Ch11 - Part1B+Kinetics of Particle Newtons Law

Disclaimer
These lecture slides were prepared and used by me to conduct lectures for first-year B. Tech. Students as
part of the course ‘Engineering Mechanics’ (XEC 01) at the National Institute of Technology Durgapur.
Theories, problems, figures, and concepts used in the slides to fulfil the course requirements are primarily
taken from the following textbooks and PowerPoint slides available on the internet. The material is used
purely for educational purposes. Students are instructed to use it for their reading. Don’t distribute as the
presentation slides contain copyright materials. Despite my best efforts, some of the content may contain
errors. Students are requested to rectify when using the same, and I invite them to write to me about the
mistakes to ranajnkumar.mitra@me.nitdgp.ac.in. I thank the following authors for making their books and
lecture notes available for reference.
• Vector Mechanics for Engineer: Statics, 9th edition, Ferdinard P. Beer and E. Russell Johnston,
Jr., McGraw-Hill
• Vector Mechanics for Engineer: Statics, 10th edition, Ferdinard P. Beer and E. Russell Johnston,
Jr., McGraw-Hill
• Lecture notes on Engineering Mechanics: Statics, J. Walt Oler, Taxas Tech University, 9th edition,
McGraw-Hill Companies, Inc.
• Lecture notes on Engineering Mechanics: Statics, John Chen, California Polytechnic State
University, McGraw-Hill Companies, Inc.
Brief outline of the lecture
1. Introduction Equations of motion
Approaches to kinetics problems Sample problem 4
Sec. A: Force, Mass and Acceleration Sample problem 5
2. D’Alembert’s Principle and Dynamic Equilibrium Group problem Solving
Newton’s second law of motion Concept puestion
Newton’s 2nd law vs. D’Alembert’s principle 5. Kinetics: Radial and Transverse Coordinates
3. Kinetics: Rectangular Components Equations of potion
Sample problem 1 Sample problem 6
Sample problem 2 Group problem solving
Sample problem 3 Concept quiz
Concept quiz
4. Kinetics: Normal and Tangential Coordinates
12 - 3
1. Introduction
We must analyze all of the forces acting on the wheelchair

in order to design a good ramp
High swing velocities can result in
large forces on a swing chain or rope,
causing it to break.
12 - 4
1. Approaches to Kinetics Problems
Sec. A: Force, Mass Sec. B: Method of Sec. C: Method of

and Acceleration, work and energy impulse and momentum
Newton’s Second Law 𝑡2
റ = 𝑚𝑣റ2 − 𝑚𝑣റ1
න 𝐹𝑑𝑡
 F = ma G 𝑡1
Net force acting on a particle Net work done by the external Impulse of the net force acting on a
equals the rate of change forces acting on a particle equals particle over a period of time equals
momentum or the mass the change in kinetic energy by the change of momentum of the
times acceleration of the the particle. particle over the same period of
particles. time
2-5
Sec. A:
Force, Mass and
Acceleration,
Newton’s law
12 - 6
2. D’Alembert’s Principle and Dynamic Equilibrium
Newton’s Second Law of Motion
F = ma
• 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 frame of reference

(inertial frame of reference), i.e., one that is either at rest or
moving with constant velocity.
• Thus, an inertial frame of reference has no acceleration or rotation.
• This form of the equation is for a constant mass system
12 - 7
• D’Alembert’s Principle extends the

principle of virtual work to include
dynamics problems.
• Inertial force which is a fictitious force
may be conceptually useful but are not
like the contact and gravitational forces
found in statics.
• For a single particle the inertia force is
ma.
• Virtual work done on the particle is
𝛿𝑈 = 𝑭 − 𝑚𝒂 . 𝛿𝒓 = 0, 𝑭 − 𝑚𝒂 = 0
Sir Isaac Newton (1642–1726) Jean le Rond d'Alembert (1717-783)
𝑭 = 𝑚𝒂 𝑭 − 𝑚𝒂 = 0
• This of course yields the expression which is given directly by Newton’s laws. However, for more
complex systems, some advantages can be claimed. 12 - 8
Newton’s 2nd Law Vs. D’Alembert’s Principle
• Inertial frame is the frame of reference which is either at rest or moving with constant velocity.
• Newton considered his work in an inertial frame but if a frame is moving with an acceleration,
how static force equation will be applied (considering inertia) that has been explained by
D'alembart’s principle.
• Newton’s 2nd Law is applicable when the frame of reference is inertial frame.
• On the other hand, D’Alembert’s Principle is applicable when the frame of reference is non-
inertial, i. e. accelerating.
• So, in short both the principle say same things, but the difference is in their place of application,
one is applied in inertial frame of reference and other is applicable in non-inertial frame of
reference.
12 - 9
3. Kinetics: Rectangular Components
• Newton’s second law ෍ 𝐹Ԧ = 𝑚𝑎Ԧ
In terms of Cartesian coordinates:
( ) ( )
     
