DYNAMICS

- Chapter #6: Work and Energy-

Dr. Achmad Widodo

Mechanical Engineering Department

Diponegoro University
Mechanical Engineering Dept.

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Work and Energy Relations

Work of Forces and Couples
The work done by a force F has been treated in Chapter #3
and is given by

U = F dr

U = F cos ds

In Fig. 6/11, we see immediately that during the translation

the work done by one of force cancels that done by the other
force , so that the net work done is

dU = F (bd ) = Md
The work done by a couple M which acts on a rigid body
during its motion is given by

U = M d

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Work and Energy Relations

Kinetic Energy
1. Translation. The translating rigid body (Fig. 6/12a) has
a mass m and all of its particle have a common velocity v,
so the kinetic energy of mass mi of the body is
Ti =

1
2
mi vi
2

T=

1 2
mv
2

2. Fixed-axis rotation. The rigid body in Fig. 6/12b rotate

with angular velocity about the fixed axis through O.
The kinetic energy is given
Ti =

1
mi (ri ) 2
2

Mechanical Engineering Dept.

T=

1
I O 2
2

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Work and Energy Relations

Kinetic Energy
3. General plane motion. For this case, the
formulation of kinetic energy is given by
1
1
T = mi vi2 = mi (v 2 + i2 2 + 2v i cos )
2
2

v mi i cos = v mi yi = 0
T=

1 2
1
v mi + 2 mi i2
2
2

In the case of instantaneous center zero velocity,

we can express
T=

1
I C 2
2

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Work and Energy Relations

Potential energy and the work energy equation

The kinetic energy is defined as the total work which must be done on the
particle to bring it from a state of rest to a velocity v

T=

1
m(v 2 )
2

In other form (work-kinetic energy relation):

U1 2 = T2 T1 = T
Alternatively, the work-energy relation may be expressed as the initial kinetic
energy T1 plus the work done U1-2 equals the final kinetic energy T2, or

T1 + U1 2 = T2

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Work and Energy Relations

Potential Energy

Elastic Potential Energy

The work which is done on the spring to deform it is stored in the spring is
called its elastic potential energy Ve.
This energy is recoverable in the form of work done by the spring on the body
attached to its movable end during the release of the deformation of the spring.
x

Ve = kx dx =
0

1 2
kx
2

The change of elastic potential energy is

Ve =

1
k ( x22 x12 )
2

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Work and Energy Relations

Work-Energy Equation
With elastic member included in the system,
we modify the work-energy equation to
account for the potential-energy terms.

U '12 = T + V

T1 + V1 + U '1 2 = T2 + V2

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Work and Energy Relations

Potential energy and the work energy equation

The last equation represents a major advantage of the method of workenergy is that avoids the necessity of computing acceleration and leads
directly to the velocity changes as functions of the forces which do work.
The work-energy equation involves only those forces which do work and
thus give rise to changes in magnitude of the velocities.
Application of work-energy method requires isolation of the particle or
system under consideration e.g. drawing of free-body diagram that showing
all externally applied forces.

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Work and Energy Relations

Power
The capacity of a machine is measured by the time rate at which it can do
work or deliver the energy.
The total work or energy output is not a measure of this capacity since a
motor, no matter how small, can deliver a large amount of energy if given
sufficient time.
On the other hand, a large and powerful machine is required to deliver a
large amount of energy in a short period of time.
Thus, the capacity of a machine is rated by its power, which is defined as
the time rate of dong work.
P=

dU F dr
=
= Fv
dt
dt

Mechanical Engineering Dept.

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Diponegoro University

Work and Energy Relations

Power
For the couple M acting on the body, the power developed by the couple
at a given instant is the rate at which it is doing work
P=

dU Md
=
= M
dt
dt

If the force F and the couple M act simultaneously, the total power is

P = F v + M
Power developed from the total mechanical energy

dU = dT + dV
P=

dU ' & & d

= T + V = (T + V )
dt
dt

Mechanical Engineering Dept.

1
dT d 1

= mv v + I 2
T& =
2
dt dt 2

1
= m( a v + v a ) + I &
2
= m a v + I ( ) = R v + M

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Work and Energy Relations

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Work and Energy Relations

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Work and Energy Relations

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Work and Energy Relations

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Work and Energy Relations

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Work and Energy Relations

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