Tribhuwan University

Institute of Engineering
Pulchowk Campus

Er. Nipesh Regmi

Department of Mechanical Engineering

January 11, 2017

1. Beer, F. P. et al., 2010. Vector Mechanics for Engineers: Statics & Dynamics. 9th ed. New York,
America: McGraw-Hill.

2. Hibbler, R. C., 2010. Engineering Mechanics- Statics and Dynamics. 12th ed. Upper Saddle River,
New Jersey 07458: Pearson Prentice Hall.

3. Pytel, A. & Kiusalaas, J., 2010. Engineering Mechanics: Dynamics. 3rd ed. Stamford, CT 06902,
USA: Cengage Learning.

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• A force 𝑭 will do work on a particle only when the particle undergoes a
displacement in the direction of the force.

• Consider a force 𝑭 causes the particle to move along the path 𝑠 from position 𝒓 to
a new position 𝒓’.
Displacement: 𝑑𝒓 = 𝒓’ − 𝒓

• Work done by force 𝑭 is 𝑑𝒓 = 𝑑𝑠 = 𝑙𝑒𝑛𝑔𝑡ℎ 𝑜𝑓 𝑑𝑖𝑓𝑓𝑒𝑟𝑒𝑛𝑡𝑖𝑎𝑙 𝑠𝑒𝑔𝑚𝑒𝑛𝑡 𝑎𝑙𝑜𝑛𝑔 𝑡ℎ𝑒 𝑝𝑎𝑡ℎ

𝑑𝑈 = 𝐹𝑑𝑠 cos 𝜃 𝜃 = 𝑎𝑛𝑔𝑙𝑒 𝑏𝑒𝑡𝑤𝑒𝑒𝑛 𝑡ℎ𝑒 𝑡𝑎𝑖𝑙𝑠 𝑜𝑓 𝑭 𝑎𝑛𝑑 𝑑𝒓

• By definition of dot product, work of force 𝐹 is written as

𝑑𝑈 = 𝑭. 𝑑𝒓
3
• If the particle is acted upon by the force 𝑭 undergoes a finite displacement along
its path from 𝒓𝟏 to 𝒓𝟐 or 𝑠1 to 𝑠2 , the work of force 𝑭 is determined by
integration.

𝒓𝟐 𝑠2
𝑈1−2 = 𝑭. 𝑑𝒓 = 𝐹 cos 𝜃 𝑑𝑠 Provided 𝑭 and 𝜃 = 𝑓(𝑝𝑜𝑠𝑖𝑡𝑖𝑜𝑛)
𝒓𝟏 𝑠1

Area under the curve 𝐹 𝑐𝑜𝑠 𝜃 bounded by 𝑠1 and

𝑠2 represents the total work of the variable
4
force.
• If the particle is acted upon by the force 𝑭𝒄 of constant magnitude at a
constant angle 𝜃 undergoes displacement along its path from 𝑠1 to 𝑠2 , the
work of force 𝑭 is determined as

𝑠2
𝑈1−2 = 𝐹𝑐 cos 𝜃 𝑑𝑠
𝑠1

𝑈1−2 = 𝐹𝑐 cos 𝜃 (s2 − s1 )

Work of 𝑭𝒄 represents the area of the rectangle.

5
 𝑦2 > 𝑦1
• Consider a particle of weight 𝑾, which moves along the path 𝑠 shown from
position 𝑠1 to 𝑠2 .

• Position vector of particle at any instant is

𝒓 = 𝑥𝒊 + 𝑦𝒋 + 𝑧𝒌

⇒ 𝑑𝒓 = 𝑑𝑥𝒊 + 𝑑𝑦𝒋 + 𝑑𝑧𝒌

• Work of weight is determined as

𝒓𝟐 (𝑥2 ,𝑦2 ,𝑧2 ) 𝑦2
𝑈1−2 = 𝑭. 𝑑𝒓 = −𝑊𝒋 . (𝑑𝑥𝒊 + 𝑑𝑦𝒋 + 𝑑𝑧𝒌) = −𝑊𝑑𝑦 = −𝑊(𝑦2 − 𝑦1 )
𝒓𝟏 (𝑥1 ,𝑦1 ,𝑧1 ) 𝑦1

⇒ 𝑈1−2 = −W(Δ𝑦) Work of weight is independent of the path and is equal to the magnitude of the particle’s
6
weight times its vertical displacement.
• If an elastic spring is elongated a distance 𝑑𝑠, then the work done by the
force that acts on the attached particle is

𝑑𝑈 = −𝐹𝑠 𝑑𝑠 = −𝑘𝑠𝑑𝑠
Work of spring force is –ve as force and displacement are in opposite sense.

