Eleventh Edition

CHAPTER VECTOR MECHANICS FOR ENGINEERS:

17 DYNAMICS
Ferdinand P. Beer
E. Russell Johnston, Jr.
Phillip J. Cornwell Plane Motion of Rigid
Brian P. Self Bodies:
Energy and Momentum
Methods

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Eleventh
Vector Mechanics for Engineers: Dynamics
Contents
Introduction Systems of Rigid Bodies
Principle of Work and Energy Conservation of Angular Momentum
Work of Forces Acting on a Rigid Body Sample Problem 17.7
Kinetic Energy of a Rigid Body in Plane Sample Problem 17.8
Motion
Eccentric Impact
Systems of Rigid Bodies
Sample Problem 17.13
Conservation of Energy
Power Sample Problem 17.14
Sample Problem 17.1
Sample Problem 17.2
Sample Problem 17.3
Sample Problem 17.4
Sample Problem 17.6
Principle of Impulse and Momentum

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Eleventh
Vector Mechanics for Engineers: Dynamics
Introduction
A Charpy impact test is used to determine the amount of energy
absorbed by a material during impact.

To determine the amount of energy absorbed, the final

gravitational potential energy of the arm is subtracted from its
initial gravitational potential energy.
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Eleventh
Vector Mechanics for Engineers: Dynamics
Introduction
• Method of work and energy and the method of impulse and
momentum will be used to analyze the plane motion of rigid
bodies and systems of rigid bodies.

• Principle of work and energy is well suited to the solution of

problems involving displacements and velocities.
T1 + U1→2 = T2

• Principle of impulse and momentum is appropriate for

problems involving velocities and time.
 t2    t2  
L1 +   Fdt = L2 (H O )1 +   M O dt = (H O )2
t1 t1

• Problems involving eccentric impact are solved by supplementing

the principle of impulse and momentum with the application of
the coefficient of restitution.

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Eleventh
Vector Mechanics for Engineers: Dynamics
Introduction
Approaches to Rigid Body Kinetics Problems

Forces and Velocities and Velocities and

Accelerations Displacements Time

Newton’s Second Work-Energy Impulse-

Law (last chapter) Momentum

 F = ma
t2

G
mv1 +  F dt = mv2
t1
T1 + U1→2 = T2
M = H G G
t2
I G1 +  M G dt = I G2
t1

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Eleventh
Vector Mechanics for Engineers: Dynamics
Principle of Work and Energy
• Work and kinetic energy are scalar quantities.
• Assume that the rigid body is made of a large
number of particles.
T1 + U1→2 = T2
T1 , T2 = initial and final total kinetic energy of
particles forming body
U1→2 = total work of internal and external forces
acting on particles of body.

• Internal forces between particles A

and B are equal and opposite.

• Therefore, the net work of internal

forces is zero.

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Eleventh
Vector Mechanics for Engineers: Dynamics
Work of Forces Acting on a Rigid Body
• Work of a force during a displacement of its
point of application,
A2  s
 2
U1→2 =  F  dr =  (F cos )ds
A1 s1
 
• Consider the net work of two forces
 F and − F
forming a couple of moment M during a
displacement of their points of application.
     
dU = F  dr1 − F  dr1 + F  dr2
= F ds2 = Fr d
= M d

2
U1→2 =  M d
1
= M ( 2 − 1 ) if M is constant.

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Eleventh
Vector Mechanics for Engineers: Dynamics
Work of Forces Acting on a Rigid Body

Do the pin forces at point

A do work?

YES NO

Does the force P do work?

YES NO

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Eleventh
Vector Mechanics for Engineers: Dynamics
Work of Forces Acting on a Rigid Body
Does the normal force N
do work on the disk?

YES NO

Does the weight W do work?

YES NO
If the disk rolls without slip, does
the friction force F do work?
YES NO
dU = F dsC = F (vc dt ) = 0

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Eleventh
Vector Mechanics for Engineers: Dynamics
Kinetic Energy of a Rigid Body in Plane Motion
• Consider a rigid body of mass m in plane motion consisting of individual
particles i. The kinetic energy of the body can then be expressed as:

T = 12 mv 2 + 12  Δmi vi2
= 12 mv 2 + 12 (  ri2Δmi )  2
= 12 mv 2 + 12 I  2

• Kinetic energy of a rigid body can be

separated into:
- the kinetic energy associated with the
motion of the mass center G and
- the kinetic energy associated with the
rotation of the body about G.

T = 12 mv 2 + 1
2 I 2
Translation + Rotation
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Eleventh
Vector Mechanics for Engineers: Dynamics
Kinetic Energy of a Rigid Body in Plane Motion

• Consider a rigid body rotating about a fixed axis through O.

T= 1
2  Δm v = 2
i i
1
2  i i
Δm ( r  ) = 1
(
2  i
2
r 2
Δmi )  2

= 12 I O 2

• This is equivalent to using:

T = 12 mv 2 + 1
2 I 2

• Remember to only use

T = IO 1
2
2

when O is a fixed axis of rotation

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Eleventh
Vector Mechanics for Engineers: Dynamics
Concept Quiz
A
The solid cylinder A and the pipe B
have the same diameter and mass.
If they are both released from rest
at the top of the hill, which will
reach the bottom the fastest?
a) A will reach the bottom first
b) B will reach the bottom first B
c) They will reach the bottom
at the same time
Which will have the greatest
kinetic energy when it reaches the
bottom?

a) Cylinder A b) Pipe B c) Same kinetic energy

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Eleventh
Vector Mechanics for Engineers: Dynamics
Systems of Rigid Bodies
• For problems involving systems consisting of several rigid bodies, the
principle of work and energy can be applied to each body.

