MCEN1000 Engineering Mechanics

DYNAMICS

Kinetics of Particles:
Force and Acceleration

Dr Marcin Wolski
Slides by: Dr Yu(Roger) Dong
School of Civil and Mechanical Engineering
Email: marcin.wolski@curtin.edu.au
L6-7
1. Kinetics of Particles
1.1 Introduction
Unbalanced forces yield acceleration, and hence motion.
From acceleration, kinematics enables us to find velocity and position.

Kinetics
∑F=ma Kinematics

Acceleration
(a) Velocities
& positions
(v & s)

Three general methods for solving kinetics problems:

1) Newton’s 2nd law (force / acceleration method, i.e. ∑F=ma)

2) Impulse and momentum (i.e. ∫∑Fdt=m∆v)

Covered Later
3) Work and energy method (work done/kinetic energy change
method, i.e. U=∆T)
1.2 Newton’s 2nd law

∑F=ma

Newton’s second law provides the equation of motion in the force-mass-acceleration

form, giving the instantaneous acceleration corresponding to the acting forces.

F1
∑F = ma
F2

Typically have one of two situations:

1) Acceleration known from kinematics (a→∑F)

MUST find forces that produce the motion

2) Forces are known (∑F→ a)

MUST find the motion (often more difficult)

1.3 Solving Kinetics Problems with Particles

1) Identify the supplied information and what is required.

2) Define coordinate system (x-y or n-t coordinate system) y

3) Draw a Free Body Diagram (FBD) x

N
4) Kinematics? Constraints? (e.g. velocity / position) F
f
5) Write equation of motion W
— resolve forces into components (∑Fx ; ∑Fy ; ∑Fz )
— apply Newton’s second law

6) Solve equations for required information

Types of forces include:

− externally applied forces (F)
− gravitational force (W) W

− normal reactions (R, N)

− Friction reactions (f)
1.4 Free Body Diagram (FBD)

FBD’s Drawing a FBD is the most important step

in solving any Mechanics problem.
- You will be marked on it!!!
E.g.: Car towing a trailer

Recall the FBD steps (from statics)

1. Isolate the body whose forces or motion you are concerned with
…… the car (not the trailer, rope or ground)

2. Draw the body’s outline (small details not needed). Include the
centre of mass (c.o.m) and important dimensions if necessary
3. Identify all forces on the body.

Types of forces include: W

D
− externally applied forces (T, D)
− gravitational force (W) T

− normal reactions (N1, N2) f1 f2

− Friction reactions (f1, f2)
N1 N2

For particles, the lines of action of a force is not important (we are assuming
the body size is negligible)

W
D

T
f
f=f1+f2
N
N=N1+N2
2. Equations of Motion: Rectangular Coordinate System
y
2.1 Rectilinear Motion
When bodies or particles have motion in only one
ay ∑Fy
direction (i.e. rectilinear or straight-line motion), two
vectors F and a in equation of motion can be represented ax
by three components along x-y-z directions, namely x
az
∑Fx
∑Fz
∑Fx=max
z
∑Fy=may

∑Fz=maz
Two simplified cases (motion remains in x-y plane)
∑Fx=max

∑Fy=0
1) Acceleration components are zero
in y and z directions (i.e. ay=az=0) ∑Fz=0

∑Fx=max
2) Acceleration component is zero in z direction ∑Fy=may
(i.e. az=0)
∑Fz=0
2.2 Special Case I: Dry Friction

Friction forces may exist between rough surfaces.

We relate frictional forces to normal forces applied between

two surfaces.

As an applied force is increased, we move a block from a no slip.

