Chapter 13 : Kinetics of A Particle

Force and acceleration

2007 Pearson Education South Asia Pte Ltd
Newtons Law of Motion
First Law: A particle originally at rest, or moving in
a straight line with a constant velocity, will remain
in this state provided the particle is not subjected
to an unbalanced force.
Second Law: A particle acted upon by an
unbalanced force F experiences an acceleration a
that has the same direction as the force and a
magnitude that is directly proportional to the force.
2007 Pearson Education South Asia Pte Ltd
Third Law: The mutual forces of action and
reaction between two particles are equal, opposite
and collinear.
Equation of motion: F = ma
Newtons Law of Gravitational Attraction. A law
governing the mutual attractive gravitational force
acting between them.
2
2 1
r
m m
G F =
Newtons Law of Motion
2007 Pearson Education South Asia Pte Ltd
Mass and Weight. Mass is a property of matter
by which we can compare the response of one
body with that of another. It is an absolute quantity
since the measurement can be made at any
location. Weight of a body is not absolute since it is
measured in a gravitational field, hence its
magnitude depends on the location measured.
mg W =
Newtons Law of Motion
2007 Pearson Education South Asia Pte Ltd
SI System of Units. The mass of the body is
specified in kilograms and the weight must be
calculated using the equation of motion, F = ma
W = mg (N)
(g = 9.81 m/s
2
)
Newtons Law of Motion
2007 Pearson Education South Asia Pte Ltd
The Equation of Motion
The equation of motion may be written as
ma F =
Consider particle P of mass m and subjected to the
action of two forces, F
1
and F
2
.
2007 Pearson Education South Asia Pte Ltd
From the free body diagram, the resultant of these
forces produces the vector ma, it magnitude and
direction can be represented graphically on the
kinetic diagram.
ma F =
The Equation of Motion
2007 Pearson Education South Asia Pte Ltd
Note that if F
R
= F = 0, then acceleration is zero,
so that the particle will either remain at rest or
moves along a straight line with a constant
velocity.
Such a condition is called static equilibrium,
Newtons First Law of Motion
The Equation of Motion
2007 Pearson Education South Asia Pte Ltd
Equation of Motion for a System of
Particles
Consider a system of n particles isolated within an
enclosed region in space.
Arbitrary ith particle
having a mass of m
i
is
subjected to a system of
internal forces which
resultant force is
represented by f
i
and a
resultant external force F
i
.

2007 Pearson Education South Asia Pte Ltd
The free body diagram for the ith particle are
shown. Applying equation of motion yields
F = ma; F
i
+ f
i
= m
i
a
i
If equation of motion is applied to
each of the other particles, these
equations can be added together
vectorially,
F
i
+ f
i
= m
i
a
i
Equation of Motion for a System of
Particles
2007 Pearson Education South Asia Pte Ltd
Since internal forces between particles all occur
in equal but opposite collinear pairs, the summation
of these internal forces will equal zero.
F
i
= m
i
a
i
If r
G
is a position vector which locates the center of
mass G of the particles, then mr
G
= m
i
r
i
where m =
m
i
is the total mass of all the particles
Differentiating twice w.r.t time yields
ma
G
= m
i
a
i
Equation of Motion for a System of
Particles
2007 Pearson Education South Asia Pte Ltd
F

= ma
G
Therefore,
The sum of the external forces acting on the
system of particles is equal to the total mass of the
particles times the acceleration of its center of
mass G.
Equation of Motion for a System of
Particles
2007 Pearson Education South Asia Pte Ltd
Equation of Motion: Rectangular
Coordinates
When a particle is moving relative to an inertial x,
y, z frame of reference, the forces acting on the
particle, and its acceleration may be expressed in
term of their i, j, k components
F = ma
F
x
i + F
y
j + F
z
k
= m(a
x
i + a
y
j + a
z
k)
2007 Pearson Education South Asia Pte Ltd
We may write the following three scalar
equations:

=
=
=
z z
y y
x x
ma F
ma F
ma F
Equation of Motion: Rectangular
Coordinates
2007 Pearson Education South Asia Pte Ltd
Example 13.1
The 50-kg crate rests on a horizontal plane for
which the coefficient of kinetic friction is
k
= 0.3. If
the crate is subjected to a 400-N towing force,
determine the velocity of the crate in 3 s starting
from rest.
2007 Pearson Education South Asia Pte Ltd
Free-Body Diagram. The weight
of the crate is W = mg = 50 (9.81)
= 490.5 N. The frictional force has
a magnitude F =
k
N
C
and acts to
the left, since it opposes the
motion of the crate. The
acceleration a is assumed to act
horizontally, in the positive x
direction. There are 2 unknowns,
namely N
C
and a.
Example 13.1
2007 Pearson Education South Asia Pte Ltd
Equations of Motion.
2
/ 19 . 5
5 . 290
0 30 sin 400 5 . 490 ;
50 3 . 0 30 cos 400 ;
s m a
N N
N ma F
a N ma F
C
C y y
C x x
=
=
= + = | +
= =

Solving for the two equations yields

Example 13.1
2007 Pearson Education South Asia Pte Ltd
Kinematics. Acceleration is constant, since
the applied force P is constant. Initial velocity is
zero, the velocity of the crate in 3 s is
=
+ =
+ =
s m
t a v v
c
/ 6 . 15
) 3 ( 19 . 5 0
0
Example 13.1
2007 Pearson Education South Asia Pte Ltd
Equations of Motion: Normal and
Tangential Coordinates
When a particle moves over a curved path which is
known, the equation of motion for the particle may
be written in the tangential, normal and binormal
directions. We have
F = ma
F
t
u
t
+ F
n
u
n
+ F
b
u
b
= ma
t
+ma
n
Here F
t
, F
n
, F
b
represent the sums of all the
force components acting on the particle in the
tangential, normal and binormal directions.
2007 Pearson Education South Asia Pte Ltd
Since the particle is constrained to move along the
path, there is no motion in the binormal direction

