Chapter 17.

Plane Motion of Rigid Bodies:

Energy and Momentum Methods
Introduction
Principle of Work and Energy for a Rigid Body
Work of Forces Acting on a Rigid Body
Kinetic Energy of a Rigid Body in Plane Motion
Systems of Rigid Bodies
Conservation of Energy
Power
Principle of Impulse and Momentum
Systems of Rigid Bodies
Conservation of Angular Momentum
Impulsive Motion
Eccentric Impact
Introduction

• Method of work and energy and the method of impulse and momentum will be used
to analyze the plane motion of rigid bodies and systems of rigid bodies.
• Principle of work and energy is well suited to the solution of problems involving
displacements and velocities.
T1 + U1→2 = T2
• Principle of impulse and momentum is appropriate for problems involving velocities
and time.
 t2    t2  
L1 + ∑ ∫ Fdt = L2 (H O )1 + ∑ ∫ M O dt = (H O )2
t1 t1
• Problems involving eccentric impact are solved by supplementing the principle of
impulse and momentum with the application of the coefficient of restitution.
Approaches to Rigid Body Kinetics Problems
 
∑ F = maG
Forces and Accelerations -> Newton’s Second Law (last chapter)  
∑ G G
M = H

Velocities and Displacements -> Work-Energy T1 + U1→2 =

T2

 t2  
Velocities and Time -> Impulse-Momentum mv1 + ∫ F dt =
mv2
t1

t2
I Gω1 + ∫ M G dt =
I G ω2
t1
Principle of Work and Energy
• Work and kinetic energy are scalar quantities.
• Assume that the rigid body is made of a large number of particles.
T1 + U1→2 = T2
T1 , T2 = initial and final total kinetic energy of particles forming body

U1→2 = total work of internal and external forces acting on particles of body.

• Internal forces between particles A and B are

equal and opposite.

• Therefore, the net work of internal forces is zero.

Work of Forces Acting on a Rigid Body
• Work of a force during a displacement of its
point of application,
A2
  s2

U1→2 = ∫ F ⋅ dr = ∫ ( F cos α ) ds
 
A1 s1

• Consider the net work of two forces F and − F


forming a couple of moment M during a
displacement of their points of application.
     
dU =F ⋅ dr1 − F ⋅ dr1 + F ⋅ dr2
ds2 Fr dθ
= F=
= M dθ
θ2
U1→2 = ∫ M dθ
θ1
= M (θ 2 − θ1 ) if M is constant.
Ex:

Do the pin forces at point A do work?

Yes No

Does the force P do work?

Yes No

answer ; N/ Y
Does the normal force N do work on the disk?

Yes No

Does the weight W do work?

Yes No

If the disk rolls without slip, does the friction force F do work?

Yes No
dU = F dsC = F (vc dt ) = 0

answer ; N/N/N
Kinetic Energy of a Rigid Body in Plane Motion
• Consider a rigid body of mass m in plane
motion consisting of individual particles i.
The kinetic energy of the body can then be
expressed as:
=T 1
2 mv 2 + 12 ∑ Δmi vi′2
= 1
2 mv 2 + 12 ( ∑ ri′2 Δmi ) ω 2
= 1
2 mv 2 + 12 I ω 2

• Kinetic energy of a rigid body can be

separated into:
- the kinetic energy associated with the
motion of the mass center G and
- the kinetic energy associated with the rotation of the body about G.

=T 1
2 mv 2 + 1
2 I ω2

Translation + Rotation
• Consider a rigid body rotating about a fixed axis through O.

=T 1
2∑ Δmi vi2
= 1
2 ∑ Δ=
mi ( riω )
2 1
2 ( ∑ r Δm ) ω
i
2
i
2

= 12 I Oω 2

• This is equivalent to using:

=T 1
2 mv 2 + 1
2 I ω2

• Remember to only use

T = 12 I Oω 2
when O is a fixed axis of rotation
Systems of Rigid Bodies
• For problems involving systems consisting of several rigid bodies, the principle of
work and energy can be applied to each body.
• We may also apply the principle of work and energy to the entire system,
T1 + U1→2 = T2 T1 ,T2 = arithmetic sum of the kinetic energies of all bodies
forming the system
U1→2 = work of all forces acting on the various bodies, whether
these forces are internal or external to the system as a
whole.

