MEC420 Mybook Ch2 KineticsParticles STDV

Chapter 2
Kinetics of Particles
2-1 INTRODUCTION
Kinetics is the part of mechanics which deals with the effects of forces on bodies in motion.
The analysis of motion of particles can generally be done using three methods:
(a) Newton’s Second Law of Motion: it relates forces, mass, and acceleration.
(b) Work and Energy Methods: it relates forces, velocity, and displacement.
(c) Impulse and Momentum Method: it relates forces, velocity, and time.
2-2 NEWTON’S SECOND LAW OF MOTION

2-2.1 Forces, Mass, and Acceleration: Rectangular Coordinates
Newton’s Second Law of Motion can be stated as follows
A particle will have acceleration proportional to the magnitude of the

resultant force and will move in the direction of this force.
Consider a particle of mass m subjected to an unbalanced force F, Figure 2.1. As a result, the
particle will move with the acceleration a. Since the force and the resulting acceleration are
directly proportional, they may consequently be written as
F = ma (2-1)
This equation, known as the equation of motion, which forms the basis for most of the analysis in
dynamics. The term ma is also known as the inertia force (or effective force).
a ma
F m F m
(a) (b)
Figure 2-1 : Newton’s 2nd law - a particle subjected to a single force
When a particle is subjected to several forces as shown, the equation of motion is written as
F = ma (2-2)
2-1
Kinetics of Particles Dynamics
where F represents the sum, or the resultant FR, of all forces acting on the particle.
F1 ma
ma
FR = F m
F2 m
F4
F3
(a) (b)
Figure 2-2 : Newton’s 2nd law - a particle subjected several forces
In rectangular coordinates as shown in Figure 2.3, eq.(2-2) can be written as
FR = F = m(ax i + ay j) (2-3)
+y Path, s
F4
a F3
ay = ay j F2
F3 FR = F
m m
F4 P P F2
P ax = ax i
F1 F1
+x
(a) Kinematics (b) System of External Forces (SEF) System of Equivalent forces
Path, s
+y Path, s +y
may ma
may ma
Fx m
m P max
P max
F Fy
+x +x
(d) System of Inertia force (SIF) (e) Kinetics: SEF = SIF
Figure 2-3 : Newton’s second law of motion: Rectangular Coordinates
Note that for both eqs.(2-1) and (2-2) to be valid, the acceleration a must be measured in a non-
accelerating frame of reference. In the scalar form, the above equations may be written using the
x- and y- coordinates as
+→Fx = max (2-4)

+ Fy = may (2-5)
2-2
Dynamics Kinetics of Particles
Newton’s 2nd Law

Example 2-1 :
Problem statement: A horizontal force of 10 N is Data & Diagram:
applied to a stationary block of mass 2 kg as shown.
Find: Determine whether the block is moving or not P = 10 N
2 kg
under the action of this 10-N force, if yes, determine
a) the acceleration of the block, and s = 0.3
b) the velocity and displacement of the block when t k = 0.2
= 4 s.
Solution: First we need to determine whether the block is moving or not under the action
of the force P. FBD of the block,
For the block to not moving, Freq = reqN
W and ax = 0
y P = 10 N
x  Fy = 0: N–W=0 (1)
Freq  N = W = mg = 2(9.81) = 19.62 N
N
 Fx = max: P – Freq = 0
 P = Freq
= reqN (2)
P 10
Or req = = = 0.51
N 19.62
Since the given or available coefficient s = 0.3 < req = 0.51, therefore, the block will move!
For the block in motion, we have

y
FBD: W KD:
x

P = 10 N
ma
F = N
N
[System of external forces] [System of effective forces]
+→ Fx = max : P – F = ma (3) [Note a = ax ]

1 1
 a= (P – F) = (P – kN)
m m
1
a = [10 – 0.2(19.62)] = 3.04 m/s2 [Ans]
2
Since the forces are constant, therefore the acceleration must also be constant! For constant
acceleration motion and the block is initially at rest (vo = 0), we have
[v = vo + at ] v = 0 + 3.04 (4) = 12.16 m/s [ans]
2-3
[v2 = vo2 + 2a(x – xo)] 12.162 = 0 + 2(3.04)(x – xo)
=> x – xo = 24.3 m [ans]
Comment: In general, the question of whether the block is moving or not under the action of
various forces is very important to address. However, since we are studying dynamics, we can
generally assume that the bodies considered are in motion.
Alternatively, we may also check if the block is indeed in motion or not by considering the
impending motion of the block by computing the maximum frictional force available at the surface
of contact. If it is less than the applied force P, then the block will move. We can demonstrate this
as follows.
[Fy = 0]: N – 2g = 0 or N = 2g
Fmax = sN = 0.3(2g) = 0.6g = 0.6(9.81) = 5.89 N
and since P = 10 N > Fmax = 5.893 N, block A will move under the action of the force P which is
similar to the conclusion made earlier.
2-4
Newton’s 2nd Law

Example 2-2 :
Problem statement: A block of mass m = 30 kg which Data & Diagram:
is initially at rest is pulled up along the ramp where  =
tan–1(3/4) by 390-N force P where  = tan– 1(5/12). P

Find:
a) If the surface of contact between the block and the
A
ramp is smooth, determine immediately after the
force is applied the acceleration of block. What is
the displacement of the block and its velocity when 

t = 5 s?
b) If the surface of contact between the block and the
ramp is rough with  = 0.2, determine immediately
after the force is applied the acceleration of block.
What is the displacement of the block and its
velocity when t = 5 s?
Solution: We note that with respect to the chosen x-y coordinates as our reference, the
block has motion only in the x direction, hence, a = ax and ay = 0.
a) Kinetics, P
[Fx = max]: y W = mg
5 x

13
P cos – mg sin = ma 12
P A 5
 a = cos – g sin
3
4
m ma
390 12
= ( ) – 9.81( 53 ) 
30 13
N
= 6.11 m/s2 [ans]
Kinematics, x = xo + vot + 12 at2 => x = 0 + (0)(3) + 12 (6.11)(3)2 = 27.5 m [ans]
v = vo + at => v = 0 + (6.11)(3) = 18.33 m/s [ans]
b) Note that Ff = N where  is the kinetic P

y W = mg
friction coefficient. 5 x

13
Kinetics, 12
[Fy = may]: N – mg cos + P sin = 0 A 5

3
or N = mg cos – P sin ma
4
Ff
[Fx = max]:
P cos – mg sin – (mg cos – P sin) = ma 
N
P P
 a = cos – g sin – (g cos – sin)
m m
390 12 390 5
= ( 13 ) – 9.81( 53 ) – 0.2[(9.81)( 54 ) – ( )]
30 30 13
= 5.54 m/s2 [ans]
Kinematics, x = xo + vot + 12 at2 => x = 0 + (0)(3) + 12 (5.54)(3)2 = 24.9 m [ans]
v = vo + at => v = 0 + (5.54)(3) = 16.62 m/s [ans]
2-5
Newton’s 2nd Law

Example 2-3 :
Problem statement: A truck is used to transport a Data & Diagram:
crate as shown. The truck is initially moving at 90 km/h
1m
when it starts decelerating uniformly and reaches the
speed of 54 km/h in 5 s. The condition of friction 210 kg
between the truck bed and the crate is such that s =
0.25 and k = 0.2.
Find: Determine
a) whether the crate will slip or not on the truck bed,
b) the velocity of the crate just before it hits the back Assumption(s):
panel of the truck when it slips. 1.
Repeat a) and b) for the speed reduction in 4 s.
Theory:
Solution: Kinetics,
y W First, we assume there is no slipping i.e. truck and crate move
x with the same uniform deceleration (v = vo – at),
1 1
Impending ma a = acrate = atruck = (v – vo) = (54 – 90)( 31.6 ) = – 2 m/s2
motion t 5
[+Fy = may]: N – W = 0
F  N = W = 210(9.81) = 2060 N
N [+→Fx = max]: F = ma
 F = 210(2.0) = 420 N
We note that for impending slide of the crate Fmax = sN. For s = 0.25, we have Fmax = 0.25(2060)
= 515 N. Since F = 420 N < Fmax = 515 N, the crate will not slip. Hence,
F = 420 N → and a = atruck = 2.0 m/s2 [ans]
For the same condition of s = 0.25 (Fmax = 515 N), but the speed reduction is in 4 s, we have
1 1
W atruck = (v – vo) = (54 – 90)( 31.6 ) = – 2.5 m/s2
macrate t 4
y [+→F x = ma x]: F = ma
x  F = 210(2.5) = 525 N
F = kN Since F = 525 N > Fmax = 515 N, the crate will slip. Hence, the
N acceleration of the crate a = acrate  atruck. With slipping ,
therefore, we have
F = kN = 0.2(2060) = 412 N → [ans]
and
[+→Fx = max]: F = ma (Note that a = acrate = atruck + acrate/truck)
F 412
 a = acrate = = = 1.962 m/s2 (This is absolute deceleration of the crate!)
m 210
For motion of the crate relative to the truck, aC/T = aC – aT = 1.962 – 2.5 = – 0.583 m/s2
[v2 = vo2 + 2a(x – xo)]: vC/T2 = 02 + 2(– 0.583)(0 – 1) => vC/T =  0.764 = – 0.764 m/s [ans]
Comment: For part b), we use the relative motion of the crate and the truck bed.
2-6
Newton’s 2nd Law

Example 2-4 :
Problem statement: Two blocks A (1 kg) and Data & Diagram:
B (4 kg) on a horizontal platform are tied by
means of a light rope as shown. The force of B
magnitude 25 N is applied to block B causing A
F
both blocks to move to the right together. The 
surface of contact between each block and the
platform is rough ( = 0.25).
Find: Determine for  = 20o 
a) the acceleration each block, and Assumption(s):
b) the tension in the rope. 1. The rope is inextensible or rigid
2. Mass of the rope is negligible.
Theory:
3. No air resistance.
N2L: F = ma
Solution:
a) Kinetics: For combined blocks A and B,
(mA + mB)a W = (mA + mB)g
B [+→Fx = max]
A
F F – Ff = (mA + mB)a

or a = (F – Ff ) / (mA + mB) (1)
where Ff = N
Ff = N
N [+→Fy = may]
N – W = 0 or N = W = (mA + mB)g (2)
Solving eqs.(1) and (2), yields
1
a= [ F – (mA + mB)g] (3)
(m A + mB )
Substituting values into eq.(3), we have
a = 2.55 m/s2 [ans]
WA = mAg WB = mBg b) Kinetics: For block A (or block B),

B Note that aA = aB = a = 2.55 m/s2
A T
T F [+→Fx = max]
mAaA 
mBaB T cos – FA = mAaA
or T = (FA + mAaA)/cos
FA = NA FB = NB
NA NB = (NA + mAaA)/cos (4)
[+→Fy = may]
NA – WA = 0 or NA = WA = mAg (5)
Solving eqs.(4) and (5), yields
T = 5.32 N [ans]
Comments: You may also obtain the tension in the rope by considering block B.
2-7
Newton’s 2nd Law

Example 2-5 :
Problem statement: The mass-pulley system Data & Diagram:
consists of two blocks A and B, each of mass
10 kg and 6 kg, respectively as shown. The B
surface of contact between block B and the
horizontal plane is very smooth. Neglect the
mass of the cable and the pulleys and also
the friction in all pulleys.
Find:
a) If the system is released from rest,
determine immediately at this instant
(i) the acceleration of each block, and
(ii) the tension in the cable
A
b) What is the velocity of block A after it has
displaced 0.8 m and the corresponding
time in s? Assumption(s):
1. Smooth surface = no effect of friction.
Theory: 2. Mass of the cable and pulley is negligible.
Kinematics: length of cable = constant 3. Friction in the pulleys is negligible.
Kinetics: N2L, F = ma 4. No air resistance.
Solution:
a)
WB Kinematics:
xB
B 2yA + xB = l
T mBaB
+y Differentiating with respect to time yields:

yA 2 y A + x B = 0 => 2aA + aB = 0
NB or aB = – 2aA (1)
T T
Kinetics:
Block A,
[+Fy = may] WA – 2T = mAaA
mAaA => mAg – 2T = mAaA (2)
A
WA Block B,
[+→Fx = max] – T = mBaB
=> T = – mBaB (3)
Substituting eq.(1) into eq.(3), and solving eqs.(2) and (3) yields
mA g
aA = (4)
m A + 4 mB
Substituting mA = 10 kg, mB = 6 kg, and g = 9.81 m/s2 into eqs.(5) and (1), we have
10 g
aA = = 2.885 m/s2 or aA = 2.885 m/s2  [ans]
10 + 4(6)
aB = – 2(2.885) = – 5.77 m/s2 or aB = 5.77 m/s2 
2-8
b) From eq.(3) or (2), we obtain T = 34.6 N [ans]
c)
[v2 = vo2 + 2a(x – xo)]: vA2 = 02 + 2(2.885)(0.8) => vA = 2.15 m/s [ans]
[v = vo + at]: 2.15 = 0 + 2.885t => t = 0.75 s [ans]
Comments: When the surface of contact at block B is rough, the effect of friction force
on block B must be included where its magnitude is FB = kNB and it is directed to the right
as shown.
Block B,
WB [+Fy = may] NB – WB = 0 or NB = WB = mBg
B [+→Fx = max] FB – T = mBaB
T mBaB
=> T = FB – mBaB
= kNB – mBaB
FB = k(mBg) – mBaB
NB
= mB(k g – aB) (5)
From eq.(5), we observe that the tension in the cable will be higher since block B must
also overcome the friction as it accelerates to the left. However, the magnitude of the
acceleration of block B (and also block A) will be less. Quantitatively, we can show that
after substituting eq.(1) into eq.(5), the tension is given by
=> T = mB[k g – (– 2aA)] = mB(k g + 2aA)
and solving this equation together with eq.(2), we obtain

mAg – 2 mB(k g + 2aA) = mAaA
=> aA = (mA − 2k mB ) g (6)
mA + 4mB
Let k = 0.25, we obtain
aA = [10 − 2(0.25)(6)]g = 2.02 m/s2
10 + 4(6)
aB = – 2(2.02) = – 4.04 m/s2
T = 39.0 N
Note also that the static friction must not be too big to not preventing completely the
motion of the system.
2-9
Newton’s 2nd Law

Example 2-6 :
Problem statement: The mass-pulley system Data & Diagram: (Draw and label completely)
is designed to consist of a 2-kg log A, a 1-kg
block B, and a 4-kg collar D as shown. Given
that the surface of contact between the collar
and the vertical guide is very smooth and that
the system is released from rest, determine
immediately at this instant
Find: B
a) the acceleration of log A,
b) the acceleration of collar D relative to A
block B, and D
c) the tension in the cable.
What happens if the surface of contact is

rough? Explain in the comments section.
Assumption(s):
Theory: 1. Smooth surface = no effect of friction.
Kinematics relation: length of cable = 2. Mass of the rope and pulley is negligible.
constant 3. Friction in the pulleys is negligible.
N2L: F = ma
Solution:
Kinematics relationship:
yA + 2yD + yB = l
yB
Differentiating with respect to time yields:
+y T
yA y A + 2 y D + y B = 0 or aA + 2aD + aB = 0 (1)
yD
T B
mBaB Kinetics: [+Fy = may]
T T WB
Log A,
mAaA D
A
WD mDaD mAg – T = mAaA or aA = g – T / mA (2)
WA Block B,
mBg – T = mBaB or aB = g – T / mB (3)
Collar D,
mDg – 2T = mDaD or aD = g – 2T / mD (4)
Substituting eqs.(2), (3) and (4) into eq.(1), yields
(g – T / mA) + 2(g – 2T / mD) + (g – T / mB) = 0
4 g (mA mB mD )
or T = (5)
(mA mD + 4mA mB + mB mD )
2-10
T = 1.6g N; aA = 0.2g m/s2; aB = – 0.6g m/s2; and aD = 0.2g m/s2 [ans]
For relative motion,

aD/B = aD – aB = 0.2g – (– 0.6g) = 0.8g m/s2  [ans]
Comments: When the surface of contact is rough, the effect of friction cannot be
neglected anymore. Its effect is such that the magnitude of the acceleration of the three
bodies will be reduced, and hence the tension in the cable.
2-11
Newton’s 2nd Law

Example 2-7 :
The 200-kg block A on a ramp is used to pull Data & Diagram:
up the concrete block D of mass 125 kg as
B
shown. The surface of contact between the E
block A and the ramp is very smooth and  = A
tan–1(3/4).
Find: Determine C
a) the acceleration of blocks A and D after
they are released from rest, and D

b) the tension in the cable.
What happens if the surface of contact is

Assumption(s):
rough?
Theory: 2. Mass of rope and pulley is negligible.
3. Friction in the pulleys is negligible.
Kinematics relation: length of cable = constant
Kinetics: N2L with x –y (or Cartesian coordinates),
N2L: F = ma
Solution:
Kinematics: 2sA + yD = l
WA sA Taking time derivative twice yields
 A T yD
s A + 2 y D = 0  aA + 2aD = 0 (1)
mAaA T
C Kinetics:
2T Block D,
[Fx = max]: mDg – 2T = mDaD
 D
NA  aD = g – 2T / mD (2)
mDaD WD
Block A,
[Fx = max]: mAg sin – T = mAaA  aA = g sin – T / mA (3)
Substituting eq.(2) and eq.(3) into eq.(1), yields

mAmD g
(g sin – T / mA)+ 2(g – 2T / mD) = 0  T= (2 + sin) (4)
(4mA + mD )
Substituting values into eq.(4), we have for answers in parts (a) and (b)
aA = 2.44 m/s2, aD = – 1.230 m/s2, and T = 690 N [ans]
Since the answer for aD is negative, hence, block D is accelerating upward, i.e. block A is pulling
block D.
Comments: Eq.(4) indicates that the magnitude of the tension is constant and the system
moves under UAM. When the surface of contact is rough, the effect of friction must be
taken into account i.e. it cannot be neglected. Its effect is that the magnitude of the
2-12
acceleration of the two bodies will decrease (how about the tension in the cable?). Will
the blocks eventually stop moving i.e. reaching static equilibrium?
Denoting friction force on block A as FA = k NA and is directed upward along the incline
(i.e. opposite to the direction of motion), the dynamic equilibrium on block A yields
[Fx = max]: mAg sin – T – FA = mAaA and [Fy = may]: NA – mAg cos = 0
mAg sin – T – k NA = mAaA or NA = mAg cos
 aA = g sin – T / mA – kg cos = g(sin – k cos) – T / mA (3b)
Solving eq.(2), (3b) and (1), quantitatively we have

mAmD g
T= (2 + sin – k cos ) (4b)
(4mA + mD )
Comparing eq.(4b) and eq.(4), we observe that the magnitude of tension is reduced by k cos
but is still constant. Let k = 0.2 and substituting values, we obtain
T = 647 N aA = 1.084 m/s2 and aD = – 0.542 m/s2
However, when the surface of contact gets rougher i.e. k = 0.6 or bigger value, eq.(4b) yields
T = 562 N
with aA = – 1.636 m/s2, and aD = 0.818 m/s2. What does it mean when aA is negative (or aD is
positive) such as in this case? Is it possible under the present condition? (CO2/C6)
2-13
Newton’s 2nd Law

