Chapter 3

Force, Newton’s Laws of Motion

Newtonian Mechanics is based on the laws
presented by Isaac Newton (1642-1727).
However,
• at very large speeds (an appreciable fraction of the
speed of light c), Newtonian mechanics must be
replaced by Einstein’s special theory of relativity.
• if objects are very small (at atomic 10-10 m or nano
10-9 m scale), Newtonian mechanics must be
replaced by quantum mechanics.

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3.1 Forces
 Force is what causes a change of motion.
 There are contact force, which act on an object by direct
contact, such as pulling a rope, push a cart; and field force,
that acts on a distance. Examples include gravitational and
electrostatic forces.
 There are 4 fundamental forces in nature: gravitational,
electromagnetic, strong, and weak forces.
 Forces are vector quantities

2
 3.2 Newton’s Law
 Newton's First Law (law of inertia):
If an object does not interact with other
objects (no net force on it), it is
possible to identify a reference frame in
which the object has zero acceleration.
This is the inertial frame of reference.

• Alternatively, the law states that in the absence of external

forces and when viewed from an inertial reference frame, the
acceleration of the object is zero. So, the object at rest will
remain at rest, while the moving object will maintain its motion
at constant velocity. 3
 More on Inertial Frame of Reference

 An inertial reference frame is one in which Newton's laws

hold.
 An accelerating elevator is a non-inertial frame.
 A reference frame at rest or with constant velocity relative to
an inertial reference frame is another inertial frame.
 A reference frame moves at constant velocity relative to
distant stars is the best approximation of an inertial frame.
 For our general purpose, it is suffice to assume the Earth as
being an inertial reference frame.

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 Newton's Second Law:

The mass of a body is the property of the object

which characterizes its resistance to the change of
velocity.

5
In SI units, the force is
1 N = (1 kg) (1 m / s 2 ) = 1 kg ⋅ m / s 2
TABLE 5-1 Units in Newton's Law

System Force Mass Acceleration

SI newton (N) kilogram (kg) m/s2

CGSa dyne gram (g) cm/s2
Britishb pound (lb) slug ft/s2

a 1 dyne = 1 g·cm/s2.
b 1 lb = 1 slug·ft/s2.

6
  Newton’s Third Law:
When two bodies interact,
the forces on the bodies from
each other are always equal
in magnitude and opposite in
direction.
 
FBC = − FCB

 
FBC is the force on book from crate and FCB is the
force on crate from book.
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Free-body diagram
• In a coordinate system, we represent the body as a
dot, each force on the body is a vector arrow with its
tail on the body.
• A collection of two or more bodies is called a
system, and any force on the bodies in the system
from bodies outside the system is called an external
force. If the bodies are rigidly connected, then we
can treat the
 system as one composite body, and the
net force Fnet on it is the vector sum of all external
forces.

8
The most important step in
solving problems involving
Newton’s Laws is to draw
the free body diagram.
Representing the object as
a dot in the free body
diagram (Particle model).

 Be sure to include only

the forces acting on the
object of interest.
 Include any field forces
acting on the object.
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EXAMPLE 1.
In figures a to c, one or two forces act on a puck that moves over
frictionless ice and along an x axis, in one-dimensional motion.
 
The puck's mass is m = 0.20 kg. Forces F1 and F2 are directed
 axis and have magnitudes F1 = 4.0 N and F2 = 2.0 N.
along the
Force F3 is directed at angle θ = 30°and has magnitude F3 =
1.0 N. In each situation, what is the acceleration of the puck?

10
SOLUTION:


Fnet , x = ma x .
F1 4.0 N
ax = = = 20 m / s 2 .
m 0.20 kg
F1 − F 2 4.0 N − 2.0 N
ax = = = 10 m / s 2 .
m 0.20 kg
F3, x − F 2 F3 cos θ − F2
ax = =
m m
(1.0 N ) ( cos 30 ) − 2.0 N
= = −5.7 m / s 2
0.20 kg
11
EXAMPLE 2.
In the overhead view figure, a 2.0 kg cookie tin is accelerated at
2

3.0 m/s in the direction shown by a , over a frictionless
horizontal surface.The acceleration is caused by three horizontal

 are shown: F1 of
forces, only two of which
magnitude 10 N and F2 of magnitude 20 N.
What is the third force F3 in unit-vector
notation and as a magnitude and an angle?

Solution:    
F1 + F2 + F3 = ma ,
   
F3 = ma − F1 − F2 .

