DYNAMICS

Leonardo, Mark C.
BSME 3-A
CHAPTER 1: Kinematics of a Particle

CHAPTER OBJECTIVES
■ To introduce the concepts of position, displacement, velocity,
and acceleration.
■ To study particle motion along a straight line and represent this motion graphically.
■ To investigate particle motion along a curved path using different
coordinate systems.
■ To present an analysis of dependent motion of two particles.
■ To examine the principles of relative motion of two particles using translating axes.

Introduction
Mechanics is a branch of the physical sciences that is concerned with the state of rest or
motion of bodies subjected to the action of forces. Engineering mechanics is divided into
two areas of study, namely, statics and dynamics. Statics is concerned with the equilibrium
of a body that is either at rest or moves with constant velocity. Here we will consider
dynamics, which deals with the accelerated motion of a body. The subject of dynamics will
be presented in two parts: kinematics, which treats only the geometric aspects of the
motion, and kinetics, which is the analysis of the forces causing the motion. To develop
these principles, the dynamics of a particle will be discussed first, followed by topics in
rigid-body dynamics in two and then three dimensions.

Problem No. 1.

s a, v The car on the left in the photo and in Fig. 12–2 moves in a
straight
line such that for a short time its velocity is defined by
v = (3t2 + 2t) ft>s, where t is in seconds. Determine its position
0 and acceleration when t = 3 s. When t = 0, s = 0.

SOLUTION

Coordinate System. The position coordinate extends from the fixed origin O to the car, positive to the
right.
Position. Since v = f(t), the car’s position can be determined from v = ds > dt, since this equation relates
v, s, and t. Noting that s = 0
when t = 0, we have*

ds 2
(+͢ ) v= =(3 t +2 t)
dt
 s t

∫ ds=∫ (3 t 2+2 t) dt
0 0

|
s s =t +2 t t
0
3

0 |
3 2
s=t +t
When t = 3s,

s = (3)3 + (3)2 = 36 ft Ans.

Acceleration. Since v = f(t), the acceleration is determined from a = dv / dt, since this equation relates a,
v, and t.
dv d 2
(+͢ ) a= = (3 t +2 t)
dt dt

= 6t +2
When t = 3s,

a = 6(3) + 2 = 20 ft > s2 S Ans.

Problem No. 2.
A small projectile is fired vertically downward into a fluid medium with an initial
velocity of 60 m/s. Due to the drag resistance of the fluid the projectile
experiences a deceleration of a =(-0.4v3) m/s, where v is in m/s2. Determine the
projectile’s velocity and position 4 s after it is fired. s

SOLUTION
Coordinate System. Since the motion is downward, the position coordinate is positive downward, with
origin located at O.
Velocity. Here a = f(v) and so we must determine the velocity as a function of time using a = dv>dt, since
this equation relates v, a, and t. (Why not use v = v0 + act?) Separating the variables and integrating,
with v0 = 60 m>s when t = 0, yields,

dv 3
(+↓) a= =−0.4 v
dt
v t
dv
∫ −0.4 3 ∫
= dt
v 0
60 m /s

1
(
1 1 v
)
−0.4 −2 v 2 60
=t−0
|
 1 1
[ −
1
0.8 v (60)2
2
=t
]
v=¿
Here the positive root is taken, since the projectile will continue to move downward. When t = 4 s,
v = 0.559 m/s↓ Ans.

Position. Knowing v = f(t), we can obtain the projectile’s position from v = ds>dt, since this equation
relates s, v, and t. Using the initial condition s = 0, when t = 0, we have

(+↓) v=
ds
=
1
dt (60)[
2
+ 0.8 t ]
−1 /2

∫[
s t
1
∫ ds=
−1/ 2
2
+ 0.8 t ] dt
0 0 (60)

s=
2
[
1
0.8 (60)2
+ 0.8 t ] t
1/ 2

0|
s=
1
0.4 {[ 1
(60)
2
1/ 2
+ 0.8 t ] −
1
60 }
m

When t = 4s,
s = 4.43 m Ans.

Problem No. 3.
During a test a rocket travels upward at 75 m>s, and when it is 40 m from the ground its engine fails.
Determine the maximum height sB reached by the rocket and its speed just before it hits the ground. While
in motion the rocket is subjected to a constant downward acceleration of 9.81 m/s2 due to gravity. Neglect
the effect of air resistance.

SOLUTION
Coordinate System. The origin O for the position coordinate s is taken at ground level with positive
upward.
Maximum Height. Since the rocket is traveling upward, Va = +75 m/s when t = 0. At the maximum
height s = SB the velocity VB = 0. For the entire motion, the acceleration is a c = -9.81 m/s2 (negative since
it acts in the opposite sense to positive velocity or positive displacement). Since a c is constant the rocket’s
position may be related to its velocity at the two points A and B on the path by using Eq. 12–6, namely,
B
vB=0 (+↑) v 2 =+2 ac (s B −s A )
A
0 = (75m/s)2+2(-9.81m/s2) (sB-40m)

↑
V = 75 m/s sB = 327 m Ans.
SB
A

SA=40m
C
Velocity. To obtain the velocity of the rocket just before it hits the ground, we can apply Eq. 12–6
between points B and C, Fig. 12–4.
(+↑) v2C = v2A + 2ac (SC – SB)

= (75 m/s)2 + 2( -9.81 m/s2) (0 – 40 m)

vC = -80.1 m/s = 80.1 m/s↓ Ans.

NOTE: It should be realized that the rocket is subjected to a deceleration from A to B of 9.81 m/s 2, and
then from B to C it is accelerated at this rate. Furthermore, even though the rocket momentarily comes to
rest at B (vB = 0) the acceleration at B is still 9.81 m/s2 downward!

Problem No. 4.
A metallic particle is subjected to the influence of a magnetic field as it travels downward through a fluid
that extends from plate A to plate B, Fig. 12–5. If the particle is released from rest at the midpoint C, s =
100 mm, and the acceleration is a = (4s) m>s2, where s is in meters, determine the velocity of the particle
when it reaches plate B, s = 200 mm, and the time it takes to travel from C to B.
SOLUTION

A
Coordinate System. As shown in Fig. 12–5, s is positive
downward, measured from plate A.

100 mm Velocity. Since a = f(s), the velocity as a function of position can

s
be obtained by using v dv = a ds. Realizing that v = 0 at s = 0.1 m,
C 200 mm
we have
(+ ↓) v dv =a ds
B
v s

∫ v dv= ∫ 4 s ds
0 0.1 m

v = s
|
1 2v 4 2 s
2 0 2 0.1m
4 s ds
|
v=2 ¿ (1)

At s = 200mm = 0.2m,
 m
v B=0.346 =346 mm /s ↓ Ans.
s
The positive root is chosen since the particle is traveling downward, i.e., in the +s direction.
Time. The time for the particle to travel from C to B can be obtained using v = ds/dt and Eq. 1, where s =
0.1 m when t = 0. From Appendix A,
(+ ↓) ds = v dt

= 2(s2 - 0.01)1/2dt
s

∫ ¿ds¿ ¿
0.1

|
ln ( √ s 2−0.01+ s) s =2 t t
0.1 0 |
ln ( √ s −0.01+s ) +2.303=2 t
2

At s = 0.2m,

ln ( √ ( 0.2) −0.01+ 0.2 ) +2.303

2

t= =0.658 s
2
Ans.
NOTE: The formulas for constant acceleration cannot be used here because the acceleration changes with
position, i.e., a = 4s.

Problem No. 5.
A particle moves along a horizontal path with a velocity of v = (3t 2 - 6t) m/s, where t is the time in
seconds. If it is initially located at the origin O, determine the distance traveled in 3.5 s, and the particle’s
average velocity and average speed during the time interval.

SOLUTION
Coordinate System. Here positive motion is to the right, measured from the origin O, Fig. 12–6a.
Distance Traveled. Since v = f(t), the position as a function of time may be found by integrating v =
ds>dt with t = 0, s = 0.
(͢˖ ) ds = v dt

= (3t2 - 6t) dt
 s t

∫ ds=∫ (3 t 2¿−6 t) dt ¿
0 0

s = (t3 - 3t2) m

To determine the distance traveled in 3.5 s, it is necessary to v ( m /s)

investigate the path of motion. If we consider a graph of the v 3t2 6t
velocity function, Fig. 12–6b, then it reveals that for 0 < t < 2 s the t ( s)
velocity is negative, which means the particle is traveling to the (0 , 0) (2 s, 0)

left, and for t < 2 s the velocity is positive, and hence the particle
is traveling to the right. Also, note that v = 0 at t = 2 s. The (1 s, 3 m /s)
particle’s position when t = 0, t = 2 s, and t = 3.5 s can be ( b)
determined from Eq. 1. This yields

s|t=0=0 s|t=2 s=−4.0 m s|t=3.5 s=6.125 m

The path is shown in Fig. 12–6a. Hence, the distance traveled in 3.5 s is.
sT = 4.0 + 4.0 + 6.125 = 14.125 m = 14.1 m Ans.
Velocity. The displacement from t = 0 to t = 3.5 s is

∆ s=s |t=3.5 s−s|t =0=6.125 m−0=6.125 m

and so, the average velocity is
∆ s 6.125 m
v avg= = =1.75 m/ s → Ans.
∆ t 3.5 s−0
The average speed is defined in terms of the distance traveled sT. This positive scalar is

¿ Ans.