Example 2-8 :
Problem statement: A system consists of two Data & Diagram:
blocks A and B, each of mass 5 kg and 2 kg,
respectively is connected via a cable as shown and is
initially at rest. A constant force of magnitude 40 N is B
P
suddenly applied to block B causing both blocks to
move. The frictional condition at all surfaces of
contact is known to be  = 0.2. A
Find: Determine
a) the acceleration of each block after 2 s, and
b) the tension in the cable.
Assumption(s):
Theory: 1. The cable is taut initially.
Kinematics: length of cable = constant 2. Mass of rope and pulley is negligible.
Kinetics: N2L with Cartesian coordinates, 3. Friction in the pulleys is negligible.
F = ma 4. No air resistance.
Solution:
Kinematics: 2xA + xB = l
y
Taking time derivative twice yields
x
B 2 x A + x B = 0  2aA + aB = 0 (1)
xB P
Kinetics: We assume both block A and B have
A the acceleration in their respective positive
sense of position vectors. This is important since
xA we seek a solution of simultaneous equations
involving eq.(1).
y WB
Block B, (ax = aB ; ay = 0)
x B mBaB
NB T
[Fy = may]: NB – WB = 0 => NB = WB = mBg
T WA P
FB
FB Note that FB = NB =  mBg
T A
NB
mAaA FA [Fx = max]: P – FB – T = mBaB
NA
=> T = P – FB – mB aB
= P – mBg – mB aB (2)
Block A, (ax = aA ; ay = 0)
[Fy = may]: NA – NB – WA = 0
=> NA = WA + NB = mAg + mBg = (mA + mB)g
Note that FA = NA =  (mA + mB)g

[Fx = max]: FA + FB – 2T = mAaA
=> T = 0.5(FA + FB – mAaA)
= 0.5[ (mA + mB)g +  mBg – mAaA] (3)
2-14
Substituting aB = – 2aA from eq.(1) into (2), and equating eqs.(2) and eq.(3), and solving yields
P –  mBg – mB (– 2aA) = 0.5[ (mA + mB)g +  mBg – mAaA]

2P
=> aA =  g – (4)
( m A + 4m B )
Substituting values P = 40 N, mA = 5 kg, mB = 2 kg, g = 9.81 m/s2, and  = 0.2, into eq.(4), we have
aA = – 4.19 m/s2 [ans]
and from eqs.(1) and (2) [or eq.(3)], we obtain
aB = 8.38 m/s2 and T = 19.32 N [ans]
Since the answer for aA is negative i.e. it is then opposite to what is initially assumed. Hence,
block A is accelerating to the left while block B is accelerating to the right.
Comments: We observe from eq.(4) that the acceleration of block A is more sensitive to the
mass mB, i.e. a slight change in its value may cause a greater effect on aA, and also aB.
2-15
Newton’s 2nd Law

Example 2-9 :
Problem statement: A bundle of roof tiles B of mass Data & Diagram:
100 kg is transported to the roof top through a
motor-driven lift consisting of a platform A of mass 30
kg on a smooth guided tract (tan  = 12/5) as shown.
The system is initially at rest when the motor
suddenly applies a constant tension of magnitude B
1800 N. The frictional condition between the bundle
and the platform is s = 0.2 and k = 0.1. A
Find: Determine
a) whether the bundle will slide or not, and
b) the corresponding reaction at the interface
between the bundle and the platform. 
Theory: Assumption(s):
Kinetics: N2L with Cartesian coordinates, 1. No air resistance.
2. Tension is parallel to guided tract.
F = ma
Solution:
Kinetics: We assume block B doesn’t slip on block A i.e. they move together as a single unit. Thus,
they have the same acceleration.
y
We note that ax = a = aA = aB; ay = 0.
x
(WA + WB) (mA + mB)a
[Fx = max]: T – (WA + WB) sin  = (mA + mB) a
=> a = T – (mA + mB) g sin 
T = [1800 – (30 + 100)(9.81)( 12
 13 )]/(130)
2
= 4.79 m/s
Block B,
[Fx = max]: FB = mB a cos 
=> FB = mB a cos )
 N 5
= 30(4.79)( 13 )]
= 55.3 N
y
WB mBaB Check: if FB, max = sNB > FB = 55.3 N
x [Fy = may]: NB – WB = mB a sin 
 => NB = mB (g + a sin )
B
= 30[9.81 + 4.79( 12
13 )]
FB
= 427 N
NB
Then FB, max = 0.2(427)= 85.4 N and since FB, max = 85.4 N > FB = 55.3 N, there is no slipping between
the bundle and the platform. Therefore, FB = 55.3 N and NB = 427 N [ans]
Comments: What will happen if s = 0.12 or when a tension of 2500 N is applied?
2-16
2-2.2 Equation of Motion: Tangential-Normal Coordinates
a Path, s +t F4
+n F3
F3 FR = F
at
an F2
m m F2
P F4 P P F
F1 1
(c) Kinematics (a) System of External Forces (SEF) (b) System of Equivalent forces
Path, s Path, s +t
+n ma +t +n
a
mat man mat
man
m m
P P
Fn
Ft
F
(d) System of Inertia forces (SIF) (e) Kinetics: SEF = SIF
Figure 2-4 : Newton’s second law of motion: Normal-Tangential Coordinates
In the n- and t- coordinate axes, we can write the N2L as
F = m(at ut + an un) (2-6)

Ft = mat (2-7)
Fn = man (2-8)
2-17
Newton’s 2nd Law

Example 2-10 :
A 850-kg car travels along a flat circular road that Data & Diagram:
has a radius of curvature of 100 m. At the instant
at A when  = 40o the car has the speed of 72
km/h and is uniformly increased at 3 m/s2.
A
Find:
a) Draw the free-body and kinetic diagrams of 
the car at A. 
b) Determine the total horizontal force exerted O
by the road on the wheels at A and at the
location 2 s later. Assumption(s):
1. Neglect air resistance
Theory: N2L with n-t coordinates 2. Treated the car as a particle.
F = m(atut + anun)
Solution: At A, we have
v2 (72 / 3.6) 2
at = v = 3 m/s2 and an = = = 4 m/s2
 100
FBD of the car at A:
t [+Fn = man]: Fn = man
mat
Ft = 850(4) = 3400 N
[+Ft = mat]: Ft = mat

o
40
= 850(3) = 2550 N
man Total force exerted on the wheels at A,
Fn
n F= Ft 2 + Fn2 = (25502 + 34002)1/2 = 4250 N [ans]
For uniformly accelerated motion along the curved path s, we have after 2 s later,
[v = v0 + at]: v = 20 + 3(2) = 26 m/s
v2 26 2
Thus, an = = = 6.76 m/s2 and at = 3 m/s2
 100
[s = s0 + v0t + 1
2
at2]: s – s0 = 20(2) + 1
2
(3)(2)2 = 46 m
s 46 180o
[s = r]:  = = rad ( ) = 26.4o
r 100 
t [+Fn = man]: Fn = man
Ft mat = 850(6.76) = 5750 N
o
66.4o [+Ft = mat]: Ft = mat

23.6
= 850(3) = 2550 N
man Total force exerted on the wheels at A,
Fn
n F= Ft 2 + Fn2 = (25502 + 57502)1/2 = 6290 N [ans]
Comment: Observe that the direction of Ft must agree with that of at and also for Fn and an.
Here, Ft is the driving force that drives the car forward while Fn is the centripetal force that
prevents the car from skidding in the lateral direction around the curve.
2-18
Newton’s 2nd Law

Example 2-11 :
A passenger of mass 70 kg rides in a single seat Data & Diagram:
roller coaster in half vertical loop of radius 46 m as
C
shown. The roller coaster is moving at a constant
speed 100 km/h around the loop.
Find: r
a) Draw the free body and kinetic diagrams of
the passenger at points A, B, and C.
b) Determine at each of these positions the B
normal force that the seat of the roller
coaster would exert on the passenger.
Theory:
A
Use N2L with normal and tangential coordinates
Assumption(s):
F = m(atut + anun)
2. Roller coaster is small.
Solution: We note that for constant speed v, at = 0 m/s2.
At point A,
n n v2
[Fn = man]: NA – mg = man where an =
r
W (= mg) man  NA = m(an + g) (1)
(100 / 3.6) 2
= 70[ + 9.81]
t
 t
46
= 1861 N [ans]
NA
At point B,
t v2
t [Fn = man]: NH = man where an =
r
W (= mg) 2
v
 NH = m (2)
r
n NH
n man = 70[
(100 / 3.6) 2
]
46
NV = 1174 N [ans]
At point C,
NC v2
[Fn = man]: NC + mg = man where an =
r
t
t   NA = m(an – g) (3)
(100 / 3.6) 2
man = 70[ – 9.81]
W (= mg) 46
n n = 487 N [ans]
Comments: Note that static normal force is mg = 70(9.81) = 687 N. We can see how the normal
acceleration would affect the normal force exerted by the seat on the passenger.
2-19
Newton’s 2nd Law

Example 2-12 :
The sphere of mass m and length l pendulum Data & Diagram: (Show your FBD and EFD here)
forms an arc of circle in a vertical plane as shown.
The sphere is released from rest at the position
when  = 30o. Use m = 2 kg and l = 3 m.
Find: At the instant of release,
a) draw the free-body and kinetic diagrams of
the sphere.  l
b) what is the initial velocity of the sphere?
c) determine the velocity and acceleration of the m
sphere, and
d) determine the tension in the cord.
Use N2L with normal and tangential coordinate 1. Neglect the air resistance
system, 2. Size of sphere is small i.e. treated as a
F = m(atut + anun) particle.
3. Cord remains taut and is inextensible.
Solution:
Since the sphere is released from rest, v = 0 m/s [ans]
+n
man [Ft = mat]: mg sin = mat
T
or at = g sin = 9.81 sin30o (1)
m
 = 4.91 m/s2 [ans]
mat
+t  v2
W = mg Since v = 0 m/s => an = = 0 m/s2 [ans]
l
a = at + an = 4.91 m/s2 [ans]
60o
[Fn = man]: T – mg cos = man = 0
or T = mg cos (2)
= 2(9.81)cos30o = 17.0 N [ans]

Comments:
From eq.(2), it is clear that the tension in the cord at this instant depends only on the mass m, the
angle  and the acceleration of gravity g. It does not depend on the length l of the cord. However,
if the sphere has initial velocity or is in motion, then the tension also depends on the length of the
v2
cord, an = .
l
2-20
Newton’s 2nd Law

Example 2-13 :
Problem statement: The rated speed of a highway Data & Diagram:
curve of radius  banked through an angle  is the
speed at which a car should travel with no lateral b
friction force is to be exerted on its wheels (i.e.

either up or down the curve). For the car of mass m
= 650 kg, radius of highway curvature  = 120 m
n
banked at an angle  = 30o, determine
Find: 
a) the free body and kinetic diagrams of the car,
b) the rated speed of this highway curve in km/h, Assumptions:
and 1. Car is treated as a particle.
c) the corresponding normal acceleration of the 2. There is no significant air
car in m/s2. resistance.
3. All wheels exert the same force
Theory: Use N2L with n, t, and b coordinates. on the ground.
Solution:
a) b) Since there is no lateral friction force exerted, the
+b reaction on the car reduced only to the normal force N.
W = mg [Fb = mab]: N cos – W = 0 or N cos = W (1)

W
man [Fn = man]: N sin = an (2)
g
+n =
 But an =
v2
, so eq.(2) becomes
  
N W v2
=> N sin = (3)
g 
Solving eqs.(1) and (3) by dividing eq.(3) by eq.(1) yields
v2
tan = or v2 =  g tan (4)
g
and for  = 120 m and banked angle  = 30o , we have
v2 = 120(9.81) tan 30o
or v = 26.1 m/s = 94 km/h [ans]

c)
v2 (26.1) 2
an = = = 5.68 m/s2 [ans]
 120
Comments:
From Eq.(4), it is clear that the rated speed of a highway curve v depends only on the radius of
curvature , banked angle  and the acceleration of gravity g, and not on the mass m of a car.
2-21
Newton’s 2nd Law

Example 2-14 :
Problem statement: A cylindrical block, having a Data & Diagram:
mass of 1.5 kg, is placed on a horizontal platform at
a distance of r = 2 m from its center. The coefficient r b
of static friction between the block and the platform is
0.25. If the platform starts rotating from rest such that 
the block’s speed is increased uniformly at v = 0.5
m/s2, determine
Find:
a) the free body and kinetic diagrams of the block,
b) the maximum speed which the block will have
before it begins to slip off the platform, and
c) the corresponding normal acceleration of the
block in m/s2. Assumption:
Theory: Use N2L with n, t, and b coordinates. 1. Block is treated as a particle.
2. There is no significant air resistance.
Solution: a)
b) The forces on the block consist of the weight W, the
+b normal force N, and the friction force Ff .
W = mg [Fb = mab]: N – W = 0 or N = W = mg (1)

man
[Ft = mat]: Ff sin = mat = m v (2)
+n
 But Ff = N for the block to be on the verge of slipping,
Ff = N
therefore Eq.(2) becomes
v 0 .5
mat +t sin = =>  = sin– 1( ) = 11.76o (3)
N g 0.25(9.81)
v2
[Fn = man]: Ff cos = man = m (4)
r
Eq.(4) becomes
v2
Ncos = m => v2 = grcos
r
or v= gr cos (5)
and for r = 2 m and  = 0.25, we have
v= 0.25(9.81)(2) cos(11.76 o )
= 2.19 m/s [ans]

c)
v2 (2.19) 2
an = = = 2.40 m/s2 [ans]
r 2
Comments:
2-22
From Eq.(3), it is clear that the speed v depends only on the radius r, the coefficient of static
friction , and the acceleration of gravity g, and not on the mass m of the block.
2-23
2-2.3 Equation of Motion: Polar Coordinates

Consider a particle of mass m subjected to an unbalanced force F, Figure 1.1. As a result, the
particle will move with the acceleration a. Since the force and the resulting acceleration are
directly proportional, they may consequently be written as
a Path, s F4
+ +t
F3
a +r F3 FR = F
F2
m m F2
ar
P F4 P P F
1
F1
r
(b)

(a) Kinematics (b) System of External Forces (SEF) (c) System of Equivalent forces
+ ma Path, s + ma Path, s
ma +r ma +r
m mar m mar
P Fr P
r r
(b) (b) F
  F
(d) System of Inertia forces (SIF) (e) Kinetics: SEF = SIF
Figure 2-5 : Newton’s second law of motion: Polar Coordinates
F = m(ar ur + a u) (2-9)

Fr = mar (2-10)
F = ma (2-11)
In 3D problem, we write
F = ma
Fr + F +Fz = mar + ma + maz (2-12)
or Fr ur + F u +Fz uz = mar ur + ma u + maz uz
Fr = mar
F = ma (2-13)
Fz = maz
2-24
maz
F
ma
mar
Fr
Fz
O z
r

Figure 2-6 : Newton’s second law of motion: Cylindrical Coordinates
When a particle is subjected to several forces as shown in Figure 2.6, eq.(2-1) is then written as
r = f() Tangent
+r

r N
P F
O 
Figure 2-7 : Newton’s second law of motion: polar coordinates
r
tan  = (2-14)
dr / d
2-25
Newton’s 2nd Law

Example 2-15 :
Member OA rotates about a pivot O in a vertical plane with a constant counter-clockwise
velocity  = 3 rad/s as shown in the figure. A block of mass m = 2 kg is placed on it at a
radial distance r = 400 mm as it passes the position  = 0o. Knowing that the block starts
to slip down when  = 40o,
Find: Determine Data & Diagram:

(a) the coefficient of static friction s between the
block and the member, and m
A
(b) the normal force exerted by the member on the
block. r
Assumption(s):

O
Theory: Use N2L with r –, or polar coordinates.
Solution:
W = mg
(b)  ma
 r mar

FC
NC
= 40o
Kinematics:
ar = r – r  2 a = r  + 2 r (1)
Given  = 3 rad/s (constant),  = 0, and that when the particle (or block) is about to slip, r = 0,
r = 0, we have, from (1)
ar = 0 – (0.4)(3)2 = – 3.6 a = (0.4)(0) + 2(0)(0) = 0 m/s2

= – 3.6 m/s2
For the block starts moving (i.e. impending motion), FC = sNC
[Fr = mar]: FC – mg sin = mar (2)
[ F = ma]: NC – mg cos = 0 [a = 0] (3)
Solving (2) and (3) yields
(a) s, req = 0.313 [ans]
2-26
and from (2),
(b) NC = 15.03 N [ans]
2-27
Newton’s 2nd Law

Example 2-16 :
A smooth roller P of mass m = 0.4 kg moves along a grooved horizontal slot as shown.
The slot is in a spiral form defined by the equation r = 0.12 m, where  is in radians.
Knowing that arm OA is rotating at a constant rate  = 3 rad/s, determine at the instant
when  =  rad
Find: Data & Diagram:
(a) the free body and kinetic diagrams of the roller,
r = f()
(b) the force exerted by the arm on the roller, and

(c) the force exerted by the wall of the slot on the P
roller. A O
r
Assumption(s):
1. The groove slot is smooth i.e. no friction.
2. The size of a roller is negligible i.e. it is treated as a particle.
Solution:
(b) The forces on the roller consist of the driving force
(a) FP., the normal force of the slot on the roller NP, and no
FP friction force Ff = 0.
F f = N r 0.12
tan  = = =
mar dr / d 0.12
 = tan–1() = 72.3o
+r   = 90o – 72.3o = 17.7o
 Hence,
NP
ma
 Equations of motion:
Tangent [Fr = mar]: NP cos  = 0.4ar (1)
+
[F = ma]: FP – NP sin  = 0.4a (2)
Kinematics, computing the time derivatives of r and , we have

r = 0.12 = 0.12(3.14) = 0.377 m  =  rad
r = 0.12  = 0.12(3) = 0.36 m/s  = 3 rad/s
r = 0.12  = 0 m/s 2
 = 0 rad/s2
ar = r – r  2 = 0 – 0.377(3)2 = – 3.39 m/s2

a = r  + 2 r  = 0.377(0) – 2(0.36)(3) = 2.16 m/s2
Substituting into Eqs.(1) and (2) and solving yields

NP = –1.423 N [ans]
FP = 0.431 N [ans]
Comments:
2-28
2-3 Work and Energy Method

2-3.1 Defining Work of a Force
The work done by the force F acting on a particle during the displacement dr, Figure 2-8, is
defined as
dU = Fdr
By the definition of the dot product, we have
dU = F ds cos
Hence,
dU = F cos ds = Ft ds (2-15)
Path, s Path, s
+t
P’ 
Ft = F cos
ds ds Ft
r' = r + dr (b)
(b) dr F (b) dr  F
P dU = Ft ds
P
 Fn
r r +n
O ds = |dr| O
dU = Fdr dU = Fcos ds
(b)
(a) Force F acting on a particle (b) Work is a scalar product of F and dr

and displacement dr
Figure 2-8 : Work of a force
It is a scalar quantity which has a magnitude and can be positive or negative. The SI unit of work
is in newtons (N) times meters (m) or Nm which is equal to joules (J).
2-3.2 Work of a variable Force

During a finite displacement from r1 to r2, or along the path from s1 to s2, the work done from
position 1 to 2 is computed by integration,
r2 s2 s2
U1-2 =  r1
Fdr = 
s1
F cos ds = 
s1
Ft ds (2-16)
To carry out this integration, we need to know the relation between F and their respective position
coordinates, such as F = F(s) or Ft = f(s). If this functional relationship is not known but is
2-29
available in terms of experimental data, then the work done is obtained by computing the area
under the curve Ft = F cos versus s.
Ft = F cos
dU = Ft ds
s1 s2 s
O
(b) (b) (b)
ds
(b)
Figure 2-9 : Work of a Force is given by the area under the curve Ft against s
2-3.3 Work of a constant Force
P
Py = P sin
x

