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BDA 2013 Dynamics

Chapter 3 Kinetics of
Particles: Work & Energy
Method
En. Saifulnizan Bin Jamian
Faculty of Mechanical Engineering and
Manufacturing
Kolej Universiti Teknologi Tun Hussein
Onn
86400 Parit Raja, Johor

[C16-101-11 saifulnz@kuittho.edu.my]
[ 07-453 6200 EXT 1379 ]
Copyright 2005

Introduction
Contents
Sample Problem 13.6
Work of a Force Sample Problem 13.7
Principle of Work & Energy Sample Problem 13.9
Applications of the Principle of Work
& Energy
Power and Efficiency
Sample Problem 13.1
Sample Problem 13.2
Sample Problem 13.3
Sample Problem 13.4
Sample Problem 13.5
Potential Energy
Conservative Forces
Conservation of Energy
Motion Under a Conservative Central
Force

1
Introduction
Previously, problems dealing with the motion of particles
r were
r
solved through the fundamental equation of motion, F = ma.
Current chapter introduces two additional methods of analysis.

Method of work and energy: directly relates force, mass,


velocity and displacement.

Method of impulse and momentum: directly relates force,


mass, velocity, and time.

Work of a Force
r
Differential vector dr is the particle displacement.

Work of the force is


r r
dU = F dr
= F ds cos
= Fxdx+ Fydy+ Fz dz

Work is a scalar quantity, i.e., it has magnitude and


sign but not direction.

Dimensions of work are length force. Units are


1 J ( joule) = (1 N )(1 m ) 1ft lb = 1.356 J

2
Work of a Force
Work of a force during a finite displacement,
A2 r
r
U12 = F dr
A1
s2 s2
= (F cos )ds = Ft ds
s1 s1
A2
= (Fx dx + Fy dy + Fz dz )
A1

Work is represented by the area under the


curve of Ft plotted against s.

Work of a Force
Work of a constant force in rectilinear motion,
U12 = ( F cos ) x

Work of the force of gravity,


dU = Fx dx + Fy dy + Fz dz
= W dy
y2
U12 = W dy
y1
= W ( y 2 y1 ) = W y

Work of the weight is equal to product of


weight W and vertical displacement y.

Work of the weight is positive when y < 0,


i.e., when the weight moves down.

3
Work of a Force
Magnitude of the force exerted by a spring is
proportional to deflection,
F = kx
k = spring constant ( N/m or lb/in.)
Work of the force exerted by spring,
dU = F dx = kx dx
x2
U12 = kx dx = 12 kx12 12 kx22
x1

Work of the force exerted by spring is positive


when x2 < x1, i.e., when the spring is returning to
its undeformed position.

Work of the force exerted by the spring is equal to


negative of area under curve of F plotted against x,
U12 = 12 ( F1 + F2 ) x

Work of a Force
Work of a gravitational force (assume particle M
occupies fixed position O while particle m follows path
shown),
Mm
dU = Fdr = G 2 dr
r
r2
Mm Mm Mm
U12 = G dr = G G
r1 r2 r2 r1

4
Work of a Force
Forces which do not do work (ds = 0 or cos = 0):

reaction at frictionless pin supporting rotating body,

reaction at frictionless surface when body in contact


moves along surface,

reaction at a roller moving along its track, and

weight of a body when its center of gravity moves


horizontally.

Particle Kinetic Energy:


Principle of Work & Energy r
Consider a particle of mass m acted upon by force F
dv
Ft = mat = m
dt
dv ds dv
=m = mv
ds dt ds
F t ds = mv dv
Integrating from A1 to A2 ,
s2 v2
2 2
Ft ds = m v dv = 12 mv2 12 mv1
s1 v1

U12 = T2 T1 T = 12 mv 2 = kinetic energy


r
The work of the force F is equal to the change in
kinetic energy of the particle.
Units of work and kinetic energy are the same:
2
m m
T = 12 mv 2 = kg = kg 2 m = N m = J
s s

5
Applications of the Principle of
Work and Energy
Wish to determine velocity of pendulum bob
at A2. Consider work & kinetic energy.
r
Force P acts normal to path and does no
work.
T1 + U12 = T2
1
0 + ml = mv22
2
v2 = 2 gl

Velocity found without determining


expression for acceleration and integrating.

All quantities are scalars and can be added


directly.

Forces which do no work are eliminated from


the problem.

Applications of the Principle of


Work and Energy
Principle of work and energy cannot be
applied to directly determine the acceleration
of the pendulum bob.