Along the x axis we have


F3, x = ma x − F1, x − F2, x
= m (a cos 50 ) − F1 cos (−150 ) − F2 cos 90
12
F3, x = (2.0 kg ) (3.0 m / s 2 ) cos 50  − (10 N) cos (− 150  )
− (20 N) cos 90 
= 12.5 N

F3, y = ma y − F1, y − F2, y

= m ( a sin 50 ) − F1 sin( − 150 ) − F2 sin 90
= (2.0 kg ) (3.0 m / s 2 ) sin 50 − ( 10 N) sin (− 150 )
− (20 N) sin 90
= −10.4 N

13

F3 = F3, x î + F3, y ĵ = (12.5 N) î − (10.4 N) ĵ

F3 = F3, x + F3, y = 16 N
2 2

−1
F3, y
θ = tan = − 40
F3, x

14
EXAMPLE 3. (Artwood’s machine)
A system of two objects suspended over a pulley by
flexible cable as shown in figure.

In real application, imagine

m1 is the elevator and m2 is
its counterweight. Assume a
massless, frictionless pulley,
the tension is the same on
both sides of the pulley.
Calculate the tension T and
the acceleration of elevator.

15
SOLUTION:

T − m1 g = m1am1 ,

T − m2 g = m2am2 = −m2am1 .
m2 − m1
⇒ am1 = g,
m2 + m1
What if
- The mass of both objects is the same?
- One of the masses is much larger than the other?

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EXAMPLE 4. Block on Wedge
Draw the free-body diagram for each object, Apply
Newton’s Laws to solve for the unknown(s).

Note, tension is the same for both

objects. Two objects are connected
and the acceleration is the same for
both.

The unknowns are T, a, and n.

17
3.3 Forces again - some particular forces
1. The Gravitational Force

Fg = mg
The magnitude of the gravitational force is mg, the
direction is pointed towards the center of the earth.

The weight W of a body is equal to the

gravitational force on the body.

18
Note: Mass and weight are two different
quantities.
• Weight is equal to the magnitude of the
gravitational force exerted on the object.
• Weight will vary with location.

Example:
wearth = 180 lb; wmoon ~ 30 lb
mearth = 2 kg; mmoon = 2 kg
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2. The normal force
When a body presses against
a surface, the surface (even a
seemingly rigid surface)
deforms and pushes on the
body with a normal force
that is normal (perpendicular)
to the surface.
The normal force always
self-adjusts to equal the
force pressing the body to
the surface.
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A Note About the Normal Force
The normal force is not
always equal to the
gravitational force of the
object.
For example, in this case
∑F y = n − Fg − F = 0
and=
n mg + F

It may also be less than Fg .

21
3. Frictional force

If we slide or attempt to slide a body over a surface, the motion

is resisted by a bonding between the body and  the surface. The
resistance is considered to be a single force f , called the
frictional force, or simply friction. This force is directed
along the surface, opposite the direction of the intended motion.
Sometimes, to simplify a situation, friction is assumed to be
negligible (the surface is frictionless).

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Friction is proportional to the normal force.
ƒs ≤ µs n and ƒk= µk n
• μ is the coefficient of friction
• These equations relate the magnitudes of the forces; they are
not vector equations. The direction of the frictional force is
opposite the direction of motion and parallel to the surfaces
in contact.
• For static friction, the equals sign is valid only at impeding
motion, the surfaces are on the verge of slipping (maximum
static friction).
• The coefficient of friction depends on the surfaces in contact, but
nearly independent of the area of contact.
• The force of static friction is generally greater than the force of
kinetic friction.
23
Static Friction
Static friction acts to keep the object from
moving.

As long as the object is not moving, ƒs = F

 
If F increases, so does ƒ s
If F decreases, so does ƒs

ƒs ≤ µs n
Remember, the equality holds when the
surfaces are on the verge of slipping.

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Kinetic Friction

The force of kinetic friction acts when the object is

in motion. ƒk = µk n
Although µk can vary with speed, we shall neglect
any such variations.

Some Coefficients of Friction 25

4. The tension force
The tension force pulls on a body.

The cord is often assumed to be

massless. We usually also
assume pulleys to be frictionless
and massless. A string has a
single tension force (magnitude).
The direction depends on the body on which this force acts upon.
The tension forces on two sides of a frictionless pulley are the
same in magnitude. (Caution: later when studying rotational
motion, we would relax this assumption).

26
EXAMPLE 5. Weight in a lift
In the figure, a passenger of
mass m = 72.2 kg stands on
a platform scale in an
elevator cab. We are
concerned with the scale
readings when the cab is
stationary, and when it is
moving up or down.
(a) Find a general solution
for the scale reading,
whatever the vertical motion
of the cab.

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SOLUTION:

N − mg = ma
N = m (g + a )
Positive direction for a is up

(b) What does the scale read if the cab is stationary or

moving upward at a constant 0.50 m/s?

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SOLUTION:

N = (72.2 kg) (9.8 m / s 2 + 0) = 708 N

 (c) What does the scale read if the cab accelerates upward at
3.20 m/s2 and downward at 3.20 m/s2?