O Path, +x
 A Px = P cos 
x = x2 –x1
x1 (b) x2
Figure 2-10 : Work of a constant Force
The work done by the constant force P acting on a particle during the displacement dr is defined as
dU = Pdr = P cos dx = Px dx where P = Pxi + Pyj and dr = dx i

r2 x2 x2
U1-2 = 
r1
Pdr = 
x1
P cos dx = P cos x1
dx
U1-2 = P cos (x2 –x1) = P cos (x) (2-17)
2-30
Work-energy equation
Example 2-17 :
Problem statement: A slider is moved Data & Diagram:
from its initial position 1 to position 2 under
the action of a constant force F of y
magnitude 20 N as shown.
F
Find: Determine the work done by force P
1 2
on the slider when = 40o. 
x
Theory:
150 mm
UA – B = Force x displacement
Assumption(s):
Size of the slider is small i.e. it is treated as
a particle.
Solution:
a) For  = 40o, we note that only Fx do work on the slider.
y We compute the work done on the slider by the force P

as follows.
Fy F
PU1 – 2 = Fx (x1 – x2)
 = F cos (x1 – x2)
Fx x = (20 cos 40o)(0.15 – 0)
= 2.3 J [ans]
2-31
Example 2-18 :
Problem statement: A collar is moved Data & Diagram:
from its initial position at A to its final
position at B under the action of a constant y P
force P of magnitude 50 N as shown. 
Find: Determine the work done by force P B
on the collar when
a)  = 60o, and
b)  =  P
0.3 m
 
Theory:
UA – B = Force x displacement A
Assumption(s): x
0.4 m
Size of the collar is small i.e. it is treated as
a particle.
Solution:
a) For  = 60o, we have the work done on the collar by the force P,
y PUA – B = Px (xB – xA) + Py (yB – yA)

P
Py = P cos (xB – xA) + P sin (yB – yA)
 = (50 cos 60o)(0.4 – 0) + (50 sin 60o)(0.3 – 0)
= 10 J + 13 J
= 23 J [ans]
x
Px
b) For  =  = tan– 1(3/4),
PUA – B = Px (xB – xA) + Py (yB – yA)
= P cos (xB – xA) + P sin (yB – yA)
= 50 (4/5)(0.4 – 0) + 50 (3/5)(0.3 – 0)
= 16 J + 9 J
= 25 J [ans]
Since the force P and displacement s = AB have the same direction, we may also
compute the work done on the collar using the displacement s = AB = x 2 + y 2 =
0.4 2 + 0.32 = 0.5 m
PUA – B = P s = 50(0.5) = 25 J [ans] (same as above)
Comment: We can also write for part a) PUA – B = Ps s where Ps = P cos ( – ).
2-32
Example 2-19 :
wooden pallet containing bricks as shown. The truck is
initially at rest when it starts accelerating uniformly and
reaches the speed of 54 km/h in a distance of 50 m. 300 kg
Find: Determine for two different conditions of friction

between the truck bed and the brick pallet: (i) s = 0.3
and k = 0.2, and (ii) s = 0.22 and k = 0.15.
a) the distance travelled by the pallet, the friction force Assumption(s):
acting on the pallet, and the acceleration of the 1.
pallet, and
b) the work done by the friction force acting on the
pallet.
Theory: Fmax = sN, Fk = kN

Work, U1– 2 = Force x displacement
Solution: (i) For condition s = 0.3 and k = 0.2,

Kinetics,
First, we assume there is no slipping i.e. truck and crate move
y W with the same acceleration, and v = 54/3.6 = 15 m/s
ma
x v 2 − vo2 152 − 02
a = apallet = atruck = = = 2.25 m/s2
B 2( x − x o ) 2(50 − 0)
F [+F y = ma y ]: N – W = 0
N  N = W = 300(9.81) = 2943 N
[+→Fx = max]: F = ma
=> F = 300(2.25) = 675 N
We note that, for impending slide, Fmax = sN. For the condition (i) s = 0.3, Fmax = 0.3(2943) = 883
N. Since F = 675 N < Fmax = 883 N, the pallet will not slip.
a) Since the crate has no slipping relative to the truck, both will travel with the same distance or
will have the displacement i.e. xpallet = xtruck = 50 m [ans]
 F = 675 N → and a = apallet = atruck = 2.25 m/s2 → [ans]
b) Work done by the friction force: here it is the static friction force that do work,
[U1– 2 = Fx] FU1– 2 = (675 N)(50 m) = 33750 J = 33.75 kJ [ans]
(ii) For the condition s = 0.22, Fmax = 0.22(2943) = 647 N. Since F = 675 N > Fmax = 647 N, the crate
will slip.
a) Therefore, with slipping, F = kN), and the acceleration of the crate a = apallet  atruck. We have
2-33
W F = kN = 0.15(2943) = 441 N → [ans]

y ma
and
x [+→Fx = max]: F = ma
B F 441
 a = apallet = = = 1.470 m/s2
F = kN m 300
N  apallet = 1.470 m/s2 [ans]
Since the pallet slipped to the left relative to the truck as the truck travelled 50 m to the right, the
pallet will have less distance travelled as compared to the truck and can be calculated as follows.
Distance travelled by the truck: xtruck = 50 m →

Distance travelled by the pallet: xpallet = xtruck + xpallet/truck (I)
1 2
Distance travelled by the pallet relative to the truck [x = xo + vot + 2
at ]:
or xpallet/truck = vpallet/truck, o t + 1
2
apallet/truck t 2
(II)
where apallet/truck = apallet – atruck = 1.470 – 2.25 = – 0.780 m/s2 and vpallet/truck, o = 0 m/s.
The time t can be obtained from the relation v = vo +at for the truck, hence
v − vo (54 / 3.6) − 0
t= = = 6.67 s
a 2.25
Eq.(II) => xpallet/truck = 0 (6.67) + 12 (– 0.780)(6.67)2 = – 17.33 m
Eq.(I) => xpallet = 50 + (– 17.33) = 32.7 m [ans]*
b) Work done by the friction force: here it is the kinetic friction force that do work,
[U1– 2 = Fx] FU1– 2 = (441 N)(32.7 m) = 14 421 J = 14.42 kJ [ans]
Comment: *Alternatively, we may also obtain the crate displacement using the fact that the
distances traveled by the pallet and the truck are in proportion to their accelerations ([x = x – xo
= vot + 12 at2 where vo = 0] i.e.
x pallet a pallet a pallet 1.470

= => xpallet = xtruck = (50) = 32.7 m (same as above)*
xtruck atruck atruck 2.25
2-34
2-3.4 Work of a Weight or Force of Gravity
W
y2
A dy
 (b)
Path, s y
y1
Figure 2-11 : Work of the Force of Gravity or Weight
The work done by the force of gravity or weight W acting on a particle during the displacement
from initial position y1 to final position y2 is obtained as
dU = Wdr = – W dy Note W = – Wj and dr = dxi + dyj

y2 y2
U1-2 = 
y1
– W dy = – W 
y1
dy
U1-2 = – W(y2 –y1) = – W(y) (2-18)
Note that the work done by the weight W is positive when W and y are in the same direction i.e.
y is negative (that is when the body moves down) and is negative when they are opposite i.e. y
is positive (that is when the body moves up).
Example 2-20 :
Problem statement: A 5-kg collar moves from Data & Diagram:
its initial position at A to its final position at B as y
shown. B
Find: Determine the work done by the weight W W
on the collar.
0.3 m
Theory:
U1-2 = – W(y2 –y1) = – W(y) A
Assumption(s): x
Size of the collar is small i.e. it is treated as a 0.4 m
particle.
Solution:
2-35
a) We note that since the direction of the displacement y is opposite to that of W, we

have the work done on the collar by W as negative work.
Denoting y = yB – yA = 0.3 m, then
WUA – B = – W(yB – yA)

= – mg(yB – yA)
= – 5(9.81)(0.3)
= – 14.715 J
= – 14.72 J [ans]
Comment: If the motion were to be from point B to A, then the work done would be
positive.
2-36
2-3.5 Work of a Spring Force
Undeformed
Position
O k F
F = kx
Path, +x
F2
x1  F1
F Where F = kx
x dx x1 x2 x
x2 
Figure 2-12 : Work of a spring or elastic force
The work done by the Force F acting on a particle during the displacement dr is defined as
dU = Fdr = – kx dx where F = – kx i and dr = dx i

x2
x2 x2 1 
U1-2 = 
x1
– kx dy = – k 
x1
x dx = – k  x 2  x dx
 2  x1
1 1
U1-2 = – k( x 22 – x12 ) = k( x12 – x 22 ) (2-19)
2 2
Note that the work done by the spring force F is positive when the force and displacement are
in the same direction (when the spring is returning to its undeformed position) and is negative
when they are opposite (when the spring is stretched from its undeformed position).
1
U1-2 = – area under the F vs. x curve = – (F2 + F1)(x) (2-20)
2
2-37
Example 2-21 :
Problem statement: A spring of stiffness Data & Diagram:
k = 15 N/m is connected to a collar as
shown. The collar is pulled from its initial
position at A to end B (the pulling force is A B
not shown).
x
Find: Determine the work done by the k
120 cm
elastic or spring force acting on the collar
when the spring is initially
a) unstretched at A, and Assumption(s):
b) stretched 20 cm from its natural 1. The size of a roller is negligible i.e. it is
position.
treated as a particle.
Theory: 2. The spring behaves linearly.
1 2 2
3. The spring mass is negligible.
eUA – B =– k( x 2 – x1 )
2
Solution:
a) For motion from A to B with the spring is unstretched at A, we have the work done by the spring
A B eUA – B =– 1
k( x B2 – x A2 )
2
=– 1
2
(15)(1.22 – 02)
k = – 10.80 J [ans]
120 cm
xA = x o = 0 xB = 1.2 m
eUA – B =– 1
2
k( x B2 – x A2 )
A B
=– 1
2
(15)(1.42 – 0.22)
= – 14.40 J [ans]
k
120 cm
xo xA = 0.2 m xB = 1.4 m
Comment:
2-38
Example 2-22 :
Problem statement: A spring of stiffness Data & Diagram:
k = 1.0 kN/m connected to a slider is
initially compressed 200 mm to point A
from its natural position B. A B
Find: Determine the work done by the x

elastic or spring force acting on the slider k
when the slider is released and is 50 mm
passing through its natural position B.
Assumption(s):
Theory:
1. Size of the slider is negligible i.e. it is
1 2 2
eUA – B =– k( x 2 – x1 ) treated as a particle.
2 2. The spring behaves linearly.
3. The spring mass is negligible.
Solution:
a) For motion from A to B with the spring is unstretched at A, we have the work done by the spring
eUA – B =– 1
k(xB2– xA2)
A B (undeformed position) 2
=– 1
2
(1000)(02 – 0.22)
k = 20 J [ans]
xA = 0.2 m xB = xo = 0
Comment:
2-39
Example 2-23 :
Problem statement: A collar with an attached Data & Diagram:
spring of stiffness k = 2.5 kN/m moves from its y
initial position at A to its final position at B as B
shown. The spring is unstretched at A.
W
Find: Determine the work done by the elastic or
spring force acting on the collar when as it
k 0.3 m
moves from A to B.
Theory:
1
eU1-2 =– 2
k(x22– x12) x
A 0.4 m
Assumption(s):
Size of the collar is small i.e. it is treated as a
particle.
Solution:
We write the work done by the spring on the collar as
eUA – B =– 1
2
k(sB2– sA2)
where
at A (when the spring is unstretched), we have sA = 0.3 – 0.3 = 0 m
at B, we have sB = 0.4 – 0.3 = 0.1 m
eUA – B =– 1
2
k(sB2– sA2)
=– 1
2
(2500)(0.12 – 02)
= 12.5 J [ans]
Comment: If the motion were to be from point B to A, then the work done by the spring
on the collar would be positive.
2-40
Example 2-24 :
Problem statement: The 10-kg collar A Data & Diagram:
which is connected to a spring is pulled
from rest in the position shown and is
P
sliding up the fixed rod inclined at  = 30o y
under the action of a constant force P of B
magnitude 500 N where α = 40o. The α
spring is initially unstretched with k = 200 
N/m and the contact between the rod and k 120 cm
collar has the coefficient of friction  = 0.3. A x
Find: After the block has moved 120 cm

up the incline to point B, determine
a) the work done by each of the forces Assumption(s):
acting on the collar, 4. The size of a roller is negligible i.e. it is
b) the total work done on the collar, and treated as a particle.
c) the plot of the force of a spring versus 5. The spring behaves linearly.
displacement s. 6. The spring mass is negligible.
Theory:
UA – B = PUA – B + WUA – B + eUA – B + FfUA – B
where eUA – B = work done by the elastic spring
Solution:
a) For motion from A to B, we have for the work done by various forces
y Work done by the force P,

W = mg
PUA – B = Pcosα (xB – xA)
 P = (500 N)(cos 40o)(1.2 – 0) m

= 460 J [ans]
α x
Ff Using point A as a datum, work done by the weight W
Fe
WUA – B = – mg(xB – xA) sin
N
= – (10 kg)(9.81 m/s2)(1.2 – 0) sin 30o m
 = – 58.9 J [ans]
For unstretched spring at A, work done by the elastic spring force Fe
eUA – B =– 1
2
k( x B2 – x A2 ) = – 1
2
(200)(1.22 – 02) = – 144 J [ans]
Work done by the friction force Ff =  N where N is obtained by summing forces in the y direction.
FfUA – B = –  N(xB – xA) = – 0.3(236.4 N)(1.2 m) = – 85 J [ans]
b) the total work done on the collar,
UA – B = PUA – B + WUA – B + SUA – B + FfUA – B

= 460 – 58.9 – 144 – 85 J
= 172.1 J [ans]
2-41
c) the plot of the force of a spring versus displacement s.
F, N
F = 200x
240
1
U1-2 = – area = – (240)(1.2) = – 144 J
2
O 1.2 x, m
Comment:
2-42
2-3.6 Principle of Work and Energy
v2

s2
+n
F
+t
Fn = F sin 
v1 A Ft = F cos
m

s1
Path, s
Figure 2-13 : Principle of work and energy
The tangential component of the motion can be written as
dv
Ft = mat = mv
ds
 Ft ds = mat = mv dv
s2 v2 1
s1
Ft ds = m  v1
v dv =
2
m( v 22 – v12 ) (2-21)
1 s2
Defining T =
2
m v 2  the kinetic energy of a particle and noting that U1-2 = 
s1
Ft ds, we can
write eq.(2-21) as
U1-2 = T2 – T1 or T1 + U1-2 = T2 (2-22)
This is known as the principle of work and energy which expresses the work done by the force F
on the body during a finite displacement from position 1 to 2 is equal to the change of the kinetic
energy of the body. If there is more than one force acting on the body, the principle of work and
energy can be written as
U1-2 = T2 – T1 (2-23)
or T1 + U1-2 = T2 (2-24)
where U1-2 represents the sum of the work done by all forces acting on the particle as it moves
from position 1 to position 2. The positive and negative sign in this term must be taken into
account accordingly as discussed before. Eq.(2-23) states that the work done on the particle as it
moves from its initial position to the final position is equal to the change of its kinetic energy.
While eq.(2-24) defines the final kinetic energy of the particle is equal to its initial kinetic energy
plus the work done on the particle by all forces acting on its during this finite displacement.
2-43
Advantages of Work-Energy equation:
Three main advantages of the work-energy equations,

1. No need to know the acceleration of the particle in order to find its velocity.
2. It is a scalar equation and can be added directly without using the x and y components.
3. Forces doing no work are eliminated from the solution of the problem.
Special notes:
1. Eq.(2-22) or eq.(2-23) is only applicable in the Newtonian reference frame (or Inertial
reference frame)
2. The kinetic energy of the particle is always positive regardless of the direction of its motion.
3. When T1 = 0, U1-2 represents the work done to bring the particle from rest (v1 = 0) to the
speed v2.
4. When T2 = 0, U1-2 represents the work done to bring the particle from the speed v1 to rest.
5. From notes no.3 and no.4, we conclude that the kinetic energy of the particle is the capacity of
the particle to do work.
2-44
Example 2-25 :
Problem statement: A block of mass 2 kg is pulled from Data & Diagram:
its rest position with a horizontal force of 10 N for 24.3
m as shown. P = 10 N
2 kg
Find: Determine
a) the velocity of the block at the end of 24.3 m, and s = 0.3
b) the corresponding time it takes. k = 0.2
Solution:
a) Linear impulse-momentum diagram of the block,
IKED: WFD: y FKED:
Wy
x Note:
P x x = 24.3 m; y = 0
1
2 mv12 + F x
= 1
2 mv22
0
Ny
Principle of work-energy:
T1 + U1 – 2 = T2 (1)
0 + 10(24.3) – 0.2(2)(9.81)(24.3) = 1
2 (2) v22
=> v2 = 12.15 m/s [ans]
Since all forces are constant, the block will have a constant acceleration motion. We have
kinematic equations,
[v2 = vo2 + 2a(x – xo)] 12.152 = 0 + 2a(24.3)
=> a = 3.04 m/s2
[v = vo + at ] 12.15 = 0 + 3.04 t
=> t=4s [ans]
Comment: See also Worked Example 2-1.
2-45
Example 2-26 :
Problem statement: A collar of mass 5 kg with Data & Diagram:
an attached spring of stiffness k = 2.5 kN/m is
pulled from its initial rest position at A to its final y 
position at B by a 100-N force P along the
curved path as shown. The spring is initially B
unstretched at A and the path is smooth. W
P
Find: Determine the velocity of the collar at B.
0.3 m
k 
Theory: T1 + U1 – 2 = T2 where T = mv2
1
eU1-2 =– 2
k(x22– x12) and WU1 – 2 = – mg(y2 – y1)
x
Assumption(s): A 0.4 m
Size of the collar is small i.e. it is treated as a
particle.
Solution: Work-energy equation,
TA + UA – B = TB where T = 1
2
mv2 and vA = 0 m/s (1)
Work done by the constant force P,

PUA – B = Px (xB – xA) + Py (yB – yA)
= P cos (xB – xA) + P sin (yB – yA)
= (100 cos 60o)(0.4 – 0) + (100 sin 60o)(0.3 – 0)
= 20 J + 26 J = 46 J
Work done by the spring,

1 2 2
eUA – B = – 2 k(sB – sA ) where sA = 0.3 – 0.3 = 0 m, and sB = 0.4 – 0.3 = 0.1 m
=– 1
2
(2500)(0.12 – 02)
= – 12.50 J
Work done by the weight,

WUA – B = – mg(yB – yA) where yA = 0 m, and yB = 0.3 m
= – 5(9.81)(0.3 – 0)
= – 14.72 J
=> 0 + (46 – 12.50 – 14.72) = 1

2
(5) v B2
=> vB = 2.74 m/s [ans]
Comment:
2-46
Example 2-27 :
Problem Statement: The 30-kg cart at A is Data & Diagram:
connected to a spring as shown. The spring is
initially unstretched and the cart is released
from rest. k = 75 N/m
Find: Determine for conditions a) with no

friction, and b) with friction ( = 0.20) between A
the cart and the track d
a) the velocity of the cart after it has moved
450 mm down the stretch, and B
b) the maximum distance d that the cart 
would reach.
30o
Theory:
Assumption(s):
Solution:
a) With no friction for motion from A to B, the principle of work and energy is
k = 75 N/m
TA + UA – B = TB (1)
W = mg
Choosing the datum to be at A, we have A
d
TA = 0 (since vA = 0 i.e. starts from rest) Fe Datum
hA = 0
TB = 12 m v B2 B
hB = – d sin
UA – B = WUA – B + eUA – B o
30
where
WUA – B = – mg(hB – hA) = – (30)(9.81)(– 0.45 sin30o – 0) = 66.2 J
eUA – B = – 2 k( x B – x A ) = – 2 (75)(0.45 – 0 ) = – 7.59 J
1 2 2 1 2 2
(i) Velocity of the cart,

Substituting all terms into eq.(1), we obtain
 0 + (66.2 – 7.59) = 1
2
(30) v B2
=> vB = 1.977 m/s [ans]
(ii) Maximum deflection at B, we note that when d is maximum (dmax), vB = 0 m/s  TB = 0.

