1

∆𝑠 𝑑𝑠
𝑣 = lim = =𝑠
∆𝑡→0 ∆𝑡 𝑑𝑡
𝑑𝑠
∆𝑣 𝑑𝑣 𝑣=
𝑎 = lim = =𝑣 𝑑𝑡
∆𝑡→0 ∆𝑡 𝑑𝑡
𝑑𝑣
∆𝑣 𝑑𝑣 𝑑 𝑑𝑠 𝑑2𝑠 𝑑𝑣 𝑑𝑣 𝑎=
𝑎 = lim = = = 2=𝑠 𝑎= =𝑣 𝑑𝑡
∆𝑡→0 ∆𝑡 𝑑𝑡 𝑑𝑡 𝑑𝑡 𝑑𝑡 𝑑𝑠 𝑑𝑠
(𝑣) 𝑣 𝑑𝑣 = 𝑎 𝑑𝑠
𝑣 𝑡
If a is constant, 𝑑𝑣
𝑎= 𝑑𝑣 = 𝑎 𝑑𝑡
𝑑𝑡 𝑣0 0
𝑠 𝑡
𝑣 = 𝑣0 + 𝑎𝑡
𝑑𝑠
𝑣= =𝑠 𝑑𝑠 = (𝑣0 + 𝑎𝑡)𝑑𝑡 1
𝑑𝑡 𝑠0 0 𝑠 = 𝑠0 + 𝑣0 𝑡 + 𝑎𝑡2
𝑣 𝑠 2
𝑣𝑑𝑣 = 𝑎 𝑑𝑠
𝑣0 𝑠0 𝑣 2 = 𝑣0 2 + 2𝑎(𝑠 − 𝑠0 )
2
 𝑑𝑣 𝑑𝐞𝒕 𝑑𝐞𝒕
𝐚= 𝐞𝒕 +𝑣 =?
𝑑𝑡 𝑑𝑡 𝑑𝑡
𝑑𝑠 𝜌𝑑𝜃
𝑣= = = 𝜌𝜃
𝑑𝑡 𝑑𝑡

𝑑𝐞𝒕
= 𝐞𝒏 (direction: 𝐞𝒏 ; magnitude=1 )
𝑑𝜃

𝑑𝐞𝒕 = 𝐞𝒏 𝑑𝜃
𝑑𝐞𝒕 𝑑𝜃
d = 𝐞𝒏 = 𝜃𝐞𝒏
 d 𝑑𝑡 𝑑𝑡
𝑑𝑣 𝑑𝐞𝒕
𝐚= 𝐞 +𝑣 = 𝑣𝐞𝒕 + 𝑣𝜃𝐞𝒏
𝑑𝑡 𝒕 𝑑𝑡
𝑣2
= 𝑣𝐞𝒕 + 𝐞𝒏
𝑣2 𝜌
𝐚 = 𝑎𝑡 𝐞𝒕 + 𝑎𝑡 𝐞𝒏 = 𝑣𝐞𝒕 + 𝐞𝒏 𝑎𝑡 𝑎𝑛
𝜌

3
 v  v et
𝑑𝑣 𝑑𝐞𝒕 𝑑𝐞𝒕
𝐚= 𝐞 +𝑣 =?
𝑑𝑡 𝒕 𝑑𝑡 𝑑𝑡
𝑑𝑠 𝜌𝑑𝜃
𝑣= = = 𝜌𝜃
𝑑𝑡 𝑑𝑡
𝐞𝒏
∆𝜽 ∆𝜽
𝒔𝒊𝒏 𝟐𝒔𝒊𝒏
𝟐
= ∆𝐞𝒕
𝟐
∆𝜽
d 𝟐

d
 d
If  →0, ∆𝐞𝒕 ⊥ 𝐞𝒕 ∥ 𝐞𝒏
𝐞𝒏
d
∆𝜃 ∆𝜃
∆𝐞𝒕 2𝑠𝑖𝑛 𝑠𝑖𝑛
lim = lim 2 = lim 2 =1
△𝜃→0 ∆𝜽 △𝜃→0 ∆𝜃 △𝜃→0 ∆𝜃
2
𝑑𝐞𝒕
= 𝐞𝒏 (direction: 𝐞𝒏 ; magnitude=1 )
𝑑𝜃

