ch13 - Energy and Momentum Methods - 20161004 PDF

Ninth Edition
CHAPTER
13
VECTOR MECHANICS FOR ENGINEERS:
DYNAMICS
Ferdinand P. Beer
E. Russell Johnston, Jr.
Lecture Notes:
J. Walt Oler
Texas Tech University
Kinetics of Particles:
Energy and Momentum
Methods
2010 The McGraw-Hill Companies, Inc. All rights reserved.
Ninth
Edition
Vector Mechanics for Engineers: Dynamics

Contents
Introduction
Work of a Force
Principle of Work & Energy
Applications of the Principle of
Work & Energy
Power and Efficiency
Sample Problem 13.1
Sample Problem 13.2
Sample Problem 13.3
Sample Problem 13.4
Sample Problem 13.5
Potential Energy
Conservative Forces
Conservation of Energy
Motion Under a Conservative
Central Force
Sample Problem 13.6

Sample Problem 13.7
Sample Problem 13.9
Principle of Impulse and Momentum
Impulsive Motion
Sample Problem 13.10
Impact
Direct Central Impact
Oblique Central Impact
Problems Involving Energy and
Momentum
Sample Problems 13.16
13 - 2
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Introduction
Previously, problems dealing with the motion of particles
were
solved through the fundamental equation of motion, F ma.

Current chapter introduces two additional methods of analysis.
Method of work and energy: directly relates force, mass,
velocity and displacement.
Method of impulse and momentum: directly relates force,
mass, velocity, and time.
Work: force & displacement (W = Fv)
Definitions
Energy (kinetic): mass & velocity (E = 0.5mv2)

Impulse: force & time (I = Ft)
Momentum: mass & velocity (L = mv)
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Work of a Force
Differential vector dr is the particle displacement.

Work of the force for infinitesimal displacement is

dU F dr
F ds cos
Fx dx Fy dy Fz dz
Work is a scalar quantity, i.e., it has magnitude
and sign but not direction.
Dimensions of work are length force. Units are

1 J joule 1 N 1 m
1ft lb 1.356 J
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Work of a Force
Work of a force during a finite displacement,
U12
A2
d
r
A1
s2
s2
s1
s1
F cos ds Ft ds
A2
Fx dx Fy dy Fz dz
A1
Work is represented by the area under the

curve of Ft plotted against s.
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Work of a Force
Work of a constant force in rectilinear motion,
U12 F cos x
Work of the force of gravity,

dU Fx dx Fy dy Fz dz
W dy
y2
U12 W dy
y1
W y 2 y1 W y
Work of the weight is equal to product of

weight W and vertical displacement y.
Work of the weight is positive when y < 0,
i.e., when the weight moves down.
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Work of a Force
Magnitude of the force exerted by a spring is
proportional to deflection,
F kx
k spring constant N/m or lb/in.
Work of the force exerted by spring,
dU F dx kx dx
x2
U12 kx dx 12 kx12 12 kx22

x1
Work of the force exerted by spring is positive

when x2 < x1, i.e., when the spring is returning to
its undeformed position.
Work of the force exerted by the spring is equal to
negative of area under curve of F plotted against x,
U12 12 F1 F2 x
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Work of a Force
Work of a gravitational force (assume particle M
occupies fixed position O while particle m follows path
shown),
r : radial distance
Mm
dU Fdr G 2 dr
r
r2
Mm
r1
r2
U12 G
dr G
Mm
Mm
G
r2
r1
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Work of a Force
Forces which do not do work (ds = 0 or cos 0:
reaction at frictionless pin supporting rotating body,
reaction at frictionless surface when body in contact

moves along surface,
reaction at a roller moving along its track, and
weight of a body when its center of gravity moves
horizontally.
Force & displacement has the angle of 90 deg
Work = 0
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Particle Kinetic Energy: Principle of Work & Energy
Consider a particle of mass m acted upon by force F

dv
Ft mat m
dt
Include ds into
the equation
dv ds
dv
m
mv
ds dt
ds
F t ds mv dv
Integrating from A1 to A2 ,
s2
v2
s1
v1
Ft ds m v dv 12 mv2 12 mv1
2
U12 T2 T1
T 12 mv 2 kinetic energy
The work of the force F is equal to the change in

kinetic energy of the particle.
Units of work and kinetic energy are the same:

2
m
m
2
T 12 mv kg kg 2 m N m J
s
s
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Applications of the Principle of Work and Energy
Wish to determine velocity of pendulum bob
at A2. Consider work & kinetic energy.
Force P acts normal to path and does no

work.
T1 U12 T2
0 Wl
Two forces on the bob

: weight & tension
1W 2
v2
2 g
W = mg
v2 2 gl
Using the work & energy, velocity can be

found without determining expression for
acceleration and integrating. i.e. Newtons 2nd law
All quantities are scalars and can be added

directly.
Forces which do no work are eliminated from
the problem.
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Applications of the Principle of Work and Energy
Principle of work and energy cannot be
applied to directly determine the acceleration
of the pendulum bob.
Calculating the tension in the cord requires
supplementing the method of work and energy
with an application of Newtons second law.
As the bob passes through A2 ,
Fn m an
v2 2 gl
W v22
P W
g l
W 2 gl
P W
3W
g l
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Power and Efficiency
Power rate at which work is done.

dU F dr
Work / time
dt
dt

Force*velocity
F v
Dimensions of power are work/time or force*velocity.

Units for power are
J
m
ft lb
1 W (watt) 1 1 N
or 1 hp 550
746 W
s
s
s
efficiency
output wor k
input work
power output
power input
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Sample Problem 13.1
In-class practice
SOLUTION:
Evaluate the change in kinetic energy.
Determine the distance required for the
work to equal the kinetic energy change.
An automobile weighing 1000 kg is

driven down a 5o incline at a speed of
72 km/h when the brakes are applied
causing a constant total breaking force
of 5000 N.
Determine the distance traveled by the

automobile as it comes to a stop.
Kinetic energy, work of friction

& weight
m = 1000 kg
v1 = 72 km/h
v2 = 0
F = 5000 N, W = 9810 N
d = ??
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Sample Problem 13.1
SOLUTION:
Evaluate the change in kinetic energy.
km 1000 m 1h
v1 72
20 m s
h 1km 3600 s
T1 12 mv12
v2 0
1
2
1000kg 20m/s 2 20,000 J
T2 0
Determine the distance required for the work

to equal the kinetic energy change.
U12 5000 x 1000 kg 9.81m/s 2 sin 5x

4145 x
Braking work
Force & distance
Same direction work: (+)
Opposite direction work: (-)
T1 U12 T2
Gravitational
work
200,000 4145 x 0
x 48.25 m
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Sample Problem 13.2
Practice assignment
SOLUTION:
Apply the principle of work and
energy separately to blocks A and B.
When the two relations are combined,

the work of the cable forces cancel.
Solve for the velocity.
Two blocks are joined by an inextensible
cable as shown. If the system is released
from rest, determine the velocity of block
A after it has moved 2 m. Assume that the
coefficient of friction between block A
and the plane is mk = 0.25 and that the
pulley is weightless and frictionless.
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Sample Problem 13.2
SOLUTION:
Apply the principle of work and energy separately
to blocks A and B.
W A 200 kg 9.81 m s 2 1962 N
FA m k N A m k W A 0.251962 N 490 N
T1 U12 T2 :
0 FC 2 m FA 2 m 12 m Av 2
FC 2 m 490 N 2 m 12 200 kg v 2
WB 300 kg 9.81 m s 2 2940 N

T1 U12 T2 :
0 Fc 2 m WB 2 m 12 mB v 2
Fc 2 m 2940 N 2 m 12 300 kg v 2
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Sample Problem 13.2
When the two relations are combined, the work of the
cable forces cancel. Solve for the velocity.
FC 2 m 490 N 2 m 12 200 kg v 2
Fc 2 m 2940 N 2 m 12 300 kg v 2
2940 N 2 m 490 N 2 m 12 200 kg 300 kg v 2

4900 J 12 500 kg v 2
v 4.43 m s
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Sample Problem 13.3
In-class practice
SOLUTION:
Apply the principle of work and energy
between the initial position and the
point at which the spring is fully
compressed and the velocity is zero.
The only unknown in the relation is the
friction coefficient.
A spring is used to stop a 60 kg package

which is sliding on a horizontal surface.
The spring has a constant k = 20 kN/m
and is held by cables so that it is initially Apply the principle of work and energy
for the rebound of the package. The
compressed 120 mm. The package has a
only unknown in the relation is the
velocity of 2.5 m/s in the position shown
and the maximum deflection of the spring velocity at the final position.
is 40 mm.
Determine (a) the coefficient of kinetic
friction between the package and surface
and (b) the rebound velocity of the
package as it passes again through the
position shown.
Kinetic energy of package

Friction work on surface
Spring work
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Sample Problem 13.3
SOLUTION:
Apply principle of work and energy between initial
position and the point at which spring is fully compressed.
T1 12 mv12 12 60 kg 2.5 m s 2 187.5 J
U12 f
m kW x
T2 0
m k 60 kg 9.81m s 2 0.640 m 377 J m k

