Chapter 3

Kinetics of Particles

Question 31
A particle of mass m moves in the vertical plane along a track in the form of a
circle as shown in Fig. P3-1. The equation for the track is

r = r0 cos
Knowing that gravity acts downward and assuming the initial conditions (t =
= 0) =
0 , determine (a) the differential equation of motion for
0) = 0 and (t
the particle and (b) the force exerted by the track on the particle as a function
of .

r=
O

r0

os

Figure P 3-1

62

Chapter 3. Kinetics of Particles

Solution to Question 31
Kinematics
Let F be a reference frame fixed to the track. Then, choose the following coordinate system fixed in reference frame F :
Ex
Ez
Ey

Origin at point O
=
=
=

Along OP when = 0
Out of page
Ez Ex

Next, let A be a reference frame fixed to the direction OP . Then, choose the
following coordinate system fixed in reference frame A:
er
ez
e

Origin at point O
=
=
=

Along OP
Ez
ez er

The geometry of the bases {Ex , Ey , Ez } and {er , e , ez } is shown in Fig. 3-1. Using
Fig. 3-1, we have that
Ex
Ey

= cos er sin e

(3.1)

= sin er + cos e

(3.2)

Ey
er
e

Ex
Figure 3-1

Geometry of Coordinate System for Question 3.1

Next, the position of the particle is given in terms of the basis {er , e , ez } as
r = r er = r0 cos er

(3.3)

Furthermore, since the angle is measured from the fixed horizontal direction,
the angular velocity of A in F is given as
F

z
A = e

(3.4)

63
Applying the transport theorem to r from reference frame A to F , the velocity
of the particle in reference frame F as
F

v=

dr Adr F A
=
+ r
dt
dt

(3.5)

Now we have
A

dr
sin er
= r0
dt
F A
z r0 cos er = r0
cos e
r = E

(3.6)
(3.7)

Adding the expressions in Eq. (3.6) and Eq. (3.7), we obtain the velocity in reference frame F as
F
sin er + r0
cos e
v = r0
(3.8)
Re-writing Eq. (3.8), we obtain
F

sin er + cos e )
v = r0 (

(3.9)

The speed in reference frame F is then given as

F

v = kF vk = r0

(3.10)

Dividing F v by F v, we obtain the tangent vector as

et = sin er + cos e

(3.11)

Next, the principal unit normal vector is computed as

en =

det /dt

k det /dtk

(3.12)

Applying the transport theorem to et , we have

F

A
det
det F A
=
+ et
dt
dt

(3.13)

Now
A

det
dt
F A
et

cos er
sin e
=
z ( sin er + cos e )
= e
cos er
sin e
=

(3.14)

(3.15)

Consequently,
F

det
cos er 2
sin e
= 2
dt

(3.16)

64

Chapter 3. Kinetics of Particles

which implies that

cos er 2
sin e
2
= cos er sin e
cos er 2
sin e k
k 2

en =

(3.17)

The principal unit bi-normal vector to the track is then obtained as

eb = et en = ( sin er + cos e ) ( cos er sin e ) = ez

(3.18)

The acceleration as viewed by an observer fixed to the track is then obtained as

F

a=

d F  A d F  F A F
v =
v + v
dt
dt

(3.19)

Now we have
A
d F 
t + r0
det
v
= r0 e
dt
dt

cos er
sin e )
= r0 et + r0 (
t + r0
2 ( cos er sin e )
= r0 e
t + r0
2 en
= r0 e

z r0 e
t
v = e
2 en
t = r0
b r0 e
= e

(3.20)

(3.21)

where we note that the results of Eqs. (3.14) and (3.17) have been used to obtain
the result given in Eq. (3.20). Therefore,
F

t + 2r0
2 en
a = r0 e

(3.22)

Kinetics
Next, in order to obtain the differential equation of motion, we need to apply
Newtons 2nd Law to the particle. The free body diagram of the particle is given
in Fig. 3-2 as where
m

N
mg
Figure 3-2

Free Body Diagram for Question 31.

N
= Reaction Force of Track on Particle
mg = Force of Gravity

65
Now we know that the reaction force is orthogonal to the track while gravity
acts vertically downward. Consequently, we have that
N = Nn en + Nb

mg = mgEy

(3.23)
(3.24)

Then, using the expression for Ey from Eq. (3.2), we obtain the force of gravity
as
mg = mg(sin er + cos e ) = mg sin er mg cos e
(3.25)
The total force on the particle is then given as
F = N + mg = Nn en + Nb eb mg sin er mg cos e

(3.26)

Applying Newtons 2nd Law using the acceleration from Eq. (3.22), we obtain
t + 2mr0
2 en
Nn en + Nb eb mg sin er mg cos e = mr0 e

(3.27)

Now it is seen that the unknown reaction forces exerted by the track lie in the
directions of en and eb . Therefore, the reaction force exerted by the track can
be eliminated if the scalar product with et is taken with both sides of Eq. (3.27)
as
t +2mr0
2 en )et (3.28)
(Nn en +Nb eb mg sin er mg cos e )et = (mr0 e
Then, observing that en et = eb et = 0, Eq. (3.28) simplifies to

mg sin er et mg cos e et = mr0

(3.29)

Now, using the expression for et from Eq. (3.11), we have that
er et

e et

= er ( sin er + cos e ) = sin

= e ( sin er + cos e ) = cos

(3.30)
(3.31)

Substituting the results of Eq. (3.30) and Eq. (3.31) into Eq. (3.29), we obtain

mg sin2 mg cos2 = mr0

(3.32)

cos2 sin2 = cos 2

(3.33)

Now we also note that

Therefore, Eq. (3.32) can be written as

mg cos 2 = mr0

(3.34)

Next, taking the scalar product of Eq. (3.28) in the en direction, we obtain
2
Nn mg sin er en mg cos e en = 2mr0

(3.35)

66

Chapter 3. Kinetics of Particles

Then, using the expression for en from Eq. (3.17), we have that
er en

e en

= er ( cos er sin e ) = cos

= e ( cos er sin e ) = sin

(3.36)
(3.37)

Substituting the results of Eq. (3.36) and Eq. (3.37) into Eq. (3.35) gives
2
Nn + mg sin cos + mg cos sin = 2mr0

(3.38)

Now we have that

sin cos + cos sin = 2 sin cos = sin 2

(3.39)

Consequently, Eq. (3.38 can be written as

2
N + mg sin 2 = 2mr0

(3.40)

Finally, taking the scalar product of Eq. (3.28) in the eb direction, we obtain
Nb = 0

(3.41)

The following three scalar equations then result from Eqs. (3.34), Eq. (3.40), and
Eq. (3.41):
= mg cos 2
mr0
2 = Nn + mg sin 2
2mr0
0 = Nb

(3.42)
(3.43)
(3.44)

