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L=
HG =
mi vi
= (Momentum)2
ri mi vi
mi ( vG + vi )
ri mi ( vG + vi )
mi vG +
ri mi vG +
= mvG + 0
= mvG
mi vi
=(
=0+
=I
mi ri ) vG +
mi (ri )2
ri mi vi
mi (ri )
mass center.
2
L = mv
HG = I
IA
Ft
Ft
IB
Mt
rA = 250 mm
rB = 100 mm
= 62.8 rad s ,
Gear A: 0
M
mA = 10 kg, k A = 200 mm
= 25.1 rad s
Gear B: 0 + 6t
mB = 3 kg, k B = 80 mm
Chapter 8. Planar Rigid Body Dynamics: Impulse and Momentum 3
Ay t
Ax t
A
500 mm
400 mm
A 25-g bullet is fired into the side of a 10kg square panel which is initially at rest.
Determine
(a) the angular velocity of the panel
mB v B
immediately after the bullet becomes
embedded and
(b) the impulsive reaction at A, assuming
that the bullet becomes embedded in
0.0006 s.
v B = 450 m/s
Ip
mp v p
Wt
10
(0.52 + 0.52 ) = 0.417 kg m 2
12
Moment about A:
0.025(450) 0.4 = 10 0.25 0.25 + 0.417
IP =
( ) (
= 4.32 rad/s ( ccw )
)(
Ax = 750 N (
) , Ay = 98.1 N (
+
ms vs
=
ms vs
Moment about A:
)(0.6) + I
Energy equation
v vs 1.2
vs
0.8 = B
=
vs 0
5 0
Solution:
vs
mR v R
B
Chapter 8. Planar Rigid Body Dynamics: Impulse and Momentum 5
Conservation of Momentum
When no external forces
L1 = L2
(H O )1 = (H O )2
When the sum of the external forces
passes through O,
(H O )1 = (H O )2