Vector Mechanics For Engineers:

Dynamics
Twelfth Edition

Chapter 12
Kinetics of Particles:
Newton’s Second Law

©Alan Schein/Getty Images

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Introduction

ΣF = ma
Newton’s Second Law of Motion
• If the resultant force acting on a particle is not zero, the particle will
have an acceleration proportional to the magnitude of resultant and
in the direction of the resultant.

• Must be expressed with respect to a Newtonian (or inertial)

frame of reference, i.e., one that is not accelerating or rotating.
• This form of the equation is for a constant mass system.

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 Linear Momentum of a Particle

• Replacing the acceleration by the derivative of the velocity

yields,
r r
dv
 F = m dt
r
d r dL
= (m v ) =
dt dt
r
L = linear momentum of the particle

• Linear Momentum Conservation Principle:

If the resultant force on a particle is zero, the linear momentum
of the particle remains constant in both magnitude and
direction.

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Systems of Units
• Of the units for the four primary dimensions (force,
mass, length, and time), three may be chosen
arbitrarily. The fourth must be compatible with
Newton’s 2nd Law.

• International System of Units (SI Units): base units are

the units of length (m), mass (kg), and time (second).
The unit of force is derived,
 m kg ⋅ m
1N = (1kg ) 1 2  = 1 2
 s  s

• U.S. Customary Units: base units are the units of force

(lb), length (m), and time (second). The unit of mass is
derived,
1lb 1lb lb ⋅ s 2
1lbm = 1slug = =1
32.2 ft s 2 1ft s 2
ft

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 Equations of Motion 1

r r
• Newton’s second law  F = ma.
• Can use scalar component equations, example for
rectangular components,
r r r r r r
 x y z
F i + F j (
+ F k = m a x i + a y j )
+ a z k ( )
F x = max Fy = ma y F z = maz
F x = mx&& Fy = my&& F z = mz&&

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Free Body Diagrams and Kinetic Diagrams 1

The free body diagram is the same as you have done in statics;
we will add the kinetic diagram in our dynamic analysis.
1. Isolate the body of interest (free body).
2. Draw your axis system (example: Cartesian, polar, path).
3. Add in applied forces (example: weight, 225 lb pulling force).
4. Replace supports with forces (example: normal force).
5. Draw appropriate dimensions (usually angles for particles).

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 Free Body Diagrams and Kinetic
Diagrams 2

Put the inertial terms for the body of interest on the kinetic
diagram.
1. Isolate the body of interest (free body).
2. Draw in the mass times acceleration of the particle; if
unknown, do this in the positive direction according to your
chosen axes.

ΣF = ma
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Free Body Diagrams and Kinetic

Diagrams 3

Draw the FBD and KD for block A (note that the

massless, frictionless pulleys are attached to block A
and should be included in the system).

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 Free Body Diagrams and Kinetic
Diagrams 4

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

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Free Body Diagrams and Kinetic

Diagrams 5

Draw the FBD and KD for the collar B. Assume there is

friction acting between the rod and collar, motion is in
the vertical plane, and θ is increasing

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 Free Body Diagrams and Kinetic
Diagrams 6

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

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Sample Problem 12.1 1

Strategy:
• Resolve the equation of motion for the
block into two rectangular component
equations.
• Unknowns consist of the applied force P
and the normal reaction N from the
A 200-lb block rests on a plane. The two equations may be solved
horizontal plane. Find the for these unknowns.
magnitude of the force P
required to give the block an
acceleration of 10 ft/s squared
to the right. The coefficient of
kinetic friction between the
block and plane is μk = 0.25.

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 Sample Problem 12.1 2

Modeling and Analysis:

• Resolve the equation of motion for the block
into two rectangular component equations.
 F = ma:
x

P cos 30° − 0.25 N = ( 6.21lb ⋅ s 2 ft )(10 ft s 2 )

= 62.1lb
F y = 0:
N − P sin 30° − 200 lb = 0
W 200 lb • Unknowns consist of the applied force P and
m= =
g 32.2 ft s 2 the normal reaction N from the plane. The
two equations may be solved for these
lb ⋅ s 2
= 6.21 unknowns.
ft
F = µk N N = P sin 30° + 200 lb
= 0.25 N P cos 30° − 0.25 ( P sin 30° + 200 lb ) = 62.1lb
P = 151lb
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Sample Problem 12.1 3

Reflect and Think

When you begin pushing on an object,
you first have to overcome the static
friction force (F = μsN) before the
object will move.
Also note that the downward
component of force P increases the
normal force N, which in turn increases
the friction force F that you must
overcome.

