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Dynamics in Details - Force and Newton's - Additional note

and solved problems
Engineering Physics 1 (Cape Peninsula University of Technology)

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Chapter 4

Forces I

4.1 The Important Stuff

4.1.1 Newton’s First Law
With Newton’s Laws we begin the study of how motion occurs in the real world. The study
of the causes of motion is called dynamics, or mechanics. The relation between force
and acceleration was given by Isaac Newton in his three laws of motion, which form the
basis of elementary physics. Though Newton’s formulation of physics had to be replaced
later on to deal with motion at speeds comparable to the speed light and for motion on the
scale of atoms, it is applicable to everyday situations and is still the best introduction to
the fundamental laws of nature. The study of Newton’s laws and their implications is often
called Newtonian or classical mechanics.
Particles accelerate because they are being acted on by forces. In the absence of forces,
a particle will not accelerate, that is, it will move at constant velocity.
The user–friendly way of stating Newton’s First Law is:

Consider a body on which no force is acting. Then if it is at rest it

will remain at rest, and if it is moving with constant velocity it will
continue to move at that velocity.

Forces serve to change the velocity of an object, not to maintain its motion (contrary to
the ideas of philosophers in ancient times).

4.1.2 Newton’s Second Law

Experiments show that objects have a property called mass which measures how their motion
is influenced by forces. Mass is measured in kilograms in the SI system.
Newton’s Second Law is a relation between the net force (F) acting on a mass m and
its acceleration a. It says:

F = ma


75

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76 CHAPTER 4. FORCES I

In words, Newton’s Second Law tells us to add up the forces acting on a mass m; this
sum, F (or, Fnet) is equal to the mass m times its acceleration a.


This is a vector relation; if we are working in two dimensions, this equation implies both
of the following:
 
Fx = max and Fy = may (4.1)

The units of force must be kg · sm2 , which is abbreviated 1 newton (N), to honor Isaac
Newton (1642–1727), famous physicist and smart person. Thus:

1 newton = 1 N = 1 kg·m
s2
(4.2)

Two other units of force which we encounter sometimes are:

1 dyne = 1 g·cm
s2
= 10−5 N and 1 pound = 1 lb = 4.45 N

4.1.3 Examples of Forces

To begin our study of dynamics we consider problems involving simple objects in simple
situations. Our first problems will involve little more than small masses, hard, smooth
surfaces and ideal strings, or objects that can be treated as such.
For all masses near the earth’s surface, the earth exerts a downward gravitational force
which is known as the weight of the mass and has a magnitude given by

W = mg

A taught string (a string “under tension”) exerts forces on the objects which are attached
to either end. The forces are directed inward along the length of the string.) In our first
problems we will make the approximation that the string has no mass, and when it passes
over any pulley, the pulley’s mass can also be ignored. In that case, the magnitude of the
string’s force on either end is the same and will usually be called T , the string’s tension.
A solid surface will exert forces on a mass which is in contact with it. In general the force
from the surface will have a perpendicular (normal) component which we call the normal
force of the surface. The surface can also exert a force which is parallel; this is a friction
force and will be covered in the next chapter.

4.1.4 Newton’s Third Law

Consider two objects A and B. The force which object A exerts on

object B is equal and opposite to the force which object B exerts on
object A: FAB = −FBA

This law is popularly stated as the “law of action and reaction”, but in fact it deals with
the forces between two objects.

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4.2. WORKED EXAMPLES 77

4.1.5 Applying Newton’s Laws

In this chapter we will look at some applications of Newton’s law to simple systems involving
small blocks, surfaces and strings. (In the next chapter we’ll deal with more complicated
examples.)
A useful practice for problems involving more than one force is to draw a diagram showing
the individual masses in the problem along with the vectors showing the directions and
magnitudes of the individual forces. It is so important to do this that these diagrams are
given a special name, free–body diagrams.

4.2 Worked Examples

4.2.1 Newton’s Second Law

1. A 3.0 kg mass undergoes an acceleration given by a = (2.0i + 5.0j) sm2 . Find the
resultant force F and its magnitude.

Newton’s Second Law tells us that the resultant (net) force on a mass m is F = ma.


So here we find:

Fnet = ma
= (3.0 kg)(2.0i + 5.0j) m
s2
= (6.0i + 15.j) N

The magnitude of the resultant force is


Fnet = (6.0 N)2 + (15. N)2 = 16. N

2. While two forces act on it, a particle of mass m = 3.2 kg is to move continuously
with velocity (3 ms )i − (4 ms )j. One of the forces is F1 = (2 N)i + (−6 N)j. What is the
other force?

Newton’s Second Law tells us that if a is the acceleration of the particle, then (as there
are only two forces acting on it) we have:

F1 + F2 = ma

But here the acceleration of the particle is zero!! (Its velocity does not change.) This tells
us that
F1 + F2 = 0 =⇒ F2 = −F1

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78 CHAPTER 4. FORCES I

and so the second force is

F2 = −F1 = (−2 N)i + (6 N)j
This was a simple problem just to see if you’re paying attention!

3. A 4.0 kg object has a velocity of 3.0i ms at one instant. Eight seconds later,
its velocity is (8.0i + 10.0j) ms . Assuming the object was subject to a constant net
force, find (a) the components of the force and (b) its magnitude.

(a) We are told that the (net) force acting on the mass was constant. Then we know that
its acceleration was also constant, and we can use the constant–acceleration results from
the previous chapter. We are given the initial and final velocities so we can compute the
components of the acceleration:

Δvx [(8.0 ms ) − (3.0 ms )]

ax = = = 0.63 sm2
Δt (8.0 s)

and
Δvy [(10.0 ms ) − (0.0 ms )]
ay = = = 1.3 sm2
Δt (8.0 s)
We have the mass of the object, so from Newton’s Second Law we get the components of
the force:
Fx = max = (4.0 kg)(0.63 sm2 ) = 2.5 N
Fy = may = (4.0 kg)(1.3 sm2 ) = 5.0 N

(b) The magnitude of the (net) force is

 
F = Fx2 + Fy2 = (2.5 N)2 + (5.0 N)2 = 5.6 N

and its direction θ is given by

Fy 5.0
tan θ = = = 2.0 =⇒ θ = tan−1 (2.0) = 63.4◦
Fx 2.5

(The question didn’t ask for the direction but there it is anyway!)

4. Five forces pull on the 4.0 kg box in Fig. 4.1. Find the box’s acceleration (a)
in unit–vector notation and (b) as a magnitude and direction.

(a) Newton’s Second Law will give the box’s acceleration, but we must first find the sum of
the forces on the box. Adding the x components of the forces gives:

Fx = −11 N + 14 N cos 30◦ + 3.0 N
= 4.1 N

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4.2. WORKED EXAMPLES 79

14 N

5.0 N
30o

3.0 N x
11 N

4.0 kg box

17 N

Figure 4.1: Five forces pull on a box in Example 4

(two of the forces have only y components). Adding the y components of the forces gives:

Fy = +5.0 N + 14 N sin 30◦ − 17 N
= −5.0 N

So the net force on the box (in unit-vector notation) is


F = (4.1 N)i + (−5.0 N)j .

Then we find the x and y components of the box’s acceleration using a = F/m:


Fx (4.1 N)

ax = = = 1.0 sm2
m (4.0 kg)
Fy (−5.0 N)

ay = = = −1.2 sm2
m (4.0 kg)

So in unit–vector form, the acceleration of the box is

a = (1.0 sm2 )i + (−1.2 sm2 )j

(b) The acceleration found in part (a) has a magnitude of

 
a= a2x + a2y = (1.0 sm2 )2 + (−1.2 sm2 )2 = 1.6 sm2

and to find its direction θ we calculate

ay −1.2
tan θ = = = −1.2
ax 1.0
which gives us:
θ = tan−1 (−1.2) = −50◦
Here, since ay is negative and ax is positive, this choice for θ lies in the proper quadrant.

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80 CHAPTER 4. FORCES I

4.2.2 Examples of Forces

5. What are the weight in newtons and the mass in kilograms of (a) a 5.0 lb bag
of sugar, (b) a 240 lb fullback, and (c) a 1.8 ton automobile? (1 ton = 2000 lb.)

