VECTOR MECHANICS FOR ENGINEERS:

12
CHAPTER

Kinetics of Particles:
Newton’s Second Law

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Contents
Introduction Angular Momentum of a Particle
Newton’s Second Law of Equations of Motion in Radial &
Motion Transverse Components
Linear Momentum of a Particle Conservation of Angular Momentum
Systems of Units Newton’s Law of Gravitation
Equations of Motion Sample Problem 12.7
Dynamic Equilibrium Sample Problem 12.8
Sample Problem 12.1 Trajectory of a Particle Under a
Sample Problem 12.3 Central Force
Sample Problem 12.4 Application to Space Mechanics
Sample Problem 12.5 Sample Problem 12.9
Sample Problem 12.6 Kepler’s Laws of Planetary Motion

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Kinetics of Particles
High swing velocities can
We must analyze all of the forces
result in large forces on a
acting on the wheelchair in order
swing chain or rope, causing
to design a good ramp
it to break.

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Introduction

F  ma
• Newton’s Second Law of Motion

• If the resultant force acting on a particle is

not zero, the particle will have an acceleration
proportional to the magnitude of resultant
and in the direction of the resultant.

• Must be expressed with respect to a Newtonian (or inertial)

frame of reference, i.e., one that is not accelerating or rotating.
• This form of the equation is for a constant mass system

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Linear Momentum of a Particle

• Replacing the acceleration by the derivative of the velocity
yields 
 dv
F  m
dt

d  dL
 m v  
dt dt

L  linear momentum of the particle

• Linear Momentum Conservation Principle:

If the resultant force on a particle is zero, the linear momentum
of the particle remains constant in both magnitude and direction.
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Systems of Units
• Of the units for the four primary dimensions (force, mass,
length, and time), three may be chosen arbitrarily. The
fourth must be compatible with Newton’s 2nd Law.

• International System of Units (SI Units): base units are

the units of length (m), mass (kg), and time (second).
The unit of force is derived,
 m kg  m
1 N  1 kg 1 2   1 2
 s  s

• U.S. Customary Units: base units are the units of force

(lb), length (m), and time (second). The unit of mass is
derived,
1 lb 1 lb lb  s 2
1 lbm  2
1slug  2
1
32.2 ft s 1 ft s ft

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Equations of Motion
 
• Newton’s second law  F  ma
• Can use scalar component equations, e.g., for
rectangular components,

     
   
Fx i  F y j  Fz k  m a x i  a y j  a z k
 Fx  ma x  Fy  ma y  Fz  ma z
 Fx  mx  Fy  my  Fz  mz

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Dynamic Equilibrium
• Alternate expression of Newton’s second law,
 
 F  m a 0

 ma  inertial v ector
• With the inclusion of the inertial vector, the system
of forces acting on the particle is equivalent to zero.
The particle is in dynamic equilibrium.
• Methods developed for particles in static
equilibrium may be applied, e.g., coplanar forces
may be represented with a closed vector polygon.
• Inertia vectors are often called inertial forces as
they measure the resistance that particles offer to
changes in motion, i.e., changes in speed or
direction.
• Inertial forces may be conceptually useful but are
not like the contact and gravitational forces found
in statics.
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Free Body Diagrams and Kinetic Diagrams

The free body diagram is the same as you have done in statics; we
will add the kinetic diagram in our dynamic analysis.
1. Isolate the body of interest (free body)
2. Draw your axis system (e.g., Cartesian, polar, path)
3. Add in applied forces (e.g., weight, 225 lb pulling force)
4. Replace supports with forces (e.g., normal force)
5. Draw appropriate dimensions (usually angles for particles)
x y
225 N

25o

Ff
N
mg 12 - 9
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Free Body Diagrams and Kinetic Diagrams

Put the inertial terms for the body of interest on the kinetic diagram.
1. Isolate the body of interest (free body)
2. Draw in the mass times acceleration of the particle; if unknown,
do this in the positive direction according to your chosen axes
x y may
225 N
max

25o 
Ff
N
mg

F  ma
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Free Body Diagrams and Kinetic Diagrams

Draw the FBD and KD for block A (note that the
massless, frictionless pulleys are attached to block A
and should be included in the system).

