Ch3 Extended

Ch.
8: Kinetics of Particles 415
8.0 Outline 415
Introduction 416
Newtons Second Law 417
Equations of Motion 418
Rectilinear Motion 421
Curvilinear Motion 444
8.0 Outline
Ch. 8: Kinetics of Particles 416
8.1 Introduction
Kinetics is the study of the relations between the forces
and the motion. Here we will not seriously concern
whether the forces cause the motion or the motion
generates the forces (causality).
In this chapter, the focus is on the particles. That is the

body whose physical dimensions are so small compared
with the radius of curvature of its path.
There are at least 3 approaches toe the solution of

kinetic problems: (a) Newtons second law (b) work and
energy method (c) impulse and momentum method.
8.1 Introduction
8.2 Newtons Second Law
F = ma
m = mass (resistance to rate of change of velocity) of the particle
F = resultant force acting on the particle
a = resulting acceleration measured in a nonaccelerating frame of reference
For most engineering problems on earth, the acceleration

measured w.r.t. reference frame fixed to the earths
surface may be treated as absolute. And Newtons 2nd
law of motion holds.
Newtons 2nd law breaks when the velocities of the order

of the speed of light are involved theory of relativity
8.2 Newtons Second Law

8.3 Equation of Motion and Solution of Problems
F = ma --- equation of motion

scalar components decomposition according to a specified coordinate
Two problems of dynamics

(1) specified kinematic conditions, find forces
straightforward application of Newtons law as
algebraic equations
(2) specified forces, find motion
Difficulty depends on the form of force function
(t, s, v, a), as the solutions are found by solving
a system of differential equations.
For simple functions, we can find closed form solutions
of motion as in rectilinear motion (sec. 2.2).
8.3 Equation of Motion and Solution
Unconstrained motion
Motion of the particle is determined by its initial motion and
the forces from external sources. It is free of constraints
and so has three degrees of freedom to specify
the position. Three scalar equations of motion would
have to be applied and integrated to obtain the motion.
Constrained motion
Motion of the particle is partially or totally determined by
restraining guides, other than its initial motion and the
forces from external sources. Therefore, all forces, both
applied and reactive, that act on the particle must be
accounted for in Newtons law. The number of d.o.f. and
equations are reduced regarding to the type of constraints.

Free body diagram

All forces acting on the particle needed to be accounted
in the equations of motion. Free body diagram unveils
every force that acts on the isolated particle. Only after
the FBD has been completed should the equations of
motion be written. The appropriate coordinate axes and
directions should be indicated and consistently used
throughout the problem.
Treatment of the body as particle is valid when the forces

may be treated as concurrent through the mass center.

8.4 Rectilinear Motion

If the x-axis is the direction of the rectilinear motion,
Fx ma x=
= Fy 0=
Fz 0
If we are not free to choose a coordinate direction along the motion,
the nonzero acceleration component will be shown up in all equations:
= Fx ma
= x Fy ma
= y Fz ma z
Other coordinate system such as n-t or r-
a may be determined via the use of relative motion

For pure translating moving reference frame
a A = a B + a A/B

P. 8/1 The coefficient of static friction between the flat

bed of the truck and the crate it carries is 0.30.
Determine the minimum stopping distance s that
the truck can have from a speed of 70 km/h with
constant deceleration if the crate is not to
slip forward.

mg
P. 8/1
+x
F < 0.3N
N
If the crate is not to slip, crate and truck must have same acceleration.
If the crate is not to slip, friction = static friction at impending status.
Minimum stopping distance when the deceleration is the max allowable value.
Fx =
ma x 0.3mg =
ma x , a x =
0.3g constant for minimum distance
2
10
v 2 = v o2 + 2a ( s s o ) 0 = 70 + 2 ( 0.3g ) s, s = 64.2 m
36

P. 8/2 If the truck of Prob. 3/17 comes to stop from an initial forward
speed of 70 km/h in a distance of 50 m with uniform deceleration,
determine whether or not the crate strikes the wall at the forward
end of the flat bed. If the crate does strike the wall, calculate its
speed relative to the truck as the impact occurs. Use the friction
coefficients s = 0.3 and k = 0.25.