Since Eq. (3.43) contains no reaction forces, it is the differential equation of

motion, i.e. the differential equation of motion is given as
= mg cos 2
mr0

(3.45)

Rearranging this last equation, we obtain the differential equation of motion for
the particle as
+ g cos 2 = 0
(3.46)

r0
Force Exerted by Track on Particle As a Function of
First we note the following:

d
= d = d d =

dt
d dt
d

(3.47)

Substituting Eq. (3.47) into Eq. (3.46), we obtain

d + g cos 2 = 0

d
r0

(3.48)

67
Rearranging Eq. (3.48) and separating variables, we obtain

= g cos 2d
d
r0

(3.49)

Integrating this last equation, we obtain

g
1  2 2 
0 =
[sin 2]0
2
2r0

(3.50)

Noting that (t = 0) = 0, this last equation simplifies to

2 =
2 g sin 2

0
r0

(3.51)

Solving for the reaction force using Eq. (3.42), we obtain

We then obtain

2 mg sin 2
Nn = 2mr0

(3.52)



2 g sin 2 mg sin 2
Nn = 2mr0
0
r0

(3.53)

Simplifying this last equation, we obtain

2 3mg sin 2
Nn = 2mr0
0
The force exerted by the track on the particle is then given as
h
i
2 3mg sin 2 en
N = 2mr0
0

(3.54)

(3.55)

68

Chapter 3. Kinetics of Particles

Question 32
A collar of mass m slides without friction along a rigid massless rod as shown
in Fig. P3-2. The collar is attached to a linear spring with spring constant K and
unstretched length L. Assuming no gravity, determine the differential equation
of motion for the collar.
O
K

m
x
Figure P 3-2

Solution to Question 32
First, let F be a fixed reference frame. Then, choose the following coordinate
system fixed in reference frame F :

Ey
Ez
Ex

Origin at Attachment
Point of Spring
=
Up
=
Out of Page
=
Ey Ez

Then, in terms of the basis {Ex , Ey , Ez }, the position of the collar is given as
r = xEx LEy

(3.56)

Since reference frame F is fixed and L is constant, the velocity of the collar in
reference frame F is given as
F

v=

dr
x
= xE
dt

(3.57)

Furthermore, the acceleration of the collar in reference frame F is given as

F

a=

d F 
x
v = xE
dt

(3.58)

Next, using the free body diagram of the collar as shown in Fig. 3-3, we have
that
Fs = Spring Force
N = Reaction Force of Rod on Collar

69
N

Fs

Figure 3-3

Free Body Diagram for Question 3.2

Since the reaction force acts in the Ey direction, we have that

N = NEy

(3.59)

Next, the force in a linear spring is given as

Fs = K( 0 )us

(3.60)

First, the stretched length of the spring is

= kr rA k

(3.61)

where the position of the attachment point is zero, i.e., rA = 0. Therefore, the
stretched length of the spring is given as
p
= krk = kxEx LEy k = x 2 + L2
(3.62)
Furthermore, the unstretched length of the spring is given as
0 = L

(3.63)

Finally, the direction from the attachment point to the particle, us , is given as
us =

xEx LEy
r rA
=
kr rA k
x 2 + L2

(3.64)

Consequently, the force of the spring is given as

Fs = K

i xEx LEy
hp
x 2 + L2 L
x 2 + L2

(3.65)

Grouping this last expression into components, we obtain

Fs = K

hp
hp
i
i
x
L
Ex + K x 2 + L2 L
Ey
x 2 + L2 L
2
2
2
x +L
x + L2

(3.66)

The resultant force acting on the particle is then given as



hp
i
i
hp
x
L
Fs = K x 2 + L2 L
Ex + N + K x 2 + L2 L
Ey
x 2 + L2
x 2 + L2
(3.67)

70

Chapter 3. Kinetics of Particles

Applying Newtons 2nd Law, we obtain



hp
i
i
hp
x
L
2
2
2
2
x
Ey = mxE
Ex + N + K x + L L
K x + L L
x 2 + L2
x 2 + L2
(3.68)
Using the Ex -component of the last equation, we obtain
= K
mx

hp
i
x 2 + L2 L

x
x 2 + L2

(3.69)

Rearranging this last equation, we obtain the differential equation of motion as

+K
mx

i
hp
x 2 + L2 L

x
x2

+ L2

=0

(3.70)

71

Solution to Question 33
A bead of mass m slides along a fixed circular helix of radius R and constant
helical inclination angle as shown in Fig. P3-3. The equation for the helix is
given in cylindrical coordinates as
z = R tan

(3.71)

Knowing that gravity acts vertically downward, determine the differential equation of motion for the bead in terms of the angle using (a) Newtons 2nd law
and (b) the work-energy theorem for a particle. In addition assuming the initial
= 0) =
0 , determine (c) the displacement
conditions (t = 0) = 0 and (t
attained by the bead when it reaches its maximum height on the helix.

Om P

Figure P 3-3

Solution to Question 33
Kinematics
Let F be a reference frame fixed to the helix. Then, choose the following coordinate system fixed in reference frame F :
Ex
Ey
Ez

Origin at O
=
=
=

Along er at t = 0
Along e at t = 0
er e

Next, let A be a reference

n frameo that rotates with the projection of the position of particle into the Ex , Ey -plane. Corresponding to A, we choose the

72

Chapter 3. Kinetics of Particles

following coordinate system to describe the motion of the particle:

er
ez
e

Origin at O
=
=
=

Along Radial Direction of Circle

Ez from Reference Frame F
ez er

Now, since is the angle formed by the helix with the horizontal, we have from
the geometry that
z = R tan
(3.72)
Suppose now that we make the following substitution:
tan

(3.73)

Then the position of the bead can be written as

r = Rer + tan Rez = Rer + Rez

(3.74)

Furthermore, the angular velocity of reference frame A in reference frame F is

given as
F A
z
= e
(3.75)
Then, differentiating Eq. (3.74) in reference frame F , the velocity of the bead is
given as
F
dr Adr F A
F
v=
=
+ r
(3.76)
dt
dt
where
A
dr
z
= R e
dt
(3.77)
F A r = e
z (Rer + Rez ) = R e

Adding the two expressions in Eq. (3.77), we obtain
F

+ R e
z
v = R e

(3.78)

The speed in reference frame F is then given as

F

 
p
1 + 2 d F s
v = kF vk = R
dt

(3.79)

Consequently,
F

p
ds = R 1 + 2 d

(3.80)

Integrating both sides of Eq. (3.80), we obtain

Z Fs
Fs

ds =

p
R 1 + 2 d

(3.81)

73
We then obtain
F

p
s F s0 = R 1 + 2 ( 0 )

Solving Eq. (3.82) for s, the arclength is given as

p
F
s = F s0 + R 1 + 2 ( 0 )

(3.82)

(3.83)

