2.

Kinetics of Particles: Newton’s Second Law

• Introduction

• Newton’s Second Law of Motion (F = ma)

Page 1
Introduction
• Newton’s first and third laws are sufficient for the study of bodies at
rest (statics) or bodies in motion with no acceleration.
• When a body accelerates (changes in velocity magnitude or direction),
Newton’s second law is required to relate the motion of the body to the
forces acting on it.
• Newton’s second law:
- A particle will have an acceleration proportional to the magnitude of
the resultant force acting on it and in the direction of the resultant

force.  F = m a

- The resultant of the forces acting on a particle is equal to the rate of

change of linear momentum of the particle.  d 
 F = (m v )
dt
- The sum of the moments about O of the forces acting on a particle is
equal to the rate of change of angular momentum of the particle
about O. H = M
O  O Page 2
Newton’s Second Law of Motion
• Newton’s Second Law: 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.
• Consider a particle subjected to constant forces,
F1 F2 F3
= = =  = constant = mass, m
a1 a2 a3

• When a particle of mass m is acted upon by a force F ,
the acceleration of the particle must satisfy
 
F = ma

• If force acting on particle is zero, particle will not

accelerate, i.e., it will remain stationary or continue on a
straight line at constant velocity.

Page 3
Linear Momentum of a Particle
• Replacing the acceleration by the derivative of the
velocity yields
 
dv
F = m
dt

d  dL
= (m v ) =
dt dt
 
L = m v = 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.

Page 4
Systems of Units

• 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
1 N = (1 kg ) 1 2  = 1 2
 s  s

Page 5
Equations of Motion
 
• Newton’s second law  F = ma
• Can use scalar component equations, e.g., for
rectangular components,

 
(  
) (  
 Fx i + Fy j + Fz k = m a x i + a y j + a z k )
 Fx = ma x  Fy = ma y  Fz = ma z
 Fx = mx  Fy = my  Fz = mz

Page 6
Dynamic Equilibrium
• Alternate expression of Newton’s second law,
 
 F − ma =0

− ma  inertial vector

• With the inclusion of the inertial vector, the system

of forces acting on the particle is equivalent to
zero. The particle is in dynamic equilibrium.

• Methods developed for particles in static

equilibrium may be applied, e.g., coplanar forces
may be represented with a closed vector polygon.

• Inertia vectors are often called inertial forces as

they measure the resistance that particles offer to
changes in motion, i.e., changes in speed or
direction.

Page 7
Free Body Diagrams and Kinetic Diagrams
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 (e.g., Cartesian, polar, path)
3. Add in applied forces (e.g., weight, 225 N pulling force)
4. Replace supports with forces (e.g., normal force)
5. Draw appropriate dimensions (usually angles for particles)
x y
225 N

25o

Ff
N
mg Page 8
Free Body Diagrams and Kinetic Diagrams
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
x y may
225 N
max

25o =
Ff
N
mg

F = ma
Page 9
Free Body Diagrams and Kinetic Diagrams
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).

Page 10
Free Body Diagrams and Kinetic Diagrams
1. Isolate body
2. Axes
3. Applied forces
4. Replace supports with forces
5. Dimensions (already drawn)
6. Kinetic diagram
y
T T NB
T
T may = 0
x

T
mg
Ff-B
= max

N1 Ff-1
Page 11
Free Body Diagrams and Kinetic Diagrams

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 q is increasing

Page 12
Free Body Diagrams and Kinetic Diagrams
1. Isolate body
2. Axes
3. Applied forces
4. Replace supports with forces
5. Dimensions
6. Kinetic diagram

eq maq
er
mar

q
q
=
Ff
mg
N
Page 13
Sample Problem 1
SOLUTION:
• 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
plane. The two equations may be
A 90 kg block rests on a horizontal solved for these unknowns.
plane. Find the magnitude of the force
P required to give the block an accelera-
tion or 3 m/s2 to the right. The coef-
ficient of kinetic friction between the
block and plane is mk = 0.25.