• We may also apply the principle of work and energy to the entire system,
T1 + U1→2 = T2 T1 ,T2 = arithmetic sum of the kinetic energies of
all bodies forming the system
U1→2 = work of all forces acting on the various
bodies, whether these forces are internal
or external to the system as a whole.

T
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Eleventh
Vector Mechanics for Engineers: Dynamics
Systems of Rigid Bodies
• For problems involving pin connected members, blocks and pulleys
connected by inextensible cords, and meshed gears,
- internal forces occur in pairs of equal and opposite forces
- points of application of each pair move through equal distances
- net work of the internal forces is zero
- work on the system reduces to the work of the external forces

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Eleventh
Vector Mechanics for Engineers: Dynamics
Conservation of Energy
• Expressing the work of conservative forces as a
change in potential energy, the principle of work
and energy becomes
T1 + V1 = T2 + V2
• Consider the slender rod of mass m.
T1 = 0, V1 = 0
T2 = 12 mv22 + 12 I  22

( ) ( )
2
2 1 ml
= 12 m 12 l 1 ml  =
+ 12 12 2 2
2
2 3
V2 = − 12 Wl sin  = − 12 mgl sin 

T1 + V1 = T2 + V2
1 ml 2 2 1
0=  − mgl sin 
• mass m 2 3 2
• released with zero velocity
 =  sin  
 3g
• determine  at   l 
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Eleventh
Vector Mechanics for Engineers: Dynamics
Power

• Power = rate at which work is done

 
• For a body acted upon by force F and moving with velocity v ,
dU  
Power = = F v
dt

• For a rigid body rotating with an
 angular velocity  and acted
upon by a couple of moment M parallel to the axis of rotation,
dU M d
Power = = = M
dt dt

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Eleventh
Vector Mechanics for Engineers: Dynamics
Sample Problem 17.1
STRATEGY:
• Consider the system of the
flywheel and block. The work
done by the internal forces exerted
by the cable cancels.

• Note that the velocity of the block

and the angular velocity of the
drum and flywheel are related by
v = r

For the drum and flywheel, I =16kg × m2 . • Apply the principle of work and
The bearing friction is equivalent to a kinetic energy to develop an
couple of 90 N × m. At the instant shown, expression for the final velocity.
the block is moving downward at 2 m/s.
Determine the velocity of the block after it
has moved 1.25 m downward.
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Edition
Eleventh
Vector Mechanics for Engineers: Dynamics
Sample Problem 17.1
MODELING and ANALYSIS:
• Consider the system of the flywheel and block. The work
done by the internal forces exerted by the cable cancels.
• Note that the velocity of the block and the angular velocity of
the drum and flywheel are related by
v 2m s v v
v = r 1 = 1 = = 5rad s 2 = 2 = 2
r 0.4 m r 0.4 m
• Apply the principle of work and kinetic energy to develop an
expression for the final velocity.
T1 = 12 mv12 + 12 I 12

=
1
2
1
( )
(120kg ) ( 2 m s )2 + 16 kg  m 2 ( 5rad s )2
2
= 440J

T2 = 12 mv22 + 12 I 22
2
1 1 v 
= (120)v22 + (16)  2  = 110v22
2 2  0.4 
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Eleventh
Vector Mechanics for Engineers: Dynamics
Sample Problem 17.1
T1 = 12 mv12 + 12 I 12 = 440J
T2 = 12 mv22 + 12 I 22 = 110v22
• Note that the block displacement and pulley
rotation are related by
s2 1.25 m
2 = = = 3.125 rad
r 0.4 m
Then,
U1→2 = W ( s2 − s1 ) − M ( 2 − 1 )

( )
= (120 kg ) 9.81m/s 2 (1.25m) − ( 90 N  m )( 3.125rad )
= 1190 J
• Principle of work and energy:
T1 + U1→2 = T2
440J + 1190J = 110 v22
v2 = 3.85m s v2 = 3.85m s

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Eleventh
Vector Mechanics for Engineers: Dynamics
Sample Problem 17.1
REFLECT and THINK:
• The speed of the block increases as
it falls, but much more slowly than
if it were in free fall. This seems
like a reasonable result.
• Rather than calculating the work
done by gravity, you could have
also treated the effect of the weight
using gravitational potential
energy, Vg.

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Eleventh
Vector Mechanics for Engineers: Dynamics
Sample Problem 17.2
STRATEGY:
• Consider a system consisting of the two
gears. Noting that the gear rotational
speeds are related, evaluate the final
kinetic energy of the system.
• Apply the principle of work and energy.
Calculate the number of revolutions
m A = 10 kg k A = 200 mm required for the work of the applied
mB = 3 kg k B = 80 mm moment to equal the final kinetic energy
of the system.
The system is at rest when a moment
• Apply the principle of work and energy to
of M = 6 N  m is applied to gear B.
a system consisting of gear A. With the
Neglecting friction, a) determine the final kinetic energy and number of
number of revolutions of gear B before revolutions known, calculate the moment
its angular velocity reaches 600 rpm, and tangential force required for the
and b) tangential force exerted by gear indicated work.
B on gear A.
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Eleventh
Vector Mechanics for Engineers: Dynamics
Sample Problem 17.2
MODELING and ANALYSIS:
• Consider a system consisting of the two gears. Noting
that the gear rotational speeds are related, evaluate the
final kinetic energy of the system.