Calculating the tension in the cord requires


supplementing the method of work and energy
with an application of Newtons second law.

As the bob passes through A2 ,

Fn = m an
v22
P mg = man = m
l
2 gl
P = mg + m = 3mg
v2 = 2 gl l

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Power and Efficiency
Power = rate at which work is done.
r r
dU F dr
= =
dt dt
r r
= F v

Dimensions of power are work/time or force*velocity.


Units for power are
J m
1 W (watt) = 1 = 1 N
s s

= efficiency
output work
=
input work
power output
=
power input

Example 1: SP13.1
SOLUTION:
Evaluate the change in kinetic energy.
Determine the distance required for the
work to equal the kinetic energy change.

An automobile weighing 19.62 kN is


driven down a 5o incline at a speed of
100 km/h when the brakes are applied
causing a constant total breaking force
of 7 kN.
Determine the distance traveled by the
automobile as it comes to a stop.

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Example 1: SP13.1
SOLUTION:
Evaluate the change in kinetic energy.
km 1000 m 1 h
v1 = 100 = 27.78 m s
h 1 km 3600 s
(
T1 = 12 mv12 = 12 (2000 kg ) 27.78 m/s 2 )
2
= 771.73 kJ

v2 = 0 T2 = 0
Determine the distance required for the work to
equal the kinetic energy change.
U12 = ( 7 kN ) x + (19.62 kN )(sin 5)x
= (5.29 kN ) x
T1 + U12 = T2
771.73 kJ (5.29 kN )x = 0
x = 145.9 m

Example 2: SP13.2
SOLUTION:
Apply the principle of work and
energy separately to blocks A and B.

When the two relations are combined,


the work of the cable forces cancel.
Solve for the velocity.
Two blocks are joined by an inextensible
cable as shown. If the system is released
from rest, determine the velocity of block
A after it has moved 2 m. Assume that
the coefficient of friction between block A
and the plane is k = 0.25 and that the
pulley is weightless and frictionless.

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Example 2: SP13.2
SOLUTION:
Apply the principle of work and energy separately
to blocks A and B.
( )
W A = (200 kg ) 9.81 m s 2 = 1962 N
FA = k N A = k W A = 0.25(1962 N ) = 490 N
T1 + U12 = T2 :
0 + FC (2 m ) FA (2 m ) = 12 m A v 2

FC (2 m ) (490 N )(2 m ) = 12 (200 kg )v 2

( )
WB = (300 kg ) 9.81 m s 2 = 2940 N
T1 + U12 = T2 :
0 Fc (2 m ) + WB (2 m ) = 12 m B v 2

Fc (2 m ) + (2940 N )(2 m ) = 12 (300 kg )v 2

Example 2: SP13.2
When the two relations are combined, the work of the
cable forces cancel. Solve for the velocity.
FC (2 m ) (490 N )(2 m ) = 12 (200 kg )v 2

Fc (2 m ) + (2940 N )(2 m ) = 12 (300 kg )v 2

(2940 N )(2 m ) (490 N )(2 m ) = 12 (200 kg + 300 kg )v 2


4900 J = 12 (500 kg )v 2

v = 4.43 m s

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Example 3 : SP13.3
SOLUTION:
Apply the principle of work and energy
between the initial position and the
point at which the spring is fully
compressed and the velocity is zero.
A spring is used to stop a 60 kg package The only unknown in the relation is the
which is sliding on a horizontal surface. friction coefficient.
The spring has a constant k = 20 kN/m
and is held by cables so that it is initially Apply the principle of work and energy
compressed 120 mm. The package has a for the rebound of the package. The
velocity of 2.5 m/s in the position shown only unknown in the relation is the
and the maximum deflection of the spring velocity at the final position.
is 40 mm.
Determine (a) the coefficient of kinetic
friction between the package and surface
and (b) the velocity of the package as it
passes again through the position shown.