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Free Body Diagrams and Kinetic Diagrams

1. Isolate body
2. Axes
3. Applied forces
4. Replace supports with forces
5. Dimensions (already drawn)
6. Kinetic diagram

y
T T NB
T
T may = 0
x

T
mg
Ff-B
= max

N1 Ff-1
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Free Body Diagrams and Kinetic Diagrams

Draw the FBD and KD for the collar B. Assume

there is friction acting between the rod and collar,
motion is in the vertical plane, and q is increasing

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Free Body Diagrams and Kinetic Diagrams

1. Isolate body
2. Axes
3. Applied forces
4. Replace supports with forces
5. Dimensions
6. Kinetic diagram

eq maq
er
mar

q =
q
Ff
mg
N
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Sample Problem 12.1

SOLUTION:
• Resolve the equation of motion for the
block into two rectangular component
equations.

• Unknowns consist of the applied force

P and the normal reaction N from the
plane. The two equations may be
solved for these unknowns.

A 200-lb block rests on a horizontal

plane. Find the magnitude of the force
P required to give the block an
acceleration of 10 ft/s2 to the right. The
coefficient of kinetic friction between
the block and plane is mk  0.25.

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Sample Problem 12.1

SOLUTION:
• Resolve the equation of motion for the block
into two rectangular component equations.
 Fx  ma :
y
 
P cos 30  0.25 N  6.21 lb  s 2 ft 10 ft s 2 
 62.1 lb
O
x  Fy  0 :
W 200 lb N  P sin 30  200 lb  0
m 
g 32.2 ft s 2 • Unknowns consist of the applied force P and
the normal reaction N from the plane. The two
lb  s 2
 6.21 equations may be solved for these unknowns.
ft
N  P sin 30  200 lb
F  mk N
P cos 30  0.25P sin 30  200 lb   62.1 lb
 0.25 N
P  151 lb

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Sample Problem 12.3

SOLUTION:
• Write the kinematic relationships for the
dependent motions and accelerations of
the blocks.
• Write the equations of motion for the
blocks and pulley.
• Combine the kinematic relationships
with the equations of motion to solve for
the accelerations and cord tension.
The two blocks shown start from rest.
The horizontal plane and the pulley are
frictionless, and the pulley is assumed
to be of negligible mass. Determine
the acceleration of each block and the
tension in the cord.

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Sample Problem 12.3

SOLUTION:
• Write the kinematic relationships for the dependent
O motions and accelerations of the blocks.
x
y B  12 x A a B  12 a A
y
• Write equations of motion for blocks and pulley.
 Fx  m A a A :
T1  100 kg a A
 Fy  mB a B :
m B g  T2  m B a B
300 kg 9.81 m s 2  T2  300 kg a B
T2  2940 N - 300 kg a B
 Fy  mC aC  0 :
T2  2T1  0
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Sample Problem 12.3

• Combine kinematic relationships with equations of
motion to solve for accelerations and cord tension.
O
x y B  12 x A a B  12 a A

y T1  100 kg a A
T2  2940 N - 300 kg a B

 2940 N - 300 kg  12 a A 
T2  2T1  0
2940 N  150 kg a A  2100 kg a A  0

a A  8.40 m s 2
a B  12 a A  4.20 m s 2
T1  100 kg a A  840 N
T2  2T1  1680 N
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Sample Problem 12.4

SOLUTION:
• The block is constrained to slide down
the wedge. Therefore, their motions are
dependent. Express the acceleration of
block as the acceleration of wedge plus
the acceleration of the block relative to
the wedge.

• Write the equations of motion for the

wedge and block.
The 12-lb block B starts from rest and
slides on the 30-lb wedge A, which is • Solve for the accelerations.
supported by a horizontal surface.
Neglecting friction, determine (a) the
acceleration of the wedge, and (b) the
acceleration of the block relative to the
wedge.

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Sample Problem 12.4

SOLUTION:
• The block is constrained to slide down the wedge.
Therefore, their motions are dependent.
  
aB  a A  aB A

• Write equations of motion for wedge and block.

 Fx  m A a A :
y N1 sin 30  m A a A
0.5 N1  W A g a A

x
 Fx  m B a x  m B a A cos 30  a B A  :
 WB sin 30  WB g a A cos 30  a B A 
a B A  a A cos 30  g sin 30

 Fy  m B a y  m B  a A sin 30 :
N1  WB cos 30  WB g a A sin 30
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Sample Problem 12.4

• Solve for the accelerations.
0.5 N1  W A g a A

N1  WB cos 30  WB g a A sin 30

2W A g a A  WB cos 30  WB g a A sin 30
gWB cos 30
aA 
2W A  WB sin 30

aA 
32.2 ft s 2 12 lb  cos 30
230 lb   12 lb  sin 30
a A  5.07 ft s 2

a B A  a A cos 30  g sin 30

   
a B A  5.07 ft s 2 cos 30  32.2 ft s 2 sin 30
a B A  20.5 ft s 2

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Group Problem Solving

SOLUTION:
• Write the kinematic relationships for the
dependent motions and accelerations of
the blocks.
• Draw the FBD and KD for each block
• Write the equations of motion for the
blocks and pulley.
• Combine the kinematic relationships
with the equations of motion to solve for
the accelerations and cord tension.

