MECH 236 – Engineering Mechanics: Dynamics

Kinematics of Particles Part – 1

Instructor: Anuruddha Jayasuriya, Ph.D.

New Jersey Institute of Technology
FALL 2020
▪ Overview of the Syllabus

▪ Grading Policy

▪ Course Material For Week 1

▪ Rectilinear Kinematics – Continuous Motion

▪ Rectilinear Kinematics – Erratic Motion

▪ Motion of Projectiles

▪ Homework Assignments

2
Week Topics Chapters Homework Problems
9/03 Kinematics of Particles – Part 1 12.1-12.6 Assigned in class.
9/10 Kinematics of Particles – Part 2 12.7-12.10 Assigned in class.
9/17 Force & Acceleration – Part 1 13.1-13.3 Assigned in class.
9/24 Force & Acceleration – Part 2 13.4-13.5 Assigned in class.
10/01 Energy & Work 14.1-14.6 Assigned in class.
10/08 Exam 1
10/15 Momentum & Impact 15.1-15.4 Assigned in class.
10/22 Kinematics of Rigid Bodies 16.1-16.4 Assigned in class.
10/29 Relative Velocity 16.5 Assigned in class.
11/05 Exam 2 ▪ Instructor
Anuruddha Jayasuriya, Ph.D.
11/12 Instant Center 16.6 Assigned in class.
Email: aj464@njit.edu
11/19 Rigid Bodies Acceleration 16.7 Assigned in class. Webex Link: https://njit.webex.com/meet/aj464
11/26 NO CLASS – THANKSGIVING BREAK Office hours: THU 8-10 am via Webex
12/03 Kinetics of a Rigid Body 17.1-17.5 Assigned in class. ▪ Teaching Assistant (TA)
18.1-18.5, Boran Wang
12/10 Rigid Body Energy, Vibrations
22.1-22.2
Assigned in class. Email: bw72@njit.edu
12/17 Final Exam Office hours: TBA 3
Grading Policy
Homework Guidelines
Task Percentage
Homework 10% ▪ Homework assignments will be provided every week.
Exam 1 30%
Exam 2 30% ▪ NO LATE HOMEWORK will be accepted under any circumstance
Final Exam 30%
(Finish your work ASAP).

Grade Schedule ▪ After finishing HW, you may scan it, and upload the document to

Grade Range Canvas Portal through your student account.

A 90–100
B+ 85–89 ▪ NO CHEATING, NO COPYING, and NO PLAGIARIZING FROM
B 80–84
C+ 75–79 OUTSIDE SOURCES, INDIVIDUALS, OR FELLOW CLASSMATES.
C 70–74
D 60–69
F 59 or less
Voluntary before deadline
W 4
(school schedule)
▪ Analysis of Dynamics Problems Includes:
▪ Kinematics: study of the geometry of the motion that relates displacement, velocity,
acceleration, and time without reference to the cause of motion (i.e., no forces cause its motion).

Rectilinear motion Curvilinear motion

▪ Kinetics: study of the relations existing between the forces acting on a body, mass of the body,
and the motion of the body. Kinetics is used to predict the motion caused by given forces or to
determine the forces required to produce a given motion.

5
▪ Position Coordinate: Position is defined with respect to an origin where a particle’s linear motion
is measured or observed.

Position is with respect to the origin at O and it is positive in the “s” direction.

▪ Displacement: The change of position is defined as the displacement of a particle.

Change of position is s’– s → Δs

Displacement is a vector, has a magnitude and a direction. In this case, Δs

is positive, since the particle’s final position is to the right compared to the
original position.

6
▪ Average Velocity: The displacement (Δs) that a particle would travel within a given time interval Δt
is defined as average velocity.
Δ𝑠
𝑣𝑎𝑣𝑔 =
Δ𝑡
Δ𝑠
lim =𝑣 When Δt is extremely small, we will compute the
∆𝑡→0 Δ𝑡
instantaneous velocity v, which is a vector defined.
𝑑𝑠
=𝑣 1
𝑑𝑡

▪ Average Acceleration: The change of velocity (Δv) that a particle would experience within a
given time interval of Δt is defined as average acceleration.
Δ𝑣 Δ𝑣 When Δt is extremely small, we will compute the
𝑎𝑎𝑣𝑔 = lim =𝑎
Δ𝑡 ∆𝑡→0 Δ𝑡 instantaneous acceleration a, which is a vector defined.

𝑑𝑣
=𝑎 2
𝑑𝑡
7
▪ When the acceleration is constant, the previously derived differentials can be used to form
equations for rectilinear motion.
▪ These equations can be represented as a function of time.

From EQ 2: From EQ 1: Substitution for t from EQ 3 to EQ 4:

𝑑𝑣 𝑑𝑠 1
= 𝑎𝑐 =𝑣 𝑠2 − 𝑠1 = 𝑢𝑡 + 𝑎𝑐 𝑡 2
𝑑𝑡 𝑑𝑡 2
𝑠2 𝑡 2
𝑑𝑣 = 𝑎𝑐 𝑑𝑡 𝑑𝑠 = 𝑣𝑑𝑡 න 𝑑𝑠 = න 𝑣𝑑𝑡 𝑣−𝑢 1 𝑣−𝑢
𝑠2 − 𝑠1 = 𝑢 + 𝑎𝑐
𝑠1 0 𝑎𝑐 2 𝑎𝑐
𝑣 𝑡 𝑠2 𝑡 𝑣 2 = 𝑢2 + 2𝑎𝑐 (𝑠2 − 𝑠1 )
න 𝑑𝑣 = න 𝑎𝑐 𝑑𝑡 න 𝑑𝑠 = න (𝑢 + 𝑎𝑐 𝑡)𝑑𝑡
𝑢 0 𝑠1 0
𝑣 2 = 𝑢2 + 2𝑎𝑐 𝑠
1
𝑣 − 𝑢 = 𝑎𝑐 𝑡 𝑠2 − 𝑠1 = 𝑢𝑡 + 𝑎𝑐 𝑡 2 This is not a new equation; but can be used as an
2 alternative relationship to find unknowns given
in a problem.
𝑣 = 𝑢 + 𝑎𝑐 𝑡 3
1 u and v =initial and final velocity, respectively
𝑠 = 𝑢𝑡 + 𝑎𝑐 𝑡 2 4 8
2 s1 and s2 = initial and final position, respectively.
▪ During a test, a rocket travels upward at 75 m/s, and when it is 40 m from the ground its
engine fails.
▪ Determine the maximum height it reaches from the ground level.
▪ Determine the velocity it reaches on the ground.
▪ Determine how much time it takes from its engine failure until it crashes on the ground level