Fx i + Fy j + Fz k = m a x i + a y j + a z k
• Scalar component are

෍ 𝐹𝑥 = 𝑚𝑎𝑥 , ෍ 𝐹𝑦 = 𝑚𝑎𝑦 , ෍ 𝐹𝑧 = 𝑚𝑎𝑧
OR
෍ 𝐹𝑥 = 𝑚𝑥,ሷ ෍ 𝐹𝑦 = 𝑚𝑦,ሷ ෍ 𝐹𝑧 = 𝑚𝑧ሷ
12 - 10
3. Kinetics: Rectangular Components, Example 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.
An 80-kg block rests on a horizontal plane.

Find the magnitude of the force P required
to give the block an acceleration of 2.5
m/s2 to the right. The coefficient of kinetic
friction between the block and plane is mk
= 0.25.
12 - 11
SOLUTION:
• Resolve the equation of motion for the block into two
rectangular component equations.
 Fx = ma :
y (
P cos30° - 0.25N = (80 kg) 0.25 m/s2 )
O = 200 N
x
 Fy = 0 :
m = 80 kg
N - Psin30°- 785N = 0
F = mk N
• Unknowns consist of the applied force P and the normal
= 0.25 N reaction N from the plane. The two equations may be solved
for these unknowns.
N = Psin30° + 785 N
P cos30° - 0.25 ( Psin30° + 785 N ) = 200 N
P = 535 N
12 - 12
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12 - 20
helpful hint: Note the ‘+’ directions of SA and SB 12 - 21

helpful hint: The direction of 𝑆𝐴ሷ and 𝑆𝐵ሷ are same as the displacements SA and SB.
This indicates that when the block A is moving down along the incline, block B is
moving vertically downward and vice-versa. It is the opposite of our physical
sense. But rely on math. One of the acceleration will come out negative.
12 - 22
12 - 23
12 - 24
12 - 25
12 - 26
How to shove by Newton's law?
12 - 27
12 - 28
12 - 29
4. Kinetics: Practice Problems, Home Task
Home Task 1
A slider B of mass 1 kg is released from
rest and travels down an incline a
distance of 2 m before striking a spring S
of stiffness 100N/m. The coefficient of
friction between the slider and the plane
is 0.1. Determine the maximum
deflection of the spring.
Home Task 2
A light rope, passing over a light pulley P,
connects the sliding collar C, mass 2 kg,
to the spring of stiffness 50N/m. The
collar is released from rest in the position
shown, the tension in the spring being 20
N in this position. Find the speed of the
collar when it has travelled 40mm down
the inclined rod. Neglect friction.
12 - 30
Home Task 3
The package starts from rest and slides
down the smooth ramp. The hydraulic device B exerts a
constant 2000-N force and brings the package to rest in a
distance of 100 mm from the point where it makes contact.
What is the mass of the package?
Answer m=19.4 kg
Home Task 4
The 1360-kg car travels along a
straight road of increasing grade
whose vertical profile is given by the
equation shown. The magnitude of the
car’s velocity is a constant 100 km/h.
When x = 200 m, what are the x and y
components of the total force acting on
the car (including its weight)?
Answer: Fx = −73.4 N, Fy = 612 N 12 - 31
Home Task 5
If mA= 10 kg, mB= 40 kg, and the coefficient of kinetic
friction between all surfaces is µk = 0.11, what is the
acceleration of B down the inclined surface?
Answer: aB = 0.593 m/s2
12 - 32
Aircraft and roller coasters can both experience large normal forces during turns.
12 - 33
Equations of Motion
 
• Newton’s second law  F = ma
• For tangential and normal components, F n = man
 F t = mat F =m
v2
dv
n

 t
F = m
dt
12 - 34
Example: Suppose you are designing a Solution:
rollercoaster track that will take the cars
through a vertical loop of 12m radius. If you
decide that, for safety, the downward force
exerted on a passenger by his seat at the top of
the loop should be at least one-half the
passenger’s weight, what is the minimum safe
velocity of the cars at the top of the loop?
What about at?
12 - 35
Example: The device shown in the figure can be used
to determine the coefficient of static friction between
two materials. During experiment the disk is rotated
from rest with a constant angular acceleration of 0.4
rad/s2. It is seen that the sample B slips the disk after
10.4 s. What is the coefficient of friction?
12 - 36
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Example: A car is
traveling at a speed of
20 m/s through the
bottom of a
depression. The
coefficient of kinetic
friction between the
tires and the road is
µk = 0.75. The
instantaneous radius
of curvature of the
path is 180 m. If the
driver applies the
brakes, what is the
resulting deceleration
of the car in the
direction tangential to
its path?
12 - 39
12 - 40
Example:
Determine the rated speed in km/h of cars
running over a highway curve of radius R=25 m
banked through an angle q = 20o. The rated
speed of a banked highway curve is the speed at
which a car should travel if no lateral friction
force is to be exerted at its wheels.
Explain how the friction force between the tires
and the road provides a factor of safety to the car.
12 - 41
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12 - 43
Home Task:
The 32,000-lb airplane is flying in the vertical
plane at 420 ft/s. At the instant shown the
angle θ = 30◦ and the cartesian components of
the plane’s acceleration are ax = −6 ft/s2 , ay =
30 ft/s2. What are the tangential and normal
components of the total force acting on the
airplane (including its weight)? (b) What is
dθ/dt in degrees per second?
Answer: Ft = 9740 lb, Fn = 28,800 lb, dθ/dt = 3.95 degree
12 - 44
5. Kinetics: Radial and Transverse Coordinates
Hydraulic actuators and extending robotic arms are often analyzed using radial and
transverse coordinates.
Source: https://dta.eu/hydraulics/hydraulic-
motors/part-turn-actuators
Source: https://howtorobot.com/expert-insight/articulated-robots
12 - 45
Equations of Motion
• Consider particle at r and q, in polar coordinates,
෍ 𝐹𝑟 = 𝑚𝑎𝑟 = 𝑚 𝑟ሷ − 𝑟𝜃ሶ 2
෍ 𝐹𝜃 = 𝑚𝑎𝜃 = 𝑚 𝑟𝜃ሷ + 2𝑟ሶ 𝜃ሶ
12 - 46
Example
The robot is programmed so that the 1 kg part A describes the path
r = 1.2 − 0.6 cos(2πt) m, θ = 0.2 − 0.5 sin(2πt) rad. Determine the
radial and transverse components of the force exerted on A by the
robot’s jaws at t = 2 s.
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Thank you!

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We must analyze all of the forces acting on the wheelchair

Sec. A: Force, Mass Sec. B: Method of Sec. C: Method of

• Must be expressed with respect to a Newtonian frame of reference

• Thus, an inertial frame of reference has no acceleration or rotation.

• This form of the equation is for a constant mass system

• D’Alembert’s Principle extends the

• Newton’s second law ෍ 𝐹Ԧ = 𝑚𝑎Ԧ

In terms of Cartesian coordinates:

• Scalar component are

• Unknowns consist of the applied force P and the

An 80-kg block rests on a horizontal plane.

helpful hint: Note the ‘+’ directions of SA and SB 12 - 21

How to shove by Newton's law?

• For tangential and normal components, F n = man

What about at?

Answer: Ft = 9740 lb, Fn = 28,800 lb, dθ/dt = 3.95 degree

෍ 𝐹𝜃 = 𝑚𝑎𝜃 = 𝑚 𝑟𝜃ሷ + 2𝑟ሶ 𝜃ሶ

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