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 Sample Problem 12.3 1

Strategy:
• Write the kinematic relationships for the
dependent motions and accelerations of
the blocks.
• Write the equations of motion for the
blocks and pulley.
• Combine the kinematic relationships
with the equations of motion to solve for
The two blocks shown start the accelerations and cord tension.
from rest. The horizontal
plane and the pulley are
frictionless, and the pulley is
assumed to be of negligible
mass. Determine the
acceleration of each block
and the tension in the cord.

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Sample Problem 12.3 2

Modeling and Analysis:

• Write the kinematic relationships for the
dependent motions and accelerations of the
blocks.
yB = 12 x A aB = 12 a A
• Write equations of motion for blocks and pulley.
F x = mAa A :
T1 = (100 kg ) a A

F y = mB a B :
m Bg-T2 =m B a B
( 300 kg ) ( 9.81m s 2 ) -T2 = ( 300 kg ) a B
T2 =2940N- ( 300 kg ) a B

F y = mC aC = 0 :
T2 − 2T1 = 0

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 Sample Problem 12.3 3

• Combine kinematic relationships with equations

of motion to solve for accelerations and cord
tension.
yB = 12 x A aB = 12 a A

T1 = (100 kg ) a A
T2 =2940N- ( 300 kg ) a B
= 2940N- ( 300 kg ) ( 12 a A )
T2 − 2T1 = 0
2940 N − (150 kg ) a A − 2 (100 kg ) a A = 0

a A = 8.40 m s2
aB = 12 a A = 4.20 m s 2
T1 = (100 kg ) a A = 840 N
T2 = 2T1 = 1680 N
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Sample Problem 12.3 4

Reflect and Think

• Note that the value obtained for T2 is
not equal to the weight of block B.
Rather than choosing B and the
pulley as separate systems, you
could have chosen the system to be
B and the pulley. In this case, T2
would have been an internal force.

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 Sample Problem 12.5 1

Strategy:
• The block is constrained to slide down
the wedge. Therefore, their motions are
dependent. Express the acceleration of
block as the acceleration of wedge plus
the acceleration of the block relative to
the wedge.

The 12-lb block B starts from • Write the equations of motion for the
rest and slides on the 30-lb wedge and block.
wedge A, which is supported by • Solve for the accelerations.
a horizontal surface.
Neglecting friction, determine
(a) the acceleration of the
wedge, and (b) the acceleration
of the block relative to the
wedge.
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Sample Problem 12.5 2

Modeling and Analysis:

• The block is constrained to slide down the
wedge. Therefore, their motions are dependent.
r r r
aB = a A + aB A
• Write equations of motion for wedge and block.
F x = mAa A :

N1 sin 30° = m Aa A
0.5 N1 = (WA g ) a A

F x = mB ax = mB ( a A cos 30° − aB A ) :
−WB sin 30° = (WB g ) ( a A cos 30° − aB A )
aB A = a A cos 30° + g sin 30°

F y = mB a y = mB ( − a A sin 30° ) :
N1 − WB cos 30° = − (WB g ) a A sin 30°

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 Sample Problem 12.5 3

• Solve for the accelerations.

0.5 N1 = (WA g ) a A

N1 − WB cos 30° = − (WB g ) a A sin 30°

2 (WA g ) a A − WB cos 30° = − (WB g ) a A sin 30°
gWB cos 30°
aA =
2WA + WB sin 30°

aA =
(32.2 ft s ) (12 lb ) cos 30°
2

2 ( 30 lb ) + (12 lb ) sin 30°

a A = 5.07 ft s 2

aB A = a A cos 30° + g sin 30°

aB A = ( 5.07 ft s 2 ) cos 30° + ( 32.2 ft s 2 ) sin 30°

aB A = 20.5ft s 2

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Kinetics: Normal and Tangential

Coordinates
Aircraft and roller coasters can both experience large normal
forces during turns.

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 Equations of Motion 2

r r
• Newton’s second law  F = ma.

