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2
Principle of Work and Energy
• The work done by a force is
dU = F ● dr
• The work done in going from State 1 to State 2
is equal to the change in kinetic energy…
U1-2 = T2 – T1
• If all forces acting are conservative, total
mechanical energy is conserved
E = T + V = constant
3
Principle of Impulse and Momentum-1
Imp1-2 = ∫ F dt
• For a direct central impact, momentum is
conserved and the impact relation is
vb' – va ' = e(va – vb)
where e is the coefficient of restitution
• e = 0 for a perfectly plastic impact and e = 1
for a perfectly elastic impact
4
Principle of Impulse and Momentum-2
6
Rigid-Body Kinematics-2
v = v' + Ω x r
– For any vector A, the Coriolis Theorem
tells us that
dA/dt = d'A/dt + Ω x A
7
Rigid-Body Kinetics-1
11