Dynamics (MEC420)

Chapter 02

Kinetics of Particles
(Equation of Motion)

RK

Outline Chapter 02

1. What is kinetics?
2. System of forces on
• particle
• rigid body
3. Newton’s Laws – Revisited
4. Kinetics of particle
5. Equation of motion
6. Kinetics problem solving procedure
7. Kinetics analysis methods
8. Equation of motion in
• rectangular
• normal-tangential
• polar coordinates
 Introduction to Kinetics

Kinetics
• effect of external forces on motions
P2
System of forces F
1. Force of another body: F=?
2. Force of gravity: F = mg (g  constant) P1

3. Force of normal reaction: Fn Fn

F
4. Force of friction: Ff = N
5. Force of a spring/elasticity: Fs=kx Ff
6. Force of drag: Fd=0.5CdAv2 Fs v
Fg
7. Force of damper: Fc=cxሶ
8. ??
F = (+veF)+(-veF)
+F : assist motion
Fn F -F : oppose motion

Fs Fd

System of forces =(F)ext

Ff
Some may or
Fg may not exist
Fc

Introduction to Kinetics

System of forces on a particle

F1 F3
F Concurrent forces

F = F1 + F2 + F3 + …. Fn
Net/resultant/unbalanced force
F2
-force system- -Net force-

F1 F3
F

Only net force !

Motion:
F2 - Translation
-force system- -Net force-
 Introduction to Kinetics

System of forces on a rigid body

Rigid body
• is a system of particles
• forces can be concurrent and non-concurrent G

f f
Concurrent forces - System of Particles -

F1 F3
F

Concurrent forces
G G

F2

-force system- -Net force- Only net force !

Motion:
- Translation of G
Internal forces, f cancelled
out with each others

Introduction to Kinetics

System of forces on a rigid body

Non-concurrent Forces (3D)

F3  MG
F
F
F1

G G G

F2 Force + Moment
Motion:
-force system- -Net force- -Net force-couple-
- Translation of G
- Rotation @G
Non-concurrent Forces (2D)
F
F1 F
F3
 MG

G G G

F2
-force system- -Net force- -Net force-couple-
 Newton’s Laws – Revisited

Newton’s Law (Revisited)

1. Newton’s 1st Law - (Law of inertia)

‘An object will remain in its original state of motion (rest or moving at constant
velocity in a straight line) if the net force is zero’
F1 F3
Equation of Equilibrium
ΣF  0
F2  F=0
-force system- -Net force-

2. Newton’s 2nd Law – (Law of force-acceleration)

“Acceleration is proportional to the net force, and is in the same direction of the
net force”
F1 F3 F ma
Equation of Motion

Σ F  ma F2
-force system- -Net force- -kinetic force-

Newton’s Laws – Revisited

3. Newton’s 3rd Law – (Law of action and reaction)

“The forces of action and reaction between two objects are the equal, collinear and
opposite”

FA on B FB on A Defining the Normal

A B Reaction Force
‘Action & Reaction’

4. Newton’s Law of gravitation

“The gravitational attraction forces between any two objects are equal and opposite”

F -F
m1 m2

r r mm Defining the
F  G 12 2 Weight Force
‘Gravitational attraction’ r
 Kinetics of particle

Kinetics of particle
• effect of external forces on motions

Effect of forces on rigid body

1. F = 0 a = 0
• RB remains at rest  static equilibrium
• RB continues moving with constant velocity in a rectilinear motion  uniform
motion
2. F ≠ 0,  a ≠ 0
• RB will accelerate accelerated motion

F ma F maG

G G

-net force- -kinetic force- -net force- -kinetic force-

Acceleration of
Acceleration of
mass centre
the particle
RB translation

Equation of Motion

Equation of motion (EOM) y F y ma

• is the Force-Motion relationship
• is derived from Newton’s 2nd. Law

F = ma
(F)ext = (F)eff O ℱ x O ℱ x

(Effective Force)
F)ext = (
( F)eff
(applied Force)

How to application of EOM?

1. identify motion components
j
(ax, ay, az), (ar, a) or (at,an) k
y i
2. apply EOM in each motion direction F ma

Motion is in x-dir
ℱ x
EOM: Fi = m(ai) 1D Motion
Observe +F & +a
 Equation of Motion – Rectangular Coordinate

1. Rectangular coordinate
Equation of motion:
y Fy F y may ma
Σ F  ma
Fx max

O ℱ x O x
Components equations;
ℱ

• 3D Motion

ΣFx i  ΣFy j  ΣFz k  m(ax i  ay j  az k)

ΣFx  max , ΣFy  may , ΣFz  maz
• 2D motion

Σ(Fx i  Fy j)  m(ax i  ay j)
ΣFx  max , ΣFy  may

Equation of Motion – n-t Coordinate

2. Normal-tangential coordinate
Equation of motion:
y F y ma

Σ F  ma Fn
Ft man mat

O x O x
Components equations.
ℱ ℱ

ΣF t e t  ΣF n e n  m(a t e t a n e n )
ΣF t  ma t , ΣFn  ma n
 Equation of Motion – r - Coordinate