(a) The bag of sugar has a weight of 5.0 lb. (“Pound” is a unit of force, or weight.) Then
its weight in newtons is
4.45 N
 
5.0 lb = (5.0 lb) · = 22 N
1 lb
Then from W = mg we calculate the mass of the bag,
W 22 N
m= = = 2.3 kg
g 9.80 sm2

(b) Similarly, the weight of the fullback in newtons is

4.45 N
 
240 lb = (240 lb) · = 1070 N
1 lb
and then his (her) mass is
W 1070 N
m= = = 109 kg
g 9.80 sm2
(c) The automobile’s weight is given in tons; express it in newtons:
 
2000 lb 4.45 N

1.8 ton = (1.8 ton) = 1.6 × 104 N .
1 ton 1 lb
Then its mass is
W 1.6 × 104 N
m= = m = 1.6 × 103 kg
g 9.80 s2

6. If a man weighs 875 N on Earth, what would he weigh on Jupiter, where the
free–fall acceleration is 25.9 sm2 ?
The weight of a mass m on the earth is W = mg where g is the free–fall acceleration on
Earth. The mass of the man is:
W 875 N
m= = = 89.3 kg
g 9.80 sm2
His weight on Jupiter is found using gJupiter instead of g:
WJupiter = mgJupiter = (89.3 kg)(25.9 sm2 ) = 2.31 × 103 N
The man’s weight on Jupiter is 2.31 × 103 N.
(The statement of the problem is a little deceptive; Jupiter has no solid surface! The
planet will indeed pull on this man with a force of 2.31 × 103 N, but there is no “ground” to
push back!)

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4.2. WORKED EXAMPLES 81

40o 50o 60o

T1 T2 T1

T3 T3 T2
5.0 kg 10 kg

(a) (b)

Figure 4.2: Masses suspended by strings, for Example 7.

T3

T1 T2
40o 50o

5.0 kg
T3
m1 g

(a) (b)

Figure 4.3: Force diagrams for part (a) in Example 7.

4.2.3 Applying Newton’s Laws

7. Find the tension in each cord for the systems shown in Fig. 4.2. (Neglect the
mass of the cords.)

(a) In this part, we solve the system shown in Fig. 4.2(a).

Think of the forces acting on the 5.0 kg mass (which we’ll call m1). Gravity pulls down-
ward with a force of magnitude mg . The vertical string pulls upward with a force of magni-
tude T3. (These forces are shown in Fig. 4.3(a).) Since the hanging mass has no acceleration,
it must be true that T3 = m1g. This gives us the value of T3 :

T3 = m1g = (5.0 kg)(9.80 sm2 ) = 49 N .

Next we look at the forces which act at the point where all three strings join; these are
shown in Fig. 4.3(b). The force which the strings exert all point outward from the joining
point and from simple geometry they have the directions shown
Now this point is not accelerating either, so the forces on it must all sum to zero. The
horizontal components and the vertical components of these forces separately sum to zero.

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82 CHAPTER 4. FORCES I

The horizontal components give:

−T1 cos 40◦ + T2 cos 50◦ = 0

This equation by itself does not let us solve for the tensions, but it does give us:
cos 40◦
T2 cos 50◦ = T1 cos 40◦ =⇒ T2 = T2 = 1.19T1
cos 50◦
The vertical forces sum to zero, and this gives us:

T1 sin 40◦ + T2 sin 50◦ − T3 = 0

We already know the value of T3. Substituting this and also the expression for T2 which we
just found, we get:
T1 sin 40◦ + (1.19T1 ) sin 50◦ − 49 N = 0
and now we can solve for T1. A little rearranging gives:

(1.56)T1 = 49 N

which gives
49 N
T1 = = 31.5 N .
(1.56)
Now with T1 in hand we get T2:

T2 = (1.19)T1 = (1.19)(31.5 N) = 37.5 N .

Summarizing, the tensions in the three strings for this part of the problem are

T1 = 31.5 N T2 = 37.5 N T3 = 49 N .

(b) Now we study the system shown in Fig. 4.2(b).

Once again, the net force on the hanging mass (which we call m2 ) must be zero. Since
gravity pulls down with a a force m2 g and the vertical string pulls upward with a force T3,
we know that we just have T3 = m2 g, so:

T3 = m2g = (10 kg)(9.80 sm2 ) = 98 N .

Now consider the forces which act at the place where all the strings meet. We do as in
part (a); the horizontal forces sum to zero, and this gives:

−T1 cos 60◦ + T2 = 0 =⇒ T2 = T1 cos 60◦

The vertical forces sum to zero, giving us:

T1 sin 60◦ − T3 = 0

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4.2. WORKED EXAMPLES 83

But notice that since we know T3, this equation has only one unknown. We find:
T3 98 N
T1 = = = 113 N .
sin 60◦ sin 60◦
Using this is our expression for T2 gives:

T2 = T1 cos 60◦ = (113 N) cos 60◦ = 56.6 N

Summarizing, the tensions in the three strings for this part of the problem are

T1 = 113 N T2 = 56.6 N T3 = 98 N .

8. A 210 kg motorcycle accelerates from 0 to 55 mi hr

in 6.0 s. (a) What is the
magnitude of the motorcycle’s constant acceleration? (b) What is the magnitude
of the net force causing the acceleration?

(a) First, let’s convert some units:

 
1609 m 1 hr

mi mi
55 hr
= (55 hr
) = 24.6 ms
1 mi 3600 s
so that the acceleration of the motorcycle is
vx − vx0 24.6 ms − 0
a= = = 4.1 sm2
t 6.0 s

(b) Now that we know the acceleration of the motorcycle (and its mass) we know the net
horizontal force, because Newton’s Law tells us:

Fx = max = (210 kg)(4.1 sm2 ) = 8.6 × 102 N



The magnitude of the net force on the motorcycle is 8.6 × 102 N.

9. A rocket and its payload have a total mass of 5.0 × 104 kg. How large is the
force produced by the engine (the thrust) when (a) the rocket is “hovering” over
the launchpad just after ignition, and (b) when the rocket is accelerating upward
at 20 sm2 ?

(a) First thing: draw a diagram of the forces acting on the rocket! This is done in Fig. 4.4. If
the mass of the rocket is M then we know that gravity will be exerting a force Mg downward.
The engines (actually, the gas rushing out of the rocket) exerts a force of magnitude Fthrust
upward on the rocket.
If the rocket is hovering, i.e. it is motionless but off the ground then it has no acceleration;
so, here, ay =0. Newton’s Second Law then says:

Fy = Fthrust − Mg = May = 0

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84 CHAPTER 4. FORCES I

Fthrust

ts
Ro me
cke
y

Ac
Mg

Figure 4.4: Forces acting on the rocket in Example 9

30o
F
F

q
mg
60o

(a) (b)

Figure 4.5: (a) Block held in place on a smooth ramp by a horizontal force. (b) Forces acting on the block.

which gives
Fthrust = Mg = (5.0 × 104 kg)(9.80 sm2 ) = 4.9 × 105 N
The engines exert an upward force of 4.9 × 105 N on the rocket.
(b) As in part (a), gravity and thrust are the only forces acting on the rocket, but now it
has an acceleration of ay = 20 sm2 . So Newton’s Second Law now gives

Fy = Fthrust − Mg = May

so that the force of the engines is

Fthrust = Mg + May = M(g + ay ) = (5.0 × 104 kg)(9.80 m

s2
+ 20 sm2 ) = 1.5 × 106 N

10. A block of mass m = 2.0 kg is held in equilibrium on an incline of angle θ = 60◦

by the horizontal force F, as shown in Fig. 4.5(a). (a) Determine the value of F ,
the magnitude of F. (b) Determine the normal force exerted by the incline on
the block (ignore friction).

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4.2. WORKED EXAMPLES 85

m1 m2
o
30

Figure 4.6: Masses m1 and m2 are connected by a cord; m1 slides on frictionless slope.