The two blocks shown are originally at

rest. Neglecting the masses of the pulleys
and the effect of friction in the pulleys and
between block A and the horizontal surface,
determine (a) the acceleration of each
block, (b) the tension in the cable.
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Group Problem Solving

SOLUTION:
xA • Write the kinematic relationships for the
dependent motions and accelerations of
the blocks.
This is the same problem worked last
yB
chapter- write the constraint equation

x A  3 y B  constants  L
Differentiate this twice to get the
acceleration relationship.
v A  3vB  0
a A  3aB  0
a A  3aB (1)

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Group Problem Solving

• Draw the FBD and KD for each block
2T T mAg A
B +y
maAx
T
= =
maBy +x
mBg NA
• Write the equation of motion for each block
Fx  m A a A :
Fy  mB aB T  m A a B
WB  3T  mB aB (2) From Eq (1) T  3m Aa B (3)
• Solve the three equations, 3 unknowns
(3) (2) mB g  3(3m A aB )  mB aB T  3  30 kg  0.83136 m/s 2
g 9.81 m/s2 T  74.8 N
aB    0.83136 m/s2
mA 30 kg
1 9 1 9 a A  2.49  2.49 m/s 2
mB 25 kg
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Concept Quiz

(1) (2) (3)

The three systems are released from rest. Rank the
accelerations, from highest to lowest.
a) (1) > (2) > (3) d) (1) = (2) = (3)
b) (1) = (2) > (3) e) (1) = (2) < (3)
c) (2) > (1) > (3)
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Kinetics: Normal and Tangential Coordinates

Aircraft and roller coasters can both experience large

normal forces during turns.

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Equations of Motion
 
• Newton’s second law  F  ma
• For tangential and normal components,

F  ma t
 F n  man
t

dv v2
F t m
dt
F n m


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Tenth

Sample Problem 12.5

SOLUTION:
• Resolve the equation of motion for the
bob into tangential and normal
components.
• Solve the component equations for the
normal and tangential accelerations.
• Solve for the velocity in terms of the
normal acceleration.
The bob of a 2-m pendulum describes
an arc of a circle in a vertical plane. If
the tension in the cord is 2.5 times the
weight of the bob for the position
shown, find the velocity and accel-
eration of the bob in that position.

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Sample Problem 12.5

SOLUTION:
• Resolve the equation of motion for the bob into
tangential and normal components.
• Solve the component equations for the normal and
tangential accelerations.
 Ft  mat : mg sin 30  mat
at  g sin 30
a t  4 .9 m s 2

 Fn  man : 2.5mg  mg cos 30  ma n

a n  g 2.5  cos 30
a n  16.03 m s 2
• Solve for velocity in terms of normal acceleration.

an 
v2
v  a n  2 m 16.03 m s 2 

v  5.66 m s
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Sample Problem 12.6

SOLUTION:
• The car travels in a horizontal circular
path with a normal component of
acceleration directed toward the center
of the path.The forces acting on the car
are its weight and a normal reaction
from the road surface.

• Resolve the equation of motion for

Determine the rated speed of a the car into vertical and normal
highway curve of radius  = 400 ft components.
banked through an angle q = 18o. The
rated speed of a banked highway curve • Solve for the vehicle speed.
is the speed at which a car should
travel if no lateral friction force is to
be exerted at its wheels.

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Sample Problem 12.6

• Resolve the equation of motion for
the car into vertical and normal
components.
 Fy  0 : R cos q  W  0
W
R
cos q
W
 Fn  man : R sin q  an
SOLUTION: g

