6/22/2016

MEMB233
MECHANICS II: DYNAMICS
TOPIC 2
Kinetics of a Particle:
Force & Acceleration
Section 13.1 to 13.5
*Materials adopted from PEARSON Mechanics for Engineers: Dynamics, 13 th ed. 2013 by
R.C. Hibbeler & Kai Beng Yap

NEWTON’S LAWS OF MOTION, EQUATIONS OF

MOTION, & EQUATIONS OF MOTION FOR A
SYSTEM OF PARTICLES
Today’s Objectives:
Students will be able to:
1. Write the equation of
motion for an accelerating In-Class Activities:
body.
2. Draw the free-body and • Applications
kinetic diagrams for an
accelerating body. • Newton’s Laws of Motion

• Newton’s Law of
Gravitational Attraction

• Equation of Motion for a

Particle or System of
Particles

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An Overview of Mechanics

Mechanics: The study of how bodies

react to forces acting on them.

Dynamics:
Statics: The study of
1. Kinematics – concerned
bodies in equilibrium.
with the geometric aspects of
motion
2. Kinetics – concerned with
the forces causing the motion

APPLICATIONS

The motion of an object depends on the

forces acting on it.

A parachutist relies on the atmospheric

drag resistance force of her parachute to
limit her velocity.

Knowing the drag force, how can we

determine the acceleration or velocity of
the parachutist at any point in time? This
has some importance when landing!

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APPLICATIONS (continued)

The baggage truck A tows a cart B,

and a cart C.

If we know the frictional force

developed at the driving wheels of
the truck, could we determine the
acceleration of the truck?
How?

Can we also determine the horizontal force acting on the coupling

between the truck and cart B? This is needed when designing the
coupling (or understanding why it failed).

APPLICATIONS (continued)

A freight elevator is lifted using a

motor attached to a cable and pulley
system as shown.

How can we determine the tension

force in the cable required to lift the
elevator and load at a given
acceleration? This is needed to decide
what cable size should be used.

Is the tension force in the cable greater than the weight of the
elevator and its load?

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NEWTON’S LAWS OF MOTION (Section 13.1)

The motion of a particle is governed by Newton’s three laws of

motion.

First Law: A particle originally at rest, or moving in a

straight line at constant velocity, will remain in this state if
the resultant force acting on the particle is zero.

Second Law: If the resultant force on the particle is not

zero, the particle experiences an acceleration in the same
direction as the resultant force. This acceleration has a
magnitude proportional to the resultant force.

Third Law: Mutual forces of action and reaction between

two particles are equal, opposite, and collinear.

NEWTON’S LAWS OF MOTION

(continued)

The first and third laws were used in developing the concepts of
statics. Newton’s second law forms the basis of the study of
dynamics.

Mathematically, Newton’s second law of motion can be written

F = ma

where F is the resultant unbalanced force acting on the particle,

and a is the acceleration of the particle. The positive scalar m is
called the mass of the particle.

Newton’s second law cannot be used when the particle’s speed

approaches the speed of light, or if the size of the particle is
extremely small (~ size of an atom).

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MASS AND WEIGHT

It is important to understand the difference between the mass

and weight of a body!

Mass is an absolute property of a body. It is independent of the

gravitational field in which it is measured. The mass provides a
measure of the resistance of a body to a change in velocity, as
defined by Newton’s second law of motion (m = F/a).

The weight of a body is not absolute, since it depends on the

gravitational field in which it is measured. Weight is defined as

W = mg

where g is the acceleration due to gravity.

UNITS: SI SYSTEM VS. FPS SYSTEM

SI system: In the SI system of units, mass is a base unit and

weight is a derived unit.
Typically, mass is specified in kilograms (kg), and weight is
calculated from W = mg.

If the gravitational acceleration (g) is specified in units of m/s 2, then

the weight is expressed in newtons (N).

On the earth’s surface, g can be taken as g =

9.81 m/s2.
W (N) = m (kg) g (m/s2) => N = kg·m/s2

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EQUATION OF MOTION (Section 13.2)

The motion of a particle is governed by Newton’s second law,

relating the unbalanced forces on a particle to its acceleration.
If more than one force acts on the particle, the equation of
motion can be written
F = FR = ma
where FR is the resultant force, which is a vector summation of
all the forces.
To illustrate the equation,
consider a particle acted on by
two forces.