• For tangential and normal components,

F t = mat F n = man
dv v2
 F t =m dt
F n = m ρ

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Sample Problem 12.6 1

Strategy:
• Resolve the equation of motion for the
bob into tangential and normal
components.
• Solve the component equations for the
normal and tangential accelerations.
• Solve for the velocity in terms of the
normal acceleration.
The bob of a 2-m pendulum
describes an arc of a circle in a
vertical plane. If the tension in
the cord is 2.5 times the weight
of the bob for the position
shown, find the velocity and
accel-eration of the bob in that
position.

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 Sample Problem 12.6 2

Modeling and Analysis:

• Resolve the equation of motion for the bob into
tangential and normal components.
• Solve the component equations for the normal
and tangential accelerations.

 F = ma :
t t
mg sin 30° = mat
at = g sin 30° at = 4.9 m s 2

F n = man : 2.5mg − mg cos 30° = man

an = g ( 2.5 − cos 30° )
an = 16.03m s 2

• Solve for velocity in terms of normal

acceleration.
v2
an = v = ρ an = ( 2 m ) (16.03m s2 )
ρ
v = ±5.66 m s

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Sample Problem 12.6 3

Reflect and Think:

• If you look at these equations for an
angle of zero instead of 30o, you will
see that when the bob is straight below
point O, the tangential acceleration is
zero, and the velocity is a maximum.
The normal acceleration is not zero
because the bob has a velocity at this
point.

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 Sample Problem 12.7 1

Determine the rated speed of a
highway curve of radius ρ = 400 ft
banked through an angle θ = 18o.
The rated speed of a banked
highway curve is the speed at
which a car should travel if no
lateral friction force is to be
exerted at its wheels.
Strategy:
• The car travels in a horizontal
circular path with a normal
component of acceleration directed
toward the center of the path. The
forces acting on the car are its
weight and a normal reaction from
the road surface.
• Resolve the equation of motion for
the car into vertical and normal
components.
• Solve for the vehicle speed.

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Sample Problem 12.7 2

• Resolve the equation of motion for

the car into vertical and normal
components.
F y = 0 : R cos θ − W = 0
W
R=
cos θ
W
Solution: F n = man : R sin θ =
g
an
Modeling and Analysis:
W W v2
• The car travels in a horizontal sin θ =
cos θ g ρ
circular path with a normal
component of acceleration directed • Solve for the vehicle speed.
toward the center of the path. The v 2 = g ρ tan θ
forces acting on the car are its
= ( 32.2 ft s 2 ) ( 400 ft ) tan18°
weight and a normal reaction from
the road surface. v = 64.7 ft s = 44.1mi h

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 Sample Problem 12.7 3

Reflect and Think:

• For a highway curve, this seems like

a reasonable speed for avoiding a
spin-out. If the roadway were banked
at a larger angle, would the rated
speed be larger or smaller than this
calculated value?

• For this problem, the tangential

direction is into the page; since you
were not asked about forces or
accelerations in this direction, you
did not need to analyze motion in the
tangential direction.

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Kinetics: Radial and Transverse

Coordinates
Hydraulic actuators, extending robotic arms, and
centrifuges as shown below are often analyzed using
radial and transverse coordinates.

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 Eqs of Motion in Radial & Transverse
Components 1

• Consider particle at r and θ, in polar coordinates,

 F = ma = m ( &&r − rθ& )
r r
2

 Fθ = maθ = m ( rθ&& + 2r&θ& )

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Sample Problem 12.10 1

A block B of mass m can slide freely on
a frictionless arm OA which rotates in a
horizontal plane at a constant rate θ&0 .
Knowing that B is released at a distance
r0 from O, express as a function of r
Strategy:
• Write the radial and transverse
equations of motion for the
block.
• Integrate the radial equation to
find an expression for the radial
velocity.
• Substitute known information
into the transverse equation to
find an expression for the force
on the block.

a) the component vr of the velocity of B

along OA, and
b) the magnitude of the horizontal force
exerted on B by the arm OA.

