Lecture 15

work & kinetic energy

Hirotaka SATO
hirosato@ntu.edu.sg 1
 work & kinetic energy
• force 1
• displacement mv 2
2

Δx

 
Newton’s 2nd Law F  ma

2
previous lecture

 
Newton’s 2nd Law


F  ma rPA 
position
vector

L14 Slides #7-9

d
MA = HA
torque dt angular
momentum

3
This Lecture

 
Newton’s 2nd Law


F

F  ma  dr

dr

displacement

integration

1 1
U12  mv2  mv1
2 2

2 2
Work Kinetic Energy
done by force
4
 Simplest Case: push along X axis

displacement

X1  X2
dr

F
0

5
 dv what?
F dx  m dx
displacement
dt
dx
v
a dt
F dx  m v dv
infinitesimal work

integration
start!

x2 v2

from Newton’s 2nd Law
 Fdx   mv dv
F  ma
x1 v1

1 2 1 2
   
Work
done by force  mv2  mv1
F  dr  ma  dr U12 2 2
infinitesimal work
Kinetic Energies
F dx  ma dx goal
“work gives change in kinetic energy”
x component alone 6

Newton’s 2nd Law

F  ma dx
displacement

integration

x2 1 1
 Fdx  mv2  mv1
2 2
x1 2 2
Work
done by force Kinetic Energy Kinetic Energy

7
 x2 1 1
 Fdx  mv2  mv1
2 2
x1 2 2

in general
8
 x2 1 1
 Fdx  mv2  mv1
2 2
x1 2 2
Fx Fx  Fx ( x )

U 1 2

x
O x1 x2
9
 x2 1 1
case study 1 for ‘work and kinetic energy’ x1
Fdx 
2
mv22  mv12
2

if F  constant
x2 1 1
 Fdx = F( x2 - x1 ) = mv2  mv1
2 2
for example
x1 2 2
gravitational force

F
U12
work

mg x
O x1 x2
10
 x2 1 1
case study 2 for ‘work and kinetic energy’ x1
Fdx 
2
mv22  mv12
2

if F  kx rest length

F = -kx

X
x=0

F
x1 x2 x2 x2

U12
x1
Fdx   ( kx) dx
x1
work
1 2 1 2
 ( kx2  kx1 )
2 2
work is negative value

velocity is decreased
F = -kx
1 1
 mv2  mv12
2

2 2 11
 x2 1 1
 Fdx  mv2  mv1
2 2
x1 2 2

this is for one dimension case

Let’s study 3D, more general case

12
1D to 3D


 F
dr
P
y
O
x

13
start! from Newton’s 2nd Law

 
F  ma

dv
F m
dt

dv
F dr  m dr
displacement
dt displacement

14
F  F x iˆ  F y ˆj  F z kˆ dv  dv x iˆ  dv y ˆj  dv z kˆ
break down
break down

dv
F dr  m dr
dt
break down
break down

ˆ ˆ
d r  dx i  dy j  dz kˆ
15
z
dv dv x iˆ  dv y ˆj  dv z kˆ
dvz
Y
dvy

dvx
x
16
F  F x iˆ  F y ˆj  F z kˆ dv  dv x iˆ  dv y ˆj  dv z kˆ
break down
break down

dv
F dr  m dr
dt
break down
break down

ˆ ˆ
d r  dx i  dy j  dz kˆ
17
 dv
F dr  m dr
dt

18
 dv
F dr  m dr
dt
F  F x iˆ  F y ˆj  F z kˆ v  v x iˆ  v y ˆj  v z kˆ
d r  d x iˆ  d y ˆj  d z kˆ d r  d x iˆ  d y ˆj  d z kˆ

dv x dv y dvz
 Fx dx  Fy dy  Fz dz m dx  m dy  m dz
dt dt dt
infinitesimal work vx vy vz

 mvx dv x  mv y dv y  mvz dv z

19
 dv
F dr  m dr
dt
F  F x iˆ  F y ˆj  F z kˆ v  v x iˆ  v y ˆj  v z kˆ
d r  d x iˆ  d y ˆj  d z kˆ d r  d x iˆ  d y ˆj  d z kˆ

dvx dv y dvz
 Fx dx  Fy dy  Fz dz m  dx  m  dy  m  dz
dt dt dt
infinitesimal work vx vy vz

 mvx dv x  mv y dv y  mvz dv z

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Fx dx  Fy dy  Fz dz  mvx dv x  mv y dv y  mvz dv z
infinitesimal work integration

x2 y2 z2 v x2 v y2 v z2

x1
Fx dx   Fy dy   Fz dz  v mvx dv x  v mv y dv y  v mvz dv z
y1 z1 x1 y1 z1

work U12 v x2 v y2 vz 2
1 2  1 2  1 2 
  mv x    mv y    mv z 
2  v x1  2  v y1  2  vz1

1 2 1 2 1 2 1 2 1 2 1 2 
 mvx 2  mv y 2  mvz 2   mv x1  mv y1  mv z1 
2 2 2 2 2 2 

