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King Fahd University of Petroleum & Minerals

1) The document introduces the concepts of angular impulse and momentum, defining angular momentum as the moment of linear momentum about a point. 2) It provides equations for calculating angular momentum and relates angular momentum to torque and rate of change of angular momentum. 3) Examples are presented to demonstrate applying the principles of angular impulse and momentum to solve problems involving objects undergoing rotational motion under the influence of torque.

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75 views14 pages

King Fahd University of Petroleum & Minerals

1) The document introduces the concepts of angular impulse and momentum, defining angular momentum as the moment of linear momentum about a point. 2) It provides equations for calculating angular momentum and relates angular momentum to torque and rate of change of angular momentum. 3) Examples are presented to demonstrate applying the principles of angular impulse and momentum to solve problems involving objects undergoing rotational motion under the influence of torque.

Uploaded by

TommyVercetti
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PPT, PDF, TXT or read online on Scribd
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King Fahd University of Petroleum

& Minerals
Mechanical Engineering
Dynamics ME 201
BY
Dr. Meyassar N. Al-Haddad
Lecture # 21

Objective
To introduce the concept of angular impulse
and momentum.
Definition
Moment = = r x F
Angular momentum about point O is defined as the moment of the
particles linear momentum about O.
Angular momentum (H
o
) = moment of linear momentum ( r x mV)
Line of action of the force
F
Torque = Fl
Torque Moment = Fl

Torque = Fl
F
l
l
Cheater Pipe
F
ANGULAR MOMENTUM
For a point object the angular momentum is
r
m
v
Units - kg
.
m
2
/s or sl
.
ft
2
/s
It is a vector.
Here the vector is pointing toward you.
Using right-hand rule
) )( ( ) ( mv r H
o
=
Angular Momentum
z y x
z y x
m m m
r r r
m r a
u u u
k j i
H
v H
=
=
0
0
)
) ( ) ( ) (
)
0
u m d H
n formulatio Scalar b
z
=
k ) ( j ) ( i ) (
x y y x x z z x y z z y O
mv r mv r mv r mv r mv r mv r H + =
Relation Between Moment of a Force and Angular
Momentum
v
v r r
v r
) ( , where
0

m
m m
m m
m
dt
d
H
=
+ =
+ =
=
r
r
r v
v r
L

= =

v m F
0 0
H

M
Resultant moment = Rate of change of angular momentum
Resultant force = Rate of change of linear momentum
L v

= = = -

m ma F
v
O point about forces the of moment The
0
m = =
-

r F r M
Angular Impulse and Momentum Principles

}

= +
2 0 0 1 0
) ( ) (
2
1
H M H
t
t
dt
1 0 2 0 0
0 0
) ( ) (
2
1
H H M
H M
=
=

t
t
dt
dt
d
}

}
= =
2
1
2
1
0
impulse Angular
t
t
t
t
dt dt F r M
}
= + +
2
1
2 1
t
t
v m r dt F r dt M v m r
Scalar Formulation








Conservation of Angular Momentum
Angular impulse is zero


2 0 0 1 0
2 1
2 1
) ( ) (
) ( ) (
) ( ) (
2
1
2
1
2
1
H dt M H
v m dt F v m
v m dt F v m
t
t
y
t
t
y y
x
t
t
x x
= +
= +
= +

}
2 0 1 0
) ( ) ( H H =
2 2 1 1
u u m r m r =
) / ( 20
2 16 24
) 5 )( 4 . 0 ( ) 4 )( 10 )( 4 . 0 ( 3
2
1
) 5 ( 4 . 0 ) 4 )( 10 )( 4 . 0 ( 3 0
2
2
2
4
0
2
2
4
0
s m v
v
v t
v s N m dt t
=
= +
= +
= + +
}
horizontal smooth
v
rest from start
t
kg m
m N t M
?
sec 4
5
) ( 3
=
=
=
=
Example 15-13
2 1
) ( ) (
Momentum & Impulse Angular of Principle
2
1
z
t
t
z z
H dt M H = +

}
}
= +
2
1
2 1
t
t
BA
v m r dt P r dt M v m r
Example 15-14
W = 0.8 Ib
Smooth table
r
1
=1.7 ft
v
1
= 4 ft/s
v
c
=6ft/s
v
2
= ? at (r
2
)= 0.6ft
Work done = ?
2 2 1 1
2 1
' u u
B B
m r m r
H H
=
=
s ft / 67 . 11 '
' )
2 . 32
8 . 0
( 6 . 0 4 )
2 . 32
8 . 0
( 75 . 1
2
2
=
=
u
u
s ft / 1 . 13 ) 6 ( ) 67 . 11 (
2 2
2
= + = u
Work Done

= +
2 2 1 1
T U T
2 2
) 1 . 13 )(
2 . 32
8 . 0
(
2
1
) 4 )(
2 . 32
8 . 0
(
2
1
= +
F
U
ft.Ib 94 . 1 =
F
U
Problem 15-101
m = 400 g
v
1
= 2 m/s
M = 0.6 N.m
v
2
=?
t = 3 s

}
= +
2 1
) ( ) (
o o o
H dt M H
] ) 4 . 0 ( 3 . 0 [ 2 ) 3 ( 6 . 0 )] 2 )( 4 . 0 ( 3 . 0 [ 2
2
v = +
s m v / 50 . 9
2
=

}
= +
2 1
) ( ) (
Z Z Z
H dt M H
)] 6 . 0 )(
2 . 32
5
[( 4 ) 8 . 0 5 . 0 ( 0
2
4
0
v dt t
}
= + +
s ft v
v
/ 3 . 19
3727 . 0 2 . 7
2
2
=
=
Problem 102
m = 5-Ib
v
1
= 0 ft/s
M = ( 0.5 t + 0.8 ) Ib.ft
v
2
= ?
t = 4 s

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