 SOLUTION:
N = (72.2 kg) (9.8 m / s 2 + 3.20 m / s 2 )
= 939 N
N = (72.2 kg) (9.8 m / s 2 − 3.20 m / s 2 )
= 477 N
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(d) During the upward acceleration in part (c), what is the
magnitude Fnet of the net force on the passenger?

SOLUTION:

Fnet = N − Fg = 939 N − 708 N = 231 N

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EXAMPLE 6.
A block of mass m slides down on the frictionless inclined
surface of a wedge which is fixed on a scale. If the mass of
the wedge is also m, find the weight of the system recorded
by the scale.
m Slides down
Frictionless surface
Fixed wedge
m
θ

Scale

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SOLUTION:

Since the wedge is fixed on the scale, the block slides down
the wedge with an acceleration g sin θ. On the other hand, we
notice that there is no acceleration in the direction
perpendicular to the inclined plane, hence the normal reaction,
N given by the wedge to the block is mg cos θ. The same force
acts on the wedge by the block. As the scale measures the
reaction force R which is given by mg + N cosθ, that is
m Slides down

R = mg + mg cos θ 2 Frictionless
Fixed wedge
m surface
θ

Scale

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EXAMPLE 7.
A 7.96 kg block rests on a
plane inclined at 22° to the
horizontal, as shown in
figure. The coefficient of 22o

static friction is 0.25, while

the coefficient of kinetic friction is 0.15. (a) What is the
minimum force F, parallel to the plane, which can prevent
the block from slipping down the plane? (b) What is the
minimum force F that will start the block moving up the
plane? (c) What force F is required to move the block up the
plane at constant velocity?

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SOLUTION:

(a) When F is at its minimum, fs is directed up-hill and

assumes its maximum value: f s , max = µ s N = µ s mg cosθ
Thus for the block , mg sin θ − Fmin − µs mg cos θ =
0 , which gives

Fmin = mg (sin θ − µ s cosθ )

= (7.96 × 9.8)(sin 22° − 0.25 × cos 22°)
= 11.14 N

22o

34
(b) To start moving the block up the plane, we
must have F − mg sin θ − µ s mg cosθ ≥ 0 , which gives
the minimum value of F required:

Fmin = mg (sin θ + µ s cosθ )

= (7.96 × 9.8)(sin 22° + 0.25 × cos 22°)
= 47.3 N

22o
35
(c) In this case the block is already in motion, so we
should replace with in calculation the frictional force.
Thus F − mg sin θ − µ k mg cosθ = ma = 0 , which gives the value of F:

F = mg (sin θ + µ k cosθ ) = (7.96 × 9.8)(sin 22° + 0.15 × cos 22°)

= 40.1 N

22o

36
3.4 Force Polygon & Static
Equilibrium
 Objects in daily life have at least one force acting on them
(gravity).
If they are at rest, there must be other forces acting on them
as well so that the net force is zero. Such objects are said to
be in equilibrium under the action of these forces.


∑ Fi = 0
37
 Force Polygon refers to a closed polygon whose
sides taken in order represent in magnitude and
direction a system of forces in equilibrium.
Three-Force problem –
force triangle: when there are
three forces on a body, they
must be concurrent (inter-
sect at a common point) to be
in equilibrium (otherwise, it
will rotate. But be aware of
parallel forces).

38
EXAMPLE 8.
In the figure, a block B of mass M =
15.0 kg hangs by a cord from a knot
K, which hangs from a ceiling by
means of two other cords. The cords
have negligible mass, and the
magnitude of the gravitational force
on the knot is negligible compared to
the gravitational force on the block.
What are the tensions in the three
cords?

39
At a knot, the tensions are different. The tensions on
both sides of a frictionless pulley are the same.

SOLUTION: T3 − Mg = M (0) = 0
T3 = 147 N
  
At the knot, T1 + T2 + T3 = 0
− T1 cos 28 + T2 cos 47  + 0 = 0
T1 sin 28 + T2 sin 47  − 147 N = 0
T1 = 104 N and T2 = 134 N
The tensions are 104 N in cord 1, 134 N in cord 2, and 147
N in cord 3. 40
EXAMPLE 9.
Braced Frame
A weight force of 150kN hangs from the end of this beam.
The beam is supported by a strut.

Determine intersection point

We know: 1. the gravity force is vertical,
2. the strut force must be in line with joints.
Therefore we obtain the intersection of
these 2 forces, and hence the third force
must go through the same point. And we
know the angle of the 3rd force that goes
through the pin joint between the wall and
the beam. 41
The FBD
We know all three angles, but
there are 2 unknown magnitudes.

The Force Polygon

Start with the 150kN vertical force.
Now add an unknown length line at
124.939o. The last unknown length line at
141.857o must get back to the start point,
so draw it attached to the start. Now trim
these unknown length line together to give
the completed Force Triangle.
From Dimension to get Forces.

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