Engineering Mechanics – 19MECH01P Timetable

week Date Main Subject Lecture Topics Tutorials

1 21/09 Statics Force Vectors -1 Introduction
2 28/09 Statics Force Vectors -2 Force vectors - 2D
3 05/10 Statics Particle Equilibrium Force vectors - 3D
4 12/10 Statics Moments and Couples Particle Equilibrium
5 19/10 Statics Force Couple Resultant Moments and Couples
6 26/10 Dynamics - Kinematics 1- Rectilinear Motion Force Couple Resultant
7 02/11 Dynamics - Kinematics 2- Projectile Motion Kinematics-1
8 09/11 Dynamics - Kinematics 3- Curvilinear Motion Kinematics-2
9 16/11 Mid term test – Sunday 17/11
10 23/11 Dynamics - Kinetics 1 - Force Acceleration Methods Kinematics-3
11 30/11 Dynamics - Kinetics 2 – Work Energy Methods Kinetics-1
12 07/12 Dynamics - Kinetics 3- Impulse Momentum Methods Kinetics-2
13 14/12 Kinetics- 3
FORCE ACCELERATION METHOD

may the mass times acceleration be with you

Contents
Newton’s Second Law of Motion
a- Cartesian Coordinates
b- Intrinsic Coordinates
c- Polar and Circular Coordinates
The Force of Friction
Solved Examples

I can calculate the motion of heavenly bodies but not the madness of people
Isaac Newton
 Newton’s Second Law of Motion
(Law of Acceleration)

 dp d  mv  dm 
dv  dm 
R  v m v  ma
dt dt dt dt dt

 
R  ma

The acceleration of an object as produced by a net force is directly proportional to the

magnitude of the net force, in the same direction as the net force, and inversely
proportional to the mass of the object.

Nature is pleased with simplicity

Sir Isaac Newton
1642-1727
 
R  ma Cartesian coordinates

Motion parallel to the x axis

R x  ma x y
ay
If Rx is constant use a x  x
dx Ry
If Rx is a function of time use a x  dt
dx dx dx dx x
If Rx is a function of position use a x    x ax
dt dx dt dx Rx

y
Motion parallel to the y axis

R y  ma y x
O
If Ry is constant use a y  y
dy
If Ry is a function of time use a y  dt
dy
If Ry is a function of position use a y  y
dy
 
R  ma Intrinsic coordinates

Motion parallel to the tangential axis

t̂
R t  ma t

If Rt is constant use a t  s s

ds
If Rt is a function of time use a t  s  dt Rt
ds

If Rt is a function of position use a t  s  s
ds Rn
s 2
Motion parallel to the normal axis

s 2
n̂
R n  ma n  m

 
R  ma Polar coordinates

Motion parallel to the radial axis r̂


R r  ma r  m r  r 2 
̂ a r  r  r 2
Motion parallel to the transverse axis
a   r  2r  R
Rr

R   ma   m r  2r  
r


 
R  ma Circular coordinates
r̂
r  r  0
̂
Motion parallel to the radial axis Rr
a   r R

  
R r  ma r  m r  r 2  m  r 2 
a r   r 2
Motion parallel to the tangential (transverse) axis r 

   
R   ma   m r  2r   m r

t̂ a t  s
For circular and intrinsic coordinates (when the particle is moving on a circle) Rn
Rt
Motion parallel to the radial/normal axis
s 2 s 2
an  
 s 2   r
 2
 
R r  ma r  m r   m  
r
 r  

Motion parallel to the tangential/tangential axis

 
R   ma   m r  ms
n̂
The Force of Friction

The gem cannot be polished without friction,

Nor man perfected without trials
Confucius
Static
N N N
N

F fs F fs F fs

W W W W
N
Motion impending
I reached my limit
F f s  f max  s N

Dynamic W
N
Remains constant
F F F fk  k N

W
 N N
N

F Fc r F
fs fk  k N

W f s  f max  s N W
W

0  s  1
Friction Force

f Motion is impending ms is the coefficient of static friction

mk is the coefficient of kinetic friction 0  k  1

f max
μs > k
fk

fs

F F
Fc r Object in motion Applied Force
Static equilibrium (rest)
Method of Solution
A- Required diagrams or sketches
i- Draw the free body diagram of the object
a- the coordinates
b- all forces acting on the object the components of the resultant force along the two axes
c- any dimensions required of the coordinate system

ii- Draw the kinematics diagram of the object

Show the directions of the components of the acceleration along the two axes of the coordinate system

B- If the static and kinetic coefficients are given

Assume that the object is at rest and apply the static equilibrium conditions
Solve the equations of the static equilibrium conditions and obtain the magnitude of the normal (N)
and friction (f) forces
If the magnitude of the friction (f) is less or equal to the maximum friction, i.e
f  f max  s N
Then our assumption is true, and the body is in a state of rest. The problem ends here.
If the magnitude of the friction (f) is greater than the maximum friction, i.e
f  f max  s N

Then our assumption is not true, and the body is in a state of motion. The problem continues.
C- The body is in motion
From step A, construct the equations of motion, (Newton’s 2nd law of motion)

The friction force is replaced by the relation fk  k N

Solve and get required data.

