Eighth Edition

CHAPTER VECTOR MECHANICS FOR ENGINEERS:

DYNAMICS
12 Ferdinand P. Beer
E. Russell Johnston, Jr. Kinetics of Particles:
Newtons Second Law
Lecture Notes:
J. Walt Oler
Texas Tech University

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Edition
Eighth
Vector Mechanics for Engineers: Dynamics
Contents
Introduction Angular Momentum of a Particle
Newtons Second Law of Motion Equations of Motion in Radial &
Linear Momentum of a Particle Transverse Components
Systems of Units Conservation of Angular Momentum
Equations of Motion Newtons Law of Gravitation
Dynamic Equilibrium Sample Problem 12.7
Sample Problem 12.1 Sample Problem 12.8
Sample Problem 12.3 Trajectory of a Particle Under a Central
Sample Problem 12.4 Force
Sample Problem 12.5 Application to Space Mechanics
Sample Problem 12.6 Sample Problem 12.9
Keplers Laws of Planetary Motion

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Eighth
Vector Mechanics for Engineers: Dynamics
Introduction
Newtons first and third laws are sufficient for the study of bodies at rest
(statics) or bodies in motion with no acceleration.

When a body accelerates (changes in velocity magnitude or direction),

Newtons second law is required to relate the motion of the body to the forces
acting on it.

Newtons second law:

- A particle will have an acceleration proportional to the magnitude of the
resultant force acting on it and in the direction of the resultant force.

- The resultant of the forces acting on a particle is equal to the rate of change
of linear momentum of the particle.
- The sum of the moments about O of the forces acting on a particle is
equal to the rate of change of angular momentum of the particle about O.

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Eighth
Vector Mechanics for Engineers: Dynamics
Newtons Second Law of Motion
Newtons Second Law: If the resultant force acting on a
particle is not zero, the particle will have an acceleration
proportional to the magnitude of resultant and in the direction
of the resultant.
Consider a particle subjected to constant forces,
F1 F2 F3
= = =
= constant = mass, m
a1 a 2 a 3

When a particle of mass m is acted upon by a force F,
the acceleration of the particle must satisfy
 
F = ma
Acceleration must be evaluated with respect to a Newtonian
frame of reference, i.e., one that is not accelerating or rotating.

If force acting on particle is zero, particle will not accelerate,

i.e., it will remain stationary or continue on a straight line at
constant velocity.
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Eighth
Vector Mechanics for Engineers: Dynamics
Linear Momentum of a Particle
Replacing the acceleration by the derivative of the
velocity yields
 
dv
F = m
dt

d  dL
= (m v ) =
dt dt

L = linear momentum of the particle

Linear Momentum Conservation Principle:

If the resultant force on a particle is zero, the linear
momentum of the particle remains constant in both
magnitude and direction.

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Edition
Eighth
Vector Mechanics for Engineers: Dynamics
Systems of Units
Of the units for the four primary dimensions (force, mass,
length, and time), three may be chosen arbitrarily. The
fourth must be compatible with Newtons 2nd Law.

International System of Units (SI Units): base units are the

units of length (m), mass (kg), and time (second). The unit
of force is derived,
m kg m
1 N = (1 kg ) 1 2 = 1 2
s s

US customary units these units are, respectively the foot

(ft), the pound (lb) and second (s)
1 foot = 0.3048 m 1 lb = 0.4535 kg
g = 32.2 ft/s2= 9.81 m/s2
1lb lb s 2
The unit of mass is derived, 1slug = 2
=1
1ft s ft
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Edition
Eighth
Vector Mechanics for Engineers: Dynamics
Equations of Motion
Newtons second law provides
 
F = ma
Solution for particle motion is facilitated by resolving
vector equation into scalar component equations, e.g., for
rectangular components,
     
( ) ( )
Fx i + Fy j + Fz k = m a x i + a y j + a z k
Fx = ma x Fy = ma y Fz = ma z
Fx = mx Fy = my Fz = mz
For tangential and normal components,
F t = ma t F n = ma n
dv v2
t
F = m Fn = m
dt

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Eighth
Vector Mechanics for Engineers: Dynamics
Dynamic Equilibrium
Alternate expression of Newtons second law,
 
F m a =0

m a inertial v ector
With the inclusion of the inertial vector, the system of
forces acting on the particle is equivalent to zero. The
particle is in dynamic equilibrium.
Methods developed for particles in static equilibrium
may be applied, e.g., coplanar forces may be
represented with a closed vector polygon.
Inertia vectors are often called inertial forces as they
measure the resistance that particles offer to changes
in motion, i.e., changes in speed or direction.

Inertial forces may be conceptually useful but are not

like the contact and gravitational forces found in
statics.
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Edition
Eighth
Vector Mechanics for Engineers: Dynamics
Sample Problem 12.1
SOLUTION:
Resolve the equation of motion for the
block into two rectangular component
equations.