B =
(600 rpm)(2 rad rev )
= 62.8 rad s
60 s min
r 0.100
 A =  B B = 62.8 = 25.1rad s
rA 0.250

I A = m Ak A2 = (10 kg )(0.200 m )2 = 0.400 kg  m 2

I B = mB k B2 = (3kg )(0.080 m )2 = 0.0192 kg  m 2

T2 = 12 I A A2 + 12 I B B2

= 12 (0.400 )(25.1 )2 + 12 (0.0192 )(62.8)2

= 163 .9 J

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Edition
Eleventh
Vector Mechanics for Engineers: Dynamics
Sample Problem 17.2
• Apply the principle of work and energy. Calculate
the number of revolutions required for the work.
T1 + U1→2 = T2
0 + (6 B )J = 163.9J
27.32
 B = 27.32 rad B = = 4.35 rev
2
• Apply the principle of work and energy to a system
consisting of gear A. Calculate the moment and
tangential force required for the indicated work.
r 0.100
 A =  B B = 27.32 = 10.93 rad
rA 0.250
T2 = 12 I A A2 = 12 (0.400 )(25.1 )2 = 126 .0 J

T1 + U1→2 = T2
0 + M A (10.93 rad ) = 126.0J
11.52
M A = rA F = 11.52 N  m F= = 46.2 N
0.250

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Eleventh
Vector Mechanics for Engineers: Dynamics
Sample Problem 17.2
REFLECT and THINK:
• When the system was both gears, the
tangential force between the gears did not
appear in the work–energy equation, since
it was internal to the system and therefore
did no work. If you want to determine an
internal force, you need to define a system
m A = 10 kg k A = 200 mm where the force of interest is an external
mB = 3 kg k B = 80 mm force. This problem, like most problems,
also could have been solved using
Newton’s second law and kinematic
relationships.

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Eleventh
Vector Mechanics for Engineers: Dynamics
Sample Problem 17.3
STRATEGY:
• The work done by the weight of the
bodies is the same. From the principle
of work and energy, it follows that each
body will have the same kinetic energy
after the change of elevation.
• Because each of the bodies has a
different centroidal moment of inertia,
the distribution of the total kinetic
A sphere, cylinder, and hoop, each energy between the linear and rotational
having the same mass and radius, are components will be different as well.
released from rest on an incline.
Determine the velocity of each body
after it has rolled through a distance
corresponding to a change of elevation h.

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Edition
Eleventh
Vector Mechanics for Engineers: Dynamics
Sample Problem 17.3
MODELING and ANALYSIS:
• The work done by the weight of the bodies is the
same. From the principle of work and energy, it
follows that each body will have the same kinetic
energy after the change of elevation.
v
With  =
r
2
v 
T2 = 12 mv + 12 I = 12 mv + 12 I  
2 2 2
r
 I 
= 12  m + 2 v 2
 r 

T1 + U1→ 2 = T2
 I 
0 + Wh = 12  m + 2 v 2
 r 
2Wh 2 gh
v2 = =
m + I r 2 1 + I mr 2

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Edition
Eleventh
Vector Mechanics for Engineers: Dynamics
Sample Problem 17.3
• Because each of the bodies has a different
centroidal moment of inertia, the distribution of the
total kinetic energy between the linear and
rotational components will be different as well.
2 gh
v2 =
1 + I mr 2
Sphere : I = 52 mr 2 v = 0.845 2 gh
Cylinder : I = 12 mr 2 v = 0.816 2 gh
Hoop : I = mr 2 v = 0.707 2 gh
NOTE:
• For a frictionless block sliding through the same
distance,  = 0, v = 2 gh
• The velocity of the body is independent of its mass
and radius.
• The velocity of the body does depend on
I = k2
mr 2 r2
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Eleventh
Vector Mechanics for Engineers: Dynamics
Sample Problem 17.3
REFLECT and THINK:
• Let us compare the results with the velocity
attained by a frictionless block sliding through
the same distance. The solution is identical to
the previous solution except that 𝜔 = 0; we
find 𝑣 = 2𝑔ℎ.
• Comparing the results, we note that the
velocity of the body is independent of both its
mass and radius. However, the velocity does
depend upon the quotient of I/mr2= k2/r2,
which measures the ratio of the rotational
kinetic energy to the translational kinetic
energy. Thus the hoop, which has the largest k
for a given radius r, attains the smallest
velocity, whereas the sliding block, which
does not rotate, attains the largest velocity.
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Eleventh
Vector Mechanics for Engineers: Dynamics
Sample Problem 17.4
STRATEGY:
• The weight and spring forces are
conservative. The principle of work and
energy can be expressed as
T1 + V1 = T2 + V2
• Evaluate the initial and final potential
energy.
A 15-kg slender rod pivots about the
point O. The other end is pressed • Express the final kinetic energy in terms
against a spring (k = 300 kN/m) until of the final angular velocity of the rod.
the spring is compressed 40 mm and • Based on the free-body-diagram
the rod is in a horizontal position. equation, solve for the reactions at the
If the rod is released from this position, pivot.
determine its angular velocity and the
reaction at the pivot as the rod passes
through a vertical position.