P. 8/2
stopping distance = 50 m, which is less than minimum value 64.2 m
the crate slips
2
10
v =
2
v + 2a ( s s o ) 0 =
2
o 70 + 2a truck 50, a truck =
3.781 m/s 2
36
10
v =v o + a ( t t o ) 0 = 70 3.781 t, t stop =5.14 s
36
=
Friction force: = 2.943m and
Fs 0.3mg = = 2.45m
Fk 0.25mg
Assume crate and truck go together a truck =
a crate +x
Fx = ma x F = m ( 3.781) required friction = 3.781m > Fs
the crate slips and F =Fk F < 0.3N
ma crate , a crate = 2.45 m/s
Fk = 2
N
[a crate/truck =a crate a truck ] a crate/truck =2.45 ( 3.781) =1.331 m/s 2
the crate slips forward but will it strike the wall?
2
s =s o + v o ( t t o ) + 2 a ( t t o ) relative motion calculation
1 2
1
3= 1.331 t 2 , t strike= 2.123 s < t stop crate will strike the wall before the truck stops
2
v =v o + a ( t t o ) relative motion calculation
v crate/truck =
0 + 1.331 2.123 =
2.826 m/s
P. 8/3 If the coefficients of static and kinetic friction

between the 20-kg block A and the 100-kg cart B
are both essentially the same value of 0.50,
determine the acceleration of each part for
(a) P = 60 N and (b) P = 40 N.

P. 8/3 20g
2P
(a)=
N A 20g,= =
Fmax 0.5N A 98.1 N < 120 N
block A moves forward relative to B
F

= Fx ma x 120 98.1
= 20a A , =
a A 1.095 m/s 2 NA NA
F 100g
= =
98.1 100a B, aB 0.981 m/s 2
(b) Fmax > 80 N block A does not move relative to B

Fx = ma x A & B move together
NB
= =
80 120a, a 0.667 m/s 2
Find developed friction by isolated FBD at A or B
80= F 20a,= F 66.67 N < Fmax assumption is valid
= =
F 100a, F 66.67 N

P. 8/4 A simple pendulum is pivoted at O and is free to

swing in the vertical plane of the plate. If the
plate is given a constant acceleration a up the
incline , write an expression for the steady
angle assumed by the pendulum after all
initial start-up oscillations have ceased. Neglect
the mass of the slender supporting rod.

P. 8/4 y
T
x

mg
F=y 0 Tcos mgcos=

0

= Fx ma x Tsin mgsin
= ma
1 a + gsin
= tan
gcos

P. 8/5 For the friction coefficients s = 0.25 and

k = 0.20, calculate the acceleration of each
body and the tension T in the cable.

T
P. 8/5
60g
2T
F N
s A + 2s B + c = l a A + 2a B = 0
20g
=
N 60gcos30, F=
max =
sN 127.4 N
Assume motion impends at block A F =Fmax and equilibrium
=
F 0 60gsin30 Fmax = T 0, = T 166.9 N
but cylinder B will not be in equilibrium ( 20g 2T < 0 move up )
Assum block A slides down and block B moves up
F =ma 60gsin30 Fk T = 60a A =120a B

20g 2T = 20a B , T =
105.35 N, a B = 0.725 m/s 2 , a A =
1.45 m/s 2

P. 8/6 A bar of length l and negligible mass connects the cart of mass
M and the particle of mass m. If the cart is subjected to a constant
acceleration a to the right, what is the resulting steady-state
angle that the freely pivoting bar makes with the vertical?
Determine the net force P (not shown) that must be applied to
the cart to cause the specified acceleration.

P. 8/6 P Mg
y
T
T N
x
mg
From the given statements, pendulum and cart have same acceleration
At the pendulum,
Fy = 0 Tcos mg = 0, T = mg/cos
a
Fx ma x
= =
Tsin ma,
= tan 1
g
At the cart,
F=
x ma x Ma, =
P Tsin= P ( m + M ) gtan
P. 8/7 Determine the accelerations of bodies A and B

and the tension in the cable due to the
application of the 250 N force. Neglect all friction
and the masses of the pulleys.

P. 8/7
70g 35g
300 N
2T 3T
NA NB
sA sB
2s A + 3s B + c = l 2a A + 3a B = 0
=Fx ma x = 2T 70a A and 300 = 3T 35a B
aA = 2.34 m/s 2 , a B ==
1.56 m/s 2 , T 81.8 N

P. 8/8 The sliders A and B are connected by a light

rigid bar and move with negligible friction in the
slots, both of which lie in a horizontal plane.
For the position shown, the velocity of A is
0.4 m/s to the right. Determine the acceleration
of each slider and the force in the bar
at this instant.

