Chapter

of Particles

Observational Experiments: Observational Experiments:

Newton’s Laws of Motion Newton’s Laws of Motion
Kinematics’ goal: Describing object’s motion
Kinetics’ goal: Describing object’s motion
• Via answering the • Without asking the
following questions: • Via answering the main questions:
question: Why is
When ?  Why is the object moving in a certain way?
Where ? object moving in a  What causes the object to change its velocity ?
How fast ? certain way ?  How the interaction between objects influence
their motion ?
How far ?
How long ?
 Observational Experiments:
The motion of an object depends on the forces acting on it.
Newton’s Laws of Motion
APPLICATIONS
Kinetics’ goal: Describing object’s motion A freight elevator is lifted using a motor
attached to a cable and pulley system
as shown.
• Dynamics studies motion on a deeper level than
kinematics: it studies the causes of changes in Typical Problem:
How can we determine the tension
objects’ motion ! force in the cable required to lift the
elevator at a given acceleration?

Bridging Kinematics and Kinetics

Question
Kinematics
- Quantity Question
Kinetics
- Quantity
Lecture
Where? - Position How much matter? - Mass

When? - Clock reading How strong is the

interaction? - Force
For how long? - Time interval
How fast? - Velocity, What is the effect
- speed, of the interaction? - Acceleration
- Acceleration

Acceleration
 Newton’s Three Laws of Motion
Newton’s First Law: A particle originally at rest, or moving in a

Laws of straight line at constant velocity, will remain in this

state if the resultant force acting on the particle is zero.

Motion
Isaac Newton’s work represents one of the greatest contributions to
science ever made by an individual. Most notably, Newton derived the
law of universal gravitation, invented the branch of mathematics called
calculus, and performed experiments investigating the nature of light
and color.

Newton’s Three Laws of Motion Newton’s Three Laws of Motion

Second Law: A particle acted upon by an unbalanced

Third Law: The mutual forces of action and force F experiences an acceleration a that has the
reaction between two particles are equal, same direction as the force and a magnitude that is
opposite and collinear. directly proportional to the force. If F is applied to a
particle of mass m then:

12
Newton’s Second Law of Motion UNITS

Newton’s second law forms the basis of the study of

dynamics of particles:
F=ma
units of force are ( Mass Length / Time 2 )

Metric Absolute (SI):

Where: F is the resultant force acting on the particle, Length Time Mass Force
a is the acceleration of the particle.
m is the mass of the particle. Note: for rigid bodies meter sec kg N = kg·m/s2
we will need another
equation.

Method of Solving… Method of Solving…

=
Free-Body Kinetic
Diagram = Diagram
 EXAMPLE (continued)
EXAMPLE
Solution:
1) An inertial x-y frame can be defined as fixed to the ground.

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

y W = mg The weight force (W) acts through the crate’s
Given: A crate of mass m is pulled by a cable attached to a truck. T
The coefficient of kinetic friction between the crate and road is center of mass. T is the tension force in the
x 30° cable. The normal force (N) is perpendicular
 k.
to the surface. The friction force (F = KN)
acts in a direction opposite to the motion of
Find: Draw the free-body and kinetic diagrams of the crate. F = k N the crate.
N
Plan: 1) Define an inertial coordinate system.
2) Draw the crate’s free-body diagram, showing all external 3) Draw the kinetic diagram of the crate:
forces applied to the crate in the proper directions. The crate will be pulled to the right. The
3) Draw the crate’s kinetic diagram, showing the inertial force acceleration vector can be directed to the
vector ma in the proper direction. ma right if the truck is speeding up or to the left if
it is slowing down.

System

Free-Body Diagram Kinetic Diagram Free-Body Diagram Kinetic Diagram

=
y W = mg

=
T
x 30°
ma

F = k N
N
 Example 1 :

Note Breaking Force (1-D case)

The second law only provides solutions for forces A twenty-ton-train cart (m = 20T) is moving at 27 m/s.
and accelerations. If velocity or position have to be What breaking force is needed to stop the cart in 50m?
found, kinematics equations are used once the
acceleration is found from the equation of motion. v0= 27 m/s
vf = 0 m/s

