ME212 Dynamics - CHPT 13

Chapter 13
Kinetics of a Particle:
Force and Acceleration
Dynamics
Dynamics, Fourteenth Edition in SI Units Copyright ©2017 by Pearson Education, Ltd.
R.C. Hibbeler All rights reserved.
NEWTON’S LAWS OF MOTION (Section 13.1)
The motion of a particle is governed by Newton’s three laws of

motion.
First Law: A particle originally at rest, or moving in a straight
line at constant velocity, will remain in this state if the resultant
force acting on the particle is zero.
Second Law: If the resultant force on the particle is not zero, the
particle experiences an acceleration in the same direction as the
resultant force. This acceleration has a magnitude proportional to
the resultant force.
Third Law: Mutual forces of action and reaction between two
particles are equal, opposite, and collinear.

NEWTON’S LAWS OF MOTION (continued)
The first and third laws were used in developing the

concepts of statics. Newton’s second law forms the
basis of the study of dynamics.
Mathematically, Newton’s second law of motion can be

written
F = ma
where F is the resultant unbalanced force acting on the
particle, and a is the acceleration of the particle. The
positive scalar m is the mass of the particle.

NEWTON’S LAW OF GRAVITATIONAL
ATTRACTION
Any two particles or bodies have a mutually attractive

gravitational force acting between them. Newton postulated
the law governing this gravitational force as
m1 m2
F=G 2
r
where F = force of attraction between the two bodies,
G = universal constant of gravitation,
(G=66.73 x 10-12 m3 kg-1 s-2) )
m1, m2 = mass of each body, and
r = distance between centers of the two bodies.
When near the surface of the earth, the only gravitational
force having any sizable magnitude is that between the earth
and the body. This force is called the weight of the body.
MASS AND WEIGHT
It is important to understand the difference between the

mass and weight of a body!
Mass is an absolute property of a body. It is independent of

the gravitational field in which it is measured. The mass
provides a measure of the resistance of a body to a change
in velocity, as defined by Newton’s second law of motion
(m = F/a).
The weight of a body is not absolute, since it depends on the
gravitational field in which it is measured. Weight is defined
as
W = mg
where g is the acceleration due to gravity.
UNITS: SI SYSTEM VERSUS FPS SYSTEM
SI system: In the SI system of units,

mass is a base unit and weight is a
derived unit.
Typically, mass is specified in
kilograms (kg), and weight is
calculated from W = mg.
If the gravitational acceleration (g) is

specified in units of m/s2, then the
weight is expressed in newtons (N).
On the earth’s surface, g can be taken as g = 9.81 m/s2.
W (N) = m (kg) g (m/s2)  N = kg·m/s2

UNITS: SI SYSTEM VERSUS FPS SYSTEM
Unit fps SI (MKS)
1ft = 0,3048 m;
Length 1 ft = 1/3 yd = 12 in
1 mile = 1609,34 m
Area 1 ft² = 144 in² 1ft² = 0,092903 m²
1 ft³ = 1728 in³ = 6,22882 gal (UK)

Volume 1ft³ = 0,0283169 m³
1 gal (US) = 0,83268 gal (UK)
1 ft/s
Speed 1 knot = 1,150785 mile/h 1ft/s = 0,3048 m/s
=1,6877 ft/s
Acceleration 1 ft/s² 1ft/s = 0,3048 m/s²
Mass 1 lb 1lb = 0,453592 kg
Force 1 lbf 1 lbf = 4,44822 N

EQUATION OF MOTION (Section 13.2)
The motion of a particle is governed by Newton’s second law, relating

the unbalanced forces on a particle to its acceleration. If more than one
force acts on the particle, the equation of motion can be written
F = FR = ma
where FR is the resultant force, which is a vector summation of all the
forces.
To illustrate the equation, consider a
particle acted on by two forces.
First, draw the particle’s free-body

diagram, showing all forces acting
on the particle. Next, draw the
kinetic diagram, showing the
inertial force ma acting in the same
direction as the resultant force FR.

INERTIAL FRAME OF REFERENCE
This equation of motion is only valid if the

acceleration is measured in a Newtonian or inertial
frame of reference.
For problems concerned with motions at or near the
earth’s surface, we typically assume our “inertial
frame” to be fixed to the earth. We neglect any
acceleration effects from the earth’s rotation.
For problems involving satellites or rockets, the

inertial frame of reference is often fixed to the stars.
EQUATION OF MOTION FOR A SYSTEM OF PARTICLES
(Section 13.3)
The equation of motion can be extended to include systems of

particles. This includes the motion of solids, liquids, or gas systems.
As in statics, there are internal forces and

external forces acting on the system.
Using the definitions of m = mi as the

total mass of all particles and aG as the
acceleration of the center of mass G of
the particles, then m aG = mi ai .
For a system of particles: F = m aG where F is the sum of the

external forces acting on the entire system.

