U2 - (I) CM - FOD
U2 - (I) CM - FOD
Set-1 (CM)
• Dynamics of a system of particles,
• centre of mass of the system
• centre of mass for discrete
• continuous systems (having spherical symmetry)
Set-2 (W-E)
• Conservation of momentum and energy,
• Conservative and non-Conservative forces,
• Work-energy theorem for conservative forces,
• Force as a gradient of potential energy.
Set-3 (Collision)
• Particle collision (Elastic and in-elastic collisions)
Particle
A point object whose mass is finite but whose size and internal structure can be neglected.
System
A body of finite size can be regarded as a system. It could be discrete and Continuous.
The force on particle j can be split into two terms: F j = ⃗fjQRM + ⃗fjSTM
Here ⃗fjU)V , the internal force on particle j, due to all other particles in the system, and
⃗fjWXV , the external force on particle j, due to sources outside the system. The eq. (1)
can therefore be written as
⃗fjQRM + ⃗fjSTM = Y 1j (2)
YM
On the system as a whole, add the equations of motion of all the particles in the
system. And the summations extend over all particles, j = 1, . . . , n.
R R R
Y 1j
∑Z'( ⃗fjQRM + ∑Z'( ⃗fjSTM = ∑Z'( (3)
YM
The first term, is the sum of all internal forces acting on all the particles. The
individual particles experience internal forces, but if we consider system as a whole
There is no contribution of internal forces to the total
force because the forces between any two particles are
equal and opposite (according to Newton’s third law) so
that their sum is zero, (e.g. figure for 3 particle system)
)
∑&'( ⃗fjU)V = 0
e.g. in 3 particle system
The second term, is the sum of all external forces acting on all the particles, it is the
total external force Fextt acting on the system.
)
∑&'( ⃗fjWXV = Fext Equation (3) simplifies to
)
[ 1j
0+Fext = ∑&'(
[V
[11 [12 [1n
Fext = + +……… +
[V [V [V
Since the derivative of a sum is the sum of the derivatives, this can be written as
[
Fext = (p1 + p2 + ……… + pn)
[V
Y 1MaMbc
Fext = ptotal = ∑ pj = p1 + p2 +……… +pn
YM
Where total momentum ptotal = ∑ pj = is the vector sum of momentum of individual
particles. The total momentum can only be changed by changing the force applied on
it. This result is identical to the equation of motion of a single particle.
Centre of mass of system of particles (or a rigid body) and its significance
It is a point where the whole mass of the body is supposed to be concentrated. It
is the mass weighted average position of all masses of the system. When external
force acts upon it, it moves in the same way in which a single particle of same mass
(as that of the total mass of the system) would move. It represents a point where any
uniform force acts on the object.
Significance of CM: The concept of the CM is useful because it makes easy to
solve problems of mechanics involving the motion of oddly-shaped objects and
complicated systems, in particular those concerned with system of colliding
subatomic particles like neutron with the nucleus.
The CM provides opportunity to calculate the value of quantities like
momentum p, Kinetic energy K, potential energy U, net acceleration etc in a much
easier way (than by the basic approach of find these quantities for each and every
particle and adding up to find the net value).
CM of a two particle system
CM is the mass weighted average position of all particles of the
system. In a two particle system, if m1 and m2 are masses of two
particles and r⃗1 and r⃗2 are supposed to be their position vectors with
respect to the origin, then Position vectors of CM of system R is:
ij f(gik fe
Rcm = where 𝑀 = 𝑚( + 𝑚e , total mass
ij gik
ij f(gik fe
Rcm =
l
The CM of two particle system lies on the line joining the two particles i.e. collinear properties
MRcm = 𝑚( r⃗1 + 𝑚e r⃗2
Each particle is making a contribution proportional to its mass. The product of the total mass of
the system and the position vector of its CM is equal to the sum of the products of individual
masses and their respective position vectors.
