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KINETICS
of Particles
Introduction
Observational Experiments:
Newtons Laws of Motion
Kinematics goal: Describing objects motion
When ?
question: Why is
Where ?
object moving in a
How fast ?
certain way ?
How far ?
How long ?
Observational Experiments:
Newtons Laws of Motion
Kinetics goal: Describing objects motion
Via answering the main questions:
Why is the object moving in a certain way?
What causes the object to change its velocity ?
Observational Experiments:
Newtons Laws of Motion
Kinetics goal: Describing objects motion
Dynamics studies motion on a deeper level than
kinematics: it studies the causes of changes in
objects motion !
Typical Problem:
How can we determine the tension
force in the cable required to lift the
elevator at a given acceleration?
Is the tension force in the cable greater than the
weight of the elevator and its load?
Dynamics
Question
- Quantity
Question
Where?
- Position
When?
- Clock reading
- Force
- Acceleration
Acceleration
- Quantity
Lecture
Newtons
Laws of
Motion
Isaac Newtons work represents one of the greatest contributions to
science ever made by an individual. Most notably, Newton derived the
law of universal gravitation, invented the branch of mathematics called
calculus, and performed experiments investigating the nature of light
and color.
12
Fext Fnet m a
Direction
Weight is :
where g is the acceleration due to gravity.
UNITS
F=ma
units of force are ( Mass Length / Time 2 )
Length
Time
Mass
Force
meter
sec
kg
N = kgm/s2
Method of Solving
=
Free-Body
Diagram
Kinetic
Diagram
EXAMPLE
EXAMPLE (continued)
Solution:
1) An inertial x-y frame can be defined as fixed to the ground.
2) Draw the free-body diagram of the crate:
W = mg
T
30
F = mk N
ma
System
Free-Body Diagram
Kinetic Diagram
W = mg
T
30
F = mkN
ma
Free-Body Diagram
Kinetic Diagram
Note
The second law only provides solutions for forces
and accelerations. If velocity or position have to be
found, kinematics equations are used once the
acceleration is found from the equation of motion.
vf = 0 m/s
x
Dx = 50 m
Solution
ext
Dx
v 2f v02
ma
a
v 2f v02
2a
2Dx
(0 2 ) (27m / s ) 2
a
7.3m / s 2
2(50m)
F ma
F (20,000kg)( 7.3m / s 2 )
F 146,000 N
What does this answer mean? How can the force be negative?
Solution
Fext Fnet ma
F (m1 m2 m3 )a
7.5 N
a
0.8m / s 2
9.4kg
Box1 : Fnet ma
7.5 N
1.3kg
F2 on 1
Solution
F1 on 2 F3 on 2 (3.2kg)(0.8m / s )
x
F1 on 2
F2 on 1 F1 on 2
6.46 N F3 on 2 2.56 N
F3 on 2 6.46 N 2.56 N 3.9 N
F3 on 2 F2 on 3
3.2kg
F3 on 2
a
F2 on 3
4.9kg
a
Box 3 : F2 on 3 3.9 N
Notice, that the negative answer for the force means that the force
is directed in the opposite direction to the chosen axis.
x
F2 on 3
4.9kg
EXAMPLE
Given: WA = 10 kg
WB = 20 kg
voA = 2 m/s
mk = 0.2
Find: vA when A has moved 4 m.
Plan:
Since both forces and velocity are
involved, this problem requires both
the equation of motion and
kinematics.
EXAMPLE (continued)
Solution:
Free-body and kinetic
diagrams of B:
2T
=
WB
mB aB
Fy m a y
Apply the equation of
motion to B:
WB 2T mB aB
mB g 2 T mB aB
(1)
EXAMPLE (continued)
Free-body and kinetic diagrams of A:
WA
T
N
mAaA
F = mk N
Fy m a y 0
N WA mA g
F mk N mk WA mk mA g
Fx m ax
T F mA a A
T m k m A g mA a A
(2)
EXAMPLE (continued)
Datums
A
sB
- sA + 2 sB = constant
or
- vA + 2 vB = 0
Therefore
- aA + 2 aB = 0
aA = 2 aB
(3)
(Notice aA is considered
positive to the right and aB is
positive downward.)
EXAMPLE (continued)
Now combine equations (1), (2), and (3).
aB
mB 2m k mA
g
mB 4 mA
a A 2 aB
aB 2.616 m / s 2
a A 5.232 m / s 2
VA2 V02A 2 a A s A s A0
V 2 2 5.232 4
2
A
VA 6.772 m / s
Lecture
The inclined plane is a plane surface set at an angle, other than a right
angle, against a horizontal surface. The inclined plane permits one to
overcome a large resistance by applying a relatively small force through a
longer distance than the load is to be raised.
Wx W sin ( )
Wy W cos ( )
Example:
(10kg)
Solution
To solve the problem, we had
to decide what objects we are
looking at. In this problem: a
brother-sled is the system.
Wx W sin(30 )
Wy W cos(30 )
0
m
a
ext
N W m a
Fx max
Fy ma y
mg sin( ) m a x
mg cos( ) N 0
g sin( ) a x
m g cos( ) N
2
0
(
10
m
/
s
)
sin(
30
) ax
2
0
(
40
kg
)(
10
m
/
s
)
cos(
30
)N
5m / s a x
346 Newtons N
2
Solution
Reality Check: Units and
Special Cases
Units make sense!
When the angle of an inclined
plane is zero the acceleration
along the incline is zero:
ax = gsin()= gsin(00)=0
Friction
and
Tension
f k mk mg
Static Friction
f s ms mg
or
or
f k mk N
f s ms N
x
a=?
