ME212 Dynamics - CHPT 14

Chapter 14
Work & Energy
Dynamics
Dynamics, Fourteenth Edition in SI Units Copyright ©2017 by Pearson Education, Ltd.
R.C. Hibbeler All rights reserved.
WORK AND ENERGY
Another equation for working kinetics problems involving

particles can be derived by integrating the equation of motion
(F = ma) with respect to displacement.
By substituting at = v (dv/ds) into
Ft = mat, the result is integrated to
yield an equation known as the
principle of work and energy.
This principle is useful for solving problems that involve

force, velocity, and displacement. It can also be used to
explore the concept of power.
To use this principle, we must first understand how to
calculate the work of a force.
WORK OF A FORCE (Section 14.1)
A force does work on a particle when the particle undergoes a

displacement along the line of action of the force.
Work is defined as the product of force

and displacement components acting in
the same direction. So, if the angle
between the force and displacement
vector is q, the increment of work dU
done by the force is
dU = F ds cos q
By using the definition of the dot product r2
and integrating, the total work can be U =
written as
1-2  F • dr
r1
A•B = A B cos q
WORK OF A FORCE (continued)
If F is a function of position (a common

case) this becomes
s2
U1-2 =  F cos q ds
s1
If both F and q are constant (F = Fc), this equation further

simplifies to
U1-2 = Fc cos q (s2 - s1)
Work is positive if the force and the movement are in the

same direction. If they are opposing, then the work is
negative. If the force and the displacement directions are
perpendicular, the work is zero.
WORK OF A WEIGHT
The work done by the gravitational force acting on a particle

(or weight of an object) can be calculated by using
y2
U1-2 =  - W dy
y1
U1-2 = - W (y2 − y1) = - W Dy
The work of a weight is the product of the magnitude of

the particle’s weight and its vertical displacement. If Dy
is upward, the work is negative since the weight force
always acts downward.
WORK OF A SPRING FORCE
When stretched, a linear elastic spring

develops a force of magnitude Fs = ks, where
k is the spring stiffness and s is the
displacement from the unstretched position.
The work of the spring force moving from position s1 to position

s2 is s2 s2
U1-2 = Fs ds =  k s ds = 0.5 k (s2)2 – 0.5 k (s1)2

s1 s1
If a particle is attached to the spring, the force Fs exerted on the

particle is opposite to that exerted on the spring. Thus, the work
done on the particle by the spring force will be negative or
U1-2 = – [ 0.5 k (s2)2 – 0.5 k (s1)2 ].
SPRING FORCES
It is important to note the following about spring forces.

1. The equations above are for linear springs only! Recall
that a linear spring develops a force according to
F = ks (essentially the equation of a line).
2. The work of a spring is not just spring force times distance
at some point, i.e., (ksi)(si). Beware, this is a trap that
students often fall into!
3. Always double check the sign of the spring work after
calculating it. It is positive work if the force on the object by
the spring and the movement are in the same direction.

example_14_01
continued on next slide

example_14_01

example_14_01 (continued)

PRINCIPLE OF WORK AND ENERGY
(Section 14.2 & Section 14.3)
By integrating the equation of motion,  Ft = mat = mv(dv/ds), the

principle of work and energy can be written as
 U1-2 = 0.5 m (v2)2 – 0.5 m (v1)2 or T1 +  U1-2 = T2
U1-2 is the work done by all the forces acting on the particle as it
moves from point 1 to point 2. Work can be either a positive or
negative scalar.
T1 and T2 are the kinetic energies of the particle at the initial and final
position, respectively. Thus, T1 = 0.5 m (v1)2 and T2 = 0.5 m (v2)2.
The kinetic energy is always a positive scalar (velocity is squared!).
So, the particle’s initial kinetic energy plus the work done by all the
forces acting on the particle as it moves from its initial to final position
is equal to the particle’s final kinetic energy.
PRINCIPLE OF WORK AND ENERGY (continued)
Note that the principle of work and energy (T1 +  U1-2 = T2) is
not a vector equation! Each term results in a scalar value.
Both kinetic energy and work have the same units, that of
energy! In the SI system, the unit for energy is called a joule (J),
where 1 J = 1 N·m. In the FPS system, units are ft·lb.
The principle of work and energy cannot be used, in general, to

determine forces directed normal to the path, since these forces
do no work.
The principle of work and energy can also be applied to a system