Any of the tools learned in the previous chapter may

be needed to solve a problem.
x
x = 50 m

Example 2 :
Solution We know the mass of the cart but how can Pushing Three Boxes
we find its acceleration?
You are pushing three boxes by applying a 7.5 N force as shown in
To find acceleration we have to use our
the picture on a frictionless surface.
F
knowledge of kinematics.
ext  ma If we know the stopping distance and the (a) Find the acceleration of the boxes and (b) all the contact forces
initial velocity, we can find acceleration! between them.

v 2f  v 02 v 2f  v 02 F  ma
x  a
2a 2x
F  ( 20 ,000 kg )(  7 .3m / s 2 )
( 0 )  ( 27 m / s )
2 2
a   7 .3m / s 2
2 (50 m ) F   146 ,000 N
What does this answer mean? How can the force be negative?
Notice, we have to draw a FBD to solve the problem!
 Solution Solution
x

F1 on 2 F3 on 2
3.2kg

a
x
F2 on 3
4.9kg
7.5 N F2 on 1
1.3kg
a

To solve the problem, we first look at three boxes as one system to Notice, that the negative answer for the force means that the force
find a, and then we looked at each box separately. is directed in the opposite direction to the chosen axis.

Making Sense of the Answers Quiz : Two Cars Train

A light train made up of two cars is traveling at 90 km/h, when the
F3 on 2   F2 on 3  F2 on 3  3 .9 N x brakes are applied to both cars.
Knowing that car A has a mass of 25 ton and car B a mass of 20
3 .9 N ton, and the braking force is 30 kN on each car,
a3   0 .8 m / s 2 F2 on 3 Determine:
4 .9 kg 4.9kg (a) the distance traveled by the train before it comes to a stop,
(b) the force in the coupling between the cars while the train is
a 3  a  0 .8 m / s 2 slowing down.
a
90 km/h
We checked our answer: the acceleration of the third box equals to
0.8m/s2 as we expected. If we didn’t use the third law of Newton in
conjunction with the second one, we wouldn’t be able to solve the
A B
problem! Also please notice how proper indices for forces helped us
to solve the problem!
 y
Solution – Internal Forces
Solution – Distance to Stopping mA g mB g x
y
Draw FBD
mA g mB g x
A B
FBA FAB

A B
30 kN 30 kN
𝐹 𝑚 𝑎 𝐹 𝑚 𝑎
30 kN 30 kN
4 4
4 30000 𝐹 25000 30000 𝐹 20000
𝐹 𝑚 𝑚 𝑎 𝑎 3 3
60000 45000 𝑎
3
𝐹 3.33 𝑘𝑁 𝐹 3.33 𝑘𝑁
𝑣 𝑣 2𝑎 𝑥 𝑥 𝑥 0, 𝑣 25m/s 𝑥 234.375 𝑚

Solution – What is Happening? Quiz : Dependent Motion

mA g mB g
Knowing that the system shown starts from rest, find the
velocity at t = 1.2s of block A. Neglect the masses of the
A B pulleys and the effect of friction.
3.33kN 3.33 kN

10 kg
30 kN 30 kN
A

3.33 kN 25 N
3.33 kN

Coupling is in tension B
15 kg
EXAMPLE Plan:

Since both forces and velocity are

involved, this problem requires both
the equation of motion and
kinematics.

Given: WA = 10 kg • First, draw free body diagrams of A and B.

WB = 20 kg • Apply the equation of motion.
voA = 2 m/s • Using dependent motion equations, derive a relationship
k = 0.2 between aA and aB and use with the equation of motion
formulas.
Find: vA when A has moved 4 m.

EXAMPLE (continued)
EXAMPLE (continued)

Solution: y
Free-body and kinetic diagrams of A:
2T x WA
Free-body and kinetic mAaA
diagrams of B: T =
=
F = k N
N
WB mB aB
Apply the equations of motion to A:
   Fy  m a y F
+ F y  m ay  0 +
 x  m ax
W B  2T  m B a B N  WA  mA g T  F  mA aA
Apply the equation of mB g  2 T  mB aB
motion to B:
(1) F  k N  k WA  k mA g T  k mA g  mA aA (2)
 EXAMPLE (continued)
EXAMPLE (continued)
Now combine equations (1), (2), and (3).
Now consider the kinematics.
Constraint equation:
𝑋 2𝑌 𝐶𝑜𝑛𝑠𝑡 mB  2 k m A
aB  g a B  2 .616 m / s 2
xA or mB  4 m A
Datums 𝑉 2𝑉 0 𝑎 5.232 𝑚/𝑠
A Therefore a A  2 aB
𝑎 2𝑎 0
yB
(Notice aA is considered
positive to the right and aB is 𝑣 𝑣 2𝑎 𝑥 𝑥
positive downward.) 𝑣 2 2 5.232 4