Example 3 : SP13.3
SOLUTION:
Apply principle of work and energy between initial
position and the point at which spring is fully compressed.
T1 = 12 mv12 = 12 (60 kg )(2.5 m s )2 = 187.5 J T2 = 0

(U12 ) f = kW x

( )
= k (60 kg ) 9.81m s 2 (0.640 m ) = (377 J ) k

Pmin = kx0 = (20 kN m )(0.120 m ) = 2400 N


Pmax = k ( x0 + x ) = (20 kN m )(0.160 m ) = 3200 N
(U12 )e = 12 (Pmin + Pmax )x
= 12 (2400 N + 3200 N )(0.040 m ) = 112.0 J

U1 2 = (U1 2 ) f + (U1 2 )e = (377 J ) k 112 J

T1 + U1 2 = T2 :
187.5 J - (377 J ) k 112 J = 0 k = 0.20

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Example 3 : SP13.3
Apply the principle of work and energy for the rebound
of the package.
T2 = 0 T 3= 12 mv32 = 12 (60kg )v32

U 23 = (U 23 ) f + (U 23 )e = (377 J ) k + 112 J
= +36.5 J

T2 + U 23 = T3 :
0 + 36.5 J = 12 (60 kg )v32
v3 = 1.103 m s

Example 4: SP13.4
SOLUTION:
Apply principle of work and energy to
determine velocity at point 2.
Apply Newtons second law to find
normal force by the track at point 2.
A 1000 kg car starts from rest at point
1 and moves without friction down the Apply principle of work and energy to
track shown. determine velocity at point 3.
Apply Newtons second law to find
Determine:
minimum radius of curvature at point 3
a) the force exerted by the track on such that a positive normal force is
the car at point 2, and exerted by the track.
b) the minimum safe value of the
radius of curvature at point 3.

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Example 4: SP13.4
SOLUTION:
Apply principle of work and energy to determine
velocity at point 2.
1W 2
T1 = 0 T2 = 12 mv22 = v
2g 2
U12 = +W (12 m )
1
T1 + U12 = T2 : 0 + mg (12 m) = mv22
2
v2 = 24 g = 24(9.81)
2
v2 = 15.3 m s

Apply Newtons second law to find normal force by


the track at point 2.
+ Fn = m an :
v22 2(12 m)g
mg + N = m an = m =m
2 6m
N = 5 mg N = 49.1kN

Example 4: SP13.4
Apply principle of work and energy to determine
velocity at point 3.
1
T1 + U13 = T3 0 + mg (12 m 4.5 m ) = mv32
2
v3 = 15 g = 15(9.81)
2
v3 = 12.1 m s

Apply Newtons second law to find minimum radius of


curvature at point 3 such that a positive normal force is
exerted by the track.

+ Fn = m an :
mg = m an
v32 2(15 m )g
=m =m 3 = 15 m
3 3

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Example 5: SP13.5
SOLUTION:
Force exerted by the motor
cable has same direction as
the dumbwaiter velocity.
Power delivered by motor is
equal to FvD, vD = 2.5 m/s.

The dumbwaiter D and its load have a In the first case, bodies are in uniform
combined weight of 300 kg, while the motion. Determine force exerted by
counterweight C weighs 400 kg. motor cable from conditions for static
equilibrium.
Determine the power delivered by the
electric motor M when the dumbwaiter In the second case, both bodies are
(a) is moving up at a constant speed of accelerating. Apply Newtons
8 ft/s and (b) has an instantaneous second law to each body to
velocity of 2.5 m/s and an acceleration of determine the required motor cable
0.75 m/s2, both directed upwards. force.

Example 5: SP13.5
In the first case, bodies are in uniform motion.
Determine force exerted by motor cable from
conditions for static equilibrium.

Free-body C:
+ Fy = 02:T (400) (9.81) N = 0 T = 19.62 N

Free-body D:
+ Fy = 0 : F + T (300) (9.81) N = 0
F = (300) (9.81) N T
= (300) (9.81) N 19.62 N = 9.81 N
Power = Fv D = (9.81 N) (2.5 m/s)
= 2453 J s
1 hp
Power = (2453 J s) = 3.3 hp
746 J s

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Example 5: SP13.5
In the second case, both bodies are accelerating. Apply
Newtons second law to each body to determine the required
motor cable force.
aD = 0.75 m s 2 aC = 12 aD = 0.375 m s 2

Free-body C:
+ Fy = mC aC : ( 400) (9.81) 2T = 400(0.375) T = 18.87 N

Free-body D:
+ Fy = m D a D : F + T (300) (9.81) = 300 (0.75)
F + 1887 (300) (9.81) = 225 F = 1281 N

Power = Fv D = (1281 N) (2.5 m/s) = 3203 J /s


1 hp
Power = (3203 J s) = 4.3 hp
746 J s

Potential Energy
r
Work of the force of gravity W,
U12 = W y1 W y 2

Work is independent of path followed; depends


only on the initial and final values of Wy.
V g = Wy
= potential energy of the body with respect
to force of gravity.
U12 = (V g ) (V g )
1 2

Choice of datum from which the elevation y is


measured is arbitrary.