of particles by summing the kinetic energies of all particles in the
system and the work due to all forces acting on the system.
WORK OF FRICTION CAUSED BY SLIDING
The case of a body sliding over a rough surface merits special

consideration.
Consider a block which is moving over a
rough surface. If the applied force P just
balances the resultant frictional force k N,
a constant velocity v would be maintained.
The principle of work and energy would be
applied as
0.5m (v)2 + P s – (k N) s = 0.5m (v)2
This equation is satisfied if P = k N. However, we know from
experience that friction generates heat, a form of energy that does
not seem to be accounted for in this equation. It can be shown that
the work term (k N)s represents both the external work of the
friction force and the internal work that is converted into heat.
EXAMPLE
Given: When s = 0.6 m, the spring is

not stretched or compressed,
and the 10 kg block, which is
subjected to a force of 100 N,
has a speed of 5 m/s down
the smooth plane.
Find: The distance s when the block stops.

Plan: Since this problem involves forces, velocity and
displacement, apply the principle of work and energy to
determine s.

EXAMPLE (continued)
Solution:
Apply the principle of work and energy between position 1
(s1 = 0.6 m) and position 2 (s2). Note that the normal force (N)
does no work since it is always perpendicular to the
displacement. T + U = T S =0.6 m 1
1 1-2 2
S2
There is work done by three different forces;
1) work of the force F =100 N;
UF = 100 (s2− s1) = 100 (s2 − 0.6)
2) work of the block weight;
UW = 10 (9.81) (s2− s1) sin 30 = 49.05 (s2 − 0.6)
3) and, work of the spring force.
US = - [0.5 (200) (s2−0.6)2 - 0.5 (200) (0.6−0.6)2 ]= -100 (s2 − 0.6)2
EXAMPLE (continued)
The work and energy equation will be

T1 + U1-2 = T2
0.5 (10) 52 + 100(s2 − 0.6) + 49.05(s2 − 0.6) − 100(s2 − 0.6)2 = 0
 125 + 149.05(s2 − 0.6) − 100(s2 − 0.6)2 = 0
Solving for (s2 − 0.6),

(s2 − 0.6) = {-149.05 ± (149.052 – 4×(-100)×125)0.5} / 2(-100)
Selecting the positive root, indicating a positive spring deflection,

(s2 − 0.6) = 2.09 m
Therefore, s2 = 2.69 m

PROBLEM SOLVING I
Given: The 1-kg brick slides

down a smooth roof,
with vA=1.5 m/s.
Find: The speed at B,

the distance d from the
wall to where the brick
strikes the ground, and
C its speed at C.
Plan: 1) Apply the principle of work and energy to the brick,

and determine the speeds at B and C.
2) Apply the kinematic relations in x and y-directions.

PROBLEM SOLVING I (continued)
Solution:
1) Apply the principle of work and energy
TA + UA-B = TB
1 1
(1) (1. 5)2 + 1 9.81 4.5 = 1 vB 2
2 2
Solving for the unknown velocity yields vB = 9.515 m/s

Similarly, apply the work and energy principle between A and C
TA + UA-C = TC
1 1
(1) (1. 5)2 + 1 9.81 4.5 + 9 = 1 vC 2
2 2
vC = 16.34 m/s
2) Apply the kinematic relations in x and y-directions:

Equation for horizontal motion
+→ xC = xB + vBx tBC
d = 0 + 9.515 (4/5) tBC
 d = 7.612 tBC
Equation for vertical motion

+ yC = yB + vBy tBC – 0.5 g tBC2
 -9 = 0 + (-9.515)(3/5) tBC – 0.5 (9.81) tBC2
Solving for the positive tBC yields tBC = 0.8923 s.

 d = 7.612 tBC = 7.612 (0.8923) = 6.79 m

example_14_05



POWER AND EFFICIENCY (Section 14.4)
Power is defined as the amount of work performed per unit

of time.
If a machine or engine performs a certain amount of work,
dU, within a given time interval, dt, the power generated can
be calculated as
P = dU/dt
Since the work can be expressed as dU = F • dr, the power
can be written
P = dU/dt = (F • dr)/dt = F • (dr/dt) = F • v
Thus, power is a scalar defined as the product of the force

and velocity components acting in the same direction.