9
▪ During a test, a rocket travels upward at 75 m/s, and when it is 40 m from the ground its
engine fails.
▪ Determine the maximum height it reaches from the ground level.
▪ Determine the velocity it reaches on the ground.
▪ Determine how much time it takes from its engine failure until it crashes on the ground level

10
▪ A car is travelling on a straight line such that for a short time its velocity is defined by
v=(3t2+2t) m/s
▪ Determine the position and acceleration when t=3 sec. (Assume that when t=0, s=0)

11
▪ A fired bullet is approaching into a fluid medium vertically downwards with an initial
velocity of 60 m/s. The drag resistance is applied on the bullet, and as a result, its
deceleration was determined as a = -0.4v3 m/s2, where v is the velocity of the bullet in m/s.
▪ Determine the velocity and the distance 4 seconds after it is fired.

12
▪ When a particle’s motion is changing (i.e., position, velocity, and acceleration) over the time
period considered, its motion is called erratic.

▪ Erratic motions of particles can be graphically represented by position (s), velocity (v), and
acceleration (a) as a function of time (t).

s-t graph v-t graph a-t graph

s-t graph slope will indicate v-t graph slope will indicate a-t graph slope will indicate
the velocity at a particular the acceleration at a the jolt at a particular time. 13
time. particular time.
▪ Conversely, the area under the

▪ a-t graph will indicate the change of velocity within a period of time

▪ v-t graph will indicate the change of position within a period of time

14
▪ A bicycle moves along a straight line such that its position is described by the graph shown
below. Construct the v-t and a-t graphs within the 30 sec period of time.

(ft/sec2)

15
▪ The a-t graph of the bullet train is shown.
▪ If the train starts from rest, determine the elapsed time t’ before it again comes to rest.
▪ What is the total distance traveled during this time interval?
▪ Construct the v-t graph

16
▪ The a-t graph of the bullet train is shown.
▪ If the train starts from rest, determine the elapsed time t’ before it again comes to rest.
▪ What is the total distance traveled during this time interval?
▪ Construct the v-t and s-t graphs

75
17
▪ The a-t graph of the bullet train is shown.
▪ If the train starts from rest, determine the elapsed time t’ before it again comes to rest.
▪ What is the total distance traveled during this time interval?
▪ Construct the v-t and s-t graphs

The relationship between velocity and time is already obtained for

0<t<30 and 30<t<133.1 sec.
V-T plot
120
For 0<t<30:
v t = 0.05t 2 100

30<t<133.1: 80
Velocity (m/s)

−𝑡2
v t = + 5𝑡 − 75 60
30
40

20

0
0 20 40 60 80 100 120 140 18
Time (sec)
▪ The a-t graph of the bullet train is shown.
▪ If the train starts from rest, determine the elapsed time t’ before it again comes to rest.
▪ What is the total distance traveled during this time interval?
▪ Construct the v-t and s-t graphs

S-T Plot 2
10000

8000
Displacement (m)

2
6000

4000

2
2000

0
0 30 60 90 120 150 2 19
Time (sec)
▪ Projectile motion is a combination of horizontal and vertical motions
analyzed on an object as it falls freely on a two-dimensional plane under a
constant acceleration.

▪ When the object is thrown in a

projectile, vector components (e.g.,
(v0)x and (v0)y) of the velocity
contributes its horizontal and
vertical motion, respectively.

▪ While the object is being moved in

the x-y plane, the weight of the
object causes a downward constant
acceleration throughout its Motion of a projectile
20
trajectory.
▪ Since a projectile motion consists of two-
t=0 sec
dimensional rectilinear travel paths, the
t=1 sec
equations of motions can be applied in
t=2 sec
the horizontal and vertical directions
separately.
t=3 sec

▪ The time that both horizontal and vertical t=4 sec

motions would take same amounts as the
object is traveled through the two-
dimensional plane. t=5 sec

t=6 sec
Projectile under gravity – 2D 21
motion
▪ A sack slides off the ramp as shown below with a horizontal velocity of 12 m/s. If the height
of the ramp is 6m,
▪ Determine the time required to strike the floor.
▪ Determine the range it travels through its horizontal motion.

22
▪ Determine the speed at which the basketball at A must be thrown at the angle of 30⁰ so that it
falls through the hoop.
▪ Also, determine the velocity of the ball at B.

23
▪ Determine the speed at which the basketball at A must be thrown at the angle of 30⁰ so that it
falls through the hoop.
▪ Also, determine the velocity of the ball at B.

24
▪ Determine the smallest angle θ shown in the diagram, that the hose should be directed so
that the water stream strikes at the base of the wall at B.

25
▪ Determine the smallest angle θ shown in the diagram, that the hose should be directed so
that the water stream strikes at the base of the wall at B.

nθ

26
 DUE ON 09/10/2020 @6 AM
Problem 1
▪ A bicyclist starts from rest and after traveling along a straight path a distance of 20 m reaches a
speed of 30 km/h.
▪ Determine his acceleration if it is constant.
▪ Also, how long does it take to reach the speed of 30 km/h?

Problem 2
5
▪ A particle moves along a straight line with an acceleration of 𝑎 = 1 5 𝑚/𝑠 2 where s is in meters.
3𝑠 3 +𝑠 2
▪ Determine particle’s velocity when s=2 m if it starts from rest when s=1 m.

