Chapter 5. MAIN THEOREMS in Dynamics

Chapter 5.
MAIN THEOREMS
IN DYNAMICS
5.1. Theorem of Change in Kinetic Energy
5.2. Mechanical Energy Conservation Law
5.3. Theorem of Change in Linear Momentum
5.4. The Linear Momentum Conservation Law
5.5. Theorem of Change in Angular momentum

5.1.1. For a particle
We consider a particle of mass m moving at a velocity v, subjected to a
system of forces with the resultant F.
We start from the fundamental law of dynamics,
also known as the principle of force action:
r
r
F = ma (1)
After multiplying (1) by the elementary displacement

dr and replace the acceleration with the derivative
with respect to time of thervelocity we get:
r r
dv r
F dr = m dr (2)
dt
r r
r r
F dr = mv dv ,
where the left term is the elementary work and the right term, the
differential of the kinetic energy:
r
mv 2
dL = d (
) = dEC
2
(3)

In a finite time interval t, corresponding to a finite displacement from A0
to A1, we integrate (3) and we get:
EC 1
EC 0
A1
dEC = dL, hence EC0 EC1 = L A0 A1
(4)
A0
Thus, we find the finite form of the theorem of change in kinetic energy,
meaning: the kinetic energy may increase only by achieving a positive work
equal to this increment.
5.1.2. For a system of particles and rigid body
Considering a system of n particles, each particle is subjected beside
the external forces, to internal forces due to the mutual interaction between
them. Applying the theorem of change in kinetic energy for each particle we
n n r
get:
n
n r
1 r2
d mi vi =
2
i =1
r
Fi dr +
i =1
hence : dEC = dLext + dLint
i =1 j =1
(6)
r
F ji dri
(5)

To find the finite form of the theorem of change in kinetic energy for the
system of particles, we integrate (6) and get:
EC1 EC0 = L0ext1 + L0int1. (7)
For non-deformable systems of particles, the distances between the

system particles remain constant. Due to the principle of action and
reaction we know that Fij = -Fji and the work of the internal forces will be:
r r
r
r
r
dLint = Fij (dri dr j ) = Fij drij = 0,
because rij is constant, so its variation is zero. Therefore, in the nondeformable systems of particles, the theorem of change in kinetic energy
becomes:
0 1
EC1 EC0 = Lext . (8)
meaning the kinetic energy variation is given by the work of the external
forces acting upon the system.
The rigid body may be considered a non-deformable system of an
infinite number of particles, so the theorem of change in kinetic energy is
given by relation (8).
5.2. Mechanical Energy Conservation Law
If a material system is subjected to conservative forces, meaning

their components are the partial derivatives of a potential function U,
then the work performed by these forces can be written:
dL = dU = dE p
(9)
The theorem of change in kinetic energy gives:

dEC = dL = dU = dE p
hence, d ( EC + E p ) = 0 dE = 0 E = ct. (10)

We conclude that if a moving material system is subjected only to
conservative forces, then the mechanical energy of the system
remains constant during entire motion.

5.3.1. For a particle
We consider a particle of mass m, having a velocity v and subjected to a
system of forces whose resultant is F.
According to the fundamental law of
dynamics, we have:r
dv r
m
= F (11)
dt
As the mass is constant it does not affect the
derivative, so:
r
r
r
r
d
(mv ) = F , hence H = F (12)
dt
The relation (12) represents the theorem of change in linear momentum
for a particle: the derivative with respect to time of a particle, the linear
momentum is equal to the resultant of all forces acting upon the particle.