POWER
Using scalar notation, power can be written

P = F • v = F v cos q
where q is the angle between the force and velocity vectors.
So if the velocity of a body acted on by a force F is known,

the power can be determined by calculating the dot product
or by multiplying force and velocity components.
The unit of power in the SI system is the Watt (W) where

1 W = 1 J/s = 1 (N · m)/s .

EFFICIENCY
The mechanical efficiency of a machine is the ratio of the

useful power produced (output power) to the power supplied
to the machine (input power) or
e = (power output) / (power input)
If energy input and removal occur at the same time, efficiency

may also be expressed in terms of the ratio of output energy
to input energy or
e = (energy output) / (energy input)
Machines will always have frictional forces. Since frictional

forces dissipate energy, additional power will be required to
overcome these forces. Consequently, the efficiency of a
machine is always less than 1.
PROCEDURE FOR ANALYSIS
• Find the resultant external force acting on the body causing

its motion. It may be necessary to draw a free-body diagram.
• Determine the velocity of the point on the body at which the

force is applied. Energy methods or the equation of motion
and appropriate kinematic relations, may be necessary.
• Multiply the force magnitude by the component of velocity
acting in the direction of F to determine the power supplied
to the body (P = F v cos q ).
• In some cases, power may be found by calculating the work
done per unit of time (P = dU/dt).
• If the mechanical efficiency of a machine is known, either
the power input or output can be determined.
EXAMPLE
Given: A 50 kg block (A) is hoisted by the

pulley system and motor M. The motor
has an efficiency of 0.8. At this instant,
point P on the cable has a velocity of 12
m/s which is increasing at a rate of 6
m/s2. Neglect the mass of the pulleys and
cable.
Find: The power supplied to the motor at this
instant.
Plan: 1) Relate the cable and block velocities by defining position
coordinates. Draw a FBD of the block.
2) Use the equation of motion to determine the cable tension.
3) Calculate the power supplied by the motor and then to the
motor.
EXAMPLE (continued)
Solution:
1) Define position coordinates to relate velocities.
Datum sm Here sP is defined to a point on the cable. Also
SP sB sA is defined only to the lower pulley, since the
block moves with the pulley. From kinematics,
SA
sP + 2 sA = l
 aP + 2 aA = 0
 aA = − aP / 2 = −3 m/s2 = 3 m/s2 ()
Draw the FBD and kinetic diagram of the block:

2T
mA aA
A = A
W = 50 (9.81) N
EXAMPLE (continued)
2) The tension of the cable can be obtained by applying the

equation of motion to the block.
+↑ Fy = mA aA
2T − 50 (9.81) = 50 (3)  T = 320.3 N
3) The power supplied by the motor is the product of the force

applied to the cable and the velocity of the cable.
Po = F • v = (320.3)(12) = 3844 W
The power supplied to the motor is determined using the
motor’s efficiency and the basic efficiency equation.
Pi = Po/e = 3844/0.8 = 4804 W = 4.8 kW

PROBLEM SOLVING
Given:A 2000 kg sports car increases its speed uniformly from

rest to 25 m/s in 30 s. The engine efficiency e = 0.8.
Find: The maximum power and the average power supplied by
the engine.
Plan: 1) Draw the car’s free body and kinetic diagrams.
2) Apply the equation of motion and kinematic equations
to find the force.
3) Determine the output power required.
4) Use the engine’s efficiency to determine input power.
PROBLEM SOLVING (continued)
Solution:
1) Draw the FBD & Kinetic Diagram of the car as a particle.
1 W
y 10 ma
x =
Fc
Nc
The normal force Nc and frictional

force Fc represent the resultant
forces of all four wheels.
The frictional force between the wheels and road pushes the
car forward.
2) The equation of motion

+ → Fx = max  – 2000 g (sin 5.711) + Fc = 2000 ax
q W q = tan-1(1/10) = 5.711
Determine ax using constant
acceleration equation max
 v = v0 + ax t Fc
=
Nc
ax = (25 – 0) / 30 = 0.8333 m/s2
Substitute ax into the equation of motion and determine

frictional force Fc:
Fc = 2000 ax + 2000 g (sin 5.711)
= 2000(0.8333) + 2000 (9.81) (sin 5.711) = 3619 N
3) The max power output of the car is calculated by

multiplying the driving (frictional) force and the car’s final
speed:
(Pout)max = (Fc)(vmax) = 3619 (25) = 90.47 kW
The average power output is the force times the car’s
average speed:
(Pout)avg = (Fc)(vavg) = 3619 (25/2) = 45.28 kW
4) The power supplied by the engine is obtained using the

efficiency equation.
(Pin)max = (Pout)max / e = 90.47 / 0.8 = 113 kW
(Pin)avg = (Pout)avg / e = 45.28 / 0.8 = 56.5 kW
CONSERVATIVE FORCE (Section 14.5)
A force F is said to be conservative if the work done is

independent of the path followed by the force acting on a particle
as it moves from A to B. This also means that the work done by
the force F in a closed path (i.e., from A to B and then back to A)
is zero.
 F · d r = 0 z F
B
Thus, we say the work is conserved.

