CHAPTER

12
Kinetics of Particles:
Newton’s Second Law

Lecturer MR: Khaled S M Bughrara

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Contents
Introduction
Newton’s Second Law of Angular Momentum of a Particle
Motion Equations of Motion in Radial &
Linear Momentum of a Particle Transverse Components
Systems of Units Conservation of Angular Momentum
Equations of Motion Newton’s Law of Gravitation
Dynamic Equilibrium Sample Problem 12.7
Sample Problem 12.1 Sample Problem 12.8
Sample Problem 12.3
Sample Problem 12.4
Sample Problem 12.5
Sample Problem 12.6

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Introduction

 Newton’s first and third laws are sufficient for the study of bodies
at rest (statics) or bodies in motion with no acceleration.

 When a body accelerates, Newton’s 2nd law is required to relate

the motion of the body to the forces acting on it.

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Introduction
• Newton’s Second Law of Motion

• 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.

F  ma
• Must be expressed with respect to a Newtonian (or
inertial) frame of reference, i.e., one that is not
accelerating or rotating.
• This form of the equation is for a constant mass system
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Linear Momentum of a Particle
• Replacing the acceleration by the derivative of the velocity
yields 
 dv
F  m
dt

d  dL
 m v  
dt dt

L  linear momentum of the particle

• Linear Momentum Conservation Principle:

If the resultant force on a particle is zero, the linear momentum
of the particle remains constant in both magnitude and direction.
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Systems of Units
• Of the units for the four primary dimensions (force,
mass, length, and time), three may be chosen arbitrarily.
The fourth must be compatible with Newton’s 2nd Law.

• International System of Units (SI Units): base units are

the units of length (m), mass (kg), and time (second).
The unit of force is derived,
 m kg  m
1 N  1 kg 1 2   1 2
 s  s

• U.S. Customary Units: base units are the units of force

(lb), length (m), and time (second). The unit of mass is
derived,
1lb 1lb lb  s 2
1lbm  2
1slug  2
1
32.2 ft s 1ft s ft

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Equations of Motion
 
• Newton’s second law  F  ma
• Can use scalar component equations, e.g., for
rectangular components,

 
  
   
 Fx i  Fy j  Fz k  m a x i  a y j  a z k 
 Fx  ma x  Fy  ma y  Fz  ma z
 Fx  mx  Fy  my  Fz  mz

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Dynamic Equilibrium
• Alternate expression of Newton’s second law,
 
 F  m a 0

 ma  inertial vector
• With the inclusion of the inertial vector, the system
of forces acting on the particle is equivalent to
zero. The particle is in dynamic equilibrium.
• Methods developed for particles in static
equilibrium may be applied, e.g., coplanar forces
may be represented with a closed vector polygon.
• Inertia vectors are often called inertial forces as
they measure the resistance that particles offer to
changes in motion, i.e., changes in speed or
direction.
• Inertial forces may be conceptually useful but are
not like the contact and gravitational forces found
in statics.
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Sample Problem 12.1
SOLUTION:
• Resolve the equation of motion for the
block into two rectangular component
equations.

• Unknowns consist of the applied force

P and the normal reaction N from the
plane. The two equations may be
solved for these unknowns.

A 200-lb block rests on a horizontal

plane. Find the magnitude of the force
P required to give the block an
acceleration of 10 ft/s2 to the right. The
coefficient of kinetic friction between
the block and plane is mk  0.25.

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Sample Problem 12.1
SOLUTION:
• Resolve the equation of motion for the block
into two rectangular component equations.
 Fx  ma :
y
 
P cos 30  0.25 N  6.21lb  s 2 ft 10 ft s 2 
 62.1 lb
O
x  Fy  0 :
W 200 lb N  P sin 30  200 lb  0
m 
g 32.2 ft s 2 • Unknowns consist of the applied force P and
the normal reaction N from the plane. The two
lb  s 2
 6.21 equations may be solved for these unknowns.
ft
N  P sin 30  200 lb
F  mk N
P cos 30  0.25P sin 30  200 lb   62.1lb
 0.25 N
P  151lb

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Sample Problem 12.3
SOLUTION:
• Write the kinematic relationships for the
dependent motions and accelerations of
the blocks.
• Write the equations of motion for the
blocks and pulley.
• Combine the kinematic relationships
with the equations of motion to solve for
the accelerations and cord tension.
The two blocks shown start from rest.
The horizontal plane and the pulley are
frictionless, and the pulley is assumed
to be of negligible mass. Determine
the acceleration of each block and the
tension in the cord.