Now the tangent vector in reference frame F is given as

et =

Fv

(3.84)

Fv

Using the speed from Eq. (3.79) and the velocity from Eq. (3.78), the tangent
vector in reference frame F is obtained as Substituting the expressions for F v
and F v from part (a) into Eq. (3.84), we obtain
et =

+ R e
z
R e

1 + 2
R

(3.85)

Simplifying Eq. (3.85), we have

e + ez
et =
1 + 2

(3.86)

Next, we have
F

det
= F ven
dt

(3.87)

Applying the rate of change transport theorem between reference frames A and
F , we have
F
A
det
det F A
=
+ et
(3.88)
dt
dt
where
A

det
dt

A et

= 0

(3.89)

z e + ez =
er
= e
1 + 2
1 + 2

(3.90)

Adding Eqs. (3.89) and (3.90) gives

F

det

er
=
dt
1 + 2

(3.91)

The principal unit normal is then given as

en =

F
F

det /dt

k det /dtk

= er

(3.92)

74

Chapter 3. Kinetics of Particles

We then obtain the principal unit bi-normal vector as

e ez
e + ez
(er ) =
eb = et en =
1 + 2
1 + 2

(3.93)

Furthermore, the curvature is given as

=

1
det /dt
=
Fv
R(1 + 2 )

(3.94)

The acceleration in reference frame F is then given as

F

a=

 2
d F 
v et + F v en
dt

(3.95)

Using the expression for F v from Eq. (3.79) we have that

p
d F 
1 + 2
v = R
dt

(3.96)

Also, using the curvature from Eq. (3.94), we have that

2

h p
i2
1
1 + 2 = R
2
R

R(1 + 2 )

(3.97)

Thus, the acceleration is given as

F

p
2 en
1 + 2 et + R
a = R

(3.98)

Kinetics
Using the free body diagram in Fig. 3-4, we have that
Nn = Reaction Force of Track on Bead in en Direction
Nb = Reaction Force of Track on Bead in eb Direction
mg = Force of Gravity
Therefore,
Nb

Nn

mg
Figure 3-4

Free Body Diagram for Question 3.4

F = Nn + Nb + mg

(3.99)

75
From the geometry we have that
Nn
Nb

= Nn en

= Nb en

(3.100)
(3.101)

mg = mgez

(3.102)

F = Nn en + Nb eb mgez

(3.103)

Consequently,
Now from Eqs. (3.86) and (3.93) we have
et
eb

e + ez

1 + 2
e ez
=
1 + 2

(3.104)

Using Eq. (3.104) wecan obtain an expression for ez

in terms of et and eb . First,
multiplying et by 1 + 2 and multiplying eb by 1 + 2 , we obtain

1 + 2 et

1 + 2 eb

= e + 2 ez
= e ez

Subtracting these last two equations gives

p
p
1 + 2 et + 1 + 2 eb = (1 + 2 )ez

(3.105)

(3.106)

Solving this last equation for ez , we obtain

et + eb
ez =
1 + 2
The force F given in Eq. (3.103) can then be written as


et + eb

F = Nn en + Nb eb mg
1 + 2
Separating this last equation into components, we obtain


mg
mg
F =
eb
et + Nn en + Nb
1 + 2
1 + 2

(3.107)

(3.108)

(3.109)

(a) Differential Equation Using Newtons 2nd Law

Setting F = mF a using the expression for F a from Eq. (3.98), we obtain


p
mg
mg
2 en (3.110)
1 + 2 et + mR

et + Nn en + Nb
eb = mR
1 + 2
1 + 2

76

Chapter 3. Kinetics of Particles

Equating components in Eq. (3.110) yields the following three scalar equations:
mg

1 + 2
Nn
Nb

p
1 + 2
= mR

2
= mR
mg
=
1 + 2

(3.111)
(3.112)
(3.113)

It is noted that, because it contains no reaction forces, Eq. (3.111) is the differential equation of motion for the particle, i.e., the differential equation of motion
is given as
p
1 + 2 + mg = 0
(3.114)
mR
1 + 2

Eq. (3.114) can be rewritten as

+ mg = 0
mR(1 + 2 )

(3.115)

Simplifying Eq. (3.115), we obtain

+

g
=0
R(1 + 2 )

(3.116)

Then, using the the fact that = tan from Eq. (3.73), we obtain
+

g
tan = 0
R(1 + tan2 )

(3.117)

Now from trigonometry we have that

1 + tan2 = sec2

(3.118)

Using the result of Eq. (3.118) in Eq. (3.117), we obtain the differential equation
of motion as
+ g tan = 0
(3.119)

R sec2
(b) Differential Equation Using Work-Energy Theorem
Applying the work-energy theorem to the bead, we have
d F 
T = F Fv
dt

(3.120)

Using the expression for F v from Eq. (3.78), the kinetic energy in reference frame
F is given as
F

T =

1 F
1
2 2 R 2
2 ) = 1 mR 2 (1 + 2 )
2
m v F v = m(R 2
2
2
2

(3.121)

77
Computing the rate of change of kinetic energy, we obtain
d F 

T = mR 2 (1 + 2 )
dt

(3.122)

Next, using the resultant force acting on the bead as given in Eq. (3.109), the
power produced by all forces is given as
 


mg
mg
(3.123)
eb F v
et + Nn en + Nb
F Fv =
1 + 2
1 + 2
Recalling by definition that F v = F vet , Eq. (3.123) simplifies to
mg F
F Fv =
v
1 + 2

Then, substituting the expression for F v from Eq. (3.79), we have

p
mg
1 + 2
F Fv =
R
1 + 2

(3.124)

(3.125)

Setting Eq. (3.122) equal to Eq. (3.125), we obtain

p
1 + 2

= mg R
mR 2 (1 + 2 )
1 + 2
Rearranging Eq. (3.126) yields


p
mR 2 (1 + 2 )
+ mg R 1 + 2 = 0

1 + 2

(3.126)

(3.127)

0 as a function of time, the differential equation of motion

Observing that
is obtained as
p
+ mg R 1 + 2 = 0
mR 2 (1 + 2 )
(3.128)
1 + 2
(c) Maximum Displacement of Bead
For this particular problem, we can obtain the maximum distance traveled using
the alternate form of the work-energy theorm for a particle. In particular, we
know that
d F 
E = Fnc F v
(3.129)
dt
Now since the force of gravity is conservative, we know that the only possible
non-conservative forces are due to the reaction of the track on the bead, i.e.,
Fnc = Nn + Nb

(3.130)

Using the expressions for Nn and Nb from Eq. (3.100) and Eq. (3.101), we have
that
Fnc = Nn en + Nb eb
(3.131)

78

Chapter 3. Kinetics of Particles

Furthermore, since en and eb both lie in the direction orthogonal to et , we have

that
en et = 0
(3.132)
eb et = 0
Furthermore, since F v = F vet , we know that
Fnc = (Nn en + Nb eb ) F vet = 0