B
V A  6 .772 m / s 

Lecture

The inclined plane is a plane surface set at an angle, other than a right
angle, against a horizontal surface. The inclined plane permits one to
overcome a large resistance by applying a relatively small force through a
longer distance than the load is to be raised.
 Components of the Weight on the Ramp
Example: Inclined Plane (Ramp)
Your brother (30 kg) slides downhill (=300) on a sled
(10kg)
W x  W sin (  )

W y  W cos (  )
(a) Find the acceleration of the
brother and the sled
Now instead of talking about the horizontal & vertical components we
have components in the direction of the ramp (x) and in the
perpendicular direction (y)!
(b) Find the contact force of the
surface on the sled.
Notice, it is convenient to resolve the weight of the object on an incline into
components. The x-axis is in the direction of the incline (c) Explain.
(motion/acceleration), y is perpendicular to the inclined surface.

Solution
Solution Reality Check: Units and
Special Cases
  F x  ma x Units make sense!

To solve the problem, we had   F y  ma y When the angle of an inclined
to decide what objects we are plane is zero the acceleration
 mg sin(  )  m a x along the incline is zero:
looking at. In this problem: a 
brother-sled is the system.   mg cos(  )  N  0 ax = gsin()= gsin(00)=0
 g sin(  )  a x

 m g cos(  )  N When an inclined plane is
vertical, the acceleration
 (10 m / s 2 ) sin( 30 0 )  a x along it must equal g (free

We had to resolve the weight of the
W x  W sin( 30 0 )  ( 40 kg )(10 m / s 2 ) cos( 30 0 )  N fall):

system into components first!   5 m / s 2  a x ax = gsin(900) = g

W y  W cos( 30 )
0
 The answer makes sense!
 346 Newtons  N
 I: Frictional Forces: Observations
Forces in Everyday Life:
• Frictional forces are contact
forces
• No surface is smooth
Friction • Extremely smooth surfaces
stick as well
and • Whatever you have you will
always have some friction

Tension • Frictional forces depend on

many things, we will explore
it in detail…

Static and Kinetic Friction Kinetic versus Static Friction

• Kinetic friction is the frictional force existing during relative

motion of surfaces

Static (v = 0) and kinetic friction (non zero v) are two

• Static friction exist when the surfaces are not moving
related but different types of friction!
relatively to each other.
We denote them and fs and fk.
Exploring Kinetic Friction II: Model for Kinetic and Static Friction

What can kinetic friction depend on? • Kinetic Friction • Static Friction

 Quality of the surfaces

 Area of Contact f k   k mg f s   s mg
 Weight of the object
 Normal force or or
 Relative speed of motion
 Temperature of objects… fk  k N fs  s N

Example : Incline with Friction Problem Solving Strategy

You are pushing a 10-kg box up a 300 incline with a y 1. Choose coordinate axes
constant force of F = 80N parallel to the incline. If
N 2. Resolve the forces into
k=0.2, find cart’s acceleration.
components
x
a=? 3. Apply Newton’s 2nd law to
Fperson each one of the
f dimensions: x and y

4. Solve the equations

5. Check IF the answers

W make sense
Applying Newton’s 2nd Law Applying Newton’s 2nd Law
a x  cart   g sin(  )   k  g cos(  )   F / m cart
       
a x   10 m / s 2 sin 30 0  0 .2 10 m / s 2 cos 30 0  80 N  / 10 kg 
a x  5 m / s 2
 1 .72 m / s 2
 8m/s 2

a x  1 .38 m / s 2

So What does it Mean?