T
Conservation of Energy

• Expressing the work of conservative forces as a

change in potential energy, the principle of work and
energy becomes
T1 + V1 = T2 + V2
• Consider the slender rod of mass m.
T1 = 0, V1 = 0
T2 = 12 mv22 + 12 I ω 22

( ) ( )
2
2 1 ml
= 12 m 12 lω + 12 121 ml ω =2 2
ω2
2 3
V2 = − 12 Wl sin θ = − 12 mgl sin θ
T1 + V1 = T2 + V2
1 ml 2 2 1
=0 ω − mgl sin θ
2 3 2
• mass m
 3g 
• released with zero velocity ω =  sin θ 
• determine w at q  l 
Power

• Power = rate at which work is done

 
• For a body acted upon by force F and moving with velocity v ,
dU  
Power = = F ⋅v
dt

• For a rigid body rotating with an angular velocity ω and acted upon by a couple of

moment M parallel to the axis of rotation,
dU M dθ
Power = = = Mω
dt dt
Sample Problem 17.1
2
For the drum and flywheel, I 16 kg 
m .
The bearing friction is equivalent to a couple of At the
instant shown, the block is moving downward at 2 m/s.
Determine the velocity of the block after it has moved 1.25 m
downward.

STRATEGY:
• Consider the system of the flywheel and block. The work
done by the internal forces exerted by the cable cancels.
• Note that the velocity of the block and the angular velocity
of the drum and flywheel are related by v = rω
• Apply the principle of work and kinetic energy to develop an expression for the final
velocity.
MODELING and ANALYSIS:
• Consider the system of the flywheel and block. The work done
by the internal forces exerted by the cable cancels.
• Note that the velocity of the block and the angular velocity of
the drum and flywheel are related by
v1 2 m s v2 v2
v r
1   5rad s 2  
r 0.4 m r 0.4
• Apply the principle of work and kinetic energy to develop an
expression for the final velocity.
T1 12 mv12 12 I 12
1 1
 
2

120 kg 
2
2 m s 
2

16 kg m 2 5 rad s
2

440 J

=
T2 1 mv 2
2 2 + 12 I ω22
2
(120 kg ) v22 + 16  2  = 110v22
1 1 v
=
2 2  0.4 

T1 12 mv12 12 I 12 440 J

T2 12 mv22 12 I 22 110v22
• Note that the block displacement and pulley rotation are
related by
s 1.25m
2  2  3.125rad
r 0.4 m
Then,
 U12 W  s1  M 
s2  
2 1

 
2N 
1177  1.25m   3.125rad 
90 N m 
1190 J
• Principle of work and energy:
T1 U12 T2
440 J 1190 J 110 v22
v2 3.85m s
v2 3.85m s
REFLECT and THINK:
• The speed of the block increases as it falls, but much more slowly than if it were in
free fall. This seems like a reasonable result.
• Rather than calculating the work done by gravity, you could have also treated the
effect of the weight using gravitational potential energy, V g .
 Sample Problem 17.2
The system is at rest when a moment of is applied
to gear B .
Neglecting friction, a) determine the number of
revolutions of gear B before its angular velocity reaches
600 rpm, and b) tangential force exerted by gear B on
gear A .
m

STRATEGY:
• Consider a system consisting of the two gears. Noting that the gear rotational speeds are related,
evaluate the final kinetic energy of the system.
• Apply the principle of work and energy. Calculate the number of revolutions required for the work of
the applied moment to equal the final kinetic energy of the system.
• Apply the principle of work and energy to a system consisting of gear A. With the final kinetic energy
and number of revolutions known, calculate the moment and tangential force required for the indicated
work.
 MODELING and ANALYSIS:
• Consider a system consisting of the two gears. Noting that
the gear rotational speeds are related, evaluate the final kinetic
energy of the system.