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 Sample Problem 12.10 2

• Integrate the radial equation to find an

expression for the radial velocity.
dvr dvr dr dv
r&& = v&r = = = vr r
dt dr dt dr
dvr dvr dr dv
&&
r = v&r = = = vr r
dt dr dt dr
Modeling and Analysis: vr dvr = rθ& 2 dr = rθ&02 dr
vr r
• Write the radial and transverse
 vr dvr = θ&0  r dr
2
equations of motion for the
0 r0
block.
vr2 = θ02 ( r 2 − r02 )

F = ma : r r (
r − rθ& 2
0 = m && ) • Substitute known information into the
transverse equation to find an
 F θ = m aθ : F = m ( rθ + 2r&θ& )
&&
expression for the force on the block.
12
F = 2mθ 02 ( r 2 − r02 )

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Angular Momentum of a Particle 1

Satellite orbits are analyzed using conservation of

angular momentum.

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 Eqs of Motion in Radial & Transverse
Components 2

• Consider particle at r and θ, in polar coordinates,

 F = ma = m ( &&r − rθ& )
r r
2

 Fθ = maθ = m ( rθ&& + 2r&θ& )

• This result may also be derived from conservation
of angular momentum,
H O = mr 2θ&
d
r  Fθ = ( ) mr 2θ&
dt
( )
= m r 2θ&& + 2rr&θ&

 F = m ( rθ&& + 2r&θ& )
θ

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Angular Momentum of a Particle 2

r r r
• H O = r × mV = moment of momentum or the
angular momentum of the particle about O.
r r r
• HO is perpendicular to plane containing r and mV
r r r
H O = rmV sin ϕ i j k
r
= rm vθ HO = x y z
= mr 2θ& mv x mv y mvz
• Derivative of angular momentum with respect to
time, r r r r r
& r r & r r
H O = r& × mV + r × mV = V × mV + r × ma
r
= r× F
r
=  MO
• It follows from Newton’s second law that the
sum of the moments about O of the forces acting
on the particle is equal to the rate of change of
the angular momentum of the particle about O.
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 Conservation of Angular Momentum 1

• When only force acting on particle is

directed toward or away from a fixed point
O, the particle is said to be moving under a
central force.
• Since the line of actionr of the
r central force
passes through O,  M O = H& O = 0 and
r r r
r × mV = H O = constant
• Position vector and motion of particle are in
r
a plane perpendicular to H O .
• Magnitude of angular momentum,
H O = rmV sin ϕ = constant
= r0 mV0 sin ϕ0
or H O = mr 2θ& = constant
HO angular momentum
= r 2θ& = h =
m unit mass

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Conservation of Angular Momentum 2

• Radius vector OP sweeps infinitesimal area

dA = 12 r 2 dθ

• Define dA = 12 r 2 dθ = 12 r 2θ& = areal velocity

dt dt

• Recall, for a body moving under a central

force,
h = r 2θ& = constant
• When a particle moves under a central force,
its areal velocity is constant.

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 Newton’s Law of Gravitation
• Gravitational force exerted by the sun on a planet
or by the earth on a satellite is an important
example of gravitational force.
• Newton’s law of universal gravitation - two
particles of mass M and m attract each other with
equal and opposite force directed along the line
connecting the particles,
Mm
F =G 2
r
G = constant of gravitation
m3 −9 ft
4
= 66.73 × 10−12 = 34.4 × 10
kg ⋅ s 2 lb ⋅ s 4
• For particle of mass m on the earth’s surface,
MG m ft
W =m = mg g = 9.81 = 32.2 2
R2 s2 s

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Sample Problem 12.12 1

Strategy:
• Since the satellite is moving under a
central force, its angular momentum is
constant. Equate the angular momentum
at A and B and solve for the velocity at B.

A satellite is launched in a direction

parallel to the surface of the earth
with a velocity of 18820 mi/h from
an altitude of 240 mi. Determine the
velocity of the satellite as it reaches
it maximum altitude of 2340 mi.
The radius of the earth is 3960 mi.

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 Sample Problem 12.12 2

Modeling and Analysis:

• Since the satellite is moving under a
central force, its angular momentum
is constant. Equate the angular
momentum at A and B and solve for
the velocity at B.
Reflect and Think: rm v sin ϕ = H O = constant
• Note that in order to increase rA m vA = rB m vB
velocity, a spacecraft often rA
vB = v A
applies thrusters to push it rB
closer to the earth. This central
= (18820 mi h )
( 3960 + 240 ) mi
force means the spacecraft’s
angular momentum remains ( 3960 + 2340 ) mi
constant, its radial distance r
decreases, and its velocity v vB = 12550 mi h
increases.

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