4
 𝐫 = 𝑟𝒆𝒓
𝑑𝐫 𝑑𝐞𝒓
𝐯= = 𝐫 = 𝑟𝒆𝒓 + 𝑟𝒆𝒓 𝒆𝒓 = =?
𝑑𝑡 𝑑𝑡

𝑑𝐞𝒓 𝑑𝐞𝜽
= 𝐞𝜽 = - 𝐞𝒓
𝑑𝜃 𝑑𝜃
𝑑𝐞𝒓 𝑑𝐞𝒓 𝑑𝜃
𝒆𝒓 = = ∙ = 𝐞𝜽 ∙ 𝜃
𝑑𝐞𝒕 𝑑𝑡 𝑑𝜃 𝑑𝑡
Review: = 𝐞𝒏
𝑑𝜃
𝐯 = 𝑟𝒆𝒓 + 𝑟𝒆𝒓 = 𝑟𝒆𝒓 + 𝑟𝜃𝒆𝜽
𝑣𝑟 𝑣𝜃 𝑣𝑟 = 𝑟
𝑑𝐯 𝑣𝜃 = 𝑟𝜃
𝐚= = 𝐯 = (𝑟𝒆𝒓 + 𝑟𝒆𝒓 ) + (𝑟𝜃𝒆𝜽 + 𝑟𝜃𝒆𝜽 + 𝑟𝜃𝒆𝜽 ) 𝑎𝑟 = 𝑟 − 𝑟 𝜃 2
𝑑𝑡 −𝜃𝐞𝒓
𝜃𝐞𝜽 𝑎𝜃 = 𝑟𝜃 + 2𝑟𝜃
= (𝑟 − 𝑟𝜃 2 )𝒆𝒓 + (𝑟𝜃 + 2𝑟𝜃) 𝒆𝜽

𝐚 = 𝑎𝑟 𝐞𝒕 + 𝑎𝜃 𝐞𝒏 = (𝑟 − 𝑟𝜃 2 )𝒆𝒓 + (𝑟𝜃 + 2𝑟𝜃) 𝒆𝜽 5

 Several moving particles + they are linked together
Length of Cable:
L = 6 sA + sB + constant
Differentiate with respect to time :
0 = 6𝑣𝐴 + 𝑣𝐵
Differentiate again:
0 = 6𝑎𝐴 + 𝑎𝐵
One degree of freedom
Degree of freedom:
the number of degrees of freedom corresponds to the
number of variables required to specify completely the
motion of a particle
6
  Several moving particles + they are linked together
Length of Cable:
L = 6 sA + sB + constant
Differentiate with respect to time :
0 = 6𝑣𝐴 + 𝑣𝐵
Differentiate again:
0 = 6𝑎𝐴 + 𝑎𝐵
Analysis -
 Relate the position coordinates to the cord length.
 Segments of cord that do not change in length  consider as constant
 If a system contains more than one cord, separate equations are written for each cord.
 Differentiate the position coordinate equation(s) to relate velocities and accelerations.
7
Pulley D is attached to a collar which is pulled down at
8m
3 m/s. At t = 0, collar A starts moving down from K
with constant acceleration and zero initial velocity.

Knowing that velocity of collar A is 12 m/s as it passes L, determine the

change in elevation, velocity, and acceleration of block B when block A is at L.