Hence, eq.(1) gives
 0 + [ – 30(9.81)(– dmax sin30o – 0) – 12 (75)(dmax2 – 0) ] = 0 +

=> dmax = 3.92 m [ans]
2-47
b) With friction, the principle of work and energy is
TA + UA – B = TB (2)
k = 75 N/m
Choosing the datum to be at A, we have W = mg
A
TA = 0 (since vA = 0 i.e. starts from rest) d
TB = 12 m v B2 Fe Datum
hA = 0
B Ff = N
and hB = – d sin
o
UA – B = WUA – B + eUA – B + FfUA – B 30
N
where
WUA – B = – mg(hB – hA)= – (30)(9.81)(– 0.45 sin30o – 0) = 66.2 J
2 2
eUA – B = – 2 k( x 2 – x1 ) = – 2 (75)(0.45 – 0 ) = – 7.59 J
1 1 2 2
FfUA – B = – µ(mg cos)d = – 0.2[30(9.81)cos30o](0.45) = – 22.9 J
(i) Velocity of the cart,

Substituting all terms into eq.(2), we obtain
 0 + (66.2 – 7.59 – 22.9) = 1

2
(30) v B2
=> vB = 1.543 m/s [ans]
(ii) Maximum deflection at B, we note that when d is maximum (dmax), vB = 0 m/s  TB = 0.

Hence, eq.(2) gives
 0 + [– 30(9.81)(– dmax sin30o – 0) – 1

2
(75)(dmax2 – 02) – 0.2(30x9.81cos30o)dmax] = 0
=> dmax = 1.601 m [ans]
Comment:
2-48
Example 2-28 :
Problem statement: The 10-kg collar A Data & Diagram:
which is connected to a spring is pulled
x
from rest in the position shown and is
sliding up the fixed rod inclined at  = 30o y P
under the action of a constant force P of B
magnitude 500 N where α = 40o. The α
spring is initially unstretched with k = 200 
N/m and the contact between the rod and k 120 cm
collar (i) is smooth, and (ii) has the A
coefficient of friction  = 0.3.
Find: After the block has moved 120 cm

up the incline to point B, determine Assumption(s):
a) the velocity of the collar at B, and 1. The size of a roller is negligible i.e. it is
b) the normal force exerted by the rod on treated as a particle.
the collar at B. 2. The groove slot is smooth i.e. no
friction.
Theory:
TA + UA – B = TB
Solution:
a) Using the principle of work and energy, we write for the motion from A to B
TA + UA – B = TB (1)
Choosing the origin of x-y coordinates at A, we have
TA = 0 (since collar starts from rest ) and TB = 1

2
m v B2
UA– B = PUA – B + WUA – B + eUA – B
where PUA – B = Pcosα (xB – xA) = (500 N)(cos 40o)(1.2 – 0) m = = 460 Nm or J
WUA – B = – mg(xB – yA) sin  = – (10)(9.81)(1.2– 0) sin 30 = – 58.86 J
o
eUA – B = – 2 k( x B – x A ) = – 2 (200)(1.2 – 0 ) = – 144 J

1 2 2 1 2 2
Substituting the above terms into eq.(1) and solving for vB, we obtain
0 + (460 – 58.86 – 144) = 1

2
(10) v B2
vB = 7.17 m/s [ans]
b) the normal force exerted by the rod on the collar at B
2-49
Free-body diagram of collar at B,

y
W = mg [Fy = may]: NB – mg cos  + P sin  = 0 (2)
 NB = mg cos – P sin 
 P = 10(9.81) cos 30o – 500 sin 40o
= – 236.4 N [ans]
α x
Fe maB Why is this normal force negative?
 Ff
NB
(ii) With friction, we have the work done by the friction force Ff =  N where N is obtained by
summing forces in the y direction.
FfUA – B = –  N(xB – xA) = – 0.3(236.4 N)(1.2 m) = – 85 J [ans]
[TA + UA – B = TB] 0 + (460 – 58.86 – 144 – 85) = 1

2
(10) v B2
vB = 5.87 m/s [ans]
Comment: What is the acceleration at B?
2-50
Newton’s 2nd Law

Example 2-29 :
consists of two blocks A and B, each of mass
10 kg and 6 kg, respectively as shown. The B
surface of contact between block B and the
horizontal plane is very smooth. Neglect the
mass of the cable and the pulleys and also
the friction in all pulleys.
Find:
a) The system is released from rest and
block A has moved downward 0.8 m,
determine at this instant
(i) the velocity of block A, and
(ii) the tension in the cable A
b) What is the velocity of block A after it has
further displaced 0.5 m? Assumption(s):
Theory: 2. Mass of the cable and pulley is negligible.
Kinematics: length of cable = constant 3. Friction in the pulleys is negligible.
Kinetics: T1 + U1 – 2 = T2 4. No air resistance.
Solution:
WB Kinematics:
B 2(yA – yA,o) + (xB – xB,o) = 0
PxB Differentiating with respect to time yields:

NB
2 y A + x B = 0 => 2vA + vB = 0
2PyA vB, 2 vB, 1 = 0 or vB = – 2vA (1)
vA, 1 = 0
Kinetics: T1 + U1 – 2 = T2
A vA, 2
WAyA
Block A, note that yA = (yA – yA,o) = 0.8 m 
0 + mAg(0.8) – 2P(0.8) = 12 mAvA,22
=> 8g – 1.6P = 5vA,22 (2)
Block B, note that xB = (xB – xB,o) = – 2(yA – yA,o) = – 2(0.8) = – 1.6 m or 1.6 m 
[T1 + U1 – 2 = T2] 0 + P(1.6) = 1

2
mBvB,22
=> 1.6P = 3vB,22 (3)
Substituting eq.(1), vB,2 = – 2vA,2, into eq.(3), and solving eqs.(2) and (3) yields
vA,2 = 2.15 m/s and P = 34.6 N [ans]

2-51
b) Block A, note that yA = (yA,3 – yA,2) = 0.5 m 
1
2
mAvA,22 + mAg(0.5) – 2P(0.5) = 1
2
mAvA,32
=> 1
2
(10)(2.15)2 + 10g(0.5) – 2(34.6)(0.5) = 1
2
(10)vA,32
 vA,3 = 2.74 m/s [ans]
We may also obtain the answer by using position 1 and 3 of block A as follows where yA
= (yA,3 – yA,1 = 0.8 + 0.5 = 1.3 m
1
2
mAvA,12 + mAg(1.3) – 2P(1.3) = 1
2
mAvA,32
=> 1
2
(10)(0)2 + 10g(1.3) – 2(34.6)(1.3) = 1
2
(10)vA,32
 vA,3 = 2.74 m/s [ans] (same as above)
Comment: From Worked Example 2-5, we have

[v2 = vo2 + 2a(x – xo)]: vA2 = 2.152 + 2(2.885)(0.5) => vA = 2.74 m/s which is same as above.
2-52
2-3.7 Conservation of Energy

When only conservative forces such as the weight and the elastic spring force act on the particle,
the total energy of the body is conserved.
The work done by the weight W from position 1 to 2 can be expressed in terms of its potential
energy as
WU1-2 = – mg(y2 – y1) = mgy1 – mgy2 = (Vg)1 – (Vg)2 where Vg = mgy (2-25)
The work done by the elastic spring force Fe from position 1 to 2 in terms of its potential energy is
eU1-2 =– 1
2
k( x 22 – x12 ) = 1
2
k x 22 – 1
2
k x12 ) = (Ve)1 – (Ve)2 where Ve = 1
2
kx2 (2-26)
The principle of work and energy can then be modified and written as
T1 + U1-2 = T2  T1 + [(Vg)1 – (Vg)2 + (Ve)1 – (Ve)2] = T2
Rearranging terms to be
T1 + V1 = T2 + V2 (2-27)
where V = Vg + Ve
2-53
Example 2-30 :
Problem Statement: The 10-kg collar is Data & Diagram:
released from rest at its origin O with the
height h = 120 cm as shown in the figure. It A
then slides down the fixed rod OD with
negligible friction and along section DE with h
the coefficient of friction of 0.25 after hitting B
the spring.
96 cm
Find: Write at this instant the expression for k
a) the speed of the collar at point B and D,
b) the maximum deflection of the spring
knowing that the spring (k = 1.2 kN/m) is C D E
210 cm
initially unstretched, (draw the illustrative
diagrams clearly), and Assumption(s):
c) the energy loss by the collar as it passes 1. Smooth surface from A to D.
through and back through point D. 2. No air appreciable resistance.
Theory:
1. T1 + U1–2 = T2 or T1 + V1 = T2 + V2
Solution:
a) For motion from O to B where only conservative forces act on the slider and using the
principle of conservation of energy, we have
TA + VA = TC + VC (1)
1
where TA = 0 (vA = 0 m/s since starts from rest); TC = 2
mvC2
VA = mgyA and yA = 0.96 + 1.2 = 2.16 m; VC = 0 (yC = 0 m for datum at C)
 0 + 10(9.81)(2.16) = 1
2
(10)vC2 + 0 => vC = 6.51 m/s [ans]
Since no friction between C and D, we have vD = vC = 6.51 m/s [ans]
b) For maximum deflection from D to E with friction, we use the principle of work and energy
TA + UA – E = TE (2)
where UA – E = WUA – E + eUA – E + FfUA – E TE = 0 (when collar stops momentarily)
and WUA – E = mg(h + r) = (10)(9.81)(1.2 + 0.96) = 211.9 J

2 2
eUA – E = – 2 k( x 2 – x1 ) = – 2 (1200)(x – 0 ) = – 600x J
1 1 2 2 2
FfUA – E = – µ(mg)x = – 0.25(10)(9.81) x = – 24.525 x J
Substituting the above terms into eq.(2), and solving for x yields
0 + (211.9 – 600x2 – 24.525 x) = 0

=> x = 0.574 m [ans]
2-54
c) Energy loss. We need to compute the velocity of the collar as it passes back through point D
after maximum deflection of the spring. For motion from E to D, we write the work-energy
equation as
TE + UE – D = TD
1
where TD = 2
mvD2 (4)
eUD – E =– 1
2
k(0 – 0.574 ) = –
2 2 1
2
(1200)(0 – 0.574 ) = 197.8 J
2 2
FfUD – E = – µ(mg)x = – 0.25(10)(9.81)(0.574) = – 14.08 J
0 + (197.8 – 14.08) = 1
2
(10)vD2 => vD = 6.06 m/s
1
Before hitting the spring, TD = 2
(10)(6.51)2 = 211.9 J
1
After hitting the spring, TD = 2
(10)(6.06)2 = 183.6 J
Energy loss, Eloss = 211.9 – 183.6 = 28.3 J*
Comment: Note that for part b), we may also apply the work-energy equation for motion from D
to E by writing
TD + UD – E = TE (3)
where UD – E = eUD – E + FfUD – E
and eUD – E =– 1
2
k( x 22 – x12 ) = – 1
2
(1200)(x2 – 02) = – 600x2 J
FfUD – E = – µ(mg)x = – 0.25(10)(9.81) x = – 24.525 x J
1
2
(10)(6.51)2 + (– 600x2 – 24.525 x) = 0
=> x = 0.574 m [ans] (same as above)
* We also note that the energy loss is actually twice the work done by the friction force (i.e. from
D to E and from E to D).
2-55
Example 2-31 :
Problem Statement: The 30-kg cart at Data & Diagram:
A on a smooth frictionless ramp is
connected to a spring as shown. The k = 75 N/m
spring is initially unstretched and the
cart is released from rest.
A
Find: Determine d
a) the velocity of the cart after it has
moved 450 mm down the B
stretch, and 
b) the maximum distance d that the
cart would reach. 30o
1.
Solution:
For no friction motion from A to B, we apply the principle of conservation of energy since only
conservative forces act on the cart,
k = 75 N/m
TA + VA = TB + VB (1)
W = mg
Choosing the datum to be at A, we have
A
d
TA = 0 (since vA = 0 i.e. starts from rest) Fe Datum
TB = 12 m v B2 hA = 0
B
VA = gVA + eVA and VB = gVB + eVB
hB = – d sin
where for datum at A, 30o
gVA = mghA = 0 (hA = 0 m)
eVA = 0 (spring is unstretched at A)
gVB = mghB with hB = – 0.45 sin 30o = – 0.225 m
1 2
eVB = 2 k x B with xB = d = 450 mm = 0.45 m
a) Velocity of the cart: substituting all terms into eq.(1), we obtain
 0+0= 1
2
(30) v B2 + 30(9.81)(– 0.225) + [ 12 (75)(0.45)2]
=> vB = 1.977 m/s [ans]
b) Maximum deflection at B, we note that when d is maximum (dmax), vB = 0 m/s  TB = 0.

Hence, eq.(1) gives
 0 + 0 = 0 + 30(9.81)(– dmax sin30o) + [ 12 (75)(dmax)2]

=> dmax = 3.92 m [ans]
Comment:
2-56
2-3.8 Power and Efficiency

The work done by the Force F acting on a particle during the displacement dr is defined as
U
Average power =
t
Take the limit when t → 0, we have
dU F dr
P= = = Fv (2-28)
dt dt
Mechanical efficiency em is defined as
output work Power output P

em = = = out (2-29)
input work Powerinput Pin
Because of energy loss due to friction, the power output is less than the power input, and
consequently the mechanical efficiency is always smaller than 1. The overall efficiency of
a machine, however, also involves electrical and thermal energy loss, therefore, the
electrical efficiency ee and thermal efficiency et must be included to obtain the overall
efficiency as
e = em ee et (2-30)
2-57
2-4 Impulse and Momentum Method

2-4.1 Defining Linear Impulse and Momentum
Consider a particle of mass m moving with the velocity v as shown in Figure 2-14(a). The particle
is said to posses a vector quantity called a linear momentum L. It is defined as the product of mass
times its velocity or
L = mv
The unit of L is in kgm/s.
When a force F is applied on a particle during a finite time interval dt as in Figure 2-14(b), the
force is said to have an impulse Imp on the particle and is given by
t2
Imp1-2 = 
t1
F dt
It is a vector quantity and its unit is in Ns which is the same as kgm/s.
Linear momentum: Linear impulse during t1 to t2:

t2
F Imp1-2 = 
t1
F dt
v L = mv
m => m m => m
(a) (b)
Figure 2-14 : Linear momentum and linear impulse of a particle
2-58
Impulse-momentum equation
Example 2-32 :
Problem statement: A 1260-kg truck is moving at Data & Diagram:
the speed of 100 km/h.
y
Find: Determine at this instant the linear
x
momentum of the truck in kgm/s.
v
Theory: Particle’s linear momentum: L = mv
Assumption(s):
-
Solution:
The linear momentum of the truck,
L = mv
= (1260 kg)(– 100/3.6 m/s)
 L = – 35000 i kgm/s [ans]
Example 2-33 :
Problem statement: A sphere of mass 750 g is moving at the Data & Diagram:
speed of 10 m/s as shown. v
Find: Determine at this instant
40o
a) the x and y components of the linear momentum of the y
sphere in kgm/s, and x
b) the total linear momentum of the sphere in kgm/s.
Assumption(s):
Theory: Particle’s linear momentum: L = mv -
Solution:
a) the x and y components of the linear momentum of the sphere
L = mv
x comp: Lx = mvx = (0.75 kg)(– 10 cos 40o m/s) = – 5.75 kgm/s
y comp: Ly = mvy = (0.75 kg)( 10 sin 40o m/s) = 4.82 kgm/s
 Lx = – 5.75 i kgm/s and Ly = 4.82 j kgm/s [ans]

b) the total linear momentum of the sphere
L = Lx + Ly = – 5.75 i 4.82 j kgm/s [ans]
Comments:
2-59
Example 2-34 :
Problem statement: Two forces are applied to an Data & Diagram:
object for the duration of 5 as shown.
Find: Determine F1 F, N F2
10
a) the x and y components of the impulse on F1
the object during this interval, and y
5
b) the total impulse on the object during the x F2 0
0 2 5 t, s
same interval.
Assumption(s):
t2 -
Theory: Impulse, Imp1-2 = t1
F dt
Solution:
a) The x and y components of the impulse on the object during this 5-s interval,
5

t =5
0
F1 dt
Imp1-2, x = 
0
F1 dt = area under the F1-t curve
5 = 12 (2.5 + 7.5)(2) + 7.5(5 – 2)
y
x
0
F2 dt
= 10 + 22.5
= 32.5 Ns (note that Imp1-2, x →)
t =5
Imp1-2, y =  0
F2 dt = area under the F2-t curve
= 10(3) + 12 (10 + 2.5)(5 – 3)
= 30 + 12.5
= 42.5 Ns (note that Imp1-2, y )
 Imp1-2, x = 32.5 i Ns and Imp1-2, y = – 42.5 j Ns [ans]
b) the total impulse on the object during the 5-s interval
Imp1-2 = Imp1-2, x + Imp1-2, y = 32.5 i – 42.5 j Ns [ans]
Comments:
2-60
2-4.2 Principle of Linear Impulse and Momentum

For a particle having the acceleration a under the action of the force F, the equation of motion, F =
ma, can be written as
dv
F=m
dt
=> F dt = m dv
Let v1 be the velocity at t1 and v2 be the velocity at t2 then the above equation can be
integrated and becomes
t2 v2

t1
F dt = m 
v1
dv = m(v2 – v1) (2-31)
t2
where   F dt represents the linear impulse on the particle and mv is the linear
t1
momentum of the particle.
Eq.(2-31) is known as the principle of linear impulse and momentum which expresses the
linear impulse of the force F on the body during the time interval t1 to t2 is equal to the
change of its linear momentum.
When there is more than one force acting on the body, the principle of impulse and
momentum can be written as
t2
 F dt = m(v2 – v1) = m v (2-32)
t1
t2
where   F dt represents the sum of the impulse by all forces acting on the particle
t1
during the time interval t1 to t2.
Let L = mv  the linear momentum of a particle, kgm/s
t2
Imp1-2 = t1
F dt  the impulse of F during the time period t1 to t2, Ns
We can write eq.(3-32) as
t2
 F dt = L2 – L1 = L (2-33)
t1
2-61
t2
Imp1-2 =   F dt
t1
L2 = mv2
m m m
At t1
L1 = mv1 + During t1 to t2
= At t2
(Initial momentum) (Impulse) (Final momentum)
Figure 2-15 : Linear impulse and momentum of a particle
The above equation can be expressed in its scalar components as

t2

t1
Fx dt = Lx, 2 – Lx, 1 = m(vx,2 – vx,1) = m vx
t2

t1
Fy dt = Ly, 2 – Ly, 1 = m(vy,2 – vy,1) = m vy (2-34)
t2

t1
Fz dt = Lz, 2 – Lz, 1 = m(vz,2 – vz,1) = m vz
We can see that the impulse Imp1-2 experienced by a particle or an object during the time
interval from t1 to t2 can be defined as the change in its linear momentum, which
represents a ‘jerk’ to the particle. It is the effect of the resultant force on the linear
momentum of the particle over a finite period of time.
Alternatively, we can expressed the linear impulse-momentum equation for a particle as
L1 + Imp1-2 = L2 (2-35)
which may be defined as the final linear momentum of a particle is equal to its initial
momentum plus the linear impulses imparted on the particle during a finite period of time.
The equation of motion F = ma can also be written as
dv
F=m
dt
d (mv) d ( L)
F= =
dt dt
It follows that
F = L (2-36)
Eq.(2-36) states that the force acting on the particle is equal to the rate of change of its
linear momentum. See worked example 2-32.
2-62
Example 2-35 :
Problem statement: A sphere of mass 750 g Data & Diagram:
in a horizontal plane is initially moving at the v
speed of 10 m/s under the action of two 40o F, N F2
20
forces applied in the 5-s duration as shown. F1 F1
10
Find: Determine the final velocity of the y
F2 0
sphere at the end of 5 s. x 0 2 5 t, s
Assumption(s):
Theory: Kinetics: Impulse-momentum equation,
There is no frictional force
mv1 +  Imp1-2 = mv2
Solution:
ILMD: ImpD: FLMD:
y
mv1 mv2
5