5.3.2. For a System of Particles
We consider a system of n particles having the representative

particle Ai. Each particle is subjected, besides the external forces Fi,
to internal forces Fji, which respect the principle of action and
reaction Fji = -Fij.
The theorem of change in linear momentum for a particle Ai is:

r
r
H i = Fi +
r
F ji
(13)
j =1
For the entire system:

n r
r
H =
Hi =
i =1
i =1
r
Fi +
i =1
r
r
F ji = Rext +
j =1
r
F ji
(14)
i =1 j =1
The last term in relation (14) is zero because the forces are equal and
opposed, so (14) becomes: r
r
H = Rext
(15)
and represents the theorem of change in linear momentum for a system of

particles. The linear momentum can also be written:
r
r
r
v
H = MvC , MaC = Rext
(16)

5.3.3. For a Rigid Body
For the rigid body we use the same relations as (15) or (16). In
applications we use to project the vector expressions on the axes
of a chosen system of reference.
So, relation (16) can be replaced by following scalar equations:
M xC = X a + X p ,
M yC = Ya + Y p , (17)
M zC = Z a + Z p .
where the subscript a corresponds to the active forces and p to the
passive forces.
5.4. The Linear Momentum Conservation Law

If the external forces resultant acting on a material system is zero (the
system is in equilibrium) then the linear momentum remains constant.
So, if we replace Rext = 0, we find that the linear momentum
derivative is zero:
r
r
r
H = 0 H = MvC = ct. (18)
Due to the existence of the three scalar independent equations (17)

there are possibilities that the linear momentum remains constant only on
one or two of the three directions.
5.5. The Theorem of Change in Angular Momentum

5.5.1. For a Particle
We start again from the fundamental law of dynamics:
r r
dv
m
= F,
dt
and we make the cross product with the particle position r about the fixed
reference frame origin.
r
r
dv r r
r m
= r F . (19)
dt
We calculate now the derivative of the angular momentum:

r
r
r
r
r dr
r r
r r
d r
dv r
dv
K O1 = (r mv ) =
mv + r m
= v mv + r m .
dt
dt
dt
dt
r
r r
Knowing from Statics that r F = M O relation (19) becomes:
1
r
r
K O1 = M O1 (20)
And represents the expression of the theorem of change in angular
momentum for a particle.
5.5. The Theorem of Change in Angular Momentum

5.5.2. For a System of Particles
We consider a system of n particles having the representative
particle Ai. Each particle is subjected, besides the external forces Fi,
to internal forces Fji, which respect the principle of action and reaction
Fji = -Fij.
The theorem of change in angular momentum for a particle Ai is:
n
r
r r
r r
K (O1 )i = ri Fi +
ri F ji (21)
j =1
Adding all the expressions (21) for the system particles we get:
n r
n
n n
r
r r
r r
K O1 =
K (O1 )i =
ri Fi +
ri F ji (22)
i =1
i =1
i =1 j =1
According to the principle of action and reaction Fji = - Fij, the resultant
couple of the external forces is zero, so relation (22) becomes:
r
r ext
K O1 = M O1
(23)
which represents the theorem of change in angular momentum for a

system of particles.

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Chapter 5.

5.1. Theorem of Change in Kinetic Energy

After multiplying (1) by the elementary displacement

5.1. Theorem of Change in Kinetic Energy

dEC = dL, hence EC0 EC1 = L A0 A1

hence : dEC = dLext + dLint

5.1. Theorem of Change in Kinetic Energy

For non-deformable systems of particles, the distances between the

5.2. Mechanical Energy Conservation Law

If a material system is subjected to conservative forces, meaning

The theorem of change in kinetic energy gives:

hence, d ( EC + E p ) = 0 dE = 0 E = ct. (10)

5.3. Theorem of Change in Linear Momentum

5.3. Theorem of Change in Linear Momentum

We consider a system of n particles having the representative

The theorem of change in linear momentum for a particle Ai is:

For the entire system:

and represents the theorem of change in linear momentum for a system of

5.3. Theorem of Change in Linear Momentum

So, relation (16) can be replaced by following scalar equations:

5.4. The Linear Momentum Conservation Law

Due to the existence of the three scalar independent equations (17)

5.5. The Theorem of Change in Angular Momentum

We calculate now the derivative of the angular momentum:

5.5. The Theorem of Change in Angular Momentum

which represents the theorem of change in angular momentum for a

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