KEY POINTS
1) Newton’s second law is a “law of nature”-- experimentally

proven, not the result of an analytical proof.
2) Mass (a property of an object) is a measure of the resistance

to a change in velocity of the object.
3) Weight (a force) depends on the local gravitational field.

Calculating the weight of an object is an application of
F = ma, i.e., W = mg.
4) Unbalanced forces cause the acceleration of objects.

This condition is fundamental to all dynamics problems!

PROCEDURE FOR THE APPLICATION OF THE
EQUATION OF MOTION
1) Select a convenient inertial coordinate system. Rectangular,

normal/tangential, or cylindrical coordinates may be used.
2) Draw a free-body diagram showing all external forces

applied to the particle. Resolve forces into their
appropriate components.
3) Draw the kinetic diagram, showing the particle’s inertial
force, ma. Resolve this vector into its appropriate
components.
4) Apply the equations of motion in their scalar component
form and solve these equations for the unknowns.
5) It may be necessary to apply the proper kinematic relations
to generate additional equations.
EXAMPLE
Given: A 25-kg block is subjected to

the force F=100 N. The spring
has a stiffness of k = 200 N/m
and is unstretched when the
block is at A. The contact
surface is smooth.
Find: Draw the free-body and kinetic diagrams of the block

when s=0.4 m.
Plan: 1) Define an inertial coordinate system.
2) Draw the block’s free-body diagram, showing all
external forces.
3) Draw the block’s kinetic diagram, showing the inertial
force vector in the proper direction.
EXAMPLE (continued)
Solution:
1) An inertial x-y frame can be defined as fixed to the ground.

2) Draw the free-body diagram of the block:
The weight force (W) acts through the
block’s center of mass. F is the applied
W = 25g load and Fs = 200x(N) is the spring
y
force, where x is the spring
F=100 (N)
x deformation. When s = 0.4,
4
3 x = 0.5 − 0.3 = 0.2 m.
Fs= 200 x (N)
The normal force (N) is perpendicular to
= 40 (N) N the surface. There is no friction force
since the contact surface is smooth.
EXAMPLE (continued)
3) Draw the kinetic diagram of the block.
The block will be moved to the right.

m.a=25 a The acceleration can be directed to
the right if the block is speeding up or
to the left if it is slowing down.

PROBLEM SOLVING
Given: A 10-kg block is subjected to a

force F=500 N. A spring of
stiffness k=500 N/m is mounted
against the block. When s = 0, the
block is at rest and the spring is
uncompressed. The contact surface
is smooth.
Find: Draw the free-body and kinetic diagrams of the block.
Plan: 1) Define an inertial coordinate system.
2) Draw the block’s free-body diagram, showing all
external forces applied to the block in the proper
directions.
3) Draw the block’s kinetic diagram, showing the inertial
force vector ma in the proper direction.
PROBLEM SOLVING (continued)
Solution:
1) An inertial x-y frame can be defined as fixed to the ground.
2) Draw the free-body diagram of the block:
F=500 (N) W = 10.g The weight force (W) acts through the
block’s center of mass. F is the applied
3
4 Fs=500 s (N) load and Fs =500 s (N) is the spring force,
y where s is the spring deformation. The
normal force (N) is perpendicular to the
x
N surface. There is no friction force since
the contact surface is smooth.
3) Draw the kinetic diagram of the block:
The block will be moved to the right.
m.a=10 a
The acceleration can be directed to the
right if the block is speeding up or to the
left if it is slowing down.
RECTANGULAR COORDINATES
(Section 13.4)
The equation of motion, F = ma, is best used when the problem

requires finding forces (especially forces perpendicular to the
path), accelerations, velocities, or mass. Remember, unbalanced
forces cause acceleration!
Three scalar equations can be written from this vector equation.

The equation of motion, being a vector equation, may be
expressed in terms of three components in the Cartesian
(rectangular) coordinate system as
F = ma or Fx i + Fy j + Fz k = m(ax i + ay j + az k)
or, as scalar equations, Fx = max, Fy = may, and Fz = maz.

PROCEDURE FOR ANALYSIS
• Free Body Diagram (is always critical!!)