Page 14
Sample Problem 1
SOLUTION:
• Resolve the equation of motion for the block
into two rectangular component equations.
 Fx = ma :
y
(
P cos 30 − 0.25 N = (90 kg ) 3 m/s 2 )
F = mk N = 270 N
O
x = 0.25 N  Fy = 0 :
N − P sin 30 − 883 N = 0
• Unknowns consist of the applied force P and
the normal reaction N from the plane. The two
equations may be solved for these unknowns.
N = P sin 30 + 883 N
P cos 30 − 0.25(P sin 30 + 883 N ) = 270 N
P = 662.3 N
Page 15
Sample Problem 2
SOLUTION:
• 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 accelerations and cord tension.
The two blocks shown start from rest.
The horizontal plane and the pulley are
frictionless, and the pulley is assumed
to be of negligible mass. Determine
the acceleration of each block and the
tension in the cord.

Page 16
Sample Problem 2
SOLUTION:
• Write the kinematic relationships for the dependent
O motions and accelerations of the blocks.
x
y B = 12 x A a B = 12 a A
y
• Write equations of motion for blocks and pulley.
 Fx = m A a A :
T1 = (100 kg )a A
 Fy = m B a B :
m B g − T2 = m B a B
(300 kg )(9.81 m s 2 )− T2 = (300 kg )a B
T2 = 2940 N - (300 kg )a B
 Fy = mC aC = 0 :
T2 − 2T1 = 0
Page 17
Sample Problem 2
• Combine kinematic relationships with equations of
motion to solve for accelerations and cord tension.
O
x y B = 12 x A a B = 12 a A

y T1 = (100 kg )a A
T2 = 2940 N - (300 kg )a B
(
= 2940 N - (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 s 2
a B = 12 a A = 4.20 m s 2
T1 = (100 kg )a A = 840 N
T2 = 2T1 = 1680 N
Page 18
Sample Problem 2
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.

Page 19
Concept Quiz

kg

(1) (2) (3)

The three systems are released from rest. Rank the
accelerations, from highest to lowest.
a) (1) > (2) > (3) d) (1) = (2) = (3)
b) (1) = (2) > (3) e) (1) = (2) < (3)
c) (2) > (1) > (3)
Page 20
Sample Problem 3
SOLUTION:
• 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.

• Write the equations of motion for the

wedge and block.
The 6 kg block B starts from rest and
slides on the 15 kg wedge A, which is • Solve for the accelerations.
supported by a horizontal surface.
Neglecting friction, determine (a) the
acceleration of the wedge, and (b) the
acceleration of the block relative to the
wedge.

Page 21
Sample Problem 3
SOLUTION:
• The block is constrained to slide down the
wedge. Therefore, their motions are dependent.
  
aB = a A + aB A

• Write equations of motion for wedge and block.

 Fx = m A a A :
y N1 sin 30 = m A a A
0.5 N1 = (W A g )a A

 Fx = mB a x = mB (a A cos 30 − a B A ) :
− WB sin 30 = (WB g )(a A cos 30 − a B )
x
A
aB A = a A cos 30 + g sin 30

 Fy = mB a y = mB (− a A sin 30) :
N1 − WB cos 30 = −(WB g )a A sin 30
Page 22
Sample Problem 3
• Solve for the accelerations.
0.5 N1 = (W A g )a A
N1 − mB g cos 30 = −(mB )a A sin 30
2(m A )a A − mB g cos 30 = −(mB )a A sin 30
mB g cos 30
aA =
2m A + mB sin 30
6(9.81 m/s 2 )cos 30
aA =
2(15 kg ) + (6 kg )sin 30

a A = 1.54 m/s 2

a B A = a A cos 30 + g sin 30

( ) ( )
a B A = 1.54 m/s 2 cos 30 + 9.81 m/s 2 sin 30
a B A = 6.24 m/s 2

Page 23
Sample Problem 3
REFLECT and THINK
Many students are tempted to draw the
acceleration of block B down the incline in
the kinetic diagram. It is important to
recognize that this is the direction of the
relative acceleration. Rather than the
kinetic diagram you used for block B, you
could have simply put unknown
accelerations in the x and y directions and
then used your relative motion equation to
obtain more scalar equations.

Page 24
Kinetics: Normal and Tangential Coordinates

Aircraft and roller coasters can both experience large

normal forces during turns.

Page 25
Equations of Motion
 
• Newton’s second law  F = ma
• For tangential and normal components,
 F = ma
t t
 F n = man
v2
F t =m
dv
dt
F n =m


Page 26
Sample Problem 4
SOLUTION:
• 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.

