Chapter 2

Kinematics of a Particle:
Force and Acceleration

This lecture note is taken and modified from Engineering Mechanics-Dynamics, R.C.Hibbeler, Prentice Hall which
copyright belongs to Pearson Education South Asia Pte Ltd.

Trimester 2 2016/2017
 Chapter Objectives
State Newtons Laws of Motion and
Gravitational attraction and to be able to define
mass and weight

Analyze accelerated motion of a particle using

the equation of motion

Investigate central-force motion and apply it to

problems in space mechanics
 Chapter Outline
1. Newtons Second Law of Motion
2. The Equation of Motion
3. Equation of Motion for a System of Particles
4. Equations of Motion: Rectangular Coordinates
5. Equations of Motion: Normal and Tangential
Coordinates
6. Equations of Motion: Cylindrical Coordinates
13.1 Newtons Second Law of Motion

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.

F
13.1 Newtons Second Law of Motion
Newtons Law of Gravitational Attraction
Mass is a property of matter
W mg
Mass of the body is specified in kilograms
Weight is calculated using the equation of
motion, F = ma
W = mg (N)
(g = 9.81 m/s2)
 13.2 The Equation of Motion
Equation of motion is written as F ma
Consider P of mass m subjected to the action of two
forces, F1 and F2
From free body diagram, the
resultant of these forces
produces the vector ma
Represented graphically
on the kinetic diagram

FR = F = 0, acceleration is zero
Such a condition is called static equilibrium, Newtons
First Law of Motion
 13.2 The Equation of Motion
Inertial Reference Frame
Acceleration of the
particle is measured with
respect to a reference
frame that is either fixed
or translates with a
constant velocity
Such a frame of reference is known as a
Newtonian or inertial reference frame,
 13.2 The Equation of Motion
Inertial Reference Frame
Consider the passenger who is strapped to the
seat of a rocket sled
 13.4 Equation of Motion: Rectangular Coordinates

When a particle is moving relative to an

inertial x, y, z frame of reference,
F = ma
Fxi + Fyj + Fzk = m(axi + ayj + azk)
The three scalar equations:
Fx max
Fy ma y
Fz maz
 13.4 Equation of Motion: Rectangular Coordinates

Procedure for Analysis m a, v

1. Free-Body Diagram mg
Select inertial coordinate system
Draw particles free body diagram (FBD) and
provides a graphical representation that accounts for
all forces (F)
Direction and sense of the particles acceleration a is
also be established
Acceleration is represented as ma vector on the
kinetic diagram
Identify the unknowns in the problem
 13.4 Equation of Motion: Rectangular Coordinates

Procedure for Analysis

F=ma

2. Equation of Motion
Apply equations of motion on FBD in their scalar
component form
Cartesian vector analysis can be used for the solution
3. Kinematics
Apply kinematics equations once the particles
acceleration is determined from F = ma
If acceleration is a function of time, use a = dv/dt and
v = ds/dt
 13.4 Equation of Motion: Rectangular Coordinates

Procedure for Analysis

Kinematics
When acceleration is a function of displacement,
integrate a ds = v dv to find velocity as a function of
position
If acceleration is constant, use
v v0 act
1 2
s s0 v0t act
2
v 2 v02 2ac s s0
 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.
 Example 13.1
Solution
1. Free-Body Diagram
Weight of the crate is W = mg = 50 (9.81) = 490.5 N.
The frictional force is F = kNC and acts to the left,
There are 2 unknowns, NC and a.
 Example 13.1

2. Equations of Motion

Fx max ; 400 cos 30 0.3N C 50a

Fy may ; N C 490.5 400 sin 30 0

Solving we get
NC 290.5N , a 5.19m / s 2
 Example 13.1

Solution
3. Kinematics
Acceleration is constant.
Velocity of the crate in 3s is
v v0 act
0 5.19(3)
15.6m / s
 Example 13.3

The baggage truck A has a weight of 3600 N and tows a 2200 N cart B and a
1300 N cart C. For a short time the driving frictional force developed at the
wheels is FA = (160t) N where t is in seconds. If the truck starts from rest,
determine its speed in 2 seconds. What is the horizontal force acting on the
coupling between the truck and cart B at this instant?
Solution
1. Free-Body Diagram
We have to consider all 3 vehicles.
 Example 13.3

Equations of Motion
Only horizontal motion is considered.