(a) The first thing to do is to draw a diagram of the forces acting on the block, which we do
in Fig. 4.5(b). Gravity pulls downward with a force mg. The applied force, of magnitude F ,
is horizontal. The surface exerts a normal force N on the block; using a little geometry, we
see that if the angle of the incline is 60◦ , then the normal force is directed at 30◦ above the
horizontal, as shown in Fig. 4.5(b). There is no friction force from the surface, so we have
shown all the forces acting on the block.
Oftentimes for problems involving a block on a slope it is easiest to use the components
of the gravity force along the slope and perpendicular to it. For this problem, this would
not make things any easier since there is no motion along the slope.
Now, the block is in equilibrium, meaning that it has no acceleration and the forces sum
to zero. The fact that the vertical components of the forces sum to zero gives us:
mg
N sin 30◦ − mg = 0 =⇒ N=
sin 30◦
Substitute and get:
(2.0 kg)(9.80 sm2 )
N= = 39.2 N .
sin 30◦
The horizontal forces also sum to zero, giving:

F − N cos 30◦ = 0 =⇒ F = N cos 30◦ = (39.2 N) cos 30◦ = 33.9 N .

The applied force F is 33.9 N.

(b) The magnitude of the normal force was found in part (a); there we found:

N = 39.2 N .

11. A block of mass m1 = 3.70 kg on a frictionless inclined plane of angle θ = 30.0◦ is

connected by a cord over a massless, frictionless pulley to a second block of mass
m2 = 2.30 kg hanging vertically, as shown in Fig. 4.6. What are (a) the magnitude
of the acceleration of each block and (b) the direction of the acceleration of m2 ?
(c) What is the tension in the cord?

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86 CHAPTER 4. FORCES I

y
x

N T

m1g sin q
m1g cos q
m1g
o
30

Figure 4.7: The forces acting on m1

(a) Before thinking about the forces acting on these blocks, we can think about their motion.
m1 is constrained to move along the slope and m2 must move vertically. Because the two
masses are joined by a string, the distance by which m1 moves up the slope is equal to the
distance which m2 moves downward, and the amount by which m1 moves down the slope
is the amount by which m2 moves upward. The same is true of their accelerations; if it
turns out that m1 is accelerating up the slope, that will be the same as m2’s downward
acceleration.
Now we draw “free–body diagrams” and invoke Newton’s Second Law for each mass.
Consider all the forces acting on m1. These are shown in Fig. 4.7Ṫhe force of gravity, with
magnitude m1 pulls straight down. Here, looking ahead to the fact that motion can only
occur along the slope it has decomposed into its components perpendicular to the surface
(with magnitude m1 cos θ) and down the slope (with magnitude m1 sin θ). The normal force
of the surface has magnitude N and points... normal to the surface! Finally the string pulls
up with slope with a force of magnitude T , the tension in the string.
Suppose we let x be a coordinate which measures movement up the slope. (Note, we are
not saying that the block will move up the slope, this is just a choice of coordinate. Let y be
a coordinate going perpendicular to the slope. We know that there is no y acceleration so
the components of the forces in the y direction must add to zero. This gives:

N − m1g cos θ = 0 =⇒ N = m1g cos θ

which gives the normal force should we ever need it. (We won’t.) Next, the sum of the x
forces gives m1ax , which will not be zero. We get:

T − m1 g sin θ = m1ax (4.3)

Here there are two unknowns, T and ax .

The free–body diagram for mass m2 is shown in Fig. 4.8. The force of gravity, m2 g
pulls downward and the string tension T pulls upward. Suppose we use a coordinate x′
which points straight down. (This is a little unconventional, but you can see that there is a

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4.2. WORKED EXAMPLES 87

x’

m2 g

Figure 4.8: The forces acting on m2 . Coordinate x points downward.

connection with the coordinate x used for the motion of m1 . Then the sum of forces in the
x′ direction gives m2 ax :
m2g − T = m2 ax
Now as we argued above, the accelerations are equal: ax = ax . This gives us:

m2 g − T = m2ax (4.4)

At this point, the physics is done and the rest of the problem is doing the math (algebra)
to solve for ax and T . We are first interested in finding ax. We note that by adding Eqs. 4.3
and 4.4 we will eliminate T . Doing this, we get:

(T − m1 g sin θ) + (m2g − T ) = m1ax + m2ax

this gives:
m2g − m1 g sin θ = (m1 + m2 )ax
and finally:
(m2 − m1g sin θ)g
ax =
m1 + m2
Substituting the given values, we have:
(2.30 kg − 3.70 kg sin 30◦ )(9.80 sm2 )
ax =
(3.70 kg + 2.30 kg)
m
= +0.735 s2

So ax = +0.735 sm2 . What does this mean? It means that the acceleration of m1 up the slope
and m2 downwards has magnitude 0.735 sm2 . The plus sign in our result for ax is telling us
that the acceleration does go in the way we (arbitrarily) set up the coordinates. If we had
made the opposite (“wrong”) choice for the coordinates then our acceleration would have
come out with a minus sign.
(b) We’ve already found the answer to this part in our understanding of the result for part
(a). Mass m1 accelerates up the slope; mass m2 accelerates vertically downward .

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88 CHAPTER 4. FORCES I

Acme
Bananas

Figure 4.9: Monkey runs up the rope in Example 12.

(c) To get the tension in the string we may use either Eq. 4.3 or Eq. 4.4. Using 4.4 gives:

m2g − T = m2 ax =⇒ T = m2 g − m2ax = m2 (g − ax)

Substituting everything,

T = (2.30 kg)(9.80 sm2 − (0.735 sm2 )) = 20.8 N

12. A 10 kg monkey climbs up a massless rope that runs over a frictionless tree
limb (!) and back down to a 15 kg package on the ground, as shown in Fig. 4.9.
(a) What is the magnitude of the least acceleration the monkey must have if
it is to lift the package off the ground? If, after the package has been lifted
the monkey stops its climb and holds onto the rope, what are (b) the monkey’s
acceleration and (c) the tension in the rope?

(a) Before we do anything else, let’s understand what forces are acting on the two masses
in this problem. The free–body diagrams are shown in Fig. 4.10. The monkey holds onto
the rope so it exerts an upward force of magnitude T , where T is the tension in the rope.
Gravity pulls down on the monkey with a force of magnitude mg, where m is the mass of
the monkey. These are all the forces. Note that they will not cancel since the problem talks
about the monkey having an acceleration and so the net force on the monkey will not be
zero.
The forces acting on the box are also shown. Gravity pulls downward on the box with a
force of magnitude Mg, M being the mass of the box. The rope pulls upward with a force
T , If the box is resting on the ground, the ground will be pushing upward with some force
Fground. (Here, the ground cannot pull downward.) However when the box is not touching
the ground then Fground will be zero.

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4.2. WORKED EXAMPLES 89

T
T
Fground

Monkey
Box
mg Mg

Figure 4.10: The forces acting on the two masses in Example 12.

In the first part of the problem, the monkey is moving along the rope. It is not stuck
to any point of the rope, so there is no obvious relation between the acceleration of the
monkey and the acceleration of the box. Suppose we let ay,monkey be the vertical acceleration
of the monkey and ay,box be the vertical acceleration of the box. Then from our free–body
diagrams, Newton’s Second Law gives the acceleration of the monkey:

T − mg = may,monkey

When the box is on the ground its acceleration is zero and then T + Fgr = mg. But when
the box is off then ground then we have:

T − Mg = M abox (Box off the ground)

In the first part of the problem we are solving for the condition that the monkey climbs
just barely fast enough for the box to be lifted off the ground. If so, then the ground would
exert no force but the net force on the box would be so small as to be virtually zero; the box
has a very, very tiny acceleration upwards. From this we know:

T − Mg = 0 =⇒ T = Mg

and substituting this result into the first equation gives

(M − m)g
Mg − mg = mamonkey =⇒ amonkey =
m
Substituting the given values,
(15 kg − 10 kg)(9.80 sm2 )
amonkey = = 4.9 sm2
10 kg
The monkey must pull himself upwards so as to give himself an acceleration of 4.9 sm2 . Any-
thing less and the box will remain on the ground.
(b) Next, suppose that after climbing for while (during which time the box has been rising
off the ground) the monkey grabs onto the rope. What new condition does this give us?