3. Radial-transverse coordinate
Equation of motion: F
y y ma
F ma
Σ F  ma
Fr mar

O x O x
Components equations.
ℱ ℱ

ΣFr er  ΣFr er  m(ar er  aθ eθ )

ΣFr  maθ , ΣFr  maθ

Kinetics Problem Solving Procedure

Problem Solving Procedure

1. Identify the motion components  1D/2D/3D?

2. Establish ℱ &ℬ (i.e. choose a convenient coordinate system),
• rectangular, n-t or polar
3. Draw free-body diagram of the selected particle.
• Identify all external forces (applied force, weight, friction, reaction/normal forces)
• resolve forces into their appropriate components.
4. Draw the kinetic diagram.
• show the effective force, ma
• resolve this vector into its appropriate components
5. Apply the equation of motion and their scalar component form and solve these
equations for their unknowns.
6. Apply the (if) necessary kinematic relations to generate additional equations.
ds dv
v , a , ads  vdv
dt dt
 Newtonian Mechanics

“Equation of motion”
(Instantaneous forces and acceleration relationship)

F

P2

Force is applied
from r1  r2 Instantaneous
s, v ,a

P1

F = ma
(F)ext = (F)eff
(Effective Force)
(applied Force)

Kinetics Analysis Methods

Kinetics analysis methods

A. Equation of motion
• F = ma - relates instantaneously F, m, a & t
• acceleration is specified/determined from kinematic analysis  determine force
• force is specified/determined from FBD  determine acceleration
• then integrate a to find v

B. Impulse & momentum methods

• ∫F.dt = ∫mdv - relates F, m, v , t
• Find v directly (determination of acceleration is not required).

C. Work & energy principles

• ∫F.dr = ∫mvdv - relates F, m, s , t
• Find v directly (determination of acceleration is not required).
 Kinetics Analysis Methods

Kinetics analysis methods – (Comparison)

F

P2
F

EOM
P1 F = ma

∫Fdr T2

P2
U1-2
T1
Work-Energy
P1 U1-2= T
∫Fdt L2
P2
I1-2
L1

Impulse-Momentum
P1
I1-2= L

Equation of Motion

Example 01 - (1D Rectangular)

• A 200-N block rests on a horizontal plane.

Find the magnitude of the force P required to
give the block an acceleration of 10 m/s2 to
the right. The coefficient of kinetic friction
between the block and plane is k = 0.25.

P = 337.4 N

Identify ALL forces

acting on the body
 Equation of Motion

Example 02- (2D Rectangular)

• 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.

aA = 8.4 ()m/s2
aB = 4.2 ()m/s2
T = 840 N

Equation of Motion

Sample problem 12.4

• The 12-N block B starts from rest and slides on
the 30-N 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.
 Equation of Motion

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.

Equation of Motion – r - Coordinate

Example 03 (2D n-t coordinate)

• A 10-kg crate travels along a smooth slope as shown. If at the point shown, its speed is
20 m/s,
• determine the normal force exerted by the slope to the crate and
• its acceleration.

Fn = 86.34 N
a = 8.16 et + 3.2 en m/s2

 = 56.31o
 = 125 m
 Equation of Motion

Example 04

At the instant where  is 450, the boy with a mass of 75 kg moves with a speed of 6 ms-1,
which is increasing at 0.5 ms-2. Neglect the size and the mass of the seat and cords. The seat
is pin connected to the frame.
Calculate the horizontal and vertical reactions of the seat on the boy.

Rx = -217.5 N
Ry = 571.4 N
Watch out!!
Plane of motion?
Horizontal or Vertical!

Identify ALL forces

acting on the body

Equation of Motion

Example 05

• Initially block A has a speed of 3 m/s as shown. The coefficient of kinetic friction
between block A and the surface is k= 0.15. The pulleys are weightless and frictionless.
Determine, at t=6s, the speeds of blocks A & B and tension of the cable.

vA2 = 17.5 () m/s

vB2 = 8.76 ()m/s
T = 86 N
 Equation of Motion

aA=7.8 () m/s2

aB=5.2 () m/s2
T = 154 N

Equation of Motion

a=0.848j
Farm = 2.46 N
Fslot = 1.23 N

y
Watch out!!
Plane of motion?
Horizontal or Vertical!
ℱ x
Identify ALL forces
acting on the body
 Equation of Motion

Sample Problem 12.6 (2D n-t coordinate)

• Determine the rated speed of a highway curve of
radius  = 400 m banked through an angle  = 18o.
The rated speed of a banked highway curve is the
speed at which a car should travel if no lateral
friction force is to be exerted at its wheels.

Vrated= 35.71 m/s

End

Next lecture:
Kinetics of Particles
(Work - Energy Methods)

Class dismissed