NB
P. 8/8
T
NA
sB T
sA 40 N
Kinematics: triangle OAB
sA =s B and 0.5 = s A cos15 + s B cos15, s A =
sB =
0.2588 m
l 2 = s 2A + s 2B 2s A s B cos150
diff: 0 = 2s A v A + 2s B v B 2 cos150 ( s A v B + s B v A )
given: v A =
0.4 m/s v B =
0.4 m
diff: 0 = v 2A + s A a A + v 2B + s Ba B cos150 ( s A a B + s Ba A + 2v A v B )
0 =0.04287 + 0.4829a A + 0.4829a B (1)
Kinetics:
F= ma 40 Tcos15= 2a A and Tcos15= 3a B into (1)
aA = 7.95 m/s 2 , a B =
8.04 m/s 2 , T =
25.0 N
P. 8/9 With the blocks initially at rest, the force P is

increased slowly from zero to 260 N. Plot the
accelerations of both masses as functions of P.

35g
P. 8/9
FA NA
NA
FA
P
N A =35g, N B = N A + 42g =77g 42g
= =
FAmax 0.2N A 68.67 N,= =
FBmax 0.15N B 113.3 N
= =
FAk 0.15N 51.5 = =
N, FBk 0.10N 75.54 N
FB
A B
NB
Three possible situations: no motion, B & A move together, and B & A move separately.
Two impossible situations: B moves alone then FA will 0 A will move eventually
and A moves alone P is applied at block B and force P is increased slowly from zero
( not jump right to F )
A max
1) 0 P FBmax : FB will be developed to cancel with the applied P,

FA will stay zero, and so there is no motion =
a A 0 &=
aB 0

P. 8/9
2) assume both A and B go together in this phase FA FAmax and FB =
FBk
F ma =
= FA 35a & P FA = FBk 42a
at=
P P=min FBmax ( increased slowly ) = FA 17.16 N ( jumping )
, a 0.49 m/s 2 and =
at FA = FAmax ( about to slip relative to each
= other ) , P =
226.6 N and a 1.962 m/s 2
P FBk
between these extremum values, a = : linear function of P
77
FBmax < P 226.6 : a A =
a B which varies linearly from 0.49 to 1.962 m/s 2
3) A slide ( backward ) relative to B increasing P makes B accelerates more and more
P > 226.6 N makes A slips FA =
FAk
F ma =
= FAk 35a A & P FAk = FBk 42a B
P 127.04
=
a A 1.47 m/s 2 constant and a B : linear function of P
42
226.6 < P 260.0 : a A 1.47 m/s 2 constant and 2.37 < a B 3.166 m/s 2
= ( jumping )

P. 8/9

P. 8/10 The system is released from rest in the position

shown. Calculate the tension T in the cord and
the acceleration a of the 30 kg block. The small
pulley attached to the block has negligible mass
and friction. (Suggestion: First establish the
kinematic relationship between the accelerations
of the two bodies.)

P. 8/10
+b
Kinematics: b 2 = c 2 + x 2 and b + y = l
c
=
diff: bb xx and= b + y 0
b 2 + bb
= x 2 + xx and
b +
y= 0 (1)
+x +y
at this instant: =
x/b 4 / 5,=
x 0,=b 0 ( initially rest )
T
assume cylinder moves down, hence block moves to the left 30g
Kinetics: for 30 kg block
F= ma T 3/5 T 30g + N= 0, N= 30g + 2T/5
F T 4/5 =
30x
F T
assume the block moves F = 0.25N
N
for 15 kg cylinder
15g T = =
15y 15b T
recall (1) ,
x
=
4
b
= =
( T/15 g ) 30 , T= 137.9 N
b 5
x 7.5g 0.7T
7.5g 0.7T
x=
= 0.766 m/s 2 15g
30

8.5 Curvilinear Motion

Choose appropriate coordinate system (x-y, n-t, or r-)
for the given problem. Determine the motion along
those axes. Then set up the Newtons law
along those axes. The positive sense of the force and
acceleration must be consistent.
=
x-y system: Fx mx
= Fy my
Fn m=
n-t system:= ( )
2 m ( v 2 / ) =
Ft mv
r- system: m (r r )
F =
r
2
m ( r + 2r )
F =

P. 8/11 The member OA rotates about a horizontal axis through O

with a constant counterclockwise velocity = 3 rad/s. As it
passes the position = 0, a small block of mass m is placed
on it at a radial distance r = 450 mm. If the block is observed
to slip at = 50, determine the coefficient of static friction
s between the block and the member.