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Sample Problem 12.3
SOLUTION:
• Write the kinematic relationships for the dependent
O motions and accelerations of the blocks.
x
y B  12 x A a B  12 a A
y
• Write equations of motion for blocks and pulley.
 Fx  m Aa A :
T1  100 kg a A
 Fy  m B a B :
mB g  T2  m B a B
300 kg 9.81m s 2  T2  300 kg a B
T2  2940N - 300 kg a B
 Fy  mC aC  0 :
T2  2T1  0
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Sample Problem 12.3
• Combine kinematic relationships with equations of
motion to solve for accelerations and cord tension.
O
x y B  12 x A a B  12 a A

y T1  100 kg a A
T2  2940N - 300 kg a B

 2940N - 300 kg  12 a A 
T2  2T1  0
2940 N  150 kg a A  2100 kg a A  0

a A  8.40 m s 2
a B  12 a A  4.20 m s 2
T1  100 kg a A  840 N
T2  2T1  1680 N
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Sample Problem 12.4
SOLUTION:
• The block is constrained to slide down
the wedge. Therefore, their motions are
dependent. Express the acceleration of
block as the acceleration of wedge plus
the acceleration of the block relative to
the wedge.

• Write the equations of motion for the

wedge and block.
The 12-lb block B starts from rest and
slides on the 30-lb wedge A, which is • Solve for the accelerations.
supported by a horizontal surface.
Neglecting friction, determine (a) the
acceleration of the wedge, and (b) the
acceleration of the block relative to the
wedge.

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Sample Problem 12.4
SOLUTION:
• The block is constrained to slide down the
wedge. Therefore, their motions are dependent.
  
aB  a A  aB A
• Write equations of motion for wedge and block.
 Fx  m Aa A :
y N1 sin 30  m A a A
0.5 N1  W A g a A

 Fx  mB a x  mB a A cos 30  aB A  :
 WB sin 30  WB g a A cos 30  a B 
x
A
aB A  a A cos 30  g sin 30

 Fy  mB a y  mB  a A sin 30 :
N1  WB cos 30  WB g a A sin 30
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Sample Problem 12.4
• Solve for the accelerations.
0.5 N1  W A g a A

N1  WB cos 30  WB g a A sin 30

2W A g a A  WB cos 30  WB g a A sin 30
gWB cos 30
aA 
2W A  WB sin 30

aA 
32.2 ft s 2 12 lb  cos 30
230 lb   12 lb  sin 30
a A  5.07 ft s 2

aB A  a A cos 30  g sin 30

aB A    
 5.07 ft s 2 cos 30  32.2 ft s 2 sin 30
a B A  20.5 ft s 2

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Kinetics: Normal and Tangential Coordinates

Aircraft and roller coasters can both experience large

normal forces during turns.

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Equations of Motion
 
• Newton’s second law  F  ma
• For tangential and normal components,
 F  ma
t t
 F n  man
v2
F t m
dv
dt
F n m


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Sample Problem 12.5
SOLUTION:
• Resolve the equation of motion for the
bob into tangential and normal
components.
• Solve the component equations for the
normal and tangential accelerations.
• Solve for the velocity in terms of the
normal acceleration.
The bob of a 2-m pendulum describes
an arc of a circle in a vertical plane. If
the tension in the cord is 2.5 times the
weight of the bob for the position
shown, find the velocity and accel-
eration of the bob in that position.

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Sample Problem 12.5
SOLUTION:
• Resolve the equation of motion for the bob into
tangential and normal components.
• Solve the component equations for the normal and
tangential accelerations.
 Ft  mat : mg sin 30  mat
at  g sin 30
at  4.9 m s 2
 Fn  man : 2.5mg  mg cos 30  man
an  g 2.5  cos 30
an  16.03 m s 2
• Solve for velocity in terms of normal acceleration.

an 
v2
v  an  2 m 16.03 m s 2 

v  5.66 m s
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Sample Problem 12.6
SOLUTION:
• The car travels in a horizontal circular
path with a normal component of
acceleration directed toward the center
of the path.The forces acting on the car
are its weight and a normal reaction
from the road surface.

• Resolve the equation of motion for

Determine the rated speed of a the car into vertical and normal
highway curve of radius  = 400 ft components.
banked through an angle q = 18o. The
rated speed of a banked highway curve • Solve for the vehicle speed.
is the speed at which a car should
travel if no lateral friction force is to
be exerted at its wheels.

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Sample Problem 12.6
• Resolve the equation of motion for
the car into vertical and normal
components.
 Fy  0 : R cos q  W  0
W
R
cos q
W
 Fn  man : R sin q  an
SOLUTION: g

• The car travels in a horizontal circular W W v2

sin q 
path with a normal component of cos q g 
acceleration directed toward the center • Solve for the vehicle speed.
of the path.The forces acting on the
car are its weight and a normal v 2  g tan q
reaction from the road surface.  
 32.2 ft s 2 400 ft  tan 18

v  64.7 ft s  44.1 mi h
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Kinetics: Radial and Transverse Coordinates

Hydraulic actuators and

extending robotic arms are
often analyzed using radial
and transverse coordinates.