• Work of spring force when particle is displaced from 𝑠1 to 𝑠2 is

𝑠𝟐 𝑠2
𝑈1−2 = 𝐹𝑠 𝑑𝑠 = −𝑘𝑠𝑑𝑠
𝑠1 𝑠1

1 2 1 2
⇒ 𝑈1−2 = − 𝑘𝑠2 − 𝑘𝑠1
2 2
7
• Characteristics of Central force- (Gravitational force, Spring force)

1. Always directed toward a fixed point.

2. Its magnitude is a function of the distance between the fixed point and the
point of application of the force.

• Work done for small increment 𝑑𝑠

The work is independent of the path ℒ, depending only on the
initial and final values of 𝑅.

• For finite displacement from position (1) to position (2) is

8
• Consider a particle of mass m acted upon by resultant force 𝑭𝑅

𝑑𝑣
𝐹𝑡 = 𝑚𝑎𝑡 = 𝑚𝑣
𝑑𝑠

Integrating above equation both sides

⇒ 𝑇1 + 𝑈1⟶2 = 𝑇2

Particle’s initial kinetic energy + Work done by all the

Since,
forces as the particle moves from initial to final position =
Hence, from definition of work; Particle’s final kinetic energy

⇒ U1  2  T2  T1 T  1 mv 2  kinetic energy

2
• Consider any 𝑖 𝑡ℎ particle inside the system, having mass 𝑚𝑖 subjected to a system of
internal forces and resultant external forces.

𝑓𝑖 ⟶ resultant of all the internal

• Applying principle of work and energy to 𝑖 𝑡ℎ particle forces the other particle exert on
the 𝑖 𝑡ℎ particle.
𝑇𝑖 1 + 𝑭𝑖 . 𝑑𝒔𝑖 + 𝒇𝑖 . 𝑑𝒔𝑖 = 𝑇𝑖 2

𝐹𝑖 ⟶ resultant external forces

• Applying equation of motion to similar other the other body exert on the
particles and the results added algebraically,
𝑖 𝑡ℎ particle.

𝑇 1 + 𝑈1⟶2 = 𝑇 2
The initial kinetic energy of the system plus the work done by all
external and internal forces acting on the system is equal to the
final kinetic energy of the system.
• Determine velocity of pendulum bob at A2.
Consider work & kinetic energy.
T1  U12  T2

• Force P acts normal to path and does no
1 2
work: 0  mgl  mv2
2
v2  2 gl

• Velocity found without determining acceleration and integrating

• All quantities are scalars

• Forces which do no work are eliminated

• Principle of work and energy cannot be applied to directly
determine the acceleration of the pendulum bob.

• Calculating the tension in the cord requires supplementing the

method of work and energy with an application of Newton’s
second law.

• As the bob passes through A2 ,

F n  m an
v22
P  mg  m
l
W=mg
2 gl v2  2 gl
P  mg  m  3mg
l
The 10 − 𝑘𝑔 block shown in figure rests on
the smooth incline. If the spring is originally
stretched 0.5 𝑚, determine the total work
done by all the forces acting on the block
when a horizontal force 𝑃 = 400 𝑁 pushes
the block up the plan 𝑠 = 2 𝑚.
SOLUTION:
• Draw FBD of the system at any instant.
• Look for the forces that does work on
the block.
• Compute the work of the each forces
and sum the work to find the total
work.
SOLUTION:

• Draw FBD of the system at any instant.

• Look for the forces that does work on the block.
1. Component of Constant horizontal force P along the inclined plane
2. Spring Force 𝐹𝑠
3. Weight component along the inclined plane

Note: Normal force 𝑁𝐵 and Weight component perpendicular to the inclined plane does no work. Why ??

• Compute the work of the each forces and sum the work to find the total
work.
2.5
𝑇𝑜𝑡𝑎𝑙 𝑤𝑜𝑟𝑘 = 𝑈1→2 = 𝑃 cos 30° − 30𝑥 − 98.1 sin 30° 𝑑𝑥 = 692.8 − 90 − 98.1 𝐽 = 505 𝐽
0.5
As shown in figure, the block of mass 𝑚 = 1.6 𝑘𝑔 is placed on a horizontal
plane and attached to an ideal spring. The static and kinetic coefficients of
friction between the block and the plane are given in the figure. The spring has a
stiffness of 𝑘 = 30 𝑁/𝑚 and is undeformed when 𝑥 = 0 . The block is
launched at 𝑥 = 0 with the velocity of 6 𝑚/𝑠 to the right. (1) Determine the
value of 𝑥 when the block first comes to rest. (2) Show that the block doesn’t
remain at rest in the position found in (1). (3) Find the speed of the block when
it reaches 𝑥 = 0 for second time.
SOLUTION:

• Part 1: Applying principle of work and energy between position 1 and

position 2

FBD at any instant

The two solution are 𝑥2 = 1.2850 𝑚 and −1.4942 𝑚. Since the block was launched to the
right; only the positive root has physical significance; that is
• Part 2: At position 2, the FBD of the block is as shown.

