Vector Dynamics

Lecture 6
Chapter 3: Kinetics of Particles
Impact

Dr Nick K. Nikpour
Aerospace/Mechanical Engineering
California Polytechnic State University
Dynamics
Impact
Impact (collision) is characterized by:

1. Generation of large forces (orders of magnitude larger than non-impact forces

2. Duration of contact between colliding bodies is small (fractions of milliseconds)
3. The impact is a complex event involving many non-mechanical energy loss:
Thermal, Sound, Plastic deformation, rupture of molecular bonds,….
4. Impact forces rapidly change with time and travel through the body in waves with
the speed of sound.
5. Estimate of motion after impact can be made based on conservation of momentum.
Note that conservation of energy is not often applicable.
6. Exact solution of the impact problems cannot be made without a complete
knowledge of the nature of impact.
7. Approximate estimates can be made based on some experimental parameters,
defining the duration of impact and restitution factors as will be explain in the
following slides

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Dynamics
Direct Central Impact
Consider the collinear motion of two spheres of masses 𝑚! and 𝑚" , traveling
with velocities 𝑣! and 𝑣" .
If 𝑣! > 𝑣" , collision occurs with the contact forces directed along the line of
centers of gravity. This condition is called direct central impact.

Following the initial contact, a short period

of increasing deformation takes place until
the contact area between the spheres
ceases to increase. At this instant, both
spheres are moving with the same
velocity 𝑣# . This is followed by a period of
restoration during which the contact area
decreases and eventually the impacting
bodies separate from one another. At that
moment, the two spheres move with
different velocities 𝑣! ʹ and 𝑣" ʹ, such that
𝑣! ʹ< 𝑣" ʹ.

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Dynamics
Impact Terminology
• 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

Direct Central Impact 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.
Oblique Central Impact
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Dynamics
Direct Central Impact – The System Equation
• 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,
mAvA + mBvB = mAv¢A + mBv¢B
• A second relation between the final
velocities is required.
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Dynamics
Direct Central Impact – Particle Analysis
Ball A

e = coefficient of restitution
• Period of deformation: m Av A - ò Pdt = m Au
=ò
Rdt u - v¢A
=
ò Pdt v A - u
Ball A

0 £ e £1
• Period of restitution: m Au - ò Rdt = m Av¢A
v¢B - u
• A similar analysis of particle B yields e=
u - vB

• Combining the relations leads to the desired v¢B - v¢A = e(v A - vB )

second relation between the final velocities.

• Perfectly plastic impact, e = 0: v¢B = v¢A = v¢ m Av A + mB vB = (m A + mB )v¢

• Perfectly elastic impact, e = 1: v¢B - v¢A = v A - vB

Total energy and total momentum conserved.
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Dynamics
Coefficient of Restitution

Let 𝐹$ and 𝐹% represent the magnitudes of the

contact forces during the restoration and
deformation periods, respectively. For particle
1 the definition of 𝑒 together with the impulse-
momentum equation give us

Similarly for particle 2:

v ¢B - v ¢A
e=
Eliminate 𝑣# from the two equations , we get v A - vB
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Dynamics
Coefficient of Restitution

v ¢B - v ¢A
e=
v A - vB

Relative Velocity of Separation

e=
Relative Velocity of Approach

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Dynamics
Energy Loss During Impact
• Impact phenomena are almost always accompanied by energy loss
• This may be calculated by subtracting the kinetic energy of the system after
impact from that before impact.
• Energy is lost through the generation of heat , plastic deformation, sound energy
and possible fracture. We definr
Elastic impact for which there is no energy loss, and 𝑒 = 1.
Plastic impact for which energy loss is maximum and 𝑒 = 0.

• The coefficient of restitution is

frequently considered a constant for
given geometries and a given
combination of contacting materials.
Actually, it depends on the impact
velocity and approaches unity as the
impact velocity approaches zero as
shown schematically:

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Dynamics
Oblique Impact – Key Concepts

Consider the coordinate system n-t at the time of impact, where n –axis is the central
line between to spheres and t-axis is the tangential direction.
Approaching and separation angles are defined from the tangential directions

(𝑣! )" = 𝑣! cos(θ! ), (𝑣! )# = 𝑣! sin(θ! ), (𝑣$ )" = 𝑣$ cos(θ$ ), (𝑣$ )# = 𝑣$ sin(θ$ )

(𝑣′! )" = 𝑣′! cos(θ′! ), (𝑣′! )# = 𝑣′! sin(θ′! ), (𝑣′$ )" = 𝑣′$ cos(θ′$ ), (𝑣′$ )# = 𝑣′$ sin(θ′$ )
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Dynamics
Oblique Central Impact
• Final velocities are
unknown in magnitude
and direction. Four
equations are required.

• No tangential impulse component; (v A )t = (v¢A )t (vB )t = (v¢B )t

tangential component of momentum
for each particle is conserved.
• Normal component of total m A (v A )n + mB (vB )n = m A (v¢A )n + mB (v¢B )n
momentum of the two particles is
conserved.
• Normal components of relative (v¢B )n - (v¢A )n = e[(v A )n - (vB )n ]
velocities before and after impact
are related by the coefficient of
restitution.
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Dynamics
Oblique Central Impact - Constrained

• Block constrained to move along horizontal

surface.