NOTE: In this problem, the acceleration is a = dv/dt = (6t - 6) m/s2, which is not constant.

Problem No. 6.
a) If s = (2t3) m, where t is in seconds, determine v when t = 2 s.
SOLUTION
s = (2t3)
as d
v= = (2t3) = 2×3t2 = 6t2
dt dt
At t = 2s, v = 6×4 = 24 m/s Ans.

Problem No. 7.
b) If v = (5s) m/s, where s is in meters, determine a at s = 1 m.
SOLUTION
Substitute (5s) m/s for v
dv
a=v
ds
d
= (5s) (5s)
ds
= 5s (5)
= 25s
Substitute 1m for s in Equation
a = 25s
= 25(1)
=25 m/s2 s = 1m is 25 m/s2 Ans.

Problem No. 8.
c) If v = (4t + 5) m/s, where t is in seconds, determine a when t = 2 s.
SOLUTION
v = (4t+5)
dv
a= = 4 m/s2(always)
dt
Ans.

Problem No. 9.
d) If a = 2 m/s2, determine v when t = 2 s if v = 0 when t = 0.
SOLUTION
a = 2 m/s2, t = 0, v=0
v = u + at
At t = 0 v = 0, so 4 = 0
v = at, at t = 25
v = 2x2 = 4 m/s Ans.
Problem No. 10.
e) If a = 2 m/s2, determine v at s = 4 m if v = 3 m/s at s = 0.
SOLUTION
2
v2 = ( v 0 ¿+ 2a c (s−( s 0 ))

v2 = (3)2 + 2(2) (4-0)

v = 5 m/s s = 4m is 5m/s Ans.

Problem No. 11.

f) If a = (s) m/s2, where s is in meters, determine v when s = 5 m if v = 0 at s = 4 m.
SOLUTION
Substitute (s) m/s2 for a in equation
Integrate the equation at the limits 0 to v and s1 = 5 m to s2 = 4 m for s.
v 5

∫ dv=∫ ( s ) ds
0 4

[ ] [ ]
2 2
v v s 5
=
2 0 2 4
2 2
v 2 (5 ) (4)
= −
2 2 2
v2 = 25 – 16
v = 3 m/s Ans.

Problem No.12
g) If a = 4 m/s2, determine s when t = 3 s if v = 2 m/s and s = 2 m when t = 0.
SOLUTION
Substitute 3s for t, 2m/s for (s0) and a m/s2 for ay in Eq 1.
1 2
s= ( s 0 ) + ( v ) t + a t
2
1 2
¿ 2+2 ( 3 ) + ( 4)(3)
2
= 26 m Ans.
Problem No.13
h) If a = (8t2) m/s2, determine v when t = 1 s if v = 0 at t = 0.
SOLUTION
Substitute (8t2) m/s2 for a
Integrate
v t

∫ dv=∫ ( 8 t 2 ) dt
0 0

3
[ v ] v =[8 t ] t (2)
0 3 0
3
v=2.667 t m/ s
Substitute 2s for t in Eq (2)
3
v=2.667 t m/ s
= 2.667(1)

= 2.667 m/s Ans.

Problem No. 14
i) If s = (3t2 + 2) m, determine v when t = 2 s.
SOLUTION
Substitute (3t2 + 2) m for s in Eq 1
d 2
v= (3 t +2) (2)
dt
= 6t m/s
Substitute 2s for t in Eq. 2

v=6 t m/ s
= 6 (2)
= 12 m/s Ans.

Problem No. 15
j) When t = 0 the particle is at A. In four seconds, it travels to B, then in another six seconds it travels to
C. Determine the average velocity and the average speed. The origin of the coordinate is at O.
SOLUTION
From Figure 1, calculate the change in distance.

Δ s=( s2−s 1) =(6−(−1))

=7m
Calculate the change in distance

Δ t=( t 2−t 1 )=(10−0)

= 10 s
Substitute 10s for Δ t and 7m for Δ s in Eq. 1

Δs 7m
v avg= =
Δ t 10 s
= 0.7 m/s Ans.
The time traveled by the particle from A to B
t AB=6 s
The time traveled by the particle from B to C
t BC =4 s

Substitute 7m for s AB and 14m for s BC Eq. 3

stotal=s AB+ s BC =7 m+14 m

= 21 m

Substitute 6s for t AB and 4s for t B C in Eq. 4

t total=6 s+ 4 s
= 10s

Substitute 21m for stotal and 10s for t total in Eq. 3

s total 21 m
v sp= =
t total 10 s
= 2.1 m/s Ans.
CHAPTER 2: Kinetics of a Particle: Force and Acceleration

CHAPTER OBJECTIVES
■ To state Newton’s Second Law of Motion and to define mass and weight.
■ To analyze the accelerated motion of a particle using the equation of motion with different coordinate
systems.
■ To investigate central-force motion and apply it to problems in space mechanics.

Newton’s Second Law of Motion

Kinetics is a branch of dynamics that deals with the relationship between the change in motion of a body
and the forces that cause this change. The basis for kinetics is Newton’s second law, which states that
when an unbalanced force acts on a particle, the particle will accelerate in the direction of the force with
a magnitude that is proportional to the force.
This law can be verified experimentally by applying a known unbalanced force F to a particle, and then
measuring the acceleration a. Since the force and acceleration are directly proportional, the constant of
proportionality, m, may be determined from the ratio m = F>a. This positive scalar m is called the mass
of the particle. Being constant during any acceleration, m provides a quantitative measure of the
resistance of the particle to a change in its velocity, that is its inertia.
If the mass of the particle is m, Newton’s second law of motion may be written in mathematical form as
F = ma
Newton’s Law of Gravitational Attraction.
Shortly after formulating his three laws of motion, Newton postulated a law governing the mutual
attraction between any two particles. In mathematical form this law can be expressed as
m1 m2
F=G
r2
where:
F = force of attraction between the two particles
G = universal constant of gravitation; according to experimental evidence
G = 66.73(10-12) m3>(kg·s2)
m1, m2 = mass of each of the two particles
r = distance between the centers of the two particles
Problem No. 16
The 50-kg crate rests on a horizontal surface for which the coefficient of kinetic friction is m k = 0.3. If the
crate is subjected to a 400-N towing force as shown, determine the velocity of the crate in 3 s starting
from rest.
Solution
Equations of Motion
+¿=m ax ;¿
→ ∑Fx 400 cos 30 °−0.3 N c =50 a (1)

+↑ ∑ F y =m a y ; N c −490.5+400 sin 30 °=0 (2)

Solving Eq. 2 for NC, substituting the result into Eq. 1, and solving for a yields
Nc=290.5 N
a=5.185 m/s2
Notice that the acceleration is constant, since the applied force P is constant. Since the initial velocity is
zero, the velocity of the crate in 3 s is

v=v o+ ac t=0+5.185(3)
=15.6 m/s Ans.

Problem No. 17
A 10-kg projectile is fired vertically upward from the ground, with an initial velocity of 50 m/s.
Determine the maximum height to which it will travel if (a) atmospheric resistance is neglected; and (b)
atmospheric resistance is measured as FD = (0.01v2) N, where v is the speed of the projectile at any
instant, measured in m/s.
Solution
In both cases the known force on the projectile can be related to its acceleration using the equation of
motion. Kinematics can then be used to relate the projectile’s acceleration to its position.

(a) Equation of Motion

+↑ ∑ F z=ma z ; -98.1 = 10 a, a = -9.81 m/s2

The result indicates that the projectile, like every object having free- flight motion near the earth’s
surface, is subjected to a constant downward acceleration of 9.81 m/s2.
Initially, z0 = 0 and v0 = 50 m/s, and at the maximum height z = h, v = 0. Since the acceleration is constant,
then
2 2
v =v 0 +2 a c ( z− z0 )
0= (50)2+2(-9.81) (h-0)
h= 127m Ans.
(b) Equation of Motion
+↑ ∑ F z=ma z ; -0.01v2-9.81=10a, a = -(0.001v2 + 9.81)

Here the acceleration is not constant since FD depends on the velocity. Since a = f(v), we can relate a to
position using
a dz= v dv; -(0.001v2 + 9.81) dz = v dv
Separating the variables and integrating, realizing that initially z 0 = 0, v0 = 50 m/s (positive upward), and
at z = h, v = 0, we have
h 0

∫ dz=− ∫
0
50
m
s
v dv
2
0.001 v + 9.81
=−500 ln(v + 9810) 0
2

50 m/ s|
h= 114 m Ans.