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Eleventh
Vector Mechanics for Engineers: Dynamics
Sample Problem 17.4
MODELING and ANALYSIS:
• The weight and spring forces are conservative. The
principle of work and energy can be expressed as
T1 + V1 = T2 + V2

• Evaluate the initial and final potential energy.

V1 = Vg +Ve = 0 + 12 kx12 = 12 (300,000 N m )(0.040 m )
2

= 240 J
V2 = Vg +Ve = Wh + 0 = (147.15 N )(0.75m )
I = 121 ml 2 = 110.4J
1 • Express the final kinetic energy in terms of the angular
= (15kg )( 2.5m )2 velocity of the rod.
12
= 7.81kg  m 2 T2 = 12 mv22 + 12 I 22 = 12 m ( r2 ) + 12 I 22
2

1
= (15 )( 0.752 )2 + 12 ( 7.81) 22 = 8.1222
2

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Eleventh
Vector Mechanics for Engineers: Dynamics
Sample Problem 17.4
From the principle of work and energy,
T1 + V1 = T2 + V2
0 + 240J = 8.1222 + 110.4 J 2 = 3.995rad s

• Based on the free-body-diagram equation, solve for the

reactions at the pivot.
an = r 22 = ( 0.75m )( 3.995rad s ) = 11.97 m s 2
2

at = r 
 M O =  (M O )eff 0 = I + m(r  )r  =0
 Fx =  (Fx )eff Rx = m(r  ) Rx = 0

 Fy =  (Fy )eff Ry -147.15 N = -man

(
= -(15kg ) 11.97 m s 2 )
Ry = -32.4 N
R = 32.4 N
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Eleventh
Vector Mechanics for Engineers: Dynamics
Sample Problem 17.4

Ve = 48J

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Eleventh
Vector Mechanics for Engineers: Dynamics
Sample Problem 17.6
STRATEGY:
• Consider a system consisting of the two
rods. With the conservative weight force,
T1 + V1 = T2 + V2

• Evaluate the initial and final potential

energy.

• Express the final kinetic energy of the

Each of the two slender rods has a system in terms of the angular velocities of
mass of 6 kg. The system is released the rods.
from rest with b = 60o.
• Solve the energy equation for the angular
Determine a) the angular velocity of velocity, then evaluate the velocity of the
rod AB when b = 20 , and b) the
o
point D.
velocity of the point D at the same
instant.

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Edition
Eleventh
Vector Mechanics for Engineers: Dynamics
Sample Problem 17.6
MODELING and ANALYSIS:
• Consider a system consisting of the two rods. With
the conservative weight force,
T1 + V1 = T2 + V2

• Evaluate the initial and final potential energy.

V1 = 2Wy1 = 2(58.86 N )(0.325 m )
= 38.26 J

V2 = 2Wy2 = 2(58.86 N )(0.1283 m )

= 15.10 J

(
W = mg = (6 kg ) 9.81 m s 2 )
= 58.86 N

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Edition
Eleventh
Vector Mechanics for Engineers: Dynamics
Sample Problem 17.6
• Express the final kinetic energy of the system in terms
of the angular velocities of the rods.
vAB = ( 0.375m )
 
Since vB is perpendicular to AB and vD is horizontal,
the instantaneous center of rotation for rod BD is C.
BC = 0.75 m CD = 2(0.75 m)sin 20 = 0.513 m
and applying the law of cosines to CDE, EC = 0.522 m
Consider the velocity of point B

vB = ( AB ) = (BC ) AB  BD = 

vBD = (0.522 m)

For the final kinetic energy,

1 ml 2 = 1 (6 kg )(0.75 m )2 = 0.281 kg  m2
I AB = I BD = 12 12
1 mv 2 + 1 I  2 + 1 mv 2 + 1 I  2
T2 = 12 AB 2 AB AB 12 BD 2 BD BD
1 (6 )(0.375 )2 + 1 (0.281) 2 + 1 (6 )(0.522 )2 + 1 (0.281) 2
= 12 2 12 2
= 1.520 2
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Edition
Eleventh
Vector Mechanics for Engineers: Dynamics
Sample Problem 17.6
• Solve the energy equation for the angular velocity,
then evaluate the velocity of the point D.
T1 + V1 = T2 + V2
0 + 38.26 J = 1.520 2 + 15.10 J
 = 3.90 rad s

 AB = 3.90 rad s

vD = (CD )
= (0.513 m )(3.90 rad s )
= 2.00 m s

vD = 2.00 m s
REFLECT and THINK:
The only step in which you need to use forces is when calculating the gravitational
potential energy in each position. However, it is good engineering practice to show the
complete free-body diagram in each case to identify which, if any, forces do work. You
could have also used vector algebra to relate the velocities of the various objects.
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Eleventh
Vector Mechanics for Engineers: Dynamics
Principle of Impulse and Momentum

When two rigid bodies collide, we typically use principles

of angular impulse momentum. We often also use linear
impulse momentum (like we did for particles).

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Edition
Eleventh
Vector Mechanics for Engineers: Dynamics
Principle of Impulse and Momentum
Approaches to Rigid Body Kinetics Problems

Forces and Velocities and Velocities and

Accelerations Displacements Time

Newton’s Second Work-Energy Impulse-

Law (last chapter) Momentum
t2
mv1 +  F dt = mv2
 F = ma G
T1 + U1→2 = T2
t1

M = H
t2
G G I G1 +  M G dt = I G2
t1

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Eleventh
Vector Mechanics for Engineers: Dynamics
Principle of Impulse and Momentum
• Method of impulse and momentum:
- well suited to the solution of problems involving time and velocity
- the only practicable method for problems involving impulsive
motion and impact.

