2.

Kinetics of Particles: Newton’s Second Law

• Introduction

• Newton’s Second Law of Motion (F = ma)

• Newton’s Law of Gravitation

Page 1
Introduction
• Newton’s first and third laws are sufficient for the study of bodies at
rest (statics) or bodies in motion with no acceleration.
• When a body accelerates (changes in velocity magnitude or direction),
Newton’s second law is required to relate the motion of the body to the
forces acting on it.
• Newton’s second law:
- A particle will have an acceleration proportional to the magnitude of
the resultant force acting on it and in the direction of the resultant
r
force. ∑ F = m ar

- The resultant of the forces acting on a particle is equal to the rate of

change of linear momentum of the particle. r d r
∑ F = (m v )
dt
- The sum of the moments about O of the forces acting on a particle is
equal to the rate of change of angular momentum of the particle
about O. r& r
H = ∑M
O O Page 2
Newton’s Second Law of Motion
• Newton’s Second Law: 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.
• Consider a particle subjected to constant forces,
F1 F2 F3
= = = L = constant = mass, m
a1 a2 a3
r
• When a particle of mass m is acted upon by a force F ,
the acceleration of the particle must satisfy
r r
F = ma

• If force acting on particle is zero, particle will not

accelerate, i.e., it will remain stationary or continue on a
straight line at constant velocity.

Page 3
Linear Momentum of a Particle
• Replacing the acceleration by the derivative of the
velocity yields
r r
dv
∑F = m
dt
r
d r dL
= (m v ) =
dt dt
r r
L = m v = linear momentum of the particle

• Linear Momentum Conservation Principle:

If the resultant force on a particle is zero, the linear
momentum of the particle remains constant in both
magnitude and direction.

Page 4
Systems of Units

• International System of Units (SI Units): base units are

the units of length (m), mass (kg), and time (second).
The unit of force is derived,
 m kg ⋅ m
1 N = (1 kg ) 1 2  = 1 2
 s  s

Page 5
Equations of Motion
• Newton’s second law provides
r r
∑ F = m a
• Solution for particle motion is facilitated by resolving
vector equation into scalar component equations, e.g.,
for rectangular components,
r r r r r r
∑ (Fx i + Fy j + Fz k ) = m(a x i + a y j + a z k )
∑ Fx = ma x ∑ Fy = ma y ∑ Fz = ma z
∑ Fx = m&x& ∑ Fy = m&y& ∑ Fz = m&z&

• For tangential and normal components,

∑ F t = mat ∑ F n = man
dv v2
∑ t
F = m ∑Fn = m
dt ρ

Page 6
Dynamic Equilibrium
• Alternate expression of Newton’s second law,
r r
∑ F − ma =0
r
− ma ≡ inertial vector

• With the inclusion of the inertial vector, the system

of forces acting on the particle is equivalent to
zero. The particle is in dynamic equilibrium.

• Methods developed for particles in static

equilibrium may be applied, e.g., coplanar forces
may be represented with a closed vector polygon.

• Inertia vectors are often called inertial forces as

they measure the resistance that particles offer to
changes in motion, i.e., changes in speed or
direction.

Page 7
Sample Problem 1
SOLUTION:
• Resolve the equation of motion for the
block into two rectangular component
equations.

• Unknowns consist of the applied force

P and the normal reaction N from the
plane. The two equations may be
A 90 kg block rests on a horizontal solved for these unknowns.
plane. Find the magnitude of the force
P required to give the block an accelera-
tion or 3 m/s2 to the right. The coef-
ficient of kinetic friction between the
block and plane is µk = 0.25.

Page 8
Sample Problem 1
SOLUTION:
• Resolve the equation of motion for the block
into two rectangular component equations.
∑ Fx = ma :
y
(
P cos 30° − 0.25 N = (90 kg ) 3 m/s 2 )
F = µk N = 270 N
O
x = 0.25 N ∑ Fy = 0 :
N − P sin 30° − 883 N = 0
• Unknowns consist of the applied force P and
the normal reaction N from the plane. The two
equations may be solved for these unknowns.
N = P sin 30° + 883 N
P cos 30° − 0.25(P sin 30° + 883 N ) = 270 N
P = 662.3 N
Page 9
Sample Problem 2
SOLUTION:
• Write the kinematic relationships for the
dependent motions and accelerations of
the blocks.
• Write the equations of motion for the
blocks and pulley.
• Combine the kinematic relationships
with the equations of motion to solve for
the accelerations and cord tension.
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.

