Dynamics 13 Lecture

Tenth Edition
CHAPTER
13
VECTOR MECHANICS FOR ENGINEERS:
DYNAMICS
Ferdinand P. Beer
E. Russell Johnston, Jr.
Phillip J. Cornwell
Lecture Notes:
Brian P. Self
California Polytechnic State University
Kinetics of Particles:
Energy and Momentum
Methods
2013 The McGraw-Hill Companies, Inc. All rights reserved.
Tenth
Vector Mechanics for Engineers: Dynamics

Contents
Introduction
Work of a Force
Principle of Work & Energy
Applications of the Principle of W
ork & Energy
Power and Efficiency
Sample Problem 13.1
Sample Problem 13.2
Sample Problem 13.3
Sample Problem 13.4
Sample Problem 13.5
Potential Energy
Conservative Forces
Conservation of Energy
Motion Under a Conservative
Central Force
Sample Problem 13.6

Sample Problem 13.7
Sample Problem 13.9
Principle of Impulse and Momentum
Impulsive Motion
Sample Problem 13.10
Impact
Direct Central Impact
Oblique Central Impact
Problems Involving Energy and
Momentum
Sample Problems 13.16
13 - 2
Sample
2013 The McGraw-Hill Companies, Inc. All rights
reserved.Problem 13.17
Tenth

Energy and Momentum Methods
The pogo stick allows the boy
to change between kinetic
energy, potential energy from
gravity, and potential energy
in the spring.
Accidents are often analyzed

by using momentum methods.
2-3
Tenth

Introduction
Previously, problems dealing with the motion of
particles were solved through the fundamental
equation of motion,
r
r
F ma.
The current chapter introduces two additional

methods of analysis.
Method of work and energy: directly relates force,
mass, velocity and displacement.
Method of impulse and momentum: directly
relates force, mass, velocity, and time.
13 - 4
Tenth

Introduction
Approaches to Kinetics Problems
Forces and
Accelerations
Velocities and
Displacements
Velocities and
Time
Newtons Second
Law (last chapter)
Work-Energy
ImpulseMomentum
r
r
F
ma
T1 U12 T2
v t2 v
v
mv1 F dt mv2
t1
2-5
Tenth

Work of a Force
Differential vector dr is the particle displacement.

Work of the force is

dU F dr
F ds cos
Fx dx Fy dy Fz dz
Work is a scalar quantity, i.e., it has magnitude and
sign but not direction.
Dimensions of work are length force. Units are
1 J joule 1 N 1 m
1ft lb 1.356 J
13 - 6
Tenth

Work of a Force
Work of a force during a finite displacement,
U12
A2
d
r
A1
s2
s2
s1
s1
F cos ds Ft ds
A2
Fx dx Fy dy Fz dz
A1
Work is represented by the area under the

curve of Ft plotted against s.
Ft is the force in the direction of the
displacement ds
13 - 7
Tenth

Work of a Force
What is the work of a constant force in
rectilinear motion?
a)
b)
c)
d)
U12 F x
U12 F cos x
U12 F sin x
U12 0
13 - 8
Tenth

Work of a Force
Work of the force of gravity,
dU Fx dx Fy dy Fz dz
W dy
y2
U12 W dy
y1
W y 2 y1 W y
Work of the weight is equal to product of
weight W and vertical displacement y.
In the figure above, when is the work done by the weight positive?
a) Moving from y1 to y2
b) Moving from y2 to y1
c) Never
13 - 9
Tenth

Work of a Force
Magnitude of the force exerted by a spring is
proportional to deflection,
F kx
k spring constant N/m or lb/in.
Work of the force exerted by spring,
dU F dx kx dx
x2
U12 kx dx 12 kx12 12 kx22

x1
Work of the force exerted by spring is positive

when x2 < x1, i.e., when the spring is returning to
its undeformed position.
Work of the force exerted by the spring is equal to
negative of area under curve of F plotted against
1
x, U
12 2 F1 F2 x
13 - 10
Tenth

Work of a Force
As the block moves from A0 to A1, is

the work positive or negative?
Positive
Negative
Displacement is
in the opposite
direction of the
force
As the block moves from A2 to Ao, is

the work positive or negative?
Positive
Negative
13 - 11
Tenth

Work of a Force
Work of a gravitational force (assume particle M
occupies fixed position O while particle m follows path
shown),
Mm
dU Fdr G 2 dr
r
r2
Mm
r1
r2
U12 G
dr G
Mm
Mm
G
r2
r1
13 - 12
Tenth

Does the normal force do work as the
block slides from B to A?
YES
NO
Does the weight do work as

the block slides from B to A?
YES
NO
Positive or
Negative work?
2 - 13
Tenth

Work of a Force
Forces which do not do work (ds = 0 or cos :
Reaction at frictionless pin supporting rotating body,
Reaction at frictionless surface when body
in contact moves along surface,
Reaction at a roller moving along its track, and
Weight of a body when its center of gravity
moves horizontally.
13 - 14
Tenth

Particle Kinetic Energy: Principle of Work & Energy
Consider a particle of mass m acted upon by force F

dv
Ft mat m
dt
dv ds
dv
m
mv
ds dt
ds
F t ds mv dv
Integrating from A1 to A2 ,
s2
v2
s1
v1
Ft ds m v dv 12 mv2 12 mv1
T 12 mv 2 kinetic energy
The work of the force F is equal to the change in

kinetic energy of the particle.
U12 T2 T1
Units of work and kinetic energy are the same:

2
m
m
2
T 12 mv kg kg 2 m N m J
s
s
13 - 15
Tenth

Applications of the Principle of Work and Energy
Force P acts normal to path and does no

work.
T1 U12 T2
The bob is released
from rest at position A1.
Determine the velocity
of the pendulum bob at
A2 using work & kinetic
energy.
0 Wl
1W 2
v2
2 g
v2 2 gl
Velocity is found without determining
expression for acceleration and integrating.
All quantities are scalars and can be added
directly.
Forces which do no work are eliminated
from the problem.
13 - 16
Tenth

Applications of the Principle of Work and Energy
Principle of work and energy cannot be
applied to directly determine the acceleration
of the pendulum bob.
Calculating the tension in the cord requires
supplementing the method of work and
energy with an application of Newtons
second law.
As the bob passes through A2 ,
Fn m an
v2 2 gl
W v22
P W
g l
W 2 gl
P W
3W
g l
If you designed the rope to hold twice the weight of the bob, what would happen?
13 - 17
Tenth

