Physics for Scientists

and Engineers

Chapter 6
Dynamics I: Motion Along a Line

Spring, 2008 Ho Jung Paik

 Applications of Newton’s Law
„ Objects can be modeled as particles
„ Masses of strings or ropes are negligible
„ When a rope attached to an object is pulling it,
the magnitude of that force, T, is the tension in
the rope

„ Interested only in the external forces acting

on the object
„ Can neglect internal reaction forces

27-Feb-08 Paik p. 2
 Objects in Equilibrium
„ If the acceleration of an object is zero, the
object is said to be in equilibrium
„ Mathematically, the net force acting on the
object is zero
„ Apply Newton’s first Law in component form:
r
∑F =0
∑F = 0, ∑F = 0
x y

27-Feb-08 Paik p. 3
 Static Equilibrium, Example 1
A traffic light is suspended with three
ropes as shown in the figure.
Find the tension in the three ropes.

The traffic light does not move, so the

net force must be zero.
⇒ Static equilibrium
Need two free-body diagrams: one for
the light and the other for the knot.

27-Feb-08 Paik p. 4
 Example 1, cont
Light:
∑Fy = 0: T3 − mg = 0
⇒ T3 = mg
Knot :
∑Fx = 0: −T1 cos 37˚+T2 cos 53˚= 0
⇒ T1 = 0.754 T2

∑Fy = 0: T1 sin 37˚+T2 sin 53˚−T3 = 0

⇒ T2 = 0.798 mg
⇒ T1 = 0.602 mg

27-Feb-08 Paik p. 5
 Dynamic Equilibrium, Example 2
A car with a weight of 15,000 N is being towed up a 20°
slope at constant velocity. Friction is negligible. The tow
rope is rated at 6000 N. Will it break?

Know: θ = 20°, w = 15,000 N

Find: T
27-Feb-08 Paik p. 6
 Example 2, cont
Apply Newton’s 2nd Law (a = 0)
r
∑F = 0
∑ F = T − w sin θ = 0
x

∑ F = n − w cos θ = 0
y

From the x equation,

T = w sin θ = (15,000 N) sin 20 0 = 5130 N
Since T < 6,000 N, the rope won’t break.
ƒ Note that y equation is not needed.
ƒ Check solution at θ = 0° and 90°.

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 Objects Experiencing a Net Force
„ If an object experiences an acceleration,
there must be a nonzero net force acting on
it
„ Draw a free-body diagram
„ Apply Newton’s Second Law in component
form:
r r
∑ F = ma
∑F x = ma x , ∑F y = ma y

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 Crate Pulled on Floor, Example 3
A crate weighing 490 N is pulled with
a rope on a frictionless floor. The
tension in the rope is 20 N.
What is the resulting acceleration of
the crate?

Forces acting on the crate:

„ Tension: T = 20 N

„ Gravitational force: Fg = 490 N

„ Normal force n exerted by the floor

27-Feb-08 Paik p. 9
 Example 3, cont
„ Apply Newton’s 2nd Law in component
form:

„ Solve for the unknown ax:

T 20 N
ax = = = 0 .400 m/s 2

m 490 N/9.80 m/s 2

„ If a = constant and vx0 = 0, then
vxt = a x t = (0.400 m/s 2 )t
27-Feb-08 Paik p. 10
 Car on Incline, Example 4
A car is at rest on top of a hill. Find the car’s velocity at the
bottom of the 30.0 m hill with an incline angle of 30.0˚.

„ Forces acting on the object:

„ Normal force n ⊥ the plane
„ Gravitational force Fg straight down

„ Choose the coordinate system with

x // the incline, y⊥ the incline
„ Replace the force of gravity with
its components

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 Example 4, cont
„ Apply Newton’s 2nd Law in
component form:
∑ x
F = mg sin 30 0
= max
ax = ?
∑F y
= n − mg cos 30° = 0
„ Solve for the unknown ax:
a x = g sin 30 0 = 4.90 m/s 2
„ The velocity at the bottom of
the slope is obtained from
vxf2 = vxi2 + 2ax Δx, vxf = 0 + 2(4.90 m/s2 )30.0 m = 17.1 m/s

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 Weight & Apparent Weight, 1
ƒ Weight is the force exerted by
the earth on mass m
ƒ w = mg, where g = 9.80 m/s2

ƒ Consider a scale and weight at

rest
ƒ When the weight comes to rest
with respect to the spring,
Fsp = w
ƒ The pointer is calibrated to read
Fsp = w at equilibrium (a = 0)

