Chapter 19

LINEAR AND ANGULAR MOMENTUM, PRINCIPLE
OF IMPULSE AND MOMENTUM

Today’s Objectives:
Students will be able to:
1. Develop formulations for the linear and
In-Class Activities:
angular momentum of a body.
2. Apply the principle of linear and angular • Check Homework
impulse and momentum. • Reading Quiz
• Applications
• Linear and Angular
Momentum
• Principle of Impulse and
Momentum
• Concept Quiz
• Group Problem Solving
• Attention Quiz
Dynamics, Fourteenth Edition in SI Units Copyright ©2017 by Pearson Education, Ltd.

R.C. Hibbeler All rights reserved.
READING QUIZ
1. The angular momentum of a rotating two-dimensional rigid

body about its center of mass G is ___________.
A) m vG B) IG vG
C) m w D) IG w
2. If a rigid body rotates about a fixed axis passing through its

center of mass, the body’s linear momentum is __________.
A) a constant B) zero
C) m vG D) IG w

APPLICATIONS
A swing bridge opens and

closes by turning, using a
motor located at A under the
center of the deck that
applies a torque M to the
bridge.
If the bridge was supported by and rotated about at its end B,

would the same torque open the bridge in the same time, or
would it open slower or faster?
What are the benefits of making the bridge with the variable
depth (thickness) substructure shown?

APPLICATIONS (continued)
As the pendulum of the Charpy tester swings downward, its

angular momentum and linear momentum both increase. By
calculating its momenta in the vertical position, we can
calculate the impulse the pendulum exerts when it hits the test
specimen.
As the pendulum rotates about point O, what is its angular
momentum about point O?
The space shuttle, now retired from NASA’s fleet, has

several engines that exerted thrust on the shuttle when they
were fired. By firing different engines, the pilot could
control the motion and direction of the shuttle.
If only engine A was fired, about which axis did the shuttle
tend to rotate?

LINEAR AND ANGULAR MOMENTUM (Section 19.1)
The linear momentum of a rigid body is defined as

L = m vG
This equation states that the linear momentum vector L has a
magnitude equal to (mvG) and a direction defined by vG.
The angular momentum of a rigid

body is defined as
HG = I G w
Remember that the direction of
HG is perpendicular to the plane
of rotation.

LINEAR AND ANGULAR MOMENTUM (continued)
Translation
When a rigid body undergoes
rectilinear or curvilinear
translation, its angular momentum
is zero because w = 0.
Therefore,
L = m vG
and
HG = 0

Rotation about a fixed axis

When a rigid body is rotating
about a fixed axis passing
through point O, the body’s
linear momentum and angular
momentum about G are:
L = mvG
HG = I G w
It is sometimes convenient to compute the angular momentum

of the body about the center of rotation O.
HO = ( rG × mvG) + IG w = IO w

General plane motion

When a rigid body is subjected to
general plane motion, both the linear
momentum and the angular momentum
computed about G are required.
L = m vG
HG = I G w
The angular momentum about point A is

HA = IGw + mvG (d)

PRINCIPLE OF IMPULSE AND MOMENTUM
(Section 19.2)
As in the case of particle motion, the principle of impulse

and momentum for a rigid body is developed by
combining the equation of motion with kinematics. The
resulting equations allow a direct solution to problems
involving force, velocity, and time.
Linear impulse-linear momentum equation:
t2 t2
L1 +  t F dt = L2 or (mvG)1+   F dt = (mvG)2
1 t1
Angular impulse-angular momentum equation:

t2 t2
(HG)1 +  MG dt = (HG)2 or IGw1 +  MG dt = IGw2
t1 t1

PRINCIPLE OF IMPULSE AND MOMENTUM
(continued)
The previous relations can be represented graphically by
drawing the impulse-momentum diagram.
To summarize, if motion is occurring in the x-y plane, the

linear impulse-linear momentum relation can be applied to
the x and y directions and the angular momentum-angular
impulse relation is applied about a z-axis passing through
any point (i.e., G). Therefore, the principle yields three
scalar equations describing the planar motion of the body.
PROCEDURE FOR ANALYSIS
• Establish the x, y, z-inertial frame of reference.
• Draw the impulse-momentum diagrams for the body.
• Compute IG, as necessary.
• Apply the equations of impulse and momentum (one vector

and one scalar or the three scalar equations).
• If more than three unknowns are involved, kinematic equations

relating the velocity of the mass center G and the angular
velocity w should be used to furnish additional equations.

