Sharif University of Technology, International Campus (Kish island) Course title: Dynamics (Part 7) Instructor: Abdolreza Pasharavesh 3.2. Work and energy approach To derive the motion characteristics of an object including the velocity or position as functions of time or the pattern by which the velocity changes with respect to displacement, one needs to integrate the instantaneous relation given by the Newton’s second law with respect 6 either time or position. In this section a new approach for kinetic analysis based on integration of the second law of Newton with respeet to position which includes concepts of work and'@hergy will be studied, 3.2.1. Definition of work Before introduction of the work and energy principle, firstly a definition for :he term “work” is needed to be provided. > The work done by force # exerted on an object over a differential displacementod? is a scalar quantity which equals the dot product of the force and the displacement: @ o Fig. 1 ‘According to the above definition, since the work is a linear function of the corresponding force, using the principle of superposition one may write the total work done by all forces acting on an object as the werk done by the resultant foree ss: Woo, =| OF) a Q) Consider a particle moving on a curve aS shown in Fig. 1. ising equation (1), the differential work done by the force F applied t0 the particle P moving from position # to # +d? may be written as: dW = Fdscosa @) where o is the angle between the force and the line tangent to the path at any desired point and us denvtes the differential Wistane uavelal by the paitivle. Sime Pusu cyualy the component of the foreein 1 direction, one may write equation (3) as: dW = Fads 4 which means that the.differential work done by force /* equals the multiplication of its tangential component and the differential distance traveled by the object. According to equation (1), the unit of the wors should be N.m which is called “joule” and is indicatediby J the same as the unit used for energy. ‘herefore, 1J is the work done by a IN force during 4 Im displacement in the direction of the force. Using the unit joule for work and energy prevents ambiguity with the units of moment of a force or torque, which is Nam as well.Sharif University of Technology, International Campus (Kish island) Course title: Dynamics (Part 7) Instructor: Abdolreza Pasharavesh > In the U.S. customary system the units “foot pounds” (ft-lb) and “pound feet” (Ib-ft) are respectively used for work and moment. Now suppose that the particle P moves from point 4 to B along the described path.in Fig. 1. To calculate the total work done by the force /’, one can integrate equ: %, which results in: Fedt =|(Rdr+Rdv+Fdz)=[ Rds (5) Interpreting F, as a function of distance s ‘travelled on the curved path, one can conclude that the'Work done by the force F equals the area beneath the#j-s curve between s, and s,, as shown in Fig.2. 3.2.1.1. Special cases @ Work associated with a constant force A constant force F may be'pulled out of the integral in equation (5), resulting ine ai =F At=FLeosa © where Lis the displacement magnitide aid @ is the angle between tiie force and displacement vectors. Fig. 3 shows a particle traveling from pointy identified by the position vector 7; to point B identified by 7, wl is distanced L from A. Aétording to equation (6), n (1) from F =% to Fig. 3 regardleso of the shape of théiparticle’s path the work done by the constant force # may be written as FLcosa. }) Work associated with weight Fig. 4 shows a particle moving in a vertical plane under the action of its weight. Suppose that the altitude of the particle is small so that the gravity acceleration g may be assumed sizonstant, Therefore using equation (5) the work done ty the weight may be written as: W=F- mgj (Axi + Ayj)=—mg(y, Fig. 4Sharif University of Technology, International Campus (Kish island) Course title: Dynamics (Part 7) Instructor: Abdolreza Pasharavesh When the objec! is movin at long distances from the earth’s surface, the 4 gravitational force applied to it by the earth will be: pp amn @ which acts along the r axis and toward the earth’s center, as shown in Fig. 5. In equaton (8), G, m,, and r denote :he gravitational constant, the earth’s mass and the distance of the object from the earth’s center, Fig. 5 respectively. Using equation (5): 9) 3.2.1.2, Power The power delivered by a force is by definition the time fate of the work done by that force Therefore, divicing both sides of equation (1) by dt one has: pW pts di dt (10) According to the above equation, power is clearly a scalar quantity with unit of J/s. In SI system of units the special unit for power is “wat?” whieh is denoted by W and 1W is the power of a fore working 1J in'Is. In U.S. customary syStem of units the unit used for mechanical power is “horsepower” (hp) which is equal to 746W. 3.2.2. Conservative forces and potential energy > the Work done by a force during displacement between any lwo arbitrary points of the space is independent of the path followed, the force is called to be “conservative”. Suppose the force F shown in Fig, 6 to be a conservative force. Choosing a reference point the scalar function -/ (#) in introduced which is a function of the coordinates and represents the amount of work done by # during displacement from a chosen reference point to any arbitrary point of space indicated by ¥. Therefore, one can write the work done by F during displacement from point 1 to 2 as: ) ay The quantity: sin the above equation is called the “potential function” corresponding to the conservative force F y According to equation (11), foree F may be written as gradient WA of its corresponding potential function: Fig. 6Sharif University of Technology, International Campus (Kish island) Course title: Dynamics (Part 7) Instructor: Abdolreza Pasharavesh 3.2.2.1. Elastic potential energy The work needed to be done on an elastic body in order to be either stretched or compressed will be stored inside the body as “elastic potential energy” which is able to do work when the body is released to return to its initial state with no deformation, As mentioned above this potential energy is the negative of the work done by the body during the deformation, Consider a mechanical spring a8a simple elastic element. as shown in Fig. 7. Assuming a linear behavior for the spring, the force exerted on the object by the spring has a linear relation with its deformation and acts in a direction tending to restore the spring to its undeformed shape. Therefore, denoting the ¢hangesin length of the spring with respect to undeformed position by x) The force may be written as F =—kv where k is the spring constant. Taking the undeformed positicn as the reference for zero potential energy, then using equation (11), one has: Fig. 7 (3) (-hx) de > 3.2.2.2. Gravitational potential energy Recall from section 3.2.1.1. the calculated work done by the gravitational fore exerted by the earth on the objects. Using equations (7).and (9) together with equation (11) the following two expressions for gravitational potential energy for objects of either small or large al derived: ide are a) Objects of small altitude (constant gravity g) Taking the ground surface as thereference point for zero potential energy, one has: U, = mx] a4) b) Objects of altitudes Comparable with redius of the earth, Taking the infinity as the reference point for zero potential energy, one has: Gun r (15) oF, fee (ave, + nd, = Gm £ > Iu, = LF ar 3.2.3. Kinetic energy According 'to Newton’s second law in order that a stationary object be accelerated some net force must be exerted on it. As the object starts to accelerate it moves in the direction of the applied force resulting the force to do some work. This work is stored as “kinetic energy” in the 4Sharif University of Technology, International Campus (Kish island) Course title: Dynamics (Part 7) Instructor: Abdolreza Pasharavesh object. To derive an expression for the kinetic energy lets firstly multiply both sides of the Newton’s second law by a differential displacement P= mii => Fd? = mar (16) From the previous chapter we know that ad? , by substitution and integrating hoth sides, from point 1 to 2, one has: [Far =[mi.av ay Where the left hand side is the work done bythe force F during displacement and the right hand side is the kinetic energy which is equal to: my (1s) 1 2.4, Work and energy principle Suppose a particle of mass m under the action of +2 forees among which the first n forces are conservative and the secondom, ones are nonconservative. Let’s denote the resultant of the conservative and nonconservative forces by F and F., respectively. According to the Newton’s second law one has F+ksma (ly) Multiplying both sides by. dF , using equality dF =¥.d¥, and integrating both sides results i fRaue [Aur = fmi-as 20) The first term in left hand of the abdye expression is equal to negative of the summation of the change in potential energieS corresponding to cach conservative foree —AU’. The second term is the work done by nonconservative forces which can be represented by W,, and finally the right hand sie isthe chanigein kinetic energy AT. Therefore: W,, =4U+AT| @y According to the above equation the work done by all nonconservative forces acting on an object, during any arbitrary displacement equals the change in (otul potential and kinetic energies of the system. In the special case which there is no nonconservative force acting on the object equation (21) illustrates that there will be no change in summation of kinetic and potential energies of the system Which is ai interpretation of “conservation of energy law”.