1

Chapter 3
(Momentum)
Must-do-problems:
7, 9, 10, 12, 14, 16,18, 20
2
Learning Objectives
Dynamics of system of particles and
conservation of momentum
Center of mass and its motion
Center of mass coordinate
Motion of systems with variable mass
3
System of Particles
Consider a system of particles:
o
r
1
r
2
r
j
Q. What is the force on the j
th
particle?
ext
j
int
j j
f f f

+ =
Force on the j
th
particle due
to all other particles
4
Equation of Motion
Q. How one should write the equation of motion
for the system of particles ?
ext
j
int
j j j
f f p f

+ = =
Must be summed for all particles |
.
|

\
|

5
Process
Take each and every particle:
ext
N
int
N N
ext
1
int
1 1
f f p
. .......... ..........
. .......... ..........
f f p

+ =
+ =

+ =
j
ext
j
j
int
j
j
j
f f p

j=1,2..N
On summing
6
Simplification
1) Internal forces are action-reaction forces
(Electrostatic, Gravitational.)
ji ij
f f

=
0 f
j
int
j
=

ext
j
ext
j
F f

2) External forces
7
Final Form
ext
ext
j
j
F P
F p

=
=

Where,
P p
dt
d
p
j
j
j
j

=
|
.
|

\
|
=

is the total momentum of the system
(1)
8
Bola (Ex. 3.1)
Motion of a BOLA:
Difficulty: To write equation of motion of each as force of
constraint is a function instantaneous position
Way out: Total momentum obeys simple equation
g M g m g m f f F P
2 1
ext
2
ext
1 ext

= + = + = =
..the killer instinctively aims it like a SINGLE MASS
9
Snow-capped mechanics!
Motion as good as a single particle
KEY: Where is that SINGLE particle located?
10
Way to CM
Lets look at two eq.
ext
j j
f p

=
ext
F P

=
Unless, known before, the equations are telling you
the same story: Motion of a SINGLE PARTICLE
R M F P
ext

= =
We just write,
.and look to define this
new vector quantity
11
Way to CM
Recall:
j
j
j
j
j
r m p P

= =
j
j
j
r m R M P

= =
This is true if,
j
j
j
r m
M
1
R

=
12
Center of Mass
o
r
1
r
2
r
j

=
j
j
j
j j
m
r m
R

Position vector
of center of mass
CM
R
N 2 1
N N 2 2 1 1
m ...... m m
x m ....... x m x m
X
+ +
+ +
=
N 2 1
N N 2 2 1 1
m ...... m m
y m ....... y m y m
Y
+ +
+ +
=
N 2 1
N N 2 2 1 1
m ...... m m
z m ....... z m z m
Z
+ +
+ +
=
13
Useful Formula
1. For systems consisting of discrete point masses:

=
j
j j
r m
M
1
R

2. For continuous systems :

} } }
= = = dV r
M
1
dA r
M
1
dm r
M
1
R o

Also watch out. If or o are constants or not. They

are generally so but need not be (Ref: prob 3.1)
14
Example
Find the CM of a semicircular disc of radius a
Q. Does the symmetry of the problem tell you about
choosing dA to make your life simple?
}
}
=
=
dA
dA y
y
0 x
CM
CM
o
o
Pure logical guess
y
x
a
-a
dA
15
Solution
y
x
a
-a
dA
y
x
a
-a
dA=rdudr
{ } R 0 : r ; 0 : t u
{ }
)
`

=
t 3
a 4
, 0 Y , X
CM CM Ans:
( )
}}
}}
}
}
= =
dr rd
dr rd sin r
dA
dA y
y
CM
u
u u
o
o
16
Cartesian: Source of error
y
x
a
-a
dA=dxdy
}}
}}
}
}
= =
dxdy
ydxdy
dA
dA y
y
CM
o
o
Settle limits of integration:
{ } ??? : y ; a a : x +
{ }
2 2
x a 0 : y
Source of
error!
17
CM Coordinate
To find the motion of a system, coordinate system
is a must and for many body system, coordinate
system fixed at CM is very useful
R
r
2
r
1
m
2
m
1
R
r
2
r
1
m
2
m
1
2 1
2 2 1 1
m m
r m r m
R
+
+
=

2 2 1 1
r m r m 0 R

+ = =

CM coordinate
system
x
y
z
y
x
z
18
Advantage CM Coordinate
2 2 1 1 2 2 1 1
r m r m r m r m 0 R

= + = =
If the motion of one particle is known, the
motion of the other particle follows directly
1
. const V 0 F F P r m R M
CM ext ext
j
j j
= = = =

Motion of CM independent of internal forces !