=ωB
600 rpm )( 2π rad rev )
(= 62.8 rad s
60s min
rB 0.100
ω A ω=
= B 62.8 = 25.1rad s
rA 0.250
=
I A m= (10kg )( 0.200m
= ) 0.400 kg ⋅ m 2
2 2
Ak A

=
I B m= ( 3kg )( 0.080m
= ) 0.0192 kg ⋅ m 2
2 2
B kB

=T2 1
2 I Aω A2 + 12 I BωB2
= ( 0.400 )( 25.1 ) + 12 ( 0.0192 )( 62.8 )
1 2 2
2

= 163.9 J
 • Apply the principle of work and energy. Calculate
the number of revolutions required for the work.

T1 + U1→2 =
T2
0 + ( 6θ B ) J =
163.9J 27.32
θB
= = 4.35 rev
2π
θ B = 27.32 rad
• Apply the principle of work and energy to a system
consisting of gear A . Calculate the moment and
tangential force required for the indicated work.

rB 0.100
θ A θ=
= B 27.32 = 10.93rad
rA 0.250
= I Aω A2
= ( 0.400 )( 25.1
= )
1 1 2
T2 2 2 126.0 J
T1 + U1→2 =
T2
0 + M A (10.93rad ) =
126.0J 11.52
=F = 46.2 N
=
M A r=
AF 11.52 N ⋅ m 0.250
= =
mA 10 kg k A 200 mm
= =
mB 3kg k B 80 mm

REFLECT and THINK:

• When the system was both gears, the tangential force between the gears did not appear
in the work–energy equation, since it was internal to the system and therefore did no
work. If you want to determine an internal force, you need to define a system where the
force of interest is an external force. This problem, like most problems, also could have
been solved using Newton’s second law and kinematic relationships.
Sample Problem 17.3
A sphere, cylinder, and hoop, each having the same
mass and radius, are released from rest on an incline.
Determine the velocity of each body after it has
rolled through a distance corresponding to a change
of elevation h.
STRATEGY:
• The work done by the weight of the bodies is
the same. From the principle of work and energy,
it follows that each body will have the same kinetic energy after the change of
elevation.
• Because each of the bodies has a different centroidal moment of inertia, the
distribution of the total kinetic energy between the linear and rotational components
will be different as well.
 MODELING and ANALYSIS:
• The work done by the weight of the bodies is the same.
From the principle of work and energy, it follows that each
body will have the same kinetic energy after the change of
elevation.

v
With ω =
r
2
v 
T2 = mv + I ω = mv + I  
1
2
2 1
2
2 1
2
2 1
2
r
 I 
= 12  m + 2  v 2
 r 

T1 + U1→2 =
T2
 I  2
0 + Wh =
m + 2 v
1
2
 r 
2Wh 2 gh
=v2 =
m+I r 2
1 + I mr 2
 • Because each of the bodies has a different centroidal moment of inertia, the
distribution of the total kinetic energy between the linear and rotational components
will be different as well.
Sphere : I = 52 mr 2 v = 0.845 2 gh
2 gh Cylinder : I = 12 mr 2 v = 0.816 2 gh
v =
2
1 + I mr 2 Hoop : I = mr 2 v = 0.707 2 gh

NOTE:

• For a frictionless block sliding through the same distance, ω = 0, v = 2 gh

• The velocity of the body is independent of its mass and radius.
• The velocity of the body does depend on
2
I = k
mr 2 r2
Sample Problem
A 15-kg slender rod pivots about the point O. The
other end is pressed against a spring (k = 300 kN/m)
until the spring is compressed 40 mm and the rod
is in a horizontal position.
If the rod is released from this position, determine
its angular velocity and the reaction at the pivot as
the rod passes through a vertical position.