P. 8/11
mg
use n-t coordinate system
given: =0.45 m, =50, =0 ( no slip until =50 ) , t
= 3= rad/s, 0
Ft =ma t N mgcos50 =m ( )
+ , N =mgcos50
n
= Fn ma n =
mgsin50 F m ( )
2
N
At 50, F = Fs = s N and directs upward because gsin50 > 2 F
which means bar OA rotates too slow than required to keep
the block stays on the bar. The friction will develop to resist
(
the block from sliding down or to match F with 2 .)
If the bar rotates very very slow, friction force cannot make
(
F to match 2 F cannot be reduced any more, F > 2 . )
And then the block will slide down, hence decreases, to the position
where v 2 / large enough to match F (i.e., to satisfy Newton's law)
( )
mgsin50 s mgcos50= m 2 , s= 0.549

P. 8/12 A 2 kg sphere S is being moved in a vertical plane by a robotic

arm. When the arm angle is 30, its angular velocity about
a horizontal axis through O is 50 deg/s CW and its angular
acceleration is 200 deg/s2 CCW. In addition, the hydraulic
element is being shortened at the constant rate of 500 mm/s.
Determine the necessary minimum gripping force P if the
coefficient of static friction between the sphere and the gripping
surfaces is 0.5. Compare P to the minimum gripping force Ps
required to hold the sphere in static equilibrium in the 30 position.

P. 8/12 mg mg
r
2Fr
2Fs
2F
given: m =
1 kg, r =
1 m, r =
0.5 m/s, r =
0

30, =
= 50 0.873 rad/s, =
= 200 =
3.49 rad/s 2
180 180
Fr = ma r ( )
mgsin + 2Ffr = m r r 2 , Ffr = 4.143 N
F =ma 2Ff mgcos =m ( r + 2r ) , Ff =
12.859 N
Ff = Ff2r + Ff2 = 13.51= s P P= 27.02 N

static equilibrium: 2Fs = 2 s Ps = mg Ps = 19.62 N

P. 8/13 A flatbed truck going 100 km/h rounds a

horizontal curve of 300 m radius inwardly banked
at 10. The coefficient of static friction between
the truck bed and the 200 kg crate it carries is
0.70. Calculate the friction force F acting on
the crate.

P. 8/13 y
mg
F
assume the crate tends to slide up the truck bed
friction directs downslope N
the crate has absolute curve motion into the paper on the horizontal plane
2
m 10
Fn = ma n Nsin10 + Fcos10 =
300
100
36
Fy = 0 mg + Ncos10 Fsin10 =0
=
N 2021.52 N and F 165.9 N
check if this friction can be provided
= = 1415 N > F
Fmax 0.7N
the crate tends to slide up due to high speed curved motion
but still too far from sliding up (can increase the truck speed
yet the crate does not move relative to the truck bed)

P. 8/14 The flatbed truck starts from rest on a road whose constant
radius of curvature is 30 m and whose bank angle is 10. If
the constant forward acceleration of the truck is 2 m/s2,
determine the time t after the start of motion at which the crate
on the bed begins to slide. The coefficient of static friction
between the crate and truck bed is s = 0.3, and the truck
motion occurs in a horizontal plane.

P. 8/14
static motion
y
200g 200g
n Fsn
Fst
F (inward)
N N

P. 8/14
Static case:= = 1932.2 N,
N s 200gcos10 = =
Fs 0.3N s 579.66 N
= = 340.7 N upward to prevent sliding down the incline, and < Fs
F 200gsin10
Slipping when friction = Fs but in what direction?

Fs can be divided in two components: along n- and t-axis
Fst points in positive t (inward the paper) to match the positive a t
Fsn points down the incline to match the component of a n down the incline
When the truck moves, N > N s to match the positive component of a n up the truck bed
=
given: 30 m,
= 0,=
0,=
a t 2 m/s 2
[a=t v ] =
v a=
tt 2t
Fy 0
= Ncos10 200g Fsn =
sin10 0 (1)
4t 2
Fn =
ma n Fsn cos10 + Nsin10 =
200 ( 2)
30
Ft= ma t Fst= 200 2= 400 N
Fs2n =
+ Fs2t Fs2 Fs2n =
+ Fs2t ( 0.3N )
2
=Fsn 0.09N 2 160000 and substitute into (1)

N 2076.47, 1919.24 N but 1919.24 < N s which is impossible
= N 2076.47
= N, Fsn 477.55= =
N, Fst 400 N, t 5.58 s

P. 8/15 The small object is placed on the inner surface of the conical
dish at the radius shown. If the coefficient of static friction
between the object and the conical surface is 0.30, for what
range of angular velocities about the vertical axis will the block
remain on the dish without slipping? Assume that speed changes
are made slowly so that any angular acceleration may be neglected.

mg mg
P. 8/15
min max Fs
Fs N N
0,=
given:= 0.2 =
, m 0,=
0
min causes small a n Fs upward to reduce Fn
max causes large a n Fs downward to increase Fn
Fy 0
min : = Ncos30 + 0.3Nsin30
= mg 0
=
Fn ma n = m ( 0.2min
Nsin30 0.3Ncos30 2
) , min = 3.405 rad/s
Fy 0
max : = Ncos30 0.3Nsin30
= mg 0
= = m ( 0.2max
Fn ma n Nsin30 + 0.3Ncos30 2
) , =
max 7.214 rad/s
3.405 < < 7.214 rad/s

