Addis Ababa University

Addis Ababa Institute of Technology

School of Mechanical & Industrial Engineering

Engineering Mechanics II (Dynamics)

MEng 2052
Chapter Three

Kinetics of Particles

By Tadele Libay September,

2021
 Kinetics of Particles

• It is the study of the relations existing between

the forces acting on body, the mass of the body,
and the motion of the body.
• It is the study of the relation between
unbalanced forces and the resulting motion.

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 • Newton ’s first law and third law are sufficient

for studying bodies at rest (statics) or bodies in

motion with no acceleration.

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 • When a body accelerates ( change in velocity

magnitude or direction) Newton ’s second law is

required to relate the motion of the body to the

forces acting on it.

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 Kinetics of Force, Mass and Acceleration

• 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.

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 • The basic relation between force and
acceleration is found in Newton's second law of
motion and its verification is entirely
experimental.

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 • Consider a particle subjected to constant forces

F1 F2 F
  ...   const
a1 a2 a

• We conclude that the constant is a measure of

some property of the particle that does not
change.
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 • This property is the inertia of the particle which is its resistance
to rate of change of velocity.
• The mass m is used as a quantitative measure of inertia, and
therefore the experimental relation becomes,
F=ma
• This relation provides a complete formulation of Newton's second
law; it expresses not only that the magnitude F and a are
proportional but also that the vector F and a have the same
direction.
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Equation of Motion and Solution of Problems

• When a particle of mass m acted upon by several forces. The

Newton’s second law can be expressed by the equation

F  ma

• To determine the acceleration we must use the analysis used in

kinematics, i.e
• Rectilinear motion
• Curvilinear motion
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 Rectilinear Motion

• If we choose the x-direction, as the direction

of the rectilinear motion of a particle of mass
m, the acceleration in the y and z direction will
be zero, i.e
F x  ma x
F y
0
F z 0
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 • Generally,
F x
 ma x
F y
 ma y
F Z
 maZ

• Where the acceleration and resultant force are given

by
a  axi  a y j  az k F  F i  F j  F k
x y z

 F   F   ( F )  ( Fz ) 2
2 2 2 2
a ax  a y  az x y
2

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 Curvilinear Motion

• In applying Newton's second law, we shall make

use of the three coordinate descriptions of
acceleration in curvilinear motion.

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 Rectangular Coordinates
F x  ma x
F y
 ma y
 

Where a x  x and ay  y

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 Normal and Tangential Coordinates
F n  man
F t  mat

 2 v2 
• Where an    

, at  v

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 Polar Coordinates
F r  mar
 F  ma
  2   
• Where ar  r  r  and an  r   2 r 

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 Example 1

• A small vehicle enters the top A of the circular path with a

horizontal velocity vo and gathers speed as it moves down the path.

• Determine an expression for the angle β to the position where the

vehicle leaves the path and becomes a projectile. Evaluate your
expression for vo=0. Neglect friction and treat the vehicle as a
particle

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 Example 2
• The slotted arm revolves in the horizontal about the fixed vertical axis
through point O. the 2 Kg slider C is drawn towards O at the constant
rate of 50mm/s by pulling the cord S. At the instant for which
r=225mm, the arm has a counterclockwise angular velocity ω=6rad/s
and is slowing down at the rate of 2rad/s2 .for this instant determine
the tension T in the cord and the magnitude N of the force exerted on
the slider by the sides of the smooth radial slot. Indicate which side, A
or B, of the slot contacts the slider. (problem 3/69 6th Edition meriam)

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 Work and Kinetic Energy

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• The method of work and energy directly relates force, mass,
velocity, and displacement.
• We apply this method:
 When intervals of motion are involved where the change in
velocity or the corresponding displacement of the particle is
required.

• Integration of the forces with respect to the displacement

of the particle leads to the equation of work and energy.
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 Work of Force
 
dU  F  dr
dU  Fds cos 
     
  
dU  Fx i  Fy j  Fz k  d x i  d y j  d z k 
 Fx dx  Fy dy  Fz dz

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 
A2

U 1 2   F  dr
A1
s2 s2

U 1 2   F cos  ds   F ds
s1 s1
t

A2

U 1 2   F dx  F
A1
x y dy  Fz dz 

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 Work of a constant force in rectilinear motion

