Dynamics CH12

DYNAMICS
Vector Mechanics for Engineers

- DYNAMICS -
CH. 12 Kinetics of Particles
: Newton’s 2nd Law
Professor Jae-Sang Park
Department of Aerospace Engineering,

Chungnam National University
Fall Semester, 2022

1 Prof. Jae-Sang Park Dept. of Aerospace Eng., Chungnam National Univ.
DYNAMICS
12.0 Introduction
• Newton’s Laws
▪
- Newton’s 1st and 3rd laws are sufficient for the study of bodies at rest or bodies in motion with no
acceleration.
- When a body accelerated (changes in velocity magnitude or direction), Newton’s 2nd law is required to
relate the motion of the body to the forces acting on it.
▪ Newton’s 2nd 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.
- The resultant of the forces acting on a particle is equal to the rate of change of linear momentum of the
particle.
- 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.

DYNAMICS
12.1A Newton’s 2nd law of motion

• Newton’s 2nd Law
▪ Definition
- 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 or  F  ma

DYNAMICS
12.1A Newton’s 2nd law of motion

• Newton’s 2nd Law
▪
- Acceleration must be evaluated with respect to a Newtonian frame of reference, i.e., one that is not
accelerating or rotating.
- A system of axes attached to the earth does not constitute a Newtonian frame of reference, since the
earth rotates with respect to the stars and is accelerated with respect to the sun. However, in most
engineering applications, the acceleration a can be determined with respect to axes attached to the
earth. On the other hand, the acceleration a in F  ma do not hold if a represents a relative
acceleration measured with respect to moving axes, such as attached to an accelerated car or to a
rotating piece of machinery.
- If force acting on particle is zero, particle will not accelerated, i.e., it will remain stationary or continue
on straight line at constant velocity.

DYNAMICS
12.1B Linear momentum of a particle

• Linear momentum
▪ Definition
- Replacing the acceleration by the derivative of velocity gives
dv
F  m dt
d d
  mv    L   L where L  mv : Linear momentum
dt dt
[kg·m /s] or [N·s]
- The resultant of the forces acting on the particle is equal to the rate of change of the linear momentum
of the particle.
- The direction of the linear momentum is the same as the direction of velocity of the particle
- In above equation, the mass m is assumed to be constant. Thus, the equation should not be used to
solve problems involving of bodies such as rockets which gain or lose mass.

DYNAMICS
12.1B Linear momentum of a particle

• Linear momentum
▪ Conservation of linear momentum
- The rate of change of the linear momentum mv is zero when F  0 .
F  L  0 or L  mv  constant
- If the resultant force acting on a particle is zero, the linear momentum of the particle remains
constant, in both magnitude and direction : The principle of conservation of linear momentum.
: Alternative statement of Newton’s 1st Law

DYNAMICS
12.1C Systems of units

•
▪
- Of the units for the 4 primary dimensions (force, mass, length, and time),
3 may be chosen arbitrarily. The 4th must be compatible with Newton’s
2nd Law.
a  1m/s 2
F  1N
▪ International System of Units (SI Units) m  1kg
- Base units are the units of length [m], mass [kg], and time [second].
The unit of force is derived,
 m kg  m m  1kg
1N  1kg  1 2   1 2
 s  s
a  9.81m/s 2
W  9.81N
 m
Weight : W  1kg   9.81 2   9.81N
 s 

DYNAMICS
12.1D Equation of motion

•
▪ Newton’s 2nd Law
 F  ma
y
▪ Rectangular components
- Solution for particle motion is facilitated by resolving vector
equation into scalar component equations, e.g., F
Fy
for rectangular components,
x
F  Fx  Fy  Fz  Fx i  Fy j  Fz k and O Fx
y
a  a x  a y  a z  ax i  a y j  a z k i and j : unit vectors
Fy  Fy j
 F  ma or   F  F  F   m a  a  a 
x y z x y z
F
 F i  F j  F k   m a i  a j  a k 
x y z x y z
j
x
O Fx  Fx i
F x  max  mx , F y  may  my , F z  maz  mz i
DYNAMICS

•
▪ Tangential and normal components
F  Ft  Fn  Ft t  Fnn and
a  at  an  at t  ann
n
t
 F  ma or  F  F   m a
t n t  an 
t and n : unit vectors
 F t  F n  m  a t  a n
t n t n
  F  ma
t t and F n  man
dv v2
Recall at  and an 
dt 
v2  : radius of curvature
F
dv
  Ft  mat  m and  man  m

n
dt
DYNAMICS

• Equation of motion in terms of radial and transverse components
▪
- Consider a particle at r and  , in polar coordinates,
F r 
 mar  m r  r 2 
 F  ma  m  r  2r 