P. 8/16 The 2 kg slider fits loosely in the smooth slot of the disk, which
rotates about a vertical axis through point O. The slider is free
to move slightly along the slot before one of the wires becomes
taut. If the disk starts from rest at time t = 0 and has a constant
clockwise angular acceleration of 0.5 rad/s2, plot the tensions
in wires 1 and 2 and the magnitude N of the force normal to
the slot as functions of time t for the interval 0<=t<=5 s.

P. 8/16
given:= 0.5 rad/s 2 constant

= 0.5t,= 0.25t 2
r= 0.1 m & free to move slightly move with the disk r= 0, r= 0
assume N and T to be in the indicated direction and use r- coordinate
( ) =0.05t
r
Fr ma r
= Ncos45 Tcos45 =2 0.1 ( 0.5t )
2 2
N
F = ma Nsin45 Tsin45 = 2 ( 0.1 0.5 ) =0.1
0.05t 2 + 0.1 0.05t 2 0.1 45
N = T T
2 2
N is always positive the assumed direction is correct
T will be negative for t < 1.414 s
0, 0 t 1.414 s 0.1 0.05t 2
, 0 t < 1.414 s
T1 =
0.05t 2 0.1 and T2 = 2
, t > 1.414 s 0, t 1.414 s
2

P. 8/16

P. 8/17 A small rocket-propelled vehicle of mass m travels down the

circular path of effective radius r under the action of its weight
and a constant thrust T from its rocket motor. If the vehicle
starts from rest at A, determine its speed v when it reaches B
and the magnitude N of the force exerted by the guide on the
wheels just prior to reaching B. Neglect any friction and any
loss of mass of the rocket.

P. 8/17
mg
T
N
t
Fn= ma n N mgsin= mv 2 / r
T + mgcos
Ft = ma t T + mgcos = ma t , a t =
m

T
[ vdv a t ds] =
= ), v 2 2r + gsin
v / 2 a t ( rd=
2
0 m
=N 3mgsin + 2T
T
v = /2 =
r + 2g 3mg + T
N = /2 =
m

P. 8/18 A hollow tube rotates about the horizontal axis

through point O with constant angular velocity
o . A particle of mass m is introduced with
zero relative velocity at r = 0 when = 0 and
slides outward through the smooth tube.
Determine r as a function of .

P. 8/18
=
given: = 0
o,
mg
at t = 0, r = 0, r = 0, = 0 ( t ) =o t N
= Fr ma r mgsin= (
m r r 2 )
r =2
or gsino t differential equation of r ( t ) r
r ( t )= rp + rh
particular solution rp is a solution of r o2 r =
gsino t
rp ( t ) = forced response of gsino t = Cgsino t
1
sub. into diff. eq. Co2 gsino t Co2 gsino t =gsino t C =
2o2
homogeneous solution rh is a solution of r o2 r =
0
rh ( t ) free
= ( natural ) response Aest
sub. into diff. eq. As 2 est Ao2 est = o , o
0, s =
rh ( t ) = Aeo t + Be o t
1
r ( t ) = rp + rh = Aeo t + Be o t gsino t, which must satisfy i.c.
2o2
g
r ( 0 ) ==+
0 A B and r ( 0 ) ==
0 Ao Bo
2o
g g g
A = 2 , B = 2 r = 2 ( sinh sin )
4o 4o 2o
P. 8/19 The small pendulum of mass m is suspended from a trolley

that runs on a horizontal rail. The trolley and pendulum are
initially at rest with = 0. If the trolley is given a constant
acceleration a = g, determine the maximum angle max
through which the pendulum swings. Also find the tension T
in the cord in terms of .

n
P. 8/19 l 2e n
T
le t t
aP gi
mg
use n-t coordinate to avoid unknown T in t-direction
[a=P a C + a P/C ] translating axes attached to the cart to observe pendulum
=a C gi = a P/C l 2e n + le t
Ft = ma t mgsin = ( )
m gcos + l
g
= ( cos sin ) as function of
l

g 2 2 g ( sin + cos 1)
d=
d /= 2
2 ( cos sin ) d , =
0
l l
or when =
max min 0 sin + cos = 1 = /2
max
(
Fn = ma n T mgcos = m gsin + l 2 )
T mg ( 3sin + 3cos 2 )
=

P. 8/20 A small object is released from rest at A and slides with friction
down the circular path. If the coefficient of friction is 0.2,
determine the velocity of the object as it passes B. (Hint: Write
the equations of motion in the n- and t- directions, eliminate N,
and substitute vdv = atrd. The resulting equation is a linear
nonhomogeneous differential equation of the form
dy/dx + f ( x ) y =g ( x ) , the solution of which is well known.)

