Work and Energy

Engineering Mechanics II
(Dynamics) Chapter 3
 Work and Energy
Work:-
Work is said to be done when a force acts on
an object and the object is displaced in the
direction of force.
The work done on an object is the product of
the force applied and the displacement.
Work done = Force* displacement
𝑤 =𝐹∗𝑠
The unit of work is joule (J)
Work is a scalar quantity .
 Sign convention of work
 The work done by a force may be positive or negative.
 The work done by a force is positive if the force and
displacement are in the same direction.
 The work done by a force is negative if the force and
displacement are in opposite directions.
 The work done by a force is zero if there is no
displacement.
 The work done by a force is zero if the force is
perpendicular to the displacement.
e.g. When we lift an object moves upward in the direction of
force. Here the work done is positive. But there is the force of
gravity acting downward on the object. The work done by the
force of gravity is negative.
Physicist’s definition of “work”

dist∥

dist

Work = F x dist∥
Atlas holds up the Earth
But he doesn’t move,
dist∥ = 0

Work= Fx dist∥ = 0

He doesn’t do any work!

Garcon does work when
he picks up the tray

but not while he

carries it around
the room

dist is not zero,

but dist∥ is 0
 Definition of work
 We now develop the quantitative meaning of the term “ work”
in fig. below shows a force acting on a particle at A. which
moves along the path shown.
 The position vector r measured from some convenient origin
“o” locates the particle as it passes point A and dr is the
differential displacement associated with an infinitesimal
movement from A to A’.
 The work done by the force F during the displacement dr is
defined as
𝑑𝑈 = 𝐹. 𝑑𝑟
 The magnitude of this dot product is dU=Fdscos𝛼, where 𝛼 is
the angle between F and dr and where ds is the magnitude of
dr.
 This expression may be interpreted as the displacement
multiplied by the force component 𝐹𝑡 =𝐹𝑐𝑜𝑠𝛼 in the direction
of the displacement, as represented by the dashed lines in fig.
3/2b.
 Alternatively, the work dU may be interpreted as the force
multiplied by the displacement component dscos 𝛼 in the
direction of the force, as represented by the full lines in fig.
3/2b.
 With this definition of work, it should be noted that the
component 𝐹𝑛 =𝐹𝑠𝑖𝑛𝛼 normal to the displacement does no
work. Thus the work dU may be written as
𝑑𝑈 = 𝐹𝑡 ds
 Forces which do work are termed active forces, constraint
forces which do no work are termed reactive forces.
 Calculation of Work
During a finite movement of the point of
application of a force, the force does an
amount of work equal to
2 2
𝑈 = න 𝐹. 𝑑𝑟 = න (𝐹𝑥 𝑑𝑥 + 𝐹𝑦 𝑑𝑦 + 𝐹𝑧 𝑑𝑧)
1 1
𝑠2
𝑈= ‫ 𝑡𝐹 𝑠׬‬ds
1
 Work associated with a constant External Force
 Consider the constant force P applied to the body as it moves
from position 1 to position 2. fig3/4 with the force p and the
differential displacement dr written as vectors, the work done
on the body by force is .

2 2
𝑈1−2 = න 𝐹. 𝑑𝑟 = න 𝑃𝑐𝑜𝑠𝛼 𝑖 + 𝑃𝑠𝑖𝑛𝛼 𝑗 . 𝑑𝑥𝑖
1 1

𝑥2
𝑈1−2 = න 𝑃𝑐𝑜𝑠𝛼𝑑𝑥 = 𝑃𝑐𝑜𝑠𝛼 𝑥2 − 𝑥1 = 𝑃𝐿𝑐𝑜𝑠𝛼
𝑥1
 Work Associated with a spring Force
 Consider the common linear spring of stiffness k
where the force required to stretch or compress the
spring is proportional to the deformation x as shown
in fig. 3/5a.
 We wish to determine the work done on the body by
the spring force as the body undergoes an arbitrary
displacement from an initial position x1 to a final
position x2.
 The force exerted by the spring on the body is F=-kxi,
as shown in fig.3/5b.
 from the definition of work, we have.
 2 2
𝑈1−2 = න 𝐹. 𝑑𝑟 = න −𝑘𝑥𝑖 . 𝑑𝑥𝑖
1 1
𝑥2 1
𝑈1−2 =-‫𝑥𝑑𝑥𝑘 𝑥׬‬ = k(𝑥1 2 − 𝑥2 2 )
1 2
 Work Associated with Weight
 case (a). g=constant
 If the altitude variation is sufficiently small so that the
acceleration of gravity g may be considered constant, the work
done by the weight mg of the body shown in fig. 3/6a as the
body displaced from an arbitrary altitude y1 to a final altitude
y2 is
2 2
𝑈1−2 = න 𝐹. 𝑑𝑟 = න −𝑚𝑔𝑗 . (𝑑𝑥𝑖 + 𝑑𝑦𝑗)
1 1
𝑦
𝑈1−2 =−𝑚𝑔 ‫ 𝑦׬‬2 𝑑𝑦 = −𝑚𝑔(𝑦2 − 𝑦1 )
1

