Engineering Mechanics: Dynamics

Fourteenth Edition

Chapter 14
Kinetics of a Particle:
Work and Energy

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Applications (1 of 2)

A roller coaster makes use of gravitational forces to assist

the cars in reaching high speeds in the “valleys” of the
track.
How can we design the track (e.g., the height, h, and the
radius of curvature, r) to control the forces experienced by
the passengers?
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Applications (2 of 2)

Crash barrels are often used along

roadways in front of barriers for
crash protection.
The barrels absorb the car’s kinetic
energy by deforming.

If we know the velocity of an

oncoming car and the amount of
energy that can be absorbed by
each barrel, how can we design
a crash cushion?

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Work And Energy
Another equation for working kinetics problems involving
particles can be derived by integrating the equation of
motion (F = ma) with respect to displacement.
By substituting a t  v (dv / ds) into Ft  ma t ,
the result is integrated to yield an
equation known as the principle of
work and energy.
This principle is useful for solving problems
that involve force, velocity, and
displacement. It can also be used to explore
the concept of power.
To use this principle, we must first understand
how to calculate the work of a force.
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Section 14.1

Work of A Force

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Work of A Force (1 of 2)
A force does work on a particle when the particle
undergoes a displacement along the line of action of the
force.
Work is defined as the product of force and
displacement components acting in the same
direction. So, if the angle between the force and
displacement vector is q, the increment of work d
U done by the force is
dU  E ds cos 
By using the definition of the dot product and
integrating, the total work can be written as
r2

U12   F .dr
r1

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Work of A Force (2 of 2)
If F is a function of position (a common case)
this becomes
S2

U12   F cos 
S1
ds

If both F and q are constant (F  Fc ),

this equation further simplifies to

U12  Fc cos  (s2  s1 )

Work is positive if the force and the movement are in the

same direction. If they are opposing, then the work is
negative. If the force and the displacement directions are
perpendicular, the work is zero.
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Work of A Weight

The work done by the gravitational force acting on a

particle (or weight of an object) can be calculated by
using
y2

U12   W
y1
dv

U12  W ( y 2  y 1 )  W v

The work of a weight is the product of the magnitude of

the particle’s weight and its vertical displacement. If Dy is
upward, the work is negative since the weight force
always acts downward.
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Section 14.2 & Section 14.3

Principle Of Work And Energy

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Work of A Spring Force
When stretched, a linear elastic spring develops a force
of magnitude Fs  ks, where k is the spring stiffness and
s is the displacement from the unstretched position.

The work of the spring force moving

from position s1 to position s2 is
s2 s2

U1 2   Fs ds    
2 2
k s ds 0.5 k ( s 2 ) 0.5 k ( s1 )
s1 s1

If a particle is attached to the spring, the force FS

exerted on the particle is opposite to that exerted on the
spring. Thus, the work done on the particle by the spring
force will be negative or
U1 2  [0.5k (s2 )2  0.5k (s1 )2 ].

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Spring Forces
It is important to note the following about spring forces
1. The equations above are for linear springs only! Recall
that a linear spring develops a force according to
F = ks (essentially the equation of a line).
2. The work of a spring is not just spring force times
distance at some point, i.e.  ks  s  .
i i

Beware, this is a trap that students often fall into!

3. Always double check the sign of the spring work after
calculating it. It is positive work if the force on the object
by the spring and the movement are in the same direction.
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Principle Of Work And Energy (1 of 2)
By integrating the equation of motion, F t
 mat  mv  dv/ds  ,

the principle of work and energy can be written as

U 1 2
 0.5m(v 2 )2 or T1   U12  T2

U 1 2 is the work done by all the forces acting on the particle as it

moves from point 1 to point 2. Work can be either a positive or
negative scalar.
T1 and T2 are the kinetic energies of the particle at the initial and final
position, respectively. Thus,T1  0.5m  v 1  and T2  0.5m  v 2  .
2 2

The kinetic energy is always a positive scalar (velocity is squared!).

So, the particle’s initial kinetic energy plus the work done by all the
forces acting on the particle as it moves from its initial to final
position is equal to the particle’s final kinetic energy.
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Principle Of Work And Energy (2 of 2)
Note that the principle of work and energy T  U
1 1 2
 T2  is

not a vector equation! Each term results in a scalar value.