Problem No. 18
The baggage truck A shown in the photo has a weight of 900 lb and tows a 550-lb cart B and a 325-lb cart
C. For a short time, the driving frictional force developed at the wheels of the truck is F A = (40t) lb, where
t is in seconds. If the truck starts from rest, determine its speed in 2 seconds. Also, what is the horizontal
force acting on the coupling between the truck and cart B at this instant? Neglect the size of the truck and
carts.
Solution
(a) Equation of Motion

+¿=m ax ;¿ 900+550+325
∑Fx 40 t=( )a
←
32.2
a= 0.7256 t
Since the acceleration is a function of time, the velocity of the truck is obtained using a = dv/dt with the
initial condition that v0 = 0 at t = 0. We have

|
v 2s

∫ dv=∫ 0.7256 t dt ; v=0.3628 2 s =1.45 ft /s Ans.

0 0
0
(b) Equation of Motion
When t=2s, then

+¿=m ax ;¿ 900
∑Fx 40 ( 2 )−T =( )[0.7256 ( 2 ) ]
←
32.2
T= 39.4 lb Ans.

Problem No. 19
The 3-kg disk D is attached to the end of a cord. The other end of the cord is attached to a ball-and-socket
joint located at the center of a platform. If the platform rotates rapidly, and the disk is placed on it and
released from rest as shown, determine the time it takes for the disk to reach a speed great enough to
break the cord. The maximum tension the cord can sustain is 100 N, and the coefficient of kinetic friction
between the disk and the platform is mk = 0.1.
Solution
Equations of Motion
2
∑ F n=m an ; v
T =3( ) (1)
1
∑ F t=ma t ; 0.1 ND = 3at (2)

∑ F b=0 ; ND - 29.43 = 0 (3)

Setting T = 100 N, Eq. 1 can be solved for the critical speed v cr of the disk needed to break the cord.
Solving all the equations, we obtain
ND = 29.43 N
at = 0.981 m/s2
vcr = 5.77 m/s
Since at is constant, the time needed to break the cord is
vcr = v0 + att
5.77 = 0 + (0.981)t
t = 5.89 s Ans.

Problem No. 20
Determine the banking angle θ for the racetrack so that the wheels of the racing cars do not have to
depend upon friction to prevent any car from sliding up or down the track. Assume the cars have
negligible size, a mass m, and travel around the curve of radius r with a constant speed v.

Solution
Equations of Motion
Using the n, b axes shown,
2
+¿=m an ;¿ v
→ ∑ Fn N c sin θ=m (1)
ρ
+↑ ∑ F b=0 ; N c cos θ−mg=0 (2)

Eliminating NC and m from these equations by dividing Eq. 1 by Eq. 2, we obtain

2
v
tanθ=
gρ
2
v−1
θ=tan ( ) Ans.
gρ
CHAPTER 3: Kinetics of a Particle: Work and Energy

CHAPTER OBJECTIVES
■ To develop the principle of work and energy and apply it to solve problems that involve force, velocity,
and displacement.
■ To study problems that involve power and efficiency.
■ To introduce the concept of a conservative force and apply the theorem of conservation of energy to
solve kinetic problems.

The Work of a Force

In this chapter, we will analyze the motion of a particle using the concepts of work and energy. The
resulting equation will be useful for solving problems that involve force, velocity, and displacement.
Before we do this, however, we must first define the work of a force. Specifically, force F will do work on
a particle only when the particle undergoes a displacement in the direction of the force. For example, if
the force F in Fig. 14–1 causes the particle to move along the path s from position r to a new position r’,
the displacement is then d r = r’ - r. The magnitude of d r is ds, the length of the differential segment
along the path. If the angle between the tails of d r and F is u, Fig. 14–1, then the work done by F is a
scalar quantity, defined by
dU =F ds cos θ
F

u ds
dr

r¿
r

Fig. 3.1

By definition of the dot product (Fig. 2.1) this equation can also be written as

dU =F ∙ d r

This result may be interpreted in one of two ways: either as the product of F and the component
of displacement ds cos θ in the direction of the force, or as the product of ds and the component of force,
F cos θ , in the direction of displacement. Note that if 0 ° ≤ θ ¿ 90° , then the force component and the
displacement have the same sense so that the work is positive; whereas if 90 ° ¿ u θ ≤ 180° , these vectors
will have opposite sense, and therefore the work is negative. Also, dU = 0 if the force is perpendicular to
displacement, since cos 90° = 0, or if the force is applied at a fixed point, in which case the displacement
is zero.
The unit of work in SI units is the joule (J), which is the amount of work done by a one-newton
force when it moves through a distance of one meter in the direction of the force (1 J = 1 N ∙m). In the
FPS system, work is measured in units of foot-pounds (ft ∙ lb), which is the work done by a one-pound
force acting through a distance of one foot in the direction of the force.
Work of a Variable Force
If the particle acted upon by the force F undergoes a finite displacement along its path from r1 to r2 or s1
to s2, the work of force F is determined by integration. Provided F and u can be expressed as a function
of position, then
r2 s2

U 1−2=∫ F ∙ d r=∫ F cos θ ds (14–1)

r1 s1

Work of a Constant Force Moving Along a Straight Line

If the force Fc has a constant magnitude and acts at a constant angle θ from its straight-line path, then the
component of Fc in the direction of displacement is always Fc cos u. The work done by Fc when the
particle is displaced from s1 to s2 is determined from Eq. 14–1, in which case
s2

U 1−2=F c cos θ∫ ds
s1
or
U 1−2=F c cos θ(s2−s 1)

Work of a Weight
Consider a particle of weight W, which moves up along the path s shown in Fig. 14–2 from position s1 to
position s2. At an intermediate point, the displacement d r = dx i + dv j + dz k . Since W = -Wj, applying
Eq. 14–1 we have
r2

U 1−2=∫ F ∙ d r=∫ (−W j )( dx i+dv j+dz k )

r1
y2

¿ ∫ −W dy =−W (¿ y 2− y 1) ¿
y1
or
U 1−2=−W ∆ y
y

W
s2
dr
s1
r1 r2
s
y2
y1 x

Fig.14–2
Work of a Spring Force
If an elastic spring is elongated a distance ds, Fig. 14–5a, then the work done by the force that acts on the
attached particle is dU = - F s ds = −ks ds . The work is negative since Fs acts in the opposite sense to ds .
If the particle displaces from s1 to s2, the work of Fs is then
s2 s2

U 1−2=∫ F s ds=∫ −ks ds

s1 s1

( )
1 2
ksU 1−2=− 2
1 ks
2 2− 1
2
This work represents the trapezoidal area under the line F s = ks ,

Unstretched
position, s 0
Fs

Fs ks
ds
s

Fs
k
Force on s
s1 s2
Particle
(a) (b)

Problem No. 21

The 10-kg block shown in Fig. 14–6a rests on the smooth incline. If the spring is originally stretched 0.5
m, determine the total work done by all the forces acting on the block when a horizontal force P = 400 N
pushes the block up the plane s = 2 m.

S 2m
Initial
=
position of spring
P 400 N

k 30 N /m

2 cos 30°m
30°
SOLUTION

First the free-body diagram of the block is drawn in order to account for all the 98.1 N 30
forces that act on the block, Fig. 14–6b. P 400 N
Horizontal Force P. 30
Since this force is constant, the work is determined using Eq. 14–2. The result can NB Fs
be calculated as the force times the component of displacement in the
direction of the force, i.e., ( b)
UP = 400 N (2 m cos 30) = 692.8 J

or the displacement times the component of force in the direction of displacement, i.e.,
UP = 400 N cos 30(2 m) = 692.8 J

Spring Force Fs
In the initial position the spring is stretched s1 = 0.5 m and in the final position it is stretched s2 = 0.5 m
+ 2 m = 2.5 m. We require the work to be negative since the force and displacement is opposite to each
other. The work of Fs is thus.
Us = - 3 (30 N > m) (2.5 m)2 - (30 N > m) (0.5 m)2 4 = -90 J

Weight W

Since the weight acts in the opposite sense to its vertical displacement, the work is negative, i.e.,

UW = -(98.1 N) (2 m sin 30) = -98.1 J

Note that it is also possible to consider the component of weight in the direction of
displacement, i.e.,

UW = -(98.1 sin 30 N) (2 m) = -98.1 J

Normal Force NB.

This force does not work since it is always perpendicular to the displacement.

Total Work.
The work of all the forces when the block is displaced 2 m is, therefore.

UT = 692.8 J - 90 J - 98.1 J = 505 J Ans.

3.2 Principle of Work and Energy for a System of Particles

The principle of work and energy can be extended to include a system of particles isolated within an
enclosed region of space. Here the arbitrary ith particle, having a mass mi, is subjected to a resultant
external force Fi and a resultant internal force fi which all the other particles exert on the ith particle. If we
apply the principle of work and 14 energies to this and each of the other particles in the system, then since
work and energy are scalar quantities, the equations can be summed algebraically, which gives
T1 + U1 - 2 = T2
In this case, the initial kinetic energy of the system plus the work done by all the external and internal
forces acting on the system is equal to the final kinetic energy of the system.