P. 8/20
Fn= ma n (
N mgsin= m 3 2 ) mg
Ft ma t
= 0.2N m 3
mgcos= ( ) n
eliminate N: gcos 0.2 ( gsin + 3 ) = 2
3
d d =
= d 1 {gcos 0.2 ( gsin + 3 )}=
2
d d ( )
1 2
3 2
F=0.2N
d ( )
2
+ 0.4 ( ) =
2
2
g ( cos 0.2sin ) , as a function of
2
d 3 N
let 2 = u ( ) and to solve the differential equation for u ( ) t
=
u up + uh
2
u p ( ) =forced response of g ( cos 0.2sin ) =A cos + B sin
3
2
) g ( cos 0.2sin )
sub. into diff. eq. A sin + B cos + 0.4 ( A cos + B sin =
3
1.2 2 0.48
match the coeff. of sin and cos : = A g = B g
3.48 3 3.48
u h ( ) solution
= of the homogeneous equation Ces
Cses + 0.4 Ces =
0, s =
0.4
1.2 2 0.48
u ( )
= gcos + gsin + Ce
0.4
u ( 0) 0
with=
3.48 3 3.48
1.2 1.2 2 0.48 1.2 0.4
g + C = 0 u ( ) = 2 = gcos + gsin ge
3.48 3.48 3 3.48 3.48
at = / 2, 2 = 3.382 v = r = 5.52 m/s
B
Real world where friction exists makes the phenomena difficult

P. 8/21 A small collar of mass m is given an initial

velocity of magnitude vo on the horizontal
circular track fabricated from a slender rod.
If the coefficient of kinetic friciton is k,
determine the distance traveled before the
collar comes to rest. (Hint: Recognize that
the friction force depends on the net normal
force.)

P. 8/21 y
mg
n
Nh
F
Normal force has component N v and N h t Nv
Fy 0=
= N v mg
v2
Fn ma
= = n
Nh m r
Ft =ma t F = k N 2v + N 2h =ma t

[ vdv ==
a t ds ] vdv k r 2 m 2 g 2 + m 2 v 4 ds
mr
0
rdv 2
s
r v2 + v4 + r 2g 2
= 0=
o o
ds, s ln
2k r g + ( v2 )
2 2 k rg

vo 2 2

P. 8/22 The slotted arm OB rotates in a horizontal plane about point O

of the fixed circular cam with constant angular velocity =
15 rad/s. The spring has a stiffness of 5 kN/m and is
uncompressed when = 0. The smooth roller A has a mass
of 0.5 kg. Determine the normal force N that the cam exerts
on A and also the force R exerted on A by the sides of the slot
when = 45. All surfaces are smooth. Neglect the small
diameter of the roller.

P. 8/22 r
0.2

r
F
0.1
N
Kinematics: 0.22 = 0.12 + r 2 + 0.2rcos
diff: 0 = 0.2rsin
2rr + 0.2rcos R
0.2rsin
0 = 2r 2 + 2rr + 0.2rcos
0.2rsin 0.2rsin 0.2r 2 cos
=
given: / 4, 15 rad/s,
= = 0
r =0.= =
1164 m, r 0.66 m/s, r 15.05 m/s 2
0.2 0.1
= ,= 20.7
sin135 sin
Kinetics: spring force at = / 4 : F= 5000 ( r 0.1) compressed
F=
r ma r (
F + Ncos20.7= m r r 2)
F =ma m ( r + 2r )
R Nsin20.7 =
N = 81.7 N R = 38.7 N

P. 8/23 The small cart is nudged with negligible

velocity from its horizontal position at A onto
the parabolic path that lies in a vertical plane.
Neglect friction and show that the cart
maintains contact with the path for all values
of k.