DYNAMICS

• D’Alembert’s Principle
▪ Alternate expression of Newton’s 2nd Law
 F  ma or  F  ma  0
where ma : inertial vector or inertial force
▪ Dynamic equilibrium
- 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, and the problem under consideration
can be solved by the methods developed earlier in statics
(D’Alembert’s principle)
- Inertial forces may be conceptually useful but are not like the
contact and gravitational forces found in statics

DYNAMICS

• Sample problem 12.1
▪ A 80-kg block rests on a horizontal plane. Find the magnitude of
the force P required to give the block an acceleration or 2.5 m/s2 to
the right. The coefficient of kinetic friction between the block and
plane is k  0.25 .
Sol.) Draw the free body diagram (FBD)
Resolve the equation of motion for the block

into 2 rectangular component equations.
W=785 [N]=mg=80kg ∙ 9.81m/s2
30º
+
F x
 ma
P cos30  k N  ma or
m=80kg
 P cos 30  0.25 N  80  2.5 - (a)
y
+ F y
0
F  k N  0.25N
O x N  P sin 30  785  0 - (b)

DYNAMICS

• Sample problem 12.1 (continued)
▪
Sol.) When we substitute Eq. (b), N  P sin 30  785 , into Eq. (a),
P cos30  0.25  P sin 30  785  80  2.5  200
 P  535 [N]
W=785 [N]=mg=80kg ∙ 9.81m/s2

y
30º
O x
m=80kg

DYNAMICS
12.1D Equation of motion xA

▪ The two blocks shown start from rest. The horizontal plane and
yB
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.
Sol.) Write the kinematic relationship for the dependent motions and accelerations of the blocks
1 1
xA  2yB  0  yB  x A and  aB  aA - (a)
2 2
Draw the free body diagram [FBD] for block A and write the equation of motion.
WA
mA aA
+
F x
 mA a A T1  mA aA  100aA - (b)
T1
A = A
+ F y
0  N  WA  0
N  N  WA
DYNAMICS

▪ T2
Sol.) Write the equation of motion for the block B.
B = B
+ F y
 mB aB
mB aB
T2  mB g  mB aB or WB  300  9.81  2943[N]
T2  300  9.81  300aB - (c)
Write the equation of the pulley

T1 T1
+ F y
 mC aC  0
C
T2  2T1  0 - (d)
T2

DYNAMICS

▪
Sol.) From Eqs. (a) to (c),
1
T2  300  9.81  300aB or T2  2943  300  aA  150aA
2
 T2  2943  150aA
Substituting the above equation with Eq. (b) into Eq. (d) ;
T2  2T1  0 or  2943  150aA   2 100aA  0
 a A  8.40 m/s 2
1
Thus, aB  a A  4.20 m/s 2
2
T1  mA aA  100aA  840 N
T2  2T1  1680 N
DYNAMICS

▪ The 6-kg block B starts from rest and slides on the 15-kg wedge A, which
is supported by a horizontal surface. Neglecting friction, determine
(a) the acceleration of the wedge
(b) the acceleration of the block relative to the wedge. B aA
30
Sol.) The block is constrained to slide down the wedge.
aB / A
Therefore, their motions are dependent. aA
aB  aA  aB / A A
WB
Draw the free body diagram [FBD].
WA
B
N1
N1
A
N2
DYNAMICS

▪ y WA
Sol.) For the wedge A,
N1
x 30 mA aA
+
F x
 mA a A =
A A
 N1 sin 30  mA aA or N1  2mA aA - (a)
N2
For the block B, WB  mB g

30 B mB aA
+
F  mB aB / A  mB a A cos 30 = 30
x B
  mB g sin 30  mB aB / A  mB aA cos30 - (b)
mB aB / A
N1
+
 F y  mB aA sin 30
y
x
  mB g cos30  N1  mB aA sin 30 - (c)

DYNAMICS

▪
Sol.) Substituting Eq. (a) into Eq. (c) yields
 mB g cos30  2mA aA  mB aA sin 30
mB g cos 30 6  9.81 cos 30

 aA    1.545 m/s 2
2mA  mB sin 30 2 15   6sin 30
When we substitute the above equation into Eq. (b),
 aB / A  a A cos 30  g sin 30