Both kinetic energy and work have the same units, that of energy! In
the SI system, the unit for energy is called a joule (J), where
1 J  1 N  m. In the FPS system, units are ft  lb

The principle of work and energy cannot be used, in

general, to determine forces directed normal to the path,
since these forces do no work.
The principle of work and energy can also be applied to a system of
particles by summing the kinetic energies of all particles in the system
and the work due to all forces acting on the system.

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Work of Friction Caused By Sliding
The case of a body sliding over a rough
surface merits special consideration.
Consider a block which is moving over a rough
surface. If`- the applied force P just balances the
resultant frictional force μk N, a constant

velocity v would be maintained.

The principle of work and energy would be applied as

0.5m(v )2  Ps  (µk N )s  0.5m(v )2

This equation is satisfied if P  μk N. However, we know from

experience that friction generates heat, a form of energy that does not
seem to be accounted for in this equation. It can be shown that the
work term (μk N)s represents both the external work of the friction
force and the internal work that is converted into heat.

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Group Problem Solving I (1 of 3) One

Given: The 2 lb brick slides down a smooth roof, with

v A  5 ft/s.
Find: The speed at B, the distance d
from the wall to where the brick strikes
the ground, and its speed at C.

Plan:

1. Apply the principle of work and energy to the brick,

and determine the speeds at B and C.
2. Apply the kinematic relations in x and y-directions.

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Problem
Given: Block A has a weight of 60 lb and block B
has a weight of 40 lb. The coefficient of kinetic
friction between the blocks and the incline is
mk  0.1. Neglect the mass of the cord and pulleys.
Find: The speed of block A after block B
moves 2 ft up the plane, starting from rest.

Plan:

1. Define the kinematic relationships between the blocks.

2. Draw the FBD of each block.
3. Apply the principle of work and energy to the system of blocks.
Why choose this method?
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Engineering Mechanics: Dynamics
Fourteenth Edition

Chapter 15
Kinetics of a Particle:
Impulse and Momentum
Chapter Objectives

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Applications (1 of 3)
A dent in an trailer fender can be
removed using an impulse tool, which
delivers a force over a very short time
interval. To do so, the weight is gripped
and jerked upwards, striking the stop ring.

How can we determine the magnitude of

the linear impulse applied to the fender?
Could you analyze a carpenter’s hammer
striking a nail in the same fashion?

Sure!
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Applications (2 of 3)
A good example of impulse is the
action of hitting a ball with a bat.

The impulse is the average force

exerted by the bat multiplied by the
time the bat and ball are in contact.

Is the impulse a vector? Is the impulse pointing in the

same direction as the force being applied?

Given the situation of hitting a ball, how can we predict

the resultant motion of the ball?

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Applications (3 of 3)
When a stake is struck by a
sledgehammer, a large impulse
force is delivered to the stake and
drives it into the ground.

If we know the initial speed of the

sledgehammer and the duration of
impact, how can we determine the
magnitude of the impulsive force
delivered to the stake?

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Section 15.1

Principle Of Linear Impulse And Momentum

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Principle of Linear Impulse And
Momentum (1 of 4)

The next method we will consider for solving particle

kinetics problems is obtained by integrating the equation
of motion with respect to time.

The result is referred to as the principle of impulse and

momentum. It can be applied to problems involving both
linear and angular motion.

This principle is useful for solving problems that involve

force, velocity, and time. It can also be used to analyze
the mechanics of impact (taken up in a later section).

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Principle of Linear Impulse And
Momentum (2 of 4)
The principle of linear impulse and momentum is obtained by
integrating the equation of motion with respect to time. The equation of
motion can be written

 F  m a  m(dv / dt )
Separating variables and integrating between the limits
v  v1 at t  t1 and v  v 2 at t  t 2 results in
t2 v2

