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Use zero-relative-velocity mass shedding: the released sand initially shares the balloon's vertical velocity, rather than being actively ejected. Let $q=M+m(t)$ and let a positive mass $\delta m$ be shed in a short interval $dt$. The momentum of the balloon and that newly released sand changes byThe leading external impulse is $(T-qg)dt$. Newton's second law applied to this combined material system therefore givesWriting $\frac{d}{dt}(qv)=T-qg$ for the remaining balloon alone would omit the outgoing momentum flux. A nonzero relative ejection velocity would instead produce a rocket equation thrust term.

Initial mechanical equilibrium gives $T=(M+m_0)g$. Write $\lambda =m_0/t_0$, so $m=m_0-\lambda t$ up to depletion. ThenIntegrating from rest,Since $A/t_0=1+M/m_0$ and $A/(A-t_0)=1+m_0/M$, the final upward speed isThe acceleration is nonnegative throughout release, consistent with the upward motion.

First apply momentum conservation to the rocket and the infinitesimal amount of expelled gas. During $dt$, the exhaust mass is $\alpha dt$ and its inertial velocity, to first order, is $v-u$. With no dust, the momentum balance isIt gives the rocket equation $\boxed{m\dot{v}=\alpha u}$, while $\dot{m}=-\alpha$.

For a dust-collecting rocket, the incoming dust mass is $\beta vdt$ with zero initial momentum. The same balance has rocket mass $m+(\beta v-\alpha )dt$ after the interval, soConsequentlyThe second term in the acceleration equation accounts for the momentum required to bring collected dust up to rocket speed.

Set $\lambda =\sqrt{\alpha /(\beta u)}$ and $V=\lambda u$, so $\alpha u=\beta V^2$. As long as the engines operate and $0\le v<V$, the velocity increases and time can be eliminated:Integrating from $v=0$, $m=m_0$, givesThus the required mass–velocity relation is

If $\lambda >1$, this formula would give $m\to 0$ as $v\to V^{-}$. In this interval, $\dot{m}=\beta (v-{\lambda }^{2}u)<0$. A real rocket retains positive body mass even after its fuel is gone, and collected dust only increases that residual mass. It therefore cannot follow this branch all the way to zero mass: its fuel must run out while $v<\lambda u$. Indeed the hypothetical time integral $dt/dv=m/[\beta (V^2-v^2)]$ is integrable at $V$ when $\lambda >1$, so even the formal zero-mass endpoint would occur at finite time.

If $0<\lambda <1$, the same relation instead gives $m\to \infty$ as $v\to V^{-}$. The mass first decreases, reaches its minimum at $v={\lambda }^{2}u$, and then increases because dust arrives faster than fuel is expelled. The time integral now diverges at $V$: under indefinitely maintained thrust, $v$ approaches $\lambda u$ asymptotically while stored dust grows without bound. At that limiting speed, thrust $\alpha u$ balances the dust-loading term $\beta v^2$, and $\dot{m}\to \beta u\lambda (1-\lambda )>0$. This is the physical reason the total rocket mass no longer signals fuel exhaustion. A rocket with a finite initial fuel supply still runs out at finite time $t=M_{\mathrm{fuel}}/\alpha$ and before reaching $V$; increasing total mass does not create new fuel.

Work in one fixed inertial frame, and take positive velocity in the rocket's direction. During $d\tau$, the rocket ejects the positive amount of mass $-m^{\prime }(\tau )d\tau$. Its exhaust has inertial velocity $v(\tau )-u$, by the Galilean transformation of velocities. Once expelled, that material retains its velocity because it experiences no external force. The system's momentum is therefore the rocket momentum plus the sum of all these exhaust momenta:The minus sign comes from the positive expelled mass being $-m^{\prime }(\tau )d\tau$.