STRATEGY:
• The weight and spring forces are conservative. The principle of work and energy
can be expressed as T1 + V1 = T2 + V2
• Evaluate the initial and final potential energy.
• Express the final kinetic energy in terms of the final angular velocity of the rod.
• Based on the free-body-diagram equation, solve for the reactions at the pivot.
 MODELING and ANALYSIS:
• The weight and spring forces are conservative. The
principle of work and energy can be expressed as
T1 + V1 = T2 + V2

• Evaluate the initial and final potential energy.

2
V1 Vg Ve 0 12 kx12 12  0.040 m
300,000 N m 
240 J
I 121 ml 2 V2 = Vg + Ve = Wh + 0 = (147.15 N )( 0.75m )
1 = 110.4 J
  2.5m2 •
15kg 
Express the final kinetic energy in
12
m2
7.81kg  terms of the angular velocity of the rod.
2
T2 12 mv22 12 I 
2
2 1
2
m 
r 2 1
2
I 2
2
1 2
 
2

15 
0.75
2 12 
7.81 22 8.12 22
 From the principle of work and energy,
T1 V1 T2 V2
0 240 J 8.1222 110.4 J 2 3.995rad s

• Based on the free-body-diagram equation, solve for

the reactions at the pivot.

ω2 ( 0.75m )( 3.995rad s ) 11.97 m s 2
2
=
an r= 2
an 11.97 m s2 =

at = rα at r
∑ M O = ∑ (M O )eff 0 = I α + m(r α )r α =0
∑ Fx = ∑ (Fx )eff Rx = m(r α ) Rx = 0
∑ Fy = ∑ (Fy )eff R y 147.15 N man
 
15 kg 11.97 m s 2 
R y 32.4 N


R 32.4 N 
Sample Problem 17.6

Each of the two slender rods has a mass of 6 kg.

The system is released from rest with b = 60o.
Determine a) the angular velocity of rod AB when
b = 20o, and b) the velocity of the point D at the
same instant.

STRATEGY:
• Consider a system consisting of the two rods. With the conservative weight force,
T1 + V1 = T2 + V2
• Evaluate the initial and final potential energy.
• Express the final kinetic energy of the system in terms of the angular velocities of
the rods.
• Solve the energy equation for the angular velocity, then evaluate the velocity of the
point D.
 • MODELING and ANALYSIS:
Consider a system consisting of the two rods. With the
conservative weight force, T1 + V1 = T2 + V2

• Evaluate the initial and final potential energy.

V1 = 2Wy1 = 2(58.86 N )(0.325 m )
= 38.26 J

= Wy2 2 ( 58.86 N )( 0.1283m )

V2 2=
= 15.10 J

(
W = mg = (6 kg ) 9.81m s 2 )
= 58.86 N
 Express the final kinetic energy of the system in terms of
the angular velocities of the rods.

v AB = ( 0.375 m )ω
 
Since v B v
is perpendicular to AB and D is horizontal,
the instantaneous center of rotation for rod BD is C.
BC = 0.75 m CD = 2(0.75 m )sin 20° = 0.513 m
and applying the law of cosines to CDE, EC = 0.522 m

Consider the velocity of point B


=vB ( =AB ) ω ( BC ) ω AB ωBD = ω

vBD = ( 0.522 m ) ω
For the final kinetic energy,
1 ml 2 = 1 (6 kg )(0.75 m )2 = 0.281 kg ⋅ m 2
I AB = I BD = 12 12

T2 = 121 mv AB
2
+ 12 I ABω AB
2
+ 121 mvBD
2
+ 12 I BDωBD
2

= ( 6 )( 0.375ω ) + 12 ( 0.281) ω 2 + 121 ( 6 )( 0.522ω ) + 12 ( 0.281) ω 2

1 2 2
12

= 1.520ω 2
 • Solve the energy equation for the angular velocity, then
evaluate the velocity of the point D.

