ENGR 2090 : Engineering Dynamics

Lecture 10
Section 03, TF 08:00 AM – 09:50 AM

Professor Singh, JEC 2040| 10/10/22

Lecture 10Slide 1
Divider
Angular Impulse and
Two Lines
Momentum Max

Key Takeaways:
• Angular Momentum
• Elastic and Inelastic Collisions
• Coefficient of Restitution
• Numerical Examples

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 Angular Momentum
H is the symbol we will use to represent ‘Angular Momentum’. Angular
Momentum is the tendency of an object to keep spinning.
𝑒Ƹ3 𝑖ൗ
𝑁
‘N’ 𝐻 𝑜 ≡ 𝑟റ 𝑜𝑖 × 𝑚𝑖 𝑁𝑉 𝑖
𝑁 𝑖
𝑉 𝑖
H represents a body’s rotational
𝑟റ 𝑜𝑖 inertia and rotational velocity
o 𝑒Ƹ2 about a particular axis.

𝑒1Ƹ
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Time Derivative of H
𝑁 𝑁
𝑑 𝑁 𝑖ൗ 𝑑 𝑜𝑖 Taking derivatives in
𝐻 𝑜 = 𝑟റ × 𝑚𝑖 𝑁𝑉 𝑖 the inertial `N’ frame
𝑑𝑡 𝑑𝑡
Note, we are going to use an identity : 𝐴റ × 𝑐𝐵 = 𝑐 𝐴റ × 𝐵
Derivative is spread across the cross product like chain rule.
𝑁
𝑑 𝑁 𝑖ൗ𝑜
𝑑𝑟റ 𝑜𝑖 𝑁 𝑖 𝑑 𝑁𝑉 𝑖
𝐻 = 𝑚𝑖 × 𝑉 + 𝑟റ 𝑜𝑖 ×
𝑑𝑡 𝑑𝑡 𝑑𝑡
More elegantly,
𝑁
𝑑 𝑁 𝑖ൗ 𝑑 𝑜𝑖 𝑁 𝑖 𝑜𝑖
𝑑 𝑁 𝑖
𝐻 𝑜 = 𝑚𝑖 𝑟റ × 𝑉 + 𝑟റ × 𝑉
𝑑𝑡 𝑑𝑡 𝑑𝑡
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Time Derivative of H

Let’s use some definitions from previous lectures.

𝑑 𝑜𝑖 𝑁 𝑖ൗ 𝑑 𝑁 𝑖 𝑁 𝑖
𝑟റ = 𝑉 𝑜 𝑉 = 𝑎റ
𝑑𝑡 𝑑𝑡

Let’s rewrite the last equation from the previous slide then:

𝑁
𝑑 𝑁𝐻 𝑖ൗ𝑜 𝑁𝑉 𝑖ൗ𝑜
= 𝑚𝑖 × 𝑁𝑉 𝑖 + 𝑟റ 𝑜𝑖 × 𝑁𝑎റ 𝑖
𝑑𝑡

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Time Derivative of H

• Stare at the cross products for a while…

𝑁
𝑑 𝑁𝐻 𝑖ൗ𝑜 𝑁𝑉 𝑖ൗ𝑜
= 𝑚𝑖 × 𝑁𝑉 𝑖 + 𝑟റ 𝑜𝑖 × 𝑁𝑎റ 𝑖
𝑑𝑡
Any insights on this term? 𝑁𝑉 𝑖Τ𝑜 × 𝑁𝑉 𝑖 Discuss.

Yes! This denotes cross product between same vectors.

𝑁𝑉 𝑖ൗ𝑜 × 𝑁𝑉 𝑖 = 𝑁𝑉 𝑖 × 𝑁𝑉 𝑖 = 0

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Time Derivative of H

• Bear with me. I promise this will lead to something important!

𝑁
𝑑 𝑁𝐻 𝑖ൗ𝑜 = 𝑚𝑖 𝑟റ 𝑜𝑖 × 𝑁𝑎റ 𝑖
𝑑𝑡
Note, we are going to use an identity : 𝐴റ × 𝑐𝐵 = 𝑐 𝐴റ × 𝐵
𝑁
𝑑 𝑁𝐻 𝑖ൗ𝑜 = 𝑟റ 𝑜𝑖 × 𝑚𝑖 𝑁𝑎റ 𝑖
𝑑𝑡
Discussion : What is that last term?