40o x


F1 dt
+ 0
5

0
F2 dt
Principle of linear impulse and momentum for particle,

mv1 +  Imp1-2 = mv2
From the results of Worked Examples 2-34 and 2-35, we have
L1 = – 5.75 i + 4.82 j kgm/s
Imp1-2 = 32.5 i – 42.5 j Ns
+→ x comp: – 5.75 + 32.5 = 0.75vx,2

=> vx,2 = 35.7 m/s
+ y comp: 4.82 – 42.5 = 0.75vy,2

=> vy,2 = – 50.24 m/s
 v2 = 35.7 i – 50.2 j m/s [ans]
2-63
Example 2-36 :
Problem statement: An object of mass 10 kg Data & Diagram:
is travelling in a vertical plane with the
components of its speed given by
vx = 4(t2 + 1) m/s
F
vy = – 2(t3 – 3) m/s y v
where t is the time in seconds. x
Find: Determine the force F acting on the Assumption(s):
object when t = 2.5 s. -
F = L where L = mv
Solution: The linear momentum of the particle,
L = mv where v = 4(t2 + 1) i – 2(t3 – 3) j m/s

= (10 kg)[ 4(t2 + 1) i – 2(t3 – 3) j m/s]
= 40(t2 + 1) i – 20(t3 – 3) j kgm/s
The force is given by
F = L
= 40(2t) i – 20(3t2) j kgm/s2 or N
At t = 2.5 s,
F = 40[2(2.5)] i – 20[3(2.5)2] j N
= 200 i – 375 j N
 F = 200 i – 375 j N = 425 N 61.9o [ans]
2-64
Example 2-37 :
Problem statement: A block of mass 2 kg is pulled from Data & Diagram:
its rest position with a constant horizontal force of 10 N
for 4 s as shown. P = 10 N
2 kg
Find: Determine
a) the velocity of the block at the end of 4 s, and s = 0.3
b) the corresponding displacement of the block. k = 0.2
mv1 +  Imp1-2 = mv2
Solution: Check: Fmax = sN = 0.3(2)(9.81) = 5.89 N. Since P > Fmax, the block will move.
a) Linear impulse-momentum diagram of the block,

ImpD: y FLMD:
ILMD: W(4)
x
+
P (4)
 mv2
mv1
F(4)
0
N(4)
Principle of impulse and momentum:

mv1 +  Imp1-2 = mv2
+ → x-components: mv1 + P (4) – F (4) = mv2 (1)
For v1 = 0 m/s, P = 10 N, F = k N = 0.2mg, and m = 2 kg, eq.(1) becomes
0 + 10(4) – 0.2(2)(9.81)(4) = 2v2
=> v2 = 12.15 m/s [ans]
b) Work-energy equation for the block,
T1 + U1 – 2 = T2 (2)
0 + 10(x) – 0.2(2)(9.81)(x) = 1
2 (2)(12.15)2
=> x = 24.3 m [ans]
Comment: Since all forces are constant, the block will have a constant acceleration
motion. All 3 kinematic equations can be used to solve for part b) but it is more laborious.
See Worked Example 2-1.
2-65
Example 2-38 :
Problem statement: A 3-kg slider block B which is Data & Diagram:
initially moving to the left at 1.2 m/s on a horizontal rail s = 0.3
guide is pulled by the force P = 50t N and is resisted by k = 0.2
B P
the force FAB = 20 N as shown where  = tan– 1(3/4).

Find: Determine
a) the velocity of the block at the end of 2 s, and
b) the corresponding force exerted by the block on the FAB
rail guide.
mv1 +  Imp1-2 = mv2
Solution:
For constant forces, their impulses will just be expressed as Ft where t = 2 s and since the slider
block is initially moving to the left, we have v1 = 1.2 m/s . If we assume that at the end of 2 s the
block is moving to the right, we then have from the impulse-momentum diagram the linear
impulse-momentum equation
t2
Wt t2
[+:  t1
Fy dt = Ly]
mv 
t1
Pdt
NBt – (FABsin)t – Wt = 0
=> NB(2) – 0.6FAB(2) – 3g(2) = 0
 B FBt => NB = 3g + 0.6FAB
= 3(9.81) + 0.6(20)
NBt
FABt = 41.4 N
Note that FB = kNB = 0.2(41.4) = 8.28 N

t2
[+→  
t1
Fx dt = Lx]
t
 Pdt
0
– (FABcos)t – FBt = mv
t
 50t dt – 0.8F
0
AB(2) – (0.2NB)(2) = 3[v2 – (– 1.2)]
2
=> 25t 2 – 1.6FAB – 0.4NB = 3v2 + 3.6 (1)
0
=> 25(22 – 0) – 1.6(20) – 0.4(41.4) = 3v2 + 3.6
which yields
 v2 = 15.95 m/s and since it is positive => v2 = 15.95 m/s → [ans]
 NB = 41.4 N and since it is positive => NB = 41.4 N  [ans]
Comment: If the time at which the slider block changes its direction is to be determined, eq.(1)
can be used by setting v2 = 0 and solve for t, which is t = 1.44 s.
2-66
Example 2-39 :
Problem statement: For a vehicle to move forward, Data & Diagram:
there must a frictional driving force acting on its wheels.
For a certain short period of time, the frictional force on
the front wheels of the 1500-kg pickup truck is FD =
600t2 N where t is in seconds. When t = 0 s, the truck
has a speed of 45 km/h
Find: Determine the velocity of the truck when t = 4 s. FD
Theory: Impulse-momentum equation, Assumption(s):

t2 1. Neglect wind drag force
mv1 +  
t1
F dt = mv2
Solution:
Linear impulse-momentum diagram of the truck,
ImpD: y FLMD:
ILMD: W(4)
x
+ 
mv1 t=4
mv2
N(4)  t =0
FD dt

t=4
mv1 + 
t =0
FD dt = mv2
t=4
+ → x-components: mv1 + 
t =0
600t2 dt = mv2
mv1 + 200t 3  4
0 = mv2 (1)
For v1 = 45/3.6 = 12.5 m/s, m = 1500 kg, eq.(1) becomes
1500(12.5) + 200(43 – 03) = 1500v2
=> v2 = 21.0 m/s = 21.0(3.6) = 75.6 km/h [ans]
Comment:
2-67
Example 2-40 :
consists of two blocks A and B, each of mass 10 kg
B
and 6 kg, respectively as shown. The surface of
contact between block B and the horizontal plane
is very smooth. Neglect the mass of the cable and
the pulleys and also the friction in all pulleys.
Find:
a) The system is released from rest at t = 0 s,
determine at the instant when t = 0.75 s
(i) the velocity of block A, and
A
(ii) the tension in the cable
b) What is the velocity of block A when t = 2 s?
Assumption(s):
Theory: 1. No effect of friction.
Kinematics: length of cable = constant 2. Mass of the cable and pulley is
Kinetics: mv1 +  Imp1-2 = mv2 negligible.
3. Friction in the pulleys is negligible.
Solution:
WBt Kinematics:
B 2(yA – yA,o) + (xB – xB,o) = 0
Pt Differentiating with respect to time yields:
NBt 2 y A + x B = 0 => 2vA + vB = 0

2Pt mBvB, 2 mBvB, 1 = 0 or vB = – 2vA (1)
mAvA, 1 = 0
Kinetics: mv1 +  Imp = mv2
A mAvA, 2
WAt
Block A,
[+  y-comp]: 0 + (WAt – 2Pt) = mAvA,2
10g(0.75) – 2P(0.75) = 10 vA,2
=> 7.5g – 1.5P = 10 vA,2 (2)
Block B,
[+ → x-comp]: 0 + (– Pt) = mBvB,2
=> P(0.75) = – 6vB,2 (3)
Substituting eq.(1), vB,2 = – 2vA,2, into eq.(3), and solving eqs.(2) and (3) yields
vA,2 = 2.16 m/s and P = 34.6 N [ans]
2-68
b) Block A, when t = 2 s
[+  y-comp]: 0 + (WAt – 2Pt) = mAvA,3

0 + 10g(2) – 2(34.6)(2) = 10 vA,3
 vA,3 = 5.78 m/s [ans]
Comment: From Worked Example 2-5, we have

[v = vo + at]: vA = 02 + 2.885(0.75) => vA = 2.16 m/s which is same as above.
2-69
Example 2-41 :
Problem statement: A trolley of mass 25 kg is initially Data & Diagram:
moving at the speed of 6 m/s to the left when a
horizontal force P = 40t +100 N where t is the time in P
25 kg
seconds is applied as shown.
Find: Determine
a) the time when the trolley reverses its direction, and s = 0.3
k = 0.2
b) the velocity of the trolley at the end of 5 s.

mv1 +  Imp1-2 = mv2
Solution:
a) Linear impulse-momentum diagram of the trolley,
ILMD: ImpD: y FLMD:
W(t) t
 P dt x
+
0
 mv2
mv1
F(t)
N(t)
Principle of impulse and momentum: mv1 +  Imp1-2 = mv2

t
+ → x component: mv1 + 
0
P dt – F t = mv2 (1)
+  y component: 0 + N t – W t = 0 => N = W = mg
For v1 = – 5 m/s, v2 = 0 m/s P = 40t +100 N, F = N = mg, and m = 25 kg, eq.(1) becomes
t
25(– 6) +
0  (40t +100)dt – 0.2(25)(9.81)t = 25(0)
– 150 + 20t2
+100t – 49.05t = 0
Solving for t, we have the time when the trolley starts reversing its direction
=> t = 1.747 s [ans]
b) The velocity of the trolley at the end of 5 s is found by applying the impulse-
momentum equation to the entire interval as follow.
t =5
+ → x component: mv1 +  0
P dt – F t = mv2 (1)
t =5
=> 25(– 6) +  (40t +100)dt – 49.05(5) = 25v2
0
– 150 + [20(5)2 +100(5) – (0)] – 245.25 = 25v2
Solving for v2,*
=> v2 = 24.2 m/s
2-70
 v2 =24.2 i m/s = 24.2 m/s → [ans]
Comment: (1). We may also obtain v2 by considering the impulse-momentum equation

from the time when the trolley starts reversing its direction to t = 5 s as follow.
t =5
+ → x component: mv1 + t =1.747
P dt – F t = mv2 (1)
t =5
=> 25(0) + t =1.747
(40t +100)dt – 49.05(5 – 1.747) = 25v2
0 + {[20(5)2 +100(5)] – [20(1.747)2 + 100(1.747)]} – 159.6 = 25v2
Solving for v2,

=> v2 = 24.2 m/s (same as above but more considerable effort!!!)
(2). When the trolley starts reversing its direction, will it immediately move to the right
under the action of the given force? How do you analyze this?
2-71
Example 2-42 :
Problem statement: The winch is used to pull a Data & Diagram:
loaded trolley of mass 15 kg on the inclined
tract (tan  = 3/4) as shown. The trolley is
initially moving downward at 3.5 m/s when the P
winch applies pulling force P which is increased
linearly with the time until 3 s, and remains
constant thereafter. Neglect the frictional effect
between the trolley and the tract. P, N
200
Find: Determine
a) the velocity of the trolley at t = 3 s,
 0
b) the time t when the trolley reverse its 0 3 7 t, s
direction, and Assumption(s):
c) the velocity of the trolley at t = 7 s. 1. No air resistance.
2. Tension is parallel to guided tract.
mv1 +  Imp1-2 = mv2
Solution:
a) the velocity of the trolley at t = 3 s, linear impulse-momentum diagram of the block,
LIMD: Wt t
 
0
P dt
mv1 mv2
y x Nt
Impulse-momentum equation:
mv1 +  Imp1-2 = mv2
t =3
x-comp: mv1 + 
0
P dt – W sin (3) = mv2 (1)
t =3
For v1 = – 3.25 m/s,  0
P dt = area under the F-t curve = 1
2 (200)(3) = 300 Ns, and m = 15
kg, eq.(1) becomes
15(– 3.5) + 300 – 15g (3/5)(3) = 15v2
=> v2 = – 1.158 m/s [ans]
2-72
b) The trolley reverses its direction when v = 0 m/s. Let the time at which this occurs be t
= 3 + t s. We write the impulse-momentum equation during the period from t = 3 s to t
= 3 + t s
+ x comp: mv2 + P t – W sin t = mv3 (2)
For v2 = – 1.158 m/s, v3 = 0 m/s, P = 200 N, and m = 15 kg, eq.(2) becomes

15(– 1.158) + 200t – 15g (3/5) t = 15(0)
=> t = 0.1555 s
 t = 3 + t s = 3.16 s [ans]
c) *The velocity of the trolley at t = 7 s: t = 7 – 3 = 4 s
For v2 = – 1.158 m/s, P = 200 N, and m = 15 kg, eq.(2) becomes

15(– 1.158) + 200(4) – 15g (3/5)(4) = 15 v3
=> v3 = 28.6 m/s

 v3 = 28.6 m/s upward [ans]
* We may apply the impulse-momentum equation to the entire duration from t = 0 s to t

= 7 s as follow.
[ Imp, x = mvx] 1
2 (200)(3) + 200(7 – 3) – 15g (3/5)(7) = 15[v3 – (– 3.5)]
=> v3 = 28.6 m/s

 v3 = 28.6 m/s upward [ans] (same as above)
Comments:
2-73
Example 2-43 :
Problem statement: Consider a freight elevator system Data & Diagram:
where the motor delivers a winding force i.e. tension as
shown. As the 850-kg elevator A which is initially at rest E
reaches its speed of 2.5 m/s upward after 2 s, the
combined electrical and mechanical efficiency of the
system is known to be e = 0.75.
Find: D
a) Draw the momentum-impulse diagrams and +y
MID: Ft Ft
determine the tension in the cable when t = 2 s, Ft Ft
b) Draw the free-body diagram and determine the
displacement of the elevator after 2 s, motion
c) Determine the velocity of point D on the cable, and A
d) Determine the power input Pin into the motor E in
watts. mvA,1
mvA,2
Assumption(s):
1. Neglect air resistance Wt
2. Frictionless pulleys.
3. Elevator is treated as a particle.
Theory: Use PIM and PWE and kinematics together with machine efficiency.
Solution:
FBD: F1 F2 FD =F1 Principle of impulse and momentum:
yD mv1 +  Imp = mv2 (1)

+ y-components: 0 + Wt – 4Ft = mv2 [vA = – 2.5 m/s]
D +y
yA
0 + 850(9.81)(2) – 4F(2) = 850(– 2.5)
F F = 2350 N [ans]
Principle of work and energy: T1 + U1 – 2 = T2 (2)

where U1 – 2 = WU1 – 2 + FU1 – 2 ; T1 = 0 ; T2 = 1
2
mv 2
2
vA,1 vA,2
and WU1 – 2 = – mgy = – (850)(9.81)y = – 8338.5y J
FU1 – 2 = FDy J (since F1 and F2 do no work)
Wt From eq.(2),
0 + (2350)y – 8338.5y = 12 (850)(– 2.5)2
y = – 0.444 = 0.444 m  [ans]
Kinematics:
3yA + (yA – yD) = l or 4yA – yD = l (3)
4 y A – y D = 0 or 4vA = vD (4)
4 y A – y D = 0 or 4aA = aD (5)
From Eq.(4), vD = 4vA = 4(– 2.5) = – 10 m/s
Power output, Pout = FDvD = (2350)(10) = 23500 W = 23.5 kW

2-74
Pout Pout 23.5

[e = ]: Pin = = = 31.3 kW
Pin e 0.75
Comments: For PWE, note that F1 and F2 do no work since they act at the support which is
stationary, and that FD does positive work while W does negative work. Note also that
power input is instantaneous since the velocity is changing with time.
2-75
2-4.3 Principle of Conservation of Linear Momentum

If the sum of the external forces acting on the particles (or on a system of particles) is zero,
F = 0, during an interval of time, i.e. the sum of the external impulses exerting on the
particles is zero, then
t2
 F dt = L2 – L1 = 0
t1
Here the linear momentum is said to be conserved.
(mA + mB)v2
t2
Imp = –  F dt
mBvB,1 t1
mAvA,1 mA + mB
mA
mB
+ mA
t2
mB
=
At t1 Imp = 
t1
F dt At t2
(Initial momentum) (Final momentum)
Figure 2-16 : Conservation of Linear momentum of a system of particles
The conservation of linear momentum can be expressed as
L2 = L1 or mv2 = mv1 (2-37)
2-76
Example 2-44 :
Problem statement: An accident occurred at an Data & Diagram:
intersection near the civil engineering building
where a 3-ton lorry A was travelling south and 30
A
making a rigth turn at 40o south of west when it
slammed into a 1650-kg car B which was
travelling west. After investigation it was found vA
that the two vehicles tangled together and 40o
o
skidded off at 65 south of west. Each driver
B
claimed to have followed the speed limit and had
tied to slow down at the time of the accident but vB
couldn’t avoid since the other driver was going a
v 65o 30
lot faster.
Find: Determine Assumption(s):

a) which car was going faster, and 1.
b) the speed of the faster vehicle if the other 2.
one was following the speed limit of 30 km/h.
Theory: Kinetics: Conservation of linear momentum,

 mv1 =  mv2
Solution:
a) The total linear momentum of the two vehicles is conserved,
A
A
B B
=
vA
vB v
40o 65o
Conservation of momentum equation:  mv1 =  mv2
+ x-comp: mAvA sin 40o + mBvB = (mA + mB )v sin 65o (1)

+ y-comp: mAvA cos 40o + 0 = (mA + mB )v cos 65o (2)
Dividing eq.(1) by (2), we obtain

mB v B
tan 40o + = tan 65o (3)
m Av A cos 40o
Solving eq.(3), we have
mA
vB = cos 40o(tan 65o – tan 40o )vA
mB
=> vB = 1.818 vA
2-77
Therefore, lorry B was going faster. [ans]
b) Since car A was following the speed limit at 30 km/h, then
vB = 1.818(30) = 54.5 km/h [ans]
Comments: This is a university campus. The lorry driver should be given a severe
sentence as a lesson to others.
2-78
2-5 Engineering Applications and Case Studies
Newton’s 2nd Law

Example 2-45 :
A package of mass 5 kg on an industrial Data & Diagram:
conveyor belt in a horizontal plane is D
t
initially at rest at A when the belt starts
moving with a constant acceleration of