Pmin kx0 20 kN m 0.120 m 2400 N
Initial spring
force
U12 e 12 Pmin Pmax x
Compressed
Pmax k x0 x 20 kN m 0.160 m 3200 N
12 2400 N 3200 N 0.040 m 112.0 J

U12 U12 f U12 e 377 J mk 112 J
1: initial position
2: fully compressed
T1 U12 T2 :
187.5 J - 377 J m k 112 J 0
mk 0.20
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Sample Problem 13.3
Apply the principle of work and energy for the rebound
of the package.
T 3 12 mv32 12 60kg v32
T2 0
U 23 U 23 f U 23 e 377 J m k 112 J
36.5 J
T2 U 23 T3 :
0 36.5 J 12 60 kg v32
v3 1.103 m s
2: fully compressed
3: rebound
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Sample Problem 13.4
Practice assignment
SOLUTION:
Apply principle of work and energy to
determine velocity at point 2.
Apply Newtons second law to find
normal force by the track at point 2.
A 1000-kg car starts from rest at point

1 and moves without friction down the
track shown.
Determine:
a) the force exerted by the track on

the car at point 2, and
Apply principle of work and energy to

determine velocity at point 3.
Apply Newtons second law to find
minimum radius of curvature at point 3
such that a positive normal force is
exerted by the track.
b) the minimum safe value of the

radius of curvature at point 3.
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Sample Problem 13.4
SOLUTION:
Apply principle of work and energy to determine
velocity at point 2.
T1 0
T2 12 mv22
U12 W 12 m mg (12m)
T1 U12 T2 :
0 W 12 m
v22 212g 224 m 9.81 m s 2
1W 2
v2
2 g
v2 15.34 m s
Apply Newtons second law to find normal force by

the track at point 2.
Fn m an :
W N m an
N 5W
mv22
24 g
4mg 4W
6
N 49.05 kN
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Sample Problem 13.4
Apply principle of work and energy to determine
velocity at point 3.
0 mg 7.5 m
T1 U13 T3
v32 15 g 15 m 9.81 m s
1 2
mv3
2
v3 12.13 m s
Apply Newtons second law to find minimum radius of

curvature at point 3 such that a positive normal force is
exerted by the track.
Fn m an :
W m an
mg m
v32
v32 15 g

g
g
15 m
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Sample Problem 13.5
Practice assignment
SOLUTION:
Force exerted by the motor
cable has same direction as
the dumbwaiter velocity.
Power delivered by motor is
equal to FvD, vD = 2.5 m/s.
The dumbwaiter D and its load have a
combined weight of 300 kg, while the
counterweight C weighs 400 kg.
In the first case, bodies are in uniform

motion. Determine force exerted by
motor cable from conditions for static
equilibrium.
Determine the power delivered by the

electric motor M when the dumbwaiter (a) In the second case, both bodies are
accelerating. Apply Newtons
is moving up at a constant speed of
second law to each body to
2.5 m/s and (b) has an instantaneous
determine the required motor cable
velocity of 2.5 m/s and an acceleration of
force.
1 m/s2, both directed upwards.
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Sample Problem 13.5
In the first case, bodies are in uniform motion.
Determine force exerted by motor cable from
conditions for static equilibrium.
Free-body C:
Fy 0 :
2T 400 g 0
T 200 g 1962 N
Free-body D:
Fy 0 : F T 300 g 0
F 300 g T 300 g 200 g 100 g 981 N
Power Fv D 981 N 2.5 m/s

2450W
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Sample Problem 13.5
In the second case, both bodies are accelerating. Apply
Newtons second law to each body to determine the required
motor cable force.
aD 1 m s 2
aC 12 aD 0.5 m s 2
Free-body C:
400 2T 4000.5
Fy mC aC :
(400)(9.81) 400(0.5)
1862 N
2
Free-body D:
Fy mD a D : F T 300 3001
F 1862 3009.81 300
F 1381 N
Power FvD 1381 N2.5 m s 3452W
Power 3450W
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Potential Energy
Work of the force of gravity W,
U12 W y1 W y2 , Fy W ( y2 y1 )
Work is independent of path followed; depends
only on the initial and final values of Wy.
V g Wy
potential energy of the body with respect
to force of gravity.
Constant force of gravity:

weight
U12 Vg Vg
1
2
Vg: Gravitational
potential energy
Choice of datum from which the elevation y is

measured is arbitrary.
Units of work and potential energy are the same:
Vg Wy N m J
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Potential Energy
Previous expression for potential energy of a body
with respect to gravity is only valid when the
weight of the body can be assumed constant
(y<<RE).
For a space vehicle, the variation of the force of
gravity with distance from the center of the earth
should be considered.
Work of a gravitational force,
GMm GMm
U12
r2
r1
Variable force of gravity
Potential energy Vg when the variation in the