Page 10
Sample Problem 2
SOLUTION:
• Write the kinematic relationships for the dependent
O motions and accelerations of the blocks.
x
y B = 12 x A a B = 12 a A
y
• Write equations of motion for blocks and pulley.
∑ Fx = m A a A :
T1 = (100 kg )a A
∑ Fy = m B a B :
m B g − T2 = m B a B
(300 kg )(9.81 m s 2 )− T2 = (300 kg )a B
T2 = 2940 N - (300 kg )a B
∑ Fy = mC aC = 0 :
T2 − 2T1 = 0
Page 11
Sample Problem 2
• Combine kinematic relationships with equations of
motion to solve for accelerations and cord tension.
O
x y B = 12 x A a B = 12 a A

y T1 = (100 kg )a A
T2 = 2940 N - (300 kg )a B
(
= 2940 N - (300 kg ) 12 a A )
T2 − 2T1 = 0
2940 N − (150 kg )a A − 2(100 kg )a A = 0

a A = 8.40 m s 2
a B = 12 a A = 4.20 m s 2
T1 = (100 kg )a A = 840 N
T2 = 2T1 = 1680 N
Page 12
Sample Problem 3
SOLUTION:
• The block is constrained to slide down
the wedge. Therefore, their motions are
dependent. Express the acceleration of
block as the acceleration of wedge plus
the acceleration of the block relative to
the wedge.

• Write the equations of motion for the

wedge and block.
The 6 kg block B starts from rest and
slides on the 15 kg wedge A, which is • Solve for the accelerations.
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.

Page 13
Sample Problem 3
SOLUTION:
• The block is constrained to slide down the
wedge. Therefore, their motions are dependent.
r r r
aB = a A + aB A

• Write equations of motion for wedge and block.

∑ Fx = m A a A :
y N1 sin 30° = m A a A
0.5 N1 = (W A g )a A

x
∑ Fx = mB a x = mB (a A cos 30° − a B A ) :
− WB sin 30° = (WB g )(a A cos 30° − a B A )
aB A = a A cos 30° + g sin 30°

∑ Fy = mB a y = mB (− a A sin 30°) :
N1 − WB cos 30° = −(WB g )a A sin 30°
Page 14
Sample Problem 3
• Solve for the accelerations.
0.5 N1 = (W A g )a A
N1 − mB g cos 30° = −( mB )a A sin 30°
2(mA )a A − mB g cos 30° = −(mB )a A sin 30°
mB g cos 30°
aA =
2m A + mB sin 30°
6(9.81 m/s 2 )cos 30°
aA =
2(15 kg ) + (6 kg )sin 30°

a A = 1.54 m/s 2

aB A = a A cos 30° + g sin 30°

( ) ( )
aB A = 1.54 m/s 2 cos 30° + 9.81 m/s 2 sin 30°
aB A = 6.24 m/s 2

Page 15
Sample Problem 4
SOLUTION:
• Resolve the equation of motion for the
bob into tangential and normal
components.
• Solve the component equations for the
normal and tangential accelerations.
• Solve for the velocity in terms of the
normal acceleration.
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 accel-
eration of the bob in that position.

Page 16
Sample Problem 4
SOLUTION:
• Resolve the equation of motion for the bob into
tangential and normal components.
• Solve the component equations for the normal and
tangential accelerations.
∑ Ft = mat : mg sin 30° = mat
at = g sin 30°
at = 4.9 m s 2

∑ Fn = man : 2.5mg − mg cos 30° = man

an = g (2.5 − cos 30°)
an = 16.03 m s 2
• Solve for velocity in terms of normal acceleration.
v2
an = v = ρan = (2 m) (16.03 m s 2 )
ρ
v = ±5.66 m s
Page 17
Sample Problem 5
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

Determine the rated speed of a the car into vertical and normal
highway curve of radius ρ = 120 m components.
banked through an angle θ = 18o. The
rated speed of a banked highway curve • Solve for the vehicle speed.
is the speed at which a car should
travel if no lateral friction force is to
be exerted at its wheels.