(3.133)

d F 
E =0
dt

(3.134)

Consequently,

Integrating Eq. (3.134), we obtain

E = constant

(3.135)

Now since F E = F T + F U, we have

F

T + F U = constant

(3.136)

Next, we know that the bead will attain its maximum distance when its velocity is
= 0. Using Eq. (3.136),
zero, i.e., the maximum distance will be attained when
we have that
F
T0 + F U 0 = F T1 + F U 1
(3.137)
where the subscript 0 is at time t = t0 = 0, and the subscript 1 is at time t =
= 0. We already have the kinetic energy of the bead from Eq. (3.121).
t1 when
Next, since the only conservative force acting on the bead is due to gravity, the
potential energy of the bead in reference frame F is given as
F

U = F Ug = mg r

(3.138)

Substituting the expression for r from Eq. (3.74) and the expression for mg from
Eq. (3.102) into Eq. (3.138), we obtain
F

U = F Ug = mgez (Rer + Rez ) = mgR

Then, substituting the expression for

into Eq. (3.136), we obtain

T and

(3.139)

U from Eqs. (3.121) and 3.139

1
2 (1 + 2 ) + mgR = constant
mR 2
2

(3.140)

Furthermore, applying Eq. (3.137), we obtain

1
2 (1 + 2 ) + mgR0 = 1 mR 2
2 (1 + 2 ) + mgR1
mR 2
0
1
2
2

(3.141)

79
Now we know that since the maximum distance is obtained when the velocity of
1 = 0. Furthermore, since the initial value
the bead is zero, we must have that
of is zero, we have that 0 = 0. Consequently, Eq. (3.141) reduces to
1
2 (1 + 2 ) = mgR1
mR 2
0
2

(3.142)

Solving Eq. (3.142) for 1 , we obtain

1 =

2 (1 + 2 )
R
0
2g

(3.143)

Finally, since the distance traveled along the helix is equivalent to the arclength,
the distance traveled along the helix is given from Eq. (3.83) as
F

p
2 (1 + 2 )
R
0
s = R 1 + 2
2g

(3.144)

Simplifying Eq. (3.144), we obtain the maximum distance traveled along the incline as
3/2
2 
R2
0
F
1 + 2
(3.145)
s=
2g

80

Chapter 3. Kinetics of Particles

Question 35
A collar of mass m is constrained to move along a frictionless track in the form
of a logarithmic spiral as shown in Fig. P3-5. The equation for the spiral is given
as
r = r0 ea
where r0 and a are constants and is the angle as shown in the figure. Assuming that gravity acts downward, determine the differential equation of motion in
terms of the angle using (a) Newtons 2nd law and (b) the work-energy theorem
for a particle.

r0

e a

Figure P 3-5

Solution to Question 35
Kinematics
Let F be a reference frame fixed to the track. Then, choose the following coordinate system fixed in reference frame F :
Ex
Ez
Ey

Origin at O
=
=
=

To the Right
Out of Page
Ez Ex

Next, let A be a reference frame fixed to the direction of Om. Then, we choose
the following coordinate system fixed in reference frame F :
er
Ez
e

Origin at O
=
=
=

Along Om
Out of Page
Ez e r

81
The relationship between the bases {Ex , Ey , Ez } and {er , e , ez } is given as
er
e

= cos Ex + sin Ey

= sin Ex + cos Ey

(3.146)
(3.147)

The position of the particle is then given as

r = r er = r0 ea er

(3.148)

Furthermore, the angular velocity of reference frame A in reference frame F is

given as
F A
z
= E
(3.149)
Applying the rate of change transport theorem between reference frames A and
F , we obtain the velocity of the particle in reference frame F as
F

v=

dr Adr F A
=
+ r
dt
dt

(3.150)

where
A

dr
a er
= rer = ar0 e
dt
F A
z r er = E
z r0 ea er = r0 e
a e
r = E

(3.151)
(3.152)

Adding the expressions in Eq. (3.151) and Eq. (3.152), we obtain the velocity of
the particle in reference frame F as
F

a er + r0 e
a e
v = ar0 e

(3.153)

Simplifying Eq. (3.150), we obtain F v as

F

a [aer + e ]
v = r0 e

(3.154)

Now we need the acceleration of the collar in reference frame F . For this problem it is most convenient to obtain F a in terms of an intrinsic basis as viewed
by an observer fixed to the track. First, the tangent vector is given as
et =

Fv

kF vk

Fv

kF vk

(3.155)

where F v is the speed of the particle in reference frame F . Now we know that
the speed of the particle in reference frame F is given as
p
F
a a2 + 1
(3.156)
v = kF vk = r0 e
Dividing F v in Eq. (3.154) by F v in Eq. (3.156), we obtain et as
aer + e
et =
a2 + 1

(3.157)

82

Chapter 3. Kinetics of Particles

Then, the principle unit normal vector is obtained as

en =

det /dt

k det /dtk

(3.158)

Now we have from the basic kinematic equation that

F

where

det
dt

A
det F A
det
=
+ et
dt
dt

= 0

+ e
er + ae
z ae
r
=
et = E
2
a +1
a2 + 1
Adding the expressions in Eq. (3.160), we obtain

(3.159)

(3.160)

F A

Consequently,

Dividing

det
er + ae
=
dt
a2 + 1


F de

t

=
dt

(3.161)

(3.162)

det /dt in Eq. (3.161) by kF det /dtk in Eq. (3.162), we obtain en as

er + ae
en =
a2 + 1

(3.163)

kF det /dtk
Fv

(3.164)

Furthermore, the curvature, , is obtained as

=

Substituting kF det /dtk from Eq. (3.162) and F v from Eq. (3.156), we obtain
as
1

(3.165)
=
a
r0 e
a2 + 1
The acceleration is then given in terms of the intrinsic basis as
 2
d F 
F
a=
v et + F v en
(3.166)
dt
Now we have that

Furthermore,
 2
Fv =

p
d F 
a
2 )ea a2 + 1
v = r0 (
dt

(3.167)

(3.168)

r0 ea a2 + 1

p
2 e2a (a2 + 1) = r0
2 ea a2 + 1
r02

The acceleration in reference frame F is then given as

p
p
F
a
2 )et + r0
2 ea a2 + 1en
a = r0 ea a2 + 1(

(3.169)

83
Kinetics
The free body diagram of the particle is shown in Fig. 3-5. It can be seen that

N
Figure 3-5

mg

Free Body Diagram fof Question 35.

the following two forces act on the collar: (1) the reaction force of the track, N,
and (2) gravity, mg. Since N acts in the direction normal to the track, we have
N = Nn en

(3.170)