6 m/s2 until point B after which the belt
starts moving at a constant speed. n C
Find:
a) Draw the free body and kinetic
diagrams of the package just before A x B
and after point B. 3m
b) Determine the required coefficient Theory: N2L with n-t coordinates
of static friction s between the box F = m(atut + anun)
and the surface of the belt so that
Assumption(s):
the box will not slip off the belt
between B and D for  = 4.5 m. 2. Package is small.
Solution: Motion from A to B, a = constant = 6 m/s2
Just before point B,
y [+→Fx = max]: F = max where ax = 6 m/s2
= 5(6) = 30 N
W (= mg) [+Fy = may]: N – mg = 0  N = mg = 5g N
F max
x
 x
[v2 = vo2 + 2a(x – xo)]: vB2 = (0)2 + 2(6)(3)
=> vB = 6 m/s
N
Just after point B, we note that for a constant speed v between points B and D,
y v B2
W (= mg) at = 0 m/s2 and an =
n 
n
n
[Fn = man]: F = man where F = s N
F
N man => s N = man
vB2 62
s = = (1)
t  t
g 4.5(9.81)
= 0.815 [ans]
F
Comment: From eq.(1), we observe that s depends on the speed of the package at B, ,
and g. Furthermore, for a given value of s, several design considerations can be
2-79
addressed: (1) what is the maximum speed of the package at B so that there is no slipping
at this point?, and (2) what is the minimum  so that there is no slipping at this point?
2-80
Newton’s 2nd Law

Example 2-46 :
A disk of mass m = 4 kg attached to the end of a Data & Diagram:
cord with the other end secured to the center of a
horizontal platform is placed on a platform at a b
r
distance r = 810 mm as shown. If the platform is
rotating rapidly, and the disk is released from rest 
and given that the coefficient of kinetic friction
between the block and the platform is 0.1 and that
the maximum tension in the cord is 100 N, determine
Find:
a) the free body and kinetic diagrams of the disk,
b) the maximum speed which the disk will have
before the cord breaks, and
c) the corresponding time it takes. Assumption:
1. Block is treated as a particle.
Theory: Use N2L with n, t, and b coordinates. 2. There is no significant air resistance.
Solution: a)
b) The forces on the block consist of the weight W, the
+b normal force N, the tension T, and the friction force Ff .
W = mg [Fb = mab]: N–W=0 or N = W = mg (1)
[Ft = mat]: Ff = mat (2)
mat T +n
Since sliding occurs, we have Ff = kN for the frictional
Ff = N force between the disk and the platform, therefore Eq.(2)
man becomes
N +t kN = mat => at = kg = 0.1(9.81) = 0.981 m/s2 (3)
v2
[Fn = man]: T = man = m (4)
r
For T = 100 N, from Eq.(4)
rT (0.81)(100)
=> v= = = 4.5 m/s
m 4
Kinematics, since at = v = constant, we have v
 4.5 = 0 + (0.981)t
t = 4.59 s [ans]
v2 (2.19) 2
an = = = 2.40 m/s2 [ans]
r 2
Comments:
From Eq.(3), it is clear that the speed v depends only on the radius r, the coefficient of static
friction , and the acceleration of gravity g, and not on the mass m of the block.
2-81
2-82
Example 2-47 :
shown is at initially rest when a constant
force P = 30g N (where g = 9.81 m/s2) is A
applied to collar A which may slide freely
on the horizontal guide rail. Neglect the P
effect of friction in the pulleys and use mA =
30 kg and mB = 12 kg.
Find:
a) Draw the impulse-momentum diagram
B
for the cart A and block B by showing all
components acting on them clearly,
b) Determine the time at which the Assumption(s):
velocity of collar B will be 2.0 m/s to the 1. Neglect air resistance
right, and the corresponding tension in 2. Frictionless pulleys.
the cable.
Theory:
Kinematics: length of cable = constant
Kinetics: mv1 +  Imp1-2 = mv2
Solution: Kinematics;
2sA + sB = l
2 s A + s B = 0 or 2vA = – vB (1)

mv1 +  Imp1-2 = mv2
Collar A: since starting from to = 0 s, we have t = t – to = t
NAt
2Tt Pt
A A
+ = A
mAvA,1 mAvA,2
0
WAt
+ → x-comp: 0 + Pt – 2Tt = mAvA,2
For vA,2 = 2.0 m/s, P = 30g N and mA = 10 kg,

30gt – 2Tt = 10(2.0) = 20 (2)
Block B:
2-83
Tt
B + B = B
0
mBvB,1 WBt mBvB,2
+ y-components: 0 + WBt – Tt = mBvB,2

From Eq.(1), 2vA = – vB or vB = –2(2.0) = – 4.0 m/s and, mA = 12 kg, and WB = 12g,
12gt – Tt = 12(– 4.0) = – 48 (3)
Solving Eqs.(2) and (3) yields
t = 1.971 s and T = 142.1 N [ans]
Comments:
2-84
WORKSHEET 2.0: Kinematics of Particle

Worksheet 2-1 :
Problem statement: A block of mass 100 kg is Data & Diagram:
pulled with a force as shown.
P = 300 N
Find:
a) Determine the acceleration of block immediately  = 30o
after the constant force P of magnitude 300 N is 100 kg
applied
b) Determine the displacement of the block and its s = 0.3
k = 0.2
velocity when t = 5 s.
Assumption(s):
Theory: 1.
Solution:
2-85
Worksheet 2-2 :
Problem statement: Block A of mass m = 30 kg is pulled Data & Diagram:
up along the ramp where  = tan–1(3/4) by the constant P
force P = 500 N ( = 10o). The block is initially at rest and
the surface of contact between the block and the ramp is

rough with  = 0.2. A
Find:
a) Determine the acceleration of block immediately after
the constant force P is applied, the displacement of 
the block and its velocity when t = 5 s.
b) Determine the velocity of the block when t = 5 s.
[Hint: Use impulse-momentum equation.] Assumption(s):
c) Determine the velocity of the block after it has 1.
displaced 119.25 m from its initial position. [Use
work-energy equation.]
[a) a = 9.54 m/s2, a) b) and c) v = 47.7 m/s]
Theory:
Solution:
2-86
Worksheet 2-3 :
crate as shown. The truck is initially at rest when it
starts accelerating uniformly and reaches the speed
of 54 km/h in a distance of 50 m. 300 kg
Find: Determine for two different conditions of

friction between the truck bed and the crate: (i) s
= 0.3 and k = 0.2, and (ii) s = 0.22 and k = 0.15.
c) whether the crate will slip or not on the truck Assumption(s):
bed, and 2.
d) the corresponding friction force at the surface
of contact between the truck bed and the
crate, and the acceleration of the crate.
e) the distance travelled by the crate.
Theory:
Fmax = sN
Solution:
Kinetics,
a) (i) First, we assume there is no slipping i.e. truck and crate
y W move with the same acceleration, and v = 54/3.6 = 15 m/s
ma
x v 2 − vo2 152 − 02
a = acrate = atruck = = = 2.25 m/s2
B 2( x − x o ) 2(50 − 0)
F [+F y = ma y ]: N – W = 0
N  N = W = 300(9.81) = 2943 N
[+→Fx = max]: F = ma
=> F = 300(2.25) = 675 N
We note that, for impending slide, Fmax = sN. For the condition (i) s = 0.3, Fmax = 0.3(2943) = 883
N. Since F = 675 N < Fmax = 883 N, the crate will not slip.
b) Hence,
 F = 675 N → and a = acrate = atruck = 2.25 m/s2 → [ans]
a) For the condition (ii) s = 0.22, Fmax = 0.22(2943) = 647 N. Since F = 675 N > Fmax = 647 N, the
crate will slip. Hence, the acceleration of the crate a = acrate  atruck.
b) Therefore, with slipping we have
W ma F = kN = 0.15(2943) = 441 N → [ans]
y
and
x [+→Fx = max]: F = ma
B F 441
 a = acrate = = = 1.470 m/s2
F = kN m 300
N  acrate = 1.470 m/s2 [ans]
c) For the condition (i), since the crate has no slipping relative to the truck, both will travel with
the same distance or will have the displacement i.e. xcrate = xtruck = 50 m [ans]
2-87
For the condition (ii), since the crate slipped relative to the truck as the truck travelled 50 m to
the right, the crate will have less distance travelled as compared to the truck and can be
calculated as follows.
Distance travelled by the truck: xtruck = 50 m →

Distance travelled by the crate: xcrate = xtruck + xcrate/truck (I)
1 2
Distance travelled by the crate relative to the truck [x = xo + vot + 2
at ]:
or xcrate/truck = vcrate/truck, o t + 1
2
acrate/truck t 2
(II)
where acrate/truck = acrate – atruck = 1.470 – 2.25 = – 0.780 m/s2 and vcrate/truck, o = 0 m/s.
The time t can be obtained from the relation v = vo +at for the truck, hence
v − vo (54 / 3.6) − 0
t= = = 6.67 s
a 2.25
Eq.(II) => xcrate/truck = 0 (6.67) + 12 (– 0.780)(6.67)2 = – 17.33 m
Eq.(I) => xcrate = 50 + (– 17.33) = 32.7 m [ans]*
We may also obtain the crate displacement using the fact that the distances traveled by the crate
and the truck are in proportion to their accelerations ([x = x – xo = vot + 12 at2 where vo = 0] i.e.
xcrate acrate acrate 1.470

= => xcrate = xtruck = (50) = 32.7 m (same as above)*
xtruck atruck atruck 2.25
Comment: *The displacement of the crate is important when we want to compute the work done
by the kinetic friction force acting on the crate during this displacement or interval.
2-88
Worksheet 2-4 :
Block B of mass 75 kg which is on the 50 kg platform A is hold in the vertical position via
inextensible cable through some connection of the mass-pulley system as shown. The system is
initially at rest when a pulling force through a cable and motor is suddenly applied to block C
causing it to accelerate to the right at the rate of 2.5 m/s2. The coefficient of friction between
block C and the horizontal surface is 0.25.
C B
Find: Neglecting the effect of friction in the pulley and cord, determine at the instant when the
force P is applied,
a) the acceleration of block A.
b) the magnitude of the pulling force P, and
c) the tension in the cord.
[aA = – 5 m/s2; P = 44.5 N; T = 14.81 N]
Solution:
2-89
Worksheet 2-5 :
Block B of mass 75 kg which is on the 50-kg platform A is hold in the vertical position via
inextensible cable to the 100-kg block C which is also tied by a cable to the back of the truck as
shown. The system is initially at rest when the truck suddenly accelerates at the constant rate of
2.5 m/s2. The coefficient of friction between block C and the horizontal surface is 0.25.
B
A
Find: Neglecting the effect of friction in the pulley and cable, determine at the instant when the
truck is pulling block C,
a) the acceleration of platform A and block B.
b) the magnitude of the pulling force,
c) the tension in the cord, and
d) the force exerted by the platform A on block B.
Solution:
Kinematics, Note that platform A and
block B moves as one unit, i.e. yA = yB =>
aA = aB and that aC = atruck = 2.5 m/s2.
Cable length: xC + 2yA = l (1)

yA = yB
Differentiating with respect to time yields
C x C + 2 y A = 0 => vA = – 1
2 vC (2)
xC x C + 2 y A = 0 => aA = – 1
2 aC (3)
B
A
From eq.(3) we obtain
1
a) aA = aB = – 2 (2.5) = – 1.25 m/s2 [ans]
b) Kinetics,
FBD & KD of block A&B together:
2T Block A and B,
[+Fy = may]: WAnB – 2T = (mA + mB)a
1
 T= 2 (mA + mB)(g – a)
A&B (mA + mB)a
1
y = (50 + 75)[9.81 – (– 1.25)]
2
= 691 N [ans]
WAnB
2-90
FBD & KD of block C:

Block C, let P be the pulling force on block C
y WC
mCaC [+Fy = may]: NC – WC = 0
x  NC = WC = mCgC = 100(9.81) = 981 N
C [+Fx = max]: P – T – FC = mCaC where FC = NC

P T
 P = mCaC + T + FC
FC
= 100(2.5) + 691 + 0.25(981)
NC
= 1186 N [ans]
c) FBD & KD of block B alone:

WB Block B,
[+Fy = may]: WB – NB = mB aB
mB aB  NB = WB – mB aB
B
= mB(g – aB)
y
= 75(9.81 – (– 1.25)]
NB = 830 N [ans]
Comment: We can see that the truck must provide 1.186 kN of force to block C when it
accelerates at 2.5 m/s2. If the truck has the mass of 1500 kg, what is the tractive force generated
at wheel of the truck? For part c), what do you think of the force exerted by the platform A on
block B if the acceleration is downward? Would it be less or more than 830 N?
2-91
Worksheet 2-6 :
Problem statement: A system consists of two Data & Diagram:
blocks A and B, each of mass 5 kg and 2 kg,
respectively is connected via a cable as shown. The
system is initially at rest when suddenly force P of B
magnitude 50 N is applied to block A causing both
blocks to move. The frictional condition at all A P
surfaces of contact is known to be  = 0.2.
Find:
a) Determine immediately after P is applied
(i) the acceleration of each block, and
(ii) the tension in the cable. Assumption(s):
b) What is the velocity of block B when t = 2 s? 1. The cable is taut initially.
2. Mass of rope and pulley is negligible.
Theory: 3. Friction in the pulleys is negligible.
Kinematics: length of cable = constant 4. No air resistance.
Kinetics: N2L with Cartesian coordinates,
F = ma
Solution:
Kinematics: 2xA + xB = l
y
x Taking time derivative twice yields
xB B
2 x A + x B = 0  2aA + aB = 0 (1)

A P
Kinetics: We assume both block A and B have the
xA acceleration in the positive sense of their position
vectors. This is important since we seek a solution
FBD & KD: (CO2/C3) WB of simultaneous equations involving eq.(1).
y
B mBaB
x NB T Block B, (ax = aB ; ay = 0)
WA FB [Fy = may]: NB – WB = 0 => NB = WB = mBg

T
A FB
T P NB Note that FB = NB =  mBg
mAaA FA
NA
[Fx = max]: FB – T = mBaB
=> T = FB – mB aB
= mBg – mB aB = mB(g – aB) (2)
Block A, (ax = aA ; ay = 0)
[Fy = may]: NA – NB – WA = 0
=> NA = WA + NB = mAg + mBg = (mA + mB)g
Note that FA = NA =  (mA + mB)g
2-92
[Fx = max]: P – FA – FB – 2T = mAaA

=> T = 12 (P – FA – FB – mAaA)
= 1
2 [P –  (mA + mB)g –  mBg – mAaA] (3)
Substituting aB = – 2aA from eq.(1) into (2), and equating eqs.(2) and (3), and solving yields
mB[g – (– 2aA)] = 1
2 [P –  (mA + mB)g –  mBg – mAaA]
P
=> aA = –g (4)
( m A + 4m B )
Substituting values P = 40 N, mA = 5 kg, mB = 2 kg, g = 9.81 m/s2, and  = 0.2, into eq.(4), we have
aA = 1.115 m/s2 [ans]
and from eqs.(1) and (2) [or eq.(3)], we obtain
aB = – 2.23 m/s2 and T = 8.38 N [ans]
Since the answer for aB is negative i.e. it is then opposite to what is initially assumed. Hence,
block B is accelerating to the left while block A is accelerating to the right.
Comments: We observe from eq.(4) that the acceleration of block A is more sensitive to the
mass mB, i.e. a slight change in its value may cause a greater effect on aA, and also aB.
2-93
Worksheet 2-7 :
Two blocks P and Q are connected by mass-pulley system as shown in the figure. a)
Determine the direction of friction force on block P. b) Draw the FBD and KD of each
block. c) Determine the acceleration of each block immediately after they are released
from rest and the corresponding tension in the rope. Use of EPSM is compulsory.
FBD & KD: (CO2/C3) Data Sheet:

mP = 100 kg, mQ = 300 kg; s = 0.45; k = 0.2
y WP xD = xP tan = 34
 C A Assumption(s): (CO2/C3)
x D
T sB = sQ 1) Mass of pulleys and rope is negligible
Motion T T
2) Friction in all pulleys is negligible.
P
FP = NP B
Kinematics: (CO2/C4)
mPaP Q xP + 2sQ = L (1)
 NP +s mQaQ xP + sQ = 0 or vP + 2vQ = 0 (2)
WQ xP + sQ = 0 or aP + 2aQ = 0 (3)
Note: It is very important to note the followings. (CO1/C2) Static equilibrium: (CO2/C4)*
1) The coordinates used for Kinematics and kinetics Block P, (for impending motion upward)
relationships must be consistent. [Fx= 0] WPsin + sNP – T = 0
2) The friction force must be opposite the direction or T = WPsin + sNP = WP(sin + scos)
of motion. It cannot be in arbitrary direction. This = (100g)[ 53 + 0.45( 54 )] = 96g N
can easily be established by applying static
Block Q, 2T = 2(96g) = 192g which is the minimum
equilibrium condition, e.g. in this case by
comparing the tension T needed to initiate the required weight of block Q to pull block P upward.
motion from static equilibrium. Since WQ, actual = 300g > 192g, hence, block Q will
3) Since the forces on this system are constant, the move down and pull block P up the incline and,
resulting accelerations are also constant. therefore, the friction force FP on block P must be
directed downward as shown.
Dynamic equilibrium: (CO2/C4) Dynamic equilibrium: (CO2/C4)

Block P, Block Q,
[Fy = may] NP – WPcos = 0  NP = WPcos [Fy = may] WQ – 2T = mQaQ
[Fx = max] WPsin + kNP – T = mPaP or T = 12 (WQ – mQaQ)
or T = WPsin + kNP – mPaP 1
= 2
(300g – 300aQ)
= (100g)( 53 ) + 0.2(100g)( 54 ) – 100aP
1
From eq.(3) = 2
[300g – 300(– 0.5aP)]
T = 76g – 100aP (4)
T = 150g + 75aP (5)
Solving eqs.(4) and (5) yields
aP = – 0.423g m/s2 T = 118.3g N and aQ = 0.211g m/s2 [Ans]
Observe also that the tension in the cord under dynamic condition (T = 118.3g N) will always be greater than
that of the static condition (T = 96g N). Why? (CO3/C6)
Suppose that we want to reduce the ‘effort’ made by block Q, i.e. less mQ is used. Make two recommendations
that will achieve this. Justify your answer. (CO3/C6)
2-94
*An alternative way to check the correct direction of the friction force:
FBD & KD: (CO2/C3) Data Sheet:

mP = 100 kg, mQ = 300 kg; s = 0.45; k = 0.2
y WP sD = sP tan = 34
 C A
x D
Motion
T T T sB = sQ
P B
FP = NP
mPaP Q
 NP +s mQaQ
WQ
Static equilibrium: (CO2/C4)
Block P, (assuming it is impending upward)
[Fx= 0] WPsin + FP – T = 0
or FP = T – WPsin = T – WP( 54 )-------(1)
Block Q, [Fy= 0] 2T – 300g = 0 or T = 150g N