Example-1
A 40 kg package is at rest on an incline when a force P is applied to it. The package travels up
the incline 10 m in 4 seconds. The coefficient of kinetic friction between the package and the
incline is 0.25.
i- Draw the free body diagram of the package,
ii- Draw the kinematics diagram of the package,
iii- Write down the equations of motions and show that the package is moving with a constant
acceleration,
iv- Determine the magnitude of the force P.

30 P

20
Solution y y 30
i- The free body diagram P
N 40 kg
P x
x Pcos50 k  0.25
20
30 f=0.25N
f=μ k N=0.25N 20
Psin50
20 20 392sin20
392cos20
40(9.8)=392
The Cartesian components of the resultant force
R x =Pcos50 - 0.25N - 392sin20 = 0.643P - 0.25N -134.072

R y =N-Psin50 - 392cos20 = N - 0.766P - 368.36

ii- The kinematics diagram

y
y=0

x x
The equations of motion y
mx=R
 x 40x=0.643P
 - 0.25N -134.072 ...  1 Ry
x
N-0.766P- 368.36 =0 ...  2  Rx
my=R y  0


Three unknowns x, P and N and two equations, y

y=0

need one more equation x
x
x=constant, we can apply
Since Rx is constant, then 
a
v=u+a C t d=ut+ C t 2 v 2  u 2  2a Cd
2
R x = 0.643P - 0.25N -134.072

The magnitude of the acceleration as the package moves 10 m in 4 R y = N - 0.766P - 368.36

seconds,
a
d=ut+ C t 2 A 40 kg package is at rest on
2
a
an incline when a force P is
10=0+ C  4 
2

2
applied to it. The package
travels up the incline 10 m in 4
a C =x=1.25
 ... (3)
seconds.
Three equations and three unknowns, solve and get the results
Example - 2
A crate having a mass of 60 kg falls horizontally off the back of a truck which is traveling at 80 km/hr.
Determine the coefficient of kinetic friction between the road and the crate if the crate slides 45m on the
ground with no tumbling along the road before coming to rest. Assume the initial speed of the crate along
the road is 80 km/h.

u = 22.22 m/s  1000 

80 km/h = 80   =22.22 m/s
 3600 
 y 22.22 m/s

u y =0 y=0


u x =22.22 x=0

x
O
x=45m

y=0

y N
f=μkN x
x
O
W=60(9.8)=588

The resultant forces

R y  N  588  0 N  588 N
constant forces
R x   k N   588  k
 y

R y  N  588  0 y=0

u y =0 y=0


u x =22.22 R x   k N x x=0


x
O
x=45m

3- The equations of motions

R y =my

R y  N  588  0
N  588 N

R x =mx

- k N= 60  -x
 

588 k = 60x

v=u+a C t v 2  u 2  2a cs
588
x=
 k = 9.8 k v 2  u 2  2a c s
60
constant deceleration 0=22.222 +2  -9.8μ k   45 
a
s=ut+ C t 2 22.22 2
2 k =  0.56
2  9.8   45 
Example - 3
Two crates are released from rest. Their masses are m A=40 kg and mB=30 kg, and the
coefficients of friction between crate A and the horizontal surface are ms=0.2 and mk=0.15.
The following is required
1- show that the system is in motion.
2- the kinematics diagram of A and B
3- the equations of motion for A and B
4- the tension in the cord, and the accelerations of A and B

B
Note
A
x displacement of A = displacement of B (x=y)
speed of A = speed of B  x A = y B 
y acceleration of A = acceleration of B  x A = yB 

A
x displacement of A = twice the displacement of B (x=2y)
speed of A = twice the speed of B  x A = 2y B 
y y
acceleration of A = twice the acceleration of B  
x A =2 y B 