Applied Force
Non-slip condition
0.000 kN
to a slip condition…

Applied Force
2.0 kN
(a) If no slip occurs, frictional force f is unknown, but:

f ≤ μs N Where N = normal reaction force between surfaces

μs= coefficient of static friction

e.g. Block on flat surface y

x
P
P
f

N mg

f opposes the direction of applied force P

To check the slip condition use f ≤ μs N If true, then NO SLIP

Without slip, we have the equilibrium:

∑Fx= 0 f=P
(b) If slip occurs: If we pull hard enough, P will
become big enough to start slip (i.e. > μs N)

Once motion is initiated:

f= μk N Where μk= coefficient of

kinetic friction

e.g. Block on flat surface y

x
P
P
f

N mg

f opposes the direction in which the motion occurs

When slipping, the block is out of equilibrium:

∑Fx= max P- f= ma P- μk N= ma (a gives us velocity & position)

2.3 Special Case II: Cable and Pulley

Cables and pulley are used to “magnify” forces, resulting in the constraints
which relate the motion of the parts in the system.

e.g. Consider the system below:

T1 1) Forces: Draw FBD of pulley at C

B T1 T1
O A
Assuming frictionless + weightless pulley C
T1 T1

C T2
T2-2T1=0 (∑F=ma=0)
T2
0
D

T2 = 2T1
 sA
2) Motion: Consider length of the inextensible cable

F sA+2sD +lBF+lCE=LT (Total length of cable)

B O A
sD Velocities: (Differentiate the displacement equation)

C E
vA+2vD= 0 vD= -0.5vA

Accelerations: (Differentiate the velocity equation)

D

aA+2aD= 0 aD= -0.5aA

Pulley Tips

T T
T

2T T
Fixed pulley
Movable pulley (used to alter direction of forces
(used to multiply forces) with equal magnitude on both sides )
WORKED EXAMPLE # 4.1
The 100 kg crate is carefully placed with zero velocity on an incline as shown.
Describe what happens if (a) θ=15º and (b) θ=20º. Calculate the distance x
travelled by the crate when reaching v=4 m/s with θ=20º.
100 kg
(a) Assume no slip for the crate (θ=15º)
With reference to the FBD of crate, the equations of motion
in x and y directions μs=0.3

F x =0 mg sin 15 − f = 0 f = 100  9.81  sin 15 = 253.9 N μk=0.25

x θ

F y =0 N − mg cos 15 = 0 N = 100  9.81  cos 15 = 947.6 N

FBD
If no slip, f ≤ μsN should hold. Since f = 253.9   s N = 0.3  947.6 = 284.3 y

Assumption of no slip is true (Crate is static) f

x
(b) Assume no slip for the crate again (θ=20º)
θ
N
Using the similar approach, one can find mg
f = 100  9.81  sin 20 = 335.5 N
f = 335.5   s N = 0.3  921.8 = 276.5
N = 100  9.81  cos 20 = 921.8 N

Assumption of no slip is false (Crate starts to slip)

Thus, the equation of motion in x and y directions can be changed to

F x = ma x mg sin 20 −  k N = ma x

F y =0 N − mg cos 20 = 0

a x = g(sin 20 −  k cos 20) = 9.81  (sin 20 − 0.25  cos 20) = 1.05m / s 2

Using kinematic equation v 2 − 0 = 2a x x

v2 42
x= = = 7.62m
2a x 2  1.05
WORKED EXAMPLE # 4.2
The 125 kg concrete block A is released from rest in the position shown and
pulls the 200 kg log up to the 30° ramp. If the coefficient of kinetic friction
between the log and the ramp is 0.5, determine the velocity of the block as it
hits the ground at B.
FBD

From FBD of the log, the equations of motion in the x and y directions

F x = Ma C 2T − f − Mg sin 30 = MaC 1

F y =0 N − Mg cos 30 = 0 2

The frictional force f = k N 3

 2T
Substituting equations (2) and (3) into (1) to yield aC = − g(  k cos 30 + sin 30) 4
M
From the FBD of the concrete block A, the equation of motion in the y direction

F y = ma A mg − T = ma A 5
T
Rearranging equation (5) to yield aA = g − 6
m
The positions of block A and log are represented by sA and sC in reference to the fixed
datum planes through the centre of fixed pulley. From the geometry, it can be seen

2sC+ sA=LT -LW= Const.

