DYNAMICS

Dr. Mostafa Sefidgar

Week 05
PART I: PARTICLES
Chapter 2: Kinematics of Particles
Chapter 3: Kinetics of Particles

Newton’s second law states that any particle,

under the action of unbalanced forces will
accelerate in the direction of the resultant force.
Kinetics relates the net force to change of motion.
We will use the methods we have developed in
Statics to determine the net force and methods we
have developed in Chapter 2 Kinematics of
Particles to determine the motion.
PART I: PARTICLES

Chapter 3: Kinetics of Particles

There are three different approaches to the

kinetics problems:
A. Direct application of Newton’s Second
Law/Force-Mass Acceleration Method
B. Work – Energy Principles (integration of second
law with respect to displacement)
C. Impulse and Momentum Methods (integration
of second law with respect to time)
PART I: PARTICLES
Chapter 3: Kinetics of Particles
A. Direct Application of Newton’s Second Law
– Force Mass Acceleration Method for
Constant Mass Particles
3.2 Newton’s Second Law
If an ideal experiment is done on a particle in an
inertial reference frame:
𝐹1 𝐹2 𝐹3 𝐹𝑛
= = =⋯= =𝑚
𝑎1 𝑎2 𝑎3 𝑎𝑛
where m, mass, is a resistance to rate of change
of velocity and is an invariable property of the
particle.
3.3 Equation of Motion and Solution of Problems

Another conclusion of this ideal experiment is

that acceleration is always in the direction of the
applied force therefore a vector relation can be
written as:
𝐹Ԧ = 𝑚𝑎Ԧ
However an ideal experiment cannot be performed
because there is no inertial reference frame (that
has no acceleration relative to the primary inertial
reference frame that is fixed in the universe).
This deficiency in classical mechanics (which was based on
the idea that first earth then sun was at the center of the
“universe” and is fixed) lead to the idea of relativity.
3.3 Equation of Motion and Solution of Problems
Two typical problems of kinetics are:
1. For known forces, determination of resulting
motion (solution may not be trivial especially
for problems where force is not constant, the
unknown is in differential form, displacement,
velocity and acceleration), also known as
forward problem.
2. For known motion (i.e. acceleration can be
determined from the motion) determination of
necessary forces to produce the motion
(solution is simpler since unknown forces are
in algebraic form) also known as inverse
problem.
3.3 Equation of Motion and Solution of Problems
Constrained and Unconstrained Motion
• In unconstrained motion the particle is free of any
mechanical guides and follows the path determined by
its initial motion and external forces.
• In constrained motion the path is partially or fully
determined by restraining guides. There may be reaction
forces to keep the particle in the pre-determined path.
In both problems whether there is reaction forces from the
existing constraints or not, the particle should obey
Newton’s Second Law.

Photo by Instructor 15.03.2012

“Ankara Garı Doğu Makasları”
3.3 Equation of Motion and Solution of Problems
• Selecting a convenient coordinate system is
important in solving problems.
• Isolate the particle from its surroundings,
replacing the mechanical interaction with the
surrounding by appropriate forces (i.e. draw free
body diagram).
• Write equation of motion based on free body
diagram.
3.4 Rectilinear Motion
Particle idealization may be utilized if motion of
center of mass of a real body is under
consideration.
If possible, select x-axis along the motion
direction and use rectangular (Cartesian)
coordinates to resolve Newton’s Second Law as:
෍ 𝐹𝑥 = 𝑚𝑎𝑥

෍ 𝐹𝑦 = 0

෍ 𝐹𝑧 = 0
3/24 (4th), 3/23 (5th), 3/23 (6th), 3/24 (7th), None (8th)
If the coefficients of static and kinetic friction between the
20 kg block A and 100 kg cart B are both essentially the
same value of 0.50, determine the acceleration of each
part for:
a. P = 60 N
b. P = 40 N.
a. Assume there is no sliding between the blocks
and they move together:

෍ 𝐹𝑦 = 0 , 𝑁 − 𝑚𝑎 + 𝑚𝑏 𝑔 = 0

෍ 𝐹𝑥 = 𝑚𝑎 + 𝑚𝑏 𝑎𝑥

2𝑃
𝑎𝑥 = = 1 𝑚/𝑠 2 mAg
𝑚 𝑎 + 𝑚𝑏
Check the assumption: Do we have enough friction y 2P
force so that they can move together? Ff
x NA
෍ 𝐹𝑦 = 0, 𝑁𝐴 − 𝑚𝐴 𝑔 = 0, 𝑁𝐴 = 196.2 𝑁

෍ 𝐹𝑥 = 𝑚𝐴 𝑎, 2𝑃 − 𝐹𝑓 = 20 ∗ 1

𝐹𝑓 = 100 𝑁, 𝐹𝑓𝑚𝑎𝑥 = 𝜇𝑁𝐴 = 0.5 ∗ 196.2 = 98.1 𝑁 < 𝐹𝑓 = 100 𝑁!