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 Weight & Apparent Weight, 2
ƒ Consider an object hanging from T = Fsp
a scale in an elevator moving up
with acceleration a
ƒ The y component of 2nd Law:
∑ Fy = Fsp − mg = ma
∴ Fsp = m( g + a )
ƒ The spring dial comes to rest with
the force Fsp= m (g+a) > w

ƒ m (g+a) is the apparent weight

27-Feb-08 Paik p. 14
 Weight & Apparent Weight, 3
„ Now consider the elevator T = Fsp
accelerating downward
„ The y component of 2nd Law:
∑F y = Fsp − mg = m(−a)
∴Fsp = m( g − a)
„ The scale reads Fsp= m(g -a) < w

„ If a =g (freefall), the apparent

weight is 0 ⇒ “weightless”

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 Multiple Weights/Objects
„ Forces acting on the objects:
„ Tension (same along the same string)
„ Gravitational force
„ Normal force and friction

„ Objects connected by a (non-stretch) string

have the same magnitude of acceleration
„ Draw the free-body diagrams
„ Apply Newton’s Laws

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 Example 5
An object of mass m1 is connected to a light
string that passes over a frictionless pulley and
is fastened to another object of mass m2.
Find the acceleration of the objects.
m1 : ∑F y
= T − m1 g = m1a ⇒ T = m1 ( g + a )
m2 : ∑F y
= T − m2 g = m2 (−a ) ⇒ T = m2 ( g − a )
m2 − m1
⇒ m1 ( g + a) = m2 ( g − a) ⇒ a = g
m2 + m1
Check if the answer makes sense.
ƒ m1 = m2 ⇒ a = 0
ƒ m1 << m2 ⇒ a ≈ g, m1 >> m2 ⇒ a ≈ −g
27-Feb-08 Paik p. 17
 Multiple Pulleys, Example 6
Assume the block is accelerated upward, i.e.
a > 0. Let F = 20.0 N and M = 5.00 kg.
Find the acceleration and all the T’s.
ƒ All the pulleys and strings are considered
massless and there is no friction in the
pulleys
⇒ F = T1 = T3 = T2
ƒ Note that top pulley doesn’t move. The
bottom pulley and mass M have the same
acceleration.

27-Feb-08 Paik p. 18
 Example 6, cont
M: ∑ F = T − Mg = Ma ⇒
y 5 .
T5 = M ( g + a )
Plower : ∑ F = T + T − T = 0a
y 2 3 5
T1
⇒ T2 + T3 = T5 = M ( g + a ) ⇒ T2 = T3 = 12 M ( g + a )
Pupper : ∑ Fy = T4 − T1 − T2 − T3 = 0
⇒ T1 = T3 = 12 M ( g + a ), T4 = 32 M ( g + a )
S: ∑F y
= T1 − F = 0 ⇒ F = T1 = 12 M ( g + a )
Therefore,
2F 2(20 N)
a= −g = − 9.8 m/s 2 = −1.8 m/s 2 , a <0! F
M 5 kg
T1 = T2 = T3 = F = 20 N, T4 = 3F = 60 N, T5 = 2 F = 40 N

27-Feb-08 Paik p. 19
 Example 7
A 5.00-kg object placed on a frictionless, horizontal table is
connected to a cable that passes over a pulley and then is
fastened to a hanging 9.00-kg object.
Find the acceleration of the objects and the tension in the string.
n
a
m1 = 5 kg : ∑F x = T = m1a, ∑F y = n − m1 g = 0 T
m2 = 9 kg : ∑ F y = T − m2 g = m2 (− a )
m1g
m2 9.00 T
⇒a= g= × 9.80 m/s 2 = 6.30 m/s 2 a
m1 + m2 5.00 + 9.00
T = 5.00 kg × 6.30 m/s 2 = 31.5 N
m2g
27-Feb-08 Paik p. 20
 Ball and Cube, Example 8
Two objects are connected by a light
string that passes over a frictionless
pulley. The incline is frictionless, and m1
= 2.00 kg, m2 = 6.00 kg, and θ = 55.0°.
Draw free-body diagrams of both objects.
Find (a) the acceleration of the objects,
(b) the tension in the string, and (c) the
speed of each object 2.00 s after being
released from rest.

