Lecture 5-Kinetics of System of Particles

Theory of Machines-II (ME2L005)
Lecture 5 : Kinetics of System of Particles

Dr. Soham Roychowdhury
School of Mechanical Sciences
Indian Institute of Technology Bhubaneswar
System of Particles:
It is a combination of multiple finite number of particles whose motions are
studied together.
• System of well-defined particles :

a) A set of billiard balls
b) A projectile that fragments into pieces
• System of variable number of particles :

a) A stream of flowing fluid through a channel
b) A rocket during launch
Newton’s Second Law:
From a system of n particles, considering one particle 𝑃𝑖
(1 < 𝑖 < 𝑛) of mass 𝑚𝑖 subjected to external force 𝐅𝑖
moving with an acceleration 𝐚𝑖 , the Newton’s Second
Law states
𝑛
𝐅𝑖 + 𝐟𝑖𝑗 = 𝑚𝑖 𝐚𝑖 where 𝐟𝑖𝑗 is the internal force acting on particle i

𝑗=1 (𝑗≠𝑖) from particle j.
Taking the summation of this equation for all particles,

𝑛 𝑛 𝑛 𝑛
𝐅𝑖 + 𝐟𝑖𝑗 = 𝑚𝑖 𝐚𝑖
𝑖=1 𝑖=1 𝑗=1 𝑖=1
𝑛 𝑛
Considering Newton’s third law (𝐟𝑖𝑗 = −𝐟𝑗𝑖 ), we have 𝐟𝑖𝑗 = 0

𝑛 𝑛 𝑛 𝑖=1 𝑗=1
𝑑2 𝑑2
𝐅𝑖 = 𝑚𝑖 𝐚𝑖 ⇒𝐅= 2 𝑚𝑖 𝐫𝑖 ⇒ 𝐅 = 2 𝑀𝐫𝑐 = 𝑀𝐫𝑐
𝑑𝑡 𝑑𝑡
𝑖=1 𝑖=1 𝑖=1
where, 𝐅 is the vector sum of all the forces acting on the system of particles,
and the position vector (𝐫𝑐 ) of the centre of mass of this system of particles is
defined as
𝑚𝑖 𝐫𝑖 𝑚𝑖 𝐫𝑖
𝐫𝑐 = = 𝑀= 𝑚𝑖 =Total Mass of the system
𝑚𝑖 𝑀
The mass centre of a system of particles moves as if the entire mass of the
system and all of the external forces were concentrated at that point.
Linear Momentum:
The linear momentum (𝐋) of system of n particles can be expressed as
𝑛
𝐋= 𝑚𝑖 𝐯𝑖
𝑖=1
Differentiating both sides with respect to time,
𝑛 𝑛 𝑛
𝐋= 𝑚𝑖 𝐯𝑖 = 𝑚𝑖 𝐚𝑖 = 𝐅𝑖 = 𝐅
𝑖=1 𝑖=1 𝑖=1
Rate of change of total linear momentum is the resultant force acting on the
system of particles.
Angular Momentum:
The angular momentum 𝐇𝑜 about point 𝑂 of system of
𝑛 particles can be written as
𝑛
𝐇𝑜 = (𝐫𝑖 × 𝑚𝑖 𝐯𝑖 )
𝑖=1
Differentiating both sides with respect to time,
𝑛 𝑛
𝐇𝑜 = (𝐫𝑖 × 𝑚𝑖 𝐯𝑖 ) + (𝐫𝑖 × 𝑚𝑖 𝐯𝑖 )
𝑖=1 𝑖=1
𝑛
0 𝑛 𝑛
⇒ 𝐇𝑜 = (𝐯𝑖 × 𝑚𝑖 𝐯𝑖 ) + (𝐫𝑖 × 𝑚𝑖 𝐚𝑖 ) = (𝐫𝑖 × 𝑚𝑖 𝐚𝑖 )

𝑖=1 𝑖=1 𝑖=1
𝑛 𝑛 𝑛
⇒ 𝐇𝑜 = (𝐫𝑖 × 𝑚𝑖 𝐚𝑖 ) = (𝐫𝑖 × 𝐅𝑖 ) = 𝐌𝑜
𝑖=1 𝑖=1 𝑖=1
Rate of change of angular momentum about a fixed point

𝑂 is the resultant moment of all the external forces acting
on the system of particles about 𝑂.
In similar manner, it can also be shown that the above statement holds true
about the centre of mass (𝐶) of the system of particles, as
𝑛
𝐇𝐶 = 𝐌𝐶
𝑖=1
Kinetic Energy:
Total K.E. of 𝑛 particles can be given as
𝑛 𝑛
1 1
𝑇= 𝑚𝑖 𝑣𝑖2 = 𝑚𝑖 𝐯𝑖 . 𝐯𝑖
2 2 𝐫𝑖 = 𝐫𝑐 + 𝛒𝑐𝑖
𝑖=1 𝑖=1
𝑛 𝑛 𝑛 𝑛
1 1 1 2
⇒𝑇= 𝑚𝑖 𝐯𝑐 + 𝛒𝑐𝑖 . 𝐯𝑐 + 𝛒𝑐𝑖 = 𝑚𝑖 𝑣𝑐2 + 𝑚𝑖 𝐯𝑐 . 𝛒𝑐𝑖 + 𝑚𝑖 𝜌𝑐𝑖
2 2 2
𝑖=1 𝑖=1 𝑖=1 𝑖=1
𝑛 𝑛 𝑛
1 1 2
⇒𝑇= 𝑚𝑖 𝑣𝑐2 + 𝐯𝑐 . 𝑚𝑖 𝛒𝑐𝑖 + 𝑚𝑖 𝜌𝑐𝑖
2 2
𝑖=1 𝑖=1 𝑖=1
0
𝑛 𝑛
1 2
𝑑 1 2
⇒ 𝑇 = 𝑀𝑣𝑐 + 𝐯𝑐 . 𝑚𝑖 𝛒𝑐𝑖 + 𝑚𝑖 𝜌𝑐𝑖
2 𝑑𝑡 2
𝑖=1 𝑖=1
First moment of mass of the system about C.G.= 𝑚𝑖 𝛒𝑐𝑖 = 0