Now, since gravity acts vertically downward, we have that

mg = mgEy

(3.171)

where Ey is the vertically upward direction. Resolving Ey in the basis {er , e , Ez },

we have that
Ey = sin er + cos e
(3.172)
Consequently, the force of gravity can be written as
mg = mg sin er mg cos e

(3.173)

Then the total force acting on the collar is given as

F = N + mg = Nn en mg sin er mg cos e

(3.174)

(a) Differential Equation Using Newtons 2nd Law

Setting F equal to mF a using F a from Eq. (3.169), we obtain
p
a
2 )et
Nn en mg sin er mg cos e = mr0 ea a2 + 1(
p
2 ea a2 + 1en
+ mr0

(3.175)

Now we know that, in order to obtain the differential equation of motion, we

need to eliminate the reaction force exerted by the track. An easy way to
eliminate N is to take the scalar product in the et -direction on both sides of
Eq. (3.175). Noting that en et = 0, we then obtain
p
a
2 )
mg sin er et mg cos e et = mr0 ea a2 + 1(
(3.176)

84

Chapter 3. Kinetics of Particles

Now, using the expression for et from Eq. (3.157) and the expression for en from
Eq. (3.163), we have that
er et
e et

a
aer + e
=
= er
2
2
a +1
a +1
aer + e
1
= e
=
2
2
a +1
a +1

(3.177)

Substituting the expressions in Eq. (3.177) into Eq. (3.176), we obtain

mg sin

a
a2 + 1

mg cos

1
a2 + 1

p
a
2 )
= mr0 ea a2 + 1(

(3.178)

Rearranging and simplifying Eq. (3.178), we obtain the differential equation of

motion as
g
a
2 +

(3.179)
ea (cos a sin ) = 0
r0 (a2 + 1)
(b) Differential Equation Using Work-Energy Theorem for a Particle
To obtain the differential equation of motion using the work-energy, we choose
to apply the alternate form of the work-energy theorem for a particle. The
alternate form of the work-energy theorem is given in reference frame F as
d F 
E = Fnc F v
dt

(3.180)

Now for this problem we know that the only two forces acting on the particle are
the force of gravity and the reaction force of the track. Moreover, we know that
the force of gravity is conservative while the reaction force is non-conservative.
Therefore, we have Fnc as
Fnc = N
(3.181)
Now, since N acts in the direction of en and F v acts in the direction of et , we
have that
Fnc F v = N F v = Nen F vet = 0
(3.182)
Consequently,
d F 
E =0
dt

(3.183)

Now the total energy in reference frame F is given as

F

E = FT + FU

(3.184)

First, the kinetic in reference frame F is given as

F

T =

1 F
m v Fv
2

(3.185)

85
Using the expression for
reference frame F as
F

Fv

from Eq. (3.154), we obtain the kinetic energy in

 

1  a
a [aer + e ]
m r0 e
[aer + e ] r0 e
2
1
2 e2a
= mr02 (a2 + 1)
2

T =

(3.186)

Next, since gravity is the only conservative force acting on the particle, the potential energy in reference frame F is given as
F

U = F Ug

(3.187)

Now since gravity is a constant force, we have that

F

Ug = mg r

(3.188)

Using the expression for r from Eq. (3.148) and the expression for mg from
Eq. (3.171), we obtain F Ug as
F

Ug = mg r = (mgEy ) r0 ea er = mgr0 ea Ey er

(3.189)

Using the expression for er from Eq. (3.146), we have that

Ey er = Ey (cos Ex + sin Ey ) = sin

(3.190)

Consequently, F Ug can be written as

F

Ug = mgr0 ea sin

(3.191)

Then, adding Eq. (3.186) and Eq. (3.191), the total energy in reference frame F
is given as
F

E = FT + FU =

1
2 e2a + mgr0 ea sin
mr02 (a2 + 1)
2

(3.192)

Then, computing the rate of change of F E, we obtain

h
i
d F 
e
2a = a
2 e
2a
E = mr02 (a2 + 1)
dt
h
i
a sin + e
a cos
+ mgr0 ae

(3.193)

Eq. (3.193) can be re-written as

h
i
d F 
2a
a
2 + mgr0 e
a (a sin + cos )
E = mr02 (a2 + 1)e
dt
(3.194)

86

Chapter 3. Kinetics of Particles

Simplifying Eq. (3.194) and setting the result equal to zero, we obtain
i
d F  h
a
2 ) + mgr0 ea (cos a sin ) = 0
E = mr02 (a2 + 1)e2a (
dt
(3.195)

Now since 0 as a function of time (otherwise the particle would not be

moving), the term in the square brackets must be zero, i.e.,
a
2 ) + mgr0 ea (cos a sin ) = 0
mr02 (a2 + 1)e2a (

(3.196)

Then, dividing Eq. (3.196) by mr02 (a2 + 1)e2a , we obtain the differential equation of motion as
a
2 +

g
ea (cos a sin ) = 0
r0 (a2 + 1)

(3.197)

It is seen that the result of Eq. (3.197) is identical to that obtained in part (a).

87

Question 37
A particle of mass m slides without friction along the inner surface of a fixed
cone of semi-vertex angle as shown in the Fig. P3-7. The equation for the cone
is given in cylindrical coordinates as
z = r cot
Knowing that the basis {Ex , Ey , Ez } is fixed to the cone, that is the angle between the Ex -direction and the direction OQ where Q is the projection of the
particle into the {Ex , Ey }-plane, and that gravity acts vertically downward, determine a system of two differential equations in terms of r and that describe
the motion of the particle.
Ez
g
m

Ey

Ex
Figure P 3-7

Solution to Question 37
Kinematics
First, let F be a reference frame fixed to the cone. Then, choose the following
coordinate system fixed in reference frame F :
Ex
Ey
Ez

Origin at O
=
=
=

As Given
As Given
Ex Ey = As Given

Next, let A be a reference frame fixed to the plane formed by the points O, Q,
and P . Then, choose the following coordinate system fixed in reference frame

88

Chapter 3. Kinetics of Particles

A:
er
ez
e

Origin at O
=
=
=

Along OQ
Ez
Ez er

The position of the particle is then given as

r = r er + zez = r er + r cot ez

(3.198)

Furthermore, the angular velocity of reference frame A in reference frame F is

given as
F A
z
= E
(3.199)
The velocity of the particle in reference frame F is then obtained from the rate
of change transport theorem as
F

v=

dr Adr F A
=
+ r
dt
dt

(3.200)

Now we have that

A

dr
= rer + r cot ez
dt
F A

z (r er + r cot ez ) = r e
r = e

(3.201)
(3.202)

Adding the expressions in Eq. (3.201) and Eq. (3.202), we obtain the velocity of
the particle in reference frame F as
F

+ r cot ez
v = rer + r e

(3.203)

Next, applying the rate of change transport theorem to F v, we obtain the acceleration of the particle in reference frame F as
F

a=

d F  Ad F  F A F
v =
v + v
dt
dt

(3.204)

Now we have that

A

d F 
+ r )e
+ r cot ez
v
= rer + (
r
(3.205)
dt


F A
r
2 er (3.206)
+ r cot Ez = re
z rer + r e
F v = E
Adding the expressions in Eq. (3.205) and Eq. (3.206), we obtain the acceleration
of the particle in reference frame F as
F

2 )er + (r
+ 2
+ r cot ez
a = (
r r
r )e

(3.207)

89

N
m

mg
Figure 3-6

Free Body Diagram of Particle for Question 37.