  F dt  m  dv  mv 2
 mv 1
t1 v1

This equation represents the principle of linear impulse and

momentum. It relates the particle’s final velocity (v 2 ) and initial velocity
(v1 ) and the forces acting on the particle as a function of time.
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Principle of Linear Impulse And
Momentum (3 of 4)
Linear momentum: The vector mv is called the linear
momentum, denoted as L. This vector has the same
direction as v. The linear momentum vector has units of
(kg·m ) / s or (slug·ft ) / s.
Linear impulse: The integral  F dt is
the linear impulse, denoted I. It is a vector
quantity measuring the effect of a force
during its time interval of action. I acts in the
same direction as F and has units of
N ·s or lb·s.
The impulse may be determined by direct integration.
Graphically, it can be represented by the area under
the force versus time curve. If F is constant, then
I  F (t 2  t1 )
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Principle of Linear Impulse And
Momentum (4 of 4)
The principle of linear impulse and momentum in vector
form is written as
t2

mv 1    F dt  mv 2
t1

The particle’s initial momentum plus the sum of all the

impulses applied from t1 to t 2 is equal to the particle’s
final momentum.
The two momentum diagrams indicate direction and
magnitude of the particle’s initial and final momentum,
mv1 and mv 2 . The impulse diagram is similar to a free
body diagram, but includes the time duration of the forces
acting on the particle.

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Impulse And Momentum: Scalar
Equations
Since the principle of linear impulse and momentum is a
vector equation, it can be resolved into its x, y, z
component scalar equations:
t2

m(v x )    Fx dt  m(v x )2
t1

t2

m(v y )1    Fy dt  m(v y )2
t1

t2

m(v z )1    Fz dt  m(v z )2
t1

The scalar equations provide a convenient means for

applying the principle of linear impulse and momentum once
the velocity and force vectors have been resolved into x, y, z
components.
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Problem Solving
Establish the x, y, z coordinate system.

Draw the particle’s free body diagram and establish the

direction of the particle’s initial and final velocities,
drawing the impulse and momentum diagrams for the
particle. Show the linear momenta and force impulse
vectors.
Resolve the force and velocity (or impulse and momentum)
vectors into their x, y, z components, and apply the
principle of linear impulse and momentum using its
scalar form.
Forces as functions of time must be integrated to obtain impulses.
If a force is constant, its impulse is the product of the force’s
magnitude and time interval over which it acts.
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Example I(1 of 3)
One

Given: A 0.5 kilogram ball strikes the rough ground and

rebounds with the velocities shown. Neglect the ball’s
weight during the time it impacts the ground.

Find: The magnitude of impulsive

force exerted on the ball.

Plan: 1) Draw momentum and impulse diagrams of

the ball as it hits the surface.
2) Apply the principle of impulse and momentum
to determine the impulsive force.

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Example I (2 of 3)
One

Solution:

1) Impulse and momentum diagrams can be drawn as:

The impulse caused by the ball’s weight and the normal

force N can be neglected because their magnitudes are
very small as compared to the impulse from the ground.
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Example I (3 of 3)
One

2) The principle of impulse and momentum can be applied

along the direction of motion:
t2

mv 1    F dt  mv 2
t1
t2

 0.5(25 cos 45i  25 sin 45 j )    F dt

t1

 0.5(10 cos 30i  10 sin30 j )

The impulsive force vector is

t2

I   Fdt  (4.509i  11.34 j )N.s

t1

Magnitude: I  4.5092  11.34 2  12.2N.s

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Example II (1 of 3)
One

Given: The wheels of the 1500

kilogram car generate a traction
force F described by the graph.

Find: The speed of the car when t = 6 s

if the car starts from rest.

Plan: 1) Draw the momentum and impulse

diagrams of the car.
2) Apply the principle of impulse and
momentum to determine the speed.

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Example II (2 of 3)
One

Solution:

1) The impulse and momentum diagrams can be

drawn as:

Why is the traction force F drawn acting to the right?

The impulse caused by the weight W and the normal
force N can be canceled. Why?
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Example II (3 of 3)
One

2) The principle of impulse and momentum can be

applied along the direction of motion:

t2

 mv 1    F dt  mv 2
t1

(1500 kg )(0 m/s)  0.5(6000 N)(2 s)  (6000 N)(4 s)

 (1500 kg)(v 2 m / s )

v 2  20 m / s

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Problem
Given: The 40 kilogram crate is moving downward at 10 m / s.

The motor M pulls on the cable with a force of F, which has a

magnitude that varies as shown on the graph.

Find: The speed of the crate when t  6s.

Plan: 1) Draw the momentum and impulse
diagrams of the crate.
2) Apply the principle of impulse and
momentum to determine the speed.

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