force of gravity can not be neglected,
MG
W m 2 mg
R
GMm
WR 2
Vg
r
r
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Potential Energy
Work of the force exerted by a spring depends
only on the initial and final deflections of the
spring,
U12 12 kx12 12 kx22
The potential energy of the body with respect

to the elastic force (F=kx),
Linear spring force
Ve 12 kx 2
U12 Ve 1 Ve 2
Ve: Elastic potential

energy
Note that the preceding expression for Ve is

valid only if the deflection of the spring is
measured from its undeformed position.
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Conservative Forces
Concept of potential energy can be applied if the
work of the force is independent of the path
followed by its point of application.
U12 V x1 , y1 , z1 V x2 , y2 , z 2
Such forces are described as conservative forces.
For any conservative force applied on a closed path,

F dr 0
Elementary work corresponding to displacement
between two neighboring points,
dU V x, y, z V x dx, y dy, z dz
dV x, y, z

F dr
Negative gradient of
potential energy
V
V
V
Fx dx Fy dy Fz dz
dx
dy
dz
y
z
x
V
V
V
F Fx i Fy j Fz k
i
j
k grad V
y
z
x
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Conservation of Energy
Work of a conservative force,
U12 V1 V2
Principle of work and energy,
U12 T2 T1
T1 0 V1 W
T1 V1 W
T2 12 mv22
T2 V2 W
1W
2 g W V2 0
2g
Follows that
T1 V1 T2 V2
E T V constant
When a particle moves under the action of
conservative forces, the total mechanical
energy is constant.
Friction forces are not conservative. Total
mechanical energy of a system involving
friction decreases.
Mechanical energy is dissipated by friction
into thermal energy. Total energy is constant.
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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
1 mv 2
0
2
GMm 1 2 GMm
2 mv
r0
r
may be applied.
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.
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Sample Problem 13.6
In-class practice
SOLUTION:
Apply the principle of conservation of
energy between positions 1 and 2.
The elastic potential energies at 1 and 2

are evaluated from the given information.
The initial kinetic energy is zero.
A 1.5-kg collar slides without friction Solve for the kinetic energy and velocity
along a circular rod in horizontal plane. at 2.
The spring attached to the collar has an
undeformed length of 150 mm and a
Kinetic energy
constant of 400 N/m.
Elastic potential energy
If the collar is released from
equilibrium A, determine its velocity (a)
as it passes through B and C.
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Sample Problem 13.6
SOLUTION:
Apply the principle of conservation of energy between
positions 1 and 2.
Position 1: LAD LO 175mm 250mm 150mm
275mm 0.275m
VA 12 k AD
2
VA 15.125J
400 N/m 0.275m 2

No kinetic energy (V = 0)
1.5 2
kg vB 0.75 vB2
2
Position 2: TB 12 mvB2
1
2
LBD 300 2 mm 1252 mm
1/ 2
325 mm
LBD L0 325mm 150m 175 mm 0.175 m

VB 12 k (BD ) 2
1
400N/m 0.175m 2
2
6.125J
Conservation of Energy:
TA VA 0 15.125 0.75vB2 6.125
15.125 6.125
12.00m 2 /s 2
vB2
0.75
v 3.46 m s
B
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Sample Problem 13.7
Practice assignment
SOLUTION:
Since the pellet must remain in contact
with the loop, the force exerted on the
pellet must be greater than or equal to
zero. Setting the force exerted by the
loop to zero, solve for the minimum
velocity at D.
The 250-g pellet is pushed against the

spring and released from rest at A.
Neglecting friction, determine the
smallest deflection of the spring for
which the pellet will travel around the
loop and remain in contact with the
loop at all times.

energy between points A and D. Solve
for the spring deflection required to
produce the required velocity and
kinetic energy at D.
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Sample Problem 13.7
SOLUTION:
Setting the force exerted by the loop to zero, solve for the
minimum velocity at D.
Fn man : W man
mg m vD2 r
vD2 rg 0.5 m 9.81 m s 4.905 m 2 s 2
Apply the principle of conservation of energy between

points A and D.
V1 Ve Vg 12 kx2 0
1
2
T1 0
600 N mx 2 300 x 2
V2 Ve Vg 0 mgy 0.25 kg 9.81 m s 2 1 m 2.45 j
1
T2 12 mvD2 0.25kg 4.905 m 2 s 2 0.613 j
2
T1 V1 T2 V2
0 300 x 2 2.45 j 0.613 j
x 0.101m 101 mm
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Sample Problem 13.9
Practice assignment
SOLUTION:
For motion under a conservative central
force, the principles of conservation of
energy and conservation of angular
momentum may be applied simultaneously.
A satellite is launched in a direction