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90 CHAPTER 4. FORCES I

Now it is true that the distance that the monkey moves up is the same as the distance which
the box moves down. The same is true of the velocities and accelerations of the monkey and
box, so in this part of the problem (recalling that I defined both accelerations as being in
the upward sense),
amonkey = −abox .
This condition is not true in general, but here it is because we are told that the monkey is
holding fast to the rope.
If you recall the example of the Atwood machine from your textbook or lecture notes,
this is the same physical situation we are dealing with here. We expect the less massive
monkey to accelerate upwards and the more massive box to accelerate downwards. Let’s use
the symbol a for the monkey’s vertical acceleration; then the box’s vertical acceleration is
−a and our equations are:
T − mg = ma
and
T − Mg = M(−a) .
At this point the physics is done and the rest is math (algebra) to solve for the two unknowns,
T and a. Since the first of these equations gives T = mg + ma, substituting this into the
second equation gives:

mg + ma − Mg = −M a =⇒ ma + Ma = Mg − mg

which gives:
(M − m)
(M + m)a = (M − m)g =⇒ a= g
(M + m)
Plugging in the numbers gives

(15.0 kg − 10.0 kg)

a= (9.80 sm2 ) = 2.0 sm2 .
(15.0 kg + 10.0 kg)

When the monkey is holding tight to the rope and both masses move freely, the monkey’s
acceleration is 2.0 sm2 upwards.
(c) Now that we have the acceleration a for this part of the problem, we can easily substitute
into our results in part (b) and find the tension T . From T − mg = ma we get:

T = mg + ma = m(g + a) = (10.0 kg)(9.80 sm2 + 2.0 sm2 ) = 118 N .

The tension in the rope is 118 N.

13. A mass M is held in place by an applied force F and a pulley system as shown
in Fig. 4.11. The pulleys are massless and frictionless. Find (a) the tension in
each section of rope, T1, T2, T3, T4, and T5 , and (b) the magnitude of F.

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4.2. WORKED EXAMPLES 91

T4

T1
T2 T3

F T5

Figure 4.11: Crudely-drawn hand supports a mass M by means of a rope and pulleys

(a) We note first that the mass M (and therefore everything else) is motionless. This simpli-
fies the problem considerably! In particular, every mass in this problem has no acceleration
and so the total force on each mass is zero.
We have five rope tensions to find here, so we’d better start writing down some equations,
fast! Actually, a few of them don’t take much work at all; we know that when we have the
(idealized) situation of massless rope passing around a frictionless massless pulley, the string
tension is the same on both sides. As shown in the figure, it is a single piece of rope that
wraps around the big upper pulley and the lower one, so the tensions T1 , T2 and T3 must be
the same:
T1 = T2 = T3
Not bad so far!
Next, think about the forces acting on mass M. This is pretty simple... the force of
gravity Mg pulls down, and the tension T5 pulls upward. That’s all the forces but they sum
to zero because M is motionless. So we must have
T5 = Mg .
Next, consider the forces which act on the small pulley. These are diagrammed in
Fig. 4.12(a). There is a downward pull of magnitude T5 from the rope which is attached
to M and also upward pulls of magnitude T2 and T3 from the long rope which is wrapped
around the pulley. These forces must sum to zero, so
T2 + T3 − T 5 = 0
But we already know that T5 = Mg and that T2 = T3 so this tells us that
2T2 − Mg = 0
which gives
Mg Mg
T2 = =⇒ T3 = T 2 = .
2 2

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92 CHAPTER 4. FORCES I

T4

T2 T3

T1 T2 T3
T5
(a) (b)

Figure 4.12: (a) Forces on the small (lower) pulley. (b) Forces on the large (upper) pulley.

We also have: T1 = T2 = Mg/2.

Next, consider the forces on the large pulley, shown in Fig. 4.12(b). Tension T4 (in the
rope attached to the ceiling) pulls upward and tensions T1 , T2 and T3 pull downward. These
forces sum to zero, so
T4 − T 1 − T 2 − T 3 = 0 .
But T4 is the only unknown in this equation. Using our previous answers,
Mg Mg Mg 3Mg
T4 = T1 + T2 + T3 = + + =
2 2 2 2
and so the answers are:
Mg 3Mg
T1 = T2 = T3 = T4 = T5 = Mg
2 2

(b) The force F is the (downward) force of the hand on the rope. It has the same magnitude
as the force of the rope on the hand, which is T1 , and we found this to be Mg/2. So
F = Mg/2.

14. Mass m1 on a frictionless horizontal table is connected to mass m2 through

a massless pulley P1 and a massless fixed pulley P2 as shown in Fig. 4.13. (a)
If a1 and a2 are the magnitudes of the accelerations of m1 and m2 respectively,
what is the relationship between these accelerations? Find expressions for (b)
the tensions in the strings and (c) the accelerations a1 and a2 in terms of m1, m2
and g.

(a) Clearly, as m2 falls, m1 will move to the right, pulled by the top string. But how do the
magnitudes of the displacements, velocities and accelerations of m2 and m1 compare? They
are not necessarily the same. Indeed, they are not the same.
Possibly the best way to show the relation between a1 and a2 is to do a little math; for
a very complicated system we would have to do this anyway, and the practice won’t hurt.

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4.2. WORKED EXAMPLES 93

P1

P2
m1

m2

Figure 4.13: System of masses and pulleys for Example 14.

To hanging mass

l
xblock
Figure 4.14: Some geometry for Example 14.

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94 CHAPTER 4. FORCES I

N T2
T1
T1
T2
T1
m1g
m2g

(a) (b) (c)

Figure 4.15: Forces on the masses (and moving pulley) in Example 14. (a) Forces on m1 . (b) Forces on
the moving (massless) pulley. (c) Forces on m2 .

Focus on the upper mass (m1) and pulley P1 , and consider the lengths labelled in Fig. 4.14.
x measures the distance from the wall to the moving pulley; clearly the position of m2 is also
measured by x. ℓ is the length of string from m1 to the pulley. xblock measures the distance
from the wall to m1 . Then:
xblock = x − ℓ .
This really ignores the bit of string that wraps around the pulley, but we can see that it
won’t matter.
Now the total length of the string is L = x + ℓ and it does not change with time. Since
we have ℓ = L − x, we can rewrite the last equation as
xblock = x − (L − x) = 2x − L
Take a couple time derivatives of this, keeping in mind that L is a constant. We get:
d2 xblock d2 x
= 2
dt2 dt2
But the left side of this equation is the acceleration of m1 and the right side is the (magnitude
of the) acceleration of m2 . The acceleration of m1 is twice that of m2:
a1 = 2a2
We can also understand this result by realizing that when m2 moves down by a distance
x, a length 2x of the string must go from the “underneath” section to the “above” section in
Fig. 4.14. Mass m1 follows the end of the string so it must move forward by a distance 2x.
Its displacement is always twice that of m2 so its acceleration is always twice that of m2 .
(b) Now we try to get some information on the forces and accelerations, and we need to draw
free–body diagrams. We do this in Fig. 4.15. Mass m1 has forces m1g acting downward, a
normal force from the table N acting upward, and the string tension T1 pulling to the right.
The vertical forces cancel since m1 has only a horizontal acceleration, a1. Newton’s Second
Law gives us:
T1 = m1a1 (4.5)

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4.2. WORKED EXAMPLES 95

The pulley has forces acting on it, as shown in Fig. 4.15(b). The string wrapped around
it exerts its pull (of magnitude T1 ) both at the top and bottom so we have two forces of
magnitude T1 pulling to the left. The second string, which has a tension T2, pulls to the
right with a force of magnitude T2 .
Now this is a slightly subtle point, but the forces on the pulley must add to zero because
the pulley is assumed to be massless. (A net force on it would give it an infinite acceleration!)
This condition gives us:
T2 − 2T1 = 0 (4.6)
Lastly, we come to m2. It will accelerate downward with acceleration a2. Summing the
downward forces, Newton’s Second Law gives us:

m2g − T2 = m2 a2 (4.7)