Power and Efficiency
Power rate at which work is done.

dU F dr
dt
dt

F v
Dimensions of power are work/time or force*velocity.
Units for power are
J
m
1 W (watt) 1 1 N
s
s
or 1 hp 550
ft lb
746 W
s
efficiency
output work
input work
power output
power input
13 - 18
Tenth

Sample Problem 13.1
SOLUTION:
Evaluate the change in kinetic energy.
Determine the distance required for the
work to equal the kinetic energy change.
An automobile weighing 4000 lb is

driven down a 5o incline at a speed of
60 mi/h when the brakes are applied
causing a constant total breaking force
of 1500 lb.
Determine the distance traveled by the
automobile as it comes to a stop.
13 - 19
Tenth

Sample Problem 13.1
SOLUTION:
Evaluate the change in kinetic energy.
mi
v1 60
h
h
5280 ft
88 ft s
mi 3600 s
T1 12 mv12 12 4000 32.2 88 2 481000 ft lb

v2 0
T2 0
Determine the distance required for the work

to equal the kinetic energy change.
U12 1500 lb x 4000 lb sin 5 x
1151 lb x
T1 U12 T2
481000 ft lb 1151 lb x 0
x 418 ft
13 - 20
Tenth

Sample Problem 13.2
SOLUTION:
Apply the principle of work and
energy separately to blocks A and B.
When the two relations are combined,
the work of the cable forces cancel.
Solve for the velocity.
Two blocks are joined by an inextensible
cable as shown. If the system is released
from rest, determine the velocity of block
A after it has moved 2 m. Assume that
the coefficient of friction between block
A and the plane is k = 0.25 and that the
pulley is weightless and frictionless.
13 - 21
Tenth

Sample Problem 13.2
SOLUTION:
Apply the principle of work and energy separately
to blocks A and B.
W A 200 kg 9.81 m s 2 1962 N
FA k N A k W A 0.251962 N 490 N
T1 U12 T2 :
0 FC 2 m FA 2 m 12 m A v 2
FC 2 m 490 N 2 m 12 200 kg v 2
WB 300 kg 9.81 m s 2 2940 N

T1 U12 T2 :
0 Fc 2 m WB 2 m 12 mB v 2
Fc 2 m 2940 N 2 m 12 300 kg v 2
13 - 22
Tenth

Sample Problem 13.2
When the two relations are combined, the work of the
cable forces cancel. Solve for the velocity.
FC 2 m 490 N 2 m 12 200 kg v 2
Fc 2 m 2940 N 2 m 12 300 kg v 2
2940 N 2 m 490 N 2 m 12 200 kg 300 kg v 2

4900 J 12 500 kg v 2
v 4.43 m s
13 - 23
Tenth

13.2 Alternate Solution, Group Problem Solving
Could you apply work-energy to the combined
system of blocks?
Given: v1= 0, distance = 2 m, k = 0.25
2m
What is T1 of the system?
1
2m
T1 0
What is the total work done between points 1 and 2?

U12 0.25 200 9.81 2 m 300 9.81 2 m 4900 J
What is T2 of the system?
T2 12 mAv 2 12 mB v 2
Solve for v
4900 J
1
2
Note that vA = vB
1
2
200 kg v 2 12 300 kg v 2
500 kg v 2
v 4.43 m s
2 - 24
Tenth

Sample Problem 13.3
SOLUTION:
Apply the principle of work and energy
between the initial position and the
point at which the spring is fully
compressed and the velocity is zero.
The only unknown in the relation is the
friction coefficient.
A spring is used to stop a 60 kg package

which is sliding on a horizontal surface.
The spring has a constant k = 20 kN/m
Apply the principle of work and energy
and is held by cables so that it is initially
for the rebound of the package. The
compressed 120 mm. The package has a
only unknown in the relation is the
velocity of 2.5 m/s in the position shown
velocity at the final position.
and the maximum deflection of the
spring is 40 mm.
Determine (a) the coefficient of kinetic
friction between the package and surface
and (b) the velocity of the package as it
passes again through the position shown.
13 - 25
Tenth

Sample Problem 13.3
SOLUTION:
Apply principle of work and energy between initial
position and the point at which spring is fully compressed.
T1 12 mv12 12 60 kg 2.5 m s 2 187.5 J
U12 f
kW x
T2 0
k 60 kg 9.81m s 2 0.640 m 377 J k

Pmin kx0 20 kN m 0.120 m 2400 N
Pmax k x0 x 20 kN m 0.160 m 3200 N
U12 e 12 Pmin Pmax x

12 2400 N 3200 N 0.040 m 112 .0 J
U1 2 U1 2 f U1 2 e 377 J k 112 J
T1 U1 2 T2 :
187.5 J - 377 J k 112 J 0
k 0.20
13 - 26
Tenth

Sample Problem 13.3
Apply the principle of work and energy for the rebound
of the package.
T2 0
T 3 12 mv32 12 60kg v32
U 23 U 23 f U 23 e 377 J k 112 J
36.5 J
T2 U 23 T3 :
0 36.5 J 12 60 kg v32
v3 1.103 m s
13 - 27
Tenth

Sample Problem 13.4
SOLUTION:
Apply principle of work and energy to
determine velocity at point 2.
Apply Newtons second law to find
normal force by the track at point 2.
A 2000 lb car starts from rest at point 1

Apply principle of work and energy to
and moves without friction down the
determine velocity at point 3.
track shown.
Apply Newtons second law to find
Determine:
minimum radius of curvature at point 3
such that a positive normal force is
a) the force exerted by the track on
exerted by the track.
the car at point 2, and
b) the minimum safe value of the
radius of curvature at point 3.
13 - 28
Tenth

Sample Problem 13.4
SOLUTION:
Apply principle of work and energy to determine
velocity at point 2.
T1 0
T2 12 mv22
U1 2 W 40 ft
T1 U1 2 T2 :
1W 2
v2
2g
0 W 40 ft
v22 2 40 ft g 2 40 ft 32.2 ft s 2
1W 2
v2
2g
v2 50.8 ft s
Apply Newtons second law to find normal force by

the track at point 2.
Fn m an :
W v22 W 2 40 ft g
W N m an
g 2 g 20 ft
N 5W
N 10000 lb
13 - 29
Tenth

