PLANAR KINETICS: IMPULSE AND MOMENTUM (Sections 19.1-19.2)

1. PLANAR KINETICS: IMPULSE AND MOMENTUM (Sections 19.1-19.2) Today’s Objectives: Students will be able to: a) Develop formulations for the linear and angular momentum of a body. b) Apply the principle of linear and angular impulse and momentum. In-Class Activities: • Check homework, if any • Reading quiz • Applications • Linear and angular momentum • Principle of impulse and momentum • Concept quiz • Group problem solving • Attention quiz

2. 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. APPLICATIONS As the pendulum rotates about point O, what is its angular momentum about point O?

3. The space shuttle has several engines that exert thrust on the shuttle when they are fired. By firing different engines, the pilot can control the motion and direction of the shuttle. APPLICATIONS (continued) If only engine A is fired, about which axis does the shuttle tend to rotate?

4. LINEAR AND ANGULAR MOMENTUM 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 = IG w Remember that the direction of HGis perpendicular to the plane of rotation.

5. 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 HG = 0

6. LINEAR AND ANGULAR MOMENTUM (continued) 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 = m vG HG = IGw It is sometimes convenient to compute the angular momentum of the body about the center of rotation O. HO = ( rG x mvG) + IGw = IO w

7. LINEAR AND ANGULAR MOMENTUM (continued) 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 = IGw The angular momentum about point A is HA = IGw + (d)mvG

8. Linear impulse-linear momentum equation: L1 + F dt = L2or (mvG)1 + F dt = (mvG)2 t2 t2 ò ò å å t1 t1 Angular impulse-angular momentum equation: (HG)1 + MG dt = (HG)2or IGw1 + MG dt = IGw2 t2 t2 ò ò å å t1 t1 PRINCIPLE OF IMPULSE AND MOMENTUM 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.

9. + = 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.

10. 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.

11. EXAMPLE Given: A disk weighing 50 lb has a rope wrapped around it. The rope is pulled with a force P equaling 2 lb. Find:The angular velocity of the cylinder after 4 seconds if it starts from rest and rolls without slipping. 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.

12. y W t x P t G + = G (m vG)1 (m vG)2 r A F t IGw1 IG w2 N t t2 Impulse & Momentum: (HA)1 + MA dt = (HA)2 (P t) 2 r = (mvG)2 r + IGw2 = m r2 w2 + 0.5 m r2 w2 = 1.5 m r2 w2 ò å t1 4 Pt 4(2)(4) = = = w2 11.4 rad/s 3mr 3(50/32.2)(0.6) EXAMPLE (continued) Solution: Impulse-momentum diagram: Kinematics: (vG)2 = r w2

13. GROUP PROBLEM SOLVING Given: A gear set with: WA = 15 lb WB = 10 lb kA = 0.5 ft kB = 0.35 ft M = 2(1 – e-0.5t) ft·lb Find: The angular velocity of gear A after 5 seconds if the gears start turning from rest. Plan:Time is a parameter, thus

14. y x GROUP PROBLEM SOLVING (continued) Solution: Impulse-momentum diagrams: Gear A: Gear B:

15. GROUP PROBLEM SOLVING (continued) Kinematics: Angular impulse & momentum relation for gear A about point A yields: For gear B:

16. GROUP PROBLEM SOLVING (continued) and wA = 47.4 rad/s

17. End of the Lecture Let Learning Continue