Problem No. 22
The 3500-lb automobile shown in Fig. travels down the 10° inclined road at a speed of 20 ft/s. If the
driver jams on the brakes, causing his wheels to lock, determine how far s the tires skid on the road. The
coefficient of kinetic friction between the wheels and the road is μk = 0.5.

A
s

10

SOLUTION
This problem can be solved using the principle of work and energy, since it involves force, velocity, and
displacement.
+↖ ∑ F n = 0; NA - 3500 cos 10° lb = 0 NA = 3446.8 lb

Thus,
FA = μk NA = 0.5 (3446.8lb) = 1723.4lb

Principle of Work and Energy.

T1 + ∑ U 1−2 = T2

(
1 3500 lb
2 32.2 ft /s2
¿
)
Solving for s yields
s = 19.5 ft Ans.

Problem No. 23

For a short time, the crane in Fig. 14–11a lifts the 2.50-Mg beam with a force of F = (28 + 3s2) kN.
Determine the speed of the beam when it has risen s = 3 m. Also, how much time does it take to attain this
height starting from rest?

SOLUTION
We can solve part of this problem using the principle of work and energy since it involves force, velocity,
and displacement. Kinematics must be used to determine the time. Note that at s = 0, F = 28(103)N 7 W =
2.50(103)(9.81)N, so motion will occur.

2.50 (10 3)(9.81) N T1 + ∑ U 1−2 = T2

(b) S
1
0+∫ ( 28+3 S )( 10 ) ( 9.81 ) s= ( 2.50 ) ( 10 ) v
2 3 3 2

0 2
28 ( 103 ) s+ ( 103 ) s3 −24.2525 ( 103 ) s=1.25(10 3)v 2
v=¿
Where s = 3m
v=5.47 m/s Ans.

Kinematics. Since we were able to express the velocity as a function of displacement, the time can be
determined using v=ds /dt . In this case,
¿
3
ds
t=∫ ¿
0
¿¿

The integration can be performed numerically using a pocket calculator. The result is
t=1.79 s Ans.

Problem No. 24

The 40-kg boy slides down the smooth water slide. If he starts from rest at A, determine his speed when
he reaches B and the normal reaction the slide exerts on the boy at this position.

SOLUTION

40(9.81) N

u
u

t
Nb

(b)
 T A+ U A− B=T B

1
0+ ( 40 ( 9.81 ) N ) ( 7.5 m) = ( 40 kg ) v 2
2 B
v B=12.13 m/ s=12.1m/ s Ans.

Here the radius of curvature of the path is

ρ B=¿ ¿
Thus,
+↑ ∑ F n=m an ; N B−40 ( 9.81 ) N =40 kg ¿
N B=1275.3 N=1.28 kN Ans.

Problem No. 25

Blocks A and B shown in Figure below have a mass of 10 kg and 100 kg, respectively. Determine the
distance B travels when it is released from rest to the point where its speed becomes 2 m/s.

Datum
sB

B sA

100 kg

A 10 kg
(a)

SOLUTION
R1 R2

∑ T 1 +¿ ∑ U 1−2=∑ T 2 ¿

{ } { }
1 2 1 2
mA ( v A ) 1 mB ( v B ) 2 + { W A ∆ s A +W B ∆ sB }= m A ( v A ) 1 m B ( v B ) 2
2 1+ 1 2 2+ 2
B 2 2
{ 0+ 0 } + {98.1 N ( ∆ s A ) +981 N (∆ s B ) }=¿
981 N s A + 4 sb =l
A
Hence, a change in position yields the displacement equation
∆ s A +4 ∆ s B =0
∆ s A =−4 ∆ s B
v A =−4 v B=−4 (2 m/ s)=−8 m/ s
∆ s B=0.883 m↓ Ans.
3.3 Power and Efficiency Power
The term “power” provides a useful basis for choosing the type of motor or machine which is required to
do a certain amount of work each time. For example, two pumps may each be able to empty a reservoir if
given enough time; however, the pump having the larger power will complete the job sooner. The power
generated by a machine or engine that performs an amount of work dU within the time interval dt is
therefore
dU
P=
dt

If the work dU is expressed as dU =F ⋅d r , then

dU F ⋅ d r dr
P= = =F ⋅
dt dt dt
or
P=F ⋅v

EFFICIENCY
The mechanical efficiency of a machine is defined as the ratio of the output of useful power produced by
the machine to the input of power supplied to the machine. Hence,

power output
ε=
power input

If energy supplied to the machine occurs during the same time interval at which it is drawn, then the
efficiency may also be expressed in terms of the ratio,

energy output
ε=
energy input

Problem No. 26

The man in Fig. 14–15a pushes on the 50-kg crate with a force of F = 150 N. Determine the power
supplied by the man when t = 4 s. The coefficient of kinetic friction between the floor and the crate is mk
= 0.2. Initially the create is at rest.
F 150 N
5
3
4

SOLUTION
To determine the power developed by the man, the velocity of the 150-N force must be obtained first.
The free-body diagram of the crate is shown in Fig. 14–15b. Applying the equation of motion,
F 150 N 50 (9.81) N
5
3
4

Fƒ 0.2 N
N

+↑ ∑ F y =m a y ; N− ( 35 ) 150 N −50 ( 9.81) N=0

N=580.5 N

(͢˖ ) ∑ F x =ma x ; ( 45 ) 150 N −0.2 ( 580.5 N )=( 50 kg ) a

2
a=0.078 m/s

The velocity of the crate when t=4 s is therefore,

(͢˖ ) v=v 0 + ac t

(
v=0+ 0.078
m
s
2 )
( 4 s )=0.312
m
s

The power supplied to the crate by the man when t=4 s is therefore,

P=F ⋅v=F x v= ( 54 ) ( 150 N ) ( 0.312 m/ s)

¿ 37.4 W Ans.
CHAPTER 4: Kinetics of a Particle: Impulse and Momentum

CHAPTER OBJECTIVES
■ To develop the principle of linear impulse and momentum for a particle and apply it to solve problems
that involve force, velocity, and time.
■ To study the conservation of linear momentum for particles.
■ To analyze the mechanics of impact.
■ To introduce the concept of angular impulse and momentum.
■ To solve problems involving steady fluid streams and propulsion with variable mass.

Principle of Linear Impulse and Momentum

In this section we will integrate the equation of motion with respect to time and thereby obtain the
principle of impulse and momentum. The resulting equation will be useful for solving problems involving
force, velocity, and time.
Using kinematics, the equation of motion for a particle of mass m can be written as (2-1)
dv
∑ F=m a=m
dt
where a and v are both measured from an inertial frame of reference. Rearranging the terms and
integrating between the limits v = v1 at t = t1 and v = v2 at t = t2, we have
t2 v2

∑ ∫ Fdt =m∫ dv
t1 v1

or (2-2)
t2

∑ ∫ Fdt =m v 2−m v 1
t1

This equation is referred to as the principle of linear impulse and momentum. From the derivation it is
simply a time integration of the equation of motion. It provides a direct means of obtaining the particle’s
final velocity v2 after a specified time when the particle’s initial velocity is known and the forces acting on
the particle are either constant or can be expressed as functions of time. By comparison, if v 2 was
determined using the equation of motion, a two-step process would be necessary, i.e., apply ∑F = ma to
obtain a, then integrate a = dv/dt to obtain v2.
Linear Momentum
Each of the two vectors of the form L = mv in Eq. 2–2 is referred to as the particle’s linear momentum.
Since m is a positive scalar, the linear-momentum vector has the same direction as v, and its magnitude
mv has units of mass times velocity, e.g., kg · m/s, or slug · ft/s.

Linear Impulse

The integral I =∫ Fdt in Eq. 2–2 is referred to as the linear impulse. This term is a vector quantity which
measures the effect of a force during the time the force acts. Since time is a positive scalar, the impulse
acts in the same direction as the force, and its magnitude has units of force times time, e.g., N·s or lb·s. If
the force is expressed as a function of time, the impulse can be determined by direct evaluation of the
integral. In particular, if the force is constant in both magnitude and direction, the resulting impulse
becomes
t2

I =∫ F c dt=F c (t 2 −t 1 )
t1

For problem solving, Eq. 2–2 will be rewritten in the form (2-3)
t2

m v 1 + Σ ∫ F dt=m v 2
t1

Problem No. 27
The 100-kg crate is originally at rest on the smooth horizontal surface. If a towing force of 200 N, acting
at an angle of 45°, is applied for 10 s, determine the final velocity and the normal force which the surface
exerts on the crate during this time interval.
Solution
t2

¿ m(v x )1 + Σ ∫ F x dt =m(v x )2
t1

0+200 N cos 45 °(10 s)=(100 kg)v 2

v 2=14.1 m/ s Ans.
t2

(+↑) m(v y )1 + Σ ∫ F y dt=m(v y )2

t1

0+ N c ( 10 s )−981 N ( 10 s ) +200 N sin 45 ° ( 10 s ) =0

Nc= 840 N Ans.
Problem No. 28
The 50-lb crate is acted upon by a force having a variable magnitude P = (20t) lb, where t is in seconds.
Determine the crate’s velocity 2 s after P has been applied. The initial velocity is v 1 = 3 ft/s down the
plane, and the coefficient of kinetic friction between the crate and the plane is m k = 0.3.
Solution
t2

(+ ↙ ) m(v x )1 + Σ ∫ F x dt =m(v x )2
t1

2s
50lb
ft
32.2 2
( )
ft
3 +∫ 20 t dt−0.3 N c ( 2 s ) + ( 50 lb ) sin 30 ° ( 2 s )=
s 0
50 lb
32.2 ft /s
2
v
2

s
4.658+ 40−0.6 N c +50=1.553 v 2

+ ↖ Σ F y =0 N c −50 cos 30 ° lb=0

Nc= 43.30 lb
v 2=44.2 ft /s ↙ Ans.