For good measure, we repeat the result found in part (a):

a1 = 2a2 (4.8)

In these equations, the unknowns are T1, T2, a1 and a2 . . . four of them. And we have
four equations relating them, namely Eqs. 4.5 through 4.8. The physics is done. We just do
algebra to finish up the problem.
There are many ways to do the algebra, but I’ll grind through it in following way: Sub-
stitute Eq. 4.8 into Eq. 4.5 and get:

T1 = 2m1 a2

Putting this result into Eq. 4.6 gives

T2 − 2T1 = T2 − 4m1 a2 = 0 =⇒ T2 = 4m1 a2

and finally using this in Eq. 4.7 gives

m2g − 4m1a2 = m2 a2

at which point we can solve for a2 we find:

m2 g
m2g = a2 (4m1 + m2 ) =⇒ a2 = (4.9)
(4m1 + m2)

Having solved for one of the unknowns we can quickly find the rest. Eq. 4.8 gives us a1:
2m2 g
a1 = 2a2 = (4.10)
(4m1 + m2 )

Then Eq. 4.8 gives us T1:

2m1 m2 g
T1 = m1a1 = (4.11)
(4m1 + m2)

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96 CHAPTER 4. FORCES I

Finally, since Eq. 4.6 tells us that T2 = 2T1 we get

4m1 m2g
T2 = (4.12)
(4m1 + m2 )

Summarizing our results from Eqs. 4.9 through 4.12, we have:

2m1 m2g 4m1 m2 g
T1 = T2 =
(4m1 + m2) (4m1 + m2)

for the tensions in the two strings and:

(c)
2m2 g m2 g
a1 = a2 =
(4m1 + m2) (4m1 + m2)
for the accelerations of the two masses.

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Chapter 5

Forces and Motion II

5.1 The Important Stuff

5.1.1 Friction Forces
Forces which are known collectively as “friction forces” are all around us in daily life. In
elementary physics we discuss the friction force as it occurs between two objects whose
surfaces are in contact and which slide against one another.
If in such a situation, a body is not moving while an applied force F acts on it, then
static friction forces are opposing the applied force, resulting in zero net force. Empirically,
one finds that this force can have a maximum value given by:

fsmax = μs N (5.1)

where μs is the coefficient of static friction for the two surfaces and N is the normal
(perpendicular) force between the two surfaces.
If one object is in motion relative to the other one (i.e. it is sliding on the surface) then
there is a force of kinetic friction between the two objects. The direction of this force is
such as to oppose the sliding motion and its magnitude is given by

fk = μk N (5.2)

where again N is the normal force between the two objects and μk is the coefficient of
kinetic friction for the two surfaces.

5.1.2 Uniform Circular Motion Revisited

Recall the result given in Chapter 3: When an object is in uniform circular motion, moving
in a circle of radius r with speed v, the acceleration is directed toward the center of the circle
and has magnitude

v2
acent = .
r

97

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98 CHAPTER 5. FORCES AND MOTION II

Therefore, by Newton’s Second Law of Motion, the net force on this object must also be
directed toward the center of the circle and have magnitude

mv 2
Fcent = . (5.3)
r
Such a force is called a centripetal force, as indicated in this equation.

5.1.3 Newton’s Law of Gravity (Optional for Calculus–Based)

The force of gravity is one of the fundamental forces in nature. Although in our first physics
examples we only dealt with the fact that the earth pulls downward on all masses, in fact all
masses exert an attractive gravitational force on each other, but for most objects the force
is so small that we can ignore it.
Newton’s Law of Gravity says that for two masses m1 and m2 separated by a distance
r, the magnitude of the (attractive) gravitational force is
m1 m2 N·m2
F =G where G = 6.67 × 10−11 kg2
(5.4)
r2
While the law as given really applies to point (i.e. small) masses, it can be used for spherical
masses as long as we take r to be the distance between the centers of the two masses.

5.2 Worked Examples

5.2.1 Friction Forces

1. An ice skater moving at 12 ms coasts to a halt in 95 m on an ice surface. What

is the coefficient of (kinetic) friction between ice and skates?

The information which we are given about the skater’s (one-dimensional) motion is shown
in Fig. 5.1(a). We know that the skater’s notion is one of constant acceleration so we can use
the results in Chapter 2. In particular we know the initial and final velocities of the skater:

v0 = 12 ms v=0

and we know the displacement for this interval:

x − x0 = 95 m

we can use 2.8 to find the (constant) acceleration a. We find:

(vx2 − v0x
2
)
vx2 = v0x
2
+ 2ax (x − x0 ) =⇒ ax =
2(x − x0)

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5.2. WORKED EXAMPLES 99

N
x
x
v=12 m/s v=0 fk

95 m mg

(a) (b)

Figure 5.1: Skater slowed to a halt by friction in Example 1. Motion is shown in (a); forces acting on the
skater are shown in (b).

Substituting, we get:
((0 ms )2 − (12 ms )2 )
ax = = −0.76 sm2 .
2(95 m)
Next, think about the forces acting on the skater; these are shown in Fig. 5.1(b). If the
mass of the skater is m then gravity has magnitude mg and points downward; the ice exerts
a normal force N upward. It also exerts a frictional force fk in a direction opposing the
motion. Since the skater has no motion in the vertical direction, the vertical forces must
sum to zero so that N = mg. Also, since the magnitude of the force of kinetic friction is
given by fk = μk N we have:
fk = μk N = μk mg .
So the net force in the x direction is Fx = −μk mg.
Newton’s law tells us: Fx, net = max. Using the results we have found, this gives us:

−μk mg = m(−0.76 sm2 )

From which the m cancels to give:

(0.76 sm2 ) (0.76 sm2 )
μk = = = 7.7 × 10−2
g (9.80 sm2 )

The coefficient of kinetic friction between ice and skates is 7.7 × 10−2 . (Note, the coefficient
of friction is dimensionless.)
Recall that we were not given the mass of the skater. That didn’t matter, because it
cancelled out of our equations. But we did have to consider it in writing down our equations.

2. Block B in Fig. 5.2 weighs 711 N. The coefficient of static friction between
block and table is 0.25; assume that the cord between B and the knot is horizontal.
Find the maximum weight of block A for which the system will be stationary.

We need to look at the forces acting at the knot (the junction of the three cables). These
are shown in Fig. 5.3(a). The vertical cord must have a tension equal to the weight of block
A (which we’ll call WA ) because at its other end this cord is pulling up on A so as to support

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100 CHAPTER 5. FORCES AND MOTION II

30o
B

Figure 5.2: Diagram for Example 2.

T2 N B
T1
fs T1
WA

WB
(a) (b)

Figure 5.3: (a) Forces acting at the knot in Example 2. (b) Forces acting on block B in Example 2.

it. Let the tensions in the other cords be T1 for the horizontal one and T2 for the one that
pulls at 30◦ above the horizontal. The knot is in equilibrium so the forces acting on it add
to zero. In particular, the vertical components of the forces add to zero, giving:

T2 sin θ − WA = 0 or T2 sin θ = WA

(where θ = 30◦ ) and the horizontal forces add to zero, giving:

−T1 + T2 cos θ = 0 or T1 = T2 cos θ .

Now look at the forces acting on the block which rests on the table; these are shown in
Fig. 5.3(b). There is the force of gravity pointing down, with magnitude WB (that is, the
weight of B, equal to mB g). There is a normal force from the table pointing upward; there
is the force from the cable pointing to the right with magnitude T1 , and there is the force of
static friction pointing to the left with magnitude fs . Since the vertical forces add to zero,
we have
N − WB = 0 or N = Wb
The horizontal forces on the block also sum to zero giving

T1 − fs = 0 or T1 = fs

Now, the problem states that the value of WA we’re finding is the maximum value such
that the system is stationary. This means that at the value of WA we’re finding, block B is

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5.2. WORKED EXAMPLES 101

m
F
Frictionless M

Figure 5.4: Diagram for Example 3.

just about to slip, so that the friction force fs takes on its maximum value, fs = μs N . Since
we also know that N = WB from the previous equation, we get:

T1 = fs = μs N = μs WB

From before, we had T1 = T2 cos θ, so making this substitution we get

T2 cos θ = μs WB
WA
Almost done! Our very first equation gave T2 = sin θ
, so substituting for T2 gives:

WA
 
cos θ = μs WB or WA cot θ = μs WB
sin θ
Finally, we get:
WA = μs WB tan θ
Now just plug in the numbers:

WA = (0.25)(711 N) tan 30◦ = 103 N

Since we solved for WA under the condition that block B was about to slip, this is the
maximum possible value for WA so that the system is stationary.