The CM of two equal masses lies exactly at the centre of the line joining the two masses.
f(gf(
Rcm = when 𝑚( = 𝑚e ,
e
If we choose, the CM as the origin of our coordinate system, then position coordinate of CM
Rcm = 0
𝑚( r⃗1 + 𝑚e r⃗2 = 0
ij mk
=
ik mj
(
𝑚∝ if 𝑚( > 𝑚e , then r⃗( < r⃗e
m
CM shifts toward the heavier mass i.e. CM lies near the heavier body
𝑚( > 𝑚e , then 𝑥( < 𝑥e 𝑥 𝑥e
(
𝑚( = 𝑚e , then 𝑥( = 𝑥e 𝑥( 𝑥e
If (𝑥( , 𝑦( , 𝑧( ) and (𝑥e , 𝑦e , 𝑧e ) are the coordinates of the locations of two particles, then
Position Coordinates of CM are
ij X(gik Xe
𝑋cm =
ij gik
ij v(gik ve
𝑌cm = and
ij gik
ij x(gik xe
𝑍cm =
ij gik
Centre of mass of N particle system
If m1, m2, m3, ··· ,mN are the masses N particles with
r⃗1, r⃗2, r⃗3, ··· , r⃗N as their position vectors at a given
instant, the Position Vector of the CM of the system
at that instant is given by
𝐦𝟏𝐫⃗𝟏g𝐦𝟐𝐫⃗𝟐g⋯g𝐦𝐍 𝐫⃗𝐍 ∑•
”…j mj fZ
𝐑𝐜𝐦 = =
𝐦𝟏g𝐦𝟐g⋯g𝐦𝐍 – In 3-D
Ø Note
Total linear momentum of the system ptotal = MVCM
Where as the linear momentum p of a particle p = m v
Acceleration of centre of mass of system of particles (or rigid body)
Differentiating eq.(2) with respect to time
Y§™l Y6Z
M = ∑RZ'( mj
YM YM
Y§™l
Where = a 𝐶𝑀 represents the acceleration of C of M of system and
YM
Y6Z
= aj acceleration of individual particles
YM
Ma𝐶𝑀= m1a1 + m2a2 + m3a3 + ⋯ . . + mnan
M a𝐶𝑀 = ∑RZ'( mj aj
Ma𝐶𝑀 = ∑RZ'( ⃗fj (4)
Ma𝐶𝑀= vector sum of external force acting on the individual particles
Ma𝐶𝑀= Ftotal (5)
This represents the equation of motion which governs centre of mass.
It shows that the CM of the system moves as if the entire mass of the system is
concentrated at this point and total external force Ftotal acts on this point. The
acceleration of centre of mass of the system is given by
¨MaMbc
a𝐶𝑀 = (6)
–
Show that in the absence of any external force, the total linear momentum of the
system P is conserved
When Ftotal = 0 Where Ftotal = ⃗f1 + ⃗f2 + ⃗f3 + ⋯ . . + ⃗fN = ∑RZ'( ⃗fj
∑RZ'( ⃗fj =0
∑RZ'( mj aj =0
∑RZ'( mj vj = constant
∑RZ'( pj = constant ∑RZ'( pj = p𝑡𝑜𝑡𝑎𝑙
p𝑡𝑜𝑡𝑎𝑙 = constant (i)
From eq (2) the total linear momentum of the system would be
MV𝐶𝑀 = p𝑡𝑜𝑡𝑎𝑙 (ii)
MV𝐶𝑀 =constant When Ftotal = 0
Hence in the absence of any external force, the total linear momentum of the system
P is conserved. This suggests that the momentum of the system remain same as if all
the masses are concentrated at the centre of mass moving with velocity V𝐶𝑀 Hence
V𝐶𝑀 is known as system velocity. The velocity of the CM of a system remains
constant in the absence of any external force V𝐶𝑀 =constant
Show that in the absence of any external force, the velocity of center of mass of
the system remains constant and hence moves with a uniform velocity
When Ftotal = 0 Where Ftotal = ⃗f1 + ⃗f2 + ⃗f3 + ⋯ . . + ⃗fN = ∑RZ'( ⃗fj
∑RZ'( ⃗fj =0
In the presence of external force on the system, CM of the system moves as if the
entire mass of the system is concentrated at this point and total external force Ftotal
acts on this point From eq (4)
Ma𝐶𝑀 = ∑RZ'( ⃗fj
Ma𝐶𝑀 =Ftotal
M aCM=0 When Ftotal=0
a𝐶𝑀 =0
Hence V𝐶𝑀 =constant
The individual particles move in different directions with different velocities, but the
velocity of their CM remain the same. This is an important property of CM. This is
true for example in the decay of a radioactive nucleus into elementary particles
CM of a rigid body
A rigid body consists of a large number of particles, compactly packed together, the
spacing of the particles is so small, that the distribution of mass may taken as
continuous throughout. Hence the sign of summation used above is replaced by
integration, taken over the whole volume of the body Y
and (∫§ r⃗ dm) is called the first moment of mass for the system.