27
 DUE ON 09/10/2020 @6 AM
Problem 3
▪ A racecar starts at rest from a pitstop and gained velocity and the driver hits the brake with an
intention of stopping at the next pitstop as shown in the graph below.
▪ Draw the s-t graph for this rectilinear motion of the racecar.
▪ Determine the total distance that this racecar had traveled.

v(m/s)

150

t(s)
5 15

28
 DUE ON 09/10/2020 @6 AM
Problem 4
▪ A soccer ball is kicked where the ball’s trajectory is shown as below. Considering the geometry
provided,
▪ What is the kicking speed that must be applied on the ball such that the ball can land at a horizontal
distance of 15 ft?
▪ What is the speed at which the ball strikes on the ground?

θ=30⁰
x

y=-0.04x2

15 ft 29
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 MECH 236 – Engineering Mechanics
Dynamics

Kinematics of a Particles Part – 2

Instructor: Anuruddha Jayasuriya, Ph.D.

New Jersey Institute of Technology
FALL 2020
▪ Course Material For Week 2

▪ Curvilinear Motion

▪ Absolute Dependent Motion

▪ Relative Motion

▪ Homework Assignments

2
▪ When the particle moves along the
curvilinear path, there are important
components that contributes its motion.

▪ At any point on the curvilinear path,

there is a definite curvature with respect
to its center, known as the center of
curvature Radius of curvature Tangential velocity component

▪ Velocity at a point of interest is always

acting in the tangential direction of the
motion.

▪ Due to the curvilinear motion, there are

two types of acceleration components
are observed.
o Tangential acceleration (at)
𝑎= 𝑎𝑡2 + 𝑎𝑛2 3
o Normal acceleration (an)
▪ Tangential/normal velocity and acceleration
▪ The tangential velocity at any point on the curvilinear path can be defined as the rate of change
of the particle’s position.
Using fundamentals of calculus, we can obtain the
𝑑𝑠 tangential and normal accelerations of a particle that
𝑣𝑡 = = 𝑠ሶ travels through a curvilinear path.
𝑑𝑡
𝑠ሶ is the time derivative of
displacement
at = 𝑣𝑡ሶ
𝑣𝑡2
an =
𝑟
▪ ut and un are the unit vectors along the tangential and normal directions with respect to the
particle’s position of interest in the curvilinear path.
2 3/2
𝑑𝑦
▪ If the geometry of the curvilinear path is known as a 1+
𝑑𝑥
function of f(x), then the radius of curvature r at a 𝑟=
particular location can be determined from the 𝑑2𝑦
following equation. 4
𝑑𝑥 2
▪ A skier reaches point A along the parabolic path as shown below. If Va=6m/s and his
acceleration is 2 m/s2,
▪ Determine the direction and the magnitude of his acceleration at this instant.

5
▪ A skier reaches point A along the parabolic path as shown below. If Va=6m/s and his
acceleration is 2 m/s2,
▪ Determine the direction of his velocity and the direction and the magnitude of his acceleration
at this instant.

6
▪ Motorcyclist is at A, and he increases his speed along the circular path at the rate of 𝑣ሶ =
0.04𝑠 ft/sec2 where s is in feet. If the velocity at A is 2 ft/sec when at s=0,
▪ Determine the magnitude of his velocity when he reaches B.
▪ Determine his initial acceleration.

7
▪ Motorcyclist is at A, and he increases his speed along the circular path at the rate of 𝑣ሶ =
0.04𝑠 ft/sec2 where s is in feet. If the velocity at A is 2 ft/sec when at s=0,
▪ Determine the magnitude of his velocity when he reaches B.
▪ Determine his initial acceleration.

2
8
▪ In some cases in dynamics, the motion of one particle will depend on the corresponding
motion of another particle. This is known as the dependent motion of particles.
▪ If we consider the change of position from a known datum of
these two objects (e.g., A&B), we will be able to derive an
equation for the dependent motion.

Let's assume that the total length of the cable attached is 𝑙𝑡

Therefore,
𝑙𝐴𝐶 + 𝑙𝐶𝐷 + 𝑙𝐷𝐵 = 𝑙𝑡

▪ As the blocks are released, particles will be moving

Pulley System with A and B blocks dynamically (i.e., changes its position (Δs) with respect to
considered as moving particles time).

Then, we can substitute the change in position while the particle

is in motion.
𝑠𝐴 + 𝑙𝐶𝐷 + 𝑠𝐵 = 𝑙𝑡
9
▪ In some cases in dynamics, the motion of one particle will depend on the corresponding
motion of another particle. This is known as the dependent motion of particles.
𝑠𝐴 + 𝑙𝐶𝐷 + 𝑠𝐵 = 𝑙𝑡

If change in position depends on the time, let’s get the time

derivative of the above.

𝑑(𝑠𝐴 ) 𝑑(𝑙𝐶𝐷 ) 𝑑(𝑠𝐵 ) 𝑑(𝑙𝑡 )

+ + =
𝑑𝑡 𝑑𝑡 𝑑𝑡 𝑑𝑡

𝑠𝐴ሶ + 0 + 𝑠𝐵ሶ = 0

Pulley System with A and B blocks Where 𝑠ሶ is the time derivative of displacement, velocity.
considered as moving particles Therefore,
𝑣𝐴 = −𝑣𝐵

Taking the time derivative again will yield the acceleration

relationship of the particles.
10
𝑎𝐴 = −𝑎𝐵
▪ Determine the velocity of blocks A and B.
The rope lengths denoted by red color are constant during the
motion of the blocks.

Let’s consider the rope length below the datum signified in the
figure.

𝑠𝐵 + 𝑙𝑐1 + 𝑠𝐵 + 𝑙𝑐2 + ℎ + 𝑙𝑐3 + 𝑠𝐴 = 𝑙𝑡

Where 𝑙𝑐1 , 𝑙𝑐2 are constant lengths around the pulley members.