8
9
 Kinetics ⇨ Discuss the relationship between
unbalanced forces and the resulting change in motion

 How to approach a kinetics problems

◦ Force-mass-acceleration
(direct application of Newton’s 2nd law)
◦ Work and Energy principles
◦ Impulse and Momentum methods
10
Statics

 1st Law: (慣性)

◦ 靜者恆靜，動者恆作等速度直線運動.
Isaac Newton
 3rd Law: (作用與反作用) (1643–1727)

◦ 大小相等、方向相反，作用在同一直線上

Dynamics

 2nd Law: (運動)

◦ 合力不為零，加速度方向同力之方向

11
 From experimental results,
𝐹1 𝐹2 𝐹3 C indicates the property of inertia of the particle
= = =𝐶 ❶
𝑎1 𝑎2 𝑎3 (resistance to rate of change of velocity)

• Mass m is used as a quantitative measure of inertia ⇨ C = km

𝑭 = 𝑘𝑚𝒂 k : a constant introduced to account for the units used

Inertial system Acceleration is always in the direction of the applied force. ❷

• Usually, k = 1 𝑭 = 𝑚𝒂 Kinetic system

𝑑𝒗 𝑑 =0,
Actually … 𝑭=𝑚 = 𝑚𝒗 = 𝑚𝒂 + 𝑚𝒗
𝑑𝑡 𝑑𝑡 when
= L (Linear momentum) m = constant
12
 Only apply to the Newtonian frame of reference
 Constant orientation with respect to the stars, origin
must be either attached to the sun or move with a
constant velocity with respect to the sun.
 How about the motion on the earth?
In engineering application, Newtonian frame is used
and the error is taken as negligible.

Actual error when a falling body at a latitude of 45 and from

a height of 200 m…(angular velocity 𝜔 = 0.729(10−4 ) rad/s)

2 2ℎ3
𝑥= 𝜔 cos 𝛾 = 43.9 (mm)
3 𝑔
13
Gravitational Free-Fall Newton’s Second Law

𝑭 = 𝑚𝒂

𝑾 = 𝑚𝒂 = 𝑚𝒈

14
 𝑭 = 𝑚𝒂 (𝐹𝑥 𝐢 + 𝐹𝑦 𝐣 + 𝐹𝑧 𝐤) = 𝑚(𝑎𝑥 𝐢 + 𝑎𝑥 𝐣 + 𝑎𝑥 𝐤)
a

𝐹𝑥 = 𝑚𝑎𝑥 𝐹𝑦 = 𝑚𝑎𝑦 𝐹𝑧 = 𝑚𝑎𝑧

𝑑𝑠 𝑑𝑣
Review: 𝑣= 𝑎= 𝑣 𝑑𝑣 = 𝑎 𝑑𝑠
𝑑𝑡 𝑑𝑡

15
 Step 1: Choose bodies to be isolated.
 Step 2: Construct the FBD of each body.
 Step 3: Decide upon and show a coordinate system.
 Step 4: Apply F = ma in the chosen coordinates.

16
A 60-kg woman holds a 9-kg package as she stands within an elevator which
briefly accelerates upward at a rate of g/4.
Determine the force R which the elevator floor exerts on her feet and the lifting
force L which she exerts on the package during the acceleration interval. If the
elevator support cables suddenly and completely fail, what values would R and L
acquire?

17
For a given horizontal force P, determine the normal reaction
forces at A and B.
The mass of the cylinder is m and that of the cart is M.
Neglect all friction.

18
The sliders A and B are connected by a light rigid bar of length l =0.5 m
and move with negligible friction in the slots, both of which lie in a
horizontal plane.
For the position where xA=0.4 m, the velocity of A is vA=0.9 m/s to the
right.
Determine the acceleration of each slider and the force in the bar at this
instant.

19
Determine the range of applied force P over which the block of mass m2
will not slip on the wedge-shaped block of mass m1.
Neglect friction associated with the wheels of the tapered block.

𝑺𝒕𝒂𝒕𝒊𝒄𝒔 𝑹𝒆𝒗𝒊𝒆𝒘

20
 Determine the range of values which the mass m0
may have so that the 100-kg block shown in the
figure will neither start moving up the plane nor
slip down
the plane. The coefficient of static friction for the
contact surfaces is 0.30.