(1)  FP = 150g – (100g)( 54 ) = 70g N
But the maximum available friction force on block P is only
FP,max = sNP = 0.45(100g)( 54 ) = 36g N
Since FP (= 70g N) > FP,max (= 36g N) block P will move upward and, therefore, the friction force FP on block P
must be directed downward as shown.
2-95
Worksheet 2-8 :
Problem statement: A mass-pulley system is used to Data & Diagram:
connect the two blocks as shown. The blocks are released
from rest and  = tan–1(4/3).
Find: Determine
a) the acceleration of blocks A and B immediately after
they are released,
A
b) the tension in the cable, 50 kg
c) the velocity of block A relative to block B after 1 s, and
d) the displacement of block A in 1 s.  s = 0.40
k = 0.25 30 kg B
Theory:
N2L: F = ma; W = mg Assumption(s):
Hint: Check the direction of motion first in order to have the correct frictional
force between block A and the incline. 1. The surface of contact is uniform
2. No other external effect.
[aA = 1.94 m/s2; aB = 1.29 m/s2; T = 11.32g; vA = 1.94 m/s, vB = 1.29 m/s;
s = 0.97 m]
Solution:
2-96
Worksheet 2-9 :
Problem statement: Two blocks A and B are connected Data & Diagram:
via an inextensible cable on inclined surfaces as shown.
Find: Neglecting the mass of the pulleys and cable and
the friction between all surfaces of contact, determine
immediately after they are released from rest A
a) the acceleration of each block,
b) the tension in the cable,  = 20o
c) the velocity of block A relative to block B after 1 s,
B
and
d) the velocity of block A after it has displaced 2 m.
N2L: F = ma; W = mg 1. The surface of contact is uniform
Hint: Check the direction of motion first in order to have the correct 2. No other external effect.
frictional force between block A and the incline.
Solution:
Kinematics relationship,
2xA + yB = l (1)
2 x A + y B = 0 or 2aA + aB = 0 (2)
The FBD and KD of each block (as shown).
WA xA
20o
x
T
y yB
T
mAaA
T
WB
 = 20o NA 70o
x
y
NB
mBaB
Assuming both blocks are moving in their respective positive direction as indicated by the
reference axis on each block, we may write the kinetics equations as follows.
Block A,
Fy = may: – NA + WA cos20o = 0 or NA = WA cos20o = 200(9.81)cos20o = 1844 N
Fx = max: WAsin20o – 2T = mAaA or 671 – 2T = 200aA (3)
Block B,
Fx = max: – NB + WB cos70o = 0 or NB = WB cos20o = 300(9.81)cos70o = 1007 N
2-97
Fy = may: WB sin70o – T = mBaB or 2766 – T = 300aB (4)
From eq.(2), aB = – 2aA and substituting it into eq.(4), we obtain
2766 – T = – 600aA (5)
Solving eqs.(3) and (5) gives
T = 683 N aA = – 3.47 m/s2 aB = 6.94 m/s2 [ans]
The negative sign for aA indicates that block A is actually accelerating upward (opposite to the
direction as assumed early).
Comment: Suppose there exists friction between surfaces of contact, you may then want to
convince yourself first whether the two blocks are indeed moving. We may compute req in order
not to have any motion. The following analysis can be performed.
Block A,  Fy = 0 : NA – WAcos20o = 0 or NA = 1844 N
 Fx = 0 : WAsin20o – 2T – FA = 0 where FA = reqNA (6)
Block B,  Fy = 0 : NB – WBcos70o = 0 or NB = 1007 N
 Fx = 0 : WBsin70o – T – FB = 0 where FB = reqNB (7)
Eqs.(6) and (7) can be used to solve for req . This value is then compared with the given value of
 at the surfaces of contact. If req >  , then there will be a motion!
2-98
Worksheet 2-10 :
Consider the mass-pulley system as shown where the two blocks are connected by inextensible
cord. Knowing that the system with the force P acted on block B at the position when r = 3.2 m
and  = tan–1(3/4), mA = 2 kg and mB = 3 kg causing block B to have the initial velocity of 10 m/s to
the right and is decreasing at a constant rate of 5 m/s2, and neglecting the effect of friction in the
pulley and between block A and the horizontal surface, determine at this instant
C
r

A P
B
Determine:
a) The tension in the cord,
b) The acceleration of block A, and
c) The applied force P.
Solution:
Kinematics,
cos = 4
5
C sA + 2sB = l (note that r = sB) (1)
sin = 3
5
sA r or sB
h

A s A + 2 s B = 0 => r = s B = – 12 vA (2)

B
x s A + 2 s B = 0 => r = s B = – 12 aA (3)
2-99
Since the system is moving with vB = 10 m/s

+
vB u vr = r = vB•ur = vB(1)cos  = 10( 53 ) = 6 m/s
 
vr v v = r = vB•u = vB(1)cos  = 10( 54 ) = 8 m/s
8 8
ur
+r
  = = = 2.5 rad/s
r 3.2
and aB = – 5 m/s2 where
+
aB aB = ar + a
  Note that
ar a ar = r – r  2 = aB•u = aB(1)cos  = –5( 53 ) = – 3 m/s2
+r
 r = – 3 + r  2 = – 3 + (3.2)(2.5)2 = 17 m/s2
From Eq.(3),
aA = – 2 r = –2(17) = – 34 m/s2 or 34 m/s2 
Block A,
T
[+Fy = may]: mAg – T = mAaA
A mAaA  T = mA(g – aA)

= 2[9.81 – (– 34)]
= 87.6 N [ans]
WA = mAg Block B,
[+→Fx = max]: P – 2T cos  = mBaB
WB = mBg
2T mBaB  P = mBaB + 2T cos 
 = 3(–5) + 2(87.6)( 53 )
B P = 90.1 N [ans]
NB
2-100
Worksheet 2-11 :
Problem statement: A cylindrical block, having a Data & Diagram:
mass of 1.5 kg, is placed on a horizontal platform at
a distance of r = 2 m from its center. The coefficient r
of static friction between the block and the platform is
b
0.25. If the platform starts rotating slowly such that 
the block’s tangential component of acceleration can
be neglected, determine
Find:
a) the free body and kinetic diagrams of the block,
b) the maximum speed which the block will have
before it begins to slip off the platform, and
c) the corresponding normal acceleration of the
block in m/s2.
[v = gr = 2.21 m/s; an = 2.44 m/s2] 1.
Theory: Use N2L with n, t, and b coordinates.
Solution:
2-101
Worksheet 2-12 :
Slotted arm OA rotates about a pivot O in a vertical plane with a constant counter-
clockwise velocity of 2 rad/s as shown. At the instant when  = 30o slider P of mass 2 kg
has an impending slide from its initial rest position of 1.8 m from O.
Find: Determine at this instant Data & Diagram:

a) the acceleration of the slider.
b) the static friction coefficient  at the surface of P
contact between the slider and the arm, and A
c) the reaction on the slider. r
Assumption(s):

O
[ar =– 7.2 m/s2; a = 0 m/s2; s = 0.27; NP = 17.0 N]

Solution:
2-102
Worksheet 2-13 :
Problem statement: A collar of mass m = 50 kg is Data & Diagram:
compressed against the spring of stiffness k = 10
kN/m through a thin platform which is attached to the C
spring but not to the collar as shown. The collar is
then released from rest at its initial position A and
moves upward along the smooth vertical rod. The
spring undeformed length is 100 mm.
Find: Determine y
a) the velocity of the collar as it passes through
point B,
b) the velocity of the collar when its height is 0.8 m B
above B, and
100 mm A
c) the maximum reachable height by the collar.
k 40 mm
Theory:
T1 + U1 – 2 = T2
Assumption(s): 2. Spring behaves linearly.
1. Size of the collar is small i.e. it is treated as a 3. Mass of the spring and
particle. platform is negligible.
[vB = 4.78 m/s; v2 = 2.67 m/s; hmax = 1.165 m ]
Solution:
2-103
Worksheet 2-14 :
The 10-kg collar is initially compressed 120 mm
against the spring of stiffness k = 1.2 kN/m at D O
when it is released from rest as shown. It then h
slides along section DB where the surface of A
C
contact from E to B is rough with the
coefficient of friction of 0.25 and along the r
smooth vertical rod BO. b
a) Determine the speed of the collar at points k
B and A,
B D E
b) the maximum deflection of the spring
knowing that the spring () is initially
unstretched,
c) the duration of time from B to A.
[a) vD = vB = 6.51 m/s; b) x = 0.595 m; c) t = 0.323 s]
2-104
Worksheet 2-15 :
Problem statement: A sphere of mass 100 kg Data & Diagram:
in a horizontal plane is initially moving at the v
speed of 6 m/s under the action of two forces 30o F, kN
F1
0.2
applied in the 5-s duration as shown. F1 F2
0.1
Find: Determine the final velocity of the y
x F2 0
sphere at the end of 5 s. 0 2 5 t, s
Assumption(s):
There is no friction.
mv1 +  Imp1-2 = mv2
Solution:
ILMD: ImpD: FLMD:
y
mv1 W(5) mv2
5
+ 
40 o x


F1 dt
0
5
 0
F2 dt
Principle of linear impulse and momentum for particle,

mv1 +  Imp1-2 = mv2
We have
+→ x comp: 100(6 cos 30o) – [200(3) + (200+50)(2)] = 100 vx,2
=> 520 – 1100 = 100vx,2
=> vx,2 = – 5.8 m/s
+ y comp: – 100(6 sin 30o) + [50(2) + 150(3)] = 100 vy,2

=> – 300 + 550 = 100vy,2
=> vy,2 = 2.5 m/s
 v2 = – 5.8 i + 2.5 j m/s [ans]
2-105
Worksheet 2-16 :
A block of mass 350 kg is hold in the vertical position via inextensible cable through some
connection of the mass-pulley system as shown. The block is initially moving downward
at the speed of 2 m/s when a pulling force P through a cable and motor is suddenly
applied as depicted in the diagram.
Find: Determine Data & Diagram:

a) the velocity of the block at t = 4 s,
P
b) the time it takes for the block to reverse its
direction, and C
c) the velocity of the block at t = 7 s.
Assumption(s): P, N P = 240t2
3840
Theory: mv1 +  Imp = mv2 0

0 4 7 t, s
[v2 = 12.0 m/s; t = 5.0 s; v3 = 24.4 m/s ]
Solution:
2-106
Worksheet 2-17 :
Problem statement: A crate of mass 12 kg is pulled Data & Diagram:
from its stationary position with a varying force P of P
magnitude as shown for 5 s, where  = tan– 1(3/4). 12 kg

Find: Determine P, N
a) the time when the crate starts moving, and s = 0.25 100
b) the velocity of the crate at the end of 5 s. k = 0.15
00
5 t, s
Theory:
[t = 1.051 s;v2 = 10.1 m/s]

Solution:
2-107
EXERCISE 2.0: Kinetics of Particles

A: Understanding Question
Newton’s 2nd law:
Developing dynamics and engineering feelings
A-1 A 850-kg car with an initial speed of 54 km/h on a straight horizontal road increases
its speed steadily to 90 km/h in 3 s. What is the driving force required?
A-2 A luxury car of mass 1450 kg hits the rear of a stationary lorry at 150 km/h and is
displaced 1.2 m before it comes to stop. What is the average deceleration of the
car? Assume uniform deceleration.
A-3 What is the normal force acting on a person of mass m kg inside the elevator when
the elevator is a) moving at a constant speed, b) accelerating upward at a m/s2, and
c) accelerating downward at a m/s2?
A-4 Show that a slider of mass m which moves upward with an acceleration a will have
the same required force with that of the slider of the same mass m which moves
downward with a deceleration a.
A-5 An elevator and its passengers with a combined mass of 1250 kg start moving
upward from rest at the third floor. If it accelerates constantly at 2.45 m/s2, find the
tension in the cable when the elevator had passed the 10th floor. Each floor is 3.5 m
high.
A-6 Forces acting on a particle of mass m are ____________.

A) collinear B) coplanar C) concurrent D) coordinate
A-7 In kinetics analysis of particles, there are generally three different methods used.
What are they? Explain each of them with simple illustrations.
A-8 When using Newton’s 2nd law of motion, it is important to draw two diagrams.
What are they? Give one simple situation in the dynamics of a particle where these
two diagrams are clearly illustrated.
A-9 Which of the following statements is correctly expressed the equation of motion of
a particle?
A) The total mass is equal to the individual sum of its differential or elemental mass.
B) The net force applied on a particle is equal to its acceleration.
2-108
C) The resulting acceleration of a particle is equal to the total force applied.

D) The net force acting on a particle is proportional to its acceleration.
E) The resulting acceleration of a particle times its mass is equal to the net force applied.
A-10 The system of external forces which is equivalent to the system of inertia force of a
particle is best described by
A) The schematic diagram is equivalent to the acceleration diagram.
B) The force diagram is equivalent to the mass diagram.
C) The free-body diagram is equivalent to the effective mass diagram.
D) The free-body diagram is equivalent to the effective force diagram
E) The kinetic diagram is equivalent to the kinematic diagram
A-11 For a free falling body of mass m = 2 kg, what is the acceleration of the body and
the force acting on it? Draw the schematic diagram representing this system. State
all assumptions.
A-12 A block of mass 100 kg which is initially at rest on a horizontal surface is

accelerating to the right at 2.5 m/s2 under the action of a constant force P.
Complete the corresponding diagrams below with proper variables, symbols, lines,
directions and name of the diagram itself.
y
x
100 kg P  or 
Schematic diagram
A-13 A block of mass 20 kg on an inclined surface which is initially at rest is subjected to a

constant force P. Complete the corresponding diagrams below with proper
variables, symbols, lines, directions and name of the diagram itself.
P y
20 kg
x


Schematic diagram
A-14 In practice, there are many forms of forces acting on a moving rigid body. Identify
and explain the type of forces acting on an accelerating motorcycle treated as a
particle. Draw a diagram to help you in your answer.
2-109
Work-Energy:
A-15 A mechanical spring can do positive or negative work. With simple diagrams,
explain when the work of a spring is positive and when is negative.
A-16 Force of gravity or weight of an object produces work when the object is displaced
in a finite displacement. Describe with simple illustrations how work is done by the
force of gravity.
A-17 The principle of work and energy is particularly useful when one attempts to solve
KINETIC problems that involve three basic physical quantities. What are they?
A-18 In mechanics, a force F does work on a particle when it produces a

______________.in the direction of the force. In other words, the force does no
work when it is _____________ to the displacement.
A-19 Work is _________ when the force is in the same direction as its displacement,
otherwise it is ________.
A-20 Which of the following equations represent the correct form of the principle of
work and energy?
I. TA + UA – B = TB III. T2 – T1 = U1 – 2
II. T1 + U1 – 2 = T2 IV. UA – B = TB – TA
A. I and II B. I and IV C. II and III D. All of the above
A-21 Which of the following expressions is (are) correctly represented for the work of a
gravitational force?
I. UA – B = – mg(yA – yB) III. UA – B = – mg(yB – yA)
II. U1 – 2 = – mg(y2 – y1) IV. U1 – 2 = – mg(y1 – y2)
A-22 Which of the following expressions is (are) correctly representing the work of a
spring force?
I. UA – B = – 12 k( x A2 – xB2 ) III. UA – B = – 12 k( xB2 – x A2 )
II. U1 – 2 = – 1
2
k( x 22 – x12 ) IV. U1 – 2 = 1
2
k( x 22 – x12 )
A-23 Work by a friction force is mostly negative. However, it can sometimes do positive
work. Explain with simple illustration situations where positive work is done by a
friction force.
2-110
[A kinetic friction force can do positive work when the surface that supports the
object and generates the friction force is in motion. If the supporting surface is at
rest, then the kinetic friction force acting on the moving object is always negative.]
A-24 When only conservative forces, such as _______________________________, act

on the particle, the use of the principle of _______________________ is more
direct and convenient.
A-25 Which of the following expressions is (are) correctly representing the principle of
conservation of energy?
I. TA + VA = TB + VB III. TA + VB = TB + VA
II. T = V IV. T1 + V1 = T2 + V2
A. I and II B. I, II and IV C. II and III D. All of the above
Impulse-Momentum:
A-26 What is the linear momentum of a moving particle and how do you change its linear
momentum? Does it depend on the mass or speed of the particle?
A-27 Impulses acting on a particle during a finite time interval are responsible for the
change of the particle’s linear momentum. With the aid of a simple diagram,
explain this statement.
A-28 A rider and his Y15ZR motorcycle with a combined mass of 220 kg is initially
travelling at 99 km/h when the rider uniformly increases its speed to 135 km/h.
What is the impulse acting on the wheels of the motorcycle during this interval? If
this change in speed occurs in the duration of 4.4 s, what is the impulsive force
acting on the wheels? Ignore the wind resistance.
A-29 Linear impulse-momentum equation represents the total linear impulse on a

particle of mass m is equal to the change of its linear momentum. With simple
schematic diagrams write down and explain this principle of linear impulse and
momentum of a particle.
A-30 Linear impulse-momentum equation says that the initial momentum of the body
plus the linear impulse applied to it is equal to its final linear momentum. With
simple schematic diagrams write down and explain this principle of linear impulse
and momentum of a particle.
A-31 The principle of linear impulse and momentum of a particle can either be defined as
the initial momentum of the body plus the linear impulse applied to it is equal to its
final linear momentum OR the total linear impulse on a particle of mass m is equal
2-111
to the change of its linear momentum. With simple schematic diagrams write down
and explain this two definitions of this principle.
A-32 Which of the following expressions is (are) correctly representing the principle of
linear impulse-momentum of a particle?
t2
I.   F dt = m(v2 – v1) III. m v1 = m v2
t1
t2 t2
II. m v1 +   F dt = m v2 IV.   F dt = m(v1 – v2)
t1 t1
A-33 With a simple diagram explain how and when the linear momentum of a particle is
said to be conserved.
A-34 In evaluating the total impulse, it is necessary to include the effect of all forces
acting on the particle. For the block of mass m on a rough incline of slope  and
friction coefficient  being pulled by the tension T during the time interval t, draw
and show all impulses acting on this block.
2-112
B: Analysis Question
Newton’s 2nd Law:
2-1 For a 500-kg elevator undergoing the following motions, find the tension in the
cable for each case. Draw the free-body and kinetic diagrams of the elevator clearly.
A. The elevator moves upward and is accelerating
at 2.45 m/s2. T
B. The elevator moves downward and is
decelerating at 2.45 m/s2.
C. The elevator moves upward and is decelerating y
at 2.45 m/s2.
D. The elevator moves downward and is
accelerating at 2.45 m/s2. O
[a) T1 = 750g N; b) T2 = 1250g N; c) Cx = 0 N, Cy = 2000g N ; and M = 62.5g Nm CW] Figure P2-1
2-2 A block of mass 100 kg which is initially at rest is suddenly pulled with a constant
horizontal force P of 300 N as shown.
a) Draw the free-body and kinetic diagrams of the block.
b) Determine the resulting acceleration of the block immediately after being pulled.
c) What is the velocity of the block after 5 s?
d) How much has the block been displaced during this period from its initial
position?
 = 0.2
100 kg P = 300 N
Dynacorp
Figure P2-2 [a) T1 = 750g N; b) T2 = 1250g N; c) Cx = 0 N, Cy = 2000g N ; and M = 62.5g Nm CW]
2-3 A 10-kg block rests on a frictionless horizontal plane as shown. Find the magnitude
of the force P required to give the block an acceleration of 5 m/s2 to the right. How
long does it take for the block to move 200 mm from its initial position? What is its
velocity at this instant?
P
3
4
10 kg
2-4
2-113
Block A of mass m = 30 kg is pulled up along the ramp

where  = tan–1(3/4) by the constant force P = 500 N P

( = 10o). The block is initially at rest and the surface
of contact between the block and the ramp is rough
A
with  = 0.2.
a) Determine the acceleration of block immediately

after the constant force P is applied, and 
b) Determine the displacement of the block and its
velocity when t = 5 s.
2-5
A truck is used to transport a crate as shown. The truck is initially at rest when it starts
accelerating uniformly and reaches the speed of 54 km/h in a distance of 50 m.
Determine for two different conditions of friction between
the truck bed and the crate: (i) s = 0.3 and k = 0.2, and (ii) 300 kg
s = 0.22 and k = 0.15.
a) whether the crate will slip or not on the truck bed, and
b) the corresponding friction force at the surface of contact
between the truck bed and the crate, and the
acceleration of the crate.
c) the distance travelled by the crate.
2-6
Cart C with its welded horizontal platform B is T
used to transport a bundle of shingles up
along the smooth rail guide (tan = 4/3)
through the cable attached as shown. The A
cart with its platform has a combined mass of C
20 kg while the mass of the bundle is 10 kg. B
Determine a) the tension T required in order
to move the entire system up the rail guide
from rest with a constant acceleration of 3.82
m/s2, b) the reaction at the surface of contact
between the bundle and the platform, and c)

