ME 24700

Engineering Mechanics II
(Kinematics and Dynamics of Rigid Bodies)

Lecture 7
Kinetics of Particles: Energy
and Momentum Methods

Collins et al 2015 - Nature

© 2019 McGraw-Hill Education. All rights reserved. Authorized only for instructor use in the classroom. No reproduction or further distribution permitted without the prior written consent of McGraw-Hill Education.
 Energy and Momentum Methods
Impact tests are often
Assistive technologies - Exoskeletons analyzed by using
momentum methods.
The potential energy stored in the
spring of a passive actuator is
converted into kinetic energy.

© Dynamic Graphics/Superstock RF, © Sandia National

 Introduction 1

• Previously, problems dealing with the motion of particles

were solved through the fundamental equation of motion,
 
F  ma.
• The current chapter introduces two additional methods of
analysis.

• Method of work and energy: directly relates

force, mass, velocity and displacement.

• Method of impulse and momentum: directly relates

force, mass, velocity, and time.
 Introduction 2

Approaches to Dynamics Problems

  T1  U12  T2
 t2 
 F  maG mv1   F dt  mv2
t1

© Tony Hertz/ Alamy

Work of a Force 1


• Differential vector dr is the particle displacement.

• Work of the force is

 
dU  F  dr
 F ds cos 
 Fx dx  Fy dy  Fz dz
• Work is a scalar quantity, that is, it has magnitude and
begin underline end underline

sign but not direction.

• Dimensions of work are length×force. Units

are

1 J  joule  1 N 1 m  1ft  lb  1.356 J

Work of a Force 2

• Work of a force during a finite displacement,

A2 

U12   F  dr
A1
s2 s2
  F cos ds   Ft ds
s1 s1
A2
  Fx dx  Fy dy  Fz dz 
A1

• Work is represented by the area under the

curve of Ft plotted against s.

• Ft is the force in the direction of the

displacement ds
 Work of a Force 3

What is the work of a constant force in

rectilinear motion?

a) U12  F x
b) U12   F cos   x
c) U12   F sin   x
d) U12  0
 Work of a Force 4

What is the work of a constant force in

rectilinear motion?

a) U12  F x
b) Answer U12   F cos   x
c) U12   F sin   x
d) U12  0
 Work of a Force 5

• Work of the force of gravity,

dU  Fx dx  Fy dy  Fz dz
 W dy
y2
U12    W dy
y1
 W  y 2  y1   W y

• Work of the weight is equal to product of

weight W and vertical displacement Δy.

• In the figure above, when is the work done by the weight positive?

a) Moving from y1 to y2 b) Moving from y2 to y1 c) Never

 Work of a Force 6

• Work of the force of gravity,

dU  Fx dx  Fy dy  Fz dz
 W dy
y2
U12    W dy
y1
 W  y 2  y1   W y

• Work of the weight is equal to product of

weight W and vertical displacement Δy.

• In the figure above, when is the work done by the weight positive?

a) Moving from y1 to y2 Answer: b) Moving from y2 to y1 c) Never

Work of a Force 7

• Magnitude of the force exerted by a spring is

proportional to deflection,
• Work of the force exerted by spring,

dU   F dx   kx dx
x2
U12    kx dx  12 kx12  12 kx22
x1

• Work of the force exerted by spring is positive

when x2 < x1 , that is, when the spring is returning
to
its undeformed position.
• Work of the force exerted by the spring is equal to
negative of area under curve of F plotted against x,
U12   12 F1  F2  x
 Work of a Force 8

Displacement is
As the block moves from A0 to A1, is in the opposite
direction of the
the work positive or negative? force

Positive Negative

As the block moves from A2 to Ao, is the

work positive or negative?
Positive Negative
 Work of a Force 9

Displacement is
As the block moves from A0 to A1, is in the opposite
direction of the
the work positive or negative? force

Positive Answer: Negative

As the block moves from A2 to Ao, is the

work positive or negative?
Answer: Positive Negative
 Work of a Force 11

Does the normal force do work as the

block slides from B to A?

YES NO

Does the weight do work as

the block slides from B to A? Positive or
YES NO Negative work?
 Work of a Force 12

Does the normal force do work as the

block slides from B to A?

YES Answer: NO

Does the weight do work as

the block slides from B to A? Positive or

Answer: YES NO Negative work?