Establish your coordinate system and draw the particle’s free
body diagram showing only external forces.
These external forces usually include the weight, normal

forces, friction forces, and applied forces. Show the ‘ma’
vector (sometimes called the inertial force) on a separate
kinetic diagram.
Make sure any friction forces act opposite to the direction
of motion! If the particle is connected to an elastic linear
spring, a spring force equal to ‘k s’ should be included on
the FBD.

PROCEDURE FOR ANALYSIS (continued)
• Equations of Motion
If the forces can be resolved directly from the free-body
diagram (often the case in 2-D problems), use the scalar
form of the equation of motion. In more complex cases
(usually 3-D), a Cartesian vector is written for every force
and a vector analysis is often the best approach.
A Cartesian vector formulation of the second law is
F = ma or
Fx i + Fy j + Fz k = m(ax i + ay j + az k)
Three scalar equations can be written from this vector
equation. You may only need two equations if the motion is
in 2-D.
PROCEDURE FOR ANALYSIS (continued)
• Kinematics
The second law only provides solutions for forces and
accelerations. If velocity or position have to be found,
kinematics equations are used once the acceleration is
found from the equation of motion.
Any of the kinematics tools learned in Chapter 12 may be

needed to solve a problem.
Make sure you use consistent positive coordinate

directions as used in the equation of motion part of the
problem!

EXAMPLE
Given: The motor winds in the cable

with a constant acceleration
such that the 20-kg crate moves
a distance s = 6 m in 3 s,
starting from rest. k = 0.3.
Find: The tension developed in
the cable.
Plan:
1) Draw the free-body and kinetic diagrams of the crate.
2) Using a kinematic equation, determine the acceleration of the
crate.
3) Apply the equation of motion to determine the cable tension.

EXAMPLE (continued)
Solution:
1) Draw the free-body and kinetic diagrams of the crate.

W = 20 g 20 a
T
y
x
Fk= 0.3 N
=
30°
N
Since the motion is up the incline, rotate the x-y axes so the
x-axis aligns with the incline. Then, motion occurs only in
the x-direction.
There is a friction force acting between the surface and the
crate. Attention to the direction of this force!
EXAMPLE (continued)
2) Using kinematic equation
s = v0 t + ½ a t2
 6 = (0) 3 + ½ a (32) s = 6 m at t=3 s
v0 = 0 m/s
 a = 1.333 m/s2
W = 20 g T 20 a
y
30°
x
Fk= 0.3 N =
N
3) Apply the equations of motion
+  Fy = 0  -20 g (cos30°) + N = 0
 N = 169.9 N
+  Fx = m a  T – 20g(sin30°) –0.3 N = 20 a
 T = 20 (9.81) (sin30°) + 0.3(169.9) + 20 (1.333)
 T = 176 N
PROBLEM SOLVING
Given: The 300-kg bar B, originally at
rest, is towed over a series of
small rollers. The motor M is
drawing in the cable at a rate of
v = (0.4 t2) m/s, where t is in
seconds.
Find: Force in the cable and distance
s when t = 5 s.
Plan: Since both forces and velocity are involved, this
problem requires both kinematics and the equation of motion.
1) Draw the free-body and kinetic diagrams of the bar.
2) Apply the equation of motion to determine the acceleration
and force.
3) Using a kinematic equation, determine distance.
GROUP PROBLEM SOLVING (continued)
Solution:
1) Free-body and kinetic diagrams of the bar:
W = 300 g
y
x T 300 a
=
N
Note that the bar is moving along the x-axis.
2) Apply the scalar equation of motion in the x-direction
+ →  Fx = 300 a  T = 300 a
Since v = 0.4 t2, a = ( dv/dt ) = 0.8 t
T = 240 t  T = 1200 N when t = 5s.
GROUP PROBLEM SOLVING (continued)
3) Using kinematic equation to determine distance;

Since v = (0.4 t2) m/s
t
s = s0 + ‫ ׬‬v dt = 0 + ‫׬‬0 (0.4 t2) dt
0.4 3
s= t
3
At t = 5 s,
0.4 3
s= 5 = 16.7 m
3
W = 300 g
y
x T 300 a
=
N
NORMAL & TANGENTIAL COORDINATES
(Section 13.5)
When a particle moves along a

curved path, it may be more
convenient to write the equation
of motion in terms of normal
and tangential coordinates.
The normal direction (n) always points toward the path’s center
of curvature. In a circle, the center of curvature is the center of
the circle.
The tangential direction (t) is tangent to the path, usually set as

positive in the direction of motion of the particle.