3. The two blocks (with m = 16 kg and M = 88 kg) shown in Fig. 5.4 are not
attached. The coefficient of static friction between the blocks is μs = 0.38, but
the surface beneath M is frictionless. What is the minimum magnitude of the
horizontal force F required to hold m against M?

Having understood the basic set-up of the problem, we immediately begin thinking about
the the forces acting on each mass so that we can draw free–body diagrams. The forces on
mass m are: (1) The force of gravity mg which points downward. (2) The applied force F
which points to the right. (3) The normal force with which block M pushes on m. This
force necessarily points to the left. (4) The frictional force which block M exerts on m. This
is to be a static friction force, so we have to think about its direction... in this case, it must

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102 CHAPTER 5. FORCES AND MOTION II

x Nsurf
fs

F
N
N
mg
fs Mg

(a) (b)

Figure 5.5: Free–body diagrams for the blocks described in Example 3.

clearly oppose the force of gravity to keep the block m from falling. So we include a force fs
pointing up. These forces are shown in Fig. 5.5.
Next we diagram the forces acting on M. There is the force of gravity, with magnitude
Mg, pointing down; the surface beneath M exerts a normal force N pointing upward. Since
this surface is frictionless, it does not exert a horizontal force on M. The mass m will exert
forces on M and these will be equal and opposite to the forces which M exerts on m. So there
is a force N on mass M pointing to the right and a frictional force fs pointing downward.
Now that we have shown all the forces acting on all the masses we can start to discuss
the accelerations of the masses and apply Newton’s Second Law.
The problem says that mass m is not slipping downward during its motion. This must
mean that the forces of friction and gravity balance:

fs = mg .

But this does us little good until we have an expression for fs . Now, in this problem we are
being asked about a critical condition for the slippage of m. We can reasonably guess that
here the force of static friction takes on its maximum value, namely

fs = μs N ,

N being the normal force between the two surfaces. This is an important bit of information,
because combining that last two equations we get:

mg = μs N .

Let’s consider the horizontal motion of both of the masses. Now, since the masses are
always touching, their displacements, velocities and accelerations are always the same. Let
the x acceleration of both masses be a. Then for mass m, Newton’s Second Law gives us:

Fx = F − N = ma

while for mass M, we get

N = Ma

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5.2. WORKED EXAMPLES 103

m1

m2

Figure 5.6: Two blocks joined by a rod slide down a slope with friction (coefficient of friction is different
for the two blocks).

Combining these last two equations gives

F
F − Ma = ma =⇒ F = (M + m)a =⇒ a=
(M + m)

which tells us the force N :

MF
N = Ma =
(M + m)
Putting this result for N into our result involving the friction force gives
MF
mg = μs N = μs
(M + m)

which lets us solve for F :

(M + m)m
F = g
Mμs
And now we can substitute the given values:

(M + m)m (16 kg + 88 kg)(16 kg)

F = g= (9.80 sm2 ) = 488 N
Mμs (88 kg)(0.38)

4. In Fig. 5.6 a box of mass m1 = 1.65 kg and a box of mass m2 = 3.30 kg slide
down an inclined plane while attached by a massless rod parallel to the plane.
The angle of incline is θ = 30◦ . The coefficient of kinetic friction between m1 and
the incline is μ1 = 0.226; that between m2 and the incline is μ2 = 0.113. Compute
(a) the tension in the rod and (b) the common acceleration of the two boxes. c)
How would the answers to (a) and (b) change if m2 trailed m1 ?

(a) We will shortly be drawing force diagrams for the two masses, but we should first pause
and consider the force which comes from the rod joining the two masses. A “rod” differs

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104 CHAPTER 5. FORCES AND MOTION II

m1 m2
N1 fk, 2 N2
fk, 1 T

T
m1g sin q m2g sin q
m1g cos q m2g cos q

m1g m2g

(a) (b)

Figure 5.7: (a) Forces acting on block 1 in Example 4. We have assumed that the rod pushes outward; if
that is wrong, then T will turn out to be negative. The force of gravity has be split up into components.
(b) Forces acting on block 2 in Example 4.

from a “cord” in our problems in that it can pull inward on either end or else push outward .
(Strings can only pull inward.) For the purpose of writing down our equations we need to
make some assumption about what is happening and so here I will assume that the rod is
pushing outward with a force of magnitude T , i.e. the rod is compressed. Should it arise in
our solution that we get a negative number for T , all is not lost; we will then know that the
rod is really pulling inward with a force of magnitude |T | and so the rod is being stretched.
With that in mind, we draw a diagram for the forces acting on block 1 and there are a
lot of them, as shown in Fig. 5.7(a). Rod tension T and the force of kinetic friction on block
1 (to oppose the motion) point up the slope. The “slope” component of gravity m1g sin θ
points down the slope. The normal component of gravity m1g cos θ points into the surface
and the normal force N1 from the slope points out of the surface.
As there is no acceleration perpendicular to the slope, those force components sum to
zero, giving:
N1 − m1g cos θ = 0 or N1 = m1 g cos θ
The sum of force components in the down–the–slope direction gives m1 a, where a is the
down–the–slope acceleration common to both masses. So then:

m1 g sin θ − T − fk,1 = m1a

We can substitute for fk,1 , since fk,1 = μ1 N1 = μ1 m1 g cos θ. That gives:

m1 g sin θ − T − μ1 m1g cos θ = m1a (5.5)

We have a fine equation here, but T and a are both unknown; we need another equation!
The forces acting on block 2 are shown in Fig. 5.7(b). The force of kinetic friction fk,2
points up the slope. The rod tension T and the “slope” component of gravity m2 g sin θ point
down the slope. The normal component of gravity m2g cos θ points into the surface and the
normal force of the surface on 2, N2 , points out of the slope.

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5.2. WORKED EXAMPLES 105

Again there is no net force perpendicular to the slope, so

N2 − m2 g cos θ = 0 or N2 = m2g cos θ .

The sum of the down–the–slope forces on m2 gives m2a, so:

m2g sin θ + T − fk,2 = m2 a

We can substitute for the force of kinetic friction here, with fk,2 = μ2 N2 = μ2 m2g cos θ.
Then:
m2g sin θ + T − μ2 m2 g cos θ = m2 a (5.6)
Two equations (5.5 and 5.5) and tow unknowns (T and a). The physics is done, the rest
is math!
In solving the equations I will go for an analytic (algebraic) solution, then plug in the
numbers at the end. Aside from giving us some good practice with algebra, it will be useful
in answering part (c).
We note that if we add Eqs. 5.5 and 5.5, T will be eliminated and we can then find a.
When we do this, we get:

m1 g sin θ + m2 g sin θ − μ1 g cos θ − μ2 g cos θ = ma + m2a

Lots of factoring to do here! Pulling out some common factors, this is:

g [(m1 + m2) sin θ − cos θ(μ1 m1 + μ2 m2)] = (m1 + m2)a

and then we get a:

g [(m1 + m2 ) sin θ − cos θ(μ1 m1 + μ2 m2 )]
a= (5.7)
(m1 + m2)
But it’s really T we want in part (a). We can eliminate a by multiplying Eq. 5.5 by m2:

m1m2g sin θ − m2T − μ1 m1m2g cos θ = m1m2 a

and Eq. 5.6 by m2:

m1m2 g sin θ + m1 T − μ2 m1 m2g cos θ = m1m2a

and then subtracting the second from the first. Some terms cancel, and this gives:

−m2T − m1 T − μ1 m1m2 g cos θ + μ2 m1m2 g cos θ = 0

Factor things:
−T (m1 + m2) = m1m2 g cos θ(μ1 − μ2 )
and finally get an expression for T :
m1m2 g cos θ(μ2 − μ1 )
T = (5.8)
(m1 + m2)

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106 CHAPTER 5. FORCES AND MOTION II

Hey, that algebra wasn’t so bad, was it? Now we have general expressions for T and a.
Plugging numbers into Eq. 5.8, we get:
(1.65 kg)(3.30 kg)(9.80 sm2 ) cos 30◦ (0.113 − 0.226)
T =
(1.65 kg + 3.30 kg)
= −1.05 N

Oops! T came out negative! What we find from this is that the assumption was wrong and
the rod is really being stretched as the blocks slide down the slope, and the magnitude of
the rod’s tension is 1.05 N.
(b) To find the acceleration of the blocks, plug numbers into Eq. 5.7:
(9.80 sm2 ) [(1.65 kg + 3.30 kg) sin 30◦ − cos 30◦ ((0.226)(1.65 kg) + (0.113)(3.30 kg)]
a =
(1.65 kg + 3.30 kg)
m
= 3.62 s2

The (common) acceleration of the blocks is 3.62 sm2 .