U 1 2  F cos  x
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 Work of the Force of Gravity

dU  Wdy
y2

U 1 2    Wdy Wy 1  Wy 2
y1

U 1 2  W ( y 2  y1 )  Wy

When y is negative (moves down), the work is

positive
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 Work of the Force Exerted by a Spring

F  kx
dU   Fdx   kxdx
x2
1 2 1 2
U 1 2    kxdx  kx1  kx2
x1
2 2

If the spring returning to the

undeformed position, then positive energy
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 Work of a gravitational Force

Mm
F G
r2
Mm
dU   Fdr  G 2
dr
r
r2
GMm GMm GMm
U 1 2    dr  
r1
r2 r2 r1

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 Kinetic Energy of a Particle
dv dv ds dv
Ft  mat  m m  mv
dt ds dt ds
Ft ds  mvdv
s2 v2
1 1
 Ft ds  m  vdv 
s1 v1
2
mv22  mv12
2

U 1 2  T2  T1
T1  U 1 2  T2

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 Power and Efficiency
• Friction energy dissipated by heat
and reduce kinetic energy

dU F  dr 
power    F v
dt dt
power output

power input

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 Potential Energy y2

U 1 2    Wdy Wy 1  Wy 2
y1

U 1 2  (Vg )1  (Vg ) 2
Vg  Wy
Potential Energy of the body with
respect to the force of gravity

When Vg2 >Vg1potential energy increases, and U 1-2

is negative
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It should be noted that the expression just obtained for the potential energy of a
body with respect to gravity is valid only as long as the weight of body can be
assumed to remain constant, i.e., as long as the displacements of the body are small
compared with the radius of the earth.
r2
GMm GMm GMm
U 1 2    2
dr  
r1
r r2 r1
Mm WR 2
Vg G 
r r

R is from the center of the

earth
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 x2
1 2 1 2
U 1 2    kxdx  kx1  kx2
x1
2 2
U 1 2  (Ve )1  (Ve ) 2
1
Ve  kx 2
2

Potential Energy of the body

with respect to the elastic
force F
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 Only the initial and final deflection of
the spring are needed
Deflection of the spring is measured
from its undeformed position
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 Equation of Work and Energy

U12  T
where of
Where U12 =work done by other
w s of
U12  U12  U12  U12 (non conservative/ path
dependant) forces
of
 Vg  Ve  U12  T
of
U12  T  Ve  Vg
of
U12  E
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Advantages and Disadvantages of Work and
Energy Method

• Advantage; 1. No need to calculate values between A1 and

A2. Only final stages are counted 2. All scalars so can be

added easily 3. Forces that do no work are ignored

• Disadvantage; can not determine accelerations, can not

determine accelerations and forces that do no work

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 Impulse and Momentum

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 • Work and energy is obtained by integrating the
equation of F=ma with respect to the
displacement of the particle.
• Impulse and momentum can be generated by
integrating the equation of motion (F=ma) with
respect to time.
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 Linear Impulse and Momentum

• Consider a particle of a mass m which

is subjected to several forces in space.
d
 F  mv  dt
(mv) or  F  G ............(1)
• The product of the mass & the velocity
is defined as the linear momentum.

G  mv
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 • Equation (1) states that the resultant of all
forces acting on a particle equals its time rate
of change of linear momentum.
• It is valid as long as the mass m of the particle
is not changing with time.
• The scalar components of equation (1) are:
F x
 G x , F y  G y , F z  G z
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 • The effect of the resultant force F on the linear
momentum of the particle over a finite period of time
simply by integrating with respect to time t.
 Fdt  dG
t2

  Fdt  G
t1
2  G1  G

• The linear momentum at time t2 is G2=mV2 and the linear

momentum at time t1 is G1=mV1.
• The product of force and time is called linear impulse.
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 • The total linear impulse on a mass m equals
the corresponding change in linear momentum
t2

of m. G1    Fdt  G2 The impulse integral is a vector

t1

t2
  Fx dt  mVx 2  mVx 1
 t1
t2

Scalar impulse   Fy dt  mVy 2  mVy 1
momentum eqns. t1
t2
 F dt  mVz 2  mVz 1
t  z
AAiT
1
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 Conservation of Linear Momentum
• If the resultant force on a particle is zero
during an interval of time, its linear
momentum G remains constant. In this
case the linear momentum of a particle is
said to be conserved.
G  0 or G1  G2
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 Angular Impulse and Momentum

• The moment of a linear momentum vector mv

about the origin O is defined as the angular
momentum of P & is given by the product
relation forHmoment
o of vector:-
H 0  r  mv
• The angular momentum then is a vector
perpendicular to the plane A defined by r & v

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 • The scalar component of angular momentum
is:-
H o  r  mv  m(v z y  v y z )i  m(v x z  v z x) j  m(v y x  v x y )k
i j k
Ho  m x y z
vx vy vz
H x  m(v z y  v y z ), H y  m(v x z  v z x) H z  m(v y x  v x y )

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• If  F represents the resultant of all forces acting on the particles
P, the moment Mo about the origin O is the vector cross product.