EXAMPLE
Given: The 300 kg wheel has a

radius of gyration about its
mass center O of kO = 0.4 m.
The wheel is subjected to a
couple moment of 300 Nm.
A
Find: The angular velocity after 6 seconds if it starts from rest

and no slipping occurs.
Plan: Time as a parameter should make you think Impulse and

Momentum! Since the body rolls without slipping, point
A is the center of rotation. Therefore, applying the
angular impulse and momentum relationships along with
kinematics should solve the problem.
EXAMPLE (continued)
Solution: y
Impulse-momentum diagram: x
Mt Wt
(m vG)1 (m vG)2
G + r G
A
=
Ft
IGw1 IG w2
Nt
Kinematics: (vG)2 = r w2
t2
Impulse & Momentum: (HA)1 +   MA dt = (HA)2
t1
0 + M t = m(vG)2 r + IG w2 = m r2 w2 + m(kO)2 w2 = m{r2 + (kO)2}w2

Mt 300 (6)
w2 = = = 11.5 rad/s
2 2
m {r2 + (kO)2} 300 {0.6 + 0.4 }
CONCEPT QUIZ
1. If a slab is rotating about its center of

mass G, its angular momentum about
any arbitrary point P is __________ its
angular momentum computed about G
(i.e., IG w).
A) larger than B) less than
C) the same as D) None of the above.
2. The linear momentum of the slab in question 1 is __________.

A) constant B) zero
C) increasing linearly D) decreasing linearly
with time with time
ATTENTION QUIZ
1. If a slender bar rotates about end A, its A

angular momentum with respect to A is? w
A) (1/12) m l2 w B) (1/6) m l2 w G
l
C) (1/3) m l2 w D) m l2 w
2. As in the principle of work and energy, if a force does no

work, it does not need to be shown on the impulse and
momentum diagram/equation.
A) False B) True
C) Depends on the case. D) No clue!
CONSERVATION OF MOMENTUM
Today’s Objectives:
Students will be able to:
1. Understand necessary
conditions for conservation of
linear and angular momentum. In-Class Activities:
2. Use conservation of linear/ • Check Homework
angular momentum for solving • Reading Quiz
problems.
• Applications
• Conservation of Linear
and Angular Momentum
• Concept Quiz
• Group Problem Solving
• Attention Quiz
READING QUIZ
1. If there are no external impulses acting on a body

_____________.
A) only linear momentum is conserved
B) only angular momentum is conserved
C) both linear momentum and angular momentum are
conserved
D) neither linear momentum nor angular momentum are
conserved
2. If a rigid body rotates about a fixed axis passing through its
center of mass, the body’s linear momentum is __________.
A) constant B) zero
C) m vG D) IG w
APPLICATIONS
A skater spends a lot of time either spinning on the ice or

rotating through the air. To spin fast, or for a long time, the
skater must develop a large amount of angular momentum.
If the skater’s angular momentum is constant, can the

skater vary her rotational speed? How?
The skater spins faster when the arms are drawn in and
slower when the arms are extended. Why?
Conservation of angular momentum allows cats to land on

their feet and divers to flip, twist, spiral and turn. It also
helps teachers make their heads spin!
Conservation of angular momentum makes water circle the
drain faster as it gets closer to the drain.