EQUATIONS OF MOTION
Since the equation of motion is a
vector equation, F = ma,
it may be written in terms of the n
& t coordinates as
Ftut + Fnun+ Fbub = mat+man
Here Ft & Fn are the sums of the force components acting in
the t & n directions, respectively.
This vector equation will be satisfied provided the individual
components on each side of the equation are equal, resulting in
the two scalar equations: Ft = mat and Fn = man .
Since there is no motion in the binormal (b) direction, we can also
write Fb = 0.
NORMAL AND TANGENTIAL ACCELERATION
The tangential acceleration, at = dv/dt, represents the time rate of

change in the magnitude of the velocity. Depending on the direction
of Ft, the particle’s speed will either be increasing or decreasing.
The normal acceleration, an = v2/r, represents the time rate of change

in the direction of the velocity vector. Remember, an always acts
toward the path’s center of curvature. Thus, Fn will always be
directed toward the center of the path.
2 3/2
Recall, if the path of motion is defined dy
1+
as y = f(x), the radius of curvature at dx
any point can be obtained from ρ=
d2 y
dx 2

SOLVING PROBLEMS WITH n-t COORDINATES
• Use n-t coordinates when a particle is moving along a known,

curved path.
• Establish the n-t coordinate system on the particle.
• Draw free-body and kinetic diagrams of the particle. The normal

acceleration (an) always acts “inward” (the positive n-direction).
The tangential acceleration (at) may act in either the positive or
negative t direction.
• Apply the equations of motion in scalar form and solve.
• It may be necessary to employ the kinematic relations:
at = dv/dt = v dv/ds an = v2/r

EXAMPLE
Given:The 10-kg ball has a velocity of

3 m/s when it is at A, along the
vertical path.
Find: The tension in the cord and the

increase in the speed of the ball.
Plan: 1) Since the problem involves a curved path and requires

finding the force perpendicular to the path, use n-t
coordinates. Draw the ball’s free-body and kinetic
diagrams.
2) Apply the equation of motion in the n-t directions.

EXAMPLE (continued)
Solution:
1) The n-t coordinate system can
be established on the ball at
Point A, thus at an angle of 45°.
Draw the free-body and kinetic
diagrams of the ball.
Free-body diagram Kinetic diagram

n n
T W man
45
=
t mat
t
EXAMPLE (continued)
2) Apply the equations of motion in the n-t directions.
(a) Fn = man  T – W sin 45° = m an
Using an = v2/r = 32/2, W = 10(9.81) N, and m = 10 kg
 T – 98.1 sin 45° = (10) (32/2)
 T = 114 N
(b) Ft = mat  W cos 45° = mat
 98.1 cos 45° = 10 at

 at = (dv/dt) = 6.94 m/s2 n n
T W man
45
=
t t mat
PROBLEM SOLVING I
Given: A 800 kg car is traveling over

a hill with the shape of a
parabola. When the car is at
point A, its v = 9 m/s and
a = 3 m/s2. (Neglect the size
of the car.)
Find: The resultant normal force and resultant frictional force
exerted on the road at point A by the car.
Plan:
1) Treat the car as a particle. Draw its free-body and
kinetic diagrams.
2) Apply the equations of motion in the n-t directions.
3) Use calculus to determine the slope and radius of
curvature of the path at point A.
PROBLEM SOLVING I (continued)
Solution:
1) The n-t coordinate system can
be established on the car at
point A. Treat the car as a
particle and draw the free-
body and kinetic diagrams:
W
q
F
= man mat
N
q n t
n t
W = mg = weight of car
N = resultant normal force on road
F = resultant friction force on road
2) Apply the equations of motion in the n-t directions:
 Fn = man  W cos q – N = man
Using W = mg and an = v2/r = (9)2/r
 (800)(9.81) cos q – N = (800) (81/r)
 N = 7848 cos q – 64800 / r Eq. (1)
 Ft = mat  W sin q – F = mat
Using W = mg and at = 3 m/s2 (given)
 (800)(9.81) sin q – F = (800) (3)
 F = 7848 sin q – 2400 W Eq. (2)
q
F
= man mat
N
q n t
n t
3) Determine r by differentiating y = f(x) at x = 80 m:
y = 20(1 – x2/6400)  dy/dx = (–40) x / 6400

 d2y/dx2 = (–40) / 6400
dy 2 3/2
[1 + ( ) ] [1 + (–0.5)2]3/2
dx
r = 2
= = 223.6 m
dy 0.00625
x = 80 m 2
dx
Determine q from the slope of the curve at A:
tan q = dy/dx
dy x = 80 m
q
q = tan-1 (dy/dx) = tan-1 (-0.5) = 26.6°
dx
From Eq. (1): N = 7848 cos q – 64800 / r