Page 18
Sample Problem 5
• Resolve the equation of motion for
the car into vertical and normal
components.
∑ Fy = 0 : R cosθ − W = 0
W
R=
cosθ
W
∑ Fn = man : R sin θ = an
SOLUTION: g

• The car travels in a horizontal circular W W v2

sin θ =
path with a normal component of cosθ g ρ
acceleration directed toward the center • Solve for the vehicle speed.
of the path.The forces acting on the
car are its weight and a normal v 2 = gρ tan θ
reaction from the road surface. ( )
= 9.81 m/s 2 (120 m) tan 18°

v = 19.6 m s = 70.6 km hr
Page 19
Angular Momentum of a Particle
r r r
• H O = r × mV = moment of momentum or the angular
vθ = rθ& momentum of the particle about O.
r r r
• H O is perpendicular to plane containing r and mV
r r r
H O = rmV sin φ i j k
r
= rm vθ HO = x y z
= mr 2θ& mv x mv y mv z

• Derivative of angular momentum with respect to time,

r& r& r r r& r r r r
H O = r × mV + r × mV = V × mV + r × ma
r
= r×∑F
r
= ∑ MO
• It follows from Newton’s second law that the sum of
the moments about O of the forces acting on the
particle is equal to the rate of change of the angular
momentum of the particle about O.
Page 20
Eqs of Motion in Radial & Transverse Components
• Consider particle at r and θ, in polar coordinates,

∑ Fr = mar = m(&r& − rθ& 2 )

∑ Fθ = maθ = m(rθ&& + 2r&θ& )

• This result may also be derived from conservation

of angular momentum,

H O = mr 2θ&

r ∑ Fθ =
d
dt
(
mr 2θ& )
(
= m r 2θ&& + 2rr&θ& )
∑ Fθ = m(rθ&& + 2r&θ& )

Page 21
Angular Momentum under Central Force
• When only 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 the line ofr actionr of the central force passes

through O, ∑ M O = H& O = 0 and
r r r
r × mV = H O = constant
• Position vector and motion
r of particle are in a
plane perpendicular to H O .

• Magnitude of angular momentum,

H O = rm V sin φ = constant
= r0 m V0 sin φ 0

or H O = mr 2θ& = constant
HO angular momentum
= r 2θ& = h =
m unit mass
Page 22
Conservation of Angular Momentum
• Radius vector OP sweeps infinitesimal area
dA = 12 r 2 dθ

dA 1 2 dθ 1 2 &
• Define = 2r = 2 r θ = areal velocity
dt dt

• Recall, for a body moving under a central force,

h = r 2θ& = constant

• When a particle moves under a central force, its

areal velocity is constant.

Page 23
Newton’s Law of Gravitation
• Gravitational force exerted by the sun on a planet or by
the earth on a satellite is an important example of
gravitational force.
• Newton’s law of universal gravitation - two particles of
mass M and m attract each other with equal and opposite
force directed along the line connecting the particles,
Mm
F =G
r2
G = constant of gravitation
−12 m3
= 66.73 × 10
kg ⋅ s 2

• For particle of mass m on the earth’s surface,

MG m 2
W =m = mg g = 9.81 = 9. 81 m / s
R2 s2

Page 24
Sample Problem 6
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
A block B of mass m can slide freely on transverse equation to find an
a frictionless arm OA which rotates in a expression for the force on the block.
horizontal plane at a constant rate θ&0 .
Knowing that B is released at a distance
r0 from O, express as a function of r
a) the component vr of the velocity of B
along OA, and
b) the magnitude of the horizontal force
exerted on B by the arm OA.

Page 25
Sample Problem 6
• Integrate the radial equation to find an
expression for the radial velocity.
dv dv dr dv
&r& = v&r = r = r = vr r
dt dr dt dr

vr dvr = rθ& 2 dr = rθ&02 dr

vr r
∫ vr dvr = θ&0 ∫ r dr
2

SOLUTION:
• Write the radial and transverse
equations of motion for the block.
∑ Fr = m ar : 0 = m(&r& − rθ& 2 )
∑ F θ = m aθ : F = m(rθ&& + 2r&θ& )
0 r0
vr2 = θ&02 ( r 2 − r02 )
• Substitute known information into the
transverse equation to find an expression
for the force on the block.
(
F = 2mθ&02 r 2 − r02 )
12

Page 26
Sample Problem 7
SOLUTION:
• Since the satellite is moving under a
central force, its angular momentum is
constant. Equate the angular momentum
at A and B and solve for the velocity at B.

A satellite is launched in a direction

parallel to the surface of the earth
with a velocity of 30.1 mm/h from an
altitude of 390 km. Determine the
velocity of the satellite as it reaches it
maximum altitude of 3750 km. The
radius of the earth is 6370 km.

Page 27
Sample Problem 7
SOLUTION:
• Since the satellite is moving under a
central force, its angular momentum is
constant. Equate the angular momentum
at A and B and solve for the velocity at B.
rm v sin φ = H O = constant
rA m v A = rB m v B
rA
vB = v A
rB
(6376 + 390)km
= (30.1 mm/ h )
(6370 + 3750)km
v B = 20.1 mm h

Page 28