With no ext force, the CM system is inertial !
V
CM
once known, it is for ever !
2
19
Ex 3.8
Two identical blocks (a and b) of mass m each,
connected by a spring of spring constant k and
moving on a frictionless track. Block a is given an
initial velocity of v
0
to the right. Determine the
subsequent motion of the two blocks. Initially they
were at rest.
v
a
=v
0
O
b
r
b
r
a
a
The Push Me Pull You problem
(You are advised to work out this before jumping to 3.7.)
20
Solution
Essence of the solution:
The answer (motion of the two blocks) must come in terms
of given quantities, all in the frame where you do the expt.
Q1. Can CM be a good reference frame ?
Q2. If so, how does it ease out things?
The KEY:
As system slides freely (frictionless), so the CM
coordinate system safely defines an inertial frame
Define CM and rewrite coordinates with its respect
21
Search for CM
( )
b a
b a
r r
2
1
m 2
mr mr
R + =
+
=
(halfway thro a and b)
CM coordinate
for a and b:
( )
( )
a b a b b
b a a a
r r r
2
1
R r r
r r
2
1
R r r
'
= = =
'
= =
'
b
r
b
r
a
a
R
O
b
r
'
a
r
'
CM coordinate
x
22
Solution
Instantaneous length
of the string:
l r r l r r
b a b a

'

'
=
The equations of motion in CM system:
( )
( ) l r r k r m
l r r k r m
b a b
b a a

'

'
+ =
'

'

'
=
'


Unstretched length
of the string:
l
23
Solution
Subtracting one from the other:
( ) l r r k 2 r m r m
b a b a

'

'
=
'

'
( ) t cos B t sin A t u e e + =
Solution
m
k 2
= e
0 ku 2 u m = +

u: A variable that tells us the departure of the spring
from its equilibrium length
24
Constants
1. Spring unstretched at t=0 u(0) = 0 B = 0
l r r l r r u
b a b a

'

'
= =
2. As
( ) ( ) ( ) ( )
0 b a
v 0 cos A 0 v 0 v 0 u = = = e

e
0
v
A =
The Final solution:
( ) t sin
v
t u
0
e
e
=
( ) t cos B t sin A t u e e + =
25
Further
Since,
b a b a
0 b a
v v r r
t cos v u v v
'
=
'

'
=
'
= =
'

'
e

AND,
t cos v
2
1
v v
0 b a
e =
'
=
'
This follows,
26
More Information
Laboratory and CM velocities:
? R
; v R v ; v R v
b b a a
=
'
+ =
'
+ =

No change from the value at t=0!
( ) ( ) | |
0 b a
v
2
1
0 v 0 v
2
1
R = + =

( )
b a
r r
2
1
R + =
27
Finally,
( )
( ) t cos 1
2
v
v
t cos 1
2
v
v
0
b
0
a
e
e
=
+ = The masses move to the
right on the average but
they alternatively come to
rest in a push me-pull
you fashion.
Clubbing equations
0 b b a a
v
2
1
R ; v R v ; v R v =
'
+ =
'
+ =

t cos v
2
1
v v
0 b a
e =
'
=
'
28
Known Stuff
Examine some of apparently known scenario :
4. A leaky wagon
1. Conveyer belt in airport
2. Rocket Motion
3. A snowball gaining in size while rolling
down a snowcapped hill
5. An evaporating raindrop
What is common in all?
29
The Problem
A spacecraft moves through the space with constant
velocity v. It encounters a stream of dust particles that
embed themselves in it at rate dm/dt . The dust has
velocity u just before it hits. At time t the mass of the
space-craft is M(t). Find the ext. force F necessary to
keep the spacecraft moving uniformly.
Example: 3.11
Q. Can we apply blindly to analyze forces
on system with variable masses?
( ) v m
dt
d
F