Sample Problem 13.4
Apply principle of work and energy to determine
velocity at point 3.
T1 U13 T3
0 W 25 ft
v32 2 25 ft g 2 25 ft 32.2 ft s
1W 2
v3
2g
v3 40.1ft s
Apply Newtons second law to find minimum radius of

curvature at point 3 such that a positive normal force is
exerted by the track.
Fn m an :
W m an
W v32 W 2 25 ft g
g 3 g
3
3 50 ft
13 - 30
Tenth

Sample Problem 13.5
SOLUTION:
Force exerted by the motor
cable has same direction as
the dumbwaiter velocity.
Power delivered by motor is
equal to FvD, vD = 8 ft/s.
The dumbwaiter D and its load have a
combined weight of 600 lb, while the
counterweight C weighs 800 lb.
Determine the power delivered by the
electric motor M when the dumbwaiter
(a) is moving up at a constant speed of
8 ft/s and (b) has an instantaneous
velocity of 8 ft/s and an acceleration of
2.5 ft/s2, both directed upwards.
In the first case, bodies are in uniform

motion. Determine force exerted by
motor cable from conditions for static
equilibrium.
In the second case, both bodies are
accelerating. Apply Newtons
second law to each body to
determine the required motor cable
force.
13 - 31
Tenth

Sample Problem 13.5
In the first case, bodies are in uniform motion.
Determine force exerted by motor cable from
conditions for static equilibrium.
Free-body C:
Fy 0 :
2T 800 lb 0
T 400 lb
Free-body D:
Fy 0 : F T 600 lb 0
F 600 lb T 600 lb 400 lb 200 lb
Power Fv D 200 lb 8 ft s
1600 ft lb s
Power 1600 ft lb s
1 hp
2.91 hp
550 ft lb s
13 - 32
Tenth

Sample Problem 13.5
In the second case, both bodies are accelerating. Apply
Newtons second law to each body to determine the required
motor cable force.
a D 2.5 ft s 2
aC 12 a D 1.25 ft s 2
Free-body C:
Fy mC aC : 800 2T
800
1.25
32.2
T 384.5 lb
Free-body D:
600
2.5
32.2
F 384.5 600 46.6
Fy m D a D : F T 600
F 262.1 lb
Power Fv D 262.1 lb 8 ft s 2097 ft lb s

Power 2097 ft lb s
1 hp
3.81 hp
550 ft lb s
13 - 33
Tenth

Group Problem Solving
SOLUTION:
The problem deals with a change in
position and different velocities, so use
work-energy.
Draw FBD of the box to help us
determine the forces that do work.
Determine the work done between
Packages are thrown down an
points A and C as a function of d.
incline at A with a velocity of 1
m/s. The packages slide along
Find the kinetic energy at points A
the surface ABC to a conveyor
and C.
belt which moves with a
velocity of 2 m/s. Knowing that
Use the work-energy relationship
k= 0.25 between the packages
and solve for d.
and the surface ABC, determine
the distance d if the packages
are to arrive at C with a velocity
of 22013
m/s.The McGraw-Hill Companies, Inc. All rights reserved.
2 - 34
Tenth

SOLUTION:
Given: vA= 1 m/s, vC= 2 m/s, k= 0.25
Find: distance d
Will use:
Draw the FBD of the

block at points A and C
TA U A B U B C TC
Determine work done A B

N AB mg cos 30
FAB k N AB 0.25 mg cos 30
U A B mg d sin 30 FAB d
mg d (sin 30 k cos 30)
Determine work done B C

N BC mg
xBC 7 m
FBC k mg
U B C k mg xBC
2 - 35
Tenth

Determine kinetic energy at A and at C
TA
1 2
mv A
2
and v A 1 m/s
TC
Substitute values into
1 2
mvC
2
and vC 2 m/s
TA U A B U B C TC
1 2
1 2
mv A mg d (sin 30 k cos 30) k mg xBC mv0
2
2
Divide by m and solve for d

d
vC2 /2 g k xBC v A2 /2 g
(sin 30 k cos 30)
d 6.71 m
(2) 2/(2)(9.81) (0.25)(7) (1) 2/(2)(9.81)
sin 30 0.25cos 30
2 - 36
Tenth
k= 0.25
If you wanted to bring the package to a complete stop at the

bottom of the ramp, would it work to place a spring as shown?
No, because the potential energy of the spring would turn
into kinetic energy and push the block back up the ramp
Would the package ever come to a stop?

Yes, eventually enough energy would be dissipated
through the friction between the package and ramp.
2 - 37
Tenth
The potential energy stored at

the top of the roller coaster is
transferred to kinetic energy
as the cars descend.
The elastic potential energy

stored in the trampoline is
transferred to kinetic energy
and gravitational potential
energy as the girl flies upwards.
2 - 38
Tenth

Potential Energy
If the work of a force only depends on differences in
position, we can express this work as potential energy.
Can the work done by the following forces be expressed as
potential energy?
Weight
Yes
No
Friction
Yes
No
Normal force
Yes
No
Spring force
Yes
No
2 - 39
Tenth

Potential Energy
Work of the force of gravity W,

U12 W y1 W y 2
Work is independent of path followed; depends
only on the initial and final values of Wy.
V g Wy
potential energy of the body with respect
to force of gravity.
1 Vg 2
U12 V g
Choice of datum from which the elevation y is

measured is arbitrary.
Units of work and potential energy are the same:
V g Wy N m J
13 - 40
Tenth

Potential Energy
Previous expression for potential energy of a body
with respect to gravity is only valid when the
weight of the body can be assumed constant.
For a space vehicle, the variation of the force of
gravity with distance from the center of the earth
should be considered.
Work of a gravitational force,
GMm GMm
U12
r2
r1
Potential energy Vg when the variation in the
force of gravity can not be neglected,
GMm
WR 2
Vg
r
r
13 - 41
Tenth

Potential Energy
Work of the force exerted by a spring depends
only on the initial and final deflections of the
spring,
U12 12 kx12 12 kx22
The potential energy of the body with respect
to the elastic force,
Ve 12 kx 2
U12 Ve 1 Ve 2
Note that the preceding expression for Ve is
valid only if the deflection of the spring is
measured from its undeformed position.
13 - 42
Tenth