• The car travels in a horizontal circular W W v2

sin q 
path with a normal component of cos q g 
acceleration directed toward the center • Solve for the vehicle speed.
of the path.The forces acting on the
car are its weight and a normal v 2  g tan q
reaction from the road surface.  
 32.2 ft s 2 400 ft  tan 18

v  64.7 ft s  44.1 mi h
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Group Problem Solving

v SOLUTION:
• Draw the FBD and KD for the collar.
• Write the equations of motion for the
collar.
• Determine kinematics of the collar.
• Combine the equations of motion with
The 3-kg collar B rests on the
kinematic relationships and solve.
frictionless arm AA. The collar is
held in place by the rope attached to
drum D and rotates about O in a
horizontal plane. The linear velocity
of the collar B is increasing according
to v= 0.2 t2 where v is in m/s and t is
in sec. Find the tension in the rope
and the force of the bar on the collar
after 5 seconds if r = 0.4 m.
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Group Problem Solving

SOLUTION: • Given: v= 0.2 t2, r = 0.4 m
• Find: T and N at t = 5 sec

Draw the FBD and KD of the collar

et mat

en =
T N man

Write the equations of motion

Fn  man Ft  mat
v2 dv
N m T m
 dt
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Group Problem Solving

et
Kinematics : find vt, an, at mat
vt  0.2t 2  0.2(52 ) =5 m/s en
2 2
=
5v
an    62.5 (m/s 2 )
 0.4 T q N man

dv
at   0.4t  0.4(5)  2 m/s 2
dt
Substitute into equations of motion
Fn  man Ft  mat
N  3.0(62.5) T  3.0(2)

N  187.5 N T  6.0 N
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Group Problem Solving

et
mat
How would the problem
en
change if motion was in the =
vertical plane?
T q N man
You would add an mg term mg
and would also need to
calculate q

When is the tangential force greater than the normal force?

Only at the very beginning, when starting to accelerate.

In most applications, an >> at

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Tenth

Concept Question

B
C
A

A car is driving from A to D on the curved path shown. D

The driver is doing the following at each point:

A – going at a constant speed B – stepping on the accelerator

C – stepping on the brake D – stepping on the accelerator

Draw the approximate direction of the car’s acceleration

at each point.
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Tenth

Kinetics: Radial and Transverse Coordinates

Hydraulic actuators and

extending robotic arms are
often analyzed using radial
and transverse coordinates.

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Tenth

Eqs of Motion in Radial & Transverse Components

• Consider particle at r and q, in polar coordinates,

 Fr  mar  m r  rq 
  2

 Fq  maq  mrq  2rq 

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Tenth

Group Problem Solving

SOLUTION:
• Draw the FBD and KD for the collar.
• Write the equations of motion for the
collar.
• Determine kinematics of the collar.
• Combine the equations of motion with
kinematic relationships and solve.

The 3-kg collar B slides on the frictionless arm AA. The arm is attached to
drum D and rotates about O in a horizontal plane at the rate q  0.75t where q
and t are expressed in rad/s and seconds, respectively. As the arm-drum
assembly rotates, a mechanism within the drum releases the cord so that the
collar moves outward from O with a constant speed of 0.5 m/s. Knowing that
at t = 0, r = 0, determine the time at which the tension in the cord is equal to
the magnitude of the horizontal force exerted on B by arm AA.
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Tenth

Group Problem Solving

SOLUTION: • Given: q  0.75t r (0)  0
r  5 m/s
• Find: time when T = N
Draw the FBD and KD of the collar
maq
eq
er mar
=
T N

Write the equations of motion

Fr  mar Fq  mB aq

r  rq 2 )
T  m( N  m(rq  2rq)
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Tenth

Group Problem Solving

r  5 m/s
Kinematics : find expressions for r and q r t

q  (0.75t ) rad/s  0
dr   0
0.5 dt

q  0.75 rad/s 2 r  (0.5t ) m

r 0

Substitute values into ar , aq

ar  r  rq 2  0  [(0.5t ) m][(0.75t ) rad/s]2   (0.28125t 3 ) m/s2

aq  rq  2rq  [(0.5t ) m][0.75 rad/s 2 ]  2(0.5 m/s)[(0.75t ) rad/ s]

 (1.125t ) m/s 2
Substitute into equation of motion Set T = N

Fr  mar :  T  (3 kg)( 0.28125t ) m/s 3 2 (0.84375t 3 )  (3.375t )

Fq  mB aq : N  (3 kg)(1.125t ) m/s 2 t 2  4.000

t  2.00 s
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Tenth

Concept Quiz
e2
e1

Top View v

The girl starts walking towards the outside of the spinning

platform, as shown in the figure. She is walking at a constant
rate with respect to the platform, and the platform rotates at a
constant rate. In which direction(s) will the forces act on her?
a) +e1 b) - e1 c) +e2 d) - e2
e) The forces are zero in the e1 and e2 directions
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Sample Problem-4

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Problem 3/69

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