String (cable) Tension
1- No Friction force ( f ) and no pushing force ( F ) :
a x   g sin  • We will deal with
massless and non-
2- No pushing force (F) [only friction and weight]: stretching strings. In this
a x   g sin    k  g cos   case the tension across
a x   g  k cos   sin   the string is uniform.
If g sin    k g cos    k  tan   a  0

Notice, FRICTION changes its sign: its direction is up now – against gravitational force – • We will denote it as T
3- No friction :

a x   g sin(  )  F / mcart
 Example: Pulley and Inclined Planes Problem Solving Strategy

Frictionless inclined plane and frictionless pulley: 1. Choose coordinate axes

Find the system acceleration - ? 2. Resolve the forces into

components

3. Apply Newton’s 2nd law to

each one of the dimensions:
When friction is involved the problem x and y
gets trickier: you have to figure out
first where the object is going to move 4. Solve the equations
and then to include friction in the
 direction opposite to relative motion. If 5. Check IF the answers make
you need to find string tension, look at sense
each mass separately!

Problem
Will A slip ? Solution
• Step 1 – check whether motion will occur
The two blocks A and B shown are originally at rest.
Neglecting the masses of the pulleys and N
assuming that the coefficients of friction 𝑓 𝜇 𝑁
T
A

between block A and the incline are 𝒔 𝑁 𝑚 𝑔 cos 30 30 O

B

and 𝒌 , determine the acceleration of

block B. A
f
𝒎𝑨 𝟏𝟎𝟎 𝒌𝒈
𝒎𝑩 𝟏𝟔𝟎 𝒌𝒈 WA
A
For motion to be about to happen:
B
30 O 𝑇 𝑚 𝑔 sin 30 𝜇 cos 30 702.89 𝑁
Solution Solution
• Consider B A

B
• Consider the kinematics of the problem
30 O

2T 𝑥 2𝑦 𝑐𝑜𝑛𝑠𝑡𝑎𝑛𝑡
2𝑇 𝑚 𝑔 𝑣 2𝑣 0
𝑚 𝑔 𝑎 2𝑎 0
𝑇 784.8 𝑁 B
2
xA

WB A
yB

B
Thus, A will move up the incline. 30 O

FBD of A FBD of A

𝑓 𝜇 𝑁 𝐹 𝑚 𝑎 2T
xA
𝑁 𝑚 𝑔 cos 30 N 𝑚 𝑔 2𝑇 𝑚 𝑎
yB
B
𝐹 𝑚 𝑎
T
𝜇 𝑚 𝑔 cos 30 𝑇 𝑚 𝑔 sin 30 𝑚 𝑎 A
f WB

WA
 Problem
Block A has a mass of 25 kg and block B a mass of
Solution 15 kg.
The coefficients of friction between all surfaces are
𝑚 𝑔 2𝑇 𝑚 𝑎
s = 0.20 and k = 0.15.
Knowing that  = 25o and that the magnitude of the
𝜇 𝑚 𝑔 cos 30 𝑇 𝑚 𝑔 sin 30 𝑚 𝑎 force P applied to block A is 250 N, determine:
(a) the acceleration of block A ,
𝑎 2𝑎 0 (b) the tension in the cord.

𝑚 𝑔 2𝑚 𝑔 𝜇 cos 30 sin 30
𝑎 A
4𝑚 𝑚
P
B


Problem
Lecture
The two blocks shown are originally at
rest. Neglecting the masses of the pulleys
and the effect of friction in the pulleys and
assuming that the coefficients of friction
between block A and the horizontal
surface are 𝒔 and 𝒌 ,
determine (a) the acceleration of each
block, (b) the tension in the cable.
 Looking for Acceleration…

𝚫𝑽
Where to look for acceleration:
𝚫𝒕

Changing Changing Changing

magnitude of direction of magnitude and
velocity velocity direction of v

Speeding up or Moving with constant Speeding up or

slowing down along a speed along a curved slowing down along a
straight line line curved line

Tangential 𝒕 Radial 𝑹 𝑹 and 𝒕

Equations of Motion in Radial & Transverse Components

Recall EQUATIONS OF MOTION:
CYLINDRICAL COORDINATES

The equations of motion in

cylindrical coordinates (using
r,  , and z coordinates) may
be expressed in scalar form
as:

This coordinate system is convenient to use when the distance and direction of a particle
are measured relative to a fixed point or when a particle is fixed on or moves along a
rotating arm.
 Equations of Motion Equations of Motion in Normal & Tangential
Components
in Normal & Tangential Components

When a particle moves along a

curved path, it may be more
convenient to write the equation of
motion in terms of normal and 𝑉
Σ𝐹 𝑚𝑎 𝑚
tangential coordinates. 𝑅
(Circular Path)

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.