Conservative Forces
Concept of potential energy can be applied if the
work of the force is independent of the path
followed by its point of application.
U12 V x1 , y1 , z1 V x2 , y 2 , z 2
Such forces are described as conservative forces.
For any conservative force applied on a closed path,

F dr 0
Elementary work corresponding to displacement
between two neighboring points,
dU V x, y, z V x dx, y dy, z dz
dV x, y, z
V
V
V
dx
dy
dz
y
z
x
Fx dx F y dy Fz dz
V V V
F
grad V
x y z
13 - 43
Tenth

Conservation of Energy
Work of a conservative force,
U1 2 V1 V2
Concept of work and energy,

U1 2 T2 T1
Follows that
T1 V1 T2 V2
E T V constant
T1 0 V1 W
T1 V1 W
T2 12 mv22
T2 V2 W
1W
2 g W V2 0
2g
When a particle moves under the action of

conservative forces, the total mechanical
energy is constant.
Friction forces are not conservative. Total
mechanical energy of a system involving
friction decreases.
Mechanical energy is dissipated by friction
into thermal energy. Total energy is constant.
13 - 44
Tenth

Motion Under a Conservative Central Force
When a particle moves under a conservative central
force, both the principle of conservation of angular
momentum
r0 mv0 sin 0 rmv sin
and the principle of conservation of energy
T0 V0 T V
1 mv 2
0
2
GMm 1 2 GMm
2 mv
r0
r
may be applied.
Given r, the equations may be solved for v and
At minimum and maximum r, 90o. Given the
launch conditions, the equations may be solved for
rmin, rmax, vmin, and vmax.
13 - 45
Tenth

Sample Problem 13.6
SOLUTION:
Apply the principle of conservation of
energy between positions 1 and 2.
The elastic and gravitational potential
energies at 1 and 2 are evaluated from
the given information. The initial
kinetic energy is zero.
A 20 lb collar slides without friction
along a vertical rod as shown. The
spring attached to the collar has an
undeflected length of 4 in. and a
constant of 3 lb/in.
Solve for the kinetic energy and

velocity at 2.
If the collar is released from rest at

position 1, determine its velocity after
it has moved 6 in. to position 2.
13 - 46
Tenth

Sample Problem 13.6
SOLUTION:
Apply the principle of conservation of energy between
positions 1 and 2.
2
Position 1: Ve 12 kx12 12 3 lb in. 8 in. 4 in. 24 in. lb
V1 Ve Vg 24 in. lb 0 2 ft lb
T1 0
2
2
Position 2: Ve 12 kx2 12 3 lb in.10 in. 4 in. 54 in. lb
Vg Wy 20 lb 6 in. 120 in. lb
V2 Ve Vg 54 120 66 in. lb 5.5 ft lb

T2 12 mv22
1 20 2
v2 0.311v22
2 32.2
Conservation of Energy:
T1 V1 T2 V2
0 2 ft lb 0.311v22 5.5 ft lb
v2 4.91ft s
13 - 47
Tenth

Sample Problem 13.7
SOLUTION:
Since the pellet must remain in contact
with the loop, the force exerted on the
pellet must be greater than or equal to
zero. Setting the force exerted by the
loop to zero, solve for the minimum
velocity at D.
The 0.5 lb pellet is pushed against the

spring and released from rest at A.
Neglecting friction, determine the
smallest deflection of the spring for
which the pellet will travel around the
loop and remain in contact with the
loop at all times.

energy between points A and D. Solve
for the spring deflection required to
produce the required velocity and
kinetic energy at D.
13 - 48
Tenth

Sample Problem 13.7
SOLUTION:
Setting the force exerted by the loop to zero, solve for the
minimum velocity at D.
2
Fn man : W man
mg m vD
r
2
vD
rg 2 ft 32.2 ft s 64.4 ft 2 s 2
Apply the principle of conservation of energy between

points A and D.
V1 Ve Vg 12 kx 2 0 12 36 lb ft x 2 18 x 2
T1 0
V2 Ve Vg 0 Wy 0.5 lb 4 ft 2 ft lb
2
T2 12 mvD
1 0.5 lb
2 2
64
.
4
ft
s 0.5 ft lb
2 32.2 ft s 2
T1 V1 T2 V2
0 18 x 2 0.5 2
x 0.3727 ft 4.47 in.

13 - 49
Tenth

Sample Problem 13.9
SOLUTION:
For motion under a conservative central
force, the principles of conservation of
energy and conservation of angular
momentum may be applied simultaneously.
A satellite is launched in a direction
parallel to the surface of the earth
with a velocity of 36900 km/h from
an altitude of 500 km.
Apply the principles to the points of

minimum and maximum altitude to
determine the maximum altitude.
Apply the principles to the orbit insertion

point and the point of minimum altitude to
determine maximum allowable orbit
Determine (a) the maximum altitude
insertion angle error.
reached by the satellite, and (b) the
maximum allowable error in the
direction of launching if the satellite
is to come no closer than 200 km to
the surface of the earth
13 - 50
Tenth

Sample Problem 13.9
Apply the principles of conservation of energy and
conservation of angular momentum to the points of minimum
and maximum altitude to determine the maximum altitude.
Conservation of energy:
TA VA TA VA
1 mv 2
0
2
GMm 1 2 GMm
2 mv1
r0
r1
Conservation of angular momentum:

r
r0 mv0 r1mv1
v1 v0 0
r1
Combining,
2
r0 2GM
1 v 2 1 r0 GM 1 r0
1
2 0
2
r0
r1
r1
r1
r0v02
r0 6370 km 500 km 6870 km

v0 36900 km h 10.25 106 m s
GM gR 2 9.81m s 2 6.37 106 m 398 1012 m3 s 2

r1 60.4 106 m 60400 km
13 - 51
Tenth

Sample Problem 13.9
Apply the principles to the orbit insertion point and the point
of minimum altitude to determine maximum allowable orbit
insertion angle error.
Conservation of energy:
GMm
1 mv 2 GMm 1 mv 2
T0 V0 TA VA
0
max
2
2
r0
rmin
Conservation of angular momentum:
r
r0 mv0 sin 0 rmin mvmax
vmax v0 sin 0 0
rmin
Combining and solving for sin,
sin 0 0.9801
0 90 11.5
allowable error 11.5
13 - 52
Tenth