P. 8/23
If the cart maintains contact, N > 0
use n-t coordinate since N aligns with the n-axis
1 + ( y ')2
3/ 2
dy d2 y

= =
y kx =
2
( 2x ) tan =
k= 2k
y '' dx dx 2

3/ 2
1 + 4k 2 x 2
= mg
2k
v2

= Fn ma n N + mgcos
= m dx

N
1 + tan sec
= 2
= cos 2 1 ds dy
1 + 4k 2 x 2
n
= Ft ma
= mgsin ma t
t
[ vdv
= a t ds ] vdv
= gsin=
ds gdy, = = 2kgx 2
v 2 2gy t
mg 2k mg
=
N 2mkgx 2 = >0
2 2 3/ 2 2 2 3/ 2
1 + 4k 2 x 2 1 + 4k x 1 + 4k x

8.6 Work and Energy
Many of the dynamic problems need to determine the

velocity or the displacement quantities. This requires
integrating the equations formulated from the
Newtons second law with the use of kinematical
analysis for the acceleration term.
However, this integration step can be performed

beforehand. If we integrate the Newtons law directly
w.r.t. the displacement, i.e.
v22 v12
Fds = mvdv = m 2
8.6 Work and Energy
The left hand side is defined to be the work done on

the particle. The right hand side corresponds to the
change in the kinetic energy. This integrated equation
of motion is called work-energy equation.
On the other hand, if we integrate the Newtons law

directly w.r.t. time, i.e.
Fdt = mdv = m(v 2 v1 )

For this one, the left hand side quantity is called the
impulse applied to the particle, while the right hand
one is the change of the momentum of the particle.
This integrated equation of motion is then called
impulse-momentum equation.
8.6 Work and Energy
Definition of Work
If the force F acting on a particle at point A of which

its position is described by the position vector r , then
dU = F dr
is the work done by the force F during the differential
displacement dr , of which its magnitude is equal to
the force times the displacement in the direction of
force. Alternatively, the magnitude will also be equal
to the displacement times the force in the direction of
the displacement. In other words, components of
force in the direction normal to the displacement
vector, Fn , will do no work.
8.6 Work and Energy

8.6 Work and Energy

Calculation of Work
When the force F , which may not be constant, has

been applied to the particle during a finite movement,
the work performed by this force on the particle will be
2
U = F dr
1
which may be further elaborated as
U = (Fx dx + Fy dy )
2
1
if the x-y coordinate frame is used, or
8.6 Work and Energy

s2
U = Ft ds
s1
if the n-t coordinate frame is used. Moreover, if the

function of the force is not known explicitly, the
numerical integration approach for approximating the
area under Ft s graph may be used.
8.6 Work and Energy

Work done by spring force
From the figure, the spring force exerted on the

particle when it is displaced from the unstretch by x is
F = kxi . Therefore the work done by spring as the
particle undergoes an arbitrary displacement from x1
to x2 would be
( )
x2
= ( kxi ) dxi = k x12 x22

1
U1 2
x1
2
8.6 Work and Energy

8.6 Work and Energy

Work done by gravity force
a) g = const.
2
U1 2 = ( mgj) (dxi + dyj) = mg ( y1 y2 )
1
b) g != const.
2
Gme m 1 1
U1 2 = e r (dre r ) = Gme m
1
2
r r2 r1
8.6 Work and Energy

8.6 Work and Energy

Work done by force F
( )
2 2 2 2
1
U1 2 = F dr = ma dr = mat ds = mvdv = m v22 v12
1 1 1 1
2
lead us to define the kinetic energy of the particle,

1 2
T = mv
2
which can be interpret as the amount of work given to
the particle to bring it from rest to a velocity v . Hence
the above equation may be rewritten as
U1 2 = T2 T1 = T
8.6 Work and Energy

8.6 Work and Energy

This equation is known as work-energy equation for

the particle. It says that the total work done by all
forces acting on the particle as it moves from 1 2
equals to the change in kinetic energy of the particle.
Alternatively,
T1 + U1 2 = T2
saying that the final kinetic energy equals the initial
kinetic energy plus the work done on the particle
during that period.
The equation also applies to a system of particles of

which their relative distances are kept unchanged.
8.6 Work and Energy

However, U1 2 would be the net work done on the

system by external forces and T would be the total
kinetic energy of the system.
Before applying the work-energy equation, it is

required to make clear the isolated system under
consideration by drawing the free-body diagram of it,
showing all externally applied forces which do work
(active forces).
8.6 Work and Energy

Potential Energy
Potential energy is here to treat the work, especially

those done by gravity forces and by spring forces.
Potential energy may be converted into kinetic energy
and do work later.
Gravitational Potential Energy
is the work done against the gravitational force to

elevate the particle a distance h above some
reference datum, where the potential energy is taken
to be zero
Vg = mgh
8.6 Work and Energy

