Kinetics of a Particle (Force and Acceleration)

Road Map

Kinetics of particles

Newton’s motion law The equation of Motion

x-y coord. n-t coord. r- coord.

Engineering Dynamics
 APPLICATIONS

The forces acting on the 100-lb boy can be analyzed using the
cylindrical coordinate system.
If the boy slides down at a constant speed of 2 m/s, can we
find the frictional force acting on him?
Engineering Dynamics
 APPLICATIONS
(continued)
When an airplane
executes the vertical
loop shown above, the
centrifugal force causes
the normal force
(apparent weight) on the
pilot to be smaller than
his actual weight.
If the pilot experiences
weightlessness at A,
what is the airplane’s
velocity at A?

Engineering Dynamics
 ACCELERATION (POLAR COORDINATES) Chapter 12

The instantaneous acceleration is defined as:

u θ     u .
r
.
a = dv/dt = (d/dt)(rur + ruθ)
After manipulation, the acceleration can be
expressed as
.. . 2 .. ..
a = (r – r )ur + (r + 2r)uθ
.. . 2
The term (r – r ) is the radial acceleration
or ar.
.. ..
The term (r + 2r) is the transverse
acceleration or a
.. . 2 2 .. .. 2
The magnitude of acceleration is a = (r – r ) + (r + 2r)
Engineering Dynamics
 CYLINDRICAL COORDINATES

This approach to solving problems

has some similarity to the normal &
tangential method. However, the
path may be more complex or the
problem may have other attributes
that make it desirable to use
cylindrical coordinates.

Equilibrium equations or “Equations of Motion” in cylindrical

coordinates (using r, θ , and z coordinates) may be expressed in
scalar form as:
.. . 2
 Fr = mar = m(r – rθ )
.. . .
 Fθ = maθ = m(rθ + 2rθ)
..
 Fz = maz = mz
Engineering Dynamics
 CYLINDRICAL COORDINATES
(continued)
If the particle is constrained to move only in the r – θ
plane (i.e., the z coordinate is constant), then only the first
two equations are used (as shown below). The coordinate
system in such a case becomes a polar coordinate system.
In this case, the path is only a function of θ.
.. .2
 Fr = mar = m(r – rθ )
.. ..
 Fθ = maθ = m(rθ + 2rθ)

Note that a fixed coordinate system is used, not a “body-

centered” system as used in the n – t approach.

Engineering Dynamics
 TANGENTIAL AND NORMAL FORCES
If a force P causes the particle to move along a path defined
by r = f (θ ), the normal force N exerted by the path on the
particle is always perpendicular to the path’s tangent. The
frictional force F always acts along the tangent in the
opposite direction of motion. The directions of N and F can
be specified relative to the radial coordinate by using angle
ψ.

Engineering Dynamics
 DETERMINATION OF ANGLE ψ

The angle ψ, defined as the angle

between the extended radial line
and the tangent to the curve, can
be required to solve some
problems. It can be determined
from the following relationship.

r dθ r
tan ψ = =
dr dr dθ

If ψ is positive, it is measured counterclockwise from the radial

line to the tangent. If it is negative, it is measured clockwise.

Engineering Dynamics
 GROUP PROBLEM SOLVING
Given: A plane flies in a vertical loop
as shown.
vA = 80 ft/s (constant)
W = 130 lb
Find: Normal force on the pilot at A.
Remember:
.. . 2
 Fr = mar = m(r – rθ )
.. ..
 Fθ = maθ = m(rθ + 2rθ)
 2
. .. v = (r  r )
2

Plan: Determine θ and θ from the velocity at A and by

differentiating r. Solve for the accelerations, and
apply the equation of motion to find the force.
Solution: Kinematics: r = - 600 cos( 2θ )
r· = 1200 sin( 2 θ) θ·
·· = ·2
+ ··
r 2400cos(2θ ) θ 1200sin(2θ ) θ
At A (θ = 90°) r· = 0
 GROUP PROBLEM SOLVING (continued)   2
Remember ch12 v = (r  r )
2

At A (θ = 90°) r· = 0
·
Therefore v A = (r· ) 2 + ( r ·θ) 2 = r θ
· 80
Since r = 600 ft at A, θ = = 0.133 rad
600 s
.. ·· ..
Since vA is constant, aθ = r θ + 2r θ = 0 => θ = 0

··r = 2400 cos(180°)θ· 2 + 1200 sin(180°)··

θ = - 2400(0.133) = - 42.67
2 ft
s2
·· ·2 ft
a r r r θ = - 42.67 - 600(0.133) 2 = - 53.33
= -
s2
Remember:
.. .
 Fr = mar = m(r – rθ2)
Engineering Dynamics
 GROUP PROBLEM SOLVING
(continued)
Free Body Diagram & Kinetic Diagram
r mar
N

θ
mg
etics:  Fr = mar => -mg – N = mar
130
N = -130 – (-53.3)
32.2=> N = 85.2 lb
Notice that the pilot would experience weightlessness when his
radial acceleration is equal to g.
Engineering Dynamics
 EXAMPLE
Given: The ball (P) is guided along
P A the vertical smooth circular
path. .
r W = 0.5 lb, θ = 0.4 rad/s,
rc ..
θ = 0.8 rad/s2, rc = 0.4 ft
ө r = 2rc cos θ
Find: Force of the arm OA on the
ball when θ = 30.
Plan: Draw a FBD. Then develop the kinematic equations
and finally solve the kinetics problem using
cylindrical coordinates.
tion: Since r = 2rc cos θ, therefore:
. .
r = -2rc sinθ θ . ..
..
r = -2rc cosθ θ2 – 2rc sinθ θ
 EXAMPLE
(continued)
Free Body Diagram: Establish the r , θ inertial coordinate
system and draw the particle’s free body diagram.

θ + mg
+ θ
t θ y r+ +
maq +
θ
= mar
θ
θ Ns NOA

n+
θ =30°
Engineering Dynamics
 EXAMPLE
(continued)

Kinematics: at = θ30
r = 2(0.4) cos(30) = 0.693 ft
.
r = -2(0.4) sin(30)(0.4) = -0.16 ft/s
..
r = -2(0.4) cos(30)(0.4)2 – 2(0.4) sin(30)(0.8) = -0.431 ft/s2

Acceleration components are

.. 2 .
ar = r – rθ = -0.431 – (0.693)(0.4)2 = -0.542 ft/s2
.. ..
aq = rθ + 2rθ = (0.693)(0.8) + 2(-0.16)(0.4) = 0.426 ft/s2

Engineering Dynamics
 EXAMPLE
angle ψ, defined as the
etics: (continued)
angle between the
extended radial line and
 Fr = mar the tangent to the curve
0.5
Ns cos(30) – 0.5 sin(30) = (-0.542)32.2

Ns = 0.279 lb
 Fθ = maθ
0.5
NOA + 0.279 sin(30) – 0.5 cos(30) = 32.2 (0.426)

NOA = 0.3 lb
tan ψ = r/(dr/dq) where dr/dq = -2rc sinq
tan ψ = (2rc cosq)/(-2rc sinq) = -1/tanq  ψ = 120
Engineering Dynamics
Engineering Dynamics
Engineering Dynamics
The 35-kg box has a speed of 2m/s when
it is at A on the smooth ramp. If the
surface is in the shape of a parabola,
determine the normal force on the box at
the instant x=3m. Also, what is the rate
of increase in its speed at this instant?
Engineering Dynamics
Engineering Dynamics
Assignment No 4

Chapter 13
Solve Examples 13-10 to 13-12 and maximum
Problems from 13-84 to 13-115

Engineering Dynamics