 Work of a Force 13

Forces which do not do work  ds  0 or cos   0 

• Reaction at frictionless pin supporting rotating body,

• Reaction at frictionless surface when body

in contact moves along surface,
• Reaction at a roller moving along its track, and
• Weight of a body when its center of gravity
moves horizontally.
Principle of Work & Energy
• Consider a particle of mass m acted upon by force F,
dv
Ft  mat  m
dt
• How can we relate
dv ds dv Work with kinematics?
m  mv
ds dt ds
F t ds  mv dv

• Integrating from A1 to A2 ,
s2 v2
2 2
 Ft ds  m  v dv  12 mv2  12 mv1
s1 v1

U12  T2  T1 T  12 mv 2  kinetic energy


• The work of the force F is equal to the change in
kinetic energy of the particle.
• Units of work and kinetic energy are the same:
2
1 mv 2 m  m
T 2
 kg    kg 2 m  N  m  J
s  s 
 Applications of the Principle of Work
and Energy 1


• Force P acts normal to path and does no
work.
T1  U12  T2
1W 2
0  Wl  v2
2 g
v2  2 gl
• The bob is released
from rest at position • Velocity is found without determining
A1. Determine the expression for acceleration and
velocity of the integrating.
• All quantities are scalars and can be added
pendulum bob at A2
directly.
using work & kinetic
energy. • Forces which do no work are eliminated
from the problem.
 Applications of the Principle of Work
and Energy 2

• Principle of work and energy cannot be

applied to directly determine the acceleration
of the pendulum bob.
• Calculating the tension in the cord requires
supplementing the method of work and energy with
an application of Newton’s second law.
• As the bob passes through A2 ,
 Fn  m an
W v22
P W 
g l
W 2 gl
v2  2 gl P W   3W
g l
If you designed the rope to hold twice the weight of the bob, what would happen?
Power and Efficiency
• Power = rate at which work is done.
 
dU F  dr
 
dt dt
 
 F v
• Dimensions of power are work/time or force*velocity.
Units for power are:
J m ft  lb
1 W (watt)  1  1 N  or 1 hp  550  746 W
s s s

•   efficiency
output work

input work
power output

power input
 Sample Problem 13.1 1

Strategy:

• Evaluate the change in kinetic energy.

• Determine the distance required for the

work to equal the kinetic energy change.

An automobile weighing 4000 lb is

driven down a 5 incline at a speed of
60 mi/h when the brakes are applied
causing a constant total breaking force
of 1500 lb.

Determine the distance traveled by the

automobile as it comes to a stop.
Sample Problem 13.1 2

Modeling and Analysis:

• Evaluate the change in kinetic energy.

 mi  5280 ft  h 
v1   60     88 ft s
 h  mi  3600 s 
T1  12 mv12  12 4000 32.2 882  481000ft  lb

v2  0 T2  0

• Determine the distance required for the work

to equal the kinetic energy change.
U12   1500 lbx  4000 lbsin 5x
 1151 lbx

T1  U12  T2
481000ft  lb  1151 lbx  0
x  418 ft
Sample Problem 13.1 3

Reflect and Think

• Solving this problem using Newton’s

second law would require determining
the car’s deceleration from the free-
body diagram and then integrating this
to use the given velocity information.

• Using the principle of work and

energy allows you to avoid that
calculation.
 Sample Problem 13.2 1

Strategy:

• Apply the principle of work and

energy separately to blocks A and B.

• When the two relations are

combined, the work of the cable
forces cancel. Solve for the velocity.
Two blocks are joined by an inextensible
cable as shown. If the system is released
from rest, determine the velocity of block
A after it has moved 2 m. Assume that the
coefficient of friction between block A and
the plane is μk = 0.25 and that the pulley is
weightless and frictionless.
Sample Problem 13.2 2

Modeling and Analysis

• Apply the principle of work and energy separately
to blocks A and B.

 
W A  200 kg  9.81m s 2  1962 N
FA   k N A   k W A  0.251962 N   490 N
T1  U12  T2 :
0  FC 2 m   FA 2 m   12 m A v 2

FC 2 m   490 N 2 m   12 200 kg v 2

 
WB  300 kg  9.81m s 2  2940 N
T1  U12  T2 :
0  Fc 2 m   WB 2 m   12 m B v 2

 Fc 2 m   2940 N 2 m   12 300 kg v 2

 Sample Problem 13.2 3

• When the two relations are combined, the work of

the cable forces cancel. Solve for the velocity.

FC 2 m   490 N 2 m   12 200 kg v 2

 Fc 2 m   2940 N 2 m   12 300 kg v 2

2940 N 2 m   490 N 2 m   12 200 kg  300 kg v 2

4900 J  12 500 kg v 2

v  4.43 m s
Reflect and Think:
This problem can also be solved by applying the principle
of work and energy to the combined system of blocks.
When using the principle of work and energy, it usually
saves time to choose your system to be everything that
moves.
13.2 – Alternate Solution, Group Problem
Solving
Could you apply work-energy to the combined
system of blocks?
Given: v1  0, distance  2 m, μk  0.25

What is T1 of the system?