parallel to the surface of the earth
with a velocity of 36900 km/h from
an altitude of 500 km.
Apply the principles to the points of

minimum and maximum altitude to
determine the maximum altitude.
Apply the principles to the orbit insertion

point and the point of minimum altitude to
determine maximum allowable orbit
Determine (a) the maximum altitude
insertion angle error.
reached by the satellite, and (b) the
maximum allowable error in the
direction of launching if the satellite
is to come no closer than 200 km to
the surface of the earth
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Sample Problem 13.9
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:
TA VA TA VA
1 mv 2
0
2
GMm 1 2 GMm
2 mv1
r0
r1
Conservation of angular momentum:

r
r0mv0 r1mv1
v1 v0 0
r1
Combining,
2
r0
r0 2GM
1 v 2 1 r0 GM
2 0
2
r0 r1
r1 r0v02
r1
r0 6370 km 500 km 6870 km
v0 36900 km h 10.25 106 m s
GM gR 2 9.81m s 2 6.37 106 m 398 1012 m3 s 2
r1 60.4 106 m 60400 km

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Sample Problem 13.9
Apply the principles to the orbit insertion point and the point
of minimum altitude to determine maximum allowable orbit
insertion angle error.
Conservation of energy:
GMm
1 mv 2 GMm 1 mv 2
T0 V0 TA VA
0
max
2
2
r0
rmin
Conservation of angular momentum:
r
r0mv0 sin 0 rmin mvmax
vmax v0 sin 0 0
rmin
Combining and solving for sin j0,
sin 0 0.9801
j0 90 11.5
allowable error 11.5
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Principle of Impulse and Momentum
From Newtons second law,
d
F mv
mv linear momentum
dt
Rate of change of linear
momentum
Fdt d mv
t2
F
dt
m
v
m
v
2
1
m : constant
t1
Dimensions of the impulse of

a force are
force*time.
Units for the impulse of a
force are
N s kg m s s kg m s
2
t2
Fdt Imp 12 impulse of the force F
t1
mv1 Imp 12 mv2
The final momentum of the particle can be

obtained by adding vectorially its initial
momentum and the impulse of the force during
the time interval.
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Impulsive Motion
Force acting on a particle during a very short
time interval that is large enough to cause a
significant change in momentum is called an
impulsive force.
When impulsive forces act on a particle,
mv1 F t mv2
When a baseball is struck by a bat, contact

occurs over a short time interval but force is
large enough to change sense of ball motion.
Nonimpulsive
forces are forces for which
Ft is small and therefore, may be

neglected.
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In-class practice
SOLUTION:
Apply the principle of impulse and
momentum. The impulse is equal to the
product of the constant forces and the
time interval.
An automobile weighing 1800 kg is

driven down a 5o incline at a speed of
100 km/h when the brakes are applied,
causing a constant total braking force of
7000 N.
Determine the time required for the
automobile to come to a stop.
Kinetic energy, work of friction

& weight
m = 1800 kg
v1 = 100 km/h
v2 = 0
F = 7000 N, W = 1800*9.81 N
t = ??
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SOLUTION:
momentum.
mv1 Imp 12 mv2

Taking components parallel to the
incline,
Friction impulse
mv1 mg sin 5t Ft 0
Brake impulse
1000m 3600s
27.78m
1km
1h
1800kg 27.78 m/s 17660 sin 5N t 7000 N t 0
100km/h 100
t 9.16 s
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Practice assignment
SOLUTION:
momentum in terms of horizontal and
vertical component equations.
A 120-g baseball is pitched with a

velocity of 24 m/s. After the ball is hit
by the bat, it has a velocity of 36 m/s in
the direction shown. If the bat and ball
are in contact for 0.015 s, determine the
average impulsive force exerted on the
ball during the impact.
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SOLUTION:
Apply the principle of impulse and momentum in
terms of horizontal and vertical component equations.
mv1 Imp12 mv2

x component equation:
mv1 Fx t mv2 cos 40
0.12kg 24m/s Fx 0.015s 0.12kg 36m/s cos 40

Fx 412.6 N
y component equation:
0 Fy t mv2 sin 40
Fy 0.015 0.12kg 36m/s sin 40

Fy 185.1 N
F 452 N
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In-class practice
SOLUTION:
A 10-kg package drops from a chute

into a 25-kg cart with a velocity of 3
m/s. Knowing that the cart is initially at
rest and can roll freely, determine (a)
the final velocity of the cart, (b) the
impulse exerted by the cart on the
package, and (c) the fraction of the
initial energy lost in the impact.