• Impulses are due to

 
1. Internal forces F and - F along
the n axis

2. External force Fext
exerted by horizontal surface and
directed along the vertical to the
surface.

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Dynamics
Oblique Central Impact - Constrained

• Tangential momentum of ball is (vB )t = (v¢B )t

conserved.
• Total horizontal momentum of block m A (v A ) + mB (vB )x = m A (v¢A ) + mB (v¢B )x
and ball is conserved.
• Normal component of relative (v¢B )n - (v¢A )n = e[(v A )n - (vB )n ]
velocities of block and ball are related
by coefficient of restitution.

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Dynamics
Sample Problem 1
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.
• Assume that the wall has infinite mass
A ball is thrown against a frictionless,
so that wall velocity before and after
vertical wall. Immediately before the
impact is zero. Apply coefficient of
ball strikes the wall, its velocity has a
restitution relation to find change in
magnitude v and forms angle of 30o
normal relative velocity between wall
with the horizontal. Knowing that
and ball, i.e., the normal ball velocity.
e = 0.90, determine the magnitude and
direction of the velocity of the ball as
it rebounds from the wall.

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Dynamics
Sample Problem 1
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
• Apply coefficient of restitution relation with zero wall
n velocity.
0 - vn¢ = e(vn - 0)
vn¢ = -0.9(0.866v ) = -0.779v

  
v ¢ = -0.779v ln + 0.500v lt
æ 0.779 ö
v¢ = 0.926v tan -1ç ÷ = 32.7°
è 0.500 ø
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Dynamics
Sample Problem 2
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 • Total normal component of the momentum
velocities of two identical of the two ball system is conserved.
frictionless balls before they strike
each other are as shown. Assuming • The normal relative velocities of the
e = 0.9, determine the magnitude balls are related by the coefficient of
and direction of the velocity of each restitution.
ball after the impact.
• Solve the last two equations simultaneously
for the normal velocities of the balls after
the impact.

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Dynamics

SOLUTION:
• Resolve the ball velocities into components normal and
tangential to the contact plane.
(vA )n = vA cos 30° = 26.0 ft s (vA )t = vA sin 30° = 15.0 ft s
(vB )n = -vB cos 60° = -20.0 ft s (vB )t = vB sin 60° = 34.6 ft s

• Tangential component of momentum for each ball is

conserved.
(v¢A )t = (vA )t = 15.0 ft s (v¢B )t = (vB )t = 34.6 ft s

• Total normal component of the momentum of the two

ball system is conserved.
m A (v A )n + mB (vB )n = m A (v¢A )n + mB (v¢B )n
m(26.0 ) + m(- 20.0 ) = m(v¢A )n + m(v¢B )n
(v¢A )n + (v¢B )n = 6.0

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Dynamics
Sample Problem 2
• The normal relative velocities of the balls are related by the
coefficient of restitution.
(v¢A )n - (v¢B )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.
(v¢A )n = -17.7 ft s (v¢B )n = 23.7 ft s

  
v A¢ = -17.7lt + 15.0ln
n
æ 15.0 ö
v¢A = 23.2 ft s tan -1ç ÷ = 40.3°
è 17.7 ø
  
vB¢ = 23.7lt + 34.6ln
æ 34.6 ö
v¢B = 41.9 ft s tan -1ç
t
÷ = 55.6°
è 23. 7 ø

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Dynamics
Sample Problem 3
Ball B is hanging from an inextensible cord. An identical ball A is released
from rest when it is just touching the cord and acquires a velocity v0 before
striking ball B. Assuming perfectly elastic impact (e = 1) and no friction,
determine the velocity of each ball immediately after impact.

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Dynamics

SOLUTION:
• Determine orientation of impact line of
action.

r
sin q = = 0.5
2r
q = 30°

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Dynamics

The momentum component of ball A tangential to the contact plane is conserved.

  
mv A + FDt = mv A¢
mv0 sin 30° + 0 = m(v¢A )t
(v¢A )t = 0.5v0

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Dynamics

The total horizontal (x component) momentum of the two ball system is conserved.

   
mv A + TDt = mv A¢ + mvB¢
0 = m(v¢A )t cos 30° - m(v¢A )n sin 30° - mv¢B
0 = (0.5v0 ) cos 30° - (v¢A )n sin 30° - v¢B
0.5(v¢A )n + v¢B = 0.433v0
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Dynamics

• The relative velocities along the line of action before

and after the impact are related by the coefficient of
restitution.
(v¢B )n - (v¢A )n = e[(v A )n - (vB )n ]
v¢B sin 30° - (v¢A )n = v0 cos 30° - 0
0.5v¢B - (v¢A )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.
(v¢A )n = -0.520v0 v¢B = 0.693v0

  
v A¢ = 0.5v0lt - 0.520v0ln

b = tan -1æç
0.52 ö
v¢A = 0.721v0 ÷ = 46.1°
è 0.5 ø
a = 46.1° - 30° = 16.1°
v¢B = 0.693v0 ¬
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Dynamics
Group Think…

v ¢B - v ¢A v ¢B 5v = 5
e=
v A - vB
=
vA
=
v
?
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Dynamics
Group Think…

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Dynamics
Group Think…

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Dynamics
Group Think…

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Dynamics
Group Think…

©by2013
Chart Todd.The McGraw-Hill
Problem Companies,
courtesy of McGraw Inc.
Hill (Beer, All rights
Johnson reserved.
& Mazurek, 10th Ed.)
Dynamics
Group Think…

Solution:

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Dynamics
Group Think…

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