50
+ ↙ Σ F x =m ax ; 20 t−0.3 ( 43.30 )+ 50 sin30 °= a
32.2
a= 12.88t + 7.734
Using kinematics
v 2s
+ ↙dv =a dt ; ∫ dv=∫ (12.88 t +7.734 ) dt
3 ft / s 0

v=44.2 ft /s Ans.

Problem No. 29
The 80-kg man can throw the 20-kg box horizontally at 4 m/s when standing on the ground. If instead he
firmly stands in the 120-kg boat and throws the box, determine how far the boat will move in three
seconds. Neglect water resistance.
Solution
Conservation of Momentum. Applying the conservation of linear momentum to the man, boat, box
system,

¿ 0+ 0+0=( mm+ mb ) v b−mbox v box /b

0=( 80 kg+120 kg ) v b −(20 kg )v box

v box=10 v b (1)

Kinematics

¿ v box=v b +v box / b

−v box=v b−4 m/s (2)

Solving Eqs. (1) and (2),

v box=3.64 m/s ←

v b=0.3636 m/ s →
The displacement of the boat in three seconds is therefore

sb =v b t=( 0.3636 m/s ) ( 3 s )=1.09 m Ans.

Problem No. 30
An 800-kg rigid pile is driven into the ground using a 300-kg hammer. The hammer falls from rest at a
height y0 = 0.5 m and strikes the top of the pile. Determine the impulse which the pile exerts on the
hammer if the pile is surrounded entirely by loose sand so that after striking, the hammer does not
rebound off the pile.
Solution
Conservation of Energy. We have
T 0+ V 0=T 1+ V 1

1 2 1 2
m (v ) +W H y 0 = mH (v H )1 +W H y 1
2 H H 0 2
1 2
0+300 ( 9.81 ) N ( 0.5 m )= (300 kg)(v H )1 +0
2
(v H )1=3.132 m/ s
Conservation of Momentum
Since the hammer does not rebound off the pile just after collision, then (v H)2 = (vP)2 = v2.

(+↓) m H (v H )1 +m p (v p )1=m H v 2 +m p v 2

(
( 300 kg ) 3. 132
m
s )
+ 0=( 300 kg ) v 2 +(800 kg)v 2

v 2=0.8542 m/s
Principle of Impulse and Momentum
t2

(+↓) m H (v H )1 + Σ ∫ F y dt =mH v 2
t1

(
( 300 kg ) 3.132
m
s) m
−∫ R dt=( 300 kg ) (0.8452 )
s

∫ R dt=683 N·s Ans.

Problem No. 31
The box has a mass m and travels down the smooth circular ramp such that when it is at the angle θ it has
a speed v . Determine its angular momentum about point O at this instant and the rate of increase in its
speed, i.e., at.
Solution
Since v is tangent to the path, the angular momentum is
H o −r mv ↷ Ans.

↻+ Σ M O= H˙O ; mg ¿
Since r and m are constant,
dv
mgr sinθ=rm
dt
dv
=g sinθ Ans.
dt
CHAPTER 5: Planar Kinematics of a Rigid Body

CHAPTER OBJECTIVES

■ To classify the various types of rigid-body planar motion.

■ To investigate rigid-body translation and angular motion about a fixed axis.
■ To study planar motion using an absolute motion analysis.
■ To provide a relative motion analysis of velocity and acceleration using a translating frame of reference.
■ To show how to find the instantaneous center of zero velocity and determine the velocity of a point on a
body using this method.
■ To provide a relative-motion analysis of velocity and acceleration using a rotating frame of reference.

In this chapter, the planar kinematics of a rigid body will be discussed. This study is important for the
design of gears, cams, and mechanisms used for many mechanical operations. Once the kinematics is
thoroughly understood, then we can apply the equations of motion, which relate the forces on the body to
the body’s motion.
5.2 Translation
Consider a rigid body which is subjected to either rectilinear or curvilinear translation in the x–y plane,
Position. The locations of points A and B on the body are defined with respect to fixed x, y reference
frame using position vectors r a and r B. The translating x ’ , y ’ coordinate system is fixed in the body and
has its origin at A, hereafter referred to as the base point. The position of B with respect to A is denoted by
the relative-position vector r B/ A (“r of B with respect to A”). By vector addition,

r B=r A +r B / A

Velocity. A relation between the instantaneous velocities of A and B is obtained by taking the time
derivative of this equation, which yields, v B=v A +d r B/ A /dt . Here v A and v B denote absolute velocities
since these vectors are measured with respect to the x , y axes. The term d r B / A /dt=0 , since the
magnitude of r B/ A is constant of a rigid body, and because the body is translating the direction of r B/ A is
also constant. Therefore,
a B=a A
5.3 Rotation about a Fixed Axis
Angular Velocity. The time rate of change in the angular position is called the angular velocity ω
(omega). Since dθ occurs during an instant of time dt, then,
 dθ
¿ ω= (5–1)
dt
Angular Acceleration. The angular acceleration α (alpha) measures the time rate of change of the
angular velocity. The magnitude of this vector is,
dω
¿ α= (5–2)
dt
Using Eq. 5–1, it is also possible to express a as
2
d θ
¿ α= 2 (5–3)
dt
By eliminating dt from Equation 5–1 and 5–2, we obtain a differential relation between the angular
acceleration, angular velocity, and angular displacement, namely,

¿ α dθ=ωd ω (5–4)

The similarity between the differential relations for angular motion and those developed for rectilinear
motion of a particle (v=ds /dt , a=dv /dt ,∧a ds=v dv ) should be apparent.

Constant Angular Acceleration. If the angular acceleration of the body is constant, α = α c , then Eqs. 5–1,
5–2, and 5–4, when integrated, yield a set of formulas which relate the body’s angular velocity, angular
position, and time. The results are,
Constant Angular Acceleration

¿ ω=ω 0 +α c t (5–5)

1 2
¿ θ=θ0 +ω 0 t + α c t (5–6)
2

ω =ω 2 α c (θ−θ0 )
2
¿ (5–7)
0+ 2
Motion of Point P.
In most cases the velocity of P and its two components of acceleration can be determined from the scalar
equations
v=ωr
a t=αr
2
a n=ω r

Here r p is directed from any point on the axis of rotation to point P, whereas r lies in the plane of motion
of P. Either of these vectors, along with ω and α , should be expressed in terms of its i, j, k components,
and, if necessary, the cross products determined using a determinant expansion
Problem No. 32
The motor shown in the photo is used to turn a wheel and attached blower contained within the housing.
If the pulley A connected to the motor begins to rotate from rest with a constant angular acceleration of
2
α A=2rad /s , determine the magnitudes of the velocity and acceleration of point P on the wheel, after
the pulley has turned two revolutions. Assume the transmission belt does not slip on the pulley and wheel.

( © R.C. Hibbeler )

0.15 m
A aA 2 rad /s2

16

0.4 m

(a)

SOLUTION
Angular Motion. First, we will convert the two revolutions to radians. Since there are 2 π rad in one
revolution, then.

aP

( aP ) n
( aP ) t
P
vP

θ a=2 rev ( 21πrevrad )=12.57 rad

Since α A is constant, the angular velocity of pulley A is therefore,

ω =ω 2 a c ( θ−θ0 )
2
¿
0+ 2

ω 2 =0+2(2rad /s )(12.57 rad −0)

2

A
ω A=7.090 rad /s

The belt has the same speed and tangential component of acceleration as it passes over the pulley and
wheel. Thus,

v=ω A r A=ω B r B : 7.090 rad / s(0.15 m)=ω B (0.4 m)

ω B=2.659 rad /s

a t=α A r A =α B r B ; 2
2 rad /s ( 0.15 m) =α B (0.4 m)
2
α B =0.750 rad /s
Motion of P, we have

v p=ω B r B =2 rad /s ( 0.4 m )=1.06 m/s Ans.