The assumption fails. Friction is not sufficient so
that the two blocks can move together. Therefore
there is sliding. For sliding the friction force is at its
mAg
maximum value:
y 2P
𝐹𝑓𝑚𝑎𝑥 = 𝜇𝑁𝐴 = 98.1 𝑁, Ff
then for block A: x NA

෍ 𝐹𝑥 = 𝑚𝐴 𝑎𝐴

2 ∗ 60 − 98.1 = 20 ∗ 𝑎𝐴 mB g N A
𝑎𝐴 = 1.095 𝑚/𝑠 2 Ff
y
For block B:
x N
෍ 𝐹𝑥 = 𝑚𝐵 𝑎𝐵

𝐹𝐹 = 100 ∗ 𝑎𝐵
𝑎𝐵 = 0.981 𝑚/𝑠 2
b. Assume they move together:

෍ 𝐹𝑥 = 𝑚𝐴 + 𝑚𝐵 𝑎 , 𝑎 = 0.667 𝑚/𝑠 2

Check for body A

෍ 𝐹𝑥 = 𝑚𝐴 𝑎, 2 ∗ 40 − 𝐹𝑓 = 20 ∗ 0.667, 𝐹𝑓 = 66.7𝑁 < 𝜇𝑁𝐴 = 98.1 𝑁
3.5 Curvilinear Motion

෍ 𝐹Ԧ = 𝑚𝑎Ԧ

can be decomposed in one of the most appropriate

coordinate system suitable for the problem.

• Rectangular (Cartesian) Coordinates:

෍ 𝐹𝑥 = 𝑚𝑎𝑥 , ෍ 𝐹𝑦 = 𝑚𝑎𝑦

where
𝑎𝑥 = 𝑥,ሷ 𝑎𝑦 = 𝑦ሷ
3.5 Curvilinear Motion

෍ 𝐹Ԧ = 𝑚𝑎Ԧ

can be decomposed in one of the most appropriate

coordinate system suitable for the problem.

• Normal and Tangential Coordinates:

෍ 𝐹𝑛 = 𝑚𝑎𝑛 , ෍ 𝐹𝑡 = 𝑚𝑎𝑡

where
𝑣2
𝑎𝑛 = , 𝑎𝑡 = 𝑣ሶ
𝜌
3.5 Curvilinear Motion

෍ 𝐹Ԧ = 𝑚𝑎Ԧ

can be decomposed in one of the most appropriate

coordinate system suitable for the problem.

• Polar Coordinates:
෍ 𝐹𝑟 = 𝑚𝑎𝑟 , ෍ 𝐹𝜃 = 𝑚𝑎𝜃

where
𝑎𝑟 = 𝑟ሷ − 𝑟𝜃ሶ 2 , 𝑎𝜃 = 𝑟𝜃ሷ + 2𝑟ሶ 𝜃ሶ
3.5 Curvilinear Motion
The steps in solution of plane curvilinear motion problems
are:
• Identify the most convenient coordinate system,
• Draw proper free body diagram(s),
• Apply Newton’s second law to each free body diagram.
Positive directions are the positive coordinate directions.
Any force or acceleration in the positive coordinate
direction is positive, any force or acceleration opposite to
the positive coordinate direction is negative.
If an unknown force or acceleration is found as a positive
number then it is in the assumed direction as in the free
body diagram, if a negative number, opposite to the
assumed direction.
If the 2 kg block passes over the top B of the circular
portion of the path with a speed of 3.5 m/s, calculate the
magnitude, NB of the normal force exerted by the path on
the block. Determine the maximum speed v which the
block can have at A without losing contact with the path.
The most suitable coordinate system for
this problem is n-t.
For 𝑁𝐵
෍ 𝐹𝑛 = 𝑚𝑎𝑛

𝑣2
𝑚𝑔 − 𝑁𝐵 = 𝑚 mg
𝜌
𝑣2 3.52
𝑁𝐵 = 𝑚𝑔 − 𝑚 = 2 ∗ 9.81 − 2 ∗ = 9.41 𝑁 t
𝜌 2.4 n NB
For 𝑣𝐴𝑚𝑎𝑥
෍ 𝐹𝑛 = 𝑚𝑎𝑛 mg

