Center of Mass

The center of mass of a system of particles is, loosely speaking, the average position
of all the positions with each individual position weighted by the mass of the
individual particle.
m m
1
x
2
x
m m
1
x
2
x
2
2 1
x x
x
cm
+
=
m 2
m
1
x
2
x
m 2
m
1
x
2
x
2
2
2 1
x x
x
cm
+
=
2
m
1
m
1
x
2
x
2
m
1
m
2 1
2 2 1 1
m m
x m x m
x
cm
+
+
=
Equal masses
Make one heavier
General case
Generalize:

=
i i
total
cm
x m
M
x
1
If more than one dimension, further generalize:

= .
1
etc y m
M
y
i i
total
cm
In vector notation:

=
i i
total
cm
r m
M
r
1
Whats so great about the CM?
m
1

m
i

1
r

i
r

...
2 2 1 1
+ + = r m r m r M
CM

...
2 2 1 1
+ + = v m v m v M
CM

...
2 2 1 1
+ + = a m a m a M
CM

{ }
{ } ... ...
...
2 2 3 2 1
1 1 3 1 2
+ + + + +
+ + + =


ext
ext
F F F
F F F


...
2 1
+ + = F net F net a M
CM

ext
total
F

=
All internal forces cancel in pairs by
3
rd
law
ext
total CM
F a M

=
The CM behaves as a point particle with mass equal to entire system
mass, moving under the influence of only the external forces.
If there are no external forces present, then the CM either remains at rest if it
begins at rest, or maintains constant speed in a straight line.
Examples:
a) cannonballs in boxcar
b) sphere in a sphere
c) hand grenade
Linear Momentum
For an individual mass we define the linear momentum to be:
v m p

=
From the 2
nd
law we have:
a m
dt
p d

=
F net
dt
p d

=
This is actually how Newton originally formulated the 2
nd
law. The ma is a
special case when m is not changing.
Linear Momentum of a System of Particles
For a system of many particles, we can define the total linear momentum:
...
2 1
+ + = p p P

Then we can write:

...
2 2 1 1
+ + = v m v m P

CM
CM
V M
dt
r d
M P

= =
The total linear momentum is a result of the total mass
moving with the velocity of the CM
Let us differentiate the total momentum:
ext
total CM
F a M
dt
P d

= =
If there are no external forces, then momentum is conserved:
f
P P
dt
P d

= =
0
0
This is a vector equation. If there are not external forces in say the x-direction,
then P
xo
= P
xf
even if there are external forces in the y-direction.
Impulse
For a constant force, let is define a vector quantity called impulse as the
product of the force times the time over which it acts:
t F J A =

In one dimension, we need only worry about the sign. If the force is not
constant during the time over which the force acts, we define through an
integral:
}
=
2
1
t
t
dt F J

Note the analogy to our definition of work. Of course a huge difference is work
is a scalar and impulse is a vector.
For any component, the impulse will be the area under the F
i
vs t graph.
So why bother with impulse?
Suppose we focus on the impulse delivered by the net force.
} }
= =
2
1
2
1
t
t
t
t
dt
dt
p d
dt F net J


p p p p d J
p
p

A = = =
}
1 2
2
1
graph under area dt F J
t
t
x x
= =
}
2
1
Example: A .1 kg mass moving with a speed of 10 m/s along the x-axis
collides head on with another mass. The magnitude of the force between the
two is shown below as a function of time. Find the final speed and direction of
the mass.
area J p = = A
( ) ( )( ) 12 10 60 10 1 .
3
= x v
f
s
m
v
f
8 . 2 =
The mass slows down, but continues
in same direction.
Elastic Collisions in 1-D
1
v
2
v
1
v
'
2
v
'
2 2 1 1 2 2 1 1
v m v m v m v m
'
+
'
= +
f
P P =
0
Elastic means KE stays the same:
2
2 2
2
1 1
2
2 2
2
1 1
2
1
2
1
2
1
2
1
v m v m v m v m
'
+
'
= +
( ) ( )
2 2 2 1 1 1
v v m v v m
'
=
'

( ) ( )
2
2
2
2 2
2
1
2
1 1
v v m v v m
'
=
'

( )( ) ( )( )
2 2 2 2 2 1 1 1 1 1
v v v v m v v v v m +
'

'
=
'
+
'

Dividing two equations gives (upon rearrangement):

1 2 2 1
v v v v
'

'
=
The relative velocity changes direction but keeps same magnitude.
Only true in 1-D, elastic collisions.
Example: Ping pong ball collides with stationary bowling ball.
2 1 1
v M v m mv
'
+
'
=
1 2 1
v v v
'

'
=
Multiply by M and subtract
( ) ( )
1 1
v M m v M m
'
+ =
( )
( )
1 1 1 1
v v v v
M m
M m
=
'

'
=
+

Bounces back with same speed

Example: Bowling ball hits stationary ping pong ball.
2 1 1
v m v M Mv
'
+
'
=
1 2 1
v v v
'

'
=
Multiply by M and add
( )
2 1
2 v M m Mv
'
+ =
1 1 2
2
2
v v
m M
M
v ~
+
=
'
Barry Bonds uses a light bat
A two dimensional collision
u
|
f
P P

=
0
xf x
P P =
0
1
v
1
v
'
2
v
'
| u cos cos
2 2 1 1 1 1
v m v m v m
'
+
'
=
yf y
P P =
0
| u sin sin 0
2 2 1 1
v m v m
'

'
=
Example: a 4 kg mass heading in the y direction at 12 m/s collides and sticks to
a 6 kg mass moving in the + x direction at 10 m/s. Find the magnitude and
direction of the final velocity.
xf x
P P =
0
( )
s
m
v v
x x
6 10 10 6 = =
yf y
P P =
0
( )
s
m
v v
y y
8 . 4 10 12 4 = =
u
8 .
6
8 . 4
tan = = u
( )
2
2
8 . 4 6 + = v