The spring force 𝑃 = 𝑘𝑥2 = 30 1.2850 = 38.55 𝑁 tends to pull the block to the left.

Block will be at rest if the spring force is resisted by the static friction force 𝐹𝑠 .

i.e., 𝐹𝑠 = 𝑃 = 38.55 𝑁
FBD at position 2

Maximum possible friction force 𝐹𝑚𝑎𝑥 = 𝜇𝑠 𝑁𝐴 = 0.3 15.696 = 4.709𝑁

Since, 𝐹𝑠 > 𝐹𝑚𝑎𝑥 , Equilibrium is not possible, and the block will start moving to the left.
• Part 3: Applying principle of work and energy between position (1)
and (3) [Note: Similar result will be obtained on applying principle of
work and energy between (2) and (3)]

Why only work of friction is considered ? Why not work of spring force taken into account ??

If 𝑣3 had turned out to be imaginary (square root of a negative number), we would conclude
that the block was unable to reach position 3 because it had come to rest somewhere between
positions 2 and 3. This rest position could be determined by another application of work-
energy principle.
The 2-kg block hits the spring with a speed of 4 m/s. Determine the total
distance travelled by the block before it comes to a permanent stop. Use k = 8
N/m and the coefficients of friction shown.
The collar 𝐴 of mass 𝑚 = 1.8 𝑘𝑔 shown in SOLUTION:
figure slides on a frictionless rod that lies in • Draw FBD of the system at any instant.
the vertical plane. A rope is attached to 𝐴 and
• Apply principle of work and energy for
passed over a pulley at 𝐵 . The constant determining the required data.
horizontal force 𝑃 is applied to the end of the
rope. The collar is released from rest in
position 1.

(1) Determine the speed of the collar in

position 2 if 𝑃 = 20 𝑁.

(2) Find the smallest value of 𝑃 for which

the collar will reach position 2.
SOLUTION:

• Draw FBD of the system at any instant.

• Part (1):

𝑊𝑜𝑟𝑘 𝑜𝑓 𝑊𝑒𝑖𝑔ℎ𝑡, 𝑊 = −𝑚𝑔ℎ Why negative ??

𝐿2
𝑊𝑜𝑟𝑘 𝑜𝑓 𝑓𝑜𝑟𝑐𝑒 𝑃 = −𝑃 𝐿1
𝑑𝐿 = 𝑃(𝐿1 − 𝐿2 ) P is a central force always directed towards B of
constant magnitude.

• Applying principle of work and energy between position 1 and position 2

⇒ ⇒
• Part (2):

• Applying principle of work and energy between position 1 and position 2

Why velocity is zero at position 2 ?

⇒ 𝑃 = 11.46 𝑁
(1) If the 75 − 𝑘𝑔 crate starts from rest at 𝐴, determine its speed when it reaches
point 𝐵. The cable is subjected to a constant force of 𝐹 = 300 𝑁. Neglect
friction and the size of the pulley.

(2) If the 75 − 𝑘𝑔 crate starts from rest at 𝐴, and its speed is 6 𝑚/𝑠 when it
passes point 𝐵, determine the constant force 𝑭 exerted on the cable. Neglect
friction and the size of the pulley.
If the 60 − 𝑘𝑔 skier passes point 𝐴 with a speed of 5 𝑚/𝑠, determine his speed
when he reaches point 𝐵. Also find the normal force exerted on him by the slope
at this point. Neglect friction.
Package are thrown down an incline at A with a velocity of 1 𝑚/𝑠. The
package slide along the surface 𝐴𝐵𝐶 to a conveyor belt which moves with a
velocity of 2 𝑚/𝑠. Knowing that 𝜇𝑘 = 0.25 between the packages and the
surface 𝐴𝐵𝐶, determine the distance 𝑑 if the packages are to arrive at 𝐶 with a
velocity of 2 𝑚/𝑠.
• Power • Efficiency
• Rate at which work is done
• Ratio of useful output power
produced by machine to the
• If Δ𝑈 is the work done during time interval Δ𝑡, then average power
input power supplied to the
during that time interval is
machine.
Δ𝑈
𝐴𝑣𝑒𝑟𝑎𝑔𝑒 𝑃𝑜𝑤𝑒𝑟 =
Δ𝑡
𝑂𝑢𝑡𝑝𝑢𝑡 𝑃𝑜𝑤𝑒𝑟
• Efficiency, 𝜂 =
• When Δ𝑡 approaches to zero, 𝐼𝑛𝑝𝑢𝑡 𝑃𝑜𝑤𝑒𝑟