SOLUTION:
This is two part problem you
will need to find the velocity of
the car using work-energy, and
then use Newtons second law
to find the normal force.
Draw a diagram with the car
at points A and D, and
define your datum. Use
conservation of energy to
solve for vD
A section of track for a roller coaster

consists of two circular arcs AB and CD
joined by a straight portion BC. The radius
of CD is 240 ft. The car and its occupants,
of total weight 560 lb, reach Point A with
Draw FBD and KD of the car
practically no velocity and then drop freely
at point D, and determine the
along the track. Determine the normal
normal force using Newtons
force exerted by the track on the car at
second law.
point D. Neglect air resistance and rolling
resistance.
2 - 53
Tenth

SOLUTION:
Given: vA= 0 ft/s, rCD= 240 ft, W=560 lbs
Find: ND
Define your datum, sketch the

situation at points of interest
Datum
Use conservation of energy to find vD

Find TA
v A 0 TA 0
Find VA
VA Wy A (560 lb)(90 60)=84,000 ft glbs
Find TD
TD
Find VD
yD 0 VD 0
1 2 1 560 2
mvD
vD 8.6957vD2
2
2 32.2
TA VA TD VD
Solve for vD
8.6957vD2 84000
vD 98.285 ft/s
2 - 54
Tenth

Draw FBD and KD at point D
24
en
et
t
f
0
man
W
mat
ND
Use Newtons second law in the normal direction
man
vD2
N D W m
560 98.2852
N D 560
32.2 240
N D 1260 lbs
2 - 55
Tenth

What happens to the normal
force at D if.
we include friction?
a) ND gets larger
b) ND gets smaller
c) ND stays the same
we move point A higher?
a) ND gets larger
the radius is smaller?

a) ND gets larger
b) ND gets smaller
b) ND gets smaller
2 - 56
Tenth

Impulsive Motion
The thrust of a rocket acts
over a specific time period
to give the rocket linear
momentum.
The impulse applied to the railcar

by the wall brings its momentum
to zero.
Crash tests are often
performed to help improve safety
in different vehicles.
2 - 57
Tenth

Principle of Impulse and Momentum
From Newtons second law,
d
F mv
mv linear momentum
dt
Fdt d mv
t2
F
dt
m
v
m
v
2
1
t1
Dimensions of the impulse of

a force are
force*time.
Units for the impulse of a
force are
N s kg m s s kg m s
t2
Fdt Imp12 impulse of the force F
t1
mv1 Imp12 mv2

The final momentum of the particle can be
obtained by adding vectorially its initial
momentum and the impulse of the force
during the time interval.
13 - 58
Tenth

Impulsive Motion
Force acting on a particle during a very short
time interval that is large enough to cause a
significant change in momentum is called an
impulsive force.
When impulsive forces act on a particle,
mv1 F t mv2
When a baseball is struck by a bat, contact
occurs over a short time interval but force is
large enough to change sense of ball motion.
Nonimpulsive
forces are forces for which
Ft is small and therefore, may be

neglected an example of this is the weight
of the baseball.
13 - 59
Tenth

SOLUTION:
Apply the principle of impulse and
momentum. The impulse is equal to the
product of the constant forces and the
time interval.
An automobile weighing 4000 lb is
driven down a 5o incline at a speed of
60 mi/h when the brakes are applied,
causing a constant total braking force
of 1500 lb.
Determine the time required for the
automobile to come to a stop.
13 - 60
Tenth

SOLUTION:
momentum.
mv1 Imp12 mv2

Taking components parallel to the
incline,
mv1 W sin 5 t Ft 0
4000
88 ft s 4000 sin 5 t 1500t 0

32.2
t 9.49 s
13 - 61
Tenth

SOLUTION:
momentum in terms of horizontal and
vertical component equations.
A 4 oz baseball is pitched with a

velocity of 80 ft/s. After the ball is hit
by the bat, it has a velocity of 120 ft/s
in the direction shown. If the bat and
ball are in contact for 0.015 s,
determine the average impulsive force
exerted on the ball during the impact.
13 - 62
Tenth

SOLUTION:
Apply the principle of impulse and momentum in
terms of horizontal and vertical component equations.
mv1 Imp1 2 mv2

x component equation:
mv1 Fx t mv2 cos 40
4 16
80 Fx 0.15 4 16 120 cos 40
32.2
32.2
Fx 89 lb
y component equation:
y
0 Fy t mv2 sin 40
x
4 16
120 cos 40
32.2
Fy 39.9 lb
F 89 lb i 39.9 lb j , F 97.5 lb
Fy 0.15
13 - 63
Tenth

SOLUTION:
A 10 kg package drops from a chute

into a 24 kg cart with a velocity of 3
m/s. Knowing that the cart is initially
at rest and can roll freely, determine (a)
the final velocity of the cart, (b) the
impulse exerted by the cart on the
package, and (c) the fraction of the
initial energy lost in the impact.

momentum to the package-cart system
to determine the final velocity.
Apply the same principle to the package
alone to determine the impulse exerted
on it from the change in its momentum.
13 - 64
Tenth

SOLUTION:
Apply the principle of impulse and momentum to the package-cart
system to determine the final velocity.
y
x
m p v1 Imp1 2 m p mc v2
x components:
m p v1 cos 30 0 m p mc v2
10 kg 3 m/s cos 30 10 kg 25 kg v2
v2 0.742 m/s
13 - 65
Tenth

Apply the same principle to the package alone to determine the impulse
exerted on it from the change in its momentum.
y
x
m p v1 Imp1 2 m p v2
x components:
m p v1 cos 30 Fx t m p v2
10 kg 3 m/s cos 30 Fx t 10 kg v2
y components:
Fx t 18.56 N s
m p v1 sin 30 Fy t 0
10 kg 3 m/s sin 30 Fy t 0
Imp12
Fy t 15 N s
Ft 18.56 N s i 15 N s j
Ft 23.9 N s
13 - 66
Tenth

To determine the fraction of energy lost,
T1 12 m p v12
T2
1
2
1
2
10 kg 3m s 45 J
m p mc v22
1
2
10 kg 25 kg 0.742 m s 9.63 J
2
T1 T2 45 J 9.63 J
0.786
T1
45 J
13 - 67
Tenth