First, draw the particle’s free-

body diagram, showing all forces
acting on the particle. Next,
draw the kinetic diagram,
showing the inertial force ma
acting in the same direction as
the resultant force FR.

INERTIAL FRAME OF REFERENCE

This equation of motion is only valid if the acceleration is

measured in a Newtonian or inertial frame of reference. What
does this mean?

For problems concerned with motions at or near the earth’s

surface, we typically assume our “inertial frame” to be fixed to
the earth. We neglect any acceleration effects from the earth’s
rotation.

For problems involving satellites or rockets, the inertial frame

of reference is often fixed to the stars.

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EQUATION OF MOTION FOR A SYSTEM

OF PARTICLES (Section 13.3)

The equation of motion can be extended to include systems of

particles. This includes the motion of solids, liquids, or gas
systems.
As in statics, there are internal
forces and external forces acting
on the system. What is the
difference between them?
Using the definitions of m = mi
as the total mass of all particles
and aG as the acceleration of the
center of mass G of the
particles, then m aG = mi ai .

The text shows the details, but for a system of particles: F = m

aG where F is the sum of the external forces acting on the entire
system.

KEY POINTS

1) Newton’s second law is a “law of nature”-- experimentally

proven, not the result of an analytical proof.

2) Mass (property of an object) is a measure of the resistance to

a change in velocity of the object.

3) Weight (a force) depends on the local gravitational field.

Calculating the weight of an object is an application of
F = m a, i.e., W = m g.

4) Unbalanced forces cause the acceleration of objects.

This condition is fundamental to all dynamics problems!

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PROCEDURE FOR THE APPLICATION OF THE

EQUATION OF MOTION

1) Select a convenient inertial coordinate system. Rectangular,

normal/tangential, or cylindrical coordinates may be used.

2) Draw a free-body diagram showing all external forces

applied to the particle. Resolve forces into their
appropriate components.

3) Draw the kinetic diagram, showing the particle’s inertial

force, ma. Resolve this vector into its appropriate
components.

4) Apply the equations of motion in their scalar component

form and solve these equations for the unknowns.

5) It may be necessary to apply the proper kinematic

relations to generate additional equations.

EXAMPLE

Given:A 25-kg block is

subjected to the force F=100 N.
The spring has a stiffness of k =
200 N/m and is un-stretched
when the block is at A. The
contact surface is smooth.

Find: Draw the free-body and kinetic diagrams of the block

when s=0.4 m.
Plan: 1) Define an inertial coordinate system.
2) Draw the block’s free-body diagram, showing all
external forces.
3) Draw the block’s kinetic diagram, showing the inertial
force vector in the proper direction.

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EXAMPLE (continued)
Solution:

1) An inertial x-y frame can be defined as fixed to the ground.

2) Draw the free-body diagram of the block:

The weight force (W) acts

W = 25g through the block’s center of
y mass. F is the applied load and Fs
= 200 (N) is the spring force,
F=100 (N) where  is the spring
x
deformation. When s = 0.4,
 = 0.5  0.3 = 0.2 m.
3

The normal force (N) is

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Fs=200 (N) perpendicular to the surface.

= 40 (N) N There is no friction force since
the contact surface is smooth.

EXAMPLE (continued)

Solution continued:

3) Draw the kinetic diagram of the block.

The block will be moved to the right.

The acceleration can be directed to the
25 a right if the block is speeding up or to
the left if it is slowing down.

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EQUATIONS OF MOTION:
RECTANGULAR COORDINATES

Today’s Objectives: In-Class Activities:

Students will be able to:
1. Apply Newton’s second law
to determine forces and
accelerations for particles
in rectilinear motion.
• Applications
• Equations of Motion using
Rectangular (Cartesian)
Coordinates

APPLICATIONS

If a man is trying to move a 50-kg crate, how large a force F must he

exert to start moving the crate? What factors influence how large this
force must be to start moving the crate?
If the crate starts moving, is there acceleration present?
What would you have to know before you could find these answers?

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APPLICATIONS
(continued)

Objects that move in air (or other fluid) have a drag force acting on
them. This drag force is a function of velocity.

If the dragster is traveling with a known velocity and the magnitude

of the opposing drag force at any instant is given as a function of
velocity, can we determine the time and distance required for
dragster to come to a stop if its engine is shut off? How ?

