The Work of a Force

• work is the amount of energy transferred to or from an object by a force applied

through a distance in the direction of the force. It is typically measured in joules (J) and
can be calculated using the following formula:
𝑑𝑈 = 𝐹𝑑𝑠 𝑐𝑜𝑠𝜃
𝑑𝑈 = 𝐹.Ԧ 𝑑 𝑠Ԧ

2
Ԧ 𝑑 𝑠Ԧ
𝑈1−2 = න 𝐹.
1
Work of a Constant Force
2 2
Ԧ 𝑑 𝑠Ԧ = 𝐹.
𝑈1−2 = න 𝐹. Ԧ න 𝑑 𝑠Ԧ
1 1
Ԧ 𝑠Ԧ2 − 𝑠Ԧ1
𝑈1−2 = 𝐹.
𝑈1−2 = 𝐹𝑥 𝑖Ƹ + 𝐹𝑦 𝑗Ƹ + 𝐹𝑧 𝑘෠ . 𝑥2 − 𝑥1 𝑖Ƹ + 𝑦2 − 𝑦1 𝑗Ƹ + 𝑧2 − 𝑧1 𝑘෠
𝑈1−2 = 𝐹𝑥 𝑥2 − 𝑥1 + 𝐹𝑦 𝑦2 − 𝑦1 + 𝐹𝑧 𝑧2 − 𝑧1
then the work done by F is a scalar quantity
Work of a Weight
2
Ԧ 𝑑 𝑠Ԧ
𝑈1−2 = න 𝐹.
1

𝐹Ԧ = −𝑚𝑔𝑗Ƹ
𝑈1−2 = −𝑚𝑔𝑗.Ƹ 𝑠Ԧ2 − 𝑠Ԧ1

𝑈1−2 = −𝑚𝑔𝑗.Ƹ 𝑥2 − 𝑥1 𝑖Ƹ + 𝑦2 − 𝑦1 𝑗Ƹ + 𝑧2 − 𝑧1 𝑘෠

𝑈1−2 = −𝑚𝑔 𝑦2 − 𝑦1
𝑈1−2 = 𝑚𝑔𝑦1 − 𝑚𝑔𝑦2
• If the work of a force is independent of the path and
depends only on the force’s initial and final positions on
the path, then we can classify this force as a
conservative force.
• Potential energy is a measure of the amount of work
that a conservative force can do on an object as it
undergoes a displacement
• Since the work done by the weight depends only on the
vertical displacement of the weight, so the weight is
conservative force and . The energy associated with this
work is referred to as Gravitational Potential Energy.
𝑉𝑔 = 𝑚𝑔𝑦
𝑈1−2 = 𝑚𝑔𝑦1 − 𝑚𝑔𝑦2
𝑈1−2 = 𝑉𝑔1 − 𝑉𝑔2
Work of a Spring Force
2
Ԧ 𝑑 𝑠Ԧ
𝑈1−2 = න 𝐹.
2 1 2
𝑈1−2 = න −𝐾𝑠𝑑𝑠 = −𝐾 න 𝑠𝑑𝑠
1 1
1
𝑈1−2 = − 𝐾 𝑠22 − 𝑠12
2
1 2 1 2
𝑈1−2 = 𝐾𝑠1 − 𝐾𝑠2
2 2
Since the work done by the spring force depends only
on the displacement, so the spring force is conservative
force and . The energy associated with this work is
referred to as Elastic Potential Energy.
1 2
𝑉𝑒 = 𝐾𝑠
2
Where 𝑠 = 𝑙𝑓 − 𝑙
 1 2 1 2
𝑈1−2 = 𝐾𝑠1 − 𝐾𝑠2
2 2
𝑈1−2 = 𝑉𝑒1 − 𝑉𝑒2
Potential Function. In the general case, if a particle is subjected to both
gravitational and elastic forces, the potential energy can be expressed as a
potential function, which is the algebraic sum
𝑉 = 𝑉𝑔 + 𝑉𝑒
Principle of Work and Energy
If the particle has a mass m and is subjected to a system of external forces represented
by the resultant F, then the equation of motion for the particle in the tangential
direction

෍ 𝐹𝑡 = 𝑚𝑎𝑡

𝑑𝑣 𝑑𝑣 𝑑𝑠 𝑑𝑣
Applying the kinematic equation 𝑎𝑡 = = =𝑣
𝑑𝑡 𝑑𝑠 𝑑𝑡 𝑑𝑠

𝑑𝑣
෍ 𝐹𝑡 = 𝑚𝑣
𝑑𝑠

෍ 𝐹𝑡 𝑑𝑠 = 𝑚𝑣𝑑𝑣

integrating both sides, assuming initially that the particle has a position 𝑠1 and a speed
𝑣1 , and later 𝑠2 , 𝑣2 , we have
 2 2
෍ න 𝐹𝑡 𝑑𝑠 = න 𝑚𝑣 𝑑𝑣
1 1

note that σ 𝐹𝑡 = σ 𝐹𝑐𝑜𝑠𝜃

2
1
෍ න 𝐹 𝑐𝑜𝑠𝜃 𝑑𝑠 = 𝑚 𝑣22 − 𝑣12
1 2
2
1
෍ න 𝐹. 𝑑𝑠 = 𝑚 𝑣22 − 𝑣12
1 2

1 1
෍ 𝑈1−2 = 𝑚𝑣2 − 𝑚𝑣12
2
2 2
This equation represents the principle of work and energy for the particle. The term on the left is
the sum of the work done by all the forces acting on the particle as the particle moves from point
1
1 to point 2. The two terms on the right side, which are of the form T = 𝑚𝑣 2 , define the
2
particle’s final and initial kinetic energy
 1 1
෍ 𝑈1−2 = 𝑚𝑣2 − 𝑚𝑣12
2
2 2

෍ 𝑈1−2 = 𝑇2 − 𝑇1

𝑇1 + ෍ 𝑈1−2 = 𝑇2

When a particle is acted upon by a system of both conservative and nonconservative

forces, the portion of the work done by the conservative forces can be written in terms of
the difference in their potential energies using

෍ 𝑈1−2 𝑐𝑜𝑛𝑠 = 𝑉1 − 𝑉2

the principle of work and energy can be written as

the principle of work and energy can be written as

𝑇1 + 𝑉1 + ෍ 𝑈1−2 𝑢𝑛𝑐𝑜𝑛𝑠 = 𝑇2 + 𝑉2

Here σ 𝑈1−2 𝑢𝑛𝑐𝑜𝑛𝑠 . represents the work of the nonconservative forces acting on
the particle. If only conservative forces do work then we have
𝑇1 + 𝑉1 = 𝑇2 + 𝑉2
This equation is referred to as the conservation of energy
Power and Efficiency
Power, P, is defined as the time rate of work done:
𝑑𝑈 𝐹. Ԧ 𝑑𝑟Ԧ
𝑃= = Ԧ 𝑣Ԧ
= 𝐹.
𝑑𝑡 𝑑𝑡
power is a scalar quantity
The basic units of power used in the SI and FPS systems are the watt (W) and
horsepower (hp), respectively. These units are defined a
𝑚
1𝑊 = 1𝑁.
𝑠
1ℎ𝑝 = 550𝐼𝑏. 𝑓𝑡/𝑠
For conversion between the two systems of units 1ℎ𝑝 = 746𝑊
Efficiency
𝑝𝑜𝑤𝑒𝑟 𝑜𝑢𝑡𝑝𝑢𝑡 𝑒𝑛𝑒𝑟𝑔𝑦 𝑜𝑢𝑡𝑝𝑢𝑡
𝜀= =
𝑝𝑜𝑤𝑒𝑟 𝑖𝑛𝑝𝑢𝑡 𝑒𝑛𝑒𝑟𝑔𝑦 𝑖𝑛𝑝𝑢𝑡
Planar Kinetics of a Rigid Body: Work and Energy
the principle of work and energy for a rigid body
𝑇1 + 𝑉1 + ෍ 𝑈1→2𝑢𝑛𝑐𝑜𝑛𝑠 = 𝑇2 + 𝑉2

Here σ 𝑈1→2𝑢𝑛𝑐𝑜𝑛𝑠 represents the work of the nonconservative forces such as

friction. If this term is zero, then
𝑇1 + 𝑉1 = 𝑇2 + 𝑉2
This equation is referred to as the conservation of mechanical energy
The Work of a Couple Moment
𝜃2
𝑈1→2 = න 𝑀𝑑𝜃
𝜃1
If the couple moment M has a constant magnitude, then
𝜃2
𝑈1→2 = න 𝑀𝑑𝜃 = 𝑀 𝜃2 − 𝜃1 = 𝑀∆𝜃
𝜃1
Potential Energy
𝑉 = 𝑉𝑒 + 𝑉𝑔
Gravitational Potential Energy
𝑉𝑔 = 𝑚𝑔𝑦𝐺

Elastic Potential Energy

1 2
𝑉𝑒 = 𝐾𝑠
2
Kinetic Energy
Translation
The body has translational kinetic energy so that
1
𝑇 = 𝑚 𝑣𝐺 2
2

Rotation about a Fixed Axis

The body has both translational and rotational kinetic energy so that
1 1
𝑇 = 𝑚 𝑣𝐺 + 𝐼𝐺 𝜔2
2
2 2
𝐼𝐺 represent the moment of inertia of the body about an axis
perpendicular to the plane of motion and passing through the body’s
center of mass G
Since 𝑣𝐺 = 𝜔𝑟𝐺
1 1
𝑇 = 𝑚 𝑣𝐺 + 𝐼𝐺 𝜔2
2
2 2
1 1
𝑇 = 𝑚 𝜔𝑟𝐺 + 𝐼𝐺 𝜔2
2
2 2
1
𝑇 = 𝑚 𝑟𝐺 2 + 𝐼𝐺 𝜔2
2
1
𝑇 = 𝐼𝑜 𝜔2
2 2
𝐼𝑜 = 𝑚 𝑟𝐺 + 𝐼𝐺
𝐼𝑜 is the moment of inertia of the body about an axis perpendicular to the
plane of motion and passing through point O
General Plane Motion
The body has both translational and rotational kinetic energy so
that
1 1
𝑇 = 𝑚 𝑣𝐺 + 𝐼𝐺 𝜔2
2
2 2
𝐼𝐺 represent the moment of inertia of the body about an axis
perpendicular to the plane of motion and passing through the
body’s center of mass G
This equation can also be expressed in terms of the body’s
motion about its instantaneous center of zero velocity
1
𝑇 = 𝐼𝑖𝑐 𝜔2
2 2
𝐼𝑖𝑐 = 𝑚 𝑟𝐺 + 𝐼𝐺
where 𝐼𝑖𝑐 is the moment of inertia of the body about its
instantaneous center.