Where LT and LW are the total length of the cable and wrapped portion of cable around
the pulley, respectively.

Differentiating twice with respect to time 2sC + sA = 0

1
The magnitude of acceleration of block C aC = − sC = a A (Downward direction) 7
2

Solving equations (4), (6) and (7) for three unknown variables, we can get

2T 1 T
− g(  k cos 30 + sin 30) =  g − 
M 2 m
Hence g2(  k cos 30 + sin 30) + 1 9.812(0.5 cos 30 + sin 30) + 1
T= = = 1004N
 4 1  4 1 
 +   + 
 M m  200 125 

From the equations (6) and (7), the accelerations of concrete block A and log

T 1004
aA = g − = 9.81 − = 1.778m / s 2 (Downward direction)
m 125

a A 1.778 (Upward direction

aC = = = 0.889m / s 2 along the ramp)
2 4

Using the kinematic equation v A2 = 2a A s AB to yield

v A = 2a A s = 2  1.778  6 = 4.62m / s
WORKED EXAMPLE # 4.3
A bar of length l and negligible mass connects the cart of mass M and the
particle of mass m. If the cart is subjected to a constant acceleration a to the
right, what is the resulting steady-state angle θ which the freely pivoting bar
makes with the vertical? Determine the net force P (not shown) which must be
applied to the cart to cause the specified acceleration. (3/30 in M+K) a

From FBD of cart M, the equations of motion in x and y directions M

F x = Ma x P − F sin  = Ma x 1
θ
F y =0 N − Mg − F cos  = 0 2 l

From FBD of particle m, the equations of motion in x and y directions

m
Mg
F x = ma x F sin  = ma x 3 FBD
M
F y =0 F cos  = mg 4 y θ
P

Since the common acceleration ax=a for M and m, combine 1 F N

& 3 and net force becomes
x
P = ( M + m )a F
θ
3 divided by 4 , one can get
F sin  ma a
=  = tan −1   mg
F cos  mg  g
WORKED EXAMPLE # 4.4
The frictional force on the skin of a motor boat created by the surrounding water
is given by the relation F=kv where k is a constant and v is the speed of the
boat. The boat has a weight W and is moving at a constant speed v0 ,develop
an expression for the distance travelled by the boat after the motor is turned off.
FBD y After the motor is turned off, the equations of v0
motion in x and y directions

x
 Fx = ma x − F = − kv =
W
g
ax
W
F y =0 N − W = 0 (in equilibrium)
dv
F=kv Since ax = v, it follows that
N dx
W W
− kvdx = vdv dx = − dv
g kg

Integrating using the lower limits v=v0 and x=0 and general upper limits. Thus
W
 dx =  −
x v
dv
0 v0 kg
The distance travelled after turning off the motor
W W
x=− (v − v0 ) = (v0 − v )
kg kg
3. Equations of Motion: n-t Coordinate System
3.1 Curvilinear Motion

∑F=ma
When solving problems, we will choose convenient coordinates (rectangular or
normal-tangent) and take the components.

Rectangular Coordinates ∑Fx=max

∑Fy=may

Where a x = x and a y = y

Normal-tangent Coordinates

∑Ft=mat ∑Ft =mat

t
∑Fn=man
n ∑Fn=man

 v2
Where at = v and a n =  =2
= v

3.2 Circular Motion in n-t Coordinate System

t Velocity v t = r = r

ω, α Acceleration at = r = r
n
θ v t2
an = =  2r
r

Applying acceleration components to Newton’s 2nd law:

F t = ma t = mr = mr

v t2
 Fn = ma n = m r = m 2r
WORKED EXAMPLE # 4.5
A child twirls a small 50-g ball attached to the end of a 1-m string so that the ball
traces a circle in a vertical plane as shown. What is the minimum speed v that
the ball must have when in position 1? If this speed is maintained throughout
the circle, calculate the tension T in the string when the ball is in position 2.
Neglect any small motion of the child’s hand. (3/48 in M+K)
From FBD of the ball in position 1, in order to FBD in position 1
have the minimum speed, there should be no
string tension and only the weight of ball is mg
applied in the n direction. Thus, the equation of t
motion yields
2
vmin
 Fn = mg = ma n = m r
n
Hence, the minimum speed at position 1

vmin = gr = 9.81  1 = 3.13m / s

FBD in position 2
Using the FBD at position 2, the equation of
motion is given by n
2
vmin ( gr ) 2 T
 Fn = T − mg = m r = m r
Thus the tension in position 2 t mg
T = 2mg = 2  0.05  9.81 = 0.981 N
WORKED EXAMPLE # 4.6
A 0.8-kg slider is propelled upward at A along the fixed curved bar which lies in
a vertical plane. If the slider is observed to have a speed of 4 m/s as it passes
position B, determine (a) the magnitude N of the force exerted by the fixed rod
on the slider and (b) the rate at which the speed of the slider is decreasing.
Assume that friction is negligible. (3/46 in M+K)
From FBD of the slider at B in n-t coordinates, the slider also has a B
tangential acceleration due to the decreasing of slider speed. Thus,
the equations of motion can be written as

v2
F n = ma n mg cos 30 − N = ma n = m
r
1
0.6 m 30º

F t = ma t − mg sin 30 = ma t 2 A

Rearranging from equation 1

FBD
v 2
4 2
N t
N = mg cos 30 − m = 0.8  9.81  cos 30 − 0.8  = −14.5 N B
r 0.6
(Note: Negative sign means the direction of normal force points to the
centre of curved bar, providing the compressive force).
30º
Similarly from equation 2
mg n
at = − g sin 30 = −9.81 sin 30 = −4.91m / s (tangential deceleration)
2
WORKED EXAMPLE # 4.7
The ball B is fastened to the end of a 0.5 m string. As the ball moves with a
constant speed, it describes a horizontal circular path in which the string OB
generates the surface of a cone. Determine the speed of the ball along its
circular path if θ=45º.
Since the ball moves with a constant speed, the tangential acceleration
is zero. The equations of motion are established in n-z plane,
l θ
2
v
 Fn = ma n T sin  = ma n = m
r
1 r
B
F z =0 T cos  − mg = 0 2
z
Substituting equation 2 into equation 1 , one
FBD
T
can obtain
θ
n
 mg 
2
v
T sin  =   sin  = mg tan = m
 cos  r t
mg

v = gr tan  = g ( l sin  ) tan  = 9.81  ( 0.5  sin 45 )  tan 45 = 1.86 m / s

WORKED EXAMPLE # 4.8
A small vehicle enters the top A of the circular path with a horizontal velocity v0
and gathers speed as it moves down the path. Determine the expression for the
angle β to the position where the vehicle leaves the path and becomes a
projectile. Neglect friction and treat the vehicle as a particle.(3/75 in M+K)
A
From the FBD of small vehicle located at a general
position θ, the equations of motion along n-t coordinates

v2
F n = ma n mg cos − N = ma n = m
R
1 B
R

F z = ma t mg sin  = ma t 2 β

Using the kinematic equation a t ds = vdv 3

N
and from the geometry ds = Rd 4 FBD
ds

We can get at ds = g sin  ( Rd ) = vdv 5

Integrating from both sides of equation 5 t

dθ

 θ mg
 
v
gR sin d = vdv
0 v0

n
 v 2 − v02
Thus gR(1 − cos ) = 6
2

When θ=β at point B, the small vehicle starts the projectile motion, N=0.
Substituting equation 6 into equation 1 yields

mg cos  − 0 =
m
R

2 gR(1 − cos  ) + v 02 

2 v 02 
 = cos  +
−1

 3 3 gR 