RECTANGULAR COORDINATES
(Section 13.4)

The equation of motion, F = ma, is best used when the problem

requires finding forces (especially forces perpendicular to the path),
accelerations, velocities, or mass. Remember, unbalanced forces
cause acceleration!

Three scalar equations can be written from this vector equation. The
equation of motion, being a vector equation, may be expressed in
terms of its three components in the Cartesian (rectangular)
coordinate system as
F = ma or Fx i + Fy j + Fz k = m(ax i + ay j + az k)

or, as scalar equations, Fx = max, (1)

Fy = may, (2)
and Fz = maz. (3)

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PROCEDURE FOR ANALYSIS

• Free-Body Diagram (always critical!!)

Establish your coordinate system and draw the particle’s free-body

diagram showing only external forces. These external forces
usually include the weight, normal forces, friction forces, and
applied forces. Show the ‘ma’ vector (sometimes called the inertial
force) on a separate diagram.

Make sure any friction forces act opposite to the direction of motion!
If the particle is connected to an elastic linear spring, a spring force
equal to ‘k s’ should be included on the FBD.

PROCEDURE FOR ANALYSIS

(continued)
• Equations of Motion

If the forces can be resolved directly from the free-body diagram

(often the case in 2-D problems), use the scalar form of the equation
of motion. In more complex cases (usually 3-D), a Cartesian vector
is written for every force and a vector analysis is often best.

A Cartesian vector formulation of the second law is

F = ma or
Fx i + Fy j + Fz k = m(ax i + ay j + az k)

Three scalar equations can be written from this vector equation. You
may only need two equations if the motion is in 2-D.

scalar equations, Fx = max, (1)

Fy = may, (2)

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PROCEDURE FOR ANALYSIS

(continued)

• Kinematics

The second law only provides solutions for forces and accelerations. If
velocity or position have to be found, kinematics equations are used
once the acceleration is found from the equation of motion.

Any of the kinematics tools learned in Chapter 12 may be needed to

solve a problem.

Make sure you use consistent positive coordinate directions as used

in the equation of motion part of the problem!

EXAMPLE

Given: The motor winds in the cable

with a constant acceleration
such that the 20-kg crate
moves a distance s = 6 m in 3
s, starting from rest. k = 0.3.

Find: The tension developed in

the cable.
Plan:

1) Define your coordinates system

2) Draw the free-body and kinetic diagrams of the crate.
3) Using a kinematic equation, determine the acceleration of the
crate.
4) Apply the equation of motion to determine the cable tension.

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EXAMPLE
(continued)

Solution:
1) Draw the free-body and kinetic diagrams of the crate:

W = 20 g 20 a
T
y
x
Fk= 0.3 N
=
30°
N

Since the motion is up the incline, rotate the x-y axes so the x-axis aligns
with the incline. Then, motion occurs only in the x-direction.
There is a friction force acting between the surface and the crate. Why is it
in the direction shown on the FBD?

EXAMPLE (continued)

2) Using kinematic equation

s = v0 t + ½ a t 2
 6 = (0) 3 + ½ a (32)
 a = 1.333 m/s2

3) Apply the equations of motion

+  Fy = 0  -20 g (cos30°) + N = 0
=> N = 169.9 N

+  Fx = m a  T – 20g(sin30°) –0.3 N = 20 a
 T = 20 (981) (sin30°) + 0.3(169.9) + 20 (1.333)
 T = 176 N

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GROUP PROBLEM SOLVING

Given: Ore car’s mass is 400 kg,

vo = 2 m/s.
The force in the cable is
F = (3200 t2) N,
where t is in seconds.

Find: v and s when t = 2 s.

Plan: Since both forces and velocity are involved, this

problem requires both kinematics and the equation of motion.
1) Define your coordinates system
2) Draw the free-body and kinetic diagrams of the car.
3) Apply the equation of motion to determine the acceleration.
4) Using a kinematic equation, determine velocity & distance.

GROUP PROBLEM SOLVING

(continued)

Solution:
1) Free-body and kinetic diagrams of the mine car:

W = 400 g 400 a
T
y
x
17
8
=
15

Note that the mine car is moving along the x-axis.