F x max ;
3600 2200 1300
160t a
9.81
a 0.221t
 Example 13.3

Solution
3. Kinematics
The velocity of the truck is obtained using a = dv/dt
with the initial condition that v0 = 0 at t = 0,
v 2 22
0 dv 0 (0.221t ) dt; v 0.1105t
0
0.442m / s

Free-Body Diagram
Equations of Motion
When

t = 2 s, then
F x max ;
3600
160(2) T 0.221(2) T 157.8 N
9.81
 Example 13.5

The 100-kg block A is released from rest. If the masses of the

pulleys and the cord are neglected, determine the speed of the 20-
kg block B in 2 s.
 Example 13.5

Solution
1. Free-Body Diagrams
Since mass of the pulleys is neglected, then for pulley C, ma = 0.
It can be seen that T = 490.5 N for A to be static and T = 196.2 N
for B to be static.
Assume both blocks accelerate downward,
in the direction of +sA and +sB
 Example 13.5

Solution
2. Equations of Motion
F ma ;
Block A:
y y 981 2T 100a A
Block B:
Fy may ; 196.2 T 20aB
3. Kinematics
It is seen that 2 s A sB l
where l is constant and represents the total vertical length of cord.
Differentiating this expression twice w.r.t time yield

2a A a B
 Example 13.5

Solution
3. Kinematics
Solving the three equations yields
T 327.0 N , a A 3.27m / s 2 , aB 6.54m / s 2
Since aB is constant, velocity in block B in 2 s is
v v0 aBt 13.1m / s
The negative sign indicates that block B is moving upward.
 13.5 Equations of Motion: Normal and Tangential Coordinates

Equation of motion for the particle may be written in the

tangential, normal and bi-normal directions
Since the particle is constrained to move along the path,
there is no motion in the bi-normal direction

Ft mat
Fn man
Fb 0
 13.5 Equations of Motion: Normal and Tangential Coordinates

at (=dv/dt) represents the time rate of change in the

magnitude of velocity
an (=v2/) represents the time rate of change in the velocitys
direction
13.5 Equations of Motion: Normal and Tangential Coordinates

Procedures for Analysis

1. Free-Body Diagram
Establish the inertial t, n, b coordinate system at
the particle and draw the particles FBD
Normal acceleration an, always acts in the
positive n direction
Tangential acceleration at is assume in the
positive t direction
Identify the unknowns in the problem
13.5 Equations of Motion: Normal and Tangential Coordinates

Procedures for Analysis

2. Equation of Motion
Apply the equations of motion,
Ft mat , Fn man , Fb 0

3. Kinematics
Formulate at =dv/dt or at = v dv/ds and an = v2/
If the path is defined as y = f(x),

2 3/ 2
1 dy / dx / d 2 y / dx2
 Example 13.6

Determine the banking for the race track so that the wheels of
the racing cars will not have to depend upon friction to prevent
any car from sliding up or down the track. Assume the cars have
negligible size a mass m, and travel around the curve of radius
with a speed v.
 Example 13.6
Solution
1. Free-Body Diagrams
No frictional force acting on the car.
NC represents the resultant of the ground on all four wheels.
Unknown are NC and .
 Example 13.6

Solution
2. Equations of Motion
Using the n and b axes,
2
Fn man ;
v
NC sin m

Fb 0; NC cos mg 0
Solving the 2 equations, eliminating NC and m,

v2 v 2
tan tan 1
g g
 Example 13.8

Design of the ski requires knowing the type of forces that will be
exerted on the skier and his approximate trajectory. In the case as
shown, determine the normal force and acceleration on the 600-N
skier the instant he arrives at the end of jump, A, where his
velocity is 9 m/s.
 Example 13.8

Solution
1. Free-Body Diagrams
As path is curved, there are an and at
Unknowns are at and NA
 Example 13.8