B
The free body diagrams
A

40 kg

30 kg
B

f T 3T
x
R Bx = 0
WA  40  9.8   392 R By =294-3T 30  9.8   294

R Ax =T-f
R Ay =N-392
y
Assume the system at rest
Object A N Object B 3T

f T
x R By =294-3T = 0
294
392

R Ax =T-f = 0
R Ay =N-392 = 0 y

Solve to get f
Motion is impending
f=98 N and N=392 N f max
fk
Friction Force

f max =μ s N=0.2  392   78.4

f=98 > f max  78.4 fs

The system is in motion F

F Fc r
Object in motion Applied Force
Static equilibrium (rest)
3- The equations of motion for A and B
Object A y A  0 Object B 3T
N
x A
R By =294-3T
f = μ k Nf T
x y B 294

392

R Ay =N-392=0 N = 392
R Ax =T-f =T -  k N = T - 0.15  392  = T - 58.8 y

For body A R Ax =m A x A  A ...  1

T - 58.8 = 40x

For body B R By =m B y B 294-3T=30y

 B ...  2 A

Other relations
  B ...  3
x A =3y
40 kg

three equations in three unknowns. Solve to get unknowns

What is the minimum value for ms such that the system doesn’t move? 30 kg
B
What is the maximum value for ms such that the system doesn’t move?
Example-4
The following diagrams show the velocity v, the acceleration a, and the resultant force F for a particle
moving along the indicated path. Some of these diagrams violate the principle of dynamics. Indicate which
are correct and explain why.

a
a a
F v
F
v
F v (c)
(b)
(a)

a a

v v
v F
a
F

(d) (f)
(e)
 Example-5

B
The 0.3 kg collar is pulled by a spring
along the curved rod that lies in the
0.3m 0.5m
vertical plane. The spring's
unstretched length is 0.35 m and its s  10 m / s
constant is 300 N/m. The collar has a
speed of 10 m/s in the position shown, A C
and the guide rod is smooth.
Determine;
1- the acceleration of the collar and
2- the force exerted by the rod on the
collar in the position shown.
3- the angular velocity and angular acceleration of line BC

26
Solution
Geometrical considerations a- free body diagram c- The equations of motion
cos θ=0.8 s inθ=0.6
B n̂ n̂
s 2 102
0.5m   200
 0. 5
0.5m B
0.3m t̂ t̂
0.3m N

A s

0.4m 
C A C C
Fs  15
For the position shown, the R t =ms
W  0 . 3  9. 8 
spring’s length is -32.52=0.3s
L  AC  BC2  BA 2 s =-108.4
R t =-15s inθ-0.3  9.8  cos θ
2 2
L 0.5  0.3  0.4 s 2
R t =-9-23.52=-32.52 R n =m
ρ
Thus the force of the spring
acting on the collar is R n =15cos θ+N-0.3  9.8  s inθ 12.24+N=0.3  200 
Fs  k  L  Lo  R n =10.24+N N=47.76
Fs  300  0.4  0.35   15 N
3- the angular velocity and angular acceleration of line BC
ˆ
n̂
t̂
0.5m 0.5m
B B

r
2
s 2
10 r 2

 0. 5
C C
s =108.4 m/s 2 r̂

angular velocity s 2  2 angular acceleration s =r

 r
 -108.4=0.5 
102
 0.5 2  =-216.8 ra d/s 2
0 .5
10
   20rad / s
0 .5
Example-6
A small sphere of weight W=20 N is held as shown by two wires AB and CD. If wire AB is cut,
determine the tension in the other wire,
(a) before AB is cut,
A 50 70 D
(b) Immediately after AB is cut, take the length of CD to be 5m.

B C

Other Questions
Why after cable AB is immediately cut the sphere moves?
What is the angular velocity of cable CD immediately after cable AB is cut.
What is the angular acceleration of cable CD immediately after cable AB is cut.
Solve this problem using circular coordinates
Solution
determine the tension in the other wire, (a) before AB is cut,

20 T F
= =
sin  180-70-50  sin  90+50  sin  90+70  A 50 70 D
20 T F
= =
sin  60  sin  140  sin  160 
T
20sin  140  F
T=  14.45N
sin  60 

20sin  160  B C
F= =7.9N
sin  60  50 70

W=20
determine the tension in the other wire, (b) Immediately after
AB is cut, take the length of CD to be 5m. A 50 70 D
n̂ n̂
5m
D D C
5m 5m B
70

T s 2
0

C C

70
s
20 t̂ t̂
20N

The tangential equation of motion The normal equation of motion

ms =mgs in20 s 2
m =0 = T - 20cos 20

s =  9.8  s in20=3.35 m/s 2 T = 20cos 20 =18.8 N
Example-7
A block having a mass of 2 kg is given an initial velocity of 1m/s when it is at the top surface of the smooth
cylinder as shown. If the block moves along a path of radius 0.5 m, determine the angle q=qmax at which it
begins to leave the cylinder’s surface.

