Work-Energy -- and ---

Impulse Momentum Principles

ENGR. ELDEMAR MIRAFLOR, REE
Objectives:
✓ Understand the operating principles,

✓ explore applications, and

✓ solve related problems.

The principle of work and kinetic energy (also known as the
work-energy theorem): the work done by the sum of all forces
acting on a particle equals the change in the kinetic energy of the
particle.
The impulse-momentum theorem: impulse is equal to this
change in momentum.
Power provides a useful basis for choosing the type of motor or
machine which is required to do a certain amount of work in a
given time.
Mechanical efficiency is a dimensionless number that measures
the effectiveness of a machine in transforming the power input to
the device to power output.
Work of a Variable Force Work of a Constant Force
 Work of a Weight

Work of a Spring Force

Examples:

1. A 100 N force is applied to move a 15 kg object a horizontal

distance of 5 meters at a constant speed.
2. A 100 N force is applied at angle of 30° to the horizontal to
move a 15 kg object at a constant speed for a horizontal
distance of 5 m.
3. An upward force is applied to lift a 15 kg object to a height of
5 meters at constant speed.

Ans:
1. 500 J
2. 433 J
3. 736 J
Examples:

1. The 10-kg block shown in the figure rests on the smooth

incline. If the spring is originally stretched at 0.5 m, determine
the total work done by all the forces acting on the block when
a horizontal force P = 400 N pushes the block up the plane s
= 2 m.

Ans:
692.8
-90
-98.1
= 505 J
Procedure of Analysis:

1. Establish a coordinate system and draw free body diagram to

account for all the forces acting on the body.
2. A force does work when it moves through a displacement in the
direction of the force.
3. Work is positive when the force component in the same sense of
direction as its displacement, otherwise it is negative.
4. The work of a weight is the product of the weight magnitude and
vertical displacement. It is positive when the weight moves
downwards
Example:
The 50-kg crate shown in the figure
rests on a horizontal surface for which the
coefficient of kinetic friction is 𝜇𝑘= 0.3. If the
crate is subjected to a 400-N towing force
at 30 degree, determine the velocity of the
crate in 3 s starting from rest.

Ans:
𝒗𝒇 = 𝟏𝟓. 𝟓𝟓𝟔 𝒎/s
Example:
For a short time, the crane lifts the 2.50-Mg beam with a force
of 𝐹 = (28 + 3𝑠^2 ) kN. Determine the speed of the beam when it has
risen 𝑠 = 3 𝑚.

Ans:
𝒗𝒇 = 𝟓. 𝟒𝟕 𝒎/s
Example:
The 3500-lb automobile
shown in the figure travels down
the 10° inclined road at a speed
of 20 ft/s. If the driver jams on
the brakes, causing his wheels
to lock, determine how far 𝑠 the
tires skid on the road. The
coefficient of kinetic friction
between the wheels and the
road is 𝜇 = 0.5.
𝑘

Ans:
S = 19.49 ft
Power and Efficiency
The term "power" provides a useful basis for choosing the type
of motor or machine which is required to do a certain amount of
work in a given time. For example, two pumps may each be able
to empty a reservoir if given enough time; however, the pump
having the larger power will complete the job sooner. The power
generated by a machine or engine that performs an amount of
work 𝑑𝑈 within the time interval 𝑑𝑡 is therefore,
Power and Efficiency
Efficiency. The mechanical efficiency of a machine is defined as
the ratio of the output of useful power produced by the machine to
the input of power supplied to the machine. Hence,

Since machines consist of a series of moving parts,

frictional forces will always be developed within the machine, and
as a result, extra energy or power is needed to overcome these
forces. Consequently, power output will be less than power input
and so the efficiency of a machine is always less than 1.
Procedure of Analysis:

1. First determine the external force F acting on the body which causes
the motion. This force is usually developed by a machine or engine
placed either within or external to the body.
2. If the body is accelerating, it may be necessary to draw its free-body
diagram and apply the equation of motion ∑ 𝐹 = 𝑚𝑎 to determine F.
3. Once F and the velocity 𝑣 of the particle where F is applied have
been found, the power is determined by multiplying the force
magnitude with the component of velocity acting in the direction of 𝐹,
(𝑃 = 𝐹 · 𝑣 = 𝐹𝑣 𝑐𝑜𝑠𝜃).
4. In some problems the power may be found by calculating the work
done by 𝐹 per unit of time (𝑃 𝑎𝑣𝑔 = ∆𝑈 / ∆𝑡).
Conservative Forces and the
Conservation of Mechanical Energy
A force is said to be conservative if its work depends only on the
initial and final positions of its point of application. All the specific forces
discussed in the previous article are conservative, because in each case
we could determine the work without having to specify the path between
the end points.
It is often convenient to describe the effects of conservative forces
in terms of their potential energies. Roughly speaking, potential energy is
the capacity of the total energy (the sum of all forms of energy) remains
constant for a closed system. The form of the energy may change—for
example, electrical energy may be converted to mechanical energy—but
the total energy can neither be created nor destroyed.
Conservative Forces and the
Conservation of Mechanical Energy
In mechanics, we restrict our attention to mechanical energy,
defined to be the sum of the potential and kinetic energies. If all forces
acting on a particle, body, or closed system of bodies are conservative,
mechanical energy is conserved, a concept known as the principle of
conservation of mechanical energy.
Example: The 30-lb block A is placed on top of two nested springs B and C and then
pushed down to the position shown. If it is then released, determine the maximum
height h to which it will rise.
Principle of Linear Impulse and Momentum
Procedure of Analysis:

The principle of linear impulse and momentum is used to solve problems involving
force, time and velocity, since these terms are involved in the formulation:
• Establish the x, y or z coordinate axis and draw the particles free-body diagram in
order to account for all the forces that produce impulses on the particle.
• The direction and sense of the particle initial and final velocities should be
established
• If a vector is unknown, assume that the sense of its components is in the direction
of the positive inertial coordinate(s).
• In accordance with the established coordinate system, apply the principle of linear
impulse and momentum,
• If motion occurs in the x-y plane, the two scalar component equations can be
formulated by either resolving the vector components of F from the free-body
diagram, or by using the data on the impulse and momentum diagrams.
• Realize that every force acting on the particle's free-body diagram will create an
impulse, even though some of these forces will do no work.
• Forces that are functions of time must be integrated to obtain the impulse.
• Graphically, the impulse is equal to the area under the force-time curve.
Example: A golfer hits a ball of mass 45g at a speed of 40m/s. The golf club is in
contact with the ball for 3 s. Compute the average force applied by the club on the
ball?
Example: Two sumo wrestlers are in a match. At the start of the match, they both
lunge at each other. They hit and miraculously come to a stand still. One wrestler was
200kg and traveling at a velocity of 2.3ms at the instance of collision. If the other
wrestler was traveling at 2.9ms, what is his mass?
Example: The 100-kg stone shown in the figure is originally at rest on the smooth
horizontal surface. If a towing force of 200 N, acting at an angle of 45°, is applied to
the stone for 10 s, determine the final velocity and the normal force which the surface
exerts on the stone during this time interval.
Principle of Angular Impulse and Momentum
The angular momentum of a particle about point 0 is defined as the "moment" of the
particle's linear momentum about O. Since this concept is analogous to finding the
moment of a force about a point, the angular momentum, Ho, is sometimes referred to
as the moment of momentum.