=
30
Concept Behind
v
M(t)
System Boundary :
M + m
v

M+Am
m
F

System Boundary :
M + m
Am to be added in time At
31
Solution
Initial Momentum:
( ) ( ) ( )u m v t M t P

A + =
Final Momentum:
( ) ( ) | | ( ) ( )v m v t M t m t M t t P

A A A + = + = +
Then, it follows,
( )
dt
dm
u v F
dt
P d

= =
32
Notable Point
When differentials are involved, for system with
variable masses, the known equation involving
velocity and momentum for single mass is not
always appropriate Be watchful !
Erroneous ! (Ref: previous example)
( ) ( )
dt
dm
u v
dt
dm
v
dt
dm
v
dt
v d
m v m
dt
d
F

= = + =
|
.
|

\
|
=
33
Force Eq. (Revisit)
( )
dt
dm
u v F
dt
P d

= =
u: Initial velocity of the mass being added
v: Velocity of the ship where mass is being
added
dm/dt: Rate at which the mass being added
34
F
Ex 3.12
v

Sand falls from a stationed

hopper at a rate dm/dt on to
a car which is moving with
uniform vel v. How much is
force reqd to keep the car
moving at v?
35
Solution
The Key:
It is a variable mass problem and the initial velocity
of the sand is zero as hopper is at rest u = 0
( )
dt
dm
v
dt
dm
u v F

= =
It quickly follows:
36
Rockets
Mass Continually Leaving the system
Rocket in free space. What is most striking about it?
With no external agent to push on or be pushed
by, how does an object get itself moving?
Carefully examine the rocket eq.
as a variable mass problem
37
Rocket Motion
M
v
Am
M
v+Av
v+Av+u
Am
At time t
At time t+At
1. Look at the problem as a system
marked by the dotted boundary
2. u is the exhaust vel wrt rocket
Key :
38
Rocket Motion Contd.
( ) ( )v m M t P

A + =
( ) ( ) ( )( )
-
+ + + + = + u v v m v v M t t P

A A A A
M
v
Am
M
v+Av
v+Av+u
Am
At time t
At time t+At
*
u taken positive in the direction of v
39
Rocket Motion Contd.
Hence,
dt
dm
u
dt
v d
M
dt
P d

+ =
dt
dM
u
dt
v d
M F
ext

=
Fundamental Rocket Equation
But, mass comes from rocket
dt
dM
dt
dm
=
40
Rocket Motion Contd.
Recall our claim: That rocket motion tells us
how without a push or pull, an object propels
We must see what happens at,
0 F
ext
=

Rocket in free space

(Ex. 3.14)
(Ex. 3.15: Rocket motion in gravitational field
is left to you as home assignment)
41
Rocket Motion Contd.
0
dt
dM
u
dt
v d
M F = =

M d u v M

=
Just like Newtons 2
nd
law for a particle, except that
the product on the right plays the role of the force
Thrust M d u

42
Mathematical Solution
dt
dM
M
u
dt
v d

=
|
|
.
|

\
|
=
|
|
.
|

\
|
=
f
0
0
f
0 f
M
M
ln u
M
M
ln u v v

After integration (taking exhaust vel const.),
v
0
= initial velocity of rocket
M
0
= initial mass of the rocket
43
Two Critical Points
|
|
.
|

\
|
=
f
0
0 f
M
M
ln u v v

f
0
f
M
M
ln u v

=
for v
0
=0
2. This equation puts a significant restriction
on the maximum speed of the rocket.
1. The final velocity is independent of how
mass is released.
Why and How do you improve on it?
44
Velocity Restriction
Rewrite rocket eqn. :
|
|
.
|

\
|
=
f
0
0 f
M
M
ln u v v

If the original mass is 90% fuel, the ratio is 10
v
f
-v
0
CANNOT be more than 2.3 times u
Then,
Q. What should the rocket engineers do?