CONSERVATION OF LINEAR MOMENTUM
(Section 19.3)
Recall that the linear impulse and momentum relationship is

t2 0 t2
0
L1 +  t F dt = L2 or (m vG)1 +  t F dt = (m vG)2
1 1
If the sum of all the linear impulses acting on the rigid

body (or a system of rigid bodies) is zero, all the impulse
terms are zero. Thus, the linear momentum for a rigid
body (or system) is constant, or conserved. So L1 = L2.
This equation is referred to as the conservation of linear

momentum. The conservation of linear momentum
equation can be used if the linear impulses are small or
non-impulsive.
CONSERVATION OF ANGULAR MOMENTUM
Similarly, if the sum of all the angular impulses due to

external forces acting on the rigid body (or a system of rigid
bodies) is zero, all the impulse terms are zero. Thus, angular
momentum is conserved
t2 0 t2 0
(HG)1 +  t MG dt = (HG)2 or IGw1 +   MG dt = IGw2
t1
1
The resulting equation is referred to as the conservation of

angular momentum or (HG)1 = (HG)2 .
If the initial condition of the rigid body (or system) is known,
conservation of momentum is often used to determine the final
linear or angular velocity of a body just after an event occurs.

PROCEDURE FOR ANALYSIS
• Establish the x, y, z inertial frame of reference and draw FBDs.
• Write the conservation of linear momentum equation.
• Write the conservation of angular momentum equation about a

fixed point or at the mass center G.
• Solve the conservation of linear or angular momentum

equations in the appropriate directions.
• If the motion is complicated, use of kinematic equations that

relate the velocity of the mass center, G, and the angular
velocity, w, may be necessary.

EXAMPLE
Given: A 10 kg wheel
(IG = 0.156 kg·m2) rolls
without slipping and
does not rebound.
Find: The minimum velocity, vG, the wheel must have to just
roll over the obstruction at A.
Plan: Since no slipping or rebounding occurs, the wheel pivots
about point A. The force at A is much greater than the
weight, and since the time of impact is very short, the weight
can be considered non-impulsive. The reaction force at A is
a problem as we don’t know either its direction or
magnitude. This force can be eliminated by applying the
conservation of angular momentum equation about A.
EXAMPLE (continued)
Solution:
Impulse-momentum diagram:
Conservation of angular momentum:

(HA)1 = (HA)2
r ' m (vG)1 + IG w1 = r m (vG)2 + IG w2
(0.2 - 0.03) 10 (vG)1 + 0.156 w1 = 0.2(10) (vG)2 + 0.156 w2
Kinematics: Since there is no slip, w = vG/r = 5 vG.
Substituting and solving the momentum equation yields
(vG)2 = 0.892 (vG)1
EXAMPLE (continued)
To complete the solution,

conservation of energy can be used.
Since it cannot be used for the
impact (why?), it is applied just
after the impact. In order to roll over
the bump, the wheel must go to position 3 from 2. When (vG)2 is
a minimum, (vG)3 is zero. Why?
Energy conservation equation : T2 + V2 = T3 + V3
{½ (10) (vG)22 + ½ (0.156) w22 } + 0 = 0 + 98.1 (0.03)
Substituting w2 = 5 (vG)2 and (vG)2 = 0.892 (vG)1 and solving

yields
(vG)1 = 0.729 m/s
CONCEPT QUIZ
1. A slender rod (mass = M) is at rest. If a bullet (mass = m) is

fired with a velocity of vb, the angular A
momentum of the bullet about A just 0.5 w2
before impact is ___________. m
G
A) 0.5 m vb B) m vb
2
1.0
C) 0.5 m vb D) zero
2. For the rod in question 1, the angular momentum about A of

the rod and bullet just after impact will be ___________.
A) m vb + M(0.5)w2 B) m(0.5)2w2 + M(0.5)2w2
C) m(0.5)2w2 + M(0.5)2w2 D) zero
+ (1/12) M w2
ATTENTION QUIZ
1. Using conservation of linear and angular momentum

requires that _____________.
A) all linear impulses sum to zero
B) all angular impulses sum to zero
C) both linear and angular impulses sum to zero
D) None of the above
2. The angular momentum of a body about a point A that is

the fixed axis of rotation but not the mass center (G) is
_____________.
A) IAw B) IG w
C) rG (m vG) + IG w D) Both A & C

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LINEAR AND ANGULAR MOMENTUM, PRINCIPLE

OF IMPULSE AND MOMENTUM

Dynamics, Fourteenth Edition in SI Units Copyright ©2017 by Pearson Education, Ltd.