u  1m / s
A

0.5m


Solution
A N
The components of the resultant forces u  1m / s

R t = mgsinθ =19.6sinθ s
Rn =mgcosθ -N =19.6cosθ -N B
2
s
The tangential equation  s

0.5m
  R t
ms
mg  2  9.8   19.6
2s=
 19.6sinθ ...  1

The normal equation  t̂

 s 2 
m   Rn n̂
  
 

4s 2 =19.6cos  N
When the object begins to leaves the surface N=0 , thus the above equation becomes

 2 =19.6cos ... (2)

4s

We have two equations and three unknowns : s, s and 

 2s=
 19.6sinθ ...  1
A N
2 u  1m / s
4s =19.6cos ... (2)
To solve equation (1) we rewrite the tangential acceleration as; s

 ds
ds  ds sds
  B
s=
 = = 2
s
dt ds dt ds
And using  s

0.5 m
s =r  0.5
mg  2  9.8   19.6
ds =0.5d
sds
 
s=
 t̂
Thus the acceleration becomes 0.5d 
Equation (1) is
sds
  n̂
2 = 19.6sin
0.5d

Separating variables and integrating both sides

s
 
 sds
  = 4.9  sind
1 0

s 2
-1= -9.8  cosθ -1  ....  3 
2
Solving the equations
 2 =19.6cos ... (2)
4s

2
s
-1= -9.8  cosθ -1  ....  3 
2
Two equations in s and  , solve and get the required result
A N
u  1m / s

s
B
2
s
 s

0.5m
mg  2  9.8   19.6

 t̂

n̂
 Example-8

B
The smooth bar AB rotates in the vertical
plane at the constant rate of 1.5 rad/s. At
the instant shown, the 0.4 kg collar C is at C
r=0.8 m, and it is sliding inward relative to
the bar at 3 m/s. For this instant, determine r=AC=0.8 m
the force exerted by bar AB on the collar,
and the acceleration term
A
1.5 rad/s 60o

36
Note
Vertical plane
z y

Horizontal plane y
ˆ
q
r ˆ
x
r̂
r
W
The weight is perpendicular to q x
the plane of motion W
z The weight is parallel to the
plane of motion
Solution
B
a- The free body diagram b- The kinematics diagram

ˆ r̂ ˆ r̂ C

N r=AC=0.8 m 3m/s
  
rθ+2rθ r-rθ 2 A 60o
C C 1.5 rad/s

60o
r=AC=0.8 m
r=AC=0.8 m r = -3m/s
W=3.92

θ=1.5 rad/s
A 60o A 60o 
θ=0

R r =-3.92s in60=-3.4   2
a r =r-rθ   
a =rθ+2rθ

R θ =N-3.92cos 60=N-1.96 a r =r-0.8

  1.5   r-1.8
2
a =0.8  0  +2  -3   1.5   -9
c- The equations of motion r̂
ˆ
R r =ma r
R θ =N-1.96
-3.4=0.4  r-1.8  C
r=-6.69 m/s 2 r R r =-3.4

R θ =ma  60
O
N-1.96=0.4  -9 

N=-1.64 N
r̂
ˆ

a =-9 a r =r-1.8

C

O 60
 Example- 9
A

The 2 kg block B slides along the rough bar OA. The

position of the block is given by B
r=3t 2 -t 3
r
θ=2t 2
Calculate the forces acting on the block at t=2s. Motion
is in the vertical plane. O q

Calculate the forces acting on the block at the instant

q=30 degrees. Motion is in the vertical plane.

40
Solution r̂
a- free body diagram ˆ
R θ =N-19.6cosθ R r =-19.6sinθ+f N f

b- the kinetics diagram and the components of the acceleration B

19.6cos
r=3t 2 -t 3 r  t=2  =4 θ=2t 2 θ  t=2  =8 19.6sin 
r=6t-3t
 2
r  t=2  =0 
θ=4t θ  t=2  =8 r
r=6-6t r  t=2  =-6 
θ=4 θ  t=2  =4 W=19.6
O q
a r = r-rθ 2 = -6-4  64  = -262 r̂
   = 4  4   2  0   8   16 ˆ
a = rθ+2rθ   
rθ+2rθ
r-rθ 2
c- The equations of motion
B
R θ =ma  N-19.6cos θ=2  16 
R r =ma r -19.6s inθ+f=2  -262  r r=3t 2 -t 3
θ=2t 2
Solve and get results,
what is the magnitude of the coefficient of kinetic friction? O q
Problems
1- The two blocks shown are originally at rest. Neglecting the masses of the pulleys and
the effect of friction in the pulleys and between the blocks and the incline, determine
(a) The acceleration of each block
(b) The tension in the cable