2. Equations of Motions

600 9 2
Fn man ; N A 600
9.81
600
Ft mat ; 0 at
9.81
 Example 13.8

Solution
2. Equations of Motions
1 2 dy 1 d2y 1
We have y x 15 x ; 2

60 dx 30 dx 30
At x = 0,


1 (dy / dx) 2 3/ 2
30m
2 2
d y / dx
x 0

Thus NA = 765 N
3. Kinematics
v2
a
With at = 0, n 2.7 m / s 2
; a A a n 2.7 m / s 2

 13.6 Equations of Motion: Cylindrical Coordinates

When all forces acting on a particle are resolved into

cylindrical components,
F = ma
Frur + Fu + Fzuz = marur +mau+mazuz

3 scalar equations of motion are

F ma
r r

F ma
F ma
z z
 13.6 Equations of Motion: Cylindrical Coordinates

Tangential and Normal Forces

Resultant force components Fr, F and Fz
cause a particle to move with a known
acceleration.

Directions or magnitudes of the forces acting

on the particle must be known or computed to
solve.
 13.6 Equations of Motion: Cylindrical Coordinates

Tangential and Normal Forces

Normal force N is always perpendicular to the tangent of the
path
Frictional force F always acts along the tangent in the
opposite direction of motion
 13.6 Equations of Motion: Cylindrical Coordinates

Tangential and Normal Forces

Directions of N and F can be specified relative to the radial
coordinate
r
tan
dr / d

can be positive
or negative
 13.6 Equations of Motion: Cylindrical Coordinates

Procedures for Analysis

1. Free-Body Diagram
Establish r, , z inertial coordinate system and
draw the particles FBD
Assume ar, a, az act in the positive directions of
r, , z if they are unknown
Identify all the unknowns in the problem

2. Equations of Motion

F r mar , F ma , F
z maz
 13.6 Equations of Motion: Cylindrical Coordinates

Procedures for Analysis

3. Kinematics
Determine r and r, r,,, z and evaluate
acceleration components
ar r r 2 ; a r 2r ; az z
If acceleration components is negative quantity, it is
acting in it negative coordinate direction
Use chain rule when taking the time derivatives of r
= f()
 Example 13.10

The smooth 0.5-kg double-collar can freely slide on arm

AB and the circular guide rod. If the arm rotates with a
constant angular velocity of 3 rad/s , determine the
force the arm exerts on the collar at the instant 45.
Motion is in the horizontal plane.
 Example 13.10

Solution
1. Free-Body Diagrams
The 4 unknowns are NC , F , ar , a
 Example 13.10

2. Equations of Motions
F r mar ; N ccos 45 0.5ar (1)
F r mar ; F N ccos 45 0.5a (2)
 Example 13.10

Solution
3. Kinematics
Using the chain rule,
r 0.8 cos 45 0.5657 m
r 0.8 sin 453 1.6971 m/s

r 0.8 sin 450 cos 45 32 5.091 m/s 2
We have
ar r r 2 10.18 m/s 2
a r 2r 10.18 m/s 2

Sub into (1) and (2) and solve, NC=0.75N and F=0
 Example 13.12

A can C, having mass 0.5-kg, moves along a grooved horizontal

slot. The slot is in a form of spiral defined by equation r = (0.1)
m, where is in radians. If the arm OA is rotating at a constant
rate 4rad / s in the horizontal plane, determine the force
it exerts on the can at the instant = rad.
 Example 13.12

Solution
1. Free-Body Diagrams
FC acts perpendicular to the
arm OA
NC acts perpendicular to the
tangent to the curve at = rad
r
The angle is defined as tan
dr / d

When = , tan 1 72.3

Thus
90 17.7
 Example 13.12

Solution
2. Equations of Motion

Using
17.7
Fr mar ; NC cos17.7 0.5ar (1)
F ma ; FC NC sin17.7 0.5a (2)

4rad / s r 0.1
0 r 0.1 0.4m / s
r 0.1 0
 Example 13.12

Solution
3. Kinematics
The time derivatives of r and are
ar r r 2 5.03m / s 2
a r 2r 3.20m / s 2
At the instant rad,
Sub into Eqs. 1 and 2,
NC = -2.64 N
FC = 0.800 N
End of Chapter 2

Force and Acceleration

F ma