VECTOR MECHANICS FOR ENGINEERS: DYNAMICS

(KINETICS OF PARTICLES: NEWTON’S SECOND LAW)

 Kinetics – We consider the forces that causes motion.
 Kinematics – We only consider the motion (geometry of motion)
INTRODUCTION

F  ma
Newton’s Second Law of Motion
• 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.
• Must be expressed with respect to a Newtonian (or inertial) frame of reference, i.e., one
that is not accelerating or rotating.
• This form of the equation is for a constant mass system
LINEAR MOMENTUM OF A PARTICLE
• Replacing the acceleration by the derivative of the velocity yields
 
dv
F  m
dt

d  dL
 m v  
dt dt

L  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.
SYSTEMS OF UNITS
• Of the units for the four primary dimensions (force, mass,
length, and time), three may be chosen arbitrarily. The fourth
must be compatible with Newton’s 2nd Law.
• 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
 • U.S. Customary Units: base units are the units of force
(lb), length (m), and time (second). The unit of mass is derived,

1lb 1lb lb  s 2
1lbm  1slug  1
32.2 ft s 2 1ft s 2 ft

EQUATIONS OF MOTION
 
• Newton’s second law
 F  ma
• Can use scalar component equations, e.g., for
rectangular components,
 
  
 
 
 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

• Alternate expression of Newton’s second law,

 
  ma  0
F

 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.
• Inertial forces may be conceptually useful but are not like
the contact and gravitational forces found in statics.
FREE BODY DIAGRAMS AND KINETIC DIAGRAMS
The free body diagram is the same as you have done in statics; we will add the kinetic diagram
in our dynamic analysis.
1. Isolate the body of interest (free body)
2. Draw your axis system (e.g., Cartesian, polar, path)
3. Add in applied forces (e.g., weight, 225 lb pulling force)
4. Replace supports with forces (e.g., normal force)
5. Draw appropriate dimensions (usually angles for particles) (Ff = μN)

Put the inertial terms for the body of interest on the kinetic diagram.
1. Isolate the body of interest (free body)
2. Draw in the mass times acceleration of the particle; if unknown, do this in the positive
direction according to your chosen axes

F  ma
1. Draw the FBD and KD for block A (note that the
massless, frictionless pulleys are attached to block A and
should be included in the system).
a. Isolate body
b. Axes
c. Applied forces
d. Replace supports with forces
e. Dimensions (already drawn)
f. Kinetic diagram

2. Draw the FBD and KD for the collar B. Assume

there is friction acting between the rod and collar,
motion is in the vertical plane, and q is increasing
a. Isolate body
b. Axes
c. Applied forces
d. Replace supports with forces
e. Dimensions
f. Kinetic diagram
SAMPLE PROBLEM 12.1
A 200-lb block rests on a horizontal plane. Find
the magnitude of the force P required to give
the block an acceleration of 10 ft/s2 to the right.
The coefficient of kinetic friction between the
block and plane is mk = 0.25.
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 solved for these unknowns.
SOLUTION:
• Resolve the equation of motion for the block
into two rectangular component equations.

 Fx  ma :
 
P cos 30  0.25 N  6.21lb  s 2 ft 10 ft s 2 
 62.1lb
W 200 lb  Fy  0 :
m 
y g 32.2 ft s 2 N  P sin 30  200 lb  0
• Unknowns consist of the applied force P and
lb  s 2
 6.21 the normal reaction N from the plane. The two
O ft equations may be solved for these unknowns.
x
F  k N N  P sin 30  200 lb
 0.25 N P cos 30  0.25 P sin 30  200 lb  62.1 lb
P  151lb

SAMPLE PROBLEM 12.3

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.
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.
SOLUTION:
• Write the kinematic relationships for the dependent
motions and accelerations of the blocks.
y B  12 x A a B  12 a A
• Write equations of motion for blocks and pulley.

 Fx  m A a A :
T1  100 kg a A
 Fy  mB 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

• Combine kinematic relationships with equations of motion to solve for accelerations and
cord tension.
y B  12 x A a B  12 a A
T1  100 kg a A a A  8.40 m s 2
T2  2940 N - 300 kg a B
a B  12 a A  4.20 m s 2

 2940 N - 300 kg  12 a A 
T2  2T1  0 T1  100 kg a A  840 N
2940 N  150 kg a A  2100 kg a A  0 T2  2T1  1680 N
SAMPLE PROBLEM 12.4
The 12-lb block B starts from rest and slides
on the 30-lb wedge A, which is 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.
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.
• Solve for the accelerations.
SOLUTION:
• The block is constrained to slide down the wedge. Therefore,
their motions are dependent.
  
aB  a A  aB A
• Write equations of motion for wedge and block.
 Fx  m A a A :
N1 sin 30  m A a A
0.5 N1  W A g a A

0 Fx  m B a x  m B a A cos 30  a B A :

 WB sin 30  WB g  a A cos 30  a B A 
a B A  a A cos 30  g sin 30

 Fy  mB a y  m B  a A sin 30 :
N1  WB cos 30  WB g a A sin 30
 • Solve for the accelerations.

0.5 N1  W A g a A
N1  WB cos 30  WB g a A sin 30
2W A g a A  WB cos 30  WB g a A sin 30
gWB cos 30
aA 
2W A  WB sin 30

aA 
32.2 ft s 2 12 lb cos 30
230 lb  12 lb sin 30
a A  5.07 ft s 2

a B A  a A cos 30  g sin 30

   
a B A  5.07 ft s 2 cos 30  32.2 ft s 2 sin 30
a B A  20.5 ft s 2

KINETICS: NORMAL AND TANGENTIAL COORDINATES

 Aircraft and roller coasters can both experience large normal forces during turns.
EQUATIONS OF MOTION
 
• Newton’s second law  F  ma
• For tangential and normal components,

F t  mat F n  man
dv v2
F t m
dt F n m

SAMPLE PROBLEM 12.5
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 acceleration of the bob in that position.
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.
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.

an 
v2
v  an  2 m 16.03 m s 2 

v  5.66 m s