momentum to the package-cart system
to determine the final velocity.
Apply the same principle to the package
alone to determine the impulse exerted
on it from the change in its momentum.
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SOLUTION:
Apply the principle of impulse and momentum to the package-cart
system to determine the final velocity.
y
m pv1 Imp12 m p mc v2
x components:
m p v1 cos 30 0 m p mc v2
10 kg 3 m/scos 30 10 kg 25 kg v2
v2 0.742 m/s
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Apply the same principle to the package alone to determine the impulse
exerted on it from the change in its momentum.
y
x
m pv1 Imp12 m pv2

x components:
m p v1 cos 30 Fx t m p v2
10 kg 3 m/scos 30 Fx t 10 kg v2
y components:
Fx t 18.56 N s
m p v1 sin 30 Fy t 0
10 kg 3 m/s sin 30 Fy t 0
Imp12
Ft 18.56 N s i 15 N s j
Fy t 15 N s
Ft 23.9 N s
13 - 49
Ninth
Edition

To determine the fraction of energy lost,
10 kg 3 m s2 45 J
2
T2 12 m p mc v22 12 10 kg 25 kg 0.742 m s 9.63 J
T1 12 m p v12
1
2
T1 T2 45 J 9.63 J
0.786
T1
45 J
13 - 50
Ninth
Edition

Impact
Impact: Collision between two bodies which
occurs during a small time interval and during
which the bodies exert large forces on each other.
Line of Impact: Common normal to the surfaces
in contact during impact.
Central Impact: Impact for which the mass

centers of the two bodies lie on the line of impact;
otherwise, it is an eccentric impact.
Direct Impact: Impact for which the velocities of
the two bodies are directed along the line of
impact.
Oblique Impact: Impact for which one or both of
the bodies move along a line other than the line of
impact.

13 - 51
Ninth
Edition

Bodies moving in the same straight line,
vA > vB .
Upon impact the bodies undergo a
period of deformation, at the end of which,
they are in contact and moving at a
common velocity.
A period of restitution follows during
which the bodies either regain their
original shape or remain permanently
deformed.
Wish to determine the final velocities of the

two bodies. The total momentum of the
two body system is preserved,
mAvA mB vB mAvA mB vB
A second relation between the final
velocities is required.
13 - 52
Ninth
Edition

e coefficien t of restitutio n
Period of deformation:
mAv A Pdt mAu
Rdt m u m v u v
m
v
m
u
v u
Pdt
A
A A
0 e 1
Period of restitution:
mAu Rdt mAvA
A A
ev A vA
e 1
A similar analysis of particle B yields
vB u
e
u vB
Combining the relations leads to the desired

second relation between the final velocities.
vB vA ev A vB
e : Ratio of relative velocity
Perfectly plastic impact, e = 0: vB vA v
m Av A mB vB m A mB v
Perfectly elastic impact, e = 1:

Total energy and total momentum conserved.
vB vA v A vB
ev B vB
e 1
13 - 53
Ninth
Edition

Final velocities are
unknown in magnitude
and direction. Four
equations are required.
No tangential impulse component;

tangential component of momentum
for each particle is conserved.
Normal component of total
momentum of the two particles is
conserved.
Normal components of relative
velocities before and after impact
are related by the coefficient of
restitution.
v A t vA t
vB t vB t
No impact force in tangential direction
m A v A n mB v B n m A vA n mB vB n
vB n vA n ev A n vB n
13 - 54
Ninth
Edition

Block constrained to move along horizontal
surface.
Impulses from internal forces F and F

along the n axis and from external force Fext
exerted by horizontal surface and directed
along the vertical to the surface.
Final velocity of ball unknown in direction and

magnitude and unknown final block velocity
magnitude. Three equations required.
13 - 55
Ninth
Edition

Tangential momentum of ball is

conserved.
vB t vB t
Total horizontal momentum of block

and ball is conserved.
m A v A mB vB x m A vA mB vB x
Normal component of relative

velocities of block and ball are related
by coefficient of restitution.
Note: Validity of last expression does not follow from previous relation for
the coefficient of restitution. A similar but separate derivation is required.
13 - 56
Ninth
Edition

Problems Involving Energy and Momentum
Three methods for the analysis of kinetics problems:
- Direct application of Newtons second law
- Method of work and energy
- Method of impulse and momentum
Select the method best suited for the problem or part of a problem
under consideration.
13 - 57
Ninth
Edition