Units of work and potential energy are the same:


V g = Wy = N m = J

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Potential Energy
Previous expression for potential energy of a body
with respect to gravity is only valid when the
weight of the body can be assumed constant.

For a space vehicle, the variation of the force of


gravity with distance from the center of the earth
should be considered.

Work of a gravitational force,


GMm GMm
U12 =
r2 r1

Potential energy Vg when the variation in the


force of gravity can not be neglected,
GMm WR 2
Vg = =
r r

Potential Energy
Work of the force exerted by a spring depends
only on the initial and final deflections of the
spring,
U12 = 12 kx12 12 kx22

The potential energy of the body with respect


to the elastic force,
Ve = 12 kx 2
U12 = (Ve )1 (Ve )2

Note that the preceding expression for Ve is


valid only if the deflection of the spring is
measured from its undeformed position.

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Conservative Forces
Concept of potential energy can be applied if the
work of the force is independent of the path
followed by its point of application.
U12 = V ( x1 , y1 , z1 ) V ( x2 , y 2 , z 2 )
Such forces are described as conservative forces.
For any conservative force applied on a closed path,
r r
F dr = 0
Elementary work corresponding to displacement
between two neighboring points,
dU = V ( x, y, z ) V ( x + dx, y + dy, z + dz )
= dV ( x, y, z )
V V V
Fx dx + Fy dy + Fz dz = dx + dy + dz
x y z
r V V V
F = + + = grad V
x y z

Conservation of Energy
Work of a conservative force,
U1 2 = V1 V2

Concept of work and energy,


U1 2 = T2 T1

Follows that
T1 + V1 = T2 + V2
E = T + V = constant
T1 = 0 V1 = Wl When a particle moves under the action of
T1 + V1 = Wl conservative forces, the total mechanical
energy is constant.
1W
T2 = 12 mv22 = (2 gl ) = Wl V2 = 0 Friction forces are not conservative. Total
2g
mechanical energy of a system involving
T2 + V2 = Wl friction decreases.
Mechanical energy is dissipated by friction
into thermal energy. Total energy is constant.

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Motion Under a Conservative
Central Force
When a particle moves under a conservative central
force, both the principle of conservation of angular
momentum
r0 mv0 sin 0 = rmv sin
and the principle of conservation of energy
T0 + V0 = T + V
1 mv 2 GMm 1 2 GMm
2 0 = 2 mv
r0 r
may be applied.

Given r, the equations may be solved for v and .

At minimum and maximum r, = 90o. Given the


launch conditions, the equations may be solved for
rmin, rmax, vmin, and vmax.

Example 6 : SP13.6
SOLUTION:
Apply the principle of conservation of
energy between positions 1 and 2.
The elastic and gravitational potential
energies at 1 and 2 are evaluated from
the given information. The initial kinetic
energy is zero.
A 9 kg collar slides without friction Solve for the kinetic energy and
along a vertical rod as shown. The velocity at 2.
spring attached to the collar has an
undeflected length of 100 mm and a
constant of 540 N/m.
If the collar is released from rest at
position 1, determine its velocity after
it has moved 150 mm to position 2.

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Example 6 : SP13.6
SOLUTION:
Apply the principle of conservation of energy between
positions 1 and 2.

Position 1: Ve = 2 kx1 =
1 2 1
2
(540 N m)(0.1 m)2 = 2.7 J
V1 = Ve + V g = 2.7 J
T1 = 0
Position 2: e = 2 kx2 = 2 (540 N m)(0.15 m ) = 6.1 J
2 2
V 1 1

V g = Wy = (99.81 N )( 0.15 m) = 13.3 J


V2 = Ve + Vg = (6.1 J) (13.35) = 7.2 J
1
T2 = 12 mv22 = 9v22 = 4.5 v22
2
Conservation of Energy:
T1 + V1 = T2 + V2
0 + 2.7 J = 4.5v22 7.2 J
v2 = 1.48 m s

Example 7 : SP13.7
SOLUTION:
Since the pellet must remain in contact
with the loop, the force exerted on the
pellet must be greater than or equal to
zero. Setting the force exerted by the
loop to zero, solve for the minimum
velocity at D.
Apply the principle of conservation of
energy between points A and D. Solve
The 200 g pellet is pushed against the for the spring deflection required to
spring and released from rest at A. produce the required velocity and
Neglecting friction, determine the kinetic energy at D.
smallest deflection of the spring for
which the pellet will travel around the
loop and remain in contact with the
loop at all times.

