Tenth Edition

CHAPTER VECTOR MECHANICS FOR ENGINEERS:

DYNAMICS
Ferdinand P. Beer
E. Russell Johnston, Jr.
Phillip J. Cornwell Kinetics of Particles:
Lecture Notes:
Newton’s Second Law
Brian P. Self
California Polytechnic State University

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Contents
• Introduction
• Newton’s Second Law of Motion
• Linear Momentum of a Particle
• Systems of Units
• Equations of Motion
• Dynamic Equilibrium
• Sample Problem 12.1
• Sample Problem 12.3
• Sample Problem 12.5
• Sample Problem 12.6
• Newton’s Law of Gravitation

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Kinetics of Particles
High swing velocities can
We must analyze all of the forces
result in large forces on a
acting on the wheelchair in order
swing chain or rope, causing
to design a good ramp
it to break.

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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

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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

• Momentum
-refers to the quantity of motion that an object has.

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Linear Momentum of a Particle

- defined as the product of mass and velocity
- physical quantity that makes a large moving object
difficult to stop
- if the object is at rest, momentum is zero.

• 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.”

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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 (ft), and time (second). The unit of mass is
derived,

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

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Dynamic Equilibrium
• Alternate expression of Newton’s second law,
 
 F  m a 0

 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.
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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)
x y
225 N

25o

Ff
N
mg
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Free Body Diagrams and Kinetic Diagrams

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
x y may
225 N
max

25o 
Ff
N
mg

F  ma
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Free Body Diagrams and Kinetic Diagrams

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).

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Free Body Diagrams and Kinetic Diagrams

1. Isolate body
2. Axes
3. Applied forces
4. Replace supports with forces
5. Dimensions (already drawn)
6. Kinetic diagram

y
T T NB
T
T may = 0
x

T
mg
Ff-B
= max

N1 Ff-1
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Sample Problem 12.1

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
solved for these unknowns.

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.

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Sample Problem 12.1

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

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Sample Problem 12.2

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.

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Sample Problem 12.2

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
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Sample Problem 12.2

• 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  2940N - 300 kg a B

 2940N - 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
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Kinetics: Normal and Tangential Coordinates

Aircraft and roller coasters can both experience large

normal forces during turns.

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Equations of Motion
 
• Newton’s second law  F  ma
• For tangential and normal components,

F  ma t
 F n  man
t

dv v2
F t m
dt
F n m


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Sample Problem 12.5

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.

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Sample Problem 12.5

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
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Sample Problem 12.6

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  = 400 ft components.
banked through an angle q = 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.

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Sample Problem 12.6

• Resolve the equation of motion for
the car into vertical and normal
components.
 Fy  0 : R cosq  W  0
W
R
cosq
W
 Fn  man : R sin q  an
SOLUTION: g

• The car travels in a horizontal circular W W v2

sin q 
path with a normal component of cosq g 
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  g tan q
reaction from the road surface.  
 32.2 ft s 2 400 ft  tan 18

v  64.7 ft s  44.1 mi h
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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 2
r
G  constant of gravitation
3 4
m ft
 66.73  10 12  34. 4  10 9
kg  s 2 lb  s 4
• For particle of mass m on the earth’s surface,
MG m ft
W m 2
 mg g  9.81 2  32.2 2
R s s

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END

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