2) Apply the equation of motion

+  Fx = m a  T – 400g (8/17) = 400 a

 3200 t2 – 400 (9.81) (8/17) = 400 a
a = (8 t2 – 4.616) m/s2

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GROUP PROBLEM SOLVING

(continued)

EQUATIONS OF MOTION:
NORMAL AND TANGENTIAL COORDINATES

Today’s Objectives: In-Class Activities:

Students will be able to: • Applications
• Equation of Motion Using
1. Apply the equation of n-t Coordinates
motion using normal and
tangential coordinates.

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APPLICATIONS

Race track turns are often banked to reduce the frictional forces
required to keep the cars from sliding up to the outer rail at high
speeds.

If the car’s maximum velocity and a minimum coefficient of

friction between the tires and track are specified, how can we
determine the minimum banking angle (θ) required to prevent
the car from sliding up the track?

APPLICATIONS (continued)

This picture shows a ride at the amusement park. The hydraulically-

powered arms turn at a constant rate, which creates a centrifugal
force on the riders.
We need to determine the smallest angular velocity of cars A and B
such that the passengers do not lose contact with their seat. What
parameters are needed for this calculation?

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APPLICATIONS (continued)

Satellites are held in orbit around the earth by using the earth’s
gravitational pull as the centripetal force – the force acting to change
the direction of the satellite’s velocity.
Knowing the radius of orbit of the satellite, we need to determine the
required speed of the satellite to maintain this orbit. What equation
governs this situation?

NORMAL & TANGENTIAL COORDINATES

(Section 13.5)

When a particle moves along a

curved path, it may be more
convenient to write the equation of
motion in terms of normal and
tangential coordinates.

The normal direction (n) always points toward the path’s center of
curvature. In a circle, the center of curvature is the center of the
circle.
The tangential direction (t) is tangent to the path, usually set as
positive in the direction of motion of the particle.

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EQUATIONS OF MOTION

Since the equation of motion is a

vector equation, F = ma,
it may be written in terms of the n
& t coordinates as

Ftut + Fnun+ Fbub = mat+man

Here Ft & Fn are the sums of the force components acting in the t
& n directions, respectively.
This vector equation will be satisfied provided the individual
components on each side of the equation are equal, resulting in the
two scalar equations: Ft = mat and Fn = man.
Since there is no motion in the binomial (b) direction, we can also
write Fb = 0.

NORMAL AND TANGENTIAL ACCERLERATIONS

The tangential acceleration, at = dv/dt, represents the time rate of

change in the magnitude of the velocity. Depending on the direction
of Ft, the particle’s speed will either be increasing or decreasing.

The normal acceleration, an = v2/ρ, represents the time rate of

change in the direction of the velocity vector. Remember, an always
acts toward the path’s center of curvature. Thus, Fn will always be
directed toward the center of the path.

Recall, if the path of motion is defined

as y = f(x), the radius of curvature at
any point can be obtained from

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SOLVING PROBLEMS WITH n-t COORDINATES

• Use n-t coordinates when a particle is moving along a known,

curved path.

• Establish the n-t coordinate system on the particle.

• Draw free-body and kinetic diagrams of the particle. The normal

acceleration (an) always acts “inward” (the positive n-direction).
The tangential acceleration (at) may act in either the positive or
negative t direction.

• Apply the equations of motion in scalar form and solve.

• It may be necessary to employ the kinematic relations:

at = dv/dt = v dv/ds a n = v2 / ρ

EXAMPLE

Given: The 10-kg ball has a velocity

of 3 m/s when it is at A, along
the vertical path.

Find: The tension in the cord and the

increase in the speed of the
ball.

Plan:
1) Since the problem involves a curved path and requires
finding the force perpendicular to the path, use n-t
coordinates. Draw the ball’s free-body and kinetic
diagrams.
2) Apply the equation of motion in the n-t directions.

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EXAMPLE (continued)

Solution:
1) The n-t coordinate system can be established on the ball at
Point A, thus at an angle of 45°.
Draw the free-body and kinetic diagrams of the ball.

Free-body diagram Kinetic diagram

n n
W
T man

45
=
mat
t t

EXAMPLE (continued)

2) Apply the equations of motion in the n-t directions.

(a) Fn = man  T – W sin 45° = m an

Using an = v2/ρ = 32/2, W = 10(9.81) N, and m = 10 kg
 T – 98.1 sin 45° = (10) (32/2)
 T= 114 N

(b) Ft = mat  W cos 45° = mat

 98.1 cos 45° = 10 at

 at = (dv/dt) = 6.94 m/s2

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