(c) Now we ask: What would the answers to (a) and (b) be if the blocks had slid down the
slope with m1 in the lead? Would it make any difference at all? It might, since the friction
forces on the masses come from two different μ’s. In any case, with our analytic results
Eqs. 5.7 and 5.8 we can find the results of switching the labels “1” and “2”, since that is all
we would get from having the blocks switch positions.
If we switch “1” and “2” in Eq. 5.7, we can see that the result for a will not change at all
because the sums within that expression are not affected by the switch. So the connected
blocks will slide down the slope with the same acceleration, namely 3.62 sm2 for the given
values.
What about T ? From Eq. 5.8 we see that switching “1” and “2” gives an overall change in
sign because of the factor (μ2 − μ1 ). (The other factors don’t change for this switch.) So we
know that plugging in the numbers for the case where blocks 1 leads would give T = +1.05 N,
and since this is a positive number, the assumption about the rod being compressed (and as
a result pushing outward) would be correct. So for the case where m1 leads, the magnitude
of the rod’s tension is the same (1.05 N) , but now it pushing outward .

5. A 3.0 − kg block starts from rest at the top of a 30.0◦ incline and slides 2.0 m
down the incline in 1.5 s. Find (a) the magnitude of the acceleration of the block,
(b) the coefficient of kinetic friction between the block and the plane, (c) the
frictional force acting on the block and (d) the speed of the block after it has
slid 2.0 m.

(a) The basic information about the motion of the block is summarized in Fig. 5.8(a). We
use a coordinate system where x points down the slope and y is perpendicular to the slope.
We’ll put the origin of the coordinate system at the place where the block begins its motion.
The block’s motion down the slope is one of constant acceleration. (This must be so,
since all of the forces acting on the block are constant.) Of course, this is an acceleration in

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 lOMoARcPSD|29708121

5.2. WORKED EXAMPLES 107

y
t=0 x N
fk
x
2.0 m
v=0 mg sin q
t = 1.5 s q

30o mg cos q

mg
(a) (b)

Figure 5.8: (a) Block slides down rough slope in Example 5. (b) Forces acting on the block.

the x direction, as there is no y motion. It begins its slide starting from rest (v0x = 0) and
so the block’s motion is given by:

x = x0 + v0xt + 21 ax t2 = 12 ax t2 .

We are told that at t = 1.5 s, x = 2.0 m. Substitute and solve for ax :

2(2.0 m)
2.0 m = 21 ax (1.5 s)2 =⇒ ax = = 1.78 sm2
(1.5 s)2

The magnitude of the block’s acceleration is 1.78 sm2 .

(b) We must now think about the forces which act on the block. They are shown in
Fig. 5.8(b). Gravity pulls downward with a force mg, which we decompose into its compo-
nents along the slope and perpendicular to it. The surface exerts a normal force N . There
is also a force of kinetic friction from the slope. Since the block is moving down the slope,
the friction force must point up the slope.
The block moves only along the x axis; the forces in the y direction must sum to zero.
Referring to Fig. 5.8(b), we get:

Fy = N − mg cos θ = 0 =⇒ N = mg cos θ .

This gives us the normal force of the surface on the block; here, θ = 30.0◦ .
The block does have an acceleration in the x direction, which we’ve already found in part
(a). The sum of the forces in the +x direction gives max:

Fx = mg sin θ − fk = max

Now we use the formula for the force of kinetic friction: fk = μk N . Using our expression for
the normal force gives us:
fk = μk N = μk mg cos θ

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108 CHAPTER 5. FORCES AND MOTION II

and using this result in the last equation gives

mg sin θ − μk mg cos θ = max .

Here, the only unknown is μk , so we find it with a little algebra: First off, we can cancel the
common factor of m that appears in all terms:

g sin θ − μk g cos θ = ax

and then solve for μk :

μk g cos θ = g sin θ − ax
= (9.80 sm2 ) sin 30.0◦ − (1.78 sm2 ) = 3.12 sm2

So we get:
(3.12 sm2 )
μk = = 0.368
(9.80 sm2 )(cos 30.0◦ )

(c) As we have seen in part (b), the magnitude of the (kinetic) friction force on the mass is

fk = μk mg cos θ
= (0.368)(3.0 kg)(9.80 sm2 ) cos 30.0◦
= 9.4 N

The force of friction is 9.4 N.

(d) We know the acceleration of the block, its initial velocity (v0x = 0) and the time of travel
to slide 2.0 m; its final velocity is

v = v0x + ax t = 0 + (1.78 m
s2
)(1.50 s) = 2.67 ms

6. Three masses are connected on a table as shown in Fig. 5.9. The table has a
coefficient of sliding friction of 0.35. The three masses are 4.0 kg, 1.0 kg, and 2.0 kg,
respectively and the pulleys are frictionless. (a) Determine the acceleration of
each block and their directions. (b) Determine the tensions in the two cords.

(a) First, a little thinking about what we expect to happen. Surely, since the larger mass is
hanging on the left side we expect the 4.0 kg mass to accelerate downward, the 1.0 [kg block
to accelerate to the right and the 2.0 kg block to accelerate upward. Also, since the masses
are connected by strings as shown in the figure, the magnitudes of all three accelerations
must be the same, because in any time interval the magnitudes of their displacements will
always be the same. So each mass will have an acceleration of magnitude a with the direction
appropriate for each mass.
Now we consider the forces acting on each mass. We draw free–body diagrams! If the
tension in the left string is T1 then the forces on the 4.0 kg mass are as shown in Fig. 5.10(a).

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5.2. WORKED EXAMPLES 109

mk = 0.35

1.0 kg

4.0 kg 2.0 kg

Figure 5.9: System for Example 6

T2
T1 N

T2
T1

fk

m2g m3g
m1g

(a) (b) (c)

Figure 5.10: Free–body diagrams for the three masses in Example 6. (a) Forces on the mass m1 = 4.0 kg.
(b) Forces on the mass m2 = 1.0 kg. (c) Forces on the mass m3 = 2.0 kg. The directions of motion assumed
for each mass are also shown.

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110 CHAPTER 5. FORCES AND MOTION II

The string tension T1 pulls upward; gravity pulls downward with a force m1g.
The forces acting on m2 are shown in Fig. 5.10(b). We have more of them to think about;
gravity pulls with a force m2g downward. The table pushes upward with a normal force N .
It also exerts a frictional force on m2 which opposes its motion. Since we think we know
which way m2 is going to go (left!), the friction force fk must point to the right. There are
also forces from the strings. There is a force T1 to the left from the tension in the first string
and a force T2 pointing to the right from the tension in the other string. (Note, since these
are two different pieces of string, they can have different tensions.)
The forces on m3 are shown in Fig. 5.10(c). There is a string tension T2 pulling up and
gravity m3 g pulling down.
All right, lets write down some equations! By Newton’s Second Law, the sum of the down-
ward forces on m1 should give m1 a. (We agreed that its acceleration would be downward.)
This gives:
m1 g − T1 = m1 a (5.9)
Moving on to mass m2, the vertical forces must cancel, giving

N = m2 g .