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Time Derivative of H
𝑁
𝑑 𝑁𝐻 𝑖ൗ𝑜 𝑁𝑀 𝑖ൗ𝑜
= 𝑟റ 𝑜𝑖 × 𝑚𝑖 𝑁𝑎
റ𝑖 = 𝑟റ 𝑜𝑖 × റ𝑖
𝑁𝐹 =
𝑑𝑡
What is Moment? : Product of distance with a physical quantity.
𝑁 𝑖Τ
𝑀 𝑜 is the moment of force, AKA Torque.

𝑁 𝑖ൗ𝑜 𝑁 𝑖ൗ𝑜
𝑑 𝐻 = 𝑀 𝑑𝑡
This expression can be integrated, to find:
𝑡2 𝑖 𝑖
න 𝑁𝑀 𝑖ൗ𝑜 𝑑𝑡 = 𝑁𝐻 ൗ𝑜 − 𝑁𝐻 ൗ𝑜
2 1
𝑡1
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Insights

• Consider: There are no external moment couples due to forces on

the system.

𝑡2 𝜂 𝜂
𝑖ൗ 𝑖ൗ
𝑁 𝑖ൗ𝑜 𝑁 𝑜 𝑁 𝑜
න ෍ 𝑀 𝑑𝑡 =0= ෍ 𝐻2 − 𝐻1
𝑡1 𝑖=1 𝑖=1

This statement is the Conservation of Angular

Momentum.

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Revisiting Collisions

• Recall, collisions involve an impact between two or more bodies.

A 𝑁𝑉 𝐴 > 𝑁𝑉1𝐵 B
1
We defined three states,

• State 1: before impact

• State 1.5: during impact A B
• State 2: after impact

𝑁𝑉 𝐴 B
A
2 < 𝑁𝑉2𝐵

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Coefficient of Restitution, e

• Coefficient of Restitution determines the efficiency of collision.

(𝑣2𝐵 −𝑣2𝐴 ) (𝑅𝑒𝑙. 𝑉𝑒𝑙. 𝑎𝑓𝑡𝑒𝑟 𝑐𝑜𝑙𝑙𝑖𝑠𝑖𝑜𝑛)

𝑒= 𝐴 𝐵 =
(𝑣1 −𝑣1 ) (𝑅𝑒𝑙. 𝑉𝑒𝑙. 𝑏𝑒𝑓𝑜𝑟𝑒 𝑐𝑜𝑙𝑙𝑖𝑠𝑖𝑜𝑛)
Typically, 𝑒 ∈ [0,1]
ESTABLISH A REFERENCE FRAME. FOR OBLIQUE COLLISIONS, e is
CALCULATED ONLY USING VELOCITIES IN THE NORMAL DIRECTION TO
THE IMPACT (LINE JOINING COM)

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A Schematic Example

• Collision can happen in 1D, 2D or 3D.

1D: Motion before and after
A B impact along the same line.

2D: Motion before and after

A B impact along different directions.

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Elastic and Inelastic Collisions

A perfectly elastic collision means that the efficiency is 1.

An inelastic collision means the efficiency is less than 1.

Perfectly inelastic collision is when two particles come together and stick together.

Elastic Collision Inelastic Collision

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Elastic Collisions
We will consider Elastic Collisions to have two assumptions:
1. There are no net external forces to the system
2. There is no momentum lost during the collision to other ‘physics’ or ‘chemistry’

𝐴 𝐴 𝐵 𝐵
𝑃1 − 𝑃2 = 𝑃2 − 𝑃1
𝜂
If we consider multiple bodies all making elastic collisions: ෍ 𝑃2𝑖 − 𝑃1𝑖 = 0
Conserved quantities: 𝑖=1
• Linear Momentum What about inelastic
• Kinetic Energy collisions? Discuss.

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Divider
ExampleSlide 1
Problems:
Lecture
Two 10 Max
Lines

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Example 1

Problem Statement: The assembly starts

from rest and reaches an angular speed of
150 rev/min under the action of a 20-N force
T applied to the string for t seconds.
Determine t. Neglect friction and all masses
except those of the four 3-kg spheres, which
may be treated as particles.

