0% found this document useful (0 votes)
36 views28 pages

U2 - (I) CM - FOD

Uploaded by

manralisha451
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
0% found this document useful (0 votes)
36 views28 pages

U2 - (I) CM - FOD

Uploaded by

manralisha451
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
You are on page 1/ 28

Unit 2 Fundamentals of Dynamics

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.

Discrete system of particles Continuous System of particles:


Rigid body (extended objects)
It is a collection of very large number of In continuous system of particles the
mutually interacting particles separated from separation of particles is very small, it
each other whose net mass M is the sum of approaches to zero. A rigid body is an
the masses of individual particles idealization of a solid body with an
M = m1+m2+m3+. . . . = ∑)&'( mj unchanging shape where the distance between
where m1, m2, m3, ··· ,mN masses of any two given particles remains constant
regardless of the external force acting upon it.
individual particles
here 𝑀 = ∫, 𝑑𝑚
Particle Dynamics Study of cause of motion (force acting)
Newton’s Laws of motion
1st The law of inertia: “Everybody continues to be in its state of rest or of uniform motion
in a straight line, unless compelled by some external force to act otherwise”.
2nd “The rate of change of momentum of a body is directly proportional to the applied force
and takes place in the direction in which the force acts”.
𝐝1
F=
𝐝𝐭
𝐝6 Newton or Kg-m/Sec2
F = 𝐦a = 𝒎
𝐝𝐭
This form is preferable to F = 𝐦a because it is readily generalized to complex systems,
because momentum p turns out to be more fundamental than mass or velocity separately.
3rd F𝐀𝐁 = −F𝐁𝐀 To every action, there is always an equal and opposite reaction,
Forces always occur in pairs.
Impulse: A force acting on a body for a very short duration. It produces a finite change in
momentum of the body
Impulse ⃗J = Force×time interval = F×Δt
⃗J = ma×Δt = m L6 ×Δt = m Δv = Δ mv = Δp = change in momentum
LM
𝐝6
Law of conservation of momentum (p =m )
𝐝𝐭
nd rd
The 2 and 3 laws of motion lead to an important consequence:
“The total momentum of an isolated system of interacting particles is conserved”.
Newton’s laws of motion are applicable to point object.
The introduction to concept of centre of mass enable us to apply them equally
well to the motion of system of particles (or extended objects). 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. The motion of the object is analysed
by the motion of centre of mass of the object as if the net external force acting on the
system is applied at the centre of mass.

Dynamics of a System of Particles (Net value of force on the system of particles)


To generalize the laws of motion to extended bodies, consider a system of n
interacting particles with masses m1, m2, m3, ··· ,mn. Let r1 r2. . . .rn, be the position of
1st, 2nd . . . .nth particle respectively.
The particles in the system interact with particles outside the system as well as with
each other. Every particle will have a velocity and hence will contribute to the
momentum. Let force acting on jth particle is ⃗fj and its momentum is p j.
The equation of motion for the jth particle is
⃗fj = [1j (1)
[V

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

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

Where r⃗𝑗 is the position vector of the jth particle, r⃗𝑗= 𝑥𝑗 𝚤+ ̂ 𝑧𝑗 𝑘}


̂ 𝑦𝑗𝚥+
M is the total mass of the system M = m( +me + ⋯ + m€ = ∑RZ'( mj and
∑RZ'( mj r⃗j is called the first moment of mass for the system.
If (𝑥( , 𝑦( , 𝑧( ), (𝑥e , 𝑦e , 𝑧e ) ….and (𝑥) , 𝑦) , 𝑧) ) are the coordinates of the locations of n
particles in a system, then Coordinates of CM (in 3D) are
∑𝒏𝒋…𝟏 mj 𝒙𝒋 𝒎 𝒙 g𝒎 𝒙 g⋯g𝒎𝑵𝒙𝑵
𝑿𝐜𝐦 = = 𝟏 𝟏 𝟐 𝟐
𝑴 𝑴
∑𝒏
𝒋…𝟏 mj 𝒚𝒋 𝒎𝟏𝒚𝟏g𝒎𝟐𝒚𝟐g⋯g𝒎𝑵𝒚𝑵
𝒀𝐜𝐦 = = and
𝑴 𝑴
∑𝒏
𝒋…𝟏 mj 𝒛𝒋 𝒎𝟏𝒛𝟏g𝒎𝟐𝒛𝟐g⋯g𝒎𝑵𝒛𝑵
𝒁𝐜𝐦 = =
𝑴 𝑴
Velocity of centre of mass of system of particles (or rigid body)
Let us consider the motion of the system consisting on N particles of masses m1,
m2, m3, ··· ,mN with total mass M. Suppose an external force Ftotal acts on a system.
Assuming that the mass of the system remains constant (i.e., no mass enters or leaves
the system). The position vector of the CM of system R is given by
∑•
”…j mj fZ
R𝐶𝑀 = where M = ∑RZ'( mj = m( +me + ⋯ + m€