Newton tells us that the sum of the left–pointing forces must give m2a (we decided that its
acceleration would be of magnitude a, toward the left) and this gives:

T1 − fk − T2 = m2a

But since
fk = μk N = μk m2 g ,
this becomes
T1 − μ k m 2 g − T 2 = m 2 a . (5.10)
Finally, the sum of the upward forces on m3 must give m3a. So:

T2 − m 3 g = m 3 a (5.11)

Having done this work in writing down these wonderful equations we stand back, admire
our work and ask if we can go on to solve them. We note that there are three unknowns (a,
T1 and T2) and we have three equations. We can find a solution. The physics is done. . . only
the algebra remains.
We can do the algebra in the following way: If we just add Eqs. 5.9, 5.10 and 5.11 together
(that is, add all the left–hand–sides together and the right–hand–sides together) we find that
both T ’s cancel out. We get:

m1 g − T1 + T1 − μk m2g − T2 +2 −m3g = m1 a + m2a + m3a

which simplifies to:

m1 g − μk m2 g − m3g = (m1 + m2 + m3)a

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5.2. WORKED EXAMPLES 111

N
fk
Dir. of motion

mg sin q

mg cos q

350 mg

Figure 5.11: Forces on the block in Example 7.

Now we can easily find a:

(m1 − μk m2 − m3)g
a =
(m1 + m2 + m3)
[(4.0 kg) − (0.35)(1.0 kg) − (2.0 kg)](9.80 sm2 )
=
(4.0 kg + 1.0 kg + 2.0 kg)
(1.65 kg)(9.80 sm2 )
= = 2.31 sm2
(7.0 kg)

So our complete answer to part (a) is: m1 accelerates at 2.31 sm2 downward; m2 accelerates
at 2.31 sm2 to the left; m3 accelerates at 2.31 sm2 upward.
(b) Finding the tensions in the strings is now easy; just use the equations we found in part
(a).
To get T1 , we can use Eq. 5.9, which gives us:

T1 = m1 g − m1a = m1 (g − a) = (4.0 kg)(9.80 sm2 − 2.31 sm2 ) = 30.0 N .

To get T2 we can use Eq. 5.11 which gives us:

T2 = m3 g + m3a = m3(g + a) = (2.0 kg)(9.80 sm2 + 2.31 sm2 ) = 24.2 N .

The tension in the string on the left is 30.0 N. The tension in the string on the right is
24.2 N.

7. A block is placed on a plane inclined at 35◦ relative to the horizontal. If the

block slides down the plane with an acceleration of magnitude g/3, determine
the coefficient of kinetic friction between block and plane.

The forces acting on the block (which has mass m) as it slides down the inclined plane are
shown in Fig. 5.11. The force of gravity has magnitude mg and points straight down; here
it is split into components normal to the slope and down the slope, which have magnitudes
mg cos θ and mg sin θ, respectively, with θ = 35◦ . The surface exerts a normal force N and

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112 CHAPTER 5. FORCES AND MOTION II

a force of kinetic friction, fk , which, since the block is moving down the slope, points up the
slope.
The block can only accelerate along the direction of the slope, so the forces perpendicular
to the slope must add to zero. This gives us:

N − mg cos θ = 0 =⇒ N = mg cos θ

The acceleration of the block down the slope was given to us as a = g/3. Then summing
the forces which point along the slope, we have

mg sin θ − fk = ma = mg/3

The force of kinetic friction is equal to μk N , and using our expression for N we have

fk = μk N = μk mg cos θ

and putting this into the previous equation gives:

mg sin θ − μk mg cos θ = mg/3 .

Fortunately, the mass m cancels from this equation; we get:

g sin θ − μk g cos θ = g/3

And now the only unknown is μk which we solve for:

g
μk g cos θ = g sin θ − = g(sin θ − 31 )
3
Here we see that g also cancels, although we always knew the value of g! We then get:

(sin θ − 13 ) (sin 35◦ − 31 )

μk = = = 0.293
cos θ cos 35◦
So the coefficient of kinetic friction between block and slope is 0.293.

8. A 2.0 kg block is placed on top of a 5.0 kg as shown in Fig. 5.12. The coefficient
of kinetic friction between the 5.0 kg block and the surface is 0.20. A horizontal
force F is applied to the 5.0 kg block. (a) Draw a free–body diagram for each
block. What force accelerates the 2.0 kg block? (b) Calculate the magnitude of
the force necessary to pull both blocks to the right with an acceleration of 3.0 sm2 .
(c) find the minimum coefficient of static friction between the blocks such that
the 2.0 kg block does not slip under an acceleration of 3.0 sm2 .

(a) What forces act on each block?

On the big block (with mass M = 5.0 kg, let’s say) we have the applied force F which
pulls to the right. There is the force of gravity, Mg downward. The surface exerts a normal
force N1 upward. There is a friction force from the surface, which is directed to the left. The

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5.2. WORKED EXAMPLES 113

2.0 kg
mk = 0.20
F
5.0 kg

Figure 5.12: Figure for Example 8.

M m N2
N1

fs
F fs

fk

N2
Mg mg

(a) (b)

Figure 5.13: (a) Forces acting on the large block, M = 5.0 kg. (b) Forces acting on the small block,
m = 2.0 kg.

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114 CHAPTER 5. FORCES AND MOTION II

small mass will also exert forces on mass M; it exerts a normal force N2 which is directed
downward ; we know this because M is pushing upward on m. Now, M is exerting a force
of static friction fs on m which goes to the right; so m must exert a friction force fs on M
which points to the left.
These forces are diagrammed in Fig. 5.13(a).
On the small block we have the force of gravity, mg downward. Mass M exerts an upward
normal force N2 on it, and also a force of static friction fs on it, pointing to the right. It
is this force which accelerates m as it moves along with M (without slipping). These forces
are diagrammed in Fig. 5.13(b).
Notice how the forces between M and m, namely N2 (normal) and fs , have the same
magnitude but opposite directions, in accordance with Newton’s Third Law. They are so–
called “action–reaction pairs”.
(b) The blocks will have a horizontal acceleration but no vertical motion, so that allows us
to solve for some of the forces explained in part (a). The vertical forces on m must sum to
zero, giving us:

N2 − mg = 0 =⇒ N2 = mg = (2.0 kg)(9.80 sm2 ) = 19.6 N

and the vertical forces on M must sum to zero, giving us:

N1 − N2 − Mg = 0 =⇒ N1 = N2 + Mg = 19.6 N + (5.0 kg)(9.80 sm2 ) = 68.6 N

We are given that the acceleration of both blocks is 3.0 sm2 . Applying Newton’s Second
Law to mass m we find:

Fx = fs = max = (2.0 kg)(3.0 sm2 ) = 6.0 N

While applying it to M gives

Fx = F − fk − fs = Max = (5.0 kg)(3.0 sm2 ) = 15.0 N



We found fs above; we do know the force of kinetic friction (from M’s sliding on the surface)
because we know the coefficient of kinetic friction and the normal force N1:

fk = μk N1 = (0.20)(68.6 N) = 13.7 N

Now we can solve for F :

F = 15.0 N + fk + fs
= 15.0 N + 13.7 N + 6.0 N
= 34.7 N

To pull the blocks together to the right with an acceleration 3.0 sm2 we need an applied force
of 34.7 N.

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 lOMoARcPSD|29708121

5.2. WORKED EXAMPLES 115

(c) As we’ve seen, mass m accelerates because of the friction force fs (from M’s surface)
which acts on it. Forces of static friction have a maximum value; here we know that we must
have
fs ≤ μs N2
in order for m not to slip on M. Here, we have fs = 6.0 N and N2 = 19.6 N. So the critical
value of μs for our example is
f2
μs = = 0.306
N2
If μs is less than this value, static friction cannot supply the force needed to accelerate m
at 3.0 sm2 . So μs = 0.306 is the minimum value of the coefficient of static friction so that the
upper block does not slip.

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 lOMoARcPSD|29708121

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