M o  r   F  r  mv
H o  r  mv  r  mv  v  mv  r  mv
 M  H ..............(*)
o o

• The moment about the fixed point O of all forces acting on m equals
the time rate of change of angular momentum of m about O.

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 • To obtain the effect of moment  M o on the angular
momentum of the particle over a finite period of time;
t2

M
t1
o dt  H o2  H o1  H o

where H o2  r 2  mv 2 & H o1  r 1  mv1

• The product of moment & time is angular impulse the total

angular impulse on M about a fixed point O equals the
corresponding change in angular
t
momentum of M about O.
2

H o1    M o dt  H o2
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1 Industrial Engineering - SMiE 45
 Conservation of Angular Momentum

• If the resultant moment about a fixed point O of all

forces acting on a particle is zero during the interval
of time, equation (*) requires that its angular

momentum H0 about that point remains constant.

H o  0 or H o1  H o2

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 Impact

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 • Impact Refers to the collision b/n two
bodies and is characterized by the
generation of relatively large contact forces
that act over a very short interval of time.

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 a) Direct Central Impact

• Consider the collinear motion of two spheres of masses m 1 and

m2 travelling with velocities V1 & V2. If V1 is greater than V2,
collision occurs with the contact forces directed along the
line of centers.

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 • In as much as the contact forces are equal
& opposite during impact; the linear
momentum of the system remains
unchanged.
m1v1  m2 v2  m1v1 ' m2 v2 '

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 • For given masses & initial conditions, the momentum
equation contains two unknowns, v1’ & v2’, an additional
relationship is required.
• The relationship must reflect the capacity of the
contacting bodies to recover from the impact & can be
expressed by the ratio e of the magnitude of the
restoration impulse to the magnitude of the deformation
impulse. This ratio is called the coefficient of restitution.

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 • Fr – contact force during restoration period

• Fd – tcontact force during deformation period

t Fr dt m  v ' v  v  v '
e t o
 1 1 o
 o 1 ............... for particle 1
o
m1  vo   v1  v1  vo
 Fd dt
t
t

 F dt
to
r
m2 v2 'vo  v2 'vo
e   ..................... for particle 2
to
m2 vo  v2  vo  v2
 F dt
d
AAiT t
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 • According to classical theory of impact, the value
e=1 means that the capacity of the two particles to
recover equal their tendency to deform.
• The value e=0, on the other hand describes
inelastic or plastic impact where the particles cling
together after collision & the loss of energy is a
maximum.
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 b) Oblique Direct Central Impact

• Here the initial and final velocities are not parallel.

• The spherical particles of mass m1 & m2 have initial
velocities v1 & v2 in the same plane & approach each other
on a collision course.
• The direction of the velocity vector are measured from
the direction tangent to the contacting surfaces.

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 v1 n  v1 sin 1 , v1 t  v1 cos 1 ,
v2 n  v2 sin  2 , v2 t  v2 cos 2 ,

There will be four unknown namely, (v1’)n, (v1’)t, (v2’)n, & (v2’)t
1) Momentum of the system is conserved in the n-direction,

2) & 3) The momentum for each particle is conserved in the t-

direction since there is no impulse on either particle in the t-
direction. m1 (v1 ) t  m1 (v1 ' ) t
m2 (v2 ) t  m2 (v2 ' ) t
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 3) the coefficient of restitution, the velocity component in the
n- direction,

v2 'n  v1 'n

e
v1 n  v2 n

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 Suggested Problems
From 7th Edition , Merriam
Engineering Mechanics Dynamics
Chapter III Problem 3/……..
3,9,13,23,24,29,32,34,43,45,48,54,68,72,84,8996,99,10
9,112,113,117,127,132,137,140,144,
149,151,158,164,176,178,187,191,192,198,200,
227,226,235,241,249,253,258,259,262,and264
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 Thank You

Any Question?

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