Sys Momenta1 + Sys Ext Imp1-2 = Sys Momenta2

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Eleventh
Vector Mechanics for Engineers: Dynamics
Principle of Impulse and Momentum
• The momenta of the particles of a system may be   
reduced to a vector attached to the mass center L =  vi Δmi = mv
equal to their sum,

and a couple equal to the sum of their   

H G =  ri  vi Δmi
moments about the mass center,

• For the plane motion of a rigid slab or of a rigid 

body symmetrical with respect to the reference H G = I
plane,

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Edition
Eleventh
Vector Mechanics for Engineers: Dynamics
Principle of Impulse and Momentum
• For plane motion problems, draw out an impulse-momentum diagram,
(similar to a free-body diagram)

• This leads to three equations of motion:

- summing and equating momenta and impulses in the x and y
directions
- summing and equating the moments of the momenta and impulses
with respect to any given point (often choose G)

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Edition
Eleventh
Vector Mechanics for Engineers: Dynamics
Impulse Momentum Diagrams

A sphere S hits a stationary bar

AB and sticks to it. Draw the
impulse-momentum diagram for
the ball and bar separately;
time 1 is immediately before
the impact and time 2 is
immediately after the impact.

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Edition
Eleventh
Vector Mechanics for Engineers: Dynamics
Impulse Momentum Diagrams
Momentum of the Impulse on Momentum of the
ball before impact ball ball after impact
FimpDt

Momentum of the Impulse on Momentum of the

bar before impact bar bar after impact

FimpDt
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Edition
Eleventh
Vector Mechanics for Engineers: Dynamics
Principle of Impulse and Momentum

• Fixed axis rotation:

- The angular momentum about O
I O = I  + (mv )r
= I  + (mr  )r
(
= I + mr 2  )
- Equating the moments of the momenta and
impulses about O,
t2
I O1 +   M O dt = I O 2
t1

The pin forces at point O now contribute no moment to the equation

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Edition
Eleventh
Vector Mechanics for Engineers: Dynamics
Systems of Rigid Bodies
• Motion of several rigid bodies can be analyzed by applying
the principle of impulse and momentum to each body
separately.

• For problems involving no more than three unknowns, it may

be convenient to apply the principle of impulse and
momentum to the system as a whole.

• For each moving part of the system, the diagrams of momenta

should include a momentum vector and/or a momentum couple.

• Internal forces occur in equal and opposite pairs of vectors and

generate impulses that cancel out.

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Edition
Eleventh
Vector Mechanics for Engineers: Dynamics
Practice
From the previous problem, notice that the impulse acting on the
sphere is equal and opposite to the impulse acting on the bar. We can
take advantage of this by drawing the impulse-momentum diagram of
the entire system, as shown on the next slide.

FimpDt

FimpDt
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Edition
Eleventh
Vector Mechanics for Engineers: Dynamics
Practice – Diagram for combined system
FimpDt

FimpDt

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Edition
Eleventh
Vector Mechanics for Engineers: Dynamics
Conservation of Angular Momentum
The moments acting through the skater’s center of gravity are
negligible, so his angular momentum remains constant. He can
adjust his spin rate by changing his moment of inertia.
t2

I 1 +   M G dt = I 2
t1

I11 = I 22
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Edition
Eleventh
Vector Mechanics for Engineers: Dynamics
Conservation of Angular Momentum
• When no external force acts on a rigid body or a system of rigid
bodies, the system of momenta at t1 is equipollent to the system
at t2. The total linear momentum and angular momentum about
any point are conserved,
 
L1 = L2 (H 0 )1 = (H 0 )2

• When the sum of the linear impulses pass through O, the linear
momentum may not be conserved, yet the angular momentum
about O is conserved,
(H 0 )1 = (H 0 )2

• Two additional equations may be written by summing x and

y components of momenta and may be used to determine
two unknown linear impulses, such as the impulses of the
reaction components at a fixed point.

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Edition
Eleventh
Vector Mechanics for Engineers: Dynamics
Concept Question

For the problem we looked at previously, is the

angular momentum about G conserved? YES NO
For the problem we looked at previously, is the
angular momentum about point A conserved?
YES NO
For the problem we looked at previously, is the
linear momentum of the system conserved?
YES NO
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Edition
Eleventh
Vector Mechanics for Engineers: Dynamics
Sample Problem 17.7
STRATEGY:
• Considering each gear separately, apply
the method of impulse and momentum.

• Solve the angular momentum equations

for the two gears simultaneously for the
unknown time and tangential force.
m A = 10 kg k A = 200 mm
mB = 3 kg k B = 80 mm

The system is at rest when a moment

of M = 6 N  m is applied to gear B.
Neglecting friction, a) determine the
time required for gear B to reach an
angular velocity of 600 rpm, and b) the
tangential force exerted by gear B on
gear A.
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Edition
Eleventh
Vector Mechanics for Engineers: Dynamics
Sample Problem 17.7
MODELING and ANALYSIS:
• Considering each gear separately, apply the method of impulse
and momentum.

moments about A:
0 − FtrA = − I A ( A )2
Ft (0.250 m ) = (0.400 kg  m )(25.1rad s )
Ft = 40.2 N  s

moments about B:
0 + Mt − FtrB = I B ( B )2
(6 N  m )t − Ft (0.100 m )
= (0.0192 kg  m 2 )(62.8 rad s )

• Solve the angular momentum equations for the two gears simultaneously
for the unknown time and tangential force.
t = 0.871s F = 46.2 N

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Edition
Eleventh
Vector Mechanics for Engineers: Dynamics
Sample Problem 17.7
REFLECT and THINK:
• This is the same answer obtained in
Sample Prob. 17.2 by the method of work
and energy, as you would expect. The
difference is that in Sample Prob. 17.2,
you were asked to find the number of
revolutions, and in this problem, you were
m A = 10 kg k A = 200 mm asked to find the time.
mB = 3 kg k B = 80 mm • What you are asked to find will often
determine the best approach to use when
solving a problem.