¿
¿
Thus
a P= √ ¿ ¿ Ans.

5.4 Absolute Motion Analysis

The velocity and acceleration of a point P undergoing rectilinear motion can be related to the angular
velocity and angular acceleration of a line contained within a body using the following procedure.
Position Coordinate Equation.

 Locate point P on the body using a position coordinate s, which is measured from a fixed origin
and is directed along the straight-line path of motion of point P.
 Measure from a fixed reference line the angular position θ of a line lying in the body.
 From the dimensions of the body, relate s ¿ θ , s=f (θ), using geometry and/or trigonometry.

Time Derivatives.

 Take the first derivative of s=f (θ) with respect to time to get a relation between v and ω .
  Take the second time derivative to get a relation between a and α .
 In each case the chain rule of calculus must be used when taking the time derivatives of the
position coordinate equation. See Appendix C.

Problem No. 33
The end of rod R maintains contact with the cam by means of a spring. If the cam rotates about an axis
passing through point O with an angular acceleration α and angular velocity ω , determine the velocity
and acceleration of the rod when the cam is in the arbitrary position θ .
V
A

r r

u O
R C
B
x

SOLUTION
¿ 2 r cos u
Time Derivatives. Using the chain rule of calculus, we have
dx dθ
=−2 r (sinθ)
dt dt
v=−2 rω sin θ Ans.

dv
dt
=−2 r
dω
dt ( )
sin θ−2 rω¿

a=−2 r ¿ Ans.

Problem No. 34
The link is guided by two blocks at A and B, which move in the fixed slots. If the velocity of A is 2 m/s
downward, determine the velocity of B at the instant θ = 45° .

A
rB /A
vA 2 m /s 45 V
SOLUTION

A
v B=v A +ω x r B / A
rB/A
vB/A
45 V
45
v B i=−2 j+¿
B
v B i=−2 j+0.2 ω sin 45 ° j+0.2 ω cos 45 ° i

Relative motion

Equating the i and j components gives

v B=0.2ω cos 45 ° 0=−2+0.2 ω sin 45 °
Thus,

ω=14.1 rad /s ↺ v B=2 m/s → Ans.

Problem No. 35
The collar C is moving downward with a velocity of 2 m/s. Determine the angular velocity of CB at this
instant.
SOLUTION

C
16
x
VCB

vC 2 m /s rB /C

B vB
Velocity Equation. Link CB (general plane motion):
v B=v C +ωCB x r B/ C

v B i=−2 j+ω cb k x(0.2i−0.2 j)

v B i=−2 j+0.2 ωcb j+ 0.2 ωcb i

v B=0.2ω cb

0=−2+0.2 ωcb

ω cb=10 rad /s ↺ Ans.

v B=2 m/s →

CHAPTER 6: Planar Kinetics of a Rigid Body: Force and

Acceleration

CHAPTER OBJECTIVES
■ To introduce the methods used to determine the mass moment of inertia of a body.
■ To develop the planar kinetic equations of motion for a symmetric rigid body.
■ To discuss applications of these equations to bodies undergoing translation, rotation about a fixed axis,
and general plane motion.

Mass Moment of Inertia

Since a body has a definite size and shape, an applied nonconcurrent force system can cause the body to
both translate and rotate. The translational aspects of the motion were studied in Chapter 13 and are
governed by the equation F = ma. It will be shown in the next section that the rotational aspects, caused
by a moment M, are governed by an equation of the form M =Iα . The symbol I in this equation is termed
the mass moment of inertia. By comparison, the moment of inertia is a measure of the resistance of a
body to angular acceleration ( M =Iα ) in the same way that mass is a measure of the body’s resistance to
acceleration (F = ma).
The flywheel on the engine of this tractor has a large moment of inertia about its axis of rotation. Once it
is set into motion, it will be difficult to stop, and this in turn will prevent the engine from stalling and
instead will allow it to maintain a constant power.
We define the moment of inertia as the integral of the “second moment” about an axis of all the elements
of mass dm which compose the body. For example, the body’s moment of inertia about the z axis in Fig.
6–1 is
 ❑
I =∫ r 2 dm (6-1)
m

If the body consists of material having a variable density, ρ=ρ(x . y . z) , the elemental mass dm of the
body can be expressed in terms of its density and volume as dm= ρdV . Substituting dm into Eq. 6–1, the
body’s moment of inertia is then computed using volume elements for integration, i.e.,
❑
I =∫ r 2 ρ dv (6-2)
v

In the special case of r being a constant, this term may be factored out of the integral, and the integration
is then purely a function of geometry,
❑
I =ρ ∫ r 2 d v (6-3)
v
Problem No. 36
Determine the moment of inertia of the cylinder shown in Fig. 6–3a about the z axis. The density of the
material, ρ , is constant.

Solution
Shell Element.
This problem can be solved using the shell element in Fig. 6–3b and a single integration. The volume of
the element is dV =(2 π r)(h)dr , so that its mass is dm= ρdV =ρ(2 π hr dr ). Since the entire element
lies at the same distance r from the z axis, the moment of inertia of the element is
2 3
d I z=r dm= ρ2 πh r dr
Integrating over the entire region of the cylinder yields
❑ R
I z =∫ r dm=ρ 2 πh∫ r dr=ρπh R
2 3 2

m 0

The mass of the cylinder is

❑ R
m=∫ dm=ρ2 πh∫ r dr=ρπh R
2

m 0

so that
1 2
I z= m R Ans.
2

Parallel-Axis Theorem
If the moment of inertia of the body about an axis passing through the body’s mass center is known, then
the moment of inertia about any other parallel axis can be determined by using the parallel-axis theorem.
This theorem can be derived by considering the body shown in Fig. 6–5. Here the z’ axis passes through
the mass center G, whereas the corresponding parallel z axis lies at a constant distance d away. Selecting
the differential element of mass dm, which is located at point (x’, y’), and using the Pythagorean theorem,
2 2 2
r =(d + x ' ) + y ' , we can express the moment of inertia of the body about the z axis as
❑ ❑
I =∫ r dm=∫ ¿ ¿
2

m m

❑ ❑ ❑
¿ ∫ ( x '2+ y' 2 ) dm+2 d ∫ x ' dm+d 2∫ dm
m m m

Since r 2=x '2 + y '2, the first integral represents IG. The second integral equals zero, since the z axis passes
through the body’s mass center, i.e., ∫ x dm=x m=0 since x ' =0. Finally, the third integral represents
' '

the total mass m of the body. Hence, the moment of inertia about the z axis can be written as
 2
I =I G +m d (6-4)

where
IG = moment of inertia about the z axis passing through the mass center G
m = mass of the body
d = perpendicular distance between the parallel z and z’ axes

Radius of Gyration
Occasionally, the moment of inertia of a body about a specified axis is reported in handbooks using the
radius of gyration, k. This is a geometrical property which has units of length. When it and the body’s
mass m are known, the body’s moment of inertia is determined from the equation

2
I =m k or k=
√ I
m
(6-5)

Problem No. 37
If the plate shown in Fig. 6–6a has a density of 8000 kg/m 3 and a thickness of 10 mm, determine its
moment of inertia about an axis directed perpendicular to the page and passing through point O.

Solution
The plate consists of two composite parts, the 250-mm-radius disk minus a 125-mm-radius disk, Fig. 6–
6b. The moment of inertia about O can be determined by computing the moment of inertia of each of
these parts about O and then adding the results algebraically. The calculations are performed by using the
parallel-axis theorem in conjunction with the data listed in the table on the inside back cover.
Disk
The moment of inertia of a disk about the centroidal axis perpendicular to the plane of the disk is
1 2
I G= m r . The mass center of the disk is located at a distance of 0.25 m from point O. Thus,
2

md =ρd V d =8000 kg /m3 [ π ( 0.25 m )2 ( 0.01 m ) ]=15.71 kg

1 2 2
(I d )o= md r d +md d
2
1 2 2
¿ ( 15.71 kg ) ( 0.25 m ) + ( 15.71kg ) ( 0.25 m )
2
2
¿ 1.473 kg· m
Hole
For the 125-mm-radius disk (hole), we have

mh=ρ h V h =8000 kg /m3 [ π ( 0.1 25 m )2 ( 0.01 m ) ]=3.927 kg

1 2 2
(I h)o = mh r h+ mh d
2
1 2 2
¿ ( 3.927 kg )( 0. 1 25 m ) + ( 3.927 kg ) ( 0.1 25 m )
2
2
¿ 0.276 kg· m
The moment of inertia of the plate about point O is therefore

I O=(I d )O −(I h )¿
2 2
¿ 1.473 kg· m −0.276 kg· m
2
¿ 1.20 kg· m Ans.

Problem No. 38
The pendulum in Fig. 6–7 is suspended from the pin at O and consists of two thin rods. Rod OA weighs
10 lb, and BC weighs 8 lb. Determine the moment of inertia of the pendulum about an axis passing
through (a) point O, and (b) the mass center G of the pendulum.