𝐂𝐚𝐬𝐞 𝟏: 𝐦𝐨𝐯𝐞 𝐮𝐩 𝐹𝑦 = 0 𝑁 − 981 cos 20° = 0 𝑁 = 922 N

(9.81)(100) = 981
T = m0g 𝐹𝑚𝑎𝑥 =𝜇𝑠 𝑁=(0.30)(922)=277
20

𝐹𝑥 = 0 𝑚0 9.81 − 277 − 9.81 sin 20° = 0

Fmax
N 𝑚0 = 62.4 kg

21
 𝑩𝒂𝒄𝒌 𝒕𝒐 𝑫𝒚𝒏𝒂𝒎𝒊𝒄𝒔

Determine the range of values which the mass m0

may have so that the 100-kg block shown in the
figure will neither start moving up the plane nor
slip down
the plane. The coefficient of static friction for the
contact surfaces is 0.30.

𝐂𝐚𝐬𝐞 𝟐: 𝐬𝐥𝐢𝐝𝐞 𝐝𝐨𝐰𝐧 𝐹𝑦 = 0 𝑁 − 981 cos 20° = 0 𝑁 = 922 N

(9.81)(100) = 981
T = m0g 𝐹𝑚𝑎𝑥 =𝜇𝑠 𝑁=(0.30)(922)=277
20

𝐹𝑥 = 0 𝑚0 9.81 + 277 − 9.81 sin 20° = 0

Fmax
𝑚0 = 6.01 kg
N
m0 may have any value from 6.01 to 62.4 kg, and the
block will remain at rest. Ans.
22
 Normal and Tangential Coordinates (n-t )

𝑭 = 𝑚𝒂 = 𝑚𝑎𝑡 𝐞𝒕 + 𝑚𝑎𝑛 𝐞𝒏
𝑣2
𝐚 = 𝑎𝑡 𝐞𝒕 + 𝑎𝑡 𝐞𝒏 = 𝑣𝐞𝒕 + 𝐞𝒏
𝜌 = 𝐹𝑡 𝐞𝒕 + 𝐹𝑛 𝐞𝒏

𝑭 = 𝑚𝒂 𝑭𝒕 = 𝑚𝒂𝒕 = 𝑚𝑣

𝑣2
𝑭𝒏 = 𝑚𝒂𝒏 = 𝑚
𝜌
23
Polar Coordinates ( r- )

𝑭 = 𝑚𝒂 = 𝑚𝑎𝑟 𝐞𝒓 + 𝑚𝑎𝜃 𝐞𝜽
𝐚 = 𝑎 𝑟 𝐞𝒕 + 𝑎 𝜃 𝐞𝒏
= 𝐹𝑟 𝐞𝒓 + 𝐹𝜃 𝐞𝜽
= 𝑟− 𝑟𝜃 2 𝒆𝒓
+(𝑟𝜃 + 2𝑟𝜃) 𝒆𝜽
𝑭 = 𝑚𝒂 𝑭𝒓 = 𝑚𝒂𝒓 = 𝑚 𝑟 − 𝑟𝜃 2 =
𝑭𝜽 = 𝑚𝒂𝜽 = 𝑚(𝑟𝜃 + 2𝑟𝜃)

24
A Formula-1 car encounters a hump which has a circular shape with
smooth transitions at either end.
(a) What speed vB will cause the car to lose contact with the road at the
topmost point B?
(b) For a speed vA = 190 km/h, what is the normal force exerted by the
road on the 640-kg car as it passes point A?

25
The slotted arm OA rotates about a fixed axis through O. At the instant
under consideration, =30°, 𝜃 = 45 deg/s, and 𝜃 = 20 deg/s2.
Determine the forces applied by both arm OA and the sides of the slot to
the 0.2-kg slider.
Neglect all friction, and let L = 0.6 m. The motion occurs in a vertical
plane.