 1.545cos 30  9.81sin 30  6.24 m/s 2

DYNAMICS

▪ The bob of a 2-m pendulum describes an arc of a circle in 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 acceleration of the bob in that position.
Sol.) Draw the free body diagram using the normal and tangential components
Resolve the equation of motion for the bob into tangential and
normal components :
+
F t
 mat or mg sin 30  mat
 at  g sin 30   9.81 sin 30  4.9m/s2
+
F n
 man or 2.5 mg  mg cos30  man
 an  g  2.5  cos30  16.03m/s2

v2
Solve for velocity in terms of normal acceleration using an 

v    an   2  16.03  5.66 m/s
DYNAMICS

▪ Determine the rated speed of a highway curve of radius   120 m
banked through an angle   18 . 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.
Sol.) Draw the free body diagram

W
+  Fy  0 or R cos   W  0  R
cos 
+ F n
 man or R sin   man
=
R W sin  mg sin 
 an  sin     g tan 
m cos  m cos  m
v2 v2
By the way, since an  ,  g tan  
 
or v  g  tan   9.81120  tan18  19.56m/s=70.4km/h

DYNAMICS

• Problem 12.69
▪ Rod OA rotates about O in a horizontal plane. The motion of the
300g collar B is defined by the relations r  300  100cos  0.5 t 
 
and   t 2  3t , where r is expressed in millimeters, t in
second, and  in radians
Determine the radial and transverse components of the force

exerted on the collar when t  0.5 s .
Sol.) Write the radial and transverse equations of motion

for the block. F
Fr
F r 
 mar  m r  r 2 
 F  ma  m  r  2r 

DYNAMICS

• Problem 12.69 (continued)
▪
Sol.) Let’s use the polar coordinates for the collar B. The derivatives are expressed as
r  0.3  0.1cos  0.5 t      t 2  3t 

r  0.05 sin  0.5 t      2t  3
r  0.025 2 cos  0.5 t    2
Thus, components of acceleration are
ar  r  r 2  0.025 2 cos  0.5 t   0.3  0.1cos  0.5 t    2t  3

2
a  r  2r  0.3  0.1cos  0.5 t   2   2 0.05 sin  0.5 t    2t  3
When t  0.5 s , their values are

ar  14.809 m/s 2 and a  3.725 m/s 2
Thus, the components of the force are
 F  ma  m  r  r    0.3 14.809  4.44 N

r r
2
23
 F  ma  m  r  2r    0.33.725  1.118Dept.
Prof. Jae-Sang Park
N
of Aerospace Eng., Chungnam National Univ.
DYNAMICS
12.2A Angular momentum of a particle

• Angular momentum
▪ Definition
H0  r  mv
: moment of momentum or the angular momentum of the particle

about O.
- Unit : (m)(kg·m/s) = kg·m2/s
- H 0 is perpendicular to plane containing r and mv .
H0  r m v sin  or H 0  rmv sin   rmv  mr 2
▪ Components
H 0  r  mv   xi  yj  zk    mvx i  mv y j  mvz k 
i j k
 x y z  im  yvz  zv y   jm  zvx  xvz   km  xv y  yvx   H x i  H y j  H z k
mvx mv y mvz
DYNAMICS
12.2A Angular momentum of a particle

• Angular momentum
▪ Time derivative
d
H0   r  mv   r  mv  r  mv  v  mv  r  ma
dt
 r   F   MO
. H 0   MO
It follows from Newton’s 2nd 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.

DYNAMICS
12.2B Motion under a central force

• Conservation of angular momentum
▪
- When only force acting on a 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,
H 0   MO  0
Thus, H0  r  mv  constant
The angular momentum of a particle moving under a central force

is constant, in both magnitude and direction
: Conservation of angular momentum
- Position vector and motion of particle are in a plane perpendicular to H 0 .