Scalar Formulation: (𝑯𝑶)𝒁 = (𝒅)(𝒎𝒗) Vector Formulation: 𝑯𝑶 = r𝒎𝒗

Principle of Angular Impulse and Momentum
Principle of Angular Impulse and Momentum
Procedure of Analysis:

When applying the principles of angular impulse and momentum, or the

conservation of angular momentum, it is suggested that the following procedure be
used.
• Draw the particle's free-body diagram in order to determine any axis about which
angular momentum may be conserved. For this to occur, the moments of all the
forces (or impulses) must either be parallel or pass through the axis so as to create
zero moment throughout the time period 𝑡1 to 𝑡2.
• The direction and sense of the particle's initial and final velocities should also be
established.
• An alternative procedure would be to draw the impulse and momentum diagrams
for the particle
Example: The 1.5-Mg car travels
along the circular road as shown in
the figure. If the traction force of the
wheels on the road is 𝐹 = (150𝑡 2 ) N,
where t is in seconds, determine the
speed of the car when 𝑡 = 5 𝑠. The
car initially travels with a speed of 5
m/s. Neglect the size of the car.
Practice Problems
1. The three identical 2-kg blocks slide on the horizontal surface with negligible
friction. Initially A is moving to the right at 3 m/s while B and C are at rest.
Assuming all collisions to be plastic.
a) Determine the velocities of the blocks after the first collision.
b) Determine the velocities of the blocks after the second collision.

2. The two carts A and B are coasting with the speeds shown. After A collides with B,
the carts become coupled together.
a) Determine the final speed of the carts
b) Percentage of kinetic energy lost during the coupling procedure
Practice Problems
3. The pendulum impact tester shown consists of a pendulum
that rotates freely about the pivot O. The pendulum is made
up of a sender rod of length L = 800 mm and mass 5 kg and a
block at the end of the rod. The block has the dimensions: a =
250 mm and b = 200 mm with a mass of 30 kg. Determine the
reaction force when the pendulum is releases from rest at = 0.

4. A 35-lb non-uniform disk of radius 0.5 ft rests on a

horizontal surface. The disk is released from rest in the
position shown in the figure. If the disk's radius of gyration
about its mass center G is 0.2 ft and the coefficient of static
and kinetic friction between the disk and surface are 0.4 and
0.2, respectively, determine the angular acceleration at the
instant it is released.
Practice Problems
5. A steel sphere is dropped from rest from a height of 0.5 m above a marble
countertop. The sphere rebounds to a height of 0.4 m following the impact. Determine
the coefficient of restitution e for this situation.
6. The two spheres each have a mass of 3kg and are
attached to the rod of negligible mass. Determine the time
the torque m=8t N-m where t is in seconds, must be applied
to the rod so that each sphere attains a speed of 3m/s
starting from rest.

7. A ball, of radius 2 meters, rides on a conveyer belt as shown in the figure. If the
velocity of the ball's center O is 1.5 m/s, directed to the left, and the velocity of the
top of the conveyer belt is 3 m/s, directed to the right, determine the angular velocity
of the ball. Assume that the ball rolls on the conveyor belt without slipping.
Dynamics of Particle Systems
Impulse is a term that quantifies the overall effect of a force acting
over time.

Momentum is the is a measurement of mass in motion how much

mass is in how much motion.

Particle System is a particle system is a collection of many minute

particles that together represent a fuzzy object.

Relative Motion is motion as observed from or referred to some

material system constituting a frame of reference.
Position Vector Relative Velocities
Remember:
Example 1. Two airplanes A and B are flying with constant velocities at the same
altitude. The positions of the planes at time t = 0 are shown in the figure.
Determine: a. the velocity of plane A relative to B;
b. the position vector of A relative to B as a function of time; and
c. the minimum distance between the planes and the time when this occurs.

The velocity of A relative to B is,

b.