SOLUTION:
Draw impulse and momentum diagrams
of the jumper.
momentum to the jumper to determine
the force exerted on the foot.
The jumper approaches the takeoff
line from the left with a horizontal
velocity of 10 m/s, remains in contact
with the ground for 0.18 s, and takes
off at a 50o angle with a velocity of 12
m/s. Determine the average impulsive
force exerted by the ground on his
foot. Give your answer in terms of the
weight W of the athlete.
2 - 68
Tenth

Given: v1 = 10 m/s, v2= 12 m/s at 50,
t= 0.18 s
Find: Favg in terms of W
Draw impulse and momentum diagrams of the jumper
v
mv2
v
mv1
50
W t
Favg t
y
x
Use the impulse momentum equation in y to find Favg

mv1 (P W )t mv 2
t 0.18 s
2 - 69
Tenth

v
mv1
v
mv2
50
=
W t
Favg t
y
x
mv1 (Favg W )t mv 2
t 0.18 s
Use the impulse momentum equation in x and y to find Favg

W
W
(10) ( Favg x )(0.18) (12)(cos 50)
g
g
10 (12)(cos 50)
Favg x
W
(9.81)(0.18)
Favg 1.295W i 6.21W j
W
(12)(sin 50)
g
(12)(sin 50)
W
W
(9.81)(0.18)
0 ( Favg y W )(0.18)
Favg y
Favg-x is positive, which means we

guessed correctly (acts to the left)
2 - 70
Tenth

Car A and B crash into
one another. Looking
only at the impact, which
of the following
statements are true?
The total mechanical energy is the
same before and after the impact
True
False
If car A weighs twice as much as car B,

the force A exerts on car B is bigger
than the force B exerts on car A.
True
False
The total linear momentum is the same

immediately before and after the impact
True
False
2 - 71
Tenth

The coefficient of restitution is used
to characterize the bounciness of
different sports equipment. The U.S.
Golf Association limits the COR of
golf balls at 0.83
Civil engineers use the

coefficient of restitution to
model rocks falling from
hillsides
2 - 72
Tenth

Impact
Impact: Collision between two bodies which
occurs during a small time interval and during
which the bodies exert large forces on each other.
Line of Impact: Common normal to the surfaces
in contact during impact.
Central Impact: Impact for which the mass

centers of the two bodies lie on the line of impact;
otherwise, it is an eccentric impact..
Direct Impact: Impact for which the velocities of
the two bodies are directed along the line of
impact.
Oblique Impact: Impact for which one or both of

the bodies move along a line other than the line of
impact.
13 - 73
Tenth

Bodies moving in the same straight line,
vA > vB .
Upon impact the bodies undergo a
period of deformation, at the end of which,
they are in contact and moving at a
common velocity.
A period of restitution follows during
which the bodies either regain their
original shape or remain permanently
deformed.
Wish to determine the final velocities of the
two bodies. The total momentum of the
two body system is preserved,
m Av A m B v B m B v B m B vB
A second relation between the final
velocities is required.
13 - 74
Tenth

e coefficient of restitutio n
Period of deformation: m Av A Pdt m Au
Rdt u vA
Pdt v A u
0 e 1
Period of restitution:
m Au Rdt m A v A
A similar analysis of particle B yields
vB u
e
u vB
Combining the relations leads to the desired

second relation between the final velocities.
vB vA e v A v B
Perfectly plastic impact, e = 0: vB v A v
m Av A mB v B m A mB v
Perfectly elastic impact, e = 1:

Total energy and total momentum conserved.
vB vA v A v B
13 - 75
Tenth

Final velocities are
unknown in magnitude
and direction. Four
equations are required.
No tangential impulse component;

tangential component of momentum
for each particle is conserved.
Normal component of total
momentum of the two particles is
conserved.
Normal components of relative
velocities before and after impact
are related by the coefficient of
restitution.
v A t vA t
v B t vB t
m A v A n m B v B n m A vA n m B vB n
vB n vA n e v A n v B n
13 - 76
Tenth

Block constrained to move along horizontal
surface.
Impulses from internal forces F and F

along the n axis and from external force Fext
exerted by horizontal surface and directed
along the vertical to the surface.
Final velocity of ball unknown in direction and
magnitude and unknown final block velocity
magnitude. Three equations required.
13 - 77
Tenth

Tangential momentum of ball is

conserved.
v B t vB t
Total horizontal momentum of block

and ball is conserved.
m A v A m B v B x m A vA mB v B x
Normal component of relative

velocities of block and ball are related
by coefficient of restitution.
vB n vA n e v A n v B n
Note: Validity of last expression does not follow from previous relation for
the coefficient of restitution. A similar but separate derivation is required.
13 - 78
Tenth

Problems Involving Energy and Momentum
Three methods for the analysis of kinetics problems:
- Direct application of Newtons second law
- Method of work and energy
- Method of impulse and momentum
Select the method best suited for the problem or part of a problem
under consideration.
13 - 79
Tenth

SOLUTION:
Resolve ball velocity into components
normal and tangential to wall.
Impulse exerted by the wall is normal
to the wall. Component of ball
momentum tangential to wall is
conserved.
A ball is thrown against a frictionless,
vertical wall. Immediately before the
ball strikes the wall, its velocity has a
magnitude v and forms angle of 30o
with the horizontal. Knowing that
e = 0.90, determine the magnitude
and direction of the velocity of the
ball as it rebounds from the wall.
Assume that the wall has infinite mass

so that wall velocity before and after
impact is zero. Apply coefficient of
restitution relation to find change in
normal relative velocity between wall
and ball, i.e., the normal ball velocity.
13 - 80
Tenth

SOLUTION:
Resolve ball velocity into components parallel and
perpendicular to wall.
vn v cos 30 0.866v
vt v sin 30 0.500v
Component of ball momentum tangential to wall is conserved.
vt vt 0.500v
t
n
Apply coefficient of restitution relation with zero wall

velocity.
0 vn e vn 0
vn 0.9 0.866v 0.779v
v 0.779v n 0.500v t
0.779
32.7
0.500
v 0.926v tan 1
13 - 81
Tenth