the coefficient of static friction between a
bundle of shingles and the platform if the
bundle is not to slide on the platform. Hint:
First consider the cart, its platform, and the
bundle as a single unit, and determine T, then
consider only the bundle in order to find the
reaction between A and B.
[a) T = 350 N; b) FAB = 22.9 N, NAB = 128.7 N; c) s = 0.18] Figure P2-6
2-7
2-114
For the mass-pulley system as shown,

determine the acceleration of each
block and the tension in each of the B
cable after they are released from rest. C
How long does it take for block B to
reach a velocity of 1 m/s?
 A
2-8
The mass-pulley system shown is initially at rest.
Determine a) the acceleration of each block
immediately after they are released, b) the
tension in the cable, and c) the displacement of
block B after 2 s. Coefficient of friction between h
block B and the platform is 0.30, mA = 200 kg, A
and mB = 50 kg.
B
2-9 For the mass-pulley system as shown, determine the velocity and acceleration at
which block A is raised if the roller B moves downward with the speed of 2 m/s and
is increasing at 3 m/s2, and block C moves upward at the constant speed of 4 m/s.
C
A
Copyright ZAR Dynamics Corp.
2-10
The mass-pulley system is designed to consist of 2-kg block A, 1-kg block B, and a 4-kg
collar D as shown. Consider the following different cases:
2-115
(i) The surfaces of contact between block A and the

incline and between the collar and the vertical guide
are smooth and  = 0o.
(ii) The surfaces of contact between block A and the
incline and between the collar and the vertical guide
are rough with s = 0.3, k = 0.2, and  = 30o.
Determine immediately when the system is released A B
from rest
a) the acceleration of each block,
b) the acceleration of collar A relative to block B, and s D
k
c) the corresponding tension in the cable.  s
k
2-11
The 20-kg cart A is connected to the 50-kg block
B via an inextensible cable as shown. Determine
the acceleration of the cart A and the block B
immediately after the system is released from h
rest. Determine also the tension in each rope.
B
What is the displacement of cart A after 2 s?
Neglect friction between all pulleys and the
cable.
A
 = 0.25
30o
2-12 A mass-pulley system is used to connect the two blocks as shown. If the blocks are
released from rest, determine
a) the acceleration of blocks A and B
immediately after they are released,
b) the tension in the cable,
c) the velocity of block A after 2 s, and
d) the displacement of block A in 2 s.
A
B s = 0.40
k = 0.25
2-13 The bob of mass 2 kg at the position as shown where  = 30o.
2-116
a) Determine immediately after it is

released from rest, (i) the
acceleration of the bob, and (ii) the O
tension in the cable. 
b) Knowing that at this position the l=2m
tension in the cable is twice the
weight of the bob, determine (i) the A
acceleration of the bob, and (ii) the
velocity of the bob at this position.
[a) (i) at = 4.905 m/s2, an = 0 m/s2; (ii) T = 16.7 N; b) (i) at = 4.905 m/s2, an = 11.12 m/s2; Figure P2-13
(ii) v = 4.72 m/s]
2-14 An industrial conveyor is used to transport boxes around a circular loop in mass
production as shown. The mass of each
box is 1.5 kg. a) If the belt moves with a
constant velocity of 4 m/s, determine the
smallest radius of curvature  such that
there is no slipping occurs where the C
coefficients of friction between the boxes

and the belt are s = 0.6 and k = 0.3; b) If
the belt starts from rest when the box is at B
A where  = 3 m and moves with a
A
constant acceleration of 0.75 m/s2,
determine the smallest s such that there is
no slipping occurs as the box arrives at C.
[a)  = 2.72 m; b) s = 0.24] Figure P2-14
2-15
A 75-kg mechanical engineering student flies C
a small aircraft in a vertical loop of 400-m
radius.
a) Determine at positions A, B, and C the r
normal force that the seat of the aircraft
would exert on the pilot if he flies at a B
constant speed of 234 km/h.
b) Determine the speed of the aircraft at the
top of the loop, knowing that at that
point he experiences weightlessness.
A
2-16
The rated speed of a highway curve of radius  banked Data & Diagram:
through an angle  is the speed at which a car should travel
with no lateral friction force is to be exerted on its wheels
(i.e. either up or down the curve). For the car of mass m =
650 kg, radius of highway curvature  = 120 m banked at an
2-117
angle  = 30o, determine

a) the free body and kinetic diagrams of the car, b
b) the rated speed of this highway curve in km/h, and
c) the corresponding normal acceleration of the car in m/s2. 
[b) v = 26.1 m/s; b) an = 5.68 m/s2] Figure P2-16
2-17
Arm OA rotates about a pivot O in a vertical plane Data & Diagram:
with a constant counter-clockwise velocity  = 3 rad/s
m
as shown in the figure. A package of mass m = 2 kg is A
placed on it at a radial distance r = 400 mm as it r
passes the position  = 0o. The package starts to slip
down when  = 40o. Determine
a) the coefficient of static friction s between the
package and the arm OA, and 
b) the normal force exerted by arm OA on the O
package.
[a) s, req = 0.313; b) N = 15.03 N] Figure P2-17
2-18
A parcel moves outward along the slot in the
platform shown with a speed of r = 3t m/s,
where t is in seconds. Knowing that the
platform rotates at a constant rate of  = 10
rad/s and that the parcel starts from rest at r r P
= 100 mm, determine the magnitudes of its 
velocity and acceleration when t = 1 s. O
2-19
Knowing that at the instant considered, a 2-kg slider P is
moving outward in the slotted disk in a horizontal plane at
a constant rate of 4 m/s while the disk is rotating at the r
rate of 2 rad/s and is increasing at 5 rad/s2, determine P
a) the position r and acceleration a of the slider, and
b) the normal force exerted on the slider by the side wall. 
Note that all surfaces of contact is rough with  = 0.4.
2-118
[a) r = 1.238 m; ar = 4.95 m/s2, a = 22.2 m/s2; b) N = 44.4 N] Figure P2-19
2-20
A smooth roller P of mass m = 0.4 kg moves along a Data & Diagram:
grooved horizontal slot as shown. The slot is in a spiral
form defined by the equation r = 0.12 m, where  is in
r = f()
radians. Knowing that arm OA is rotating at a constant
rate  = 3 rad/s, determine at the instant when  =  rad 
P
a) the free body and kinetic diagrams of the roller,
b) the force exerted by the arm on the roller, and A O
r
c) the force exerted by the wall of the slot on the roller.
[a) F = 1.423 N; b) N = 0.431 N] Figure P2-20
2-119
Work-Energy method:
2-21
The 2-kg block connected at one end to a spring is
pulled from rest along the incline ( = 30o) under the B
action of a 50-N force P at the other end as shown.
The spring (k = 10 N/m) is initially unstretched and the 3m
surface of contact between the block and the incline is P
A
rough ( = 0.2).
a) Determine the work done by each of the forces
acting on the block as it reaches point B. k
b) What is the final velocity of block?
 = tan– 1(3/4)
[a) PUA – B = 150 J, WUA – B = – 35.3 J, sUA – B = – 45 J, FfUA – B = – 9.42 J; b) vB = 7.76 m/s] Figure P2-21
2-22
Block A of mass m = 30 kg is pulled up along the ramp where  = tan–1(3/4) by the
constant force P = 500 N ( = 10o). The block is initially at rest and the surface of contact
between the block and the ramp is rough with  = 0.2.
a) Determine the velocity of the block after it has P
displaced 119.25 m from its initial position. 


[a) PUA – B = 150 J, WUA – B = – 35.3 J, sUA – B = – 45 J, FfUA – B = – 9.42 J; b) vB = 7.76 m/s] Figure P2-22
2-23
The mass-pulley system consists of 5-kg block A and 7-kg block B arranged D as shown.
The surfaces of contact between block A and the incline
and between the collar and the vertical guide are
smooth and tan = ¾ . The system is released from rest.
Determine at the instant when block A has displaced 1 m
up the incline
a) the velocity of blocks A and B, and
b) the corresponding tension in the cable. A
B

[a) vA = 1.2 m/s, vB = 0.6 m/s ; b) T = 33 N] Figure P2-23
2-120
2-24
A 10-kg collar which is attached to a spring is Data & Diagram:
released from rest at its initial at position B where
the spring is horizontal and is unstretched. The 270 mm
spring stiffness is k = 1.2 kN/m. Determine B
a) the speed of the collar as it passes through point A k
C in m/s, and
b) the maximum deflection of the spring in mm. 360 mm
2-25
The 30-kg block A is connected to a spring as
k = 400 N/m
shown in the figure. The spring is initially
unstretched and the block is released from
rest. Determine A
a) the velocity of the block after it has moved d = 120 mm
120 mm down the incline, and
b) the maximum distance d that the block can
reach.  = 0.20
o
30
[a) vD = vB = 6.51 m/s; b) vB = 4.41 m/s; c) NB = 415 N] Figure P2-25
2-26
The 10-kg collar is released from rest at its O
origin O with the height h = 120 cm as shown. It h
then slides down the fixed rod OD with C
negligible friction and along section DE with the A
coefficient of friction of 0.25 after hitting the 96 cm
spring. k
Write at this instant the expression for
a) the speed of the collar at point B and D,
b) the maximum deflection of the spring B 210 cm D E
knowing that the spring (k = 1.2 kN/m) is
initially unstretched,
c) the time taken from B to D, and
[a) vD = vB = 6.51 m/s; b) x = 0.595 m; c) t = 0.323 s] Figure P2-26
2-27
2-121
A 10-kg collar A is attached to a spring (k = 1.2 P = 300 N

kN/m) which is initially unstretched. The collar
is pulled from rest as shown by the constant
C
force P = 300 N. It slides with negligible
friction along the fixed horizontal rod AB.
Determine the speed of the collar as it 270 mm
k
reaches point B. Draw the illustrative (free-
body) diagram clearly.
B A
360 mm
[a) vD = vB = 6.51 m/s; b) vB = 4.41 m/s; c) NB = 415 N] Figure P2-27
2-28
The 10-kg collar A which is connected to a spring is
pulled from rest in the position shown and is sliding C P
with negligible friction up the fixed rod inclined at  =
30o under the action of a constant force P = 500 N
B
applied to the cable. Knowing that the spring is initially
unstretched with k = 200 N/m, determine after the
block has moved 120 cm up the incline.
a) the work done by the constant force P, 90 cm

b) the velocity of the collar, and
c) the force exerted by the rod on the roller. k
120 cm
A
[a) PUA – B = 300 J; b) vB = 4.41 m/s; c) NB = 415 N] Figure P2-28
2-29
A 10-kg collar with an attached spring of stiffness k = y
2.5 kN/m is pulled from its initial rest position at A to 
its final position at B by a 200-N force P along the
curved path as shown. The spring is initially
unstretched at A and the curved path is smooth.
Determine the velocity of the collar at B. All B
dimensions are in cm
P 90

k
x
A 80
40
2-30
2-122
The AutoTech company has recently developed a new motion triggered sensor. To test
their reliability, the sensors are placed at several locations (i.e. B, C, D, etc.) along the
smooth curved track as shown. The aerodynamic plunger of mass m = 10 kg with a spring
(k = 500 N/m) attached to it may slide freely along the track. The stopping mechanism will
be activated once the plunger passes through it in order to prevent the plunger from
moving backward. Suppose that the plunger is pulled to a position at A and is then
released from rest and that the unstretched length of the spring is 200 mm, determine
which stopping mechanism will be last triggered by the sensor for two cases: a) the track
lies in the horizontal plane, and b) the track lies in the vertical plane. Neglect air
resistance. Show your analysis clearly.
F E D
1200 mm 750 mm
500 mm
O
C
k = 500 N/m Motion triggered

device or sensor
A B
Aerodynamic plunger
2-31
The 10-kg collar A is released from rest at the
position shown. It slides with negligible friction
down the fixed rod of quarter circular shape to A
point B and then slides along the fixed straight rod
inclined at  = 30o from horizontal with the C
coefficient of friction  = 0.25. Determine a) the 90 cm
speed of the collar at point B, and b) the B

maximum deflection of the spring knowing that the
spring (k = 1.2 kN/m) is initially unstretched.
 D
210 cm k
Note: AC is parallel to BD
[a) vB = 4.91 m/s; b) d = 0.627 m] Figure P2-31
2-123
Impulse-Momentum Equation:
2-32 What is the linear momentum of a 1500-kg truck moving at 90 km/h?

2-33 A rider and his Y15ZR motorcycle with a combined mass of 220 kg is initially
travelling at 99 km/h when the rider uniformly increases its speed to 135 km/h.
What is the impulse acting on the wheels of the motorcycle during this interval? If
this change in speed occurs in the duration of 4.4 s, what is the impulsive force
acting on the wheels? Ignore the wind resistance.
2-34 A block of mass 5 kg which is initially at rest is pulled with a constant force P as
shown. The block reaches a speed of 10 m/s in 4 s. The coefficients of friction
between the block and the horizontal surface are s = 0.4 and k = 0.25.
a) Draw the impulse-momentum diagram of the P
block,
b) Determine the required force P and the force  = tan– 1 (3/4)
5 kg
exerted by the surface on the block.
s = 0.4
k = 0.25
[b) P = 27.5 N, N = 32.5 N ] Figure P2-34
2-35 Block A of mass m = 30 kg is pulled up along the ramp where  = tan–1(3/4) by the
constant force P = 500 N ( = 10o). The block is initially at rest and the surface of contact
between the block and the ramp is rough with  = 0.2.
a) Determine the velocity of the block when t = 5 s. P
[Hint: Use impulse-momentum equation.] 


2-36 The 1150-kg truck is driven along a straight path with the initial speed of 110 km/h
when the brakes are suddenly applied causing all four
wheels to lock. If the speed of the truck reduces to 30
km/h in 5 s,
a) draw the impulse-momentum diagram of the truck,
b) determine the coefficient of kinetic friction
between the tires and the road surface.
[b) k = 0.454] Figure P2-36
2-124
2-37
A box of mass 10 kg is dropped from the height of 7.5 m
10 kg
above a muddy surface.
a) draw the impulse-momentum diagram of the box, h
b) determine the impulse of the mud on the box
necessary to stop its motion,
c) determine the average impulsive force on the box by
the mud if the box comes to stop in 0.4 s.
[b) I = 121.3 Ns; c) Fave = 303 N] Figure P2-37
2-38
The cart is initially moving downward on a smooth P
incline ( = 30o) at the speed of 4 m/s when
suddenly the force P of magnitude 600 N is
applied as shown. Neglecting the effect of friction
in the pulleys, 150 kg
a) draw the impulse-momentum diagram for the
cart by showing all components acting on it
clearly, 
b) determine
(i) the time at which the cart changes its
direction, and
(ii) the velocity of the cart when t = 4 s after it
has changed its direction.
[b) (i) t = 1.292 s; (ii) v = 12.38 m/s] Figure P2-38
2-39
The mass-pulley system shown is at initially rest
when the constant force P of 30g N (where g =
9.81 m/s2) is applied to block A which may slide
freely on the horizontal plane. Neglecting the
effect of friction in the pulleys and at all surfaces
of contact,
a) draw the impulse-momentum diagram for B
both block A and collar B by showing all 12 kg

components clearly,
b) determine the time at which the velocity of
collar B will be 2.0 m/s, and the P 10 kg
corresponding tension in the cable A
[b) t = 1.971 s; T = 142.1 N] Figure P2-39
2-40
2-125
A crate of mass 5 kg is pulled from its stationary P

position by a varying force P of magnitude as shown 
for 5 s.
P, N
Determine for cases (i)  = 0o, and (ii)  = tan– 1(3/4) s = 0.35 50
a) the time when the crate starts moving, and k = 0.2
00
b) the velocity of the crate at the end of 5 s. 2 5 t, s
End of Chapter
2-126

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Chapter 2

2-2 NEWTON’S SECOND LAW OF MOTION

A particle will have acceleration proportional to the magnitude of the

Figure 2-1 : Newton’s 2nd law - a particle subjected to a single force

In rectangular coordinates as shown in Figure 2.3, eq.(2-2) can be written as

Figure 2-3 : Newton’s second law of motion: Rectangular Coordinates

+→Fx = max (2-4)

Newton’s 2nd Law

For the block in motion, we have

[System of external forces] [System of effective forces]

+→ Fx = max : P – F = ma (3) [Note a = ax ]

[v = vo + at ] v = 0 + 3.04 (4) = 12.16 m/s [ans]

[v2 = vo2 + 2a(x – xo)] 12.162 = 0 + 2(3.04)(x – xo)

=> x – xo = 24.3 m [ans]

Fmax = sN = 0.3(2g) = 0.6g = 0.6(9.81) = 5.89 N

Newton’s 2nd Law

b) Note that Ff = N where  is the kinetic P

[Fy = may]: N – mg cos + P sin = 0 A 5

Newton’s 2nd Law

Newton’s 2nd Law

a = 2.55 m/s2 [ans]

WA = mAg WB = mBg b) Kinetics: For block A (or block B),

Newton’s 2nd Law

+y Differentiating with respect to time yields:

b) From eq.(3) or (2), we obtain T = 34.6 N [ans]

=> T = mB[k g – (– 2aA)] = mB(k g + 2aA)

and solving this equation together with eq.(2), we obtain

Newton’s 2nd Law

What happens if the surface of contact is

Substituting eqs.(2), (3) and (4) into eq.(1), yields

(g – T / mA) + 2(g – 2T / mD) + (g – T / mB) = 0

Substituting values into eq.(5), we have

T = 1.6g N; aA = 0.2g m/s2; aB = – 0.6g m/s2; and aD = 0.2g m/s2 [ans]

For relative motion,

Newton’s 2nd Law

What happens if the surface of contact is

Substituting eq.(2) and eq.(3) into eq.(1), yields

aA = 2.44 m/s2, aD = – 1.230 m/s2, and T = 690 N [ans]

mAg sin – T – k NA = mAaA or NA = mAg cos

 aA = g sin – T / mA – kg cos = g(sin – k cos) – T / mA (3b)

Solving eq.(2), (3b) and (1), quantitatively we have

T = 647 N aA = 1.084 m/s2 and aD = – 0.542 m/s2

Newton’s 2nd Law

Note that FA = NA =  (mA + mB)g

P –  mBg – mB (– 2aA) = 0.5[ (mA + mB)g +  mBg – mAaA]

aA = – 4.19 m/s2 [ans]

and from eqs.(1) and (2) [or eq.(3)], we obtain

aB = 8.38 m/s2 and T = 19.32 N [ans]

Newton’s 2nd Law

Comments: What will happen if s = 0.12 or when a tension of 2500 N is applied?

2-2.2 Equation of Motion: Tangential-Normal Coordinates

(d) System of Inertia forces (SIF) (e) Kinetics: SEF = SIF

Figure 2-4 : Newton’s second law of motion: Normal-Tangential Coordinates

In the n- and t- coordinate axes, we can write the N2L as

F = m(at ut + an un) (2-6)

Newton’s 2nd Law

Newton’s 2nd Law

Newton’s 2nd Law

= 2(9.81)cos30o = 17.0 N [ans]

Newton’s 2nd Law

W = mg [Fb = mab]: N cos – W = 0 or N cos = W (1)

v2 = 120(9.81) tan 30o

or v = 26.1 m/s = 94 km/h [ans]