A
The work done by a conservative y
force depends only on the positions
of the particle, and is independent of x
its velocity or acceleration.

CONSERVATIVE FORCE (continued)
The “conservative” potential energy of a particle/system is

typically written using the potential function V. There are two
major components to V commonly encountered in mechanical
systems, the potential energy from gravity and the potential
energy from springs or other elastic elements.
Vtotal = Vgravity + Vsprings

POTENTIAL ENERGY
Potential energy is a measure of the amount of work a

conservative force will do when a body changes position.
In general, for any conservative force system, we can define

the potential function (V) as a function of position. The work
done by conservative forces as the particle moves equals the
change in the value of the potential function (e.g., the sum of
Vgravity and Vsprings).
It is important to become familiar with the two types of

potential energy and how to calculate their magnitudes.

POTENTIAL ENERGY DUE TO GRAVITY
The potential function (formula) for a gravitational force, e.g.,

weight (W = mg), is the force multiplied by its elevation from a
datum. The datum can be defined at any convenient location.
Vg = ± W y
Vg is positive if y is above the

datum and negative if y is
below the datum. Remember,
YOU get to set the datum.

ELASTIC POTENTIAL ENERGY
Recall that the force of an elastic spring is F = ks. It is

important to realize that the potential energy of a spring, while
it looks similar, is a different formula.
Ve (where ‘e’ denotes an

elastic spring) has the distance
“s” raised to a power (the
result of an integration) or
1 2
Ve = ks
2
Notice that the potential
function Ve always yields
positive energy.
CONSERVATION OF ENERGY (Section 14.6)
When a particle is acted upon by a system of conservative

forces, the work done by these forces is conserved and the
sum of kinetic energy and potential energy remains
constant. In other words, as the particle moves, kinetic
energy is converted to potential energy and vice versa.
This principle is called the principle of conservation of
energy and is expressed as
T1 + V1 = T2 + V2 = Constant
T1 stands for the kinetic energy at state 1 and V1 is the
potential energy function for state 1. T2 and V2
represent these energy states at state 2. Recall, the
kinetic energy is defined as T = ½ mv2.
EXAMPLE
Given: The 4 kg collar, C, has a

velocity of 2 m/s at A.
The spring constant is 400
N/m. The unstretched length
of the spring is 0.2 m.
Find: The velocity of the collar at

B.
Plan: Apply the conservation of energy equation between A and

B. Set the gravitational potential energy datum at point A
or point B (in this example, choose point A).

EXAMPLE (continued)
Solution:
. Datum Note that the potential energy at B has two
parts.
0.3 m
0.5 m VB = (VB)e + (VB)g
. VB = 0.5 (400) (0.5 – 0.2)2 – 4 (9.81) 0.4
The kinetic energy at B is
TB = 0.5 (4) vB2
Similarly, the potential and kinetic energies at A will be
VA = 0.5 (400) (0.1 – 0.2)2, TA = 0.5 (4) 22
The energy conservation equation becomes TA + VA = TB + VB.
[ 0.5(400) (0.5 – 0.2)2 – 4(9.81)0.4 ] + 0.5 (4) vB2
= [0.5 (400) (0.1 – 0.2)2 ]+ 0.5 (4) 22
 vB = 1.96 m/s
PROBLEM SOLVING I
Given: The 800 kg roller

coaster car is
released from rest
at A.
Find: The minimum height, h, of Point A so that the car travels

around inside loop at B without leaving the track. Also find the
velocity of the car at C for this height, h, of A.
Plan: Note that only kinetic energy and potential energy due
to gravity are involved. Determine the velocity at B using the
equation of motion and then apply the conservation of energy
equation to find minimum height h .
Datum
Solution:
1) Placing the datum at A:
TA + VA = TB + VB
 0.5 (800) 02 + 0
= 0.5 (800) (vB)2 − 800(9.81) (h − 20) (1)
2) Find the required velocity of the coaster at B so it doesn’t

leave the track.
Equation of motion applied at B:
2 NB  0
v
 Fn = man = m r
(vB)2 =
800 (9.81) = 800
7.5 man
mg
 vB = 8.578 m/s
Datum
Now using the energy
conservation, eq. (1), the
minimum h can be determined.
0.5 (800) 02 + 0 = 0.5 (800) (8.578)2 − 800(9.81) (h − 20)

 h = 23.75 m
3) Find the velocity at C applying the energy conservation.