Page 27
Sample Problem 4
SOLUTION:
• Resolve the equation of motion for the bob into
tangential and normal components.
• Solve the component equations for the normal and
tangential accelerations.
 Ft = mat : mg sin 30 = mat
at = g sin 30
a t = 4 .9 m s 2

 Fn = man : 2.5mg − mg cos 30 = man

an = g (2.5 − cos 30)
an = 16.03 m s 2
• Solve for velocity in terms of normal acceleration.
v2
an = v = a n = (2 m) (16.03 m s 2 )

v = 5.66 m s
Page 28
Sample Problem 5
SOLUTION:
• 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

Determine the rated speed of a the car into vertical and normal
highway curve of radius  = 120 m components.
banked through an angle q = 18o. The
rated speed of a banked highway curve • Solve for the vehicle speed.
is the speed at which a car should
travel if no lateral friction force is to
be exerted at its wheels.

Page 29
Sample Problem 5
• Resolve the equation of motion for
the car into vertical and normal
components.
 Fy = 0 : R cosq − W = 0
W
R=
cosq
W
 Fn = man : R sin q = an
SOLUTION: g
W W v2
MODELING and ANALYSIS: sin q =
cosq g 
• The car travels in a horizontal circular
path with a normal component of • Solve for the vehicle speed.
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. v = 19.56 m s = 70.4 km h
Page 30
Sample Problem 5
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.

Page 31
Angular Momentum of a Particle
  
• H O = r  mV = moment of momentum or the angular
vq = rq momentum of the particle about O.
  
• H O is perpendicular to plane containing r and mV
  
H O = rmV sin  i j k

= rm vq HO = x y z
= mr 2q mv x mv y mv z

• Derivative of angular momentum with respect to time,

        
H O = r  mV + r  mV = V  mV + r  ma

= rF

=  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.
Page 32
Eqs of Motion in Radial & Transverse Components
• Consider particle at r and q, in polar coordinates,

 Fr = mar = m(r − rq 2 )

 Fq = maq = m(rq + 2rq )

• This result may also be derived from conservation

of angular momentum,

H O = mr 2q

r  Fq =
d
dt
(
mr 2q )
(
= m r 2q + 2rrq )
 Fq = m(rq + 2rq )

Page 33
Angular Momentum under Central Force
• 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 action of the central force passes

through O,  M O = H O = 0 and
  
r  mV = H O = constant
• Position vector and motion
 of particle are in a
plane perpendicular to H O .

• Magnitude of angular momentum,

H O = rm V sin  = constant
= r0 m V0 sin  0

or H O = mr 2q = constant
HO angular momentum
= r 2q = h =
m unit mass
Page 34
Conservation of Angular Momentum
• Radius vector OP sweeps infinitesimal area
dA = 12 r 2 dq

dA 1 2 dq 1 2 
• Define = 2r = 2 r q = areal velocity
dt dt

• Recall, for a body moving under a central force,

h = r 2q = constant

• When a particle moves under a central force, its

areal velocity is constant.

Page 35
Sample Problem 6
SOLUTION:
• 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
A block B of mass m can slide freely on transverse equation to find an
a frictionless arm OA which rotates in a expression for the force on the block.
horizontal plane at a constant rate q0 .
Knowing that B is released at a distance
r0 from O, express as a function of r
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.

Page 36
Sample Problem 6
• Integrate the radial equation to find an
expression for the radial velocity.
dv dv dr dv
r = vr = r = r = vr r
dt dr dt dr

vr dvr = rq 2 dr = rq02 dr

vr r
 vr dvr = q0  r dr
2

SOLUTION:
• Write the radial and transverse
equations of motion for the block.
 Fr = m ar : 0 = m(r − rq 2 )
 F q = m aq : F = m(rq + 2rq )
0 r0
vr2 = q02 (r 2 − r02 )
• Substitute known information into the
transverse equation to find an expression
for the force on the block.
(
F = 2mq02 r 2 − r02 )
12

Page 37
Concept Quiz
The top view of a spinning platform
is shown. A girl starts walking e2
e1
towards the outside of the spinning
platform, as shown in the figure by v
the black box. She is walking at a
constant rate with respect to the
platform, and the platform rotates at
a constant rate. In which w
direction(s) will the forces act on
her? Top View

a) +e1 b) - e1 c) +e2 d) - e2
e) The forces are zero in the e1 and e2 directions
Page 38