Kinetics of Particles and Rigid Bodies Ii: ES 12 Part 2: Lecture 13-15

ES 12 Part 2: Lecture 13-15
KINETICS OF
PARTICLES AND
RIGID BODIES II
Engr. Maxell P. Lumbera
Kinematics of Particles (by F.P. Beer
and E.R. Johnston, Notes by J.W. Oler)
ES 12 Dynamics of Rigid Bodies Kinematics of Particles (by F.P. Beer and E.R.
First Semester AY 2015-2016
Johnston, Notes by J.W. Oler)
Introduction
Kinetics of
Particles
Force-Inertia
(Newtons 2nd
Law of Motion)
ImpulseMomentum
Work-Energy
ES 12 Part 2: Lecture 13
IMPULSIVE MOTION:
IMPACT
(Impulse-Momentum Method for Particles)
Engr. Maxell P. Lumbera
Kinematics of Rigid Bodies (by F.P. Beer
and E.R. Johnston, Notes by J.W. Oler)
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.
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.
DIRECT CENTRAL IMPACT

Consider bodies A and B 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.

The task is to determine the final velocities of the two
bodies. The total momentum of the two body system is
preserved,
mAv A mB vB mAvA mB vB

Period of Deformation
m Av A Pdt m Au
Period of Restitution
m Au Rdt m AvA
10

A special quantity is now defined. The coefficient of
restitution is given by,
e coefficient of restitution
Rdt u v
Pdt v u
A
0 e 1
Performing the same derivation for particle B gives the

coefficient of restitution
vB u
e
u vB
11

Combining the relations leads to the desired second relation
between the final velocities.
vB vA ev A v B
Special Cases:
Perfectly plastic impact, e = 0:
vB vA v
m Av A mB v B m A mB v
Perfectly elastic impact, e = 1:
vB vA v A v B
mAv A mB vB mAvA mB vB
12
OBLIQUE CENTRAL IMPACT

Case 1: Consider two freely-moving bodies. The final
velocities are unknown in magnitude and direction. The
initial velocities of the bodies can then be resolved into two
components each. Thus, four equations are required.
13

The tangential component of momentum for each particle is
conserved.
v A t vA t
vB t vB t
The normal component of total momentum of the two

particles is conserved.
m A v A n mB v B n m A vA n mB vB n
The normal components of relative velocities before and

after impact are related by the coefficient of restitution.
vB n vA n ev A n vB n
14

Case 2: Consider a block constrained to move along a
horizontal surface which is then hit by a ball at an initial
velocity. The final velocity of the ball and the final speed of
the block are unknown. Thus, three equations are required.
15

The tangential momentum of the ball is conserved.
vB t vB t
The total horizontal momentum of the block and the ball is
conserved.
m A v A mB v B x m A vA mB vB x
The normal component of relative velocities of the block and

the ball before and after impact are related by the coefficient
of restitution.
vB n vA n ev A n vB n
16
Sample Problem 1
A ball is thrown against a frictionless,
vertical wall. Immediately before the
ball strikes the wall, its velocity has a
magnitude v and forms an angle of
30o with the horizontal. Knowing
that the coefficient of restitution is
e = 0.9, determine the velocity of the
ball as it rebounds from the wall.
17
Sample Problem 2
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 velocity of each
ball after the impact.
= /
= /
18
Sample Problem 3 (Integration)

A 1 kg block B is moving with a velocity
vo of magnitude 2 m/s as it hits the 0.5kg sphere A, which is at rest and
hanging from a cord attached at O.
Knowing that = 0.6 between the
block and the horizontal surface and e
= 0.8 between the block and the
sphere, determine just after impact
(a) The velocity of sphere A
(b) The tension in the cable
(c) The distance x travelled by the
block before coming to rest.
19
IMPACT
Impact
Central
Direct
Eccentric
Oblique
Constrained
Motion
20

Kinetics of Particles and Rigid Bodies Ii: ES 12 Part 2: Lecture 13-15

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ES 12 Part 2: Lecture 13-15

Johnston, Notes by J.W. Oler)

Johnston, Notes by J.W. Oler)

Johnston, Notes by J.W. Oler)

Central Impact: Impact for which the mass centers of the

Johnston, Notes by J.W. Oler)

Johnston, Notes by J.W. Oler)

DIRECT CENTRAL IMPACT

Upon impact the bodies undergo a period of deformation, at

A period of restitution follows during which the bodies either

Johnston, Notes by J.W. Oler)

DIRECT CENTRAL IMPACT

Johnston, Notes by J.W. Oler)

DIRECT CENTRAL IMPACT

Johnston, Notes by J.W. Oler)

DIRECT CENTRAL IMPACT

Performing the same derivation for particle B gives the

Johnston, Notes by J.W. Oler)

DIRECT CENTRAL IMPACT

Perfectly elastic impact, e = 1:

Johnston, Notes by J.W. Oler)

OBLIQUE CENTRAL IMPACT

Johnston, Notes by J.W. Oler)

OBLIQUE CENTRAL IMPACT

The normal component of total momentum of the two

The normal components of relative velocities before and

Johnston, Notes by J.W. Oler)

OBLIQUE CENTRAL IMPACT

Johnston, Notes by J.W. Oler)

OBLIQUE CENTRAL IMPACT

The normal component of relative velocities of the block and

Johnston, Notes by J.W. Oler)

Johnston, Notes by J.W. Oler)

Johnston, Notes by J.W. Oler)

Sample Problem 3 (Integration)

Johnston, Notes by J.W. Oler)

Johnston, Notes by J.W. Oler)

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