T1 + V1 = T2 + V2
0 + 38.26 J = 1.520ω 2 + 15.10 J 
ω AB = 3.90 rad s
ω = 3.90 rad s

vD = (CD )ω
= (0.513 m )(3.90 rad s )

= 2.00 m s vD = 2.00 m s

REFLECT and THINK:

The only step in which you need to use forces is when calculating the gravitational potential energy in each
position. However, it is good engineering practice to show the complete free-body diagram in each case to
identify which, if any, forces do work. You could have also used vector algebra to relate the velocities of the
various objects.
Angular Impulse Momentum
When two rigid bodies collide, we typically use principles of angular impulse momentum.
We often also use linear impulse momentum (like we did for particles).
Introduction

Approaches to Rigid Body Kinetics Problems

Velocities and Time -> Impulse-Momentum  t2  

mv1 + ∫ F dt =
mv2
t1

t2
I Gω1 + ∫ M G dt =
I G ω2
t1
Principle of Impulse and Momentum

• Method of impulse and momentum:

- well suited to the solution of problems involving time and velocity
- the only practicable method for problems involving impulsive motion and impact.

Sys Momenta 1 + Sys Ext Imp 1-2 = Sys Momenta 2

• The momenta of the particles of a system may be reduced to a vector attached to

  
=L ∑=
vi Δmi mv
 the mass center equal to their sum,

and a couple equal to the sum of their moments about the mass center,
  
=
H G ∑ i′× vi Δmi
r

• For the plane motion of a rigid slab or of a rigid body symmetrical with respect to

the reference plane, HG = I ω

• For plane motion problems, draw out an impulse-momentum diagram , (similar to a

 free-body diagram)

• This leads to three equations of motion:

- summing and equating momenta and impulses in the x and y directions
- summing and equating the moments of the momenta and impulses with respect
to any given point (often choose G)
Impulse Momentum Diagrams
A sphere S hits a stationary bar AB and sticks
to it. Draw the impulse-momentum diagram
for the ball and bar separately; time 1 is
immediately before the impact and time 2 is
immediately after the impact.
Momentum of Impulse Momentum of
the ball before on ball the ball after
impact Fimp∆t impact

Momentum of Impulse Momentum of

the bar before on bar the bar after
impact impact

Fimp∆t
Principle of Impulse and Momentum
• Fixed axis rotation:
- The angular momentum about O
I Oω = I ω + (mv )r
= I ω + (mr ω )r
( )
= I + mr 2 ω
- Equating the moments of the momenta and impulses
t2 about O,
I Oω1 + ∑ ∫ M O dt = I Oω 2
t1

The pin forces at point O now contribute no moment to the equation

Systems of Rigid Bodies

• Motion of several rigid bodies can be analyzed by applying the principle of impulse
and momentum to each body separately.
• For problems involving no more than three unknowns, it may be convenient to apply
the principle of impulse and momentum to the system as a whole.
• For each moving part of the system, the diagrams of momenta should include a
momentum vector and/or a momentum couple.
• Internal forces occur in equal and opposite pairs of vectors and generate impulses
that cancel out.
Conservation of Angular Momentum
• When no external force acts on a rigid body or a system of rigid bodies, the system
of momenta at t 1 is equipollent to the system at t 2 . The total linear momentum and
angular momentum about any point are conserved,
 
L1 = L2 (H 0 )1 = (H 0 )2

• When the sum of the angular impulses pass through O, the linear momentum may
not be conserved, yet the angular momentum about O is conserved,
(H 0 )1 = (H 0 )2
• Two additional equations may be written by summing x and y components of
momenta and may be used to determine two unknown linear impulses, such as the
impulses of the reaction components at a fixed point.
Sample Problem 17.7
The system is at rest when a moment of is applied
to gear B .
Neglecting friction, a) determine the time required for
gear B to reach an angular velocity of 600 rpm, and b)
the tangential force exerted by gear B on gear A .