T1  0

What is the total work done between points 1 and 2?

U12    0.25  200 9.81 2 m   300 9.81 2 m   4900 J
Note that v A = vB
What is T2 of the system?
T2  12 mAv 2  12 mB v 2  1
2  200 kg  v 2  12 300 kg  v 2
Solve for v
4900 J  1
2 500 kg  v 2 v  4.43 m s
 Sample Problem 13.3 1

Strategy:

• Apply the principle of work and

energy between the initial position
and the point at which the spring is
A spring is used to stop a 60 kg package fully compressed and the velocity is
which is sliding on a horizontal surface. zero. The only unknown in the
The spring has a constant k = 20 kN/m relation is the friction coefficient.
and is held by cables so that it is initially
compressed 120 mm. The package has a • Apply the principle of work and
velocity of 2.5 m/s in the position shown energy for the rebound of the package.
and the maximum deflection of the The only unknown in the relation is the
spring is 40 mm. velocity at the final position.
Determine (a) the coefficient of kinetic
friction between the package and surface
and (b) the velocity of the package as it
passes again through the position shown.
Sample Problem 13.3 2

Modeling and Analysis:

• Apply principle of work and energy between initial
position and the point at which spring is fully compressed.
T1  12 mv12  12 60 kg 2.5 m s 2  187.5 J T2  0
U12  f    kW x

 
   k 60 kg  9.81m s 2 0.640 m   377 J  k

Pmin  kx0  20 kN m 0.120 m   2400 N

Pmax  k x0  x   20 kN m 0.160 m   3200 N
U12 e   12 Pmin  Pmax x
  12 2400 N  3200 N 0.040 m   112 .0 J

U1 2  U1 2  f  U1 2 e  377 J  k  112 J

T1  U1 2  T2 :
 k  0.20
187.5 J - 377 J  k  112 J  0
 Sample Problem 13.3 3

• Apply the principle of work and energy for the rebound

of the package.
T2  0 T 3 12 mv32  12 60kg v32

U 23  U 23  f  U 23 e  377 J  k  112 J

 36.5 J
T2  U 23  T3 :
0  36.5 J  12 60 kg v32 v3  1.103 m s

Reflect and Think:

You needed to break this problem into two segments. From the first segment you were
able to determine the coefficient of friction. Then you could use the principle of work
and energy to determine the velocity of the package at any other location. Note that the
system does not lose any energy due to the spring; it returns all of its energy back to the
package. You would need to design something that could absorb the kinetic energy of the
package in order to bring it to rest.
 Sample Problem 13.6
A 2000 lb car starts from rest at
point 1 and moves without friction
down the track shown.
Determine:
a) the force exerted by the track
on the car at point 2, and
b) the minimum safe value of the
radius of curvature at point 3.
1
Strategy:
• Apply principle of work and energy
to determine velocity at point 2.
• Apply Newton’s second law to find
normal force by the track at point 2.
• Apply principle of work and energy
to determine velocity at point 3.
• Apply Newton’s second law to find
minimum radius of curvature at point 3
such that a positive normal force is
exerted by the track.
Sample Problem 13.6 2

Modeling and Analysis:

• Apply principle of work and energy to determine
velocity at point 2.

1W 2
T1  0 T2  12 mv22  v2
2g
U1 2  W 40 ft 
1W 2
T1  U1 2  T2 : 0  W 40 ft   v2
2g

v22  240 ft g  240 ft  32.2 ft s 2  v2  50.8 ft s

• Apply Newton’s second law to find normal force by

the track at point 2.
   Fn  m an :
W v22 W 240 ft g
 W  N  m an  
g  2 g 20 ft
N  5W N  10000 lb
Sample Problem 13.6 3

• Apply principle of work and energy to determine

velocity at point 3.
1W 2
T1  U13  T3 0  W 25 ft   v3
2g
v32  225 ft g  225 ft 32.2 ft s  v3  40.1ft s

• Apply Newton’s second law to find minimum radius of

curvature at point 3 such that a positive normal force is
exerted by the track.