27-Feb-08 Paik p. 21
 Example 8, cont y

(a) m1 = 2.00 kg :
a
∑ Fy = T − m1 g = m1a T T
y’
n
m2 = 6.00 kg : x
a
∑ Fx = m2 g sin θ − T = m2 a θ m2g sinθ
m1g m g cosθ
m2 g sin θ − m1 g 2
⇒ a= = 3.57 m/s 2
m1 + m2 m2g x’
(b) T = m1 (a + g ) = 26.7 N
(c) v f = vi + at = 0 m/s + (3.57 m/s 2 )(2.00 s) θ = 55.0°
= 7.14 m/s

27-Feb-08 Paik p. 22
 Forces of Friction
„ When an object is in contact with a surface, there
is a resistance to its motion, the force of friction
„ This is due to the interaction between the molecules on
the mating surfaces

„ Friction is proportional to the normal force

„ Static friction: ƒs ≤ µsn and kinetic friction: ƒk= µkn
„ These equations relate the magnitudes of the forces only
„ Generally, µs > µk
„ The coefficient of friction (µ) depends on the surfaces in
contact but is nearly independent of the area of contact

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 Static Friction

There is a maximum static frictional force, fs,max = µsn.

If the applied force is greater, then the object slips.

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 Kinetic Friction

The kinetic friction coefficient is less than the static

friction coefficient, µk < µs.
Therefore, fk = µkn = constant < fs,max.
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 Friction Forces vs. Applied Force

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 Rolling Friction
„ Kinetic friction is
operable for a wheel
sliding on a surface
„ Rolling friction is for a
non-sliding, rolling wheel
„ fr = µrn and points
opposite to the motion
„ µr < µk

27-Feb-08 Paik p. 27
 Some Coefficients of Friction

27-Feb-08 Paik p. 28
 Friction in Newton’s Laws
„ Draw the free-body diagram, including the
force of kinetic friction
„ Opposes the motion
„ Is parallel to the surfaces in contact

„ Friction is a force, so it is simply included in

the ΣF in Newton’s Laws
„ Continue with the solution as with any
Newton’s Law problem

27-Feb-08 Paik p. 29
 Static Friction - Measuring µs
„ The block tends to slide down
the plane, so the friction acts
up the plane
„ Increase θ up to the instant
slipping starts
„ Apply Newton’s Law:

∑ F = mg sin θ − f
x s, max = 0, ∑ F = n − mg cos θ = 0
y

⇒ f s , max = mg sin θ = μs n = μs mg cos θ ⇒ μs = tan θ

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 Sliding Down a Plane, Example 9
If µs = 0.30 and θ = 30°, will the cube slide?

Will not slide

if fs ≥ mg sinθ = 0.5mg
Since fs ≤ µsn and n = mg cosθ,
fs ≤ µsmg cos 30°
= 0.30 x 0.866mg
= 0.26mg
⇒ Will slide

27-Feb-08 Paik p. 31
 Truck with a Crate, Example 10
n
A truck is carrying a crate up a 10° hill.
The coefficient of static friction between
the truck bed and the crate is μs = 0.35.
Find the maximum acceleration that the
truck can reach before the crate begins
to slip backward.
ƒ The crate will not slip if its acceleration is equal to that of the truck.
ƒ For it to be accelerated, some force must act on it.
ƒ One of these is the static friction force fs. This force must be directed
upward to keep the crate from sliding backwards.
ƒ As the acceleration of the truck increases, so must fs.
ƒ Once fs, max = µsn is reached, the crate will start sliding.

27-Feb-08 Paik p. 32
 Example 10, cont
Applying Newton' s law to the crate :
ΣFx = − mg sin θ + μ s n = ma max
n
ΣFy = − mg cos θ + n = 0
⇒ n = mg cos θ
− mg sin θ + μ s mg cos θ = ma max
⇒ a max = g ( μ s cos θ − sin θ )
Substituting θ = 10° and μ s = 0.35,
a max = 1.68 m/s 2
27-Feb-08 Paik p. 33
 Hockey Puck, Example 11
Consider a puck is hit and given a speed v = 20.0 m/s.
How far will it go if µk = 0.1?

1) x : −fk = ma
y : n − mg = 0
a = −fk/m = −µkn/m = −µkg

2) Use vf2 = vi2 + 2aΔx

vi = 20.0 m/s, vf = 0, Δx = ?
Δx = −vi2 /2a
= −400/(−2 x 0.1 x 9.80) = 204 m
27-Feb-08 Paik p. 34
 Pulling at an Angle, Example 12
What is the optimum angle for minimizing the pulling force
that moves the block horizontally at constant velocity?