A B
10kg 5kg

30

2- Each of the blocks has a mass m. The coefficient of kinetic friction at all surfaces of contact is
mk. If a horizontal force P moves the bottom block, determine the acceleration of the bottom
block in each case

B B

P P
A A
3- Block A has a mass of 30 kg and block B has a mass of 100 kg. Determine their velocities in
t=3 seconds after they are released from rest. Neglect the mass of the pulleys and the cords.

4- The 10 kg box A is traveling to the right at the

instant shown. The coefficient of kinetic friction C
between the surface and box A is mk=0.2. The
A
mass of weight B is 20 kg. Neglect the masses of A
the pulleys and cord. The following is required;
1- the free body diagram of A and B
2- the kinematics diagram of A and B B
3- the equations of motion for A and B
4- the tension in the cord, and
5- the accelerations of A and B B
 A 0.75 m
5- A smooth 2 kg collar is attached to a spring having stiffness k=3 C
N/m and an unstretched length of 0.75 m. The collar is released from
rest at A. The following is required at the instant when the collar is at
y=1m
y=1 m, (i.e. point B);
1- the acceleration of the collar, and
2- the reaction of the rod on the collar
3- is the collar resting on the right side or the left side of the rod. B

6- The 0.5 kg block is released from rest, and slide

down the smooth 30o incline. In its initial position, the
spring, whose stiffness is 30 N/m, is elongated by 0.4
m. Determine the speed of the block when it has moved
0.2 m down the incline.
30o
 450 N
7- A 200 kg cart is pulled from rest along a smooth horizontal rail by
the cable, which carries a tension of 450 N. The cart moves from  
position A to position B.
The following is required; C
 
  
(a) Draw the free body diagram of the cart.
(b) Draw the kinematic diagram of the cart. 3m

(c) Write down the equations of motion A

B
(d) Determine the acceleration of the cart  
(e) The velocity of the cart at B 4m
 
   

t̂
8- The longitudinal axis of the guided missile is aligned tangent to the path at an
angle 35o from the vertical. The missile's thrust is 2248 kN , its weight is 730 kN 35o
and its speed is v=1524 m/s. The following is required
1- the free body diagram of the missile,
2- the kinematics diagram of the missile,
n̂
3- the equations of motion of the missile
4- the rate of change of the speed of the missile and the radius of curvature of
the path.
9- A block having a mass of 2 kg is given an initial velocity of 1m/s A
u  1m / s
when it is at the top surface of the smooth cylinder as shown. If the
block moves along a path of radius 0.5 m, determine the angle
q=qmax at which it begins to leave the cylinders surface.
B

0.5m

10- The 0.5 kg collar is sliding down the smooth curved rod with an
instantaneous speed of 3.7 m/s in the position shown. Determine the force 36.87o 0.5 m
exerted by the rod on the collar and the acceleration of the collar in this 3.7 m/s
position.

11- A 0.05 kg sphere is initially held by two cables in the position shown.
10o 10o
The left cable is cut. Determine the tension in the right cable before and
1m 1m
immediately after the cable is cut. Also determine the initial acceleration of
the sphere.
12- A 0.15 kg ball is falling at the velocity shown. Air resistance is negligible. For this
36.87o
instant, determine the rate of change of the speed and the radius of curvature of the path
v=20 m/s
B
C
13-Determine the minimum speed that must be given to the
2.5 kg box at A in order for it to remain in contact with the 30o
circular path of radius 1.2 m . Also, determine the speed of the
box when it reaches point C
1.2m

A vA
r
A
3m 14- The smooth bar rotates in the horizontal plane with
constant angular velocity 60 rpm. The spring constant is k=20
60 rpm
N/m, and the unstretched length of the spring is 3 m. If the 1 kg
collar A is released at r=1 m with no radial velocity, what is its
radial velocity when r=2 m?
Exam Question (25 marks)
The masses of the two crates shown in Figure Question D3 are m A=40 kg and mB=12 kg,
and the coefficients of friction between crate A and the surface are ms=0.4 and mk=0.3.
The following is required:
•Will the system move or remain at rest? [12 marks]
•The tension in the cable. [4 marks]
•The friction force between crate A and the surface. [4 marks]
•The distance covered by A after the first 60 minutes. [4 marks]
Next Week : Work-Energy Method