 We see that horizontal movement does not

Contribute to this work.
 If the body rises then (y2-y1)>0 work is negative
 If the body falls, (y2-y1)<0 work is positive
Case (b) 𝑔 ≠ 𝑐𝑜𝑛𝑠𝑡𝑎𝑛𝑡
 If large changes in altitude occur, then the weight
(gravitational force) is no longer constant.
 We must therefore use the gravitational law and express the
𝐺𝑚𝑒 𝑚
weight as a variable force of magnitude 𝐹 = 2 , as
𝑟
indicated in fig. 3.6b. Using the radial coordinate shown in the
figure allows the work to be expressed as
2 2
𝐺𝑚𝑒 𝑚
𝑈1−2 = න 𝐹. 𝑑𝑟 = න − 2
𝑒𝑟 . 𝑑𝑟𝑒𝑟
1 1 𝑟
𝑟2 𝑑𝑟 1 1 2 1 1
𝑈1−2 =𝐺𝑚𝑒 𝑚 ‫ 𝑟׬‬2 =𝐺𝑚𝑒 𝑚( − )=𝑚𝑔𝑅 ( − )
1 𝑟 𝑟2 𝑟1 𝑟2 𝑟1
 Work and Curvilinear motion
 Consider the work done on a particle of mass m, fig 3/7.
moving along a curved path under the action of the force F,
which stands for the resultant σ 𝐹 of all forces acting on the
particle.
 The position of m is specified by the position vector r, and its
displacement along its path during the time dt is represented
by the change dr in its position vector.
 The work done by F during a finite movement of the particle
from point 1 to point 2 is
2
𝑈1−2 =‫׬‬1 𝐹. 𝑑𝑟
 When we substitute Newton’s second law F=ma , the
expression for the work of all forces becomes.
2 2
𝑈1−2 = න 𝐹. 𝑑𝑟 = න 𝑚𝑎. 𝑑𝑟
1 1
but 𝑎. 𝑑𝑟= 𝑎𝑡 𝑑𝑠 , where 𝑎𝑡 is the tangential
component of the acceleration of m.
In terms of the velocity V of the particle
𝑎𝑡 𝑑𝑠=vdv, thus the expression for the work of
becomes
2 𝑣2
𝑈1−2 = න 𝐹. 𝑑𝑟 = න 𝑚𝑣𝑑𝑣
1 𝑣1
1
𝑈1−2 = 𝑚(𝑣2 2 − 𝑣1 2 )
2
 Energy
The energy of an object is its capacity for
doing work.

The unit of energy is the same as work.

There are different forms of energy. Like heat

energy, light energy, electrical energy,
chemical energy, mechanical energy( potential
energy +Kinetic energy) etc.
 1. Kinetic Energy
 The kinetic energy of an object is the energy possessed by the
object due to its motion
 All moving objects possess kinetic energy.
Example;- a falling coconut, a speeding car, a flying aircraft,
flowing water, blowing wind, a running athlete. Etc. possess
kinetic energy.
 The kinetic energy of an object depends upon its speed.
 An object moving faster has more kinetic energy than an
object moving slower.
 Kinetic energy is always positive.
 The kinetic energy possessed by an object of mass m and
moving with uniform velocity v is
1
𝐸𝑘 = 𝑇 = 𝑚𝑣 2
2
 Why this definition?

Newton’s 2nd law: F=m a

Definition of work
+ a little calculus

Work= change in ½mv2

This scalar quantity is given
a special name: kinetic energy
Work = change in KE

This is called:

the Work-Energy Theorem

 Units again…

Kinetic Energy = ½mv2

m
kg 2
2

s
work = F x dist∥ same!
=1Joule
m
N m =kg 2 m
s
 2. Potential Energy
 the potential energy of an object is the energy
possessed by the object due to its position or shape.
 When an object is raised to a height, its energy
increases b/c work is done on it against gravity.
 The energy present in such an object is called
gravitational potential energy.
 If the object of mass m is raised to a height h from the
ground, the force required to raise the object is equal
to the weight of the object mg.
 Potential energy gained by the object.
𝐸𝑝 = 𝑚𝑔ℎ
 Work done by gravity
end

start
dist dist∥
change in
vertical height
W=mg
Work = F x dist∥
= -mg x change in height
= -change in mg h
 Gravitational Potential Energy

Workgrav = -change in mgh

This is called:
“Gravitational Potential
Energy” (or PEgrav)

change
Workgrav
in PE
= -change
grav = -Work
in PE
grav
grav
 Transformation of Energy
 The conversion of energy from one form into another form is called
transformation of energy.
 When energy is converted from one form into another the total energy
always remains the same.
Law of Conservation of Energy
 The law of conservation of energy states that energy can only be converted
from one form in to another, it can neither be created nor destroyed. The
total energy before and after the transformation remains the same.