Taking time derivative,

𝑠𝐵ሶ + 0 + 𝑠𝐵ሶ + 0 + 0 + 0 + 𝑠𝐴ሶ = 0

𝑣𝐵 + 𝑣𝐵 + 𝑣𝐴 = 0

2𝑣𝐵 = −𝑣𝐴
Also,
11
2𝑎𝐵 = −𝑎𝐴
▪ Determine the speed of the block A if the block B has an upward speed of 6 ft/sec

Select a datum line through the system at which the line position
of the datum is constant.

𝑠𝐴 + 𝑙𝑐1 + 𝑠𝐵 + 𝑙𝑐2 + 𝑠𝐵 + 𝑙𝑐3 + 𝑠𝐵 = 𝑙𝑡

Taking the time derivative,

𝑠𝐴ሶ + 0 + 𝑠𝐵ሶ + 0 + 𝑠𝐵ሶ + 0 + 𝑠𝐵ሶ = 0

𝑠𝐴ሶ + 3𝑠ሶ 𝐵 = 0

𝑣𝐴 + 3𝑣ሶ 𝐵 = 0

𝑣𝐴 + 3 6 = 0

𝑣𝐴 = −18 ft/s

12
▪ A crate is being lifted by means of a motor M.
▪ Determine the speed at which the cable must be taken up by the motor in order to move the crate up the
plane with a constant speed of 4 ft/s.

Select a datum line through a point at which the length of the cable is
constant. And select a point P on the pulling end of the rope.

𝑠𝐴 + 𝑙𝑐1 + 𝑠𝐴 + 𝑙𝑐2 + (𝑠𝐴 − 𝑠𝑃 ) = 𝑙𝑡

Taking the time derivative,

𝑠𝐴ሶ + 0 + 𝑠𝐴ሶ + 0 + 𝑠𝐴ሶ − 𝑠𝑃ሶ = 0

3𝑠ሶ 𝐴 − 𝑠𝑃ሶ = 0

3𝑣𝐴 − 𝑣𝑃ሶ = 0

3 4 − 𝑣𝑃ሶ = 0

𝑣𝐴 = 12 ft/s 13
▪ Relative motion between two particles or objects have no dependency towards each
other’s traveling behavior.
▪ It is a way how one object sees the other relative to one another.

▪ When an object is traveling, we would say that this object is traveling at v velocity. This v velocity
is always relative to the Earth assuming that earth is stationary.

CASE 1

Man’s velocity relative to

Car’s velocity earth, VM,E=0
relative to earth, VC,E= V

The car’s velocity is relative to the earth (i.e., observed by a

stationary observer). 14
 CASE 2 Man’s velocity relative to
earth, VM,E= U
Car’s velocity
relative to earth, VC,E= V

Relative motion helps to determine the velocity of an object relative to a moving object.

▪ If the observer is the car, and sees the cyclist, we can define the velocity component as VM,C

▪ Also, if the observer is the cyclist, and sees the car, we can define the velocity component as VC,M

VM,C =VM,E + VE,C

~ ~ ~
Definition for relative motion
VC,M =VC,E + VE,M 15
~ ~ ~
▪ A train travels on a constant speed of 60 mph and crosses over a road as shown below.
The car travels at 45 mph along the road.
▪ Determine the magnitude and the direction of the velocity of the train relative to the car.

16
▪ The man can row the boat in still water with a speed of 5 m/s. If the river is flowing at 2
m/s,
▪ determine the speed of the boat and the angle θ he must direct the boat so that it travels from A
to B.

earth

17
▪ The man can row the boat in still water with a speed of 5 m/s. If the river is flowing at 2
m/s,
▪ determine the speed of the boat and the angle θ he must direct the boat so that it travels from A
to B.

18
▪ At this instant shown, cars A and B travel at speeds of 70 mph and 50 mph, respectively. If
B is decreasing its velocity at 1400 mi/hr.2 while A is increasing its speed at 800 mi/hr.2,
▪ Determine the acceleration of B with respect to A. (Hint: Car B moves along a curve having a radius of
curvature of 0.7 miles.
aA,E =

aB,A= 2392.92 + 3798.12 = 4489 𝑚𝑖/ℎ𝑟 2

19
 DUE ON 09/17/2020 @6 AM
▪ Problem 1

▪ A boy swims at 4 ft/sec in still water. He wants to go from A to B. If the river flows with a velocity of
2 ft/sec,
▪ Determine the speed and the direction at which he would have to choose to get to B.

▪ Problem 2

▪ If block A is moving downward with a speed of 4 ft/sec while C is moving up 2 ft/sec, determine
the speed of block B.

20
 DUE ON 09/17/2020 @6 AM
▪ Problem 3
▪ The car A travels at 55 mi/hr while B travels at 40 mi/hr. The acceleration of B is 1200
mi/hr2 and A does not change its velocity.
▪ Determine the velocity and acceleration of B with respect to A. Car B moves along a curve with
a radius of 0.5 mi.

21
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J
 MECH 236 – Engineering Mechanics
Dynamics

Kinetics of Particles Part – 1

Instructor: Anuruddha Jayasuriya, Ph.D.

New Jersey Institute of Technology
FALL 2020
▪ Course Material For Week 3

▪ Force and Acceleration

▪ Friction Forces

▪ Spring Systems

▪ Homework Assignments

2
▪ Kinetics of particles and rigid bodies involve external forces acting on them which causes motion
in a specific direction.
▪ Newton’s Second Law

When an unbalanced force acts on a particle, the particle will accelerate in the direction of the force
with a magnitude that is directly proportional to the force.
▪ If the unbalanced force is F, and the acceleration caused by it is a, the Newton’s Second Law can be
mathematically represented by

Mass of the particle can be used as the proportionality constant

𝐹റ 𝛼 𝑎റ 𝐹റ = 𝑚𝑎റ “m” is a positive scalar

▪ Units for these quantities;

In metrics In US Custom units
▪ 𝐹റ in Newtons (N) ▪ 𝐹റ in Newtons (lb)
▪ 𝑎റ in meters per sq. second (m/s2) ▪ 𝑎റ in meters per sq. second (ft/s2)
3
▪ m in kilograms (kg) ▪ m in slugs (lb-sec2/ft)
▪ Equation of Motion
▪ When more than one force acts on a particle, the resultant force is determined by a vector summation of all
the forces.