In-class practice
SOLUTION:
Resolve ball velocity into components
normal and tangential to wall.
Impulse exerted by the wall is normal
to the wall. Component of ball
momentum tangential to wall is
conserved. [no impulse in tangential
direction]
A ball is thrown against a frictionless,

vertical wall. Immediately before the
ball strikes the wall, its velocity has a
magnitude v and forms angle of 30o
with the horizontal. Knowing that
e = 0.90, determine the magnitude and
direction of the velocity of the ball as
it rebounds from the wall.
Assume that the wall has infinite mass

so that wall velocity before and after
impact is zero. Apply coefficient of
restitution relation to find change in
normal relative velocity between wall
and ball, i.e., the normal ball velocity.
13 - 58
Ninth
Edition

SOLUTION:
Resolve ball velocity into components parallel and
perpendicular to wall.
vn v cos 30 0.866v
vt v sin 30 0.500v
Component of ball momentum tangential to wall is conserved.
vt vt 0.500v
t
Apply coefficient of restitution relation with zero wall velocity.

n
0 vn evn 0
vn 0.90.866v 0.779v
v 0.779v n 0.500v t
0.500
v 0.926v, tan 1
32.7
0
.
779
13 - 59
Ninth
Edition

Practice assignment
SOLUTION:
Resolve the ball velocities into components
normal and tangential to the contact plane.
Tangential component of momentum for
each ball is conserved. [no impulse in
tangential direction]
The magnitude and direction of the
velocities of two identical
frictionless balls before they strike
each other are as shown. Assuming
e = 0.9, determine the magnitude
and direction of the velocity of each
ball after the impact.
Total normal component of the momentum

of the two ball system is conserved.
The normal relative velocities of the
balls are related by the coefficient of
restitution.
Solve the last two equations simultaneously
for the normal velocities of the balls after
the impact.
13 - 60
Ninth
Edition

SOLUTION:
Resolve the ball velocities into components normal and
tangential to the contact plane.
vA n vA cos 30 7.79 m s
vB n vB cos 60 6 m s
vA t vA sin 30 4.5 m s
vB t vB sin 60 10.39 m s
Tangential component of momentum for each ball is

conserved.
vB t vB t 10.39 m s
vA t vA t 4.5 m s
Total normal component of the momentum of the two
ball system is conserved.
mA v A n mB vB n mA vA n mB vB n
m7.79 m 6 mvA n mvB n
vA n vB n 1.79
13 - 61
Ninth
Edition

The normal relative velocities of the balls are related by the
coefficient of restitution.
0.907.79 6 12.41
Solve the last two equations simultaneously for the normal

velocities of the balls after the impact.
vB n 7.1m s
vA 5.31m s
n
v A 5.31t 4.5n
4.5
vA 7.1 m s tan 1
40.3
5.31
vB 7.1t 10.39n
10.39
vB 12.58 m s tan 1
55.6
7
.
1
13 - 62
Ninth
Edition

Practice assignment
SOLUTION:
Determine orientation of impact line of
action.
The momentum component of ball A

tangential to the contact plane is
conserved.
The total horizontal momentum of the
two ball system is conserved.
Ball B is hanging from an inextensible
The relative velocities along the line of
cord. An identical ball A is released
action before and after the impact are
from rest when it is just touching the
related by the coefficient of restitution.
cord and acquires a velocity v0 before
striking ball B. Assuming perfectly
Solve the last two expressions for the
elastic impact (e = 1) and no friction,
velocity of ball A along the line of action
determine the velocity of each ball
and the velocity of ball B which is
immediately after impact.
horizontal.
13 - 63
Ninth
Edition

r
0.5
2r
30
sin
SOLUTION:
Determine orientation of impact line of action.
The momentum component of ball A

tangential to the contact plane is
conserved.
mv A Ft mv A
mv0 sin 30 0 mvA t
vA t 0.5v0
The total horizontal (x component)

momentum of the two ball system is
conserved.
mv A Tt mv A mvB
0 mvA t cos 30 mvA n sin 30 mvB
0 0.5v0 cos 30 vA n sin 30 vB
0.5vA n vB 0.433v0
13 - 64
Ninth
Edition

The relative velocities along the line of action before
and after the impact are related by the coefficient of
restitution.
vB sin 30 vA n v0 cos 30 0
0.5vB vA n 0.866v0
Solve the last two expressions for the velocity of ball

A along the line of action and the velocity of ball B
which is horizontal.
vA n 0.520v0
vB 0.693v0
v A 0.5v0t 0.520v0n
vA 0.721v0
tan 1
0.52
46.1
0.5
46.1 30 16.1
vB 0.693v0
13 - 65
Ninth
Edition