𝑛
1 2
1 2
⇒ 𝑇 = 𝑀𝑣𝑐 + 𝑚𝑖 𝜌𝑐𝑖
2 2
𝑖=1
The total kinetic energy is having two parts as

a) K.E. of the total mass relative to the reference moving with the velocity of
the mass centre
b) K.E. of the motion of individual particles relative to the mass centre
Work Energy Principle:
Considering a single particle 𝑃𝑖 , the work-energy principle can be written as
2 2 𝑛
1 1
𝐅𝑖 . 𝑑𝐫𝑖 + 𝐟𝑖𝑗 . 𝑑𝐫𝑖 = 𝑚𝑖 𝑣𝑖2 − 𝑚𝑖 𝑣𝑖2 = 𝑇2 𝑖 − 𝑇1 𝑖 = ∆𝑇𝑖
2 2
2 1
1 1 𝑗=1
Work done by external forces + Work done by internal forces

= Change in kinetic energy relative to reference for 𝑖 𝑡ℎ particle
Summing up for all the particles, we get 𝑊1−2 𝑒 + 𝑊1−2 𝑖 = ∆ K. E
Each internal force is of conservative nature, and thus can be expressed as

the gradient of a scalar function.
Work Energy Principle Based on Centre of Mass:
Using Newton’s second law for system of particles, we know 𝐅 = 𝑀𝐫𝑐
The work done by the total resultant force (𝐅) is given as
2
1 1
𝑊1−2 = 𝐅. 𝑑𝐫𝑐 = 𝑀𝑣𝑐2 − 𝑀𝑣𝑐2 = 𝑇2 − 𝑇1 = ∆𝑇
2 2
2 1
1
In this approach,
a) Only external forces are involved and all those move with the centre of
mass while computing the work.
b) K.E. of centre of mass is only used.
Principle of Impulse and Momentum:
For a system of particle, the impulse of the resultant external force can be
obtained as
𝑡2 𝑛 𝑛
𝐈1−2 = 𝐅 𝑑𝑡 = 𝐋2 − 𝐋1 = 𝑚𝑖 𝐯𝑖 − 𝑚𝑖 𝐯𝑖
𝑡1 𝑖=1 2 𝑖=1 1
With respect to the centre of mass, it can be expressed as

𝑡2
𝐈1−2 = 𝐅 𝑑𝑡 = 𝐋2 − 𝐋1 = 𝑀 𝐯𝑐 2 − 𝑀 𝐯𝑐 1
𝑡1
References:
• Kraige L.G., and Meriam J.L., Engineering Mechanics - Dynamics, Wiley
• Beer F.P., and Johnston Jr. E.R., Vector Mechanics for Engineers: Dynamics, McGraw-Hill, Inc
• Hibbeler R.C., Engineering Mechanics - Dynamics, New Jersey: Pearson Prentice Hall
• Shames I. H., Engineering Mechanics- Statics and Dynamics, Prentice Hall of India
• Norton R.L., Design of Machinery, McGraw-Hill
• Shigley J.E., and Uicker J.J., Theory of Machines and Mechanisms, McGraw Hill, Inc
• Ghosh A., and Malik A.K., Theory of Mechanisms and Machines, East-West Press
• Wilson C.E., and Sandler J.P., Kinematics and Dynamics of Machinery, Pearson Education
• Waldron K. J., and Kinzel G. L., Kinematic, Dynamics, and Design of Machinery, Wiley
• NPTEL Course on Dynamics of Machines, Prof. A. Ghosh
• Respective sources from internet for different figures

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Theory of Machines-II (ME2L005)

Lecture 5 : Kinetics of System of Particles

• System of well-defined particles :

• System of variable number of particles :

𝐅𝑖 + 𝐟𝑖𝑗 = 𝑚𝑖 𝐚𝑖 where 𝐟𝑖𝑗 is the internal force acting on particle i

Taking the summation of this equation for all particles,

Considering Newton’s third law (𝐟𝑖𝑗 = −𝐟𝑗𝑖 ), we have 𝐟𝑖𝑗 = 0

⇒ 𝐇𝑜 = (𝐯𝑖 × 𝑚𝑖 𝐯𝑖 ) + (𝐫𝑖 × 𝑚𝑖 𝐚𝑖 ) = (𝐫𝑖 × 𝑚𝑖 𝐚𝑖 )

Rate of change of angular momentum about a fixed point

First moment of mass of the system about C.G.= 𝑚𝑖 𝛒𝑐𝑖 = 0

The total kinetic energy is having two parts as

Work done by external forces + Work done by internal forces

Each internal force is of conservative nature, and thus can be expressed as

With respect to the centre of mass, it can be expressed as

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