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Edition
Eleventh
Vector Mechanics for Engineers: Dynamics
Sample Problem 17.8
STRATEGY:
• Apply principle of impulse and momentum
to find variation of linear and angular
velocities with time.
• Relate the linear and angular velocities
when the sphere stops sliding by noting
Uniform sphere of mass m and that the velocity of the point of contact is
radius r is projected along a rough zero at that instant.
horizontal surface with a linear
• Substitute for the linear and angular
velocity v1 and no angular velocity.
velocities and solve for the time at which
The coefficient of kinetic friction is
k . sliding stops.
• Evaluate the linear and angular velocities
Determine a) the time t2 at which at that instant.
the sphere will start rolling without
sliding and b) the linear and angular
velocities of the sphere at time t2.
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Edition
Eleventh
Vector Mechanics for Engineers: Dynamics
Sample Problem 17.8
MODELING and ANALYSIS:
• Apply principle of impulse and momentum
to find variation of linear and angular
velocities with time.
• Relate linear and angular velocities when
sphere stops sliding by noting that velocity
Sys Momenta1 + Sys Ext Imp1-2 = Sys Momenta2 of point of contact is zero at that instant.
y components: • Substitute for the linear and angular
velocities and solve for the time at which
Nt − Wt = 0 N = W = mg
sliding stops.
x components:
v2 = r 2
mv1 − Ft = mv2
 5 k g 
mv1 −  k mgt = mv2 v2 = v1 − k gt v1 −  k gt = r  t
 2 r 
moments about G: 2 v1
t=
Ftr = I  2 7 k g
( k mg )tr = (52 mr 2 ) 2 2 =
5 k g
t
2 r
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Edition
Eleventh
Vector Mechanics for Engineers: Dynamics
Sample Problem 17.8
• Evaluate the linear and angular velocities
at that instant.
 2 v1 
v2 = v1 −  k g  
 7  k 
g
5
v2 = v1
7
Sys Momenta1 + Sys Ext Imp1-2 = Sys Momenta2
N = W = mg 5  k g  2 v1 
y components: 2 =  
2 r  7  k g 
x components: v2 = v1 − k gt
5 v1
2 =
5 k g 7r
moments about G: 2 = t
2 r
REFLECT and THINK:
v2 = r 2 • This is the same answer obtained in
 5 k g  t=
2 v1 Sample Prob. 16.6 by first dealing
v1 −  k gt = r  t
 2 r  7 k g directly with force and acceleration and
then applying kinematic relationships.
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Edition
Eleventh
Vector Mechanics for Engineers: Dynamics
Group Problem Solving
STRATEGY:
• Consider the projectile and bar as a
single system. Apply the principle of
impulse and momentum.
• The moments about C of the momenta
and impulses provide a relation between
the final angular velocity of the rod and
velocity of the projectile.
• Use the principle of work-energy to
determine the angle through which the
bar swings.

A projectile weighing 40 g is fired with a horizontal velocity

of 550 m/s into the lower end of a slender 7.5-kg bar of length
L= 800 mm. Knowing that h= 300 mm and that the bar is
initially at rest, determine the angular velocity of the bar
when it reaches the horizontal position.
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Edition
Eleventh
Vector Mechanics for Engineers: Dynamics
Group Problem Solving
MODELING and ANALYSIS:
Draw the impulse momentum diagram

Apply the angular impulse momentum

equation about point C

m0v0 ( L − h) = m0vB ( L − h) + IC

Given: Wo= (0.04 kg)(9.81 m/s2) Or you could use the relationship:
= 0.3924 N, vo= 550 m/s
WAB = (7.5 kg)(9.81 m/s2) L 
m0 v0 ( L − h) = m0 vB ( L − h) + mv  − h  + I 
= 73.575 N L= 0.8 m h= 0.3 m 2 
Find: AB when = 90o
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Edition
Eleventh
Vector Mechanics for Engineers: Dynamics
Group Problem Solving
m0v0 ( L − h) = m0vB ( L − h) + IC

Relate vB and  (after the impact)

vB = ( L − h)
Substitute into equation (1) and solve for 
m0 v0 ( L − h) = m0 ( L − h)2  + I C 
Find IC
L = 0.8m m = 7.5kg
m0 v0 ( L − h)
= 1 1
m0 ( L − h)2 + I C I C = mL2 + md 2 = (7.5)(0.8)2 + (7.5)(0.1)2
12 12
I C = 0.475 kg  m2

Substitute and solve

m0v0 ( L − h) (0.04kg)(550m/s)(0.8 − 0.3)
= =
m0 ( L − h)2 + I C (0.04kg)(0.8 − 0.3)2 + 0.475 2 = 22.68 rad/s

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Edition
Eleventh
Vector Mechanics for Engineers: Dynamics
Group Problem Solving
Draw position 2 and 3, set your datum and
apply the conservation of energy equation