SOLUTION:
Resolve the ball velocities into components
normal and tangential to the contact plane.
Tangential component of momentum for
each ball is conserved.
The magnitude and direction of the
velocities of two identical
frictionless balls before they strike
each other are as shown. Assuming
e = 0.9, determine the magnitude
and direction of the velocity of each
ball after the impact.
Total normal component of the momentum

of the two ball system is conserved.
The normal relative velocities of the
balls are related by the coefficient of
restitution.
Solve the last two equations
simultaneously for the normal velocities of
the balls after the impact.
13 - 82
Tenth

SOLUTION:
Resolve the ball velocities into components normal and
tangential to the contact plane.
v A n v A cos 30 26.0 ft
vB n vB cos 60 20.0 ft
vA t
v A sin 30 15.0 ft s
vB t
vB sin 60 34.6 ft s
Tangential component of momentum for each ball is

conserved.
vA t v A t
15.0 ft s
vB t vB t 34.6 ft
Total normal component of the momentum of the two

ball system is conserved.
m A v A n mB vB n m A vA n mB vB n
m 26.0 m 20.0 m vA n m vB n
vA n vB n 6.0
13 - 83
Tenth

The normal relative velocities of the balls are related by the
coefficient of restitution.
vA n vB n e v A n vB n
0.90 26.0 20.0 41.4
Solve the last two equations simultaneously for the normal

velocities of the balls after the impact.
vA n 17.7 ft s
vB n 23.7 ft s
v A 17.7t 15.0n
15.0
vA 23.2 ft s tan 1
40.3
17.7
vB 23.7t 34.6n
t
vB 41.9 ft s tan 1
34.6
55.6
23
.
7
13 - 84
Tenth

SOLUTION:
Determine orientation of impact line of
action.
The momentum component of ball A
tangential to the contact plane is
conserved.
The total horizontal momentum of the
two ball system is conserved.
Ball B is hanging from an inextensible
The relative velocities along the line of
cord. An identical ball A is released
action before and after the impact are
from rest when it is just touching the
related by the coefficient of restitution.
cord and acquires a velocity v0 before
Solve the last two expressions for the
striking ball B. Assuming perfectly
velocity of ball A along the line of action
elastic impact (e = 1) and no friction,
and the velocity of ball B which is
determine the velocity of each ball
horizontal.
immediately after impact.
13 - 85
Tenth

r
0.5
2r
30
sin
SOLUTION:
Determine orientation of impact line of action.
The momentum component of ball A

tangential to the contact plane is
conserved.
mv A Ft mv A
mv0 sin 30 0 m vA t
vA t
0.5v0
The total horizontal (x component)

momentum of the two ball system is
conserved.
mv A Tt mv A mvB
0 m vA t cos 30 m vA n sin 30 mvB
0 0.5v0 cos 30 vA n sin 30 vB
0.5 vA n vB 0.433v0
13 - 86
Tenth

The relative velocities along the line of action before
and after the impact are related by the coefficient of
restitution.
vB n vA n e v A n vB n
vB sin 30 vA n v0 cos 30 0
0.5vB vA n 0.866v0
Solve the last two expressions for the velocity of ball

A along the line of action and the velocity of ball B
which is horizontal.
vA n 0.520v0
vB 0.693v0
v A 0.5v0t 0.520v0n
vA 0.721v0
tan 1
0.52
46.1
0.5
46.1 30 16.1
vB 0.693v0
13 - 87
Tenth

SOLUTION:
energy to determine the velocity of the
block at the instant of impact.
Since the impact is perfectly plastic, the
block and pan move together at the same
velocity after impact. Determine that
velocity from the requirement that the
total momentum of the block and pan is
conserved.
A 30 kg block is dropped from a height
of 2 m onto the the 10 kg pan of a
spring scale. Assuming the impact to
energy to determine the maximum
be perfectly plastic, determine the
deflection of the spring.
maximum deflection of the pan. The
constant of the spring is k = 20 kN/m.
13 - 88
Tenth

SOLUTION:
Apply principle of conservation of energy to
determine velocity of the block at instant of impact.
T1 0
V1 WA y 30 9.81 2 588 J
T2 12 m A v A 22 12 30 v A 22
V2 0
T1 V1 T2 V2
0 588 J 12 30 v A 22 0
v A 2 6.26 m s
Determine velocity after impact from requirement that

total momentum of the block and pan is conserved.
m A v A 2 mB vB 2 m A mB v3
30 6.26 0 30 10 v3
v3 4.70 m s
13 - 89
Tenth

Apply the principle of conservation of energy to
determine the maximum deflection of the spring.
T3 12 m A mB v32 12 30 10 4.7 2 442 J
V3 Vg Ve
0
1 kx 2
2 3
1
2
20 10 4.91 10
3
3 2
0.241 J
T4 0
Initial spring deflection due to
pan weight:
x3
WB 10 9.81
3
4
.
91
10
m
3
k
20 10
V4 Vg Ve WA WB h 12 kx42
392 x4 4.91 103 12 20 103 x42

392 x4 x3 12 20 103 x42
T3 V3 T4 V4
442 0.241 0 392 x4 4.91 103 12 20 103 x42

x4 0.230 m
h x4 x3 0.230 m 4.91 103 m
h 0.225 m
13 - 90
Tenth

SOLUTION:
This is a multiple step problem.
Formulate your overall approach.
Use work-energy to find the
velocity of the block just
before impact
A 2-kg block A is pushed up against a spring Use conservation of
compressing it a distance x= 0.1 m. The block is
momentum to determine
then released from rest and slides down the 20
the speed of ball B after
incline until it strikes a 1-kg sphere B, which is
the impact
suspended from a 1 m inextensible rope. The
spring constant k=800 N/m, the coefficient of Use work energy to find
the velocity at
friction between A and the ground is 0.2, the
distance A slides from the unstretched length of
nd
the spring d=1.5 m, and the coefficient of Use Newtons 2 Law to
find tension in the rope
restitution between A and B is 0.8. When =40o,
find (a) the speed of B (b) the tension in the rope.
2 - 91
Tenth

Given: mA= 2-kg mB= 1-kg,
k= 800 N/m, A =0.2, e= 0.8
Find (a) vB (b) Trope
Use work-energy to find the velocity of
the block just before impact
Determine the friction force acting on the block A
Solve for N
Sum forces in the y-direction
Fy 0:
N mA g cos 0
N mA g cos
(2)(9.81) cos 20
18.4368 N
F f k N (0.2)(18.4368)
3.6874 N
2 - 92
Tenth

Set your datum, use work-energy to determine v A at impact.
1
T1 (V1 )e (V1 ) g U12 T2 (V2 )e (V2 ) g
Determine values for each term.