MR𝐶𝑀 = ∑RZ'( mj r⃗j (1)


Differentiating with respect to time, we get
Y˜™l YfZ
M = ∑RZ'( mj
YM YM
Y˜™l YfZ
Where = V𝐶𝑀 velocity of CM and = vj velocities of individual particles
YM YM
Thus, for the system of particles moving with velocities v1, v2, v3, ··· , vn. the total
linear momentum of the system would be
MV𝐶𝑀 = ∑RZ'( mj vj (2) or
MV𝐶𝑀 = m1v1 + m2v2 + m3v3 + ⋯ . . + mNvN
MV𝐶𝑀 = p1 + p2 + p3 + ⋯ . . + pN
MV𝐶𝑀 = ∑RZ'( pj
MV𝐶𝑀 = p𝑡𝑜𝑡𝑎𝑙 (3)
Thus the total linear momentum of the system p𝑡𝑜𝑡𝑎𝑙 is equal to the product of total
mass of the system M and the velocity of centre of mass V𝐶𝑀.
This suggests that the momentum of the system is same as if all the masses are
concentrated at the centre of mass moving with velocity 𝑽𝑪𝑴 Hence 𝑉 𝐶𝑀 the
velocity of centre of mass is known as system velocity. given by
1V£V¤¥
V𝐶𝑀 = (4)

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

Position vector 𝐑𝐶𝑀 of the CM of the body is given by


∫© f [i
R𝐶𝑀 = l

here M is the total mass of the system = ∫, 𝑑𝑚 X

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 ,

here M of the system is given by = ∫, 𝜌 dV


Coordinates of CM in cartesian coordinates system
(
𝑋𝐶𝑀 = ∫ 𝑥 𝜌 dV
l ,
(
𝑌𝐶𝑀 = ∫ 𝑌 𝜌 dV and
l ,
(
𝑍𝐶𝑀 = ∫ 𝑍 𝜌 dV
l ,
Centre of mass of homogenous bodies of regular geometrical shapes

∫, 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

first moment of mass for the system ∫𝑽 𝒓 𝒅𝒎 = 𝟎 and consequently


Position vectors of the CM R𝐶𝑀 = 0
Coordinates of CM (𝑋𝐶𝑀, 𝑌𝐶𝑀, 𝑍𝐶𝑀) = 0
Centre of mass frame of reference (C-frame of reference )
• It is a reference frame attached with the centre of mass of a system of particles (or
rigid body). It is known as C-frame of reference. In this frame the velocity of CM
is zero
• If we attach an inertial frame of reference with the centre of mass of many particle
system then in that frame of reference the centre of mass would be at rest
or, V𝐶𝑀 =0, such type of reference frames are known as C-frame of reference.
In CM-frame of reference:
V𝐶𝑀 = 0
p𝑡𝑜𝑡𝑎𝑙 = 0 because p𝑡𝑜𝑡𝑎𝑙 = M V𝐶𝑀
Linear momentum of a many particle system is zero. Therefore C-reference
frames are also known as zero momentum reference frames
• Since in absence of any external force the centre of mass of any system moves
with constant velocity in inertial frame of reference therefore for a many particle
system C-frame of reference is an inertial frame of reference.

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

Regular shape body Discrete system of particles Irregular shape body

• 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

Regular shape body Discrete system of particles Irregular shape body

• 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

• In Centre of mass frame of reference V𝐶𝑀 = 0 p𝑡𝑜𝑡𝑎𝑙 = 0


Q: Show that the C of M of two particles must lie on the line joining them and the
ratio of the distances of the two particles from the centre of mass is the inverse ratio
of their masses
d1 C d2
i2 d1 i 2
d1 = d2 =
i1 d i
. 1
. 2
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. 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

You might also like

pFad - Phonifier reborn

Pfad - The Proxy pFad of © 2024 Garber Painting. All rights reserved.

Note: This service is not intended for secure transactions such as banking, social media, email, or purchasing. Use at your own risk. We assume no liability whatsoever for broken pages.


Alternative Proxies:

Alternative Proxy

pFad Proxy

pFad v3 Proxy

pFad v4 Proxy