y When an object is moving along a

circular path with a constant speed, the Example: Bridges & Speed Bumps
net force acting on it has to be directed
dV toward the center of a curvature
at  (circle). In this case, only radial
dt acceleration is involved. The magnitude
of the net force has to equal the mass
of the object multiplied by the square of
its speed and divided by the radius of
the curvature.
V2
aN 
R

If the object is moving with changing speed along the circular path the Evaluate the maximum safe speed of the car which allow you
object will have both radial and tangential accelerations. Radial acceleration
to stay on the bump ( N > 0 )
(for turning) and tangential acceleration for changing the speed!
 Example 2: Bridges & Speed Bumps Example 3: Car Rounding a Curve – Unbanked
v2
 F ext  m R
v2
mg  N  m
R
𝒗𝟐
𝒎
NR 𝑹
v  gR  𝑵
m
𝑵
N  0  v Cr  gR
The curvature of the bridge/bump and your
𝑾 A curve in a Round/About has a radius of 45 m. Evaluate the
speed determines if you are going to stay on 𝑾
the bump (N>0) or if you are going to bump: maximum safe speed of the car which prevents skidding on the curve.
fly off it!

Car Rounding a Curve – Unbanked 𝑾

Example 4: Car Rounding a Curve – Banked
𝑅

𝒇
𝑵
skidding

𝑅 45𝑚 and Dry pavement (𝜇 0.5) → 𝑉 53.5 𝑘𝑚/ℎ

𝑅 45𝑚 and Wet pavement (𝜇 0.1) → 𝑉 24.0 𝑘𝑚/ℎ
R  50 m ;   20 0 ;
𝟐
𝒗
𝒎
𝑹 A curve in a speed track has a radius R and a banking angle .
The max speed is independent of the
Evaluate the maximum safe speed of the car which prevents
mass of the car! Friction is what makes
skidding on the curve.
your car turn: slow down when wet!
Example 5: Car Rounding a Banked Curve
y
– with friction –
W = mg

f
=
N 
m an 

R  50 m ;   20 0 ;   0 .5;


Problem 1:

The bob of a 2 m
pendulum describes an 2m
arc of circle in a vertical
plane. If the tension in the 30 o
cord is 2.5 times the
weight of the bob for the
position shown, find the
velocity and acceleration
of the bob in that position.
 The weight of the bob is W=mg; the tension in the cord is thus
2.5 mg.
+ F t  ma t mg sin 30 o  ma t

Recalling that an is directed toward O and assuming at as a t  g sin 30 o   4 .90 m / s 2

shown, we apply Newton’s second law and obtain :
a t  4 .90 m / s 2

n
T = 2.5 mg m an
+ F n  ma n 2 .5 mg  mg cos 30 o  m a n
a n  1 .634 g   16 .03 m / s 2
= a n  16 .03 m / s 2
m at
t Since an = v 2/R we have v2 = R an = (2m)(16.03 m/s2)
W = mg 30 o
V =  5.66 m/s V = 5.66 m/s (up or down)

Problem 2: Recalling that an is directed toward the centre of rotation, we

apply Newton’s second law and obtain :
A single wire ACB passes A
through a ring at C y
attached to a sphere T
30 o
which revolves at a B
constant speed v in the T m an
horizontal circle.
45 o
n:x =
Knowing that the tension C
is the same in both
5 kg W = mg 45 o
portions of the wire,
determine the speed v.
1.6 m 30 o
  F x  ma
Problem 3:
mv 2 A
T sin 30  sin 45   (1)
R A single wire ACB passes
through a ring at C 30 o
   Fy  0 attached to a sphere
which revolves at a
T cos 30  cos 45   mg  0 constant speed v in the
horizontal circle.
T cos 30  cos 45   mg
C
(2) 1.5 m
Knowing that the tension 3 kg
is the same in both
Divide (1) by (2) : sin 30  sin 45 v2 portions of the wire,
 45 o
cos 30  cos 45 Rg determine the speed v. B

v  3 .47 m / s

Recalling that an is directed toward the centre of rotation, we

 F x  ma
apply Newton’s second law and obtain : mv 2
T sin 30  sin 45   (1)
R
y
T 45 o    Fy  0
T cos 30  cos 45   mg  0
m an
n:x = T cos 30  cos 45   mg (2)
T
Divide (1) by (2) :
W sin 30  sin 45 v2

cos 30  cos 45 Rg
30 o
v  10 .57 m / s