= =
mA 10 kg k A 200 mm
= =
mB 3kg k B 80 mm

STRATEGY:
• Considering each gear separately, apply the method of impulse and momentum.
• Solve the angular momentum equations for the two gears simultaneously for the
unknown time and tangential force.
MODELING and ANALYSIS:
• Considering each gear separately, apply the method of impulse and momentum.

moments about A:

0 − FtrA = − I A (ω A )2
Ft (0.250 m ) = (0.400 kg ⋅ m )(25.1rad s )
Ft = 40.2 N ⋅ s

moments about B:
 0 + Mt − FtrB = I B (ω B )2
(6 N ⋅ m )t − Ft (0.100 m )
= (0.0192 kg ⋅ m 2 )(62.8 rad s )

• Solve the angular momentum equations for the two gears simultaneously for the
unknown time and tangential force.
t = 0.871 s F = 46.2 N

m A = 10 kg k A = 200 mm
mB = 3 kg k B = 80 mm
REFLECT and THINK:
• This is the same answer obtained in Sample Prob. 17.2 by the method of work and
energy, as you would expect. The difference is that in Sample Prob. 17.2, you were
 asked to find the number of revolutions, and in this problem, you were asked to find
the time.
• What you are asked to find will often determine the best approach to use when
solving a problem.
Sample Problem 17.8
Uniform sphere of mass m and radius r is projected along a rough

horizontal surface with a linear velocity v1 and no angular

velocity. The coefficient of kinetic friction is µk .

Determine a) the time t 2 at which the sphere will start rolling
without sliding and b) the linear and angular velocities of the
sphere at time t 2 .

STRATEGY:
• Apply principle of impulse and momentum to find variation of linear and angular velocities with
time.
• Relate the linear and angular velocities when the sphere stops sliding by noting that the velocity
of the point of contact is zero at that instant.
• Substitute for the linear and angular velocities and solve for the time at which sliding stops.
• Evaluate the linear and angular velocities at that instant.
 MODELING and ANALYSIS:
• Apply principle of impulse and
momentum to find variation of linear and
angular velocities with time.
• Relate linear and angular velocities
when sphere stops sliding by noting that
Sys Momenta1 + Sys Ext Imp1-2 = Sys Momenta2 velocity of point of contact is zero at that
instant.
Substitute for the linear and angular
velocities and solve for the time at which
sliding stops.
v2 = rω2
 5 µk g 
v1 − µk gt =
r t
 2 r 

2 v1
t=
7 µk g
 Evaluate the linear and angular velocities
at that instant.

 2 v1  5
v2= v1 − µk g   v2 = v1
 7 µk g  7

5 µk g  2 v1 
ω2 =  
2 r  7 µk g 
5 v1
ω2 =
7r

v2 = rω2
2 v1
 5 µk g  t=
v1 − µ k gt =
r t 7 µk g
2 r 
REFLECT and THINK:
• This is the same answer obtained in Sample Prob. 16.6 by first dealing directly with
force and acceleration and then applying kinematic relationships.
Sample Problem 17.9
Two solid spheres (radius = 100 mm, m = 1 kg) are mounted
on =
a spinning ⋅ m 2 , rod (
horizontal
I R 0.4 kg
w = 6 rad/sec) as shown. The balls are held together by a
string which is suddenly cut. Determine a) angular velocity of
the rod after the balls have moved to A’ and B’ , and b) the
energy lost due to the plastic impact of the spheres and stops.

STRATEGY:
• Observing that none of the external forces produce a moment about the y axis, the
angular momentum is conserved.
• Equate the initial and final angular momenta. Solve for the final angular velocity.
• The energy lost due to the plastic impact is equal to the change in kinetic energy of
the system.
 MODELING and ANALYSIS:
• Observing that none of the external
forces produce a moment about the y
axis, the angular momentum is
conserved. Equate the initial and final
Sys Momenta1 + Sys Ext Imp1-2 = Sys Momenta2 angular momenta. Solve for the
final angular velocity.