Kinetics
In order to determine the differential equations of motion, we need to apply
Newtons 2nd Law, i.e., we need to apply F = mF a. The free body diagram of
the particle is shown in Fig. 3-6. Using Fig. 3-6, we see that the only two forces
acting on the particle are
N
= Reaction Force of Cone on Particle
mg = Force of Gravity
Since we now that N must lie in the direction orthogonal to the surface of the
cone while the force of gravity acts vertically downward, we can write N and
mg, respectively, as
N = Nn

mg = mgez

(3.208)
(3.209)

where n is the direction orthogonal to the surface of the cone at the location of
the particle. Now we know that the direction orthogonal to the surface of the
cone is the same as the direction of the gradient of the function that describes
the cone. In particular, the function that describes the surface of the cone is
given as
z = r cot

(3.210)

Rearranging Eq. (3.210), the function that describes the surface of the cone is
given in cylindrical coordinates as
f (r , , z) = z r cot = 0

(3.211)

The gradient of f in cylindrical coordinates is then given as

f =

f
1 f
f
er +
e +
ez
r
r
z

(3.212)

90

Chapter 3. Kinetics of Particles

where
f
r
f

f
z
We then obtain f as

= cot

(3.213)

= 0

(3.214)

= 1

(3.215)

f = cot er + ez

(3.216)

The unit normal to the surface of the cone is then given as

n=

cot er + ez
f
= q
kf k
1 + cot2

(3.217)

Now from trigonometry we have that

1 + cot2 = csc2 = 1/ sin2

(3.218)

Substituting the result of Eq. (3.218) into Eq. (3.217), we obtain the unit normal
to the surface of the cone as
n = sin ( cot er + ez ) = cos er + sin ez

(3.219)

Then, substituting the expression for n from Eq. (3.219) into Eq. (3.208), we
obtain the reaction force of the cone on the particle as
N = N( cos er + sin ez ) = N cos er + N sin ez

(3.220)

The resultant force on the particle is then given as

F = N + mg = N cos er + N sin ez mgez = N cos er + (N sin mg)ez
(3.221)
Setting F in Eq. (3.221) equal to mF a using the expression for F a from Eq. (3.207),
we have that
2 )er + m(r
+ 2
+ m
N cos er + (N sin mg)ez = m(
r r
r )e
r cot ez
(3.222)
Equating components in Eq. (3.222), we obtain the following three scalar equations:
2 )
N cos = m(
r r
+ 2

0 = m(r
r )

N sin mg

= m
r cot

(3.223)
(3.224)
(3.225)

91
Now, it is seen that Eq. (3.224) has no unknown reaction forces. Consequently,
Eq. (3.224) is one of the differential equations of motion. Dropping m from
Eq. (3.224), the first differential equation of motion can be written as
+ 2
=0
r
r

(3.226)

The second differential equation of motion can be obtained using Eq. (3.223)
and Eq. (3.223). In particular, we can rearrange Eq. (3.225) as
N sin = m
r cot + mg

(3.227)

Then, dividing Eq. (3.227) by Eq. (3.223), we obtain

m
r cot + mg
N sin
=
2 )
N cos
m(
r r

(3.228)

Eq. (3.228) simplifies to

tan =
Rearranging Eq. (3.229) gives

r cot + g
2
r r

2 ) tan =
(
r r
r cot g

(3.229)

(3.230)

Then, dividing Eq. (3.230) by tan , we obtain

2 ) = r cot2 + g cot = 0
(
r r

(3.231)

Rearranging Eq. (3.231) gives

2 + g cot = 0
(1 + cot2 )
r r

(3.232)

Once again, using the fact that 1 + cot2 = csc2 , Eq. (3.232) simplifies to
2 + g cot = 0
csc2
r r

(3.233)

Dividing Eq. (3.233) by csc2 , we obtain the second differential equation of motion as
2 sin2 + g cos sin = 0
r r
(3.234)
The two differential equations that govern the motion of the particle are then
given from Eq. (3.226) and Eq. (3.234) as
+ 2
= 0
r
r

2 sin2 + g cos sin = 0

r r

(3.235)
(3.236)

92

Chapter 3. Kinetics of Particles

Question 39
A particle of mass m is attached to one end of a flexible but inextensible massless rope as shown in Fig. P3-9. The rope is wrapped around a cylinder of radius
R where the cylinder rotates with constant angular velocity relative to the
ground. The rope unravels from the cylinder in such a manner that it never
becomes slack. Furthermore, point A is fixed to the cylinder and corresponds
to a configuration where no portion of the rope is exposed while point B is the
instantaneous point of contact of the exposed portion of the rope with the cylinder. Knowing that the exposed portion of the rope is tangent to the cylinder
at every instant of the motion, that is the angle between points A and B, and
= 0) = (where = kk),
assuming the initial conditions (t = 0) = 0, (t
determine (a) the angular velocity of the exposed portion of the rope as viewed
by an observer fixed to the ground, (b) the acceleration of the particle as viewed
by an observer fixed to the ground, (c) the differential equation for the particle
in terms of the variable , and (d) the tension in the rope as a function of time.
m
P
B

O
R

Figure P 3-9

Solution to Question 39
Kinematics
First, let F be a reference frame that is fixed in the ground. Then, choose the
following coordinate system fixed in reference frame F :
Ex
Ez
Ey

Origin at O
=
=
=

Along OA at t = 0
Out of Page
Ez Ex

93
Next, let A be a reference frame fixed to the cylinder. Then, choose the following
coordinate system fixed in reference frame A:
ux
uz
uy

Origin at O
=
=
=

Along OA
Out of Page
uz ux

Finally, let B be a reference frame fixed to the rope. Then, choose the following
coordinate system fixed in reference frame B:
ex
ez
ey

Origin at B
=
=
=

Along OB
Out of Page
ez ex

Now, we note that the cylinder rotates with constant angular velocity
about the uz -direction. Consequently, the angular velocity of the cylinder in
reference frame F is given as
F

A = = uz

(3.237)

Next, since A is fixed in the cylinder and B is fixed in the rope, the angular
velocity of the rope relative to the cylinder is equivalent to the angular velocity
of reference frame B relative to reference frame A. Observing from Fig. 3-7 that
defines the rotation of the rope relative to the cylinder, we have that
A

z
B = e

(3.238)

Then, applying the angular velocity addition theorem, the angular velocity of
the rope relative to the ground is obtained by adding the results of Eq. (3.237)
and Eq. (3.238) to obtain
F

z = ( + )e
z
B = F A + A B = uz + e

(3.239)

where we note that uz = ez . Next, we know that, when no portion of the rope is
exposed (i.e., s = 0), the particle is in contact with point A on the cylinder. Using
Fig. 3-7 along with the fact that the cylinder is circular, the arclength along the
cylinder from point A to point B is given as
s = R

(3.240)

Differentiating Eq. (3.240), we obtain

s = R

(3.241)

Next, the position of the particle is given in terms of the basis {ex , ey , ez } as
r = Rex sey = Rex Rey

(3.242)

94

Chapter 3. Kinetics of Particles

s=
R

A
R

Figure 3-7

Geometry of Rope and Cylinder for Question 39.