The change in potential energy when the particle

goes from the level h1 to the new level h2 is
Vg = mg (h2 h1 ) = mgh
which is the negative of the work done by the
gravitational force on the particle mgh .
If the level change is significant compared to the

radius of the earth, the gravity force is not equal to the
simple mg , rather it will be Gmme / r 2 = mgR 2 / r 2 .
Accordingly, the potential energy is the work done
against this gravity force which, in this case, may be
calculated from
mgR 2
Vg =
r
8.6 Work and Energy
where the reference datum for zero potential is taken

to be at r . The change in potential energy when
the particle goes from r1 to r2 is
1 1
Vg = mgR 2
r1 r2
which is the negative of the work done by the
gravitational force on the particle mgR 2 (1 / r2 1 / r1 ).
8.6 Work and Energy

8.6 Work and Energy

Elastic Potential Energy
is the work done against the spring force to deform

the spring. Therefore, the potential energy of the
spring when it is deformed by the amount of x from
the unstretched posture is
x
1 2
Ve = kd = kx
0
2
The change in potential energy when the spring

undergoes the deformation from x1 to x2 is
Ve = k (x22 x12 )
1
2
which is the negative of the work done by the spring
force.
8.6 Work and Energy
Work-Energy Equation Revisited
The original work-energy equation

U1 2 = T2 T1
may be modified to account for the potential energy

explicitly as
U1' 2 + ( Vg ) + ( Ve ) = T2 T1
where now the scope of the system is changed to
include the spring and the gravity field. U1' 2 is then the
work done by all external forces on the new system.
Alternatively
T1 + V1 + U1' 2 = T2 + V2
8.6 Work and Energy

P. 8/24 A constant horizontal force P = 700 N is

applied to the linkage shown. With the 14-kg ball
initially at rest on its support with = 60, calculate the
velocity of the ball as approaches zero where the
ball reaches its highest position.
8.6 Work and Energy

Ch3 Extended

Diunggah oleh

Informasi Dokumen

Hak Cipta

Format Tersedia

Bagikan dokumen Ini

Bagikan atau Tanam Dokumen

Opsi Berbagi

Apakah menurut Anda dokumen ini bermanfaat?

Apakah konten ini tidak pantas?

Hak Cipta:

Format Tersedia

Ch3 Extended

Diunggah oleh

Hak Cipta:

Format Tersedia

Ch.

8: Kinetics of Particles 415

8.0 Outline 415

In this chapter, the focus is on the particles. That is the

There are at least 3 approaches toe the solution of

8.2 Newtons Second Law

For most engineering problems on earth, the acceleration

Newtons 2nd law breaks when the velocities of the order

8.2 Newtons Second Law

8.3 Equation of Motion and Solution of Problems

F = ma --- equation of motion

Two problems of dynamics

8.3 Equation of Motion and Solution

Free body diagram

Treatment of the body as particle is valid when the forces

8.3 Equation of Motion and Solution

8.4 Rectilinear Motion

a may be determined via the use of relative motion

8.4 Rectilinear Motion

P. 8/1 The coefficient of static friction between the flat

8.4 Rectilinear Motion

8.4 Rectilinear Motion

8.4 Rectilinear Motion

P. 8/3 If the coefficients of static and kinetic friction

8.4 Rectilinear Motion

(b) Fmax > 80 N block A does not move relative to B

8.4 Rectilinear Motion

P. 8/4 A simple pendulum is pivoted at O and is free to

8.4 Rectilinear Motion

F=y 0 Tcos mgcos=

8.4 Rectilinear Motion

P. 8/5 For the friction coefficients s = 0.25 and

8.4 Rectilinear Motion

F =ma 60gsin30 Fk T = 60a A =120a B

8.4 Rectilinear Motion

8.4 Rectilinear Motion

P. 8/7 Determine the accelerations of bodies A and B

8.4 Rectilinear Motion

8.4 Rectilinear Motion

P. 8/8 The sliders A and B are connected by a light

8.4 Rectilinear Motion

P. 8/9 With the blocks initially at rest, the force P is

8.4 Rectilinear Motion

1) 0 P FBmax : FB will be developed to cancel with the applied P,

8.4 Rectilinear Motion

8.4 Rectilinear Motion

8.4 Rectilinear Motion

P. 8/10 The system is released from rest in the position

8.4 Rectilinear Motion

8.4 Rectilinear Motion

8.5 Curvilinear Motion

8.5 Curvilinear Motion

P. 8/11 The member OA rotates about a horizontal axis through O

8.5 Curvilinear Motion

8.5 Curvilinear Motion

P. 8/12 A 2 kg sphere S is being moved in a vertical plane by a robotic

8.5 Curvilinear Motion

Ff = Ff2r + Ff2 = 13.51= s P P= 27.02 N

8.5 Curvilinear Motion

P. 8/13 A flatbed truck going 100 km/h rounds a

8.5 Curvilinear Motion

8.5 Curvilinear Motion

8.5 Curvilinear Motion

8.5 Curvilinear Motion