MODULE 2: KINETICS OF PARTICLES: FORCE AND ACCELERATION

The learning objectives:

At the end of this lesson, the learner will be able to:

• State Newton's Laws of Motion and Gravitational attraction and to define mass and weight.
• Analyze the accelerated motion of a particle using the equation of motion with different
coordinate systems.

COURSE MATERIAL:
NEWTON’S SECOND LAW OF MOTION

• Newton’s second law of motion states that the unbalanced force on a particle causes it to
accelerate. If the mass of the particle is 𝑚 and its velocity is 𝐯, the second law can be
written as:
𝑑
𝐅= (𝑚𝐯) = 𝑚𝐚
𝑑𝑡
This is referred to as the equation of motion and is one of the most important formulations
in mechanics. Its validity is based solely on experimental evidence.
• Newton’s Law of Gravitational Attraction: The mutual attraction between any two
particles is given by
𝑚1 𝑚2
𝐹=𝐺
𝑟2
where 𝐹 is the force of attraction between the two particles, 𝐺 is the universal
constant of gravitation (𝐺 = 66.73 × 10−12 𝑚3 ⁄𝑘𝑔 ⋅ 𝑠 2 ), 𝑚1 , 𝑚2 is the mass of each
of the two particles and 𝑟 is the distance between the centers of the two particles.
• Mass and Weight
o Mass is a property of matter that provides a quantitative measure of its
resistance to a change in velocity. Mass is an absolute quantity.
o Weight is a force that is caused by the earth’s gravitation. It is not absolute;
rather it depends on the altitude of the mass from the earth’s surface.
The relationship between the weight of W and mass m of a particle is given by 𝑊 = 𝑚𝑔
where 𝑔 represents the acceleration due to gravity.
• SI System of Units. In the SI system, the mass of a body is specified in kilograms
(kg) and the weight in Newtons(N) i.e.,
𝑊 = 𝑚𝑔 (𝑁)
where 𝑔 = 9.81 𝑚⁄𝑠 2 .
• FPS System of Units. In the FPS system, the weight is specified in pounds (lb) and
the mass in slugs (slug). i.e.,
𝑊
𝑚= (𝑠𝑙𝑢𝑔)
𝑔
where 𝑔 = 32.2 𝑓𝑡⁄𝑠 2 .
THE EQUATION OF MOTION

• When more than one force acts on the particle, the resultant force is determined by a
vector summation of all forces i.e., 𝐹𝑅 = ∑ 𝐹. For this more general case, the equation of
motion may be written as
∑ 𝐹 = 𝑚𝑎
The magnitude and direction of each force acting on
the particle (left-hand side of the equation are
identified using a free-body diagram. A kinetic
diagram identifies the magnitude and direction of the
vector ma (right-hand side of the equation).
• Inertial Frame. Whenever the equation of motion is
applied, it is required that measurements of the
acceleration be made from a Newtonian or inertial
frame of reference,
A Newtonian or inertial frame of reference does not
rotate and is either fixed or translates in a given
direction with a constant velocity (zero acceleration).

EQUATION OF MOTION FOR A SYSTEM OF PARTICLES

• The sum of the external forces acting on a system of particles is equal to the total mass
m of the particles times the acceleration of its center of mass G i.e.

∑ 𝐹 = 𝑚𝑎𝐺
EQUATIONS OF MOTION: RECTANGULAR COORDINATES

• When a particle is moving relative to an inertial x, y, z

frame of reference, the (vector) equation of motion is
equivalent to the following three scalar equations:
∑ 𝐹𝑥 = 𝑚𝑎𝑥

∑ 𝐹𝑦 = 𝑚𝑎𝑦

∑ 𝐹𝑧 = 𝑚𝑎𝑧
Only the first two of these equations are used to specify the motion of a particle
constrained to move only in the x − y plane.