Solution
(a) Using the table on the inside back cover, the moment of inertia of rod OA about an axis
1 2
perpendicular to the page and passing through point O of the rod is I O= m l . Hence,
3
1 2 1
(I OA )O= m l =
3 (
10 lb
3 32.2 ft / s2 )
( 2 ft )2=0.414 slug· ft 2

1 2
This same value can be obtained using I G= m l . and the parallel-axis theorem.
12

(I OA )O=
1
12
2 2
ml +m d =
1
(
10 lb
12 32.2 ft / s2 )
( 2 ft )2 +
10lb
(
32.2 ft /s
2 )
(1 ft )2=0.414 slug· ft 2
For rod BC we have

1 2 2 1
( I BC )O = 12 ml +m d = 12 ( 32.28 lbft /s ) ( 1.5 ft ) +( 32.28lbft /s )( 2 ft ) =1.040 slug· ft
2
2
2
2 2

The moment of inertia of the pendulum about O is therefore

2
I O=0.414 +1.040=1.454=1.45 slug· ft Ans.

(b) The mass center G will be located relative to point O. Assuming this distance to be y , Fig. 6–
7, and using the formula for determining the mass center, we have

Σ ~y m 1 ( 10 /32.2 )+2 (8/32.2)

y= = =1.444 ft
Σm ( 10 /32.2 )+(8 /32.2)

2 18 lb 2
2
I O=I G +m d ; 1.454 slug· ft =I G +( 2
)(1.444 ft )
32.2 ft / s
2
I G=0.288 slug· ft Ans.
CHAPTER 7: Planar Kinetics of a Rigid Body: Work and Energy

CHAPTER OBJECTIVES
■ To develop formulations for the kinetic energy of a body and define the various ways a force and couple
do work.
■ To apply the principle of work and energy to solve rigid–body planar kinetic problems that involve
force, velocity, and displacement.
■ To show how the conservation of energy can be used to solve rigid–body planar kinetic problems.

Kinetic Energy
The kinetic energy of a body is made up of two parts. Kinetic energy of translation is referenced to the
1 2
velocity of the mass center, T = m v G, and kinetic energy of rotation is determined using the moment of
2
1 2
inertia of the body about the mass center T = I G ω . In the special case of rotation about a fixed axis (or
2
1 2
rotation about the IC), these two kinetic energies are combined and can be expressed as T = I o ω , where
2
IO is the moment of inertia about the axis of rotation.

Kinematic diagrams for velocity may be useful for determining v G and v or for establishing a relationship
between v G and v .

Work
A force does work when it moves through a displacement in the direction of the force.
Forces that are functions of displacement must be integrated to obtain the work. Graphically, the work is
equal to the area under the force–displacement curve.
The work of a weight is the product of its magnitude and the vertical displacement, UW = Wy. It is positive
when the weight moves downwards.
1 2
The work of a spring is of the form U s= k s , where k is the spring stiffness and s is the stretch or
1
compression of the spring.
The work of a couple is the product of the couple moment and the angle in radians through which it
rotates, U M =Mθ .

Since algebraic addition of the work terms is required, it is important that the proper sign of each term be
specified. Specifically, work is positive when the force (couple moment) is in the same direction as its
displacement (rotation); otherwise, it is negative.
Principle of Work and Energy

Apply the principle of work and energy, T 1+ Σ U 1−2=T 2. Since this is a scalar equation, it can be used to
solve for only one unknown when it is applied to a single rigid body.

Problem No. 39
The 30-kg disk shown in Fig. 7–12a is pin supported at its center. Determine the angle through which it
must rotate to attain an angular velocity of 2 rad/s starting from rest. It is acted upon by a constant couple
moment M=5 N·m. The spring is originally unstretched and its cord wraps around the rim of the disk.
d=0.2m, k= 10 N/m.
Solution
Kinetic Energy
Since the disk rotates about a fixed axis, and it is initially at rest, then
T 1=0

1
T 2= I o ω 22=
2
1 1
2 2 [ ]
( 30 kg )( 0.2 m )2 (2 rad /s )2 =1.2 J

Principle of Work and Energy

{ T 1 }+ { Σ U 1−2 }={T 2 }

{ 1 2
}
{T 1 }+ Mθ− 2 k s ={T 2 }

{ 1
}
{ 0 }+ ( 5 N·m ) θ− ( 10 N /m ) [ θ ( 0.2 m)2 ] = {1.2 J }
2
2
−0.2 θ +5 θ−1.2=0

Solving this quadratic equation for the smallest positive root,

θ=0.2423 rad=0.2423 rad ( 180

π rad )
°
=13.9° Ans.
Additional Sample Problems for Dynamics
Problem No. 40

The motion of a particle is defined by the relation x = t 4 -10t2 + 8t + 12, where x and t are expressed in
inches and seconds, respectively. Determine the position, the velocity, and the acceleration of the particle.
when t = 1s.

SOLUTION

X = t4 - 10t2 + 8t +12

dx
v= = 4t3 - 20t + 8
dt
dv
a= = 12t2 - 20
dt
At t=1s, x = 1 - 10 + 8 + 12 = 11 x = 11.00 in. Ans.

v = 4 - 20 + 8 = -8 v = -8.00 in./s Ans.

a = 12 - 20 = -8 a = -8.00 in./s2 Ans.

Problem No. 41

The motion of a particle is defined by the relation x = 2t 3 −9t2+12t +10, where x and t are expressed in
feet and seconds, respectively. Determine the time, the position, and the acceleration of the particle when
v = 0.

SOLUTION

x= 2t3 −9t2 + +12t +10

dx
Differentiating, v= = 6t2 −18t +12 = 6(t2 −3t + 2)
dt

= 6(t − 2)(t −1)

dv
a= =12t −18
dt
So, v = 0 at t =1s and t = 2 s.

At t =1s, x1 = 2 − 9 +12 +10 =15 t =1.000 s Ans.

a1 =12 −18 = −6 x1 =15.00 ft Ans.

At t = 2 s,

x2 = 2(2)3 −9(2)2 +12(2) +10 =14 t= 2.00 s Ans.

 x2 =14.00 ft Ans.

a2 = (12)(2) −18 = 6 a2 = 6.00 ft/s2 Ans.

Problem No. 42
The motion of a particle is defined by the relation x = t3 −9t2 + 24t −8, where x and t are expressed in inches
and seconds, respectively. Determine (a) when the velocity is zero, (b) the position and the total distance
traveled when the acceleration is zero.

SOLUTION

We have x = t3 −9t2 + 24t −8

dx
Then v= = 3t2 −18t + 24
dt
dv
and a= = 6t −18
dt

(a) When v = 0: 3t2 −18t + 24 = 3(t2 − 6t +8) = 0

(t − 2)(t − 4) = 0 t =2.00s and t =4.00s Ans.

(b) When a = 0: 6t −18 = 0 or t = 3 s

At t = 3s: x3 = (3)3 −9(3)2 + 24(3)−8 or x3 =10.00 in. Ans.

First observe that 0 ≤ t < 2 s: v>0

2 s < t ≤ 3 s: v<0

Now

At t = 0: x0 = −8 in.

At t = 2 s: x2 = (2)3 − 9(2)2 + 24(2) −8 =12 in.

Then x2 − x0 =12 − −( 8) = 20 in.

| x3 − x2| = |10 −12| = 2 in.

Total distance traveled = (20 + 2) in. Total distance = 22.0 in. Ans.
Problem No. 43

The motion of a particle is defined by the relation x = 2t3 −15t2 + 24t + 4, where x is expressed in meters
and t in seconds. Determine (a) when the velocity is zero, (b) the position and the total distance traveled
when the acceleration is zero.

SOLUTION

x = 2t3 −15t2 + 24t + 4

dx
v=
dt = 6t −30t + 24
2

dv
a= =12t −30
dt

(a) v = 0 when 6t2 −30t + 24 = 0

6(t −1)(t − 4) = 0 t =1.000s and t = 4.00 s Ans.

(b) a = 0 when 12t −30 = 0 t = 2.5 s

For t = 2.5 s: x2.5 = 2(2.5)3 −15(2.5)2 + 24(2.5) + 4

x2.5 = +1.500 m Ans.

To find total distance traveled, we note that

v = 0 when t = 1s: x1 = 2(1)3 −15(1)2 + 24(1) + 4

x1 = +15 m

For t = 0, x0 = +4 m

Distance traveled

From t = 0 to t =1s: x1 − x0 =15 − 4 =11 m

From t =1s to t = 2.5s: x2.5 − x1 =1.5 −15 =13.5 m
Total distance traveled =11 m +13.5 m Total distance= 24.5m Ans.