Coordinates of CM in cartesian coordinates system
(
𝑋𝐶𝑀 = ∫ x 𝑑𝑚
l ,
(
𝑌𝐶𝑀 = ∫ y 𝑑𝑚
l ,
(
𝑍 𝐶𝑀 = ∫ z⃗ 𝑑𝑚
l ,
If ρ be the density of the body at a point whose position vector is r⃗ , the elemental
mass of volume dV is dm = ρ dV , then
(
R𝐶𝑀 = ∫ r⃗ 𝜌 dV
l ,
∫, r⃗ 𝑑𝑚
R𝐶𝑀 =
𝑀
• In bodies with homogeneous regular shapes (with uniformly distributed mass)
like rings, discs, spheres, rods etc. we often calculate the CM by using symmetry
consideration,
• The centres of mass of these bodies lie at their geometric centres for example, in
the case of a sphere, it lies at its centre. In fact, it is located at a point for which
Reference frames connected to laboratory are known as L-frame of reference or laboratory frame of
reference. The C-frame of reference is important because many experiments performed in L-frame can
be more simply analysed in the C-frame (which moves with a velocity 𝑽𝑪𝑴 relative to L-frame)
Does the CM of symmetric bodies always lie at their geometrical centre?
Centre of mass (CM) is different from geometric centre (GC)
• Geometric centre (or centroid) is different from centre of mass as it does not
account for the masses of different particles. A body with non uniform mass
distribution the centre of mass may not lie at their geometrical centre. It will lie
close to the point where mass density is more. When different object in a system
have different masses then GC and CM are not at the same location.
• However, for an object with constant density and regular geometrical shapes like
rings, discs, spheres, rods etc. the centres of mass of these bodies lie at their
geometric centres for example, in the case of a sphere it lies at the centre. In fact, it
is located at a point for which
∫, r⃗ 𝑑𝑚 = 0 and consequently
position vector of CM Rcm = 0 and
coordinates of CM (𝑋𝐶𝑀, 𝑌𝐶𝑀, 𝑍𝐶𝑀) = 0.
Properties of CM:
• CM of a system of particles is a point where the whole mass of the body is supposed to be
concentrated. It represents a point where any uniform force on the object acts.
• When a force acts at this point, the body will produce linear acceleration but no rotation.
Consider two objects connected by a thin rod. when a force acts at CM, the body will produce
linear acceleration but no rotation. video at 4.00 min:
https://www.youtube.com/watch?v=nyJeaUe7wXM
• For homogenous bodies of regular geometrical shapes like rings, discs, spheres, rods etc. the
centres of mass of these bodies lie at their geometric centres for example, in the case of a
sphere it lies at the centre. In fact, it is located at a point for which ∫, r⃗ 𝑑𝑚 = 0 and
consequently Rcm = 0 and coordinates of CM (𝑋𝐶𝑀, 𝑌𝐶𝑀, 𝑍𝐶𝑀) = 0
• The CM may lie outside the body depending on the shape of system. e.g. in the ring. In fig (a)
the CM (●) is located in the body when it is in the vertical position, but falls out the body
when one leans forward (b)
The complex motion of the object (or system of particles) can be represented by the motion of
a point located at the centre of mass of the system, e.g. the shape of the path created by the any
moving system in projectile motion is parabola
• As long as the object is in constant gravitational field, the CM and the centre of gravity (CG)
of the object are in the same location. The CM of all these objects follows the parabolic path
in projectile motion and ‘g’ acts on the object’s CM. This is true for all objects in projectile
motion. On the planet earth the acceleration due to gravity is almost constant
𝑔W¤mV´ = 9.8 𝑚/𝑠 e ’,
therefore we generally consider CM and CG to be in the same location.
The complex motion of the object (or system of particles) can be represented by the motion of
a point located at the centre of mass of the system, e.g. the shape of the path created by the any
moving system in projectile motion is parabola
• As long as the object is in constant gravitational field, the CM and the centre of gravity (CG)
of the object are in the same location. The CM of all these objects follows the parabolic path
in projectile motion and ‘g’ acts on the object’s CM. This is true for all objects in projectile
motion. On the planet earth the acceleration due to gravity is almost constant
𝑔W¤mV´ = 9.8 𝑚/𝑠 e ’,
therefore we generally consider CM and CG to be in the same location.