ms r12 + I S + I R 2 ( ms r1ω1 ) r1 + I S ω1 =

+ I Rω1 2 ( ms r2ω2 ) r2 + I S ω2  + I Rω2
ω 2 = ω1
ms r22 + IS + IR
ω1 = 6 rad s =I R 0.4 kg ⋅ m 2

=
IS 2=
5
ma 2
(1kg )( 0.1m
2
5
= )2 0.04 kg ⋅ m 2
=
mS r12 (1kg )( 0.15m
= )2 0.0225kg ⋅ m 2
=
mS r22 (1kg )( 0.6
= m ) 0.36 kg ⋅ m 2
2

2
 • The energy lost due to the
2 2.41rad s plastic impact is equal to the
change in kinetic energy of the
system.

T 2 ( 12 mS v 2 + 12 I S ω 2 ) + 12 I R=
= ω2 1
2 ( 2m r
S
2
+ 2I S + I R ) ω 2

=T1 2(
1=0.453 6 )( )
2
8.154 J
T2 1=
2 (
1.128 )(
2.4096
2
) 3.275J
ΔT = T2 − T1 = 8.154 − 3.275 ∆T =−4.88 J
REFLECT and THINK:
• As expected, when the spheres move outward, the angular velocity of the system
decreases. This is similar to an ice skater who throws her arms outward to reduce her
angular speed.
Eccentric Impact

 
( u A )n = ( uB )n

Period of deformation Period of restitution

 
Impulse = ∫ Rdt Impulse = ∫ Pdt

• Principle of impulse and momentum is supplemented by

 
∫
e = coefficient of restitution = 
Rdt
∫ Pdt
(v′B )n − (v′A )n
=
(v A )n − (v B )n These velocities are for the points of impact

Sample Problem 17.11

A 25-g bullet is fired into the side of a 10-kg square
panel which is initially at rest.
Determine a) the angular velocity of the panel
immediately after the bullet becomes embedded and
b) the impulsive reaction at A , assuming that the
bullet becomes embedded in 0.0006 s.

STRATEGY:
• Consider a system consisting of the bullet and panel. Apply the principle of impulse
and momentum.
• The final angular velocity is found from the moments of the momenta and impulses
about A .
• The reaction at A is found from the horizontal and vertical momenta and impulses.

MODELING and ANALYSIS:

• Consider a system
consisting of the bullet and
panel. Apply the principle of
impulse and momentum.
• The final angular velocity

moments about A : is found from the moments of

mB vB  0 m P v2 
0.4 m  0.25m 
I P2 the momenta and impulses
about A .
 1
v2 = ( 0.25m ) ω2 =IP 1=
m
6 P
b 2
(10 kg )( 0.5m
= )2 0.417 kg ⋅ m 2
6
( 0.025)( 450 )( 0.4 ) (10 )( 0.25ω2 )( 0.25) + 0.417ω2
=

ω2 = 4.32 rad s
=v2 (=
0.25 ) ω2 1.08m s 2 4.32 rad s

• The reactions at A are

found from the horizontal and
vertical momenta and impulses.

=ω2 4.32 rad =

s v2 (=
0.25 ) ω2 1.08m s
x components:
mB vB 
Ax t m p v2
0.025450Ax 0.0006 
101.08
 Ax 750 N Ax 750 N
y components:
0 + Ay ∆ t = 0 Ay = 0
REFLECT and THINK:
• The speed of the bullet is in the range of a modern high-performance rifle. Notice that the reaction at A is over
5000 times the weight of the bullet and over 10 times the weight of the plate.

Sample Problem 17.13

A 2-kg sphere with an initial velocity of 5 m/s strikes the lower
end of an 8-kg rod AB . The rod is hinged at A and initially at rest.
The coefficient of restitution between the rod and sphere is 0.8.
Determine the angular velocity of the rod and the velocity of the
sphere immediately after impact.