 Eg. Let an object be allowed to fall freely from a height. At the start the
potential energy is more. As it falls down the potential energy changes in to
kinetic energy. The potential energy decreases and the kinetic energy
increases when the object is about to reach the ground the kinetic is the
largest and the potential is the least. But the sum of the potential and kinetic
energy is the same at all points.
 If gravity is the only force
doing work….
Work-energy theorem:

-change in mgh = change in ½ mv2

0 = change in mgh + change in ½ mv2

change in (mgh + ½ mv2) = 0

mgh + ½ mv2 = constant

 Conservation of energy

mgh + ½ mv2 = constant

Gravitational Kinetic energy
Potential energy

If gravity is the only force that does work:

PE + KE = constant

Energy is conserved
Free fall
(reminder) height

t = 0s 80m
V0 = 0

t = 1s 75m

V1 = 10m/s
60m
t = 2s
V2 = 20m/s

t = 3s 35m
V3 = 30m/s

t = 4s
0m
V4 = 40m/s
m=1kg free falls from 80m
t = 0s mgh ½ mv2 sum
V0 = 0 h0=80m 800J 0 800J
t = 1s
V1 = 10m/s; h1=75m 750J 50J 800J

t = 2s
V2 = 20m/s; h2=60m 600J 200J 800J

t = 3s
V3 = 30m/s; h3=35m 350J 450J 800J

t = 4s
V4 = 40m/s; h4=0 0 800J 800J
pendulum

W=mg

Two forces: T and W

T is always to the motion
┴
(& does no work)
 Pendulum conserves energy
E=mghmax
E=mghmax

hmax

E=1/2 m(vmax)2
 Principle of work and kinetic Energy
 The kinetic energy T of t he particle is defined as
1
𝑇 = 𝑚𝑣 2
2
 and is the total work which must be done on the particle to bring it from a
state of rest to a velocity V.

 Kinetic energy T is a scalar quantity with the units of N.m or joules (J) in
SI units and ft-lb in U.S. customary units.

 Kinetic energy is always positive, regardless of the direction of the

velocity. Equation 3/13 may be restated as

𝑈1−2 = 𝑇2 − 𝑇1 = ∆𝑇
 which is the work-energy equation for a particle.

 The equation states that the total work done by all

forces acting on a particle as it moves from point 1 to
point 2 equals the corresponding change in kinetic
energy of the particle.

 Although T is always positive, the change T may be

positive, negative, or zero.
 Advantages of the Work-Energy Method
 We now see from Eq. 3/15 that a major advantage of the method of work
and energy is that it avoids the necessity of computing the acceleration and
leads directly to the velocity changes as functions of the forces which do
work.
 Further, the work-energy equation involves only those forces which do
work and thus give rise to changes in the magnitude of the velocities.
 Another advantage of the work-energy method is that it enables us to
analyze a system of particles joined in the manner described without
dismembering the system.
 Application of the work-energy method requires isolation of the particle or
system under consideration.
 For a single particle you should draw a free-body diagram showing all
externally applied forces.
 For a system of particles rigidly connected without springs, draw an active
force diagram showing only those external forces which do work (active
forces) on the entire system.
 Work done by a spring
Relaxed
Position
F=0

x
F
I compress
the spring

(I do + work;
spring does
-work)
Work done by spring = - change in ½ kx2
 Spring Potential Energy

Workspring = -change in ½ kx2

This is the:
“Spring’s Potential
Energy” (or PEspring)

Workspring = -change in PEspring

change in PEspring = -
 If spring is the only force doing
work….
Work-energy theorem:

-change in ½ kx2 = change in ½ mv2

0 = change in ½ kx2 + change in ½ mv2

change in ( ½ kx2 + ½ mv2) = 0

½ kx2 + ½ mv2 = constant

 Conservation of energy
springs & gravity

mgh + ½ kx2 + ½ mv2 = constant

Gravitational spring Kinetic energy
potential energy potential energy

If elastic force & gravity are the only force doing work:
PEgrav + PEspring + KE = constant

Energy is conserved
 Two types of forces:

“Conservative” forces “Dissipative” forces

forces that do + & – work forces that only do – work

•Gravity •Friction

•Elastic (springs, etc) •Viscosity

•Electrical forces •….