Problem No. 44
The motion of a particle is defined by the relation x = t3 − 6t2 −36t − 40, where x and t are expressed in feet
and seconds, respectively. Determine (a) when the velocity is zero, (b) the velocity, the acceleration, and the
total distance traveled when x = 0.
SOLUTION

We have x = t3 − 6t2 −36t − 40

dx
Then v= = 3t2 −12t −36
dt
dv
and a= = 6t −12
dt
(a) When v = 0: 3t2 −12t −36 = 3(t2 − 4t −12) = 0

or (t + 2) (t − 6) = 0

or t = −2s(Reject) and t=6s t=6.00s Ans.

(b) When x = 0: t3 − 6t2 −36t − 40 = 0

Factoring (t −10) (t + 2) (t + 2) = 0 or t =10 s

Now observe that 0 ≤ t < 6 s: v<0

6 s < t ≤10 s: v>0

and at t = 0: x0 = −40 ft

t = 6 s: x6 = (6)3 − 6(6)2 −36(6) – 40

= −256 ft

t =10 s: v10 = 3(10)2 −12(10) −36 or v10 =144.0 ft/s Ans.

a 10 = 6(10) −12 or a10 = 48.0 ft/s Ans.

Then | x6 − x0| = |−256 − (−40)| = 216 ft

x10 − x6 = 0 − −( 256) = 256 ft

Total distance traveled= (216 + 256) ft Total distance= 472 ft Ans.

Problem No. 45
The acceleration of a particle is directly proportional to the time t. At t = 0, the velocity of the particle is v =16
in./s. Knowing that v =15 in./s and that x = 20 in. when t =1 s, determine the velocity, the position, and the
total distance traveled when t = 7 s.

SOLUTION
We have a = kt k = constant

dv
Now = a = kt
dt
v t

At t = 0, v =16 in./s: ∫ dv=∫ kt dt

16 0

1 2
or v−16= k t
2

or
1
v=16+ k t 2
2
¿.
2 ( )
1 2
At t = 1s, v = 15 in./s: 15∈. / s=16∈. /+ k ( 1 s )
2

or k = −2 in./s3 and v =16 −t2

dx
Also =v=16−t 2
dt
x t

At t =1 s, x = 20 in.: ∫ dx=∫ ( 16−t2 ) dt

20 1

[ ]
t
1
or x−20= 16 t− t 3
3 1

−1 3 13
or x= t + 16 t+ ( ¿ . )
3 3
Then
2
At 7 s: v 7=−16−( 7 ) or v 7=−33.0∈¿ s Ans.

−1 3 13
x 7= ( 7 ) +16 ( 7 )+ or x 7=2.00∈¿Ans.
3 3
2
When v = 0: 16−t =0∨t=4 s
 13
At t = 0: x 0=
3
−1 3 13
t = 4 s: x4 = ( 4 ) +16 ( 4 )+ =47∈.
3 3
Now observe that

0 ≤ t< 4 s : v> 0
4 s <t ≤ 7 s : v< 0

13
Then x 4 −x0 =47− =42.67∈.
3

|x 7−x 4|=|2−47|=45∈.
Total distance traveled = (42.67 + 45)in. Total distance = 87.7in

Problem No. 46

The acceleration of a particle is directly proportional to the square of the time t. When t = 0, the particle
is at x = 24 m. Knowing that at t = 6 s, x = 96 m and v =18 m/s, express x and v in terms of t.

SOLUTION

We have a = kt2 k=constant

dv
Now =a=¿kt2
dt
V T

At t = 6 s, v =18 m/s: ∫ dv=∫ k t 2 dt

18 6

1
or v −18 = k (t3 − 216)
3
1
or v =18 + k (t 3 − 216) (m/s)
3
dx 1
=v=18+ k ( t −216 )
3
Also
dt 3
 [ ]
x t
1 3
At t = 0, x = 24 m: ∫ dx=∫ 18+ k ( t −216 ) dt
3
24 0

or
1 1
x−24=18 t+ k t 4 −216 t
3 4 ( )
Now

At t = 6 s, x = 96 m:
1 1
[
96−24=18 ( 6 ) + k ( 6 )4 −216 ( 6 )
3 4 ]
1
or k= m/s4
3

Then x−24=18 t+ ( )( 14 t −216 t )

1 1
3 9
4

1 4
or x (t )= t +10 t +24 Ans.
108

and v=18+
3 9 ()
1 1 3
( t −216 )

1 3
or v ( t )= t +10 Ans.
27

Problem No. 47

The acceleration of a particle is defined by the relation a = kt2. (a) Knowing that v = −8 m/s when t = 0
and that v = +8 m/s when t = 2 s, determine the constant k. (b) Write the equations of motion, knowing
also that x = 0 when t = 2 s.

SOLUTION

a = kt2

dv 2
=a=k t
dt

t = 0, v = −8 m/s and t = 2 s, v = +8 ft/s

8 2
(a) ∫ dv =∫ k t2 dt
−8 0
 1
8 − ( -8) = k (2)3 k=6.00m/s4 Ans.
3

(b) Substituting k = 6 m/s4 into (1)

dv 2
=a=6 t t a=6t2 Ans.
dt
v t

t = 0, v = −8 m/s: ∫ dv =∫ 6 t dt 2

−8 0
1 3
v−(−8 ) = 6 ( t ) v= 2t3 -8 Ans.
3
dx 3
=v=2t −8
dt

|2 |
x t t

t = 2 s, x = 0: ∫ dx=∫ ( 2 t3−8 ) dt ; x= 1 t 4 −8 t
0 2 2

x=
[ 1 4
2
1
][
t −8 t − ( 2 )4 −8 ( 2 )
2 ]
1 4 1 2
x= t −8t−8+16 X = t −8 t+8 Ans.
2 2

Problem No. 48

The acceleration of a particle is defined by the relation a =−k /x. It has been experimentally determined
that v =15 ft/s when x = 0.6 ft and that v = 9 ft/s when x =1.2 ft. Determine (a) the velocity of the particle
when x =1.5 ft, (b) the position of the particle at which its velocity is zero.

SOLUTION

vdv −k
a= =
dx x
Separate and integrate using x=0.6ft, v=15ft/s

v x

∫ vdv=−k ∫ dxx
15 0.6

1 2 v
v
2 15 |
=−k ln x x
0.6 |
1 2 1 2 x
v − (15 ) =−k ln ( )
2 2 0.6
 When v = 9 ft/s, x =1.2 ft

1 2 1 2 1.2
(9) − (15 ) =−k ln ( )
2 2 0.6

Solve for k.

k =103.874 ft2 /s2

(a) Velocity when x = 65 ft.

Substitute k =103.874 ft2 /s2 and x =1.5 ft into (1).

1 2 1 2 1.5
v − (15 ) =−103.874 ln ( )
2 2 0.6
v=5.89 ft / s Ans.
(b) Position when for v = 0,
1 2 x
0− ( 15 ) =−103.874 ln( )
2 0.6

ln ( 0.6x )=1.083
x=1.772 ft Ans.

Problem No. 49

Based on experimental observations, the acceleration of a particle is defined by the relation a = −(0.1+ sin x/b),
where a and x are expressed in m/s2 and meters, respectively. Knowing that b = 0.8 m and that v =1 m/s when
x = 0, determine (a) the velocity of the particle when x = −1 m, (b) the position where the velocity is
maximum, (c) the maximum velocity.

SOLUTION

dv
We have v =a=−¿
dx
v x
When x=0, v=1 m/s: ∫ vdv=∫−¿ ¿ ¿
1 0

or
1 2
2 [
( v −1 )=− 0.1 x−0.8 cos x x
0.8 0 ]
1 2 x
or v =−0.1 x +0.8 cos −0.3
2 0.8
 1 2 −1
(a) When x=-1 m: v =−0.1(−1)+ 0.8 cos −0.3 or v=± 0.323 m/s Ans.
2 0.8

(b) When v=vmax, a=0: (

− 0.1+sin
x
0.8 )
=0

or x=−0.080134 m x=−0.0801 m Ans.

1 2 −0.080134
(c) When x=-0.080134 m: v max =−0.1 (−0.080134 ) +0.8 cos −0.3
2 0.8
= 0.504 m2/s2 or v max=1.004 m/s Ans.

Problem No. 50

The acceleration of a particle is defined by the relation a =−0.8v where a is expressed in m/s2 and v in m/s.
Knowing that at t = 0 the velocity is 1 m/s, determine (a) the distance the particle will travel before coming to
rest, (b) the time required for the particle’s velocity to be reduced by 50 percent of its initial value.

SOLUTION

(a) Determine relationship between x and v,

vdv
a= =−0.8 v dv =−0.8 dx
dx
Separate and integrate with v=1 m/s when x=0.
v x

∫ dv=−0.8 ∫ dx
1 0

v−1=−0.8 x
Distance traveled.

−1
For v=0, x= → x=1.25 m Ans.
−0.8
(b) Determine relationship between v and t,

dv
a= =0.8 v
dt
v x

∫ dvv =−∫ 0.8 dt

1 0

ln ( v1 )=−0.8 t t=1.25 ln ( 1v )
1
For v=0.5(1 m/s)=0.5 m/s. t=1.25 ln ( ) t=0.866 s Ans.
0.5