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Example 1
𝑞ො3
Establish Bases
𝑞ො2 One of the balls
‘A’ spinning is called
𝑛ො 3 ‘i’
i
𝑞ො1
O Note that point O
𝑛ො 2 is located at the
center of the
‘N’ spinning 4 balls.
𝑛ො1

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Example 1
Governing Equation
So yes, I probably need the angular momentum equation:
𝑡2 𝑖ൗ 𝑖ൗ
𝑖ൗ
න 𝑀 𝑜 𝑑𝑡 = 𝐻2 − 𝐻1 𝑜
𝑁 𝑁 𝑜 𝑁
𝑡1

We saw what H was, mathematically,

𝑁𝐻 𝑖ൗ𝑜 ≡ 𝑟റ 𝑜𝑖 × 𝑚𝑖 𝑁𝑉 𝑖
Hmmm… looks like I will need an expression for velocity. Let’s start there.

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Example 1

Relative Velocity
Recall expression of velocity in a rotating frame expressed in inertial frame:

𝑁 𝑖 𝑁 𝑂 𝐴 𝑖ൗ𝑂
𝑉 = 𝑉 + 𝑉 + 𝑁𝜔 𝐴 × 𝑟റ 𝑂𝑖

Discussion : Who can tell me what these terms represent?

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Example 1
𝑞ො3
Simplify
𝑞ො2
𝑁𝑉 𝑖 = 𝑁𝑉 𝑂 + 𝐴𝑉 𝑖ൗ𝑂 + 𝑁𝜔 𝐴 × 𝑟റ 𝑂𝑖 ‘A’
𝑛ො 3
0 0 i
𝑞ො1
𝑁 𝑖
𝑉 = 𝑁𝜔 𝐴 × 𝑟റ 𝑂𝑖 O
𝑛ො 2
Governing Equation is:
𝑡2 ‘N’
𝑖 𝑖
න 𝑁𝑀 𝑖ൗ𝑜 𝑑𝑡 = 𝑁 𝐻 ൗ𝑜 − 𝑁𝐻 ൗ𝑜 𝑛ො1
2 1
𝑡1

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Example 1
The system starts from rest and we insert the expression for H:
𝑡2
𝑖ൗ
න 𝑀 𝑜 𝑑𝑡 = 𝑟റ 𝑜𝑖 × 𝑚𝑖 𝑁𝜔 𝐴 × 𝑟റ 𝑂𝑖
𝑁
𝑡1
𝑛ො 3
Now we need to express the moment of force or torque in
the `N’ frame.
𝑛ො 2
Well, it’s a Tension T that is 0.1 meters out from the radius. ‘N’
𝑛ො1
𝑀 = 𝑟റ × 𝐹റ = −0.1𝑛ො 2 × −𝑇𝑛ො 3 = 0.1𝑇𝑛ො1

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Example 1

• Integrate the LHS now with moment expression

This is a relatively simple integration: (useful note, 𝑛ො1 is constant in time)
𝑡2 𝑁 𝑖Τ𝑜 𝑡
‫׬ = 𝑡𝑑 𝑀 𝑡׬‬0 0.1𝑇𝑛ො1 𝑑𝑡 = 0.1𝑇𝑡 𝑛ො1
1

Ok, let’s plug this into the previous equation. (The 4 that magically appears is
due to the fact the spindle has 4 balls).

0.1𝑇𝑡 𝑛ො1 = 4 𝑟റ 𝑜𝑖 × 𝑚𝑖 𝑁𝜔 𝐴 × 𝑟റ 𝑂𝑖

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Example 1

• Some more calculations…

0.1𝑇𝑡 𝑛ො1 = 4 𝑟റ 𝑜𝑖 × 𝑚𝑖 𝑁
𝜔 𝐴 × 𝑟റ 𝑂𝑖

0.4 𝑞ො2
Now to calculate the cross product:
𝑁𝜔 𝐴 × 𝑟റ 𝑂𝑖 = 𝜔 ෝ𝑞1 × 0.4 𝑞ො2 = 0.4 𝜔 𝑞ො3
0.1𝑇𝑡 𝑛ො1 = 4 0.4 𝑞ො2 × 𝑚𝑖 0.4 𝜔 qො 3
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Example 1

• Just about done…

0.1𝑇𝑡 𝑛ො1 = 4 0.4 𝑞ො2 × 𝑚𝑖 0.4 𝜔 qො 3
0.1𝑇𝑡 𝑛ො1 = 12𝑘𝑔 0.16 𝜔 𝑞ො1
Man, am I happy I set 𝑛
ො1 = 𝑞ො1 Frames are aligned!!