•… -work  heat
-work  (no potential energy.)
change in PE
(-)Work done by frictionheat
 Thermal atomic motion
Air solid

Heat energy= KE and PE associated with

the random thermal motion of atoms
 Work-energy theorem
(all forces)
Workfric = change in (PE+KE)
Work done potential energy
dissipative Kinetic
From all
Forces energy
Conservative forces
(always -)

-Work
Work fric = =
fric
change in
-change in heat
heat energy
energy

-change in Heat Energy =

change in (PE+KE)
 Work – Energy Theorem
(all forces)
0 = change in Heat Energy +
change in (PE+KE)
0 = change in (Heat Energy+PE+KE)

Heat Energy + PE + KE = constant

Law of Conservation of Energy

Energy conversion while skiing
Potential energy

Potential energykinetic energy

Friction: energy gets

converted to heat
 Units again
Heat units:
1 calorie = heat energy required to raise the
temp of 1 gram of H2O by 1o C
Kg m2/s2

1 calorie= 4.18 Joules

 Food Calories
1 Calorie = 1000 calories = 1Kcalorie
The Calories you read on food labels

1 Calorie= 4.18x103 Joules

7 x 106 J

8 x 105 J 2 x 106 J
 Power
 The capacity of a machine is measured by the time rate at which
it can do work or deliver energy.

 The capacity of a machine is rated by its power, which is defined

as the time rate of doing work.

𝑑𝑈 𝑑𝑟
𝑃= =𝐹. =𝐹. 𝑣
𝑑𝑡 𝑑𝑡

 Power is clearly a scalar quantity, and in SI it has the units of

N.m/s = J/s.(watt(w))
 Power
amout of energy
Rate of using energy: Power = elapsed time

Joule
Units: 1 second = 1 Watt

A 100 W light bulb

consumes 100 J of
electrical energy each
second to produce light
 Other units

Over a full day, a work-horse can

have an average work output of
more than 750 Joules each second

1 Horsepower = 750 Watts

 Kilowatt hours
energy
Power = time  energy = power x time

 power unit x time unit = energy unit

Kilowatts hours
Elec companies use: x
(103 W) (3600 s)

1 kilowatt-hour = 1kW-hr

= 103 W x 3.6x103 s = 3.6x106 Ws

J

HECO charges us about 15 cents /kW-hr

 Efficiency
 The ratio of the work done by a machine to the work done on the machine
during the same time interval is called the mechanical efficiency 𝑒𝑚 of the
machine.
 This definition assumes that the machine operates uniformly so that there is
no accumulation or depletion of energy within it

𝑃𝑜𝑢𝑡𝑝𝑢𝑡
𝑒𝑚 =
𝑃𝑖𝑛𝑝𝑢𝑡

 In addition to energy loss by mechanical friction, there may also be

electrical and thermal energy loss, in which case, the electrical efficiency ee
and thermal efficiency et are also involved. The overall efficiency e in such
instances is
𝑒 = 𝑒𝑚 𝑒𝑡 𝑒𝑡
 Examples
1. The 50kg block at A is mounted on rollers so that it
moves along the fixed horizontal rail with negligible
friction under the action of the constant 300N force in
the cable. The block is released from rest at A, with the
spring to which it is attached extended an initial amount
x1=0.233m. The spring has a stiffness k=80N/m.
calculate the velocity v of the block as it reaches
position B.
2. The system is released from rest in the position
shown. The 15-kg cylinder falls through the hole in the
support, but the 15-kg collar (shown in section) is
removed from the cylinder as it hits the support.
Determine the distance s which the 50-kg block moves
up the incline. The coefficient of kinetic friction
between the block and the incline is 0.30, and the mass
of the pulley is negligible.
3. The ball is released from position A with a velocity
of 3 m/s and swings in a vertical plane. At the bottom
position, the cord strikes the fixed bar at B, and the ball
continues to swing in the dashed arc. Calculate the
velocity Vc of the ball as it passes position C.
4. The small slider of mass m is released from rest while in position A and

then slides along the vertical- plane track. The track is smooth from A to D and
rough (coefficient of kinetic friction µk) from point D on. Determine (a) the
normal force NB exerted by the track on the slider just after it passes point B,
(b) the normal force Nc exerted by the track on the slider as it passes the
bottom point c, and (c) the distance s traveled along the incline past point D
before the slider stops.
5. The light rod is pivoted at 0 and carries the 5- and 10-lb
particles. If the rod is released from rest at ɵ= 60° and swings in
the vertical plane, calculate (a) the velocity v of the 5-lb particle
just before it hits the spring in the dashed position and (b) the
maximum compression x of the spring. Assume that x is small so
that the position of the rod when the spring is compressed is
essentially horizontal.