TA + VA = TC + VC
 0.5 (800) 02 + 0 = 0.5 (800) (vC)2 − 800(9.81) (23.75)
 VC = 21.6 m/s

PROBLEM SOLVING II
Given: The arm is pulled back such that

s = 100 mm and released.
When s = 0, the spring is
unstretched.
Assume all surfaces of contact to
be smooth. Neglect the mass of
the spring and the size of the ball.
Find: The speed of the 0.3-kg ball and the normal reaction of the
circular track on the ball when q = 60.
Plan: Determine the velocity at q = 60 using the conservation
of energy equation and then apply the equation of motion
to find the normal reaction on the ball.

PROBLEM SOLVING II (continued)
Solution:
1) Placing the datum at A:
TA + VA = TB + VB 60
• B
Datum A
where •
TA = 0.5 (0.3) 02
VA = 0 + 0.5 (1500) 0.12
TB = 0.5 (0.3) vB 2
VB = 0.3 (9.81) 1.5 (1 − cos 60)
The conservation of energy equation is
0 + 0.5 (1500) 0.12 = 0.5 (0.3) (vB)2
+ 0.3 (9.81) 1.5 (1 − cos 60)
vB = 5.94 m/s
PROBLEM SOLVING II (continued)
2) Find the normal reaction on the ball when q = 60.

Free-body diagram Kinetic diagram
n W n
60 60 mat
man
t t
=
N
Equation of motion applied at q = 60 :

2
v
 Fn = man = m B
r
5.942
N − 0.3 (9.81) cos 60 = 0.3
1.5
N = 8.53 N

example_14_09


Chapter 14
Work & Energy
Dynamics

ME212 Dynamics - CHPT 14

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Chapter 14

Work & Energy

Another equation for working kinetics problems involving

This principle is useful for solving problems that involve

A force does work on a particle when the particle undergoes a

Work is defined as the product of force

If F is a function of position (a common

If both F and q are constant (F = Fc), this equation further

Work is positive if the force and the movement are in the

The work done by the gravitational force acting on a particle

U1-2 = - W (y2 − y1) = - W Dy

The work of a weight is the product of the magnitude of

When stretched, a linear elastic spring

The work of the spring force moving from position s1 to position

U1-2 = Fs ds =  k s ds = 0.5 k (s2)2 – 0.5 k (s1)2

If a particle is attached to the spring, the force Fs exerted on the

It is important to note the following about spring forces.

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

continued on next slide

continued on next slide

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

By integrating the equation of motion,  Ft = mat = mv(dv/ds), the

The principle of work and energy cannot be used, in general, to

The principle of work and energy can also be applied to a system

The case of a body sliding over a rough surface merits special

Given: When s = 0.6 m, the spring is

Find: The distance s when the block stops.

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

The work and energy equation will be

0.5 (10) 52 + 100(s2 − 0.6) + 49.05(s2 − 0.6) − 100(s2 − 0.6)2 = 0

 125 + 149.05(s2 − 0.6) − 100(s2 − 0.6)2 = 0

Solving for (s2 − 0.6),

Selecting the positive root, indicating a positive spring deflection,

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

Given: The 1-kg brick slides

Find: The speed at B,

Plan: 1) Apply the principle of work and energy to the brick,

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

Solving for the unknown velocity yields vB = 9.515 m/s

2) Apply the kinematic relations in x and y-directions:

Equation for vertical motion

Solving for the positive tBC yields tBC = 0.8923 s.

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

continued on next slide

continued on next slide

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

Power is defined as the amount of work performed per unit

Thus, power is a scalar defined as the product of the force

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

Using scalar notation, power can be written

So if the velocity of a body acted on by a force F is known,

The unit of power in the SI system is the Watt (W) where

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

The mechanical efficiency of a machine is the ratio of the

If energy input and removal occur at the same time, efficiency

Machines will always have frictional forces. Since frictional

• Find the resultant external force acting on the body causing

• Determine the velocity of the point on the body at which the

Given: A 50 kg block (A) is hoisted by the

Draw the FBD and kinetic diagram of the block:

2) The tension of the cable can be obtained by applying the

3) The power supplied by the motor is the product of the force

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