Unknowns consist of the applied force P

and the normal reaction N from the plane.
The two equations may be solved for these
unknowns.
A 90.7 kg block rests on a horizontal plane.
Find the magnitude of the force P required
to give the block an accelera-tion or 3 m/s2
to the right. The coef-ficient of kinetic
friction between the block and plane is k =
0.25.

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Edition
Eighth
Vector Mechanics for Engineers: Dynamics
Sample Problem 12.1
SOLUTION:
Resolve the equation of motion for the block into
two rectangular component equations.
Fx = ma :
(
P cos 30 0.25R = (90.7 kg ) 3 m s 2 )
= 272 N
y
Fy = 0 :
O R P sin 30 890 N = 0
x

Unknowns consist of the applied force P and the

W = mg = 890 N normal reaction N from the plane. The two
equations may be solved for these unknowns.
F = k N N = P sin 30 + 890 N
= 0.25 N P cos 30 0.25(P sin 30 + 890 N ) = 272 N
P = 667.3 N

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Edition
Eighth
Vector Mechanics for Engineers: Dynamics
Sample Problem 12.3
SOLUTION:
Write the kinematic relationships for the
dependent motions and accelerations of the
blocks.
Write the equations of motion for the
blocks and pulley.
Combine the kinematic relationships with
the equations of motion to solve for the
accelerations and cord tension.
The two blocks shown start from rest.
The horizontal plane and the pulley are
frictionless, and the pulley is assumed to
be of negligible mass. Determine the
acceleration of each block and the
tension in the cord.

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Edition
Eighth
Vector Mechanics for Engineers: Dynamics
Sample Problem 12.3
SOLUTION:
Write the kinematic relationships for the dependent
O motions and accelerations of the blocks.
x
y B = 12 x A a B = 12 a A
y
Write equations of motion for blocks and pulley.
Fx = m A a A :
T1 = (100 kg )a A
Fy = mB a B :
m B g T2 = m B a B
(300 kg )(9.81 m s 2 ) T2 = (300 kg )a B
T2 = 2940 N - (300 kg )a B
F y = mC aC = 0 :
T2 2T1 = 0
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Edition
Eighth
Vector Mechanics for Engineers: Dynamics
Sample Problem 12.3
Combine kinematic relationships with equations of
motion to solve for accelerations and cord tension.
O 1
x yB = 2
xA a B = 12 a A

y T1 = (100 kg )a A
T2 = 2940 N - (300 kg )a B
(
= 2940 N - (300 kg ) 12 a A )
T2 2T1 = 0
2940 N (150 kg )a A 2(100 kg )a A = 0

a A = 8.40 m s 2
a B = 12 a A = 4.20 m s 2
T1 = (100 kg )a A = 840 N
T2 = 2T1 = 1680 N
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Edition
Eighth
Vector Mechanics for Engineers: Dynamics
Sample Problem 12.4
SOLUTION:
The block is constrained to slide down the
wedge. Therefore, their motions are
dependent. Express the acceleration of
block as the acceleration of wedge plus the
acceleration of the block relative to the
wedge.

Write the equations of motion for the

The 5.4 kg block B starts from rest and wedge and block.
slides on the 13.6 kg wedge A, which is
supported by a horizontal surface. Solve for the accelerations.
Neglecting friction, determine (a) the
acceleration of the wedge, and (b) the
acceleration of the block relative to the
wedge.

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Edition
Eighth
Vector Mechanics for Engineers: Dynamics
Sample Problem 12.4
SOLUTION:
The block is constrained to slide down the wedge.
Therefore, their motions are dependent.
  
aB = a A + aB A

Write equations of motion for wedge and block.

Fx = m A a A :
y N 1 sin 30 = m A a A
0 .5 N 1 = (W A g )a A

x
Fx = m B a x = m B (a A cos 30 a B A ) :
W B sin 30 = (W B g )(a A cos 30 a B A )
a B A = a A cos 30 + g sin 30

F y = m B a y = m B ( a A sin 30 ) :
N 1 W B cos 30 = (W B g )a A sin 30
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Edition
Eighth
Vector Mechanics for Engineers: Dynamics
Sample Problem 12.4
Solve for the accelerations.
0.5 N1 = (W A g )a A
N 1 W B cos 30 = (W B g )a A sin 30

2(W A g )a A W B cos 30 = (W B g )a A sin 30

gW B cos 30
aA =
2W A + W B sin 30

aA =
(53 N ) cos 30
mass of block B mB = 5.4 kg 2 (133 .4 N ) + (53 N )sin 30
Weight of block B WB = mBg = 53 N
a A = 1.53 m s 2
mass of Wedge A mA = 13.6 kg
a B A = a A cos 30 + g sin