𝑑𝑈 But 𝑑𝑈 = 𝑭. 𝑑𝒓 𝑂𝑢𝑡𝑝𝑢𝑡 𝐸𝑛𝑒𝑟𝑔𝑦

𝑃𝑜𝑤𝑒𝑟 = • Efficiency, 𝜂 =
𝑑𝑡 𝐼𝑛𝑝𝑢𝑡 𝐸𝑛𝑒𝑟𝑔𝑦
𝑭. 𝑑𝒓
⇒ 𝑃𝑜𝑤𝑒𝑟 = = 𝑭. 𝒗 • 0≤𝜂<1
𝑑𝑡
• Conservative Forces
• Forces whose work depends only on the initial and final positions of its point of applications (Weight of
particle, force developed by a spring)
• Potential energy is the capacity of the conservative force to do work

• Conservation of Mechanical Energy

• Conservation of energy: The total energy (the sum of all forms of energy) remains constant for closed system
• In mechanics, we consider only the sum of potential and kinetic energies
• If all forces acting on a particle, body or closed system of bodies are conservative, mechanical energy is
conserved – Principle of conservation of mechanical energy
• Principle of conservation of energy is easier for applying than work-energy principle but has limited use,
because it is not valid for non-conservative forces (such as kinetic friction)
• Potential Function
• If 𝑭 is a field defined on open region 𝐷 in space and 𝑭 = 𝛻𝑓 for some scalar function 𝑓 on 𝐷, then 𝑓 is called
a potential function for 𝑭.
• Once we have a potential function 𝑓 for a field 𝑭, we can evaluate work integrals as

𝐵 𝐵
𝐹. 𝑑𝑟 = 𝛻𝑓. 𝑑𝑟 = 𝑓 𝐵 − 𝑓(𝐴)
𝐴 𝐴

• 𝑭 = 𝛻𝑓 implies path independence of the integral.

• Only conservative forces are derivable from potential function.
• A non-conservative forces, such as friction, doesn’t possess a potential.
• In mechanics, conservative force 𝑭 is the negative gradient of its potential function 𝑉, i.e. 𝑭 = −𝛻𝑉
• When a particle is acted upon by a system of both conservative and non-conservative forces, the work of
conservative forces can be written in terms of difference in their potential energies as
𝑈1→2 𝑐𝑜𝑛𝑠. = 𝑉1 − 𝑉2
• Work Energy Principle can be written as Note:
V is the potential energy of
𝑇1 + 𝑈1→2 + 𝑈1→2 = 𝑇2
the resultant conservative
𝑐𝑜𝑛𝑠. 𝑛𝑜𝑛−𝑐𝑜𝑛𝑠. forces acting on the particle.

𝑇1 + 𝑉1 + 𝑈1→2 = 𝑇2 + 𝑉2
𝑛𝑜𝑛−𝑐𝑜𝑛𝑠.

• If only conservative forces do work then we have

Principle of conservation of
Energy
• If a system of particles is only subjected to conservative forces then

Sum of system’s initial kinetic energies and potential energies is equal to the sum of
system’s final kinetic energies and potential energies.
The figure shows a 1-kg collar that slides
along the frictionless vertical rod under the
actions of gravity and an ideal spring. The
spring has a stiffness of 160 N/m, and its free
length is 0.9 m. The collar is released from
rest in position 1. Determine the speed of the
collar in position 2.
SOLUTION:
• Draw Kinetic Energy Diagram of the
system at initial and final position.
• Compute the potential energy of the
conservative forces.
• Use the principle of conservation of
mechanical energy to compute the
speed of the collar in final position.
The 2-kg weight is released from rest in
position A, where the two springs of stiffness
k each are undeformed. Determine the
largest k for which the weight would reach
position B.
The spring is unstretched when 𝑠 = 1𝑚 and
the 15 𝑘𝑔 block is released from rest at this
position. Determine the speed of the block
when 𝑠 = 3𝑚. The spring remains horizontal
during the motion, and the contact surfaces
between the block and inclined plane are
smooth.