Fperson
f
components
3. Apply Newtons 2nd law to
each one of the
dimensions: x and y
4. Solve the equations
Fext Fnet ma
F W N f ma
Fx m a x
Fy m a y
m g sin( ) F m k N m a x
m g cos( ) N 0
m g sin( ) F m k m g cos( ) m a x
N m g cos( )
ax g sin
2- No pushing force ( F ) [ only friction and weight ]:
a x g sin m k g cos
a x g m k cos sin
3- No friction :
ax g sin( ) F / mcart
Find a - ?
Fext Fnet m M a
mg Mg sin m M a
mg Mg sin
a
mM
When friction is involved the problem
gets trickier: you have to figure out
first where the object is going to move
and then to include friction in the
direction opposite to relative motion. If
you need to find string tension, look at
each mass separately!
Problem
The two blocks A and B shown are
originally at rest. Neglecting the masses of
the pulleys and assuming that the
coefficients of friction between block A and
the incline are ms = 0.25 and mk = 0.20,
determine the acceleration of block B.
100 kg
A
30
160
kg
Problem
Block A has a mass of 25 kg and block B a mass of
15 kg.
The coefficients of friction between all surfaces are
ms = 0.20 and mk = 0.15.
Knowing that = 25o and that the magnitude of the
force P applied to block A is 250 N, determine:
(a) the acceleration of block A ,
(b) the tension in the cord.
A
B
Lecture
Circular
Motion
a DV Dt
Changing
magnitude of
velocity
Changing
direction of
velocity
Changing
magnitude and
direction of v
Speeding up or
slowing down along a
straight line
Speeding
up
or
slowing down along a
curved line
EQUATIONS OF MOTION:
CYLINDRICAL
COORDINATES
This approach to solving
problems has some
similarity to the normal &
tangential method.
However, the path may have attributes that make it
desirable to use cylindrical coordinates (e.g., a function
of ).
EQUATIONS OF MOTION:
CYLINDRICAL COORDINATES
m r 2r
Fr mar m r r
F ma
F ma m z
z
Fr mar m r r
2r
F
ma
m
r
F = ma,
Ft ut + Fn un = m at ut + m an un
Here Ft & Fn are the sums of the force components acting in
the t & n directions, respectively.
This vector equation will be satisfied provided the individual
components on each side of the equation are equal, resulting in
the two scalar equations:
Ft = mat
and
Fn = man
dy
1
dx
r
2
d y
dx 2
at = dv/dt = v dv/ds
and/or
an = v2/r
Fext Fnet ma
dV
at
dt
V2
aN
R
Changing
direction of
velocity
Changing
magnitude and
direction of v
Speeding up or
slowing down along a
straight line
Speeding up or
slowing down along a
curved line
Tangential a: at
Radial a: aR
aR and at
Evaluate the maximum safe speed of the car which allow you
to stay on the bump ( N > 0 )
v
Fext m R
v2
mg N m
R
NR
v gR
m
N 0 vCr
gR
Fext ma
v2
v2
x : f m
x : mk N m
R
R
y : N mg 0
y : N mg
v2
x : m k mg m
v m k gR ; R 45m; m k 0.5; v 53.5km / h
R
On a wet pavement : m k 0.1 v 24 km / h
The max speed is
independent of the mass of
the car! Friction is what
makes your car turn: slow
down when wet!
Fext ma
x : n normal direction
mg
v
sin( ) m
v2
x :
R
x : N sin( ) m
cos( )
y : N cos( ) mg 0
y : N mg
cos( )
v2
x : g tan( )
v Rg tan( ) ; R 50m; 200 ; v 48 km / h
R
=
m an
f
N
Fext ma
v
n : N sin( ) m N cos m
v2
n : N sin( ) f cos m
mg
y : N cos( ) f sin( ) mg 0
y : N
cos( ) m sin( )
mg
v2
sin m cos m
n:
cos( ) m sin( )
R
v
sin m cos
Rg
cos( ) m sin( )
sin m cos
v2
g
cos( ) m sin( ) R
; R 50m; 20 0 ; m 0.5;
v 74 km/h
Problem 1:
The bob of a 2 m
pendulum describes an
arc of circle in a vertical
plane. If the tension in the
cord is 2.5 times the
weight of the bob for the
position shown, find the
velocity and acceleration
of the bob in that position.
2m
30 o
The weight of the bob is W=mg; the tension in the cord is thus 2.5
mg.
T = 2.5 mg
m an
=
m at
t
W = mg
30 o
Ft mat
mg sin 30 mat
o
at 4.90 m / s 2
+
Fn man
V = 5.66 m/s
(up or down)
Problem 2:
A single wire ACB passes
through a ring at C
attached to a sphere
which revolves at a
constant speed v in the
horizontal circle.
Knowing that the tension
is the same in both
portions of the wire,
determine the speed v.
30 o
B
45 o
C
5 kg
1.6 m
y
T
T
n:x
45 o
W = mg
30 o
m an
Fx ma
mv2
T sin 30 sin 45
R
Fy 0
T cos 30 cos 45 mg 0
T cos 30 cos 45 mg
sin 30 sin 45
v2
cos 30 cos 45
Rg
v 3.47 m / s
(1)
(2)
Problem 3:
A
30 o
1.5 m
45 o
B
C
3 kg
y
T
45 o
n:x
T
W
30 o
m an
Fx ma
mv2
T sin 30 sin 45
R
Fy 0
T cos 30 cos 45 mg 0
T cos 30 cos 45 mg
sin 30 sin 45
v2
cos 30 cos 45
Rg
v 10.57 m / s
(1)
(2)