DYNAMICS
12.2B Motion under a central force

• Conservation of angular momentum
▪
- Magnitude of angular momentum,
H0  rmv sin   r0 mv0 sin 0  constant

or
H 0  mr 2  constant
H0 angular momentum
 r 2  h 
m unit mass
1 2
- Radius vector OP sweeps infinitesimal area : dA  r d
2
dA 1 2 d 1 2
- Define the areal velocity as  r  r
dt 2 dt 2
- Recall, for a body moving under a central force, h  r 2  constant

the areal velocity is constant.
DYNAMICS
12.2C Newton’s law of gravitation

• Law of universal gravitation
▪
- Gravitational force exerted by the sun on a planet or by the earth
on a satellite is an important example of gravitational force.
- Two particles of mass M and m attract each other with equal and
opposite force directed along the linear connecting the particles,
Mm
F G
r2
where G = constant of gravitation
12 m3 9 ft 4
 66.73 10  34.4 10
kg  s 2
lb  s 4
- For a particle of mass m on the earth’s surface, .
Mm GM GM m ft
W  G 2  m 2  mg  g  9.81  32.2
R R R2 s2 s2

DYNAMICS
12.2C Newton’s law of gravitation

▪ A satellite is launched in a direction parallel to the surface
of the earth with a velocity of 30,000 km/h from an altitude
of 400 km.
Determine the velocity of the satellite as it reaches
its maximum altitude of 4000km. The radius of the earth
is 6370 km.
Sol.) 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.
mv A
H0  rmv sin   constant
mv
or rA mvA  rB mvB
rA  6370  400 
 vB  v A   30000   19590 km/h
rB  6370  4000  mv B

Dynamics CH12

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DYNAMICS

Vector Mechanics for Engineers

Professor Jae-Sang Park

Department of Aerospace Engineering,

Fall Semester, 2022

▪ Newton’s 2nd law

2 Prof. Jae-Sang Park Dept. of Aerospace Eng., Chungnam National Univ.

12.1A Newton’s 2nd law of motion

- Consider a particle subjected to constant forces,

- When a particle of mass m is acted upon by a force F ,

3 Prof. Jae-Sang Park Dept. of Aerospace Eng., Chungnam National Univ.

12.1A Newton’s 2nd law of motion

4 Prof. Jae-Sang Park Dept. of Aerospace Eng., Chungnam National Univ.

12.1B Linear momentum of a particle

5 Prof. Jae-Sang Park Dept. of Aerospace Eng., Chungnam National Univ.

12.1B Linear momentum of a particle

6 Prof. Jae-Sang Park Dept. of Aerospace Eng., Chungnam National Univ.

12.1C Systems of units

7 Prof. Jae-Sang Park Dept. of Aerospace Eng., Chungnam National Univ.

12.1D Equation of motion

12.1D Equation of motion

12.1D Equation of motion

10 Prof. Jae-Sang Park Dept. of Aerospace Eng., Chungnam National Univ.

12.1D Equation of motion

11 Prof. Jae-Sang Park Dept. of Aerospace Eng., Chungnam National Univ.

12.1D Equation of motion

Sol.) Draw the free body diagram (FBD)

Resolve the equation of motion for the block

12 Prof. Jae-Sang Park Dept. of Aerospace Eng., Chungnam National Univ.

12.1D Equation of motion

P cos30  0.25  P sin 30  785  80  2.5  200

W=785 [N]=mg=80kg ∙ 9.81m/s2

13 Prof. Jae-Sang Park Dept. of Aerospace Eng., Chungnam National Univ.

12.1D Equation of motion xA

• Sample problem 12.3

12.1D Equation of motion

T2  300  9.81  300aB - (c)

Write the equation of the pulley

15 Prof. Jae-Sang Park Dept. of Aerospace Eng., Chungnam National Univ.

12.1D Equation of motion

T2  2T1  0 or  2943  150aA   2 100aA  0

12.1D Equation of motion

12.1D Equation of motion

For the block B, WB  mB g

18 Prof. Jae-Sang Park Dept. of Aerospace Eng., Chungnam National Univ.

12.1D Equation of motion

 mB g cos30  2mA aA  mB aA sin 30

mB g cos 30 6  9.81 cos 30

When we substitute the above equation into Eq. (b),

 aB / A  a A cos 30  g sin 30

19 Prof. Jae-Sang Park Dept. of Aerospace Eng., Chungnam National Univ.

12.1D Equation of motion

 at  g sin 30   9.81 sin 30  4.9m/s2

 an  g  2.5  cos30  16.03m/s2

12.1D Equation of motion

Sol.) Draw the free body diagram

or v  g  tan   9.81120  tan18  19.56m/s=70.4km/h

12.1D Equation of motion

Determine the radial and transverse components of the force

Sol.) Write the radial and transverse equations of motion

22 Prof. Jae-Sang Park Dept. of Aerospace Eng., Chungnam National Univ.

12.1D Equation of motion

r  0.3  0.1cos  0.5 t      t 2  3t 

r  0.025 2 cos  0.5 t    2