The velocity of the particle in reference frame F is then given as

F

v=

dr Bdr F B
=
+ r
dt
dt

(3.243)

where
B

dr
dt

y
= R e




F B
ez Rex Rey
r =
+




ex + R +
ey
= R +

(3.244)

(3.245)

Adding the expressions in Eq. (3.244) and Eq. (3.245), we obtain the velocity of
the particle in reference frame F as




F
y + R +
ex + R +
ey
v = R e
(3.246)
Simplifying Eq. (3.246), we obtain
F



ex + Rey
v = R +

(3.247)

Then, the acceleration in reference frame F is given as

F

v=

d F  B d F  F B F
v =
v + v
dt
dt

(3.248)

where
B

h


i
d F 
+
+ R
ex
v
=
R
dt
i


h


F B
ez R +
ex + Rey
Fv =
+

(3.249)

95



2
ex + R +
ey
= R +

(3.250)

Adding Eq. (3.249) and Eq. (3.250), we obtain the acceleration of the particle in
reference frame F
F

h


i



2
+
+ R
ex R +
ex + R +
ey
a = R

(3.251)

Simplifying Eq. (3.251

F

h
i

2
2 + R
R2 ex + R +
ey
a = R

(3.252)

Kinetics and Differential Equation of Motion

We need to apply Newtons 2nd law to the particle. Using the free body diagram
as shown in Fig. 3-8, it can be seen that the only force acting on the particle is
due to the tension in the rope. Since the tension must act along the direction of
the rope, we have that
T = T ey
(3.253)
Therefore, the resultant force acting on the particle is given as
m

T
Figure 3-8

Free Body Diagram for Question 3.5

F = T = T ey

(3.254)

Setting F = mF a using F a from Eq. (3.252), we obtain

i

2
h
ey
2 + R
R2 ex + mR +
T ey = m R

We then obtain the following two scalar equations:

h
i
2 + R
R2
m R
= 0

2

mR +
= T

(3.255)

(3.256)
(3.257)

From Eq (3.256) we have

2 + R
R2 = 0
R

(3.258)

Simplifying this last expression, we obtain the differential equation of motion

as
2 +
2 = 0

(3.259)

96

Chapter 3. Kinetics of Particles

Tension in Rope As a Function of Time

Eq. (3.259) can be solved for . This is done as follows. First, we note that
 

2 +
= d

dt

(3.260)

Substituting this last result into Eq. (3.259), we obtain

d  
2 = 0
dt

(3.261)

Integrating Eq. (3.261) once with respect to time, we obtain

= 2 t + c1

(3.262)

where c1 is an arbitrary constant of integration. Then, applying the initial condition (t = 0) = 0, we have that
c1 = 0

(3.263)

= 2 t

(3.264)

Therefore, we have
Then, separating variables in Eq. (3.264), we obtain
d = 2 tdt

(3.265)

Integrating both sides of Eq. (3.265) gives

2
2 t 2
=
+ c2
2
2

(3.266)

where c2 is an arbitrary constant of integration. Then, again applying the initial

condition (t = 0) = 0, we obtain
c2 = 0

(3.267)

2 t 2
2
=
2
2

(3.268)

2 = 2 t 2

(3.269)

Consequently,

which gives
Since has to be positive, we can take the principal square root of Eq. (3.269)
to obtain
= t
(3.270)
Differentiating with respect to time, we have
=

(3.271)

97
from Eq. (3.271) into Eq. 3.257 gives
Then, substituting from Eq. (3.270) and
T = mRt ( + )2 = 4mR3 t
The tension in the rope is then given as
h
i
T = 4mR3 t ey

(3.272)

(3.273)

98

Chapter 3. Kinetics of Particles

Question 310
A particle of mass m moves under the influence of gravity in the vertical plane
along a track as shown in Fig. P3-10. The equation for the track is given in
Cartesian coordinates as
y = ln cos x

where /2 < x < /2. Using the horizontal component of position, x, as the
variable to describe the motion determine the differential equation of motion
for the particle using (a) Newtons 2nd law and (b) one of the forms of the workenergy theorem for a particle.
Ey
g

m
y = ln cos x
O

Ex

Figure P 3-10

Solution to Question 310

Kinematics
For this problem, it is convenient to use a reference frame F that is fixed to the
track. Then, we choose the following coordinate system fixed in reference frame
F:
Origin at O
Ex
=
Along Ox
Ey
=
Along Oy
Ez
=
Ex Ey
The position of the particle is then given as

r = xEx ln cos xEy

(3.274)

Now, since the basis {Ex , Ey , Ez } does not rotate, the velocity in reference frame
F is given as
F
x +x
tan xEy
v = xE
(3.275)
Using the velocity from Eq. (3.275), the speed of the particle in reference frame
F is given as
q
F
F
1 + tan2 x = x
sec x
v = k vk = x
(3.276)

99
Arclength Parameter as a Function of x
Now we recall the arclength equation as
q
d F  F
1 + tan2 x = x
sec x
s = v=x
dt

(3.277)

Separating variables in Eq. (3.277), we obtain

F

ds = sec xdx

(3.278)

Integrating both sides of Eq. (3.278) gives

Zx
F
F
sec xdx
s s0 =

(3.279)

x0

Using the integral given for sec x, we obtain

F

s s0 = ln [sec x

+ tan x]x
x0

sec x + tan x
= ln
sec x0 + tan x0


(3.280)

Noting that F s(0) = F s0 = 0, the arclength is given as

F

s = ln [sec x + tan x]x

x0

(3.281)

Simplifying Eq. (3.281), we obtain

F

s = ln

sec x + tan x
sec x0 + tan x0

(3.282)

Intrinsic Basis
Next, we need to compute the intrinsic basis. First, we have the tangent vector
as
Fv
x + tan xEy )
x(E
tan x
1
Ex +
Ey
(3.283)
=
et = F =
sec x
sec x
sec x
x
v
Now we note that sec x = 1/ cos x. Therefore,
tan x
= sin x
sec x