T1 0, (V1 )e
1 2 1
k x1 (800)(0.1) 2 4.00 J
2
2
Datum
(V1 ) g m A gh1 m A g ( x d )sin (2)(9.81)(1.6)sin 20 10.7367 J

U1 2 F f ( x d ) (3.6874)(1.6) 5.8998 J
T2
1
1
mA v A2 (1) (v A2 ) 1.000 v A2 V2 0
2
2
Substitute into the Work-Energy equation and solve for v A

T1 V1 U1 2 T2 V2 : 0 4.00 10.7367 5.8998 1.000 v A2 0
v A2 8.8369 m 2 /s 2
v A 2.9727 m/s
2 - 93
Tenth

Use conservation of momentum to determine
the speed of ball B after the impact
Draw the impulse diagram
Note that the ball is constrained to move only

horizontally immediately after the impact.
Apply conservation of
momentum in the x direction
Use the relative velocity/coefficient

of restitution equation
(vB )n (vA ) n e [(vB )n (v A )n ]
mAv A cos 0 mA vA cos mB vB
(2)(2.9727) cos 20 2vA cos 20 (1.00) vB
vB cos vA e [v A 0]
vB cos 20 vA (0.8)(2.9727)
(1)
(2)
Solve (1) and (2) simultaneously

vA 1.0382 m/s
vB 3.6356 m/s
2 - 94
Tenth

Use work energy to find the velocity at
Set datum, use Work-Energy to determine v B at = 40o
2
T1 (V1 )e (V1 ) g U1 2 T2 (V2 )e (V2 ) g
Determine values for each term.

1
mB (vB )2 V1 0
2
1
T2 mB v22
V2 mB gh2 mB gl (1 cos )
2
T1
Datum
Substitute into the Work-Energy equation and solve for v A

1
1
mB (vB ) 2 0 mB v22 mB g (1 cos )
2
2
v22 (vB )2 2 gl (1 cos )
T1 V1 T2 V2 :
(3.6356)2 (2)(9.81)(1 cos 40)

8.6274 m 2 /s 2
v2 2.94 m/s
2 - 95
Tenth

Use Newtons 2nd Law to find tension in the rope
Draw your free-body and
kinetic diagrams
en
et
Sum forces in the normal direction
Determine normal acceleration
Fn mB an :
T mB g cos mB an
T mB (an g cos )
1.00 m
v22 8.6274
an
8.6274 m/s 2
1.00
Substitute and solve

T (1.0) (8.6274 9.81cos 40)
T 16.14 N
2 - 96
Tenth

Concept Question
Compare the following statement to the problem you just solved.
If the coefficient of restitution is
smaller than the 0.8 in the
problem, the tension T will be
Smaller
Bigger
If the rope length is smaller than

the 1 m in the problem, the
tension T will be
Smaller
Bigger
If the coefficient of friction is

smaller than 0.2 given in the
problem, the tension T will be
Smaller
If the mass of A is smaller

than the 2 kg given in the
problem, the tension T will
be
Smaller
Bigger
Bigger
2 - 97
Tenth

Summary
Approaches to Kinetics Problems
Forces and
Accelerations
Velocities and
Displacements
Velocities and
Time
Newtons Second
Law (last chapter)
Work-Energy
ImpulseMomentum
r
r
F
ma
T1 U12 T2
v t2 v
v
mv1 F dt mv2
t1
2 - 98

Dynamics 13 Lecture

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Tenth Edition

VECTOR MECHANICS FOR ENGINEERS:

2013 The McGraw-Hill Companies, Inc. All rights reserved.

Vector Mechanics for Engineers: Dynamics

Sample Problem 13.6

Vector Mechanics for Engineers: Dynamics

Accidents are often analyzed

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Vector Mechanics for Engineers: Dynamics

The current chapter introduces two additional

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Vector Mechanics for Engineers: Dynamics

2013 The McGraw-Hill Companies, Inc. All rights reserved.

Vector Mechanics for Engineers: Dynamics

Differential vector dr is the particle displacement.

Vector Mechanics for Engineers: Dynamics

Work is represented by the area under the

Vector Mechanics for Engineers: Dynamics

Vector Mechanics for Engineers: Dynamics

2013 The McGraw-Hill Companies, Inc. All rights reserved.

Vector Mechanics for Engineers: Dynamics

U12 kx dx 12 kx12 12 kx22

Work of the force exerted by spring is positive

Vector Mechanics for Engineers: Dynamics

As the block moves from A0 to A1, is

As the block moves from A2 to Ao, is

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Vector Mechanics for Engineers: Dynamics

2013 The McGraw-Hill Companies, Inc. All rights reserved.

Vector Mechanics for Engineers: Dynamics

Does the weight do work as

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Vector Mechanics for Engineers: Dynamics

2013 The McGraw-Hill Companies, Inc. All rights reserved.

Vector Mechanics for Engineers: Dynamics

Consider a particle of mass m acted upon by force F

The work of the force F is equal to the change in

Units of work and kinetic energy are the same:

Vector Mechanics for Engineers: Dynamics

Force P acts normal to path and does no

2013 The McGraw-Hill Companies, Inc. All rights reserved.

Vector Mechanics for Engineers: Dynamics

Vector Mechanics for Engineers: Dynamics

Vector Mechanics for Engineers: Dynamics

An automobile weighing 4000 lb is

Vector Mechanics for Engineers: Dynamics

T1 12 mv12 12 4000 32.2 88 2 481000 ft lb

Determine the distance required for the work

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Vector Mechanics for Engineers: Dynamics

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Vector Mechanics for Engineers: Dynamics

W A 200 kg 9.81 m s 2 1962 N

WB 300 kg 9.81 m s 2 2940 N

Vector Mechanics for Engineers: Dynamics

2940 N 2 m 490 N 2 m 12 200 kg 300 kg v 2

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Vector Mechanics for Engineers: Dynamics

Given: v1= 0, distance = 2 m, k = 0.25

What is T1 of the system?

What is the total work done between points 1 and 2?

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