   Fn  m an :

W  m an
W v32 W 225 ft g
 
g 3 g 3 3  50 ft
Sample Problem 13.6 4

Reflect and Think

This is an example where you need both
Newton’s second law and the principle of
work and energy.
Work–energy is used to determine the
speed of the car, and Newton’s second law
is used to determine the normal force.
A normal force of 5W is equivalent to a
fighter pilot pulling 5g’s and should only
be experienced for a very short time.
For safety, you would also want to make
sure your radius of curvature was quite a
bit larger than 50 ft.
 Sample Problem 13.7
The dumbwaiter D and its load have a
combined weight of 600 lb, while the
counterweight C weighs 800 lb.
Determine the power delivered by the
electric motor M when the dumbwaiter
(a) is moving up at a constant speed of
8 ft/s and (b) has an instantaneous
velocity of 8 ft/s and an acceleration of
2.5 ft / s 2 , both directed upwards.
1
Strategy:
Force exerted by the motor cable has
same direction as the dumbwaiter
velocity. Power delivered by motor
is equal to FvD ,vD  8 ft / s
• In the first case, bodies are in
uniform motion. Determine force
exerted by motor cable from
conditions for static equilibrium.
• In the second case, both bodies are
accelerating. Apply Newton’s
second law to each body to
determine the required motor cable
force.
Sample Problem 13.7 2

Modeling and Analysis:

• In the first case, bodies are in uniform motion.
Determine force exerted by motor cable from
conditions for static equilibrium.
Free-body C:
   Fy  0 : 2T  800 lb  0 T  400 lb

Free-body D:
   Fy  0 : F  T  600 lb  0
F  600 lb  T  600 lb  400 lb  200 lb

Power  Fv D  200 lb8 ft s 

 1600 ft  lb s

1 hp
Power  1600 ft  lb s   2.91 hp
550 ft  lb s
Sample Problem 13.7 3

• In the second case, both bodies are accelerating. Apply

Newton’s second law to each body to determine the
required motor cable force.
a D  2.5 ft s 2  aC   12 a D  1.25 ft s 2 

Free-body C:
800
   Fy  mC aC : 800  2T  1.25 T  384.5 lb
32.2

Free-body D:
   Fy  m D a D : F  T  600  600 2.5
32.2
F  384.5  600  46.6 F  262.1 lb

Power  Fv D  262.1 lb8 ft s   2097 ft  lb s

1 hp
Power  2097 ft  lb s   3.81 hp
550 ft  lb s
Sample Problem 13.7 4

Reflect and Think

As you might expect, the motor needs to deliver more
power to produce accelerated motion than to produce
motion at constant velocity.
 Group Problem Solving
Packages are thrown down an
incline at A with a velocity of 1
m/s. The packages slide along
the surface ABC to a conveyor
belt which moves with a
velocity of 2 m/s. Knowing that
μk = 0.25 between the packages
and the surface ABC, determine
the distance d if the packages
are to arrive at C with a
velocity of 2 m/s.
1
Strategy:
The problem deals with a change in
position and different velocities, so use
work-energy.
• Draw FBD of the box to help us
determine the forces that do
work.
• Determine the work done between
points A and C as a function of d.
• Find the kinetic energy at points A
and C.
• Use the work-energy relationship and
solve for d.
 Group Problem Solving 2

Modeling and Analysis:

Given :VA  1m / s, VC  2 m / s, μ K  0.25
Find :Distance d
Will use : TA +U A B +U B C = TC

Draw the FBD of the Determine work done A → B

block at points A and C N AB  mg cos 30
FAB  k N AB  0.25 mg cos 30
U A B  mg d sin 30  FAB d
 mg d (sin 30  k cos 30)

Determine work done B → C

N BC  mg xBC  7 m
FBC  k mg
U B C   k mg xBC
 Group Problem Solving 3

Determine kinetic energy at A and at C

1 2 1 2
TA  mv A and v A  1 m/s TC  mvC and vC  2 m/s
2 2

Substitute values into TA  U A B  U B C  TC

1 2 1 2
mv A  mg d (sin 30  k cos 30)  k mg xBC  mv0
2 2
Divide by m and solve for d

vC2 /2 g  k xBC  v A2 /2 g 
d 
(sin 30  k cos30) d  6.71 m
(2) 2/(2)(9.81)  (0.25)(7)  (1) 2/(2)(9.81)

sin 30  0.25cos 30
 Group Problem Solving 4

Reflect and Think

μ K  0.25

If you wanted to bring the package to a complete stop at the

bottom of the ramp, would it work to place a spring as shown?
No, because the potential energy of the spring would turn into kinetic energy
and push the block back up the ramp

Would the package ever come to a stop?

Yes, eventually enough energy would be dissipated through the friction
between the package and ramp.
End of Lecture 7