vC,

v A  vB, y  3vC  20 vB, x  10  vC
Substituting into the energy equation,
23vC  20 2  10  vC 2  vC2  100
20vC2  260vC  800  0
x v A  4 m s vC  8 m s
vB  2i  4 j m s vB  4.47 m s
  
y

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