Kinetics of Particles

1
All figures taken from Vector Mechanics for Engineers: Dynamics, Beer
and Johnston, 2004
ENGR 214
Chapter 12
Kinetics of Particles:
Newtons Second Law
2
Newtons Second Law of Motion
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.
We must use a Newtonian frame of reference, i.e., one that is
not accelerating or rotating.
If no force acts on particle, particle will not accelerate, i.e., it will
remain stationary or continue on a straight line at constant
velocity.
F ma =
If particle is subjected to several forces:
F ma =
3
Linear Momentum of a Particle
( )
( )
dv
F ma m
dt
d d
mv L
dt dt
= =
= =
L mv = Linear momentum
F L =
Sum of forces = rate of change of linear momentum

0 F =
If
linear momentum is constant
Principle of conservation of linear momentum
4
Equations of Motion
Newtons second law a m F

Convenient to resolve into components:

( ) ( )
z m F y m F x m F
ma F ma F ma F
k a j a i a m k F j F i F
z y x
z z y y x x
z y x z y x

= = =
= = =
+ + = + +

For tangential and normal components:

2
t t n n
t n
F ma F ma
dv v
F m F m
dt
= =
= =

5
Dynamic Equilibrium
Alternate expression of Newtons law:
0 F ma =
If we include inertia vector, the system of

forces acting on particle is equivalent to
zero. The particle is said to be in
dynamic equilibrium.
Inertia vectors are often called inertia
forces as they measure the resistance
that particles offer to changes in
motion.
ma inertia vector
6
Sample Problem 12.2
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/s
2
to the right. The
coefficient of kinetic friction between the block and
plane is
k
= 0.25.
SOLUTION:
Draw a free body diagram
Apply Newtons law. Resolve
into rectangular components
7
Sample Problem 12.2
80 9.81 785
0.25
k
W mg N
F N N
= = =
= =
: ma F
x
=
( )( )
cos30 0.25 80 2.5
200
P N =
=
: 0 =
y
F
sin30 785 0 N P =
( )
sin30 785
cos30 0.25 sin30 785 200
N P
P P
= +
+ =
534.7 P N =
Pcos30
Psin30
Solve for P and N
1052.4 N N =
8
Sample Problem 12.3
The two blocks shown start from rest.
The horizontal plane and the pulley are
frictionless, and the pulley is assumed to
be of negligible mass. Determine the
acceleration of each block and the
tension in the cord.
9
Sample Problem 12.3
x A A
F m a =
( )
1
100
A
T a =
y B B
F m a =
( )
( )
2
2
2
300 9.81 300
2940- 300
B B B
B
B
m g T m a
T a
T a
=
=
=
y C C
F m a =
0 2
1 2
= T T
x
y
O
Kinematic relationship: If A moves x
A

to the right, B moves down 0.5 x
A
1 1
2 2 B A B A
x x a a = =
Draw free body diagrams & apply Newtons law:
( )
1
2940- 300 2 0
B
a T =
( )
2940- 300 200 0
B A
a a =
( )
2940- 300 2 200 0
B B
a a =
2
4.2 /
B
a m s =
2
8.4 /
A
a m s =
1
840 T N =
2
1680 T N =
10
Sample Problem 12.4
The 12-lb block B starts from rest and slides
on the 30-lb wedge A, which is supported by
a horizontal surface.
Neglecting friction, determine (a) the
acceleration of the wedge, and (b) the
acceleration of the block relative to the
wedge.
Block
Wedge
11
N
1
a
Bn
a
Bt
W
B
cosu

W
B
sinu

N
1
W
B
N
1
cosu

N
1
sinu
sin
B B Bt
W m a u =
2
12
12 0.5 16.1 /
32.2
Bt Bt
a a ft s = =
a
A
1
sin
A A
N m a u =
1
30
0.5
32.2
A
N a =
1 2
cos
A
N W N u + =
1
cos
B B Bn
N W m a u =
But
sin
Bn A
a a u =
Same normal acceleration (to maintain contact)
1
cos sin
B B A
N W m a u u =
1
12 0.5
10.39
32.2
A
N a
=
2
5.08 /
A
a ft s =
2
2.54 /
Bn
a ft s =
Draw free body diagrams for block & wedge
12
N
1
a
Bn
a
Bt
W
B
cosu

W
B
sinu

N
1
W
B
N
1
cosu

N
1
sinu
2
cos sin 12.67 /
Bx Bt Bn
a a a ft s u u = =
a
A
2
sin cos 10.25 /
By Bt Bn
a a a ft s u u = + =
/ B A B A
a a a =
( ) ( )
/
12.67 10.25 5.08
17.75 10.25
B A
a i j i
i j
=
= 20.5
30
13
Sample Problem 12.5
The bob of a 2-m pendulum describes an arc of a circle in a
vertical plane. If the tension in the cord is 2.5 times the
weight of the bob for the position shown, find the velocity
and acceleration of the bob in that position.
14
Sample Problem 12.5
Resolve into tangential and normal components:
:
t t
ma F =
=
=
30 sin
30 sin
g a
ma mg
t
t
2
s m 9 . 4 =
t
a
:
n n
ma F =
( ) =
=
30 cos 5 . 2
30 cos 5 . 2
g a
ma mg mg
n
n
2
s m 03 . 16 =
n
a
Solve for velocity in terms of normal acceleration.
( )( )
2
2
s m 03 . 16 m 2 = = =
n n
a v
v
a
s m 66 . 5 = v
mgsin30
mgcos30
15
Sample Problem 12.6
Determine the rated speed of a
highway curve of radius = 400 ft
banked through an angle u = 18
o
. 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.
SOLUTION:
The car travels in a horizontal circular
path with a normal component of
acceleration directed toward the center
of the path.The forces acting on the car
are its weight and a normal reaction
from the road surface.
Resolve the equation of motion for
the car into vertical and normal
components.
Solve for the vehicle speed.
16
Sample Problem 12.6
SOLUTION:
The car travels in a horizontal circular
path with a normal component of
acceleration directed toward the center
of the path.The forces acting on the
car are its weight and a normal
reaction from the road surface.
Resolve the equation of motion for
the car into vertical and normal
components.
: 0 =
y
F
u
u
cos
0 cos
W
R
W R
=
=
:
n n
ma F =
u
u
u
2
sin
cos
sin
v
g
W W
a
g
W
R
n
=
=
Solve for the vehicle speed.
( )( ) =
=
18 tan ft 400 s ft 2 . 32
tan
2
2
u g v
h mi 1 . 44 s ft 7 . 64 = = v
17
Angular Momentum
O
H r mv =
Derivative of angular momentum with respect to time:
O
O
H r mv r mv v mv r ma
r F
M
= + = +
=
=

Sum of moments about O = rate of change of angular momentum

and r mv
L mv =
From before, linear momentum:
Now angular momentum is defined as the moment of momentum
O
H is a vector perpendicular to the plane
containing
Resolving into radial & transverse components:
2
O
H mv r mr
u
u = =
Moment of about O F
18
Equations of Motion in Radial & Transverse Components
( )
( ) u u
u
u u

r r m ma F
r r m ma F
r r
2
2
+ = =
= =
19
Central Force
When force acting on particle is directed
toward or away from a fixed point O, the
particle is said to be moving under a
central force.
Since line of action of the central force passes through O:
0
O O
M H = =
constant
O
r mv H = =
O = center of force
20
Sample Problem 12.7
A block B of mass m can slide freely on
a frictionless arm OA which rotates in a
horizontal plane at a constant rate .
0
u
a) the component v
r
of the velocity of B
along OA, and
b) the magnitude of the horizontal force
exerted on B by the arm OA.
Knowing that B is released at a distance
r
0
from O, express as a function of r
SOLUTION:
Write the radial and transverse
equations of motion for the block.
Integrate the radial equation to find an
expression for the radial velocity.
Substitute known information into the
transverse equation to find an
expression for the force on the block.
21
Sample Problem 12.7
Write radial and transverse
equations of motion:
r r
F m a
F m a
u u
=
=
dr
dv
v
dt
dr
dr
dv
dt
dv
v r
r
r
r r
r
= = = =
( )
2 2 2 2
0 0 r
v r r u =
( )
1 2
2 2 2
0 0
2 F m r r u =
( )
( )
2
0
2
m r r
F m r r
u
u u
=
= +
2
r ru =
But
r
v r =
2
r
r
dv
r v
dr
u =
2
r r
r dr v dv u =
2
0
r
o
v
r
r r o
r
v dv r dr u =
} }
( )
1 2
2 2
0 0 r
v r r u =

Kinetics of Particles

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1

Sum of forces = rate of change of linear momentum

Convenient to resolve into components:

For tangential and normal components:

If we include inertia vector, the system of

Sum of moments about O = rate of change of angular momentum

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