Chapter 2

Kinetics of a Particle:
Force and Acceleration
Dr. Md Tasyrif bin Abdul Rahman
Applied Mechanics Division
School of Mechatronic Engineering
Universiti Malaysia Perlis (UniMAP)
tasyrif@unimap.edu.my

Summary for previous chapter

KINEMATICS

Rectilinear motion

Curvilinear motion

s = so + vo t +
v2

a t ds vdv

at v

v = vo + act
1 2
at
2 c

= vo + 2ac(s-so)

constant acceleration

an

v2

a an at
2

Normal & Tangential

Components

KINETICS

Newtons Method

CHAPTER 13

Work and
Energy Method

Impulse and
momentum

2.1 Newtons Laws of Motion

Todays Objectives:
Students will be able to:
a) Write the equation of motion
for an accelerating body.
b) Draw the free-body and
kinetic diagrams for an
accelerating body.

In-Class Activities:
Applications
Newtons laws of motion
Newtons law of
gravitational attraction
Equation of motion for a
particle or system of particles

NEWTONS LAWS OF MOTION

Newtons first law
A particle originally at rest, will remain in rest

SF=0 STATICS

Newtons second law

DYNAMICS
A particle acted upon by an unbalanced force,
experiences acceleration that has the same
SF=ma
direction as the force and a magnitude that is directly
proportional to the force

Newtons third law

Mutual forces of action and reaction between two particles are STATICS
equal, opposite, and collinear.

APPLICATIONS
The motion of an object depends on the
forces acting on it.
A parachutist relies on the atmospheric
drag resistance force to limit his velocity.
Knowing the drag force, how can we
determine the acceleration or velocity of
the parachutist at any point in time?

APPLICATIONS (continued)

A freight elevator is lifted using a

motor attached to a cable and pulley
system as shown.
How can we determine the tension
force in the cable required to lift the
elevator at a given acceleration?
Is the tension force in the cable greater than the weight
of the elevator and its load?

NEWTONS LAW OF GRAVITATIONAL ATTRACTION

Any two particles or bodies have a mutually attractive
gravitational force acting between them. Newton postulated
the law governing this gravitational force as
F = G(m1m2/r2)
where

F = force of attraction between the two bodies,

G = universal constant of gravitation, 66.73(10-12) m3/kgs2
m1, m2 = mass of each body, and
r = distance between centers of the two bodies.

When near the surface of the earth, the only gravitational

force having any sizable magnitude is that between the earth
and the body. This force is called the weight of the body.

MASS AND WEIGHT

It is important to understand the difference between the
mass and weight of a body!
Mass is an absolute property of a body. It is independent of
the gravitational field in which it is measured. The mass
provides a measure of the resistance of a body to a change
in velocity, as defined by Newtons second law of motion
(m = F/a).
The weight of a body is not absolute, since it depends on the
gravitational field in which it is measured. Weight is defined
as
W = mg
where g is the acceleration due to gravity.

UNITS: SI SYSTEM VS. FPS SYSTEM

SI system: In the SI system of units, mass is a base unit and
weight is a derived unit. Typically, mass is specified in
kilograms (kg), and weight is calculated from W = mg. If the
gravitational acceleration (g) is specified in units of m/s2, then
the weight is expressed in newtons (N). On the earths surface,
g can be taken as g = 9.81 m/s2.
W (N) = m (kg) g (m/s2) => N = kgm/s2
FPS System: In the FPS system of units, weight is a base unit
and mass is a derived unit. Weight is typically specified in
pounds (lb), and mass is calculated from m = W/g. If g is
specified in units of ft/s2, then the mass is expressed in slugs.
On the earths surface, g is approximately 32.2 ft/s2.
m (slugs) = W (lb)/g (ft/s2) => slug = lbs2/ft

2.2 The Equation of Motion

The motion of a particle is governed by Newtons second law, relating
the unbalanced forces on a particle to its acceleration. If more than one
force acts on the particle, the equation of motion can be written
F = FR = ma
where FR is the resultant force, which is a vector summation of all the
forces.
To illustrate the equation, consider a
particle acted on by two forces.
First, draw the particles freebody diagram, showing all
forces acting on the particle.
Next, draw the kinetic diagram,
showing the inertial force ma
acting in the same direction as
the resultant force FR.

KEY POINTS
1) Newtons second law is a Law of Nature--experimentally
proven and not the result of an analytical proof.
2) Mass (property of an object) is a measure of the resistance
to a change in velocity of the object.
3) Weight (a force) depends on the local gravitational field.
Calculating the weight of an object is an application of
F = ma, i.e., W = m g.
4) Unbalanced forces cause the acceleration of objects. This
condition is fundamental to all dynamics problems.

PROCEDURE FOR THE APPLICATION OF THE

EQUATION OF MOTION
1) Select a convenient inertial coordinate system. Rectangular,
normal/tangential, or cylindrical coordinates may be used.
2) Draw a free-body diagram showing all external forces
applied to the particle. Resolve forces into their
appropriate components.
3) Draw the kinetic diagram, showing the particles inertial
force, ma. Resolve this vector into its appropriate
components.

4) Apply the equations of motion in their scalar component

form and solve these equations for the unknowns.

2.4 Equations of Motion: Rectangular Coordinates

Todays Objectives:
Students will be able to apply
Newtons second law to
determine forces and
accelerations for particles in
rectilinear motion.

In-Class Activities:
Applications

Equations of motion using

rectangular (Cartesian)
Coordinates

EQUATION OF MOTION
The equation of motion, F = m a, is best used when the problem
requires finding forces (especially forces perpendicular to the
path), accelerations, velocities or mass. Remember, unbalanced
forces cause acceleration!
Three scalar equations can be written from this vector equation.
The equation of motion, being a vector equation, may be
expressed in terms of its three components in the Cartesian
(rectangular) coordinate system as
F = ma or Fx i + Fy j + Fz k = m(ax i + ay j + az k)
or, as scalar equations, Fx = max , Fy = may , and Fz = maz .

PROCEDURE FOR ANALYSIS

Free Body Diagram

Establish your coordinate system and draw the particles
free body diagram showing only external forces. These
external forces usually include the weight, normal forces,
friction forces, and applied forces. Show the ma vector
(sometimes called the inertial force) on a separate diagram.

Make sure any friction forces act opposite to the direction

of motion! If the particle is connected to an elastic spring,
a spring force equal to ks should be included on the FBD.

PROCEDURE FOR ANALYSIS (continued)

Equations of Motion
If the forces can be resolved directly from the free-body
diagram (often the case in 2-D problems), use the scalar
form of the equation of motion. In more complex cases
(usually 3-D), a Cartesian vector is written for every force
and a vector analysis is often best.
A Cartesian vector formulation of the second law is
F = ma or
Fx i + Fy j + Fz k = m(ax i + ay j + az k)
Three scalar equations can be written from this vector equation.
You may only need two equations if the motion is in 2-D.

PROCEDURE FOR ANALYSIS (continued)

Kinematics
The second law only provides solutions for forces and
accelerations. If velocity or position have to be found,
kinematics equations are used once the acceleration is
found from the equation of motion.
Any of the tools learned in Chapter 1 may be needed to
solve a problem. Make sure you use consistent positive
coordinate directions as used in the equation of motion
part of the problem!

EXAMPLE 1

Given: A crate of mass m is pulled by a cable attached to a truck.

The coefficient of kinetic friction between the crate and
road is mk.
Find: Draw the free-body and kinetic diagrams of the crate.
Plan: 1) Define an inertial coordinate system.
2) Draw the crates free-body diagram, showing all
external forces applied to the crate in the proper
directions.
3) Draw the crates kinetic diagram, showing the inertial
force vector ma in the proper direction.

EXAMPLE (continued)
Solution:
1) An inertial x-y frame can be defined as fixed to the ground.

2) Draw the free-body diagram of the crate:

y

W = mg

The weight force (W) acts through the

crates center of mass. T is the tension
30
x
force in the cable. The normal force (N)
is perpendicular to the surface. The
friction force (F = uKN) acts in a direction
F = uKN
opposite to the motion of the crate.
N
3) Draw the kinetic diagram of the crate:

ma

The crate will be pulled to the right. The

acceleration vector can be directed to the
right if the truck is speeding up or to the
left if it is slowing down.

Example of Free body diagram Kinetics diagram

Free body diagram

Kinetics diagram

CONCEPT QUIZ
1.

The block (mass = m) is moving upward with a speed v. Draw

the FBD if the kinetic friction coefficient is mk.
mg

mg

A)

mkN

mg
mkmg
N

B)

mkN
N

C)

D) None of the above.

CONCEPT QUIZ
(continued)
2. Packaging for oranges is tested using a machine that
exerts ay = 20 m/s2 and ax = 3 m/s2, simultaneously.
Select the correct FBD and kinetic diagram for this
y
condition.
may

A)

B)

=
Rx

max

=
Rx

Ry

C)

may

=
Ry

D)

max

Ry

may

=
Ry

max

GROUP PROBLEM SOLVING

Given: The block and cylinder have a
mass of m. The coefficient of
kinetic friction at all surfaces of
contact is . Block A is moving to
the right.

Find: Draw the free-body and kinetic diagrams of each block.

Plan:

1) Define an inertial coordinate system.

2) Draw the free-body diagrams for each block, showing all
external forces.
3) Draw the kinetic diagrams for each block, showing the
inertial forces.

GROUP PROBLEM SOLVING

Solution:
(continued)
1) An inertial x-y frame can be defined as fixed to the ground.
2) Draw the free-body diagram of each block:
Block B:
Block
A:
y
y
2T
WA = mg
x

FfA = NA

NA

WB = mg

The friction force opposes the motion of block A relative to the surfaces
on which it slides.
Block B:
3) Draw the kinetic diagram of each block:
Block A:

maA

maB

EXAMPLE 2

The crate has a mass of 50 kg. If the crate is subjected to a 400[N] towing
force as shown, determine the velocity of the crate in 3[s] starting from rest.
ms= 0.5, mk= 0.3,

Equations of Motion :

Kinematics : The acceleration is constant, P is constant

EXAMPLE 3

The crate has a mass of 80 kg. If the magnitude of P is

increased until the crate begins to slide, determine the
crates initial acceleration. ms= 0.5, mk= 0.3,

[solution]

ms= 0.5
mk= 0.3

80(9.81) = 784.8[N]

T
20o

Ff = 0.5N
Equations of equilibrium : N

: verge of slipping
: impending motion

o 0.5N = 0
Tcos20
SFx=0 ;
SFy=0 ; N + Psin20o 784.8 = 0

T = 353.29 [N] ,

..(i)
...(ii)
N = 663.79 [N]

[solution]

784.8 [N]
353.29 [N]

20o

Ff = 0.3N
N
Equations of Motion :
SFy=may ; N 784.8 + 353.29sin20 = 80(0)
N = 663.97 [N]
SFx=max ; 353.29cos20o 0.3(663.97) = 80a
a = 1.66 [m/s2]
o

EXAMPLE 4
Given: The motor winds in the cable with
a constant acceleration such that
the 20-kg crate moves a distance s
= 6 m in 3 s, starting from rest. mk
= 0.3.

Find: The tension developed in the

cable.
Plan:
1) Draw the free-body and kinetic diagrams of the crate.
2) Using a kinematic equation, determine the acceleration of the
crate.
3) Apply the equation of motion to determine the cable tension.

EXAMPLE 4
(continued)
Solution:
1) Draw the free-body and kinetic diagrams of the crate:
W = 20 g

y
x
30

20 a

Fk= 0.3 N

N
Since the motion is up the incline, rotate the x-y axes so the xaxis aligns with the incline. Then, motion occurs only in the xdirection.
There is a friction force acting between the surface and the
crate. Why is it in the direction shown on the FBD?

EXAMPLE (continued)
2) Using kinematic equation
s = v0 t + a t 2
6 = (0) 3 + a (32)
a = 1.333 m/s2
W = 20 g

y
x
30

20 a

T
Fk= 0.3 N

3) Apply the equations of motion

+ Fy = 0 -20 g (cos30) + N = 0
=> N = 169.9 N
+ Fx = m a T 20g(sin30) 0.3 N = 20 a

T = 20 (981) (sin30) + 0.3(169.9) + 20 (1.333)

T = 176 N

GROUP PROBLEM SOLVING

Given: Ore cars mass is 400 kg,
vo = 2 m/s.
The force in the cable is
F = (3200 t2) N,
where t is in seconds.
Find: v and s when t = 2 s.
Since both forces and velocity are involved, this
problem requires both kinematics and the equation of motion.
1) Draw the free-body and kinetic diagrams of the car.
2) Apply the equation of motion to determine the acceleration.
3) Using a kinematic equation, determine velocity & distance.

Plan:

GROUP PROBLEM SOLVING

(continued)
Solution:
1) Free-body and kinetic diagrams of the mine car:
W = 400 g

x
17

400 a

15

Note that the mine car is moving along the x-axis.

2) Apply the equation of motion
+

Fx = m a T 400g (8/17) = 400 a

3200 t2 400 (9.81) (8/17) = 400 a
a = (8 t2 4.616) m/s2

GROUP PROBLEM SOLVING

(continued)

v vo act
s s o v ot (1/2)a ct 2
v2 (vo )2 2ac(s - so)

Quiz 3
The two blocks A and B having mass of 10 kg and 30 kg respectively,
that shown in Figure 5 are originally at rest. Neglect the masses of the
pulleys and the effect of friction in the pulleys. When the blocks are
released, determine:
(a) Acceleration of each block.
(b) Tension of the cable.

2.5 Equations of Motion: Normal and Tangential Coordinates

Todays Objectives:
Students will be able to apply
the equation of motion using
normal and tangential
coordinates.

In-Class Activities:
Applications
Equation of motion in n-t
coordinates

APPLICATIONS
Race tracks are often banked in the
turns to reduce the frictional forces
required to keep the cars from sliding
at high speeds.

If the cars maximum velocity and a

minimum coefficient of friction
between the tires and track are
specified, how can we determine the
minimum banking angle (q) required
to prevent the car from sliding?

APPLICATIONS (continued)
Satellites are held in orbit around
the earth by using the earths
gravitational pull as the centripetal
force the force acting to change
the direction of the satellites
velocity.
Knowing the radius of orbit of
the satellite, how can we
determine the required speed of
the satellite to maintain this orbit?

NORMAL & TANGENTIAL COORDINATES

When a particle moves along a
curved path, it may be more
convenient to write the equation of
motion in terms of normal and
tangential coordinates.
The normal direction (n) always points toward the paths
center of curvature. In a circle, the center of curvature is the
center of the circle.
The tangential direction (t) is tangent to the path, usually set
as positive in the direction of motion of the particle.

EQUATIONS OF MOTION
Since the equation of motion is a
vector equation , F = ma,
it may be written in terms of the
n & t coordinates as
Ftut + Fnun = mat + man
Here Ft & Fn are the sums of the force components acting in
the t & n directions, respectively.
This vector equation will be satisfied provided the individual
components on each side of the equation are equal, resulting in
the two scalar equations: Ft = mat and
Fn = man .
Since there is no motion in the binormal (b) direction, we can also
write Fb = 0.

NORMAL AND TANGENTIAL ACCERLERATIONS

The tangential acceleration, at = dv/dt, represents the time rate of
change in the magnitude of the velocity. Depending on the direction
of Ft, the particles speed will either be increasing or decreasing.
The normal acceleration, an = v2/, represents the time rate of change
in the direction of the velocity vector.
Remember,
an always acts toward the paths center of curvature. Thus, Fn will
always be directed toward the center of the path.
Recall, if the path of motion is defined
as y = f(x), the radius of curvature at
any point can be obtained from

dy 2 3/2
[1 + ( ) ]
dx
d2y
dx2

SOLVING PROBLEMS WITH n-t COORDINATES

Use n-t coordinates when a particle is moving along a
known, curved path.

Establish the n-t coordinate system on the particle.

Draw free-body and kinetic diagrams of the particle. The
normal acceleration (an) always acts inward (the positive ndirection). The tangential acceleration (at) may act in either the
positive or negative t direction.
Apply the equations of motion in scalar form and solve.
It may be necessary to employ the kinematic
relations:
at = dv/dt = v dv/ds
an = v2/

Example

At the instant q = 60o, the boys center of mass

is momentarily at rest.
Determine the speed and the tension in each of the
two supporting cords of the swing when q = 90o.
The boy has a weight of 300 N ( 30 kg).
Neglect his size and the mass of the seat and cords

At q = 60o,
At q = 90o,

v=0
v=?

Free-body diagram
n
2T

T=?

Kinetic diagram
n
man
mat

n
2T

man

mat

Equations of Motion :
SFn=man ; 2T Wsinq = man
2T 300sinq = 30(v2/3)
SFt=mat ;

Wcosq = mat
300cosq = 30at
10cosq = at

an = v2/
= v2/3
(i)

(ii)

2T 300sinq = 30(v2/3)
10cosq = at

(i)
(ii)

Kinematics : (to relate at and v)

vdv = at ds
vdv = 10cosq dq
v

90

60

s = q
ds = dq

vdv ( 10 cos q )dq

v = 2.68 [m/s]
Solving, we get

The speed of the boy at q = 90o

T = 186 [N]

Homework during semester break

1. Download tutorial 1 from portal and try to solve it. Submit as
assignment 5. (14 April 2015)
#Lecturer Notes : School of Mechatronic Engineering : Semester 2 Sidang
Akademik 2014/2015 : ENT142 Engineering Dynamics : Ex-Dip
:Tutorial
2. Solve below problems and submit as assignment 6

(14 April 2015);

Text book: Dynamics (R.C. Hibbeler-13th edition)
Chapter 2)
1. 13-15
2. 13-21
3. 13-22
4. 13-37
5. 13-72
3. Mid Term Examination
Date: 16th April 2015 (thursday)
Time: 8.00pm (1hour 15mnts)
Venue: to be decided