T2 + V2 = T3 + V3 B 3
DATUM
Find T2 1 1
T2 = I C 22 = (0.475)(22.68)2
2 2
2
T2 = 122.166 J
Find V2
V2 = mAB gy AB 2 + mO gyO 2 = WAB y AB 2 + WO yO 2
V2 = −73.575( L2 − h) − 0.3924(L − h) = −73.575(0.1) − (0.3924)(0.5) = −7.5537 J
Solve for 3
1
T3 = I C 32 = T2 + V2
2
1
(0.475)32 = 122.166 − 7.5537 3 = 22.0 rad/s
2
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Edition
Eleventh
Vector Mechanics for Engineers: Dynamics
Concept Question

For the previous problem, how would

you determine the reaction forces at C
when the bar is horizontal?

a) Apply linear-momentum to solve for CxDt and CyDt

b) Use work-energy to determine the work done by the
moment at C
c) Use sum of forces and sum of moments equations when
the bar is horizontal
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Edition
Eleventh
Vector Mechanics for Engineers: Dynamics
Concept Question

For the previous problem, what would

happen if the coefficient of restitution
between the projectile and bar was 1.0
instead of zero?

a) The angular velocity after impact would be bigger

b) The angular velocity after impact would be smaller
c) The angular velocity after impact would be the same
d) Not enough information to tell

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Edition
Eleventh
Vector Mechanics for Engineers: Dynamics
Eccentric Impact

(u A )n = (uB )n
Period of deformation Period of restitution
 
Impulse =  Rdt Impulse =  Pdt

• Principle of impulse and momentum is supplemented by



e = coefficient of restitution = 
Rdt
 Pdt
(vB )n − (vA )n These velocities are for the
=
(v A )n − (v B )n points of impact
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Edition
Eleventh
Vector Mechanics for Engineers: Dynamics
Concept Questions
The cars collide, hitting at point
P as shown. Which of the
following can you use to help
analyze the collision? A
a) The linear momentum of car A is P
conserved. P
b) The linear momentum of the
combined two cars is conserved
c) The total kinetic energy before the
B
impact equals the total kinetic
energy after the impact
d) The angular momentum about the
CG of car B is conserved
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Edition
Eleventh
Vector Mechanics for Engineers: Dynamics
Sample Problem 17.13
STRATEGY:
• Consider the sphere and rod as a single
system. Apply the principle of impulse
and momentum.
• The moments about A of the momenta
and impulses provide a relation between
the final angular velocity of the rod and
velocity of the sphere.
A 2-kg sphere with an initial velocity
of 5 m/s strikes the lower end of an 8- • The definition of the coefficient of
kg rod AB. The rod is hinged at A and restitution provides a second
initially at rest. The coefficient of relationship between the final angular
restitution between the rod and sphere velocity of the rod and velocity of the
is 0.8. sphere.

Determine the angular velocity of the • Solve the two relations simultaneously
rod and the velocity of the sphere for the angular velocity of the rod and
immediately after impact. velocity of the sphere.
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Edition
Eleventh
Vector Mechanics for Engineers: Dynamics
Sample Problem 17.13
MODELING and ANALYSIS:
• Consider the sphere and rod as a
single system. Apply the
principle of impulse and
momentum.
• The moments about A of the
momenta and impulses provide a
relation between the final
moments about A: angular velocity of the rod and
ms vs (1.2 m ) = ms vs (1.2 m ) + mRvR (0.6 m ) + I 
velocity of the rod.

vR = r   = (0.6 m ) 
1 mL2 = 1 (8 kg )(1.2 m )2 = 0.96 kg  m 2
I = 12 12

(2 kg )(5 m s )(1.2 m ) = (2 kg )vs (1.2 m ) + (8 kg )(0.6 m ) (0.6 m )

(
+ 0.96 kg  m 2  )
12 = 2.4 vs + 3.84 

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Edition
Eleventh
Vector Mechanics for Engineers: Dynamics
Sample Problem 17.13

• The definition of the coefficient

of restitution provides a second
relationship between the final
angular velocity of the rod and
velocity of the sphere.
• Solve the two relations
Moments about A: simultaneously for the angular
12 = 2.4 vs + 3.84  velocity of the rod and velocity
of the sphere.
Relative velocities:
vB − vs = e ( vs − vB ) REFLECT and THINK
(1.2 m )   − v = 0.8 ( 5 m s )
s • The negative value for the velocity
of the sphere after impact means that
Solving,
it bounces back to the left. Given the
  = 3.21 rad/s   = 3.21 rad/s masses of the sphere and the rod, this
seems reasonable
vs = −0.143 m s vs = 0.143 m s
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Edition
Eleventh
Vector Mechanics for Engineers: Dynamics
Sample Problem 17.14
STRATEGY:
• Apply the principle of impulse and
momentum to relate the velocity of the
package on conveyor belt A before the
impact at B to the angular velocity about
B after impact.
A square package of mass m moves • Apply the principle of conservation of
down conveyor belt A with constant energy to determine the minimum initial
velocity. At the end of the conveyor, angular velocity such that the mass
the corner of the package strikes a rigid center of the package will reach a
support at B. The impact is perfectly position directly above B.
plastic.
• Relate the required angular velocity to
Derive an expression for the minimum the velocity of conveyor belt A.
velocity of conveyor belt A for which
the package will rotate about B and
reach conveyor belt C.
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Edition
Eleventh
Vector Mechanics for Engineers: Dynamics
Sample Problem 17.14
MODELING and ANALYSIS:
• Apply the principle of impulse and momentum to relate the velocity of the package on
conveyor belt A before the impact at B to angular velocity about B after impact.