(3.284)

et = cos xEx + sin xEy

(3.285)

Eq. (3.283) then simplifies to

Next, the principle unit normal is given as

F

det
= F ven
dt

(3.286)

100

Chapter 3. Kinetics of Particles

Differentiating et in Eq. (3.285), we obtain

F

det
sin xEx + x
cos xEy
= x
dt

(3.287)

Consequently,


F de

t
=x

= Fv
dt

which implies that

F
sin xEx + x
cos xEy
x
det /dt
=
en =
= sin xEx + cos xEy
F

x
det /dt

(3.288)

(3.289)

Then, using F v from Eq. (3.276), we obtain the curvature as

=

1
x
=
= cos x
sec x
x
sec x

(3.290)

Finally, the principle unit bi-normal is given as

eb = et en = (cos xEx + sin xEy ) ( sin xEx + cos xEy ) = Ez

(3.291)

Differential Equation of Motion in Terms of x

The differential equation of motion is obtained using Newtons 2nd Law for a
particle. First we obtain F using the free body diagram shown below: Using the
N

mg
free body diagram, we can see that
N
= Nen
mg = mgEy
Therefore, the resultant force acting on the particle is
F = N + mg = Nen mgEy

(3.292)

Next, the acceleration is given in the intrinsic basis as

F

a=

 
d F 
v et + F v en
dt

(3.293)

101
Now, using F v from Eq. (3.276), we obtain d(F v)/dt as
h
i
d F 
sec x + x
2 sec x tan x = sec x x
+x
2 tan x
v =x
dt
Then, using from Eq. (3.290) we obtain
 
sec x)2 = x
2 sec x
F v = cos x(x

The acceleration of the particle in reference frame F is then given as

h
i
F
+x
2 tan x et + x
2 sec xen
a = sec x x

(3.294)

(3.295)

(3.296)

Setting F from Eq. (3.292) equal to mF a using F a from Eq. (3.296), we obtain
h
i
+x
2 tan x et + mx
2 sec xen
Nen mgEy = m sec x x
(3.297)

Now we can take the scalar products on both sides of Eq. (3.297) in the et and
en directions. Taking the scalar product on both sides of Eq. (3.297) in the
et -direction, we obtain
i
h
+x
2 tan x
(3.298)
mgEy en = m sec x x

Taking the scalar product on both sides in the en -direction, we obtain

2 sec x
N mgEy en = mx

(3.299)

= Ey (cos xEx + sin xEy ) = sin x

= Ey ( sin xEx + cos xEy ) = cos x

(3.300)

Now we note that

Ey et
Ey en

Substituting Ey et and Ey en into Eq. (3.298) and Eq. (3.299), respectively, we

obtain the following two scalar equations:


+x
2 tan x = mg sin x
m sec x x
(3.301)
2 sec x
mx
= N mg cos x
Seeing that the first equation in Eq. (3.301) has no reaction forces, the differential equation of motion of the particle is given as
h
i
+x
2 tan x = mg sin x
m sec x x
(3.302)

Eq. (3.302) can be rearranged to give

sec x + x
2 sec x tan x + g sin x = 0
x

(3.303)

102

Chapter 3. Kinetics of Particles

Question 311
A particle of mass m moves in the horizontal plane as shown in Fig. P3-11. The
particle is attached to a linear spring with spring constant K and unstretched
length while the spring is attached at its other end to the fixed point O. Assuming no gravity, (a) determine a system of two differential equations of motion
for the particle in terms of the variables r and , (b) show that the total energy
of the system is conserved, and (c) show that the angular momentum relative to
point O is conserved.
O
r
K

Figure P 3-11

Solution to Question 311

Acceleration of Particle
First, let F be a reference frame fixed to the ground. Next, let A be a reference
frame that is fixed to the direction Om. Corresponding to reference frame A, we
choose the following coordinate system to describe the motion of the particle:

er
Ez
e

Origin at O (Corner)
=
Along Om
=
Out of Page
=
Ez er

The position of the particle is then given as

r = r er

(3.304)

Now the angular velocity of reference frame A in reference frame F is given as

F

z
A = E

(3.305)

103
The velocity in reference frame F is computed from the rate of change transport
theorem as
F
dr Adr F A
F
=
+ r
(3.306)
v=
dt
dt
where

Adr
dt

= rer

F A

(3.307)

z r er = r e

r = E

Adding the two expressions in Eq. (3.307), we obtain F v as

F

v = rer + r e

Applying the rate of change transport theorem to

particle in reference frame F is given as
F

a=

(3.308)
F v,

the acceleration of the

d F  Ad F  F A F
v =
v + v
dt
dt

(3.309)

where
Ad
dt

Fv

F A

+ r )e

= rer + (
r

z (
) = r
2 er + re

F v = E
r er + r e

(3.310)

Adding the two expressions in Eq. (3.310), we obtain F a as

F

2 )er + (r
+ 2

a = (
r r
r )e

(3.311)

System of Two Differential Equations

To obtain a system of two differential equations, we need to apply Newtons
2nd Law to the particle. We already have F a from Eq. (3.311). Next, in order
to obtain an expression for the resultant force, F, we need to examine the free
body diagram as shown in Fig. 3-9 where Fs is the force due to the spring. Now
Fs

Figure 3-9

Free Body Diagram for Question 2.10.

we note that the general form for the force of a linear spring is
Fs = K( 0 )us

(3.312)

104

Chapter 3. Kinetics of Particles

Now since the attachment point of the spring for this problem is rA = 0, we
have that
= kr rA k = krk = r
(3.313)
Furthermore, the direction us is given as
us =

r er
r rA
=
= er
kr rA k
r

(3.314)

Finally, the unstretched length of the spring is given as

0 = L

(3.315)

Therefore, we obtain the spring force as

Fs = K (r L) er

(3.316)

Next, since the only force acting on the particle is that of the spring, we can set
Fs from Eq. (3.316) equal to mF a from Eq. (3.311) to give
2 )er + m(r
+ 2

K [r L] er = m(
r r
r )e

(3.317)

Equating components, we obtain the following two scalar equations:

2 )
m(
r r
= K [r L]
+ 2
=
m(r
r )
0

(3.318)

Since there are no reaction forces in either of the equations in Eq. (3.318), these
two equations are the differential equations of motion for the particle.
Conservation of Energy
From the work-energy theorem for a particle, we have that
d F 
E = Fnc F v
dt

(3.319)

For this problem, the only force acting on the particle is that of the linear spring.
Since the spring force is conservative, we have that Fnc = 0. Therefore,
d F 
E =0
dt

(3.320)

which implies that

F

E = constant

which implies that energy is conserved.

(3.321)