0.1𝑇𝑡 = 12𝑘𝑔 0.16𝜔

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Example 1

• Plug and Chug

Convert from rev/min to rad/s ‘X’ rev/min = ‘X’ * (2π/60) rad/s

T = 20 N (given)

4 × 3 × 0.16 × 15.71
After solving, 𝑡= = 15.08 𝑠
20 × 0.1

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Example 2

Problem Statement: To pass inspection, steel

balls designed for use in ball bearings must clear
the fixed bar A at the top of their rebound when
dropped from rest through the vertical distance H
= 36 in. onto the heavy inclined steel plate. If the
balls which have a coefficient of restitution of
less than 0.7 with the rebound plate are to be
rejected, determine the position of the bar by
specifying h and s. Neglect any friction during
the impact.

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Example 2

• Let’s begin with good old frame definitions.

𝒋Ƹ 𝑛ො

One frame aligned with gravity

The other one aligned with the wedge

𝑡Ƹ

𝒊Ƹ
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Example 2

• First we need the velocity of the ball as it impacts.

Using Kinematics,

Constant Acceleration means this is true: 𝑣𝑓2 = 𝑣𝑖2 + 2𝑎𝑠

𝑣𝑓2 = 2𝑔ℎ
𝑓𝑡 1 𝑓𝑡 𝑓𝑡
𝑣𝑓 = 2𝑔ℎ = 2 32.2 36 𝑖𝑛𝑐ℎ𝑒𝑠 = 13.90
𝑠𝑒𝑐 2 12 𝑖𝑛𝑐ℎ𝑒𝑠 𝑠𝑒𝑐

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Example 2
𝑛ො 𝑗Ƹ Velocity of impact is along - 𝑗Ƹ

From Geometry,
𝜃 = 10°

𝜃 𝑗Ƹ = − sin 10° 𝑡Ƹ + cos 10° 𝑛ො

𝑵𝑻 𝑏𝑎𝑙𝑙
𝑉2 = −13.9 − sin 10° 𝑡Ƹ + −13.9 cos 10° 𝑛ො

𝑡Ƹ

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 Example 2

• Now we use the formula for coefficient of restitution.

𝐵 𝐴
𝑣3𝑛 − 𝑣3𝑛 Note: e only applies along
State 2 State 3 𝑒= 𝐴 𝐵 the normal direction.
𝑣2𝑛 − 𝑣2𝑛
Fair to say, plate is stationary?

𝑏𝑎𝑙𝑙 𝑏𝑎𝑙𝑙
𝑣3𝑛 𝑣3𝑛 𝑏𝑎𝑙𝑙
𝑓𝑡
𝑒= 𝑏𝑎𝑙𝑙 → 0.7 = 13.9 cos 10° 𝑣3𝑛 = 9.58
−𝑣2𝑛 𝑠𝑒𝑐
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Example 2

• Expressing the complete velocity vector at State 3

𝑵𝑻𝑉 𝑏𝑎𝑙𝑙 = −13.9 − sin 10° 𝑡Ƹ + 0.7 −13.9 cos 10° 𝑛ො
3

𝑵𝑻 𝑏𝑎𝑙𝑙
𝑓𝑡
𝑉3 = 2.41𝑡Ƹ + 9.58𝑛ො
𝑠𝑒𝑐

So, who is up for a trip back to the N Basis?

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Example 2
The acceleration due to gravity is in the N basis, in 𝑖Ƹ − 𝑗.Ƹ
We should work in that system.

𝑡Ƹ = cos 10° 𝑖Ƹ − sin 10° 𝑗Ƹ

𝑛ො = sin 10° 𝑖Ƹ + cos 10° 𝑗Ƹ
𝑵𝑉 𝑏𝑎𝑙𝑙
𝑓𝑡
3 = 4.04𝑖Ƹ + 9.02𝑗Ƹ
𝑠𝑒𝑐
Then, in words, you find the max height a ball would reach, and use the time to
get there to find the value for s, using 1D kinematics along y and x respectively.

The answers are s = 1.13 ft and h = 1.263 ft, but since this is a problem we have
done so many times, I am going to skip over it.
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