A force f ( t ) ∈ ∈ R 3 , dependent on time t ∈ ∈ R , acting on a body of assumed constant mass m ∈ ∈ R for a time interval [ t 0 , t 1 ] generates a change in the body’s momentum p ( t ) = m v ( t ) , where v ( t ) is the resulting change in velocity. The change in momentum, termed an impulse and denoted by j ∈ ∈ R 3 is thus computed as