Set-1 CM
Summary
Y 1MaMbc
• Dynamics of a system of particles, Fext =
YM
• Concept of centre of mass and its significance
• CM for discrete and continuous systems (having spherical symmetry)
𝐦𝟏𝐫⃗𝟏g𝐦𝟐𝐫⃗𝟐g⋯g𝐦𝐍 𝐫⃗𝐍
Position Vector of CM 𝐑𝐜𝐦 =
𝐦𝟏g𝐦𝟐g⋯g𝐦𝐍
𝒎𝟏𝒙𝟏g𝒎𝟐𝒙𝟐g⋯g𝒎𝑵𝒙𝑵
Coordinates of CM 𝑿𝐜𝐦 =
𝑴
𝒎𝟏𝒚𝟏g𝒎𝟐𝒚𝟐g⋯g𝒎𝑵𝒚𝑵
𝒀𝐜𝐦 =
𝑴
𝒎𝟏𝒛𝟏g𝒎𝟐𝒛𝟐g⋯g𝒎𝑵𝒛𝑵
𝒁𝐜𝐦 =
𝑴
1V£V¤¥
Velocity of CM V𝐶𝑀 =
–
¨
Acceleration of CM a𝐶𝑀 = MaMbc
–
Total linear momentum of the system P is conserved in the absence of any
external force when Ftotal = 0 then p𝑡𝑜𝑡𝑎𝑙 = constant, hence V𝐶𝑀 =constant
Proof: Let 𝑚1 and 𝑚2 be two mass particles with position vectors ⃗r1 and ⃗r2 with
respect to the fixed origin O in lab frame. Let C be the CM whose position vectors
w.r.t. 𝑚1 and 𝑚2 are d1 and d2.
»jf(g»kfe
The position vector of C w.r.t. O is defined by: R𝑐𝑚 =
»jg»k
By the law of vector addition
⃗r1 + d1 = RCM (1)
RCM + d2 = ⃗r2 (2)
This gives
»jf(g»kfe »k
d1 = RCM − ⃗r1 = − ⃗r1 = r⃗2 − ⃗r1
»jg»k »jg»k
»jf(g»kfe »j
d2 = ⃗r2 −RCM = ⃗r2 − = r⃗2 − ⃗r1
»jg»k »jg»k
Therefore
»k »jg»k
d1 = d2
»jg»k »j
i2
d1 = d2
i1
This shows that the vector d1 and d2 are collinear, i.e. the centre of mass C lies on the
line joining 𝑚1 and 𝑚2 . Hence the ratio of distances of the two particles from the
centre of mass is the inverse ratio of their masses
d1 i 2
=
d i
. 2 . 1
Conclusion:
The position of CM is independent of the origin or reference frame chosen.
Q: Show that if 𝑟⃗ is the relative position vector of two particles of mass m1 and m2,
½ ½
then the CM coordinates of the two particles respectively are 𝑟⃗ and𝑟⃗
m1 m2
r⃗ = r⃗1 − r⃗ mm
where 𝜇 = 1 2
2 m1+m1
R𝑐𝑚
Proof: Let 𝑚1 and 𝑚2 be two mass particles with position vectors ⃗r1 and ⃗r2 with
respect to the fixed origin O in lab frame. The position vector of CM of particles
w.r.t. O is given by:
»jf(g»kfe
R𝑐𝑚 = (1)
»jg»k
Let ⃗r is the position vectors 𝑚1 with respect to 𝑚2 , then
⃗r = ⃗r1 − ⃗r2
Or ⃗r2 = ⃗r1 − ⃗r (2)
Substituting eq (2) into eq.(1)
»jf(g»k f(¿r⃗
RCM =
»jg»k
»jg»k f(¿ »k r⃗
RCM =
»jg»k
»k
RCM = ⃗r1 − ⃗r
»jg»k
»k m 1m 2
⃗r1 = RCM + ⃗r If 𝜇 = then
»jg»k m1+m1
½
⃗r1 = RCM + ⃗r
ij
similarly
½
⃗r2 = RCM − ⃗r
ik