1. The angular momentum of a rotating two-dimensional rigid

2. If a rigid body rotates about a fixed axis passing through its

Dynamics, Fourteenth Edition in SI Units Copyright ©2017 by Pearson Education, Ltd.

A swing bridge opens and

If the bridge was supported by and rotated about at its end B,

Dynamics, Fourteenth Edition in SI Units Copyright ©2017 by Pearson Education, Ltd.

As the pendulum of the Charpy tester swings downward, its

The space shuttle, now retired from NASA’s fleet, has

Dynamics, Fourteenth Edition in SI Units Copyright ©2017 by Pearson Education, Ltd.

The linear momentum of a rigid body is defined as

The angular momentum of a rigid

Dynamics, Fourteenth Edition in SI Units Copyright ©2017 by Pearson Education, Ltd.

Dynamics, Fourteenth Edition in SI Units Copyright ©2017 by Pearson Education, Ltd.

Rotation about a fixed axis

It is sometimes convenient to compute the angular momentum

Dynamics, Fourteenth Edition in SI Units Copyright ©2017 by Pearson Education, Ltd.

General plane motion

The angular momentum about point A is

Dynamics, Fourteenth Edition in SI Units Copyright ©2017 by Pearson Education, Ltd.

As in the case of particle motion, the principle of impulse

Angular impulse-angular momentum equation:

Dynamics, Fourteenth Edition in SI Units Copyright ©2017 by Pearson Education, Ltd.

To summarize, if motion is occurring in the x-y plane, the

• Establish the x, y, z-inertial frame of reference.

• Draw the impulse-momentum diagrams for the body.

• Compute IG, as necessary.

• Apply the equations of impulse and momentum (one vector

• If more than three unknowns are involved, kinematic equations

Dynamics, Fourteenth Edition in SI Units Copyright ©2017 by Pearson Education, Ltd.

Given: The 300 kg wheel has a

Find: The angular velocity after 6 seconds if it starts from rest

Plan: Time as a parameter should make you think Impulse and

0 + M t = m(vG)2 r + IG w2 = m r2 w2 + m(kO)2 w2 = m{r2 + (kO)2}w2

1. If a slab is rotating about its center of

2. The linear momentum of the slab in question 1 is __________.

1. If a slender bar rotates about end A, its A

2. As in the principle of work and energy, if a force does no

1. If there are no external impulses acting on a body

A skater spends a lot of time either spinning on the ice or

If the skater’s angular momentum is constant, can the

Conservation of angular momentum allows cats to land on

Dynamics, Fourteenth Edition in SI Units Copyright ©2017 by Pearson Education, Ltd.

Recall that the linear impulse and momentum relationship is

If the sum of all the linear impulses acting on the rigid

This equation is referred to as the conservation of linear

Similarly, if the sum of all the angular impulses due to

The resulting equation is referred to as the conservation of

Dynamics, Fourteenth Edition in SI Units Copyright ©2017 by Pearson Education, Ltd.

• Establish the x, y, z inertial frame of reference and draw FBDs.

• Write the conservation of linear momentum equation.

• Write the conservation of angular momentum equation about a

• Solve the conservation of linear or angular momentum

• If the motion is complicated, use of kinematic equations that

Dynamics, Fourteenth Edition in SI Units Copyright ©2017 by Pearson Education, Ltd.

Conservation of angular momentum:

To complete the solution,

Substituting w2 = 5 (vG)2 and (vG)2 = 0.892 (vG)1 and solving

1. A slender rod (mass = M) is at rest. If a bullet (mass = m) is

2. For the rod in question 1, the angular momentum about A of

1. Using conservation of linear and angular momentum

2. The angular momentum of a body about a point A that is