Moments about B:

(mv1 )(12 a ) + 0 = (mv2 )( 22 a )+ I2 v2 = ( a)

2
2
2 I = 16 m a 2

(mv1 )(12 a ) + 0 = m( 22 a2 )( 22 a )+ (16 ma 2 )2

v1 = 43 a 2

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Edition
Eleventh
Vector Mechanics for Engineers: Dynamics
Sample Problem 17.14
• Apply the principle of conservation of energy to determine
the minimum initial angular velocity such that the mass
center of the package will reach a position directly above B.
T2 + V2 = T3 + V3
T2 = 12 mv22 + 12 I  22

h2 = (GB )sin (45 + 15)

= 2
(
1 m 2 a
2 2 ) + ( ma )
2
1 1
2 6
2 2
2 = 13 ma 2 22

= ( a )sin 60 = 0.612 a

2
2 V2 = Wh2

T3 = 0 (solving for the minimum 2)

V3 = Wh3
1
3 ma 222 + Wh2 = 0 + Wh3
3W 3g
22 = 2
( 3 2 ) 2 ( 0.707a − 0.612a )
h − h =
ma a
2 = 0.285 g a

h3 = 2
a = 0.707 a v1 = 43 a 2 = 43 a 0.285 g a v1 = 0.712 ga
2
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Edition
Eleventh
Vector Mechanics for Engineers: Dynamics
Sample Problem 17.14
REFLECT and THINK:
• The combination of energy and
momentum methods is typical of many
design analyses. If you had been
interested in determining the reaction at
B immediately after the impact or at
some other point in the motion, you
would have needed to draw a free-body
diagram and kinetic diagram and apply
Newton’s second law.

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Edition
Eleventh
Vector Mechanics for Engineers: Dynamics
Group Problem Solving
STRATEGY:
• Consider the sphere and panel as a
single system. Apply the principle of
impulse and momentum.
• The moments about A of the momenta
and impulses provide a relation between
the angular velocity of the panel and
velocity of the sphere.
• Use the principle of work-energy to
determine the angle through which the
panel swings.

An 8-kg wooden panel P is suspended from a pin support at A and is

initially at rest. A 2-kg metal sphere S is released from rest at B and falls
into a hemispherical cup C attached to the panel at the same level as the
mass center G. Assuming that the impact is perfectly plastic, determine
the angular velocity of the panel immediately after the impact.
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Edition
Eleventh
Vector Mechanics for Engineers: Dynamics
Group Problem Solving
MODELING and ANALYSIS:
Draw the impulse momentum diagram

Apply the angular impulse momentum

equation about point A

Given: mS= 2 kg, mP = 8 kg, mS (vC )1 (0.2 m) + 0 = mS (vC )2 ( AC ) + I2 + mP v2 (0.25 m)

hS= 0.250 m, e= 0.
Find: the angular velocity of HA of sphere HA of panel
the panel immediately after before impact after impact
HA of sphere
the impact after impact
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Edition
Eleventh
Vector Mechanics for Engineers: Dynamics
Group Problem Solving
mS (vC )1 (0.2 m) + 0 = mS (vC )2 ( AC ) + I2 + mP v2 (0.25 m)

Determine velocity of sphere at impact (vS)1

You can apply work-energy or kinematics

(vS )1 = (vC  )1 = 2 gy
= 2(9.81 m/s 2 )(0.5 m)
= 3.1321 m/s
Determine velocity of sphere after impact in terms of 2
(vS ) 2 = (vC  ) 2 = AC 2

AC  = (0.2)2 + (0.25)2 = 0.32016 m

(vC  )2 = 0.320162
(perpendicular to AC )

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Edition
Eleventh
Vector Mechanics for Engineers: Dynamics
Group Problem Solving
mS (vC )1 (0.2 m) + 0 = mS (vC )2 ( AC ) + I2 + mP v2 (0.25 m)

Determine mass moment of inertia for panel

1 1
I = mP (0.5 m)2 = (8)(0.5)2 = 0.3333 kg  m 2
6 6

Substitute into H equation and solve for 2

mS (vC  )1 (0.2 m) + 0 = mS (vC  )2 ( AC ) + I 2 + mP v2 (0.25 m)

(2 kg)(3.1321 m/s)(0.2 m) = (2 kg)(0.320162 )(0.32016 m) + 0.33332 + (8 kg)(0.25 m)2 2
1.25284 = (0.2050 + 0.3333 + 0.500)2
2 = 1.207 rad/s

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Edition
Eleventh
Vector Mechanics for Engineers: Dynamics
Concept Question

For the previous problem, what would

you do if you wanted to determine how
high up the panel swung after the
impact?

a) Apply linear-momentum to solve for mvG

b) Use work-energy and set Tfinal equal to zero
c) Use sum of forces and sum of moments equations

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Edition
Eleventh
Vector Mechanics for Engineers: Dynamics
Concept Question

For the previous problem, what if the

ball was dropped closer to point A (e.g.,
at x= 100 mm instead of 200 mm)?

a) The angular velocity after impact would be bigger

b) The angular velocity after impact would be smaller
c) The angular velocity after impact would be the same
d) Not enough information to tell

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