Differentiate, applying the product rule to the rocket momentum and the fundamental theorem of calculus to the integral:The momentum conservation law thus gives the nonrelativistic rocket equation

The same bookkeeping for kinetic energy givesIts derivative iswhere the rocket equation cancels the first two terms. Thus kinetic energy increases during mass ejection, with $\boxed{K^{\prime }=-u^2{m}^{\prime }/2>0}$ when $u>0$ and $m^{\prime }<0$. This does not violate conservation of energy: the increase comes from stored internal energy.

For fixed finite velocities, the nonrelativistic limit $c\to \infty$ gives ${\gamma }^2=(1-v^2/c^2{)}^{-1}\to 1$. Hence the relativistic rocket equation reduces towhich is the nonrelativistic rocket equation.

The conserved quantities called energy in the two calculations include different contributions. The nonrelativistic calculation considered only kinetic energy, which increases as fuel releases internal energy; total energy including that internal reservoir is still conserved. Relativistic energy includes rest energy, and therefore includes the fuel's stored internal energy through the rocket's rest mass. That rest mass decreases as energy is transferred into the exhaust. Thus conservation of relativistic energy and the nonconservation of kinetic energy express the same physical conversion.

Write the total remaining rocket mass as $\mathcal{M}=M+m(t)$, with $\dot{m}=-\alpha$. Over an interval $dt$, an exhaust mass $d{m}_e=\alpha dt$ is expelled backwards with inertial velocity $v-u$ to first order. Applying momentum conservation to the rocket and this exhaust givesCancellation and division by $dt$ give the rocket equationWith $M>0$, $m(t)=m_0-\alpha t$, and $0\le t\le m_0/\alpha$, integration givesAt burnout,The logarithm depends on the mass ratio, not on the burn rate. This follows from momentum conservation of the complete rocket–exhaust system; applying a constant-mass equation directly to the rocket alone would omit the momentum carried away.

For $0\le k<1$, the first burn reduces the total mass from $M+m_0$ to $M+(1-k)m_0$. The rocket equation therefore givesDetachment exerts negligible impulse, so the surviving second stage keeps velocity $v_1$. Its initial and final masses are $(1-k)(M+m_0)$ and $(1-k)M$, respectively. A second application of the rocket equation givesFor the single-stage comparison from rest, $v_{\mathrm{single}}=u\log (1+m_0/M)$. HenceEquality holds at $k=0$; for positive fuel and exhaust speed it is strict when $0<k<1$. This two-stage rocket with proportional fuel and body masses gains speed by discarding inert body mass before the last burn.

As $k\to 1^{-}$ the expression tends to $2u\log (1+m_0/M)$, but the surviving second-stage mass also tends to zero. At exactly $k=1$ there is no second stage, so its final speed is undefined and that limiting formula cannot be assigned to it. The first stage alone reaches the single-stage burnout speed before detachment. If $m_0=0$, neither design gains speed.

Let $M(t)=m_0-\alpha t$ be the trolley's remaining mass. During $dt$, the expelled mass $-dM$ has ground-frame velocity $v+u$. Conservation of momentum gives, to first order,and hence $Mdv=udM$. Integration yields the rocket equationAt the stopping time, $M=m_0{e}^{-v_0/u}$. Therefore the time spent ejecting gas is

For zero initial velocity, body masses $kM,(1-k)M$ and fuel masses $k{m}_0,(1-k)m_0$, the rocket equation gives the displayed final second-stage speed after burning the first-stage fuel, discarding its body without impulse, and burning the second-stage fuel. It assumes $M>0$ and $0\le k<1$. The speed exceeds the single-stage value when $0<k<1$ and fuel is positive. Its limit as $k\to 1^{-}$ concerns a surviving second stage of vanishing mass; at $k=1$ no such stage exists.

When matter leaves a moving body with zero instantaneous relative velocity, it carries the body's current momentum per unit mass but creates no additional recoil term. A short-interval momentum balance including the newly released material gives $q\dot{v}=F_{\mathrm{ext}}$ for the remaining body's mass $q(t)$. The expression $\frac{d}{dt}(qv)=F_{\mathrm{ext}}$ omits the outgoing momentum flux. Nonzero relative ejection velocity instead produces the thrust term of the rocket equation.