= 7848 cos (26.6°) – 64800 / 223.6 = 6728 N
From Eq. (2): F = 7848 sin q – 2400

= 7848 sin (26.6°) – 2400 = 1114 N
W
q
F
= man mat
N
q n t
n t
example_13_06
continued on next slide

example_13_06 (continued)

example_13_09

example_13_09 (continued)

Problem

Chapter 13
Kinetics of a Particle:
Force and Acceleration
Dynamics

ME212 Dynamics - CHPT 13

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Chapter 13

The motion of a particle is governed by Newton’s three laws of

Dynamics, Fourteenth Edition in SI Units Copyright ©2017 by Pearson Education, Ltd.

The first and third laws were used in developing the

Mathematically, Newton’s second law of motion can be

Dynamics, Fourteenth Edition in SI Units Copyright ©2017 by Pearson Education, Ltd.

Any two particles or bodies have a mutually attractive

It is important to understand the difference between the

Mass is an absolute property of a body. It is independent of

SI system: In the SI system of units,

If the gravitational acceleration (g) is

Dynamics, Fourteenth Edition in SI Units Copyright ©2017 by Pearson Education, Ltd.

Area 1 ft² = 144 in² 1ft² = 0,092903 m²

1 ft³ = 1728 in³ = 6,22882 gal (UK)

Acceleration 1 ft/s² 1ft/s = 0,3048 m/s²

Mass 1 lb 1lb = 0,453592 kg

Force 1 lbf 1 lbf = 4,44822 N

Dynamics, Fourteenth Edition in SI Units Copyright ©2017 by Pearson Education, Ltd.

The motion of a particle is governed by Newton’s second law, relating

First, draw the particle’s free-body

Dynamics, Fourteenth Edition in SI Units Copyright ©2017 by Pearson Education, Ltd.

This equation of motion is only valid if the

For problems involving satellites or rockets, the

The equation of motion can be extended to include systems of

As in statics, there are internal forces and

Using the definitions of m = mi as the

For a system of particles: F = m aG where F is the sum of the

Dynamics, Fourteenth Edition in SI Units Copyright ©2017 by Pearson Education, Ltd.

1) Newton’s second law is a “law of nature”-- experimentally

2) Mass (a property of an object) is a measure of the resistance

3) Weight (a force) depends on the local gravitational field.

4) Unbalanced forces cause the acceleration of objects.

Dynamics, Fourteenth Edition in SI Units Copyright ©2017 by Pearson Education, Ltd.

1) Select a convenient inertial coordinate system. Rectangular,

2) Draw a free-body diagram showing all external forces

Given: A 25-kg block is subjected to

Find: Draw the free-body and kinetic diagrams of the block

1) An inertial x-y frame can be defined as fixed to the ground.

3) Draw the kinetic diagram of the block.

The block will be moved to the right.

Dynamics, Fourteenth Edition in SI Units Copyright ©2017 by Pearson Education, Ltd.

Given: A 10-kg block is subjected to a

The equation of motion, F = ma, is best used when the problem

Three scalar equations can be written from this vector equation.

F = ma or Fx i + Fy j + Fz k = m(ax i + ay j + az k)

Dynamics, Fourteenth Edition in SI Units Copyright ©2017 by Pearson Education, Ltd.

• Free Body Diagram (is always critical!!)

These external forces usually include the weight, normal

Dynamics, Fourteenth Edition in SI Units Copyright ©2017 by Pearson Education, Ltd.

Any of the kinematics tools learned in Chapter 12 may be

Make sure you use consistent positive coordinate

Dynamics, Fourteenth Edition in SI Units Copyright ©2017 by Pearson Education, Ltd.

Given: The motor winds in the cable

Dynamics, Fourteenth Edition in SI Units Copyright ©2017 by Pearson Education, Ltd.

1) Draw the free-body and kinetic diagrams of the crate.

3) Using kinematic equation to determine distance;

When a particle moves along a

The tangential direction (t) is tangent to the path, usually set as

Dynamics, Fourteenth Edition in SI Units Copyright ©2017 by Pearson Education, Ltd.

The tangential acceleration, at = dv/dt, represents the time rate of

The normal acceleration, an = v2/r, represents the time rate of change

Dynamics, Fourteenth Edition in SI Units Copyright ©2017 by Pearson Education, Ltd.

• Use n-t coordinates when a particle is moving along a known,