In-class practice
SOLUTION:
energy to determine the velocity of the
block at the instant of impact.
Since the impact is perfectly plastic, the

block and pan move together at the same
velocity after impact. Determine that
velocity from the requirement that the
total momentum of the block and pan is
conserved.
A 30-kg block is dropped from a height
of 2 m onto the 10 kg-pan of a spring
scale. Assuming the impact to be
energy to determine the maximum
perfectly plastic, determine the
deflection of the spring.
maximum deflection of the pan. The
constant of the spring is k = 20 kN/m.
13 - 66
Ninth
Edition

SOLUTION:
Apply principle of conservation of energy to
determine velocity of the block at instant of impact.
T1 0
V1 WA y 30 9.812 588 J
T2 12 m A v A 22 12 30v A 22
V2 0
T1 V1 T2 V2
0 588 J 12 30 v A 22 0
v A 2 6.26 m s
Determine velocity after impact from requirement that

total momentum of the block and pan is conserved.
mA v A 2 mB vB 2 mA mB v3
306.26 0 30 10v3
v3 4.70 m s
13 - 67
Ninth
Edition

Apply the principle of conservation of energy to
determine the maximum deflection of the spring.
T3 12 m A mB v32 12 30 10 4.7 2 442 J
V3 Vg Ve
0
1 kx 2
2 3
1
2
20 10 4.91 10
3
3 2
0.241 J
T4 0
Initial spring deflection due to

pan weight:
x3
WB 109.81
3
4
.
91
10
m
3
k
20 10
V4 Vg Ve WA WB h 12 kx42
392x4 4.91 103 12 20 103 x42

392 x4 x3 12 20 103 x42
T3 V3 T4 V4
442 0.241 0 392 x4 4.91 103 12 20 103 x42

x4 0.230 m
h x4 x3 0.230 m 4.91 103 m

h 0.225 m
13 - 68

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Ninth Edition

VECTOR MECHANICS FOR ENGINEERS:

2010 The McGraw-Hill Companies, Inc. All rights reserved.

Vector Mechanics for Engineers: Dynamics

Sample Problem 13.6

Vector Mechanics for Engineers: Dynamics

solved through the fundamental equation of motion, F ma.

Energy (kinetic): mass & velocity (E = 0.5mv2)

2010 The McGraw-Hill Companies, Inc. All rights reserved.

Vector Mechanics for Engineers: Dynamics

Differential vector dr is the particle displacement.

Dimensions of work are length force. Units are

2010 The McGraw-Hill Companies, Inc. All rights reserved.

Vector Mechanics for Engineers: Dynamics

Work is represented by the area under the

2010 The McGraw-Hill Companies, Inc. All rights reserved.

Vector Mechanics for Engineers: Dynamics

Work of the force of gravity,

Work of the weight is equal to product of

Vector Mechanics for Engineers: Dynamics

U12 kx dx 12 kx12 12 kx22

Work of the force exerted by spring is positive

Vector Mechanics for Engineers: Dynamics

2010 The McGraw-Hill Companies, Inc. All rights reserved.

Vector Mechanics for Engineers: Dynamics

reaction at frictionless surface when body in contact

2010 The McGraw-Hill Companies, Inc. All rights reserved.

Vector Mechanics for Engineers: Dynamics

Consider a particle of mass m acted upon by force F

The work of the force F is equal to the change in

Units of work and kinetic energy are the same:

Vector Mechanics for Engineers: Dynamics

Force P acts normal to path and does no

Two forces on the bob

Using the work & energy, velocity can be

All quantities are scalars and can be added

Vector Mechanics for Engineers: Dynamics

2010 The McGraw-Hill Companies, Inc. All rights reserved.

Vector Mechanics for Engineers: Dynamics

Dimensions of power are work/time or force*velocity.

Vector Mechanics for Engineers: Dynamics

An automobile weighing 1000 kg is

Determine the distance traveled by the

Kinetic energy, work of friction

Vector Mechanics for Engineers: Dynamics

Evaluate the change in kinetic energy.

1000kg 20m/s 2 20,000 J

Determine the distance required for the work

U12 5000 x 1000 kg 9.81m/s 2 sin 5x

Vector Mechanics for Engineers: Dynamics

When the two relations are combined,

2010 The McGraw-Hill Companies, Inc. All rights reserved.

Vector Mechanics for Engineers: Dynamics

W A 200 kg 9.81 m s 2 1962 N

WB 300 kg 9.81 m s 2 2940 N

Vector Mechanics for Engineers: Dynamics

2940 N 2 m 490 N 2 m 12 200 kg 300 kg v 2

2010 The McGraw-Hill Companies, Inc. All rights reserved.

Vector Mechanics for Engineers: Dynamics

A spring is used to stop a 60 kg package

2010 The McGraw-Hill Companies, Inc. All rights reserved.

Kinetic energy of package

Vector Mechanics for Engineers: Dynamics