𝑣𝑚𝑎𝑥 2
𝑚𝑔 cos 30° − 𝑁𝐴 = 𝑚
𝜌
𝑣𝑚𝑎𝑥 2
2 ∗ 9.81𝑐𝑜𝑠30° − 0 = 2
2.4
𝑣𝑚𝑎𝑥 = 4.52 𝑚/𝑠
Also one may determine 𝑣ሶ by σ 𝐹𝑡 = 𝑚𝑎𝑡 = 𝑚𝑣ሶ
rate of decrease of speed at this position.
The slotted arm revolves in the horizontal plane about the fixed
vertical axis through point O. The 2 kg slider C is drawn toward
O at a constant rate of 50 mm/s by pulling the cord at S. At the
instant for which r = 225 mm the arm has a counterclockwise
angular velocity of  = 6 rad/s and is slowing down at a rate of
2 rad/s2. For this instant, determine the tension, T in the cord
and the magnitude N of the force exerted on the slider by the
sides of smooth radial slot. Indicate which side, A or B, of the
slot contacts slider.
The suitable coordinate system is polar
coordinates.
𝑟 = 225 𝑚, 𝑟ሶ = −0.05 𝑚/𝑠 = 𝑐𝑜𝑛𝑠𝑡, 𝑟ሷ = 0
𝜃ሶ = 6𝑟𝑎𝑑/𝑠, 𝜃ሷ = −2 𝑟𝑎𝑑/𝑠 2
෍ 𝐹𝑟 = 𝑚𝑎𝑟 = 𝑚 𝑟ሷ − 𝑟𝜃ሶ 2

−𝑇 = 2 0 − 0.225 ∗ 62 , 𝑇 = 16.20 𝑁
෍ 𝐹𝜃 = 𝑚𝑎𝜃 = 𝑚 𝑟𝜃ሷ + 2𝑟ሶ 𝜃ሶ

𝑁 = 2 0.225 ∗ −2 + 2 ∗ −0.05 ∗ 6
𝑁 = −2.10 𝑁
Contact is on side B.
A small coin is placed on the horizontal surface of
the rotating disk. If the disk starts from rest and is
given a constant angular acceleration, , determine
an expression for the number of revolutions, N,
through which the disk turns before the coin slips.
The coefficient of static friction between the coin and
the disk is s.
One may use n-t or r- coordinates. For circular
motion since 𝑟ሶ = 𝑟ሷ = 0 they yield equivalent results (t =
, r = -n). Let us use n-t:
෍ 𝐹𝑡 = 𝑚𝑎𝑡 = 𝑚𝑟𝛼
2
𝑣
෍ 𝐹𝑛 = 𝑚𝑎𝑛 = 𝑚𝑟𝜔2 = 𝑚
𝑟

𝐹𝑓𝑚𝑎𝑥 = 𝜇𝑠 𝑁 = 𝐹𝑛 2 + 𝐹𝑡 2
𝜇𝑠 𝑚𝑔 = 𝑚𝑟 𝛼 2 + 𝜔 4
𝜇𝑠 𝑚𝑔 2 = 𝑚2 𝑟 2 𝛼 2 + 𝜔4
𝜇 2 𝑔2 − 𝑟 2 𝛼 2
𝑠
𝜔2 =
𝑟
For constant , 𝜔𝑑𝜔 = 𝛼𝑑𝜃 can be integrated to get 𝜔2
= 𝜔0 2 + 2𝛼 𝜃 − 𝜃0 and 𝜃 = 2𝜋𝑁 so
𝜇𝑠 2 𝑔 2 − 𝑟 2 𝛼 2
= 4𝜋𝛼𝑁
𝑟
1 𝜇𝑠 𝑔 2
𝑁= −1
4𝜋 𝑟𝛼
At the instant when  = 30° the horizontal guide is
given a constant upward velocity v0 = 2 m/s. For this
instant calculate the force N exerted by the circular
slot and the force P exerted by the horizontal slot on
the 0.5 kg pin A. The width of the slots is slightly
larger than the diameter of the pin, and friction is
negligible.
Again n-t or r- will yield similar results. Let us use r-
 this time
Remember velocity is always tangent to the path
therefore velocity of the pin is tangent to the slot!
𝑣0
𝑣= = 2.31 𝑚/𝑠
𝑠𝑖𝑛30°
2
2.31
𝑎𝑟 = 𝑟ሷ − 𝑟𝜃ሶ 2 = 0 − 0.25 ∗ = −21.3 𝑚/𝑠 2
0.25
𝑣0 = 𝑐𝑜𝑛𝑠𝑡 so 𝑣ሶ 0 = 0 (i.e. vertical acceleration of the pin ar

then the pin only has a horizontal acceleration) a

𝑎𝜃 = 𝑎𝑟 𝑡𝑎𝑛30° = 12.32 𝑚/𝑠 2 a

෍ 𝐹𝜃 = 𝑚𝑎𝜃 , −0.5 ∗ 9.81 ∗ 𝑐𝑜𝑠30° − 𝑃𝑐𝑜𝑠30° = 0.5 ∗ −12.32

P
𝑃 = 2.21 𝑁
−21.3
෍ 𝐹𝑥 = 𝑚𝑎𝑥 , −𝑁𝑐𝑜𝑠30° = 0.5 mg
𝑐𝑜𝑠30°
𝑁 = 14.22 𝑁