1 2 1 2
 mv2  mv1 in general
2 2 v v v v
2 2
x
2
y
2
z 21
Fx dx  Fy dy  Fz dz  mvx dv x  mv y dv y  mvz dv z
infinitesimal work integration

x2 y2 z2 v x2 v y2 v z2

x1
Fx dx   Fy dy   Fz dz  v mvx dv x  v mv y dv y  v mvz dv z
y1 z1 x1 y1 z1

work U12 v x2 v y2 vz 2
1 2  1 2  1 2 
  mv x    mv y    mv z 
2  v x1  2  v y1  2  vz1

1 2 1 2 1 2 1 2 1 2 1 2 
 mvx 2  mv y 2  mvz 2   mv x1  mv y1  mv z1 
2 2 2 2 2 2 

1 2 1 2
 mv2  mv1 in general
2 2 v v v v
2 2
x
2
y
2
z 22
 x2 y2 z2

x1
Fx dx   Fy dy   Fz dz
y1 z1

1 2 1 2
 mv2  mv1
2 2
23
 x2 y2 z2 1 2 1 2
x1
Fx dx   Fy dy   Fz dz
y1 z1
 mv2  mv1
2 2

Kinetic energy Kinetic energy

Work done during the travel @ end, state 2 @ start, state 1
denote
denote denote

U12  T2  T1
Principle of Work and Kinetic Energy
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 simple example1: a ball falling from a height

V1 = 0 [solution 1]
apply the principle of work and kinetic energy
m
U12  T2  T1
mg
x2 y2 z2 1 2 1 2
h x1 Fx dx  y1 Fy dy  z1 Fz dz  2 mv2  2 mv1

V2 = ?

25
 simple example1: a ball falling from a height
+y
V1 = 0 [solution 1]
apply the principle of work and kinetic energy
m
U12  T2  T1
y=0

mg
x2 y2 z21 2 1 2
h x1 Fx dx  y1 Fy dy  z1 Fz dz  2 mv2  2 mv1

V2 = ?

26
 simple example1: a ball falling from a height

V1 = 0 [solution 2]
direct approach, newton’s 2nd law
m ma = F
mg

V2 = ?

27
 simple example1: a ball falling from a height
+y
V1 = 0 [solution 2]
direct approach, newton’s 2nd law
m y=0
ma = F
mg

V2 = ?

28
Example 3-7 (Applications of Principle of Work and Energy to a
particle)

A block A of mass mA = 250 kg is connected to a pulley-cable

system of negligible masses and frictions as shown. It is initially
at rest when a constant force F = 2943 (N) is applied to point B,
Fig.a. Determine the velocity of A when block A travels up 1 m.

A F

Fig.a

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 +y work

U12  T2  T1
T T

T
T T B

A F
250 kg 2943 N

mA g

displacement of A: 1m upward

30
Example 3-7 (Applications of Principle of Work and Energy to a
particle)

A block A of mass mA = 250 kg is connected to a pulley-cable

system of negligible masses and frictions as shown. It is initially
at rest when a constant force F = 2943 (N) is applied to point B,
Fig.a. Determine the velocity of A when block A travels up 1 m.

A F

Fig.a

31
 +y [solution 2]
direct approach, newton’s 2nd law

ma = F
T T

T
T T B

A F
250 kg 2943 N

mAg

displacement of A: 1m upward

32
(a) Add a mass to the system:

If in this problem we replace the force F by a 300 kg weight at point

B as shown in Fig.c, is it the same since the gravity force of the
weight B is exactly 300(9.81) = 2943 (N)?

A mBg =2943 (N)

mA g
Fig.c

33
 work
+y
U12  T2  T1
T T y=0
note: since positions of
A and B are negative, give
negative signs to yA and yB

T
T T
B

mBg =
A 2943 (N)

250 kg

mA g
displacement of A:
1m upward
34
 [solution 2]
+y direct approach, newton’s 2nd law
ma = F
T T y=0

T time-differentiation
T T
B
3 unknowns, 3 equations

A
mBg =2943 (N)
250 kg

mA g

displacement of A: 1m upward
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36
in general

37
A particle in circular motion infinitesimal infinitesimal
work force displacement
work & kinetic energy
dU  ( F sin  )(r d )
F sin  torque about O

ds = r d F  Mo d
integration
d  U12
U2 2
O   dU   M O d
U1 1

2
Mo = I   I d
(Slide #18 in Lec 14) 1
2 d
 I d
1 dt
d

1 1 dt
 I2  I1
2 2 2
U12   I  d38

2 2 1
work & kinetic energy

circular
1 1
U12  I2  I1
2 2

2 2
moment of inertia angular
(rotational mass) velocity

linear
1 1
U1 2  mv2  mv1
2 2

2 2
39
force & accel.

circular  
M O  I O angular
moment of force acceleration
moment of


(torque) inertia

linear

F  ma
40
 
momentum
circular

H O  I O angular
angular velocity
momentum moment of


inertia

linear

L  mv
41
1 unit of work = 1 Nm

1 unit of kinetic energy = 1 kg.(m/s)2

1 Nm = 1 kg.(m/s)2 = 1 Joule

42
 Concepts - Work & Kinetic Energy
1
• Kinetic energy, I  0 (scalar)
mv 22

2
 
• Work,
 M
F  dd
r , can be +ve or –ve (scalar)

• Rate of work done = Power

   drd 
F vFM 
M
dtdt
• No net work is done by tension forces in
pulley-cable systems.
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thank you for your attention

Ed by Hirotaka Sato 44