SOLVING PROBLEMS USING THE EQUATIONS OF MOTION: RECTANGULAR

COODRINATES

• Free-Body Diagram
o Select the inertial coordinate system. Rectangular or x, y, z coordinates are used
to analyze problems involving rectilinear motion.
o Draw the particle’s free-body diagram. This makes it possible to resolve all the
forces acting on the particle into their x, y, z components.
o The direction and sense of the particle’s acceleration a should also be established.
If the senses of its components are unknown, assume they are in the same
direction as the positive inertial coordinate axes.
o The acceleration may be represented as the ma vector on the kinetic diagram.
o Identify the unknowns in the problem.
• Equations of Motion
o If the forces can be resolved directly from the free-body diagram, apply the
equations for rectangular coordinates.
o If the geometry of the problem appears complicated, which often occurs in three
dimensions, Cartesian vector analysis can be used for the solution.
o Friction: If the particle contacts a rough surface, it may be necessary to use the
frictional equation 𝐹𝑓 = 𝜇𝑘 𝑁. Remember that 𝐹𝑓 always acts to oppose the motion
of the particle relative to the surface it contacts.
o Spring: If the particle is connected to an elastic spring having negligible mass, the
spring force 𝐹𝑠 can be related to the deformation of the spring by the equation 𝐹𝑠 =
𝑘𝑠.
• Kinematics
o If the velocity or position of the particle is to be found, it will be necessary to apply
the proper kinematic equations once the particle’s acceleration is determined from
the equations rectangular coordinates.
𝑑𝑣 𝑑𝑠
o If acceleration is a function of time, use 𝑎 = 𝑑𝑡
and 𝑣 = 𝑑𝑡, which, when integrated,
yield the particle’s speed and position.
o If acceleration is a function of displacement, integrate a ds = v dv to obtain the
speed as a function of position.
1
o If acceleration is constant, use 𝑣 = 𝑣0 + 𝑎𝑐 𝑡, 𝑠 = 𝑠0 + 𝑣0 𝑡 + 2 𝑎𝑐 𝑡 2 , 𝑣 2 = 𝑣02 +
2𝑎𝑐 (𝑠 − 𝑠0 ) to determine the speed or position of the particle.

o If the problem involves the dependent motion of several particles, use the
procedure of “ABSOLUTE DEPENDENT MOTION ANALYSIS OF TWO
PARTICLES” to relate their accelerations.
o In all cases, make sure the positive inertial coordinate directions used for writing
the kinematic equations are the same as those used for writing the equations of
motion; otherwise, simultaneous solution of the equations will result in errors.
o If the solution for an unknown vector component yields a negative scalar, it
indicates that the component acts in the direction opposite to that which was
assumed.
PROBLEM 1: The 160-Mg train travels with a speed of 80 kph when it starts to climb the slope.
If the engine exerts a traction force F of 1/20 of the weight of the train and the rolling resistance
𝐹𝐷 is equal to 1/500 of the weight of the train, determine the deceleration of the train.
PROBLEM 2: Each of the three barges has a mass of 30 Mg, whereas the tugboat has a mass
of 12 Mg. As the barges are being pulled forward with a constant velocity of 4 m/s, the tugboat
must overcome the frictional resistance of the water, which is 2 kN for each barge and 1.5 kN for
the tugboat. If the cable between A and B breaks, determine the acceleration of the tugboat.
PROBLEM 3: If the force of the motor M on the cable is shown in the graph, determine the velocity
of the cart when t = 3 s. The load and cart have a mass of 200 kg and the car starts from rest.
PROBLEM 4: Blocks A and B each have a mass m. Determine the largest horizontal force P
which can be applied to B so that A will not slip on B. The coefficient of static friction between A
and B is μs . Neglect any friction between B and C.
PROBLEM 5: The 600-kg dragster is traveling with a velocity of 125 m/s when the engine is shut
off and the braking parachute is deployed. If air resistance imposed on the dragster due to the
parachute is 𝐹𝐷 = (6000 + 0.9𝑣 2 ) 𝑁, where 𝑣 is in m/s, determine the time required for the
dragster to come to rest.
EQUATION OF MOTION: NORMAL AND TANGENTIAL COORDINATES

• When a particle moves over a known curved path, the equation of motion for the particle
may be written in the tangential, normal and binormal directions giving the following three
scalar equations of motion:
∑ 𝐹𝑡 = 𝑚𝑎𝑡

∑ 𝐹𝑛 = 𝑚𝑎𝑛

∑ 𝐹𝐵 = 0

SOLVING PROBLEMS USING THE EQUATIONS OF MOTION: NORMAL AND TANGENTIAL

COODRINATES
When a problem involves the motion of a particle along a known curved path, normal and
tangential coordinates should be considered for the analysis since the acceleration components
can be readily formulated. Specifically, for 𝑡, 𝑛 and 𝑏 coordinates we have the following procedure:

• Free-Body Diagram
o Establish the inertial t, n, b coordinate system at the particle and draw the particle’s
free-body diagram.
o The particle’s normal acceleration an always acts in the positive n direction.
o If the tangential direction at is known, assume it acts in the positive t direction.
o Identify the unknowns in the problem.
• Equations of Motion
o Apply the equations of motion for normal and tangential coordinates.
• Kinematics
𝑑𝑣
o Formulate the tangential and normal components of acceleration: i.e., 𝑎𝑡 = 𝑑𝑡
or
𝑑𝑣 𝑣2
𝑎𝑡 = 𝑣 𝑑𝑠 and 𝑎𝑛 = 𝜌
.
o If the path is defined as y = f(x), the radius of curvature at the point where the
particle is located can be obtained from
 [1 + (𝑑𝑦⁄𝑑𝑥 )2 ]3⁄2
𝜌=
𝑑2 𝑦
| 2|
𝑑𝑥
PROBLEM 6: The 2-kg block B and 15-kg cylinder A are connected to a light cord that passes
through a hole in the center of the smooth table. If the block travels along a circular path of radius
r = 1.5 m, determine the speed of the block.
PROBLEM 7: The sports car, having a mass of 1700 kg, travels horizontally along a 20° banked
track which is circular and has a radius of curvature of ρ = 100 m. If the coefficient of static friction
between the tires and the road is μs = 0.2, determine the maximum constant speed at which the
car can travel without sliding up the slope. Neglect the size of the car.
PROBLEM 8: The smooth block B, having a mass of 0.2 kg, is attached to the vertex A of the
right circular cone using a light cord. If the block has a speed of 0.5 m/s around the cone,
determine the tension in the cord and the reaction which the cone exerts on the block. Neglect
the size of the block.
PROBLEM 9: The 6-kg block is confined to move along the smooth parabolic path. The attached
spring restricts the motion and, due to the roller guide, always remains horizontal as the block
descends. If the spring has a stiffness of k = 10 N⁄m, and unstretched length of 0.5 m, determine
the normal force of the path on the block at the instant x = 1 m when the block has a speed of 4
m/s. Also, what is the rate of increase in speed of the block at this point? Neglect the mass of the
roller and the spring.
PROBLEM 10: The 5-lb collar slides on the smooth rod, so that when it is at A it has a speed of
10 ft/s. If the spring to which it is attached has an unstretched length of 3 ft and a stiffness of k =
10 lb⁄ft, determine the normal force on the collar and the acceleration of the collar at this instant.
EQUATION OF MOTION: CYLINDRICAL COORDINATES

• The equation of motion for the particle may be written in the (cylindrical) r, θ, z directions
giving the following three scalar equations of motion:
∑ Fr = mar

∑ Fz = maz

∑ Fθ = maθ

Note that if the particle is constrained to move only in the r-θ plane, then only the first two
equations are used to specify the motion.

SOLVING PROBLEMS USING THE EQUATIONS OF MOTION: CYLINDRICAL COODRINATES

Cylindrical or polar coordinates are a suitable choice for the
analysis of a problem for which data regarding the angular motion
of the radial line r are given, or in cases where the path can be
conveniently expressed in terms of these coordinates. Once these
coordinates have been established, the equations of motion can
be applied in order to relate the forces acting on the particle to its
acceleration components. The specific procedure is as follows:

• Free-Body Diagram
o Establish the inertial r, θ, z coordinate system at
the particle and draw the particle’s free-body
diagram.
o Assume that ar , aθ , az act in the positive directions of r, θ, z if they are unknown.
o Identify the unknowns in the problem.
• Equations of Motion
o Apply the equations of motion for cylindrical coordinates.
• Kinematics
dr d2 r dθ d2 θ d2 z
o Determine r and the time derivativesdt , , , ,
dt2 dt dt2 dt2
, and then evaluate the
d2 r dθ 2 d2 θ dr dθ d2 z
acceleration components ar = − r ( ) , aθ = r 2 + 2 ( ) ( ) and az = 2 .
dt2 dt dt dt dt dt
o If any of the acceleration components is computed as a negative quantity, it
indicates that it acts in its negative coordinate direction.
o Use the chain rule of calculus to calculate the time derivatives of r = f(θ).
PROBLEM 11: The path of motion of a 5-lb particle in the horizontal plane is described in terms
of polar coordinates as r = (2t + 1) ft and θ = (0.5t 2 − t) rad, where t is in seconds. Determine
the magnitude of the resultant force acting on the particle when t = 2 s.
PROBLEM 12: If the position of the 3-kg collar C on the smooth rod AB is held at r = 720 mm,
determine the constant angular velocity dθ⁄dt at which the mechanism is rotating about the
vertical axis. The spring has an unstretched length of 400 mm. Neglect the mass of the rod and
the size of the collar.
PROBLEM 13: The amusement park ride rotates with a constant angular velocity of dθ⁄dt =
0.8 rad⁄s. If the path of the ride is defined by r = (3 sin θ + 5) m and z = (3 cos θ) m, determine
the r, θ, and z components of force exerted by the seat on the 20-kg boy when θ = 120°.
PROBLEM 14: The 1.5-kg cylinder C travels along the path described by r = (0.6 sin θ) m. If arm
OA is rotating counterclockwise with an angular velocity of dθ⁄dt = 3 rad⁄s, determine the force
exerted by the smooth slot in arm OA on the cylinder at the instant θ = 60°. The spring has a
stiffness of 100 N/m and is unstretched when θ = 30°. The cylinder is in contact with only one
edge of the slotted arm. Neglect the size of the cylinder. Motion occurs in the vertical plane.
PROBLEM 15: The ball has a mass of 1 kg and is confined to move along the smooth vertical
slot due to the rotation of the smooth arm OA. Determine the force of the rod on the ball and the
normal force of the slot on the ball when θ = 30°. The rod is rotating with a constant angular
velocity dθ⁄dt = 3 rad⁄s. Assume the ball contacts only one side of the slot at any instant.