26
A small collar of mass m is given an initial velocity of magnitude v0 on the
horizontal circular track fabricated from a slender rod.
If the coefficient of kinetic friction is k , determine the distance traveled
before the collar comes to rest.
(Hint: Recognize that the friction force depends on the net normal force.)

27
 Work (U) of a force (F)

when F and ∆s are in different direction

The work done by the force F during the displacement dr

is defined as

vector

magnitude
𝑑𝑈 = 𝐹𝑡 𝑑𝑠
Ft : tangential force J: Joule N m (unit)
28
 𝑑𝑈 = 𝐹𝑡 𝑑𝑠
2 2
𝑈= 𝐅 ∙ 𝑑𝐫 = 𝐹𝑥 𝑑𝑥 + 𝐹𝑦 𝑑𝑦 + 𝐹𝑧 𝑑𝑧
1 1

𝑠2
𝑈= 𝐹𝑡 𝑑𝑠
𝑠1

Case 1: Work Associated with a Constant External Force

29
Case 2: Work Associated with a Spring Force

Case 3: Work Associated with Weight

(i) g = constant

(ii) g  constant

30
 Work and Curvilinear Motion
2 𝑠2
𝑈1−2 = 𝐅 ∙ 𝑑𝐫 = 𝐹𝑡 𝑑𝑠
1 𝑠1
2 𝑣2
1
= 𝑚𝐚 ∙ 𝑑𝐫 = 𝑚𝑣 𝑑𝑣 = 𝑚 𝑣1 2 − 𝑣2 2
1 𝑣1 2

1
The kinetic energy of the particle is T 𝑇 = 𝑚𝑣1 2
2
T is always positive.
𝑈1−2 = 𝑇2 − 𝑇1 = ∆𝑇 Work-energy equation for a particle

𝑻𝟐 = 𝑻𝟏 + 𝑼𝟏−𝟐

Initial kinetic energy work done during process

31
  How to evaluate the capacity of a machine?
 How powerful is it?
How much energy can the machine deliver in a short period of time?
(WORK) (DO/PRODUCE)

Power, P Definition: time rate of doing work 𝑃 =𝐅∙𝐯

𝑑𝑈 𝑑 𝑑𝐫
𝑃= = 𝐅 ∙ 𝑑𝐫 = 𝐅 ∙ = 𝐅∙𝐯 Unit: W = (N)(m/s) = J/s
𝑑𝑡 𝑑𝑡 𝑑𝑡
velocity W: watt

Efficiency, e
𝑃𝑜𝑢𝑡
𝑒𝑚𝑒𝑐ℎ𝑎𝑛𝑖𝑐𝑎𝑙 = 𝑒𝑚 =
𝑃𝑖𝑛 (in general, e < 1)

32
The small body has a speed vA = 5 m/s at point A.
Neglecting friction, determine its speed vB at point B after it has
risen 0.8 m. Is knowledge of the shape of the track necessary?

33
The spring is unstretched when x = 0. If the body moves from the initial
position x1 = 100 mm to the final position x2 = 200 mm,
(a) determine the work done by the spring on the body and
(b) determine the work done on the body by its weight.

34
In the design of a conveyor-belt system,
small metal blocks are discharged with
a velocity of 0.4 m/s onto a ramp by the
upper conveyor belt shown.
If the coefficient of kinetic friction between the blocks and the ramp is 0.30,
calculate the angle  which the ramp must make with the horizontal so that the
blocks will transfer without slipping to the lower conveyor belt moving at the
speed of 0.14 m/s.

35
A 1700-kg car starts from rest at position A and accelerates uniformly up
the incline, reaching a speed of 100 km/h at position B.
Determine the power required just before the car reaches position B and
also the power required when the car is halfway between positions A and
B. Calculate the net tractive force F required.

36