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Eqs of Motion in Radial & Transverse Components
• Consider particle at r and q, in polar coordinates,

 r
F  ma r  m 
r r q 2

 Fq  maq  mrq  2rq 

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Sample Problem 12.7
SOLUTION:
• Write the radial and transverse
equations of motion for the block.
• Integrate the radial equation to find an
expression for the radial velocity.
• Substitute known information into the
A block B of mass m can slide freely transverse equation to find an
on a frictionless arm OA which rotates expression for the force on the block.
in a horizontal plane at a constant qrate
0 .

Knowing that B is released at a distance

r0 from O, express as a function of r
a) the component vr of the velocity of B
along OA, and
b) the magnitude of the horizontal force
exerted on B by the arm OA.

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Sample Problem 12.7
• Integrate the radial equation to find an
expression for the radial velocity.
dv dv dr dv
r  vr  r  r  vr r
dt dr dt dr
dv dv dr dv
r  vr  r  r  vr r
dt dr dt dr
vr dvr  rq 2 dr  rq02 dr
SOLUTION: vr r
 vr dvr  q0  r dr
• Write the radial and transverse 2

 
equations of motion for the block. 0 r0

 Fr  m ar : 
0  m r  rq2  vr2  q 02 r 2  r02

 F q  m aq : F  mrq  2rq  • Substitute known information into the

transverse equation to find an expression
for the force on the block.
F 2mq 02 r 2
 r0 
2 12

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Angular Momentum of a Particle
Satellite orbits are analyzed using conservation
of angular momentum.

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Eqs of Motion in Radial & Transverse Components

• Consider particle at r and q, in polar coordinates,

 r
F  ma r  m 
r  r 
q 2

 Fq  maq  mrq  2rq 
• This result may also be derived from conservation
of angular momentum,

H O  mr 2q

r  Fq 
d
dt

mr 2q 

 m r 2q  2rrq 
 Fq  mrq  2rq 
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Angular Momentum of a Particle
  
• H O  r  mV  moment of momentum or the angular
momentum of the particle about O.
  
• H O is perpendicular to plane containing r and mV
  
H O  rmV sin  i j k

 rm vq HO  x y z
 mr 2q mv x mv y mv z

• Derivative of angular momentum with respect to time,

        
H O  r  mV  r  mV  V  mV  r  ma

 rF

  MO
• It follows from Newton’s second law that the sum of
the moments about O of the forces acting on the
particle is equal to the rate of change of the angular
momentum of the particle about O.
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Conservation of Angular Momentum
• When only force acting on particle is directed
toward or away from a fixed point O, the particle
is said to be moving under a central force.

• Since the line of action of the central force passes

through O,  M O  H O  0 and
  
r  mV  H O  constant
• Position vector and motion
 of particle are in a
plane perpendicular to H O .

• Magnitude of angular momentum,

H O  rm V sin   constant
 r0 m V0 sin 0

or H O  mr 2q  constant
HO angular momentum
 r 2q  h 
m unit mass
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Conservation of Angular Momentum
• Radius vector OP sweeps infinitesimal area
dA  12 r 2 dq

dA 1 2 dq 1 2 
• Define  2r  2 r q  areal velocity
dt dt

• Recall, for a body moving under a central force,

h  r 2q  constant

• When a particle moves under a central force, its

areal velocity is constant.

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Newton’s Law of Gravitation
• Gravitational force exerted by the sun on a planet or by
the earth on a satellite is an important example of
gravitational force.
• Newton’s law of universal gravitation - two particles of
mass M and m attract each other with equal and opposite
force directed along the line connecting the particles,
Mm
F G 2
r
G  constant of gravitation
m3 ft 4
 66.73  10 12  34.4  10 9
kg  s 2 lb  s 4
• For particle of mass m on the earth’s surface,
MG m ft
W  m 2  mg g  9.81 2  32.2 2
R s s

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Sample Problem 12.8
SOLUTION:
• Since the satellite is moving under a
central force, its angular momentum is
constant. Equate the angular momentum
at A and B and solve for the velocity at B.

A satellite is launched in a direction

parallel to the surface of the earth
with a velocity of 18820 mi/h from
an altitude of 240 mi. Determine the
velocity of the satellite as it reaches it
maximum altitude of 2340 mi. The
radius of the earth is 3960 mi.

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Sample Problem 12.8
SOLUTION:
• Since the satellite is moving under a
central force, its angular momentum is
constant. Equate the angular momentum
at A and B and solve for the velocity at B.
rm v sin   H O  constant
rA m v A  rB m v B
rA
vB  v A
rB
3960  240mi
 18820 mi h 
3960  2340mi
v B  12550 mi h

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