STRATEGY:
• Consider the sphere and rod as a single system. Apply the principle of impulse and momentum.
• The moments about A of the momenta and impulses provide a relation between the final angular
 velocity of the rod and velocity of the sphere.
• The definition of the coefficient of restitution provides a second relationship between the final
angular velocity of the rod and velocity of the sphere.
• Solve the two relations simultaneously for the angular velocity of the rod and velocity of the
sphere.
• MODELING and ANALYSIS:
Consider the sphere and rod as
a single system. Apply the
principle of impulse and
momentum.
• The moments about A of

moments about A : the momenta and impulses

provide a relation between the
final angular velocity of the rod
ms vs (1.2 m ) = ms v′s (1.2 m ) + mR vR′ (0.6 m ) + I ω ′ and velocity of the rod.

( 2 kg )(=
5 m s )(1.2 m ) ( 2 kg ) vs′ (1.2 m ) + ( 8 kg )( 0.6 m ) ω ′ ( 0.6 m )
+ ( 0.96 kg ⋅ m 2 ) ω ′
 12 2.4 vs′ + 3.84 ω ′
=

• The definition of the coefficient of restitution provides a second relationship between the final
angular velocity of the rod and velocity of the sphere.
• Solve the two relations simultaneously for the angular velocity of the rod and velocity of the
sphere.
12 2.4 vs′ + 3.84 ω ′
Moments about A : =
 v′B − v′s = e(vB − vs )
Relative velocities: (1.2 m )ω − vs = 0.8(5 m s )
′ ′
Solving,
ω ′ = 3.21rad/s ω ′ = 3.21rad/s
v′s = −0.143 m s v′s = 0.143 m s
REFLECT and THINK
• The negative value for the velocity of the sphere after impact means that it bounces
back to the left. Given the masses of the sphere and the rod, this seems reasonable
Sample Problem 17.14
A square package of mass m moves down conveyor
belt A with constant velocity. At the end of the
conveyor, the corner of the package strikes a rigid
support at B . The impact is perfectly plastic.
Derive an expression for the minimum velocity of
conveyor belt A for which the package will rotate
about B and reach conveyor belt C.
STRATEGY:
• Apply the principle of impulse and momentum to relate the velocity of the package
on conveyor belt A before the impact at B to the angular velocity about B after
impact.
• Apply the principle of conservation of energy to determine the minimum initial
angular velocity such that the mass center of the package will reach a position directly
above B .
• Relate the required angular velocity to the velocity of conveyor belt A .
MODELING and ANALYSIS:
• Apply the principle of impulse and momentum to relate the velocity of the package
on conveyor belt A before the impact at B to angular velocity about B after impact.

Moments about B :
(mv1 )(12 a ) + 0 = (mv2 )( 22 a ) + I=
ω2 v (=
a )ω I 2 2
2
2
1
6 m a2

mv1 ) ( 12 a ) + 0
(= m ( 2
2
aω2 )( a ) + (
2
2 1
6 ma 2 ) ω2

v1 = 34 aω2
 • Apply the principle of conservation of energy to determine
the minimum initial angular velocity such that the mass center
of the package will reach a position directly above B .
T2 + V2 = T3 + V3

T2 = 12 mv22 + 12 I ω 22
h2 = (GB )sin (45° + 15°)
( )sin 60° = 0.612a
= 22 a = 12 m ( 2
2
aω 2 ) + ( ma )ω
2
1 1
2 6
2 2
2 = 13 ma 2ω 22
V2 = Wh2
T3 = 0 (solving for the minimum w 2 )
V3 = Wh3
1
3 ma 2ω22 + Wh2 =
0 + Wh3
3W 3g
2 ( 3 2) ( 0.707a − 0.612=
ω
= 2
2 h − h= a) 0.285 g a
ma a2

h3 = 2
2
a = 0.707 a =v1 aω2
=
4
3
4
3 a 0.285 g a v1 = 0.712 ga
REFLECT and THINK:
• The combination of energy and momentum methods is typical of many design
analyses. If you had been interested in determining the reaction at B immediately
after the impact or at some other point in the motion, you would have needed to
draw a free-body diagram and kinetic diagram and apply Newton’s second law.