𝑟𝐴/𝐵 = (256𝑖 + 504𝑗)𝑡 + 𝑟0 @ t=0; 𝑟𝐴/𝐵 = −30j km

−30𝑗 = 0 + 𝑟0
𝑟𝐴/𝐵 = (256𝑖 + 504𝑗)𝑡 − 30j
𝑟𝐴/𝐵 = (256𝑖 + 504𝑗)𝑡 − 30j
𝒓𝑨/𝑩 = 256t𝑖 + (504𝑡 − 𝟑𝟎)𝒋
2
𝑠2 = 𝑟𝐴/𝐵 = 256𝑡 2 + (504𝑡 − 30)2 minimum
2
distance
𝑑𝑠
∴ =0
0 = 2(256𝑡)(256) + 2(504𝑡 − 30)(504) 𝑑𝑡

𝑡 = 𝟎. 𝟎𝟒𝟕𝟑𝟐 𝒉𝒓𝒔 𝑜𝑟 𝟏𝟕𝟎. 𝟑𝟒𝒔

∴ 𝑠 2 = 256𝑡 2 + (504𝑡 − 30)2 @t= 0.04732 ℎ𝑟𝑠
𝑠𝑚𝑖𝑛 = (256 × 0.04732)2 + 504 × 0.04732 − 30 2 = 𝟏𝟑. 𝟓𝟗 𝒌𝒎

𝑨𝑪 30cos(26.93)
or: 𝒔𝒎𝒊𝒏 = 𝑩𝑪 = 30sin 26.93 = 𝟏𝟑. 𝟓𝟗 𝐤m 𝒕= = = 𝟎. 𝟎𝟒𝟕𝟑𝟐 𝐡𝐫
𝒗𝑨/𝑩 565.3
Kinetics: Force-Mass-Acceleration Method
Example 1. The 90-N force in Fig. (a) is a)
applied to the cable that is attached to
the 60-N block A. In the figure b, this
force is replaced by a 90-N block B.
Neglecting the mass of the pulley,
determine the acceleration of A and the
tension in the cable for both cases. b)

𝑻 = 𝟕𝟐 𝑵
𝒎
𝒂 = 𝟏. 𝟗𝟔 𝟐
𝒔
a b
Example 2. The figure below shows a system consisting of three blocks connected by
an inextensible cable that runs around four pulleys. The masses of blocks A, B, and C
are 60 kg, 80 kg, and 20 kg, respectively. Using the coordinates shown and
neglecting the masses of the pulleys, find the acceleration of each block and the
tension T in the cable.
Principle of Impulse and Momentum:

Example 1: The 15-Mg boxcar A is 𝐶𝑜𝑛𝑠𝑒𝑟𝑣𝑎𝑡𝑖𝑜𝑛 𝑜𝑓 𝐿𝑖𝑛𝑒𝑎𝑟 𝑀𝑜𝑚𝑒𝑛𝑡𝑢𝑚

coasting at 1 .5 m/s on the horizontal
track when it encounters a 12-Mg tank ෍(𝑚𝑖 𝑉𝑖 )1 = ෍(𝑚𝑖 𝑉𝑖 )2
car B coasting at 0.75 m/s toward it as
(𝑚𝐴 𝑉𝐴 )1 +(𝑚𝐵 𝑉𝐵 )1 = (𝑚𝐴 𝑉𝐴 )2 +(𝑚𝐵 𝑉𝐵 )2
shown in the figure. If the cars collide
and couple together, determine: 15000)(1.5 + 12000)(−0.75 = (15000 + 12000)𝑉2
a. the speed of both cars just after the 𝑽𝟐 = 0.5 m/s
coupling, and
b. the average force between them if
the coupling takes place in O.8 s. 𝑃𝑟𝑖𝑛𝑐𝑖𝑝𝑙𝑒 𝑜𝑓 𝐼𝑚𝑝𝑢𝑙𝑠𝑒 & 𝑀𝑜𝑚𝑒𝑛𝑡𝑢𝑚
𝐼𝑚𝑝𝑢𝑙𝑠𝑒 = ∆𝑀𝑜𝑚𝑒𝑛𝑡𝑢𝑚
𝐹𝑡 = 𝑚𝐴 𝑉2 − 𝑚𝐴 𝑉1
15000(0.5 − 1.5)
𝐹= = −𝟏𝟖𝟕𝟓𝟎𝑵
0.8
12000(0.5 + 0.75)
𝐹= = 𝟏𝟖𝟕𝟓𝟎𝑵
0.8
Principle of Impulse and Momentum:

Example 2: The bumper cars A and B 𝐶𝑜𝑛𝑠𝑒𝑟𝑣𝑎𝑡𝑖𝑜𝑛 𝑜𝑓 𝐿𝑖𝑛𝑒𝑎𝑟 𝑀𝑜𝑚𝑒𝑛𝑡𝑢𝑚

in the figure each have a mass of 150 (𝑚𝐴 𝑉𝐴 )1 +(𝑚𝐵 𝑉𝐵 )1 = (𝑚𝐴 𝑉𝐴 )2 +(𝑚𝐵 𝑉𝐵 )2
kg and are coasting with the velocities 150)(3 + 150)(−2 = 150𝑉𝐴2 + 150𝑉𝐵2
shown before they freely collide head 3 − 2 = 𝑉𝐴2 + 𝑉𝐵2
on. If no energy is lost during the 𝑉𝐴2 + 𝑉𝐵2 = 1 eq1
collision, determine their velocities after
collision. 𝐶𝑜𝑛𝑠𝑒𝑟𝑣𝑎𝑡𝑖𝑜𝑛 𝑜𝑓 𝐸𝑛𝑒𝑟𝑔𝑦

3 2 + −2 2 = 𝑉𝐴2 2 + 𝑉𝐵2 2
𝑉𝐴2 2 + 𝑉𝐵2 2 = 13 eq2

Equating equations 1 & 2:

𝑉𝐵2 = 3 𝑚/𝑠
𝑉𝐴2 = −2 𝑚/𝑠
Central impact occurs when the direction
of motion of the mass centers of the two
colliding particles is along a line passing
through the mass centers of the particles.
This line is called the line of impact, which
is perpendicular to the plane of contact.

Oblique impact occurs when the motion of

one or both of the particles make an angle
with the line of impact.
 𝑽𝑩𝟐 − 𝑽𝑨𝟐
Coefficient of Restitution: 𝒆 =
𝑽𝑨𝟏 − 𝑽𝑩𝟏
0≤𝑒≤1

Elastic Impact (𝑒 = 1). If the collision between the two particles is perfectly elastic,
the deformation impulse is equal and opposite to the restitution impulse.

Plastic Impact (𝑒 = 0). The impact is said to be inelastic or plastic when e = O. In this
case there is no restitution impulse, so that after collision both particles couple or
stick together and move with a common velocity.
Example: The bag A, having a weight of 6 Ib,
is released from rest at the position 𝜃= 0°, as
shown in the figure. After falling to 𝜃 = 90°, it 𝐶𝑜𝑛𝑠𝑒𝑟𝑣𝑎𝑡𝑖𝑜𝑛 𝑜𝑓 𝐸𝑛𝑒𝑟𝑔𝑦
strikes an 18-lb box B. If the coefficient of
𝐾𝐸0 + 𝑃𝐸0 = 𝐾𝐸1 + 𝑃𝐸1
restitution between the bag and box is e =
0.5, determine the velocities of the bag and
1
box just after impact. What is the loss of 0 + (6 ∗ 3) = (0.186)𝑉𝐴 2 + 0
energy during collision? 2
𝑽𝑨 = 𝟏𝟑. 𝟗𝟏 𝒇𝒕/𝒔

𝐶𝑜𝑛𝑠𝑒𝑟𝑣𝑎𝑡𝑖𝑜𝑛 𝑜𝑓 𝑀𝑜𝑚𝑒𝑛𝑡𝑢𝑚
(𝑚𝐴 𝑉𝐴 )1 +(𝑚𝐵 𝑉𝐵 )1 = (𝑚𝐴 𝑉𝐴 )2 +(𝑚𝐵 𝑉𝐵 )2
0.186 13.91 + 0 = 0.186𝑉𝐴2 + 0.559𝑉𝐵2
2.59 = 0.186𝑉𝐴2 + 0.559𝑉𝐵2 eq1
Example:

𝐶𝑜𝑛𝑠𝑒𝑟𝑣𝑎𝑡𝑖𝑜𝑛 𝑜𝑓 𝐸𝑛𝑒𝑟𝑔𝑦 𝐶𝑜𝑒𝑓𝑓𝑖𝑐𝑖𝑎𝑛𝑡 𝑜𝑓 𝑅𝑒𝑠𝑡𝑖𝑡𝑢𝑡𝑖𝑜𝑛

𝐾𝐸0 + 𝑃𝐸0 = 𝐾𝐸1 + 𝑃𝐸1 𝑉𝐵2 − 𝑉𝐴2

𝑒=
𝑉𝐴1 − 𝑉𝐵1
1 𝑉𝐵2 − 𝑉𝐴2
0 + (6 ∗ 3) = (0.186)𝑉𝐴 2 + 0 0.5 =
2 13.91 − 0
𝑽𝑨 = 𝟏𝟑. 𝟗𝟏 𝒇𝒕/𝒔 6.955 = 𝑉𝐵2 − 𝑉𝐴2
6.955 = −𝑉𝐴2 + 𝑉𝐵2 eq2

𝐶𝑜𝑛𝑠𝑒𝑟𝑣𝑎𝑡𝑖𝑜𝑛 𝑜𝑓 𝑀𝑜𝑚𝑒𝑛𝑡𝑢𝑚
Equating equations 1 & 2:
(𝑚𝐴 𝑉𝐴 )1 +(𝑚𝐵 𝑉𝐵 )1 = (𝑚𝐴 𝑉𝐴 )2 +(𝑚𝐵 𝑉𝐵 )2
𝑉𝐴2 = −1.74 𝑓𝑡/𝑠
0.186 13.91 + 0 = 0.186𝑉𝐴2 + 0.559𝑉𝐵2
2.59 = 0.186𝑉𝐴2 + 0.559𝑉𝐵2 eq1 𝑉𝐵2 = 5.21 𝑓𝑡/𝑠
Example:

𝐿𝑜𝑠𝑠 𝑜𝑓 𝐸𝑛𝑒𝑟𝑔𝑦

෍ 𝑈1−2 = 𝐾𝐸2 − 𝐾𝐸1

1 1 1
෍ 𝑈1−2 = 0.186 (−1.74) + (0.559)(5.21)2
2 − 0.186 13.91 2 +0
2 2 2
2 1

෍ 𝑈1−2 = −10.126 𝑓𝑡 − 𝑙𝑏𝑓

Mass Flow

𝑚3
𝑸 = 𝑨𝒗
𝑠
𝑘𝑔
𝑴 = 𝝆𝒗𝑨
𝑠
Ex: Determine the components of reaction which the fixed pipe joint at A exerts on the
elbow in the figure, if water flowing through the pipe is subjected to a static gauge
pressure of 100 kPa at A. The discharge at B is 𝑄𝐵 = 0.2 𝑚3 /𝑠. Water has a density 𝜌𝑤=
1000 kg/𝑚3 , and the water-filled elbow has a mass of 20 kg and center of mass at G.
𝑑𝑚 𝑘𝑔 𝑚3 𝒌𝒈
𝑀= = 1000 3 0.2 = 𝟐𝟎𝟎
𝑑𝑡 𝑚 𝑠 𝒔
𝑸𝑨 = 𝑸𝑩 = 𝑨𝒗
𝑄 0.2 𝑚
𝑣𝐴 = = 2
= 6.37
𝐴𝐴 𝜋(0.1) 𝑠
𝑄 0.2 𝑚
𝑣𝐵 = = 2
= 25.46
𝐴𝐵 𝜋(0.05) 𝑠
Ex: 𝐹
𝐹 = 100000𝑁 𝜋 0.1 2 = 𝟑𝟏𝟒𝟏. 𝟔 𝑵
𝑃𝐴 =
𝐴𝐴

Equations of Steady Flow