෍ 𝐹റ = 𝑚𝑎റ

More than one force Resultant force The resultant force can also be
acts on a particle and its direction related with the product of
contributes its motion mass and acceleration

▪ If a particle travels on a three-dimensional space, force components in each direction (i.e., x-, y-, and z-
direction) can be represented by the product of mass and acceleration components.

෍ 𝑭𝒙 = 𝒎𝒂𝒙

෡ = 𝑚 𝑎𝑥 𝒊Ƹ + 𝑎𝑦 𝒋Ƹ + 𝑎𝑧 𝒌
෍ 𝐹𝑥 𝒊Ƹ + ෍ 𝐹𝑦 𝒋Ƹ + ෍ 𝐹𝑧 𝒌 ෡ ෍ 𝑭𝒚 = 𝒎𝒂𝒚 From vector equivalence

෍ 𝑭𝒛 = 𝒎𝒂𝒛 4
▪ The 6-lb particle is subjected to the action of its weight and forces F1=(2i+6j-2tk) lb, F2=(t2i-4tj-1k)
lb, and F3=-2ti-6k lb, where t is in seconds. Determine the distance the particle is from the origin 2
sec after being released from rest.

5
▪ The 6-lb particle is subjected to the action of its weight and forces F1=(2i+6j-2tk) lb, F2=(t2i-4tj-1k)
lb, and F3=-2ti-6k lb, where t is in seconds. Determine the distance the particle is from the origin 2
sec after being released from rest.

6
▪ The 6-lb particle is subjected to the action of its weight and forces F1=(2i+6j-2tk) lb, F2=(t2i-4tj-1k)
lb, and F3=-2ti-6k lb, where t is in seconds. Determine the distance the particle is from the origin 2
sec after being released from rest.

7
▪ A baggage truck weighs 900 lb and tows a 550-lb cart and a 325 lb cart. If the truck accelerates at a
rate of 2.5 ft/sec2,
▪ What force must be applied by the truck engine to maintain its acceleration?

8
▪ The 100-kg block A is released from rest. If the masses of the pulleys and the cord are neglected,
▪ Determine the accelerations of the blocks A and B.

9
▪ If a moving particle contacts a rough surface it is important that we need to incorporate the frictional
forces in the equation.
▪ The friction force acting on a moving particle is directly proportional to the normal force exerted on
the particle.
R R
F F
Ff Ff 𝐹𝑓 𝛼 𝑅 𝐹𝑓 = 𝜇𝑅
Block at rest FBD for FBD for Friction coefficient <1
the block the surface
▪ Friction forces can act on surfaces when at rest as well as when they are in motion.

Case 1: If the particle at rest Case 2: If the particle is in motion

F The friction coefficient F The friction coefficient
Ff is termed as static
friction coefficient μs
Ff is termed as kinetic
friction coefficient μk
𝜇𝑠 > 𝜇𝑘
10
F<Ff F>Ff
▪ A conveyor belt is designed to transport packages of various weights. Each 10-kg package has a
friction coefficient μk=0.15. If the speed of the conveyor is 5 m/s and then suddenly stops, determine
the distance the package will slide on the belt before coming to rest.

11
▪ The 50-kg crate is pulled using a rope as shown. If μk =0.15,
▪ Determine the velocity of the crate in 3 sec starting from rest.

F=400 N

50 kg 30⁰

R F=400 N

50 kg 30⁰

μR
50x9.81
=490.5 N

12
▪ A 20-lb weight is on an inclined plane. If the friction between the plane and the weight is 0.25,
▪ Determine the angle at which the weight starts to slide down the plane.

R
F=μR
෍ 𝐹 = 𝑚𝑎 ෍ 𝐹 = 𝑚𝑎

𝑅 − 𝑚𝑔𝑐𝑜𝑠 ϕ = 𝑚(0) 𝑚𝑔𝑠𝑖𝑛 ϕ − μ𝑅 = 𝑚(0)

ϕ
ϕ ϕ The acceleration is still zero
𝑅 = 𝑚𝑔𝑐𝑜𝑠 ϕ on the verge of its motion

mg
𝑚𝑔𝑠𝑖𝑛 ϕ − μ(𝑚𝑔𝑐𝑜𝑠(ϕ))=0

The angle at which a weight starts to move is called the friction angle, ϕ tan ϕ = μ

tan ϕ = 0.25

ϕ = tan−1 (0.25)

ϕ = 14.03⁰ 13
▪ Blocks A, B, and C weigh 50 N, 80 N, and 100 N respectively. Coefficient of friction on all the surfaces
is 0.3. What is the maximum force F that can be applied to Block B without disturbing the
equilibrium.

A
F
B

14
▪ A 3 kg disk is attached to the end of the cord as shown. The other end is attached to the center of the
rotating platform. If the platform rotates rapidly,
▪ Determine the time it takes to break the cord. (Maximum tension on the cord is 100 N and the friction
coefficient =0.1)

1m Platform
rotates

15
▪ Spring related problems

▪ If a particle is connected to an elastic spring having negligible mass, the spring force Fs can be
related to the deformation of the spring by the equation Fs=ks
▪ Where k is the spring constant known as the spring stiffness.
▪ And s is the stretch or compression defined as the difference in length before and after the force is applied.

Undeformed spring
𝐹 = 𝑘𝑠
F = Force (N or lb)
Δx=s k =Spring stiffness (N/m or lb/ft)
Spring under compression s =Length difference between the
deformed and undeformed spring

Spring under tension

16
Δx=s
▪ A smooth 2 kg collar is attached to a spring which has a stiffness of 3 N/m. The undeformed length of
the spring is 0.75 m. If the collar released from the rest
▪ Determine the acceleration and the normal force of the rod on the collar at the instant y=1 m.