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Example 7 : SP13.7
SOLUTION:
Setting the force exerted by the loop to zero, solve for the
minimum velocity at D.
+ Fn = man : W = man mg = m vD2 r
( )
vD2 = rg = (0.6 m ) 9.81m s 2 = 5.89 m 2 s 2

Apply the principle of conservation of energy between


points A and D.
V1 = Ve + Vg = 12 kx 2 + 0 = 12 (540 N m) x 2 = 270 x 2
T1 = 0

V2 = Ve + Vg = 0 + Wy = (0.29.81) N(1.2 m) = 2.35 J


1
T2 = 12 mvD2 = (0.2) (5.89) = 0.589 J
2
T1 + V1 = T2 + V2
0 + 270 x 2 = 0.589 J + 2.35 J x = 0.104 m = 104 mm

Example 8 : SP13.9
SOLUTION:
For motion under a conservative central
force, the principles of conservation of
energy and conservation of angular
momentum may be applied simultaneously.
Apply the principles to the points of
minimum and maximum altitude to
A satellite is launched in a direction
determine the maximum altitude.
parallel to the surface of the earth
with a velocity of 36900 km/h from Apply the principles to the orbit insertion
an altitude of 500 km. point and the point of minimum altitude to
determine maximum allowable orbit
Determine (a) the maximum altitude
insertion angle error.
reached by the satellite, and (b) the
maximum allowable error in the
direction of launching if the satellite
is to come no closer than 200 km to
the surface of the earth

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Example 8 : SP13.9
Apply the principles of conservation of energy and
conservation of angular momentum to the points of minimum
and maximum altitude to determine the maximum altitude.
Conservation of energy:
1 mv 2 GMm 1 2 GMm
TA + VA = TA + VA 2 0 = 2 mv1
r0 r1
Conservation of angular momentum:
r
r0 mv0 = r1mv1 v1 = v0 0
r1
Combining,
2
1 v 2 1 r0 = GM 1 r0 r 2GM
2 0 2 r 1+ 0 =
r1 r0 1 r1 r0v02
r0 = 6370 km + 500 km = 6870 km
v0 = 36900 km h = 10.25 106 m s
( )( )2
GM = gR 2 = 9.81m s 2 6.37 106 m = 398 1012 m3 s 2

r1 = 60.4 106 m = 60400 km

Example 8 : SP13.9
Apply the principles to the orbit insertion point and the point
of minimum altitude to determine maximum allowable orbit
insertion angle error.
Conservation of energy:
T0 + V0 = TA + VA 1 mv 2 GMm = 1 mv 2 GMm
2 0 2 max
r0 rmin

Conservation of angular momentum:


r
r0 mv0 sin 0 = rmin mvmax vmax = v0 sin 0 0
rmin

Combining and solving for sin 0,


sin 0 = 0.9801
0 = 90 11.5 allowable error = 11.5

20
Example from Hibbeler 10th Edition
14.7 Design consideration for the bumper B on the
5-Mg train car require use of a nonlinear spring
having the load-deflection characteristics shown in
the graph. Select the proper value of k so that the
maximum deflection of the spring is limited to 0.2
m when the car, traveling at 4 m/s, strikes the rigid
stop. Neglect the mass of the car wheels.
Answer

Example from Hibbeler 10th Edition


14.18 Determine the heigh h to the top of the
incline D to which the 200-kg roller coaster car
will reach, if it is launched at B with a speed
just sufficient for it to round the top of the loop
at C without leaving the track. The radius of
curvature at C is 25 m.
Answer

21
Example from Hibbeler 10th Edition
14.74 The collar has a weight of 8 lb. If it is
released from rest at a height of h= 2 ft from
the top of the uncompressed spring,
determine the speed of the collar after it
falls and compresses the spring 0.3 ft.
Answer

Example from Hibbeler 10th Edition


14.75 The 2-kg collar is attached to a spring
that has an unstretched length of 3 m. If the
collar is drawn to point B and released from
rest, determine its speed when it arrives at
point A.
Answer

22
Example from Hibbeler 10th Edition
14.77 The 5-lb collar is released from rest at A and
travels along the smooth guide. Determine its speed
when its center reaches point C and the normal force it
exerts on the rod at this point. The spring has an
unstretched length of 12 in., and point C is located just
before the end of the curved portion of the rod.
Answer

Other Examples : Hibbeler 10th


edition
14.3, 29, 78a, b, 83
, 78 MathCad Soln

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