ƒ Pulling straight up minimizes

the normal force and hence
the frictional force. However,
it does not move the block
horizontally.
ƒ Pulling parallel to the table
maximizes the normal force
and hence the frictional
force.
ƒ The optimum angle must be
somewhere in between.
27-Feb-08 Paik p. 35
 Example 12, cont
x : − f + F cos θ = max = 0
y : n + F sin θ − mg = 0
n = mg − F sin θ
f = μ k (mg − F sin θ )
μ k mg
Substituting for f in the x equation : F =
μ k sin θ + cos θ
dF μ k cos θ − sin θ
Minimum occurs when = − μ k mg =0
dθ (μ k sin θ + cosθ ) 2

Therefore, θ = tan −1 μ k minimizes the pulling force.

27-Feb-08 Paik p. 36
 Example 13
A van accelerates down a hill, going from rest to 30.0 m/s in
6.00 s. During the acceleration, a toy (m = 0.100 kg) hangs
by a string from the van's ceiling. The acceleration is such
that the string remains perpendicular to the ceiling.
Determine: (a) the angle and (b) the tension in the string.

27-Feb-08 Paik p. 37
 Example 13, cont
Choose x-axis pointing down the slope.
x : vf = vi + at
30.0 m/s = 0 + a(6.00 s)
⇒ a = 5.00 m/s2
Consider the forces on the toy.
x : mg sinθ = m (5.00 m/s2)
⇒ θ = 30.7°
y : T – mg cosθ = 0
T = 0.100 kg x 9.80 m/s2 x cos 30.7°
⇒ T = 0.843 N

27-Feb-08 Paik p. 38
 Example 14
Pat wants to reach an apple in a tree without
climbing it. Sitting in a chair connected to a
rope that passes over a frictionless pulley, Pat
pulls on the loose end of the rope with a force
that the spring scale reads 250 N. Pat's true
weight is 320 N, and the chair weighs 160 N.
(a) Draw free-body diagrams for Pat and the chair considered
as separate systems, and another diagram for Pat and the
chair considered as one system.
(b) Show that the acceleration of the system is upward and
find its magnitude.
(c) Find the force Pat exerts on the chair.
27-Feb-08 Paik p. 39
 Ex 14, cont
(a) Free-body diagrams:

(b) Consider Pat and the chair as the system. Note that
two ropes support the system and each rope has T = 250 N.
∑Fy = may ⇒ 2 x 250 N – 480 N = (480 N/9.80 m/s2)a
⇒ a = 0.408 m/s2 > 0. Therefore, upward.
(c) Now consider Pat as the system:
∑Fy = n + T – 320 N = (320 N/9.80 m/s2)a
⇒ n = –250 N + 320 N + 32.7 kg x 0.408 m/s2 = 83.3 N
27-Feb-08 Paik p. 40
 Motion with Resistive Forces
„ Motion can be through a medium
„ Either a liquid or a gas

„ Medium exerts a resistive drag force D on an

object moving through the medium
„ Magnitude of D depends on the medium
„ Direction of D is opposite to the direction of motion

„ Magnitude of D can depend on the speed in

complex ways
„ We will discuss only two cases: D ∝ v, D ∝ v 2

27-Feb-08 Paik p. 41
 Drag Proportional to v
„ For objects moving at low speeds, the drag is
approximately proportional to v : D = −b v
„ b depends on the property of the medium, and on the
shape and dimensions of the object
„ The negative sign indicates that
D is opposite in direction to v
„ The equation of motion of the D

suspended mass:
D − mg = m(− a )
dv
bv − mg = − m
dt
27-Feb-08 Paik p. 42
 Terminal Speed for D ∝ v
„ Initially, v = 0 ⇒ D = 0 and dv/dt = −g
„ As t increases, D → mg, a → 0 and v → vT :
the terminal speed of the object:
dv
bvT − mg = − m = 0
dt v
mg
⇒ vT =
b
„ v (t) is found by solving
the differential equation:
v = vT (1 − e − t / τ ), τ = m / b
t
27-Feb-08 Paik p. 43
 Drag Proportional to v 2
„ For objects moving at high speeds, the drag is
approximately proportional to v 2: D = (1/2)cρAv2
„ c is a dimensionless empirical “drag coefficient”
„ ρ is the density of the fluid
„ A is the cross-sectional area of the object

27-Feb-08 Paik p. 44
 Terminal Speed for D ∝ v 2
„ Analysis of an object falling through a D
medium accounting for air resistance
D − mg = m(− a ), 12 cρAv 2 − mg = − ma
⎛ cρA ⎞ 2
⇒ a = g −⎜ ⎟v
⎝ 2m ⎠
„ The terminal speed will occur when the
acceleration goes to zero
2mg
„ Solving the equation gives vT =
cρA

27-Feb-08 Paik p. 45
 Some Terminal Speeds

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