17
 DUE ON 09/24/2020 @6 AM
▪ Problem 1

▪ If the force F=150 N is applied on the cable, determine the velocity of the block A which has a 50 kg
weight when it has moved 3 m, starting from the rest.

▪ Problem 2

▪ Block A (10 kg) rests on B (50 kg) as shown. Determine the time needed for A to slide 0.5 m on the
plate (consider that length of B is larger than 0.5 m).

18
 DUE ON 09/24/2020 @6 AM
▪ Problem 3

▪ 2-lb collar C fits loosely on the smooth shaft. When the spring is unstretched, the displacement s = 0.
If the collar is given a sudden velocity v=15 ft/sec, determine the velocity of the collar when s=1 ft.

19
Prob\e..m I

l~ ON ,

ooc - T =--
.•, T : : . 8oc:, N .

0·5 = sax Cl.J

 R- 8 · t u,s 3o.
g =- 8 .s t--\. •
Ii
t
•'•
,
loxq,&lN ', I0 .0il!". . - -j
- - - -1---- - - - ~ - - -__f_.::....L..!:=-t---J~L:.L----;scif,~n~3 CJ- (
8·\.,:T'='- o
= Co a.,"lf
(:; - T . -:

- -L ---1~ - - .rt"f:::-- - - - - ' - - - -~ - ~ ~ t~

S\ n 3 0 - R -T -
17 .2-~ -~ ::: S-OGL.
,

•
,. ..
..• .SA=- - .B
(, b - T -T

830 - .ST ::: T-17 .2_s-

-·· T 8- ·.S N .

fuVY) 2

177, 2 , = Sc:J

ls w be.. 0·5
)
• \
 MECH 236 – Engineering Mechanics
Dynamics

Kinetics of Particles Part – 2

Instructor: Anuruddha Jayasuriya, Ph.D.

New Jersey Institute of Technology
FALL 2020
▪ Course Material For Week 4

▪ Cylindrical Components

▪ Cartesian/Polar Coordinate System

▪ Equations of Motions Using Cylindrical Components

▪ Homework Assignments

2
▪ Cylindrical components are often used to describe the motion of a particle from a fixed
location (i.e., origin).
▪ The representation of the cylindrical components on a polar coordinate system has the same
concept as the rectangular components on a cartesian coordinate system.

f(x,y,z) f(r,θ,z)u
Z-axis uz = k Z-axis z uθ

uy= j ur

ux =i
z z
Y-axis Y-axis
θ
y=r sinθ
y
X-axis X-axis

Important:
𝑅𝑒𝑐𝑡𝑎𝑛𝑔𝑢𝑙𝑎𝑟(𝑥, 𝑦, 𝑧) 𝐶𝑦𝑙𝑖𝑛𝑑𝑟𝑖𝑐𝑎𝑙(𝑟, 𝜃, 𝑧) • θ is measured off the
positive x-axis
• r is the projected
Position of a particle on a Position of a particle on a length at a particular
3
Cartesian Coordinate System Polar Coordinate System position of interest
 ▪ Position of the particle in cylindrical components:
f(r,θ,z)u ▪ 𝑟𝑝 = 𝑟𝒖𝒓 + 𝑟𝜃 𝒖𝜽 + 𝑧𝒖𝒛
Z-axis z uθ

▪ Velocity of the particle in cylindrical components:

ur
z ▪ 𝑣 = 𝑣𝑟 𝒖𝒓 + 𝑣𝜃 𝒖𝜽 + 𝑣𝑧 𝒖𝒛
Y-axis
Where:
θ
𝑣𝑟 = 𝒓ሶ
𝑣𝜃 = 𝒓𝜽ሶ 𝜽ሶ is known as the
y=r sinθ
𝑣𝑧 = 𝒛ሶ angular velocity
X-axis
Refer Textbook for mathematical derivation
𝑑𝑟 𝑑𝑣
𝑣= 𝑎=
𝑑𝑡 𝑑𝑡 ▪ Acceleration of the particle in cylindrical components:
▪ 𝑎 = 𝑎 𝑟 𝒖𝒓 + 𝑎 𝜃 𝒖𝜽 + 𝑎 𝑧 𝒖𝒛
Where:
𝑎𝑟 = 𝒓ሷ − 𝒓𝜽𝟐ሶ
𝑎𝜃 = 𝒓θሷ + 𝟐𝒓ሶ 𝜽ሶ 𝜽ሷ is known as the
𝑎𝑧 = 𝒛ሷ angular acceleration

Refer Textbook for mathematical derivation 4

▪ A ball is being pushed by a rod to move along the slot. It starts from θ = 0⁰. If the rod moves at
angular speed 𝜽ሶ = 0.8 rad/sec,
▪ determine the velocity at θ=30⁰ 𝒖𝒓

𝒖𝜽
r

5
▪ A block moves outward along the slot with a speed of 4t m/s where t is in seconds. The platform
rotates at a constant rate of 6 rad/s. If the block starts from rest at the center,
▪ determine the magnitude of its velocity and acceleration at t=1 sec.

6
▪ Pin P is constrained to move along the curve defined by r=4sin2θ ft. If the arm OA rotates
counterclockwise with a constant angular velocity of 1.5 rad/sec,
▪ Determine the magnitudes of the velocity and acceleration of the pin when the angle rotates at 60⁰

7
▪ Pin P is constrained to move along the curve defined by r=4sin2θ ft. If the arm OA rotates
counterclockwise with a constant angular velocity of 1.5 rad/sec,
▪ Determine the magnitudes of the velocity and acceleration of the pin when the angle rotates at 60⁰

8
▪ As we discussed already, and unbalanced force “F” contributes a particle’s or rigid body’s motion
at an acceleration “a” in the direction of the motion.
▪ In cylindrical coordinate system, a particle may have accelerations in 3 directions
▪ In the ar direction
▪ In the aθ direction
▪ In the az direction

▪ Therefore, the equation of motion can be represented by as follows:

෍ 𝐹റ = 𝑚𝑎റ

෍ 𝐹𝑟 𝒖𝒓 + ෍ 𝐹θ 𝒖θ + ෍ 𝐹𝑧 𝒖𝒛 = 𝑚 𝑎𝑟 𝒖𝒓 + 𝑎𝜃 𝒖θ + 𝑎𝑧 𝒖𝒛

9
▪ Tangential and normal forces on a system that has an unbalanced force needs to be accounted.

▪ At any point along the path of curved motion, a tangential and a normal force will be exerted
which will be referenced with respect the direction of “r” (radial direction).

• N is the normal force exerted on the particle • The direction of the forces N and F can be
• F is the frictional force that might be accounted specified relative to the radial coordinate by the
on a particle if the surface is not smooth angle 𝜓 (pronounced as “psi”)
𝑟
• P is the unbalanced force • Where 𝜓 = tan−1 Note: always take
𝑑𝑟/𝑑𝑡
counterclockwise angle as positive.

10
▪ A smooth 0.5 kg double collar can move along the circular guide. If the arm rotates with a constant
angular velocity of 3 rad/sec,
▪ Determine the force the arm exerts on the collar when the angle rotates 45⁰ (Note: Consider the motion
occurs in the horizontal plane)

11
▪ A smooth 0.5 kg double collar can move along the circular guide. If the arm rotates with a constant
angular velocity of 3 rad/sec,
▪ Determine the force the arm exerts on the collar when the angle rotates 45⁰ (Note: Consider the motion
occurs in the horizontal plane)

12
▪ A smooth 0.5 kg double collar can move along the circular guide. If the arm rotates with a constant
angular velocity of 3 rad/sec,
▪ Determine the force the arm exerts on the collar when the angle rotates 45⁰ (Note: Consider the motion
occurs in the horizontal plane)

13
▪ A tin can with a mass of 0.5 kg moves along the slot as shown. The slot is defined by r=0.1θ m
where θ is in radians. The arm rotates on a horizontal plane, at a constant angular velocity of 4
rad/sec,
▪ Determine the force exerted on the can when θ=180⁰.

14
▪ A tin can with a mass of 0.5 kg moves along the slot as shown. The slot is defined by r=0.1θ m
where θ is in radians. The arm rotates on a horizontal plane, at a constant angular velocity of 4
rad/sec,
▪ Determine the force exerted on the can when θ=180⁰.

15
▪ A tin can with a mass of 0.5 kg moves along the slot as shown. The slot is defined by r=0.1θ m
where θ is in radians. The arm rotates on a horizontal plane, at a constant angular velocity of 4
rad/sec,
▪ Determine the force exerted on the can when θ=180⁰.

16
 DUE ON 10/01/2020 @6 AM
▪ Problem 1

▪ 2-lb collar C fits loosely on the smooth shaft. When the

spring is unstretched, the displacement s = 0. If the collar
is given a sudden velocity v=15 ft/sec, determine the
velocity of the collar when s=1 ft.

▪ Problem 2

▪ OA holds a cylindrical weight of 10-lb at B. OA rotates at 1.5

rad/sec as shown. Determine the forces exerted on the
cylinder B. And determine the total force on the cylinder when
θ=30⁰

17
 MECH 236 – Engineering Mechanics
Dynamics

Work and Energy

Instructor: Anuruddha Jayasuriya, Ph.D.

New Jersey Institute of Technology
FALL 2020
▪ Course Material For Week 5

▪ The work of a force

▪ Principle of work and energy for a system of particles

▪ Conservation of energy

▪ Homework Assignments

2
▪ A force F will do work on a particle only when the particle undergoes a displacement in the
direction of the force.
▪ Work is defined as the product of force and
displacement components acting in the same
direction. So, if the angle between the force and
displacement vector is q, the increment of work
dU done by the force is,

dU = F ds cos q
s2
If both F and q are constant (F = Fc),
U1-2 =
 F cos q ds this equation further simplifies to
U1-2 = Fc cos q (s2 - s1)
s1

▪ Work is positive if the force and the movement are in the same direction. If they are opposing,
then the work is negative. If the force and the displacement directions are perpendicular,
the work is zero.
3
▪ A block is subjected to three forces. Determine the work done by each force such that the
block undergoes a displacement of 10 ft as shown below.
F2=10 lb
F3=2 lb
F1=5 lb
30⁰

1 2
10 ft

Important:
• Work is positive if the force and movement
are in the same direction.
• If they are opposing, then the work is
negative.
• If the force and displacement directions are
perpendicular, the word done is zero

4
▪ The work done by the gravitational force acting on a particle (or weight of an object) can be
calculated by using

y2

U1-2 =  - W dy
y1
U1-2 = - W (y2 − y1) = - W Dy

▪ The work of a weight is the product of the magnitude of the particle’s weight and its vertical
displacement. If Dy is upward, the work is negative since the weight force always acts downward.

5
▪ When stretched, a linear elastic spring develops a force of magnitude Fs = ks, where k is the spring
stiffness and s is the displacement from the unstretched position.

The work of the spring force moving from position s1 to

position s2 is
s2 s2


U1-2 = Fs ds
s1

= k s ds =
1
2
1
k (s2)2 – 2 k (s1)2
s1

▪ If a particle is attached to the spring, the force Fs exerted on the particle is opposite to that
exerted on the spring. Therefore, the work done on the particle by the spring force will be
negative or can be denoted as follows:

1 1
U1-2 = – [ k (s2)2 – k (s1)2 ]
2 2

6
▪ The 10-kg block shown below rests on the smooth incline. If the spring is originally stretched 0.5 m,
▪ determine the total work done by all the forces acting on the block when a horizontal force P =400 N pushes
the block up the plane. (Use the spring stiffness as 30 N/m)

Work done by the normal force = 0 (because no

displacement in the direction of the normal force)
Total work done by the system = 692.8-98.1-90
2sin(30⁰)
= 504.7 J

7
▪ The principle of work energy is defined as follows:

𝐹 = 𝑚𝑎 𝐹. 𝑑𝑠 = 𝑚𝑣. 𝑑𝑣 1
𝑇1 + ෍ 𝑈1−2 = 𝑇2 Kinetic energy = 2 m v2
𝑑𝑣
𝐹 = 𝑚𝑣 න 𝐹. 𝑑𝑠 = න 𝑚𝑣. 𝑑𝑣
𝑑𝑠

▪ U1-2 is the work done by all the forces acting on the particle as it moves from point 1 to point 2.

▪ Work can be either a positive or negative scalar.

▪ T1 and T2 are the kinetic energies of the particle at the initial and final position, respectively. Thus,
1 1
T1 = m (v1)2 and T2 = m (v2)2. The kinetic energy is always a positive scalar (due to the
2 2
velocity is squared).
So, the particle’s initial kinetic energy plus the work done by all the forces acting on the particle as
it moves from its initial to final position is equal to the particle’s final kinetic energy.

The principle of work and energy can also be applied to a system of particles by summing the
kinetic energies of all particles in the system and the work due to all forces acting on the system.
8
▪ When objects move on rough surfaces, the work done by the friction forces need to be accounted in
addition to the work done by the forces associated with their displacements

Consider a block which is moving over a rough surface. If the

applied force P just balances the resultant frictional force k N, a
constant velocity v would be maintained.

The principle of work and energy would be applied as

𝑇1 + ෍ 𝑈1−2 = 𝑇2
1 1
m (v)2 + P s – (k N) s = m (v)2
2 2

P s = (k N) s

9
▪ When s = 0.6 m, the spring is not stretched or compressed, and the 10 kg block, which is subjected
to a force of 100 N, has a speed of 5 m/s down the smooth plane.
▪ Determine the distance s when the block stops.

- 0.6)

Work done

10
▪ 2lb brick slides down the smooth roof. Determine the speed at B, the distance d from the wall to
where the brick strikes the ground, and its speed at C.

C
C

11
▪ 2lb brick slides down the smooth roof. Determine the speed at B, the distance d from the wall to
where the brick strikes the ground, and its speed at C.

C
C

12
▪ Block A has a weight of 60 lb and block B has a weight of 40 lb. The friction coefficient is 0.1.
Determine the speed of the block A after block B moves 2 ft up the plane starting from rest.

1) The kinematic relationships can be determined by defining

position coordinates sA and sB, and then differentiating.
Since the cable length is constant:
2sA + sB = l (distance from the datum)

sA sB The change in length

2ΔA+ ΔB=0
When ΔB = -2 ft  ΔA = 1 ft
and 2vA + vB = 0 (time derivative of displacement)
 vB = -2vA

13
▪ Block A has a weight of 60 lb and block B has a weight of 40 lb. The friction coefficient is 0.1.
Determine the speed of the block A after block B moves 2 ft up the plane starting from rest.
WA
2T T WB
y
x
A kNA B
kNB
30
60 NB
NA

Fy = 0: NA – WA cos 60 = 0 NB = WB cos 30

NB = 34.6 lb
NA = 60 cos 60
Friction force Ff,B = 3.46 lb
NA = 30 lb
Friction force Ff,A= 3 lb
14
▪ Block A has a weight of 60 lb and block B has a weight of 40 lb. The friction coefficient is 0.1.
Determine the speed of the block A after block B moves 2 ft up the plane starting from rest.

Apply the principle of work and energy to the system (the blocks start from rest).
T1 + U1-2 = T2

1 1 1 1
[2 mA(vA1)2 + 2 mB(vB1)2] + [WA sin 60ΔA– 2T. ΔA – Ff,AΔA]+ [WB sin 30ΔB – T ΔB + Ff,BΔB] = [2 mA(vA2)2 + 2 mB(vB2)2]

1 60 1 40
[60 sin 60(1)– 2T. (1) – 3(1)]+ [40 sin 30(-2) – T (-2) + 3.46(-2)] = [2 32.2
(vA2)2 + 2 32.2
(vB2)2]

2.04 = [0.932(vA2)2 + 0.621(vB2)2]

2.04 = [0.932(vA2)2 + 0.621(-2vA2)2] vA2=0.77 ft/sec

▪ Note: The work done by the tension in the cable will be

cancelled due to the dependent motion characteristics.

15
▪ The conservation of energy is referred to the equation indicated below:

𝑇1 + 𝑉1 + (෍ 𝑈1→2 ) 𝑁𝑜𝑛−𝑐𝑜𝑛𝑠𝑒𝑟𝑣𝑎𝑡𝑖𝑣𝑒 = 𝑇2 + 𝑉2

▪ (σ 𝑈1→2 ) 𝑁𝑜𝑛−𝑐𝑜𝑛𝑠𝑒𝑟𝑣𝑎𝑡𝑖𝑣𝑒 is the work done by forces like friction, cable

tension, etc. These are not conservative.

▪ The conservative components are related to the work done by the

velocity (kinetic energy) and the weight (potential energy).

▪ Therefore, the conservation of energy is defined as follows:

▪ The total sum of the kinetic energy and the potential energy is
constant at any two instances of the motion

𝑇1 + 𝑉1 += 𝑇2 + 𝑉2

16
▪ An 8000 kg plane is hoisted by a crane as shown below. When the angle θ = 60⁰, the plane is
suddenly released from rest. Then the plane crashes down on the ground when θ = 15⁰
▪ Determine the maximum tension developed on the cable

17
 DUE ON 10/08/2020 @6 AM
▪ Problem 1
10 lb block is pressed against the spring so as to compress it 2 ft
when it is at A. If the plane is smooth, determine the distance d,
measured from the wall, to where the block strikes the ground.

▪ Problem 2
75 kg weight starts from rest at A. The speed of it is 6 m/s when
passing the point B. Determine the constant force F exerted on the
cable. The friction coefficient between the surfaces is 0.1.

▪ Problem 3
Determine the maximum distance A will drop before the motion is
momentarily stopped. See the figure for information.
15 lb
12 lb 18
15 lb
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