3.

3 IMPULSE AND MOMENTUM

Linear Impulse and Linear Momentum

⃗ of a particle is defined as follows:
Linear momentum G
⃗G = mv
⃗ and unit: kg·m/s or N·s
d ̇
⃗̇ =
∑ ⃗F = ma⃗ = mv ⃗ ) = ⃗G
(mv
dt

̇
 ∑ ⃗F = ⃗G : Newton’s equation in terms of momentum

t2 t ̇ t
⃗ dt
∫t ∑ F = ∫t 2 G ⃗|2=G
⃗ dt = G ⃗ 2−G
⃗1
1 1 t
1

Impulse-Momentum equation:
t
∴ ∫t 2 ∑ ⃗F dt = ⃗G2 − ⃗G1 = ∆G
⃗
1

 Force × Time = Impulse of the force by definition.

 ⃗G1 = mv
⃗ 1 : linear momentum at t1
 ⃗G2 = mv ⃗ 2 : linear momentum at t 2
 First draw the free-body diagram (FBD) to see all forces acting
Conservation of Linear Momentum:

 If ∑ ⃗F = ⃗0 for an interval of time, then ∆G

⃗ = ⃗0 for that interval.
 If ∑ Fx = 0 (but ∑ Fy ≠ 0 and/or ∑ Fz ≠ 0), then ∆Gx = 0.

Consider two particles a and b, which interact during an interval of time. (for
instance impact)
Let the interaction forces F and – F be the only forces acting on the particles.
t2
⃗ a & ∫t2 ∑ −F
∫t ∑ ⃗F dt = ∆G ⃗ b  ∆G
⃗ dt = ∆G ⃗ a + ∆G
⃗ b = ⃗0
1 t 1

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 ⃗ = ∆G
Let ∆G ⃗ a + ∆G
⃗ b be the total change in linear momentum of the system  if
⃗ = ⃗0 i.e. momentum of the system is conserved.
∆G
It is also possible that interaction forces are the only forces in one direction only
 if these forces are zero then linear momentum of the system in that direction
is conserved.

For instance if ∑ Fx = ⃗0 for the system  ∆Gx = ⃗0

Example 3.209
The ice-hockey puck with a mass of 0.29 kg has a
velocity of 12 m/s before being struck by the
hockey stick. After the impact, the puck moves in
the new direction shown with a velocity of 18 m/s.
If the stick is in contact with the puck for 0.04 s,
compute the magnitude of the average force F ⃗
⃗
exerted by the stick on the puck during contact, and find the angle β made by F
with the x-direction.
0.04
∫0 ⃗F dt = ⃗Fave ∙ t = mv
⃗ 2 − mv
⃗1
0.29
⃗ =
F [18 cos 20° i + 18 sin 20° j − (−12i)] = 209.63i + 44.63j N
0.04

Fy 44.63
 F ≅ 214.33 N & β = tan−1 = tan−1 ≅ 12.02°
Fx 209.63

Example 3.209
The 10-kg block is resting on the horizontal
surface when the force T is applied to it for
7 seconds. The variation of T with time is
shown.
Calculate the maximum velocity reached by
the block and the total time ∆t during which
the block is in motion. The coefficients of
static and kinetic friction are both 0.50.

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Block begins to move when T = Ffmax = μN = μmg = 49.05 N
100
During t = 0 − 4 s interval T = t = 25t
4

To find when the block begins to move  25 ∙ t1 = 49.05  t1 ≅ 1.96 s

During the motion ∑ F = T − Ffmax since μs = μk

As long as ∑ F is positive  velocity increases, hence vmax occurs when t = 4 s.

After t = 4 s, v decreases until the block stops.
The impulse-momentum equation is formed as follows:
4 4
∫1.96 ∑ F dt = ∆G  ∫1.96(25t − 49.05) dt = m ∙ vmax − m ∙ 0
4
25t2
( − 49.05t)| = 10vmax  vmax = 5.19 m/s
2 1.96

To find ∆t, we can find the time for the rest of the motion after 4 s.
After 4 s, T acts only for another 3 s however, Ffmax will act until the motion
stops at t f
t 7 t
∫4 f ∑ F dt = ∆G  ∫4 40 dt + ∫4 f(−49.05) dt = m ∙ 0 − m ∙ vmax
t
 (40t)|74 + (−49.05t)|4f = −10(5.19)  t f ≅ 7.50 s

 ∆t = t f − t1 = 7.50 − 1.96 = 5.54 s

Example 3.220
Two barges, each with a
displacement (mass) of 500 Mg
(tons), are loosely moored in
calm water. A stunt driver starts his 1500-kg car from rest at A, drives along the
deck, and leaves the end of the 15° ramp at a speed of 50 km/h relative to the
barge and ramp. The driver successfully jumps the gap and brings his car to rest
relative to barge 2 at B.

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Calculate the velocity v2 imparted to barge 2 just after the car has come to rest on
the barge.
Neglect the resistance of the water to motion at the low velocities involved.
- Consider the interaction of the car and barge 1
∆Gx = 0 for system of the car and barge 1.
Absolute velocity of the car: v
⃗c =v
⃗1 +v
⃗ c⁄1

 vcx = vc⁄1x − v1 = 50 cos 15° − v1

−m1 v1 + mc vcx = 0  500 × 103 v1 = 1500(50 cos 15° − v1 )

 v1 = 0.144 km/h
 vcx = 48.152 km/h

Consider interaction of car and barge 2:

∆Gx = 0 for system of the car and barge 2.
mc vcx = (m2 + mc )v2

 v2 = 0.144 km/h = 40 mm/s

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Angular Impulse and Angular Momentum

Linear momentum of P is ⃗G = mv
⃗

The moment of linear momentum about an

arbitrary point O is called angular momentum
⃗⃗ O .
of P about O, H
⃗H
⃗ O = r × mv
⃗  ⃗H
⃗ O is ⊥ to plane A

 HO = rmv sin θ

i j ⃗k
 ⃗H
⃗ O = m| x y z|
vx vy vz

Unit: kgm2/s = Nms

⃗ ̇  r × ∑ ⃗F = r × mv
∑ ⃗F = mv ⃗̇

∑ ⃗M
⃗⃗ O

On the other hand, ⃗H

⃗ O = r × mv ⃗ ̇ O = ṙ × mv
⃗  ⃗H ⃗̇
⃗ + r × mv

⃗ × mv
v ⃗ if O is a fixed point
⃗ =0

⃗⃗ ̇ O
⃗⃗⃗ O = H
∴ ∑M
Integrate with respect to time:
t2
∫t ∑ ⃗M
⃗⃗ O dt = ⃗H
⃗ O2 − ⃗H
⃗ O1 = ∆H
⃗⃗ O
1

Where ⃗H
⃗ O2 = r2 × mv
⃗ 2 and ⃗H
⃗ O1 = r1 × mv
⃗1
Angular Impulse about a fixed point O is equal to the change in angular
momentum about O in the same time interval.
For a planar motion  equation becomes a scalar one:

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 t2
∫t ∑ MO dt = HO2 − HO1 = ∆HO
1

t
HO1 + ∫t 2 ∑ MO dt = HO2
1

HO2 = |r2 × mv
⃗ 2 | = mv2 d2
HO1 = |r1 × mv
⃗ 1 | = mv1 d1
∑ MO = ∑ F ∙ r sin θ
t
 mv1 d1 + ∫t 2 ∑ F ∙ r sin θ dt = mv2 d2
1

Conservation of Angular Momentum:

If ∑ MO = 0 for a time interval where O is fixed then angular momentum is
conserved.
Consider two interacting particles  Angular impulses of interacting forces
cancel  If ∑ MO = 0 of all forces for a fixed point O, then ∆HO = 0 for the
system.
Example 3.238
A pendulum consists of two 3.2-kg concentrated masses
positioned as shown on a light but rigid bar. The
pendulum is swinging through the vertical position with
a clockwise angular velocity ω = 6 rad/s when a 50-g
bullet traveling with velocity v = 300 m/s in the
direction shown strikes the lower mass and becomes
embedded in it.
Calculate the angular velocity ω′ which the pendulum
has immediately after impact and find the maximum
angular deflection θ of the pendulum.
r1 = 0.4 m ; r2 = 0.2 m ; mb = 0.05 kg ; m = 3.2 kg

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We will take CCW rotation as positive in our calculations. During impact
∑ MO = 0  HO1 = HO2

mb vb cos 20° r1 − mr1 ωr1 − mr2 ωr2 = (mb + m)r1 ω′ r1 + mr2 ω′ r2

If you carry out necessary calculations to find the resultant CCW angular
velocity just after the impact: ω′ = 2.77 rad/s
Energy in the system from just after the impact to the time that maximum
deflection occurs should be conserved.
Initially: U = ∆T + ∆Vg = 0

(T + Vg ) = (T + Vg ) = (0 + Vg )
just after impact max. deflection max. deflection

1 1
(mb + m)(r1 ω′ )2 + m(r2 ω′ )2 + mgr2 − (mb + m)gr1 = ⋯
2 2

⋯ = mgr2 cos θ − (mb + m)gr1 cos θ

 cos θ = 0.614  θ = 52.1°

Example 3.241
The assembly of two 5-kg spheres is
rotating freely about the vertical axis
at 40 rev/min with θ = 90°.
If the force F which maintains the
given position is increased to raise the
base collar and reduce θ to 60°,
determine the new angular velocity ω.
Also determine the work U done by F
in changing the configuration of the
system. Assume that the mass of the arms and collars is negligible.
Let ω1 = 40 rpm = 4.19 rad/s be the initial angular velocity and r1 be the initial
radius of the circular path of the masses.

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Since the change in the force does not result in a change in the momentum 
∑ MO = 0  HO1 = HO2

For θ1 = 90°: r1 = 0.1 + 2(0.3) cos 45° = 0.524 m

For θ2 = 60°: r2 = 0.1 + 2(0.3) cos 30° = 0.62 m
2mr1 2 ω1 = 2mr2 2 ω2  ω2 = 3 rad/s
U = ∆T + ∆Vg : work done by F
1 1
U = 2 m(r2 ω2 )2 − 2 m(r1 ω1 )2 + 2mg∆h
2 2

where ∆h = −2b sin 30° − (−2b sin 45°) = 0.124 m

 U = 5.34 J

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