=
=
=
0
b
n n
t t
F
ma F
ma F
Equations of Motion: Normal and
Tangential Coordinates
2007 Pearson Education South Asia Pte Ltd
a
t
(=dv/dt) represents the time rate of change in
the magnitude of velocity
Therefore if F
t
acts in the direction of motion,
the particles speed will increase. If it acts in the
opposite direction, the particle will slow down.
a
n
(=v
2
/) represents the time rate of change in
the velocitys direction.
Equations of Motion: Normal and
Tangential Coordinates
2007 Pearson Education South Asia Pte Ltd
Since this vector always acts in the positive n
direction, i.e. toward the paths center of curvature,
then F
n
, which causes a
n
, also act in this direction.
Equations of Motion: Normal and
Tangential Coordinates
2007 Pearson Education South Asia Pte Ltd
Equations of Motion: Cylindrical
Coordinates
When all forces acting on a particle are resolved
into cylindrical components, i.e. along the unit-
vector directions u
r
, u

, u
z
, the equation of motion
may be expressed as
F = ma
F
r
u
r
+ F

+ F
z
u
z
= ma
r
u
r
+ma

+ma
z
u
z
2007 Pearson Education South Asia Pte Ltd
We may write the following three scalar equations
of motion:

=
=
=
z z
r r
ma F
ma F
ma F
u u
Equations of Motion: Cylindrical
Coordinates
2007 Pearson Education South Asia Pte Ltd
Tangential and Normal Forces.
Determination of the resultant force components
F
r
, F

, F
z
causing a particle to move with a
known acceleration.
If acceleration is not specified at given instant,
directions or magnitudes of the forces acting on the
particle must be known or computed to solve.
Consider the force P that causes the particle to
move along a path r = f()
Equations of Motion: Cylindrical
Coordinates
2007 Pearson Education South Asia Pte Ltd
The normal force N which the path exerts on the
particle is always perpendicular to the tangent of
the path.
Frictional force F always acts along the tangent
in the opposite direction of motion.
Equations of Motion: Cylindrical
Coordinates
2007 Pearson Education South Asia Pte Ltd
The directions of N and F can be specified
relative to the radial coordinate by using the angle
, which is defined between the extended radial
line and the tangent to the curve.
u

d dr
r
/
tan =
Equations of Motion: Cylindrical
Coordinates
2007 Pearson Education South Asia Pte Ltd
If is positive, it is measured from the extended
radial line to the tangent in a CCW sense or in the
positive direction
If it is negative, it is measured in the opposite
direction to positive
Equations of Motion: Cylindrical
Coordinates
2007 Pearson Education South Asia Pte Ltd
PROCEDURE FOR ANALYSIS
Free-Body Diagram
Establish the r, , z inertial coordinate system and
draw the particles free body diagram.
Assume that a
r
, a

, a
z
act in the positive directions
of r, , z if they are unknown.
Identify all the unknowns in the problem.
2007 Pearson Education South Asia Pte Ltd
Equations of Motion
Apply the equations of motion

=
=
=
z z
r r
ma F
ma F
ma F
u u
PROCEDURE FOR ANALYSIS
2007 Pearson Education South Asia Pte Ltd
Kinematics
Determine r and the time derivatives and
then evaluate the acceleration components

If any of the acceleration components is
computed as a negative quantity, it indicates that is
acts in it negative coordinate direction.
z r r

, , , , u u
z a r r a r r a
z r

= + = = , 2 ,
2
u u u
u
PROCEDURE FOR ANALYSIS
2007 Pearson Education South Asia Pte Ltd
Example 13.10
The 2-kg block moves on a smooth horizontal track
such that its path is specfied in polar coordinates
by the parametric equations r = (3t
2
) m and =
(0.5t) rad where t is in seconds. Determine the
magnitude of the tangential force F causing the
motion at the instant t = 1 s.
2007 Pearson Education South Asia Pte Ltd
Free-Body Diagram. The normal force N, and the
tangential force F are located at an angle from
the r and axes. By expressing r = f(), we yield r
= 12
2
. When t = 1 s, = 0.5 rad.

Example 13.10
2007 Pearson Education South Asia Pte Ltd
( )

04 . 14
25 . 0
2 12
12
/
tan
5 . 0
2
=
= = =
=

u
u
u

u rad
d dr
r
Because is a positive quantity, it is measured
counterclockwise from the r axis to the tangent
(same direction as ). There are four unknowns: F,
N, a
r
and a

Example 13.10
2007 Pearson Education South Asia Pte Ltd
Equations of Motion.
u u u
a N F ma F
a N F ma F
r r r
2 04 . 14 cos 04 . 14 sin ;
2 04 . 14 sin 04 . 14 cos ;
= + = + |
= = + +

Kinematics.
0 , / 5 . 0 , / 6 , / 6
5 . 0 5 . 0 3 3
2
1 1
1
1
2
= = = =
= = = =
= =
=
=
u u
u

s rad s m r s m r
rad t m t r
s t s t
s t
s t
Example 13.10
2007 Pearson Education South Asia Pte Ltd
2 2 2
/ 25 . 5 ) 5 . 0 ( 3 6 s m r r a
r
= = = u

2
/ 6 ) 5 . 0 )( 6 ( 2 ) 0 ( 3 2 s m r r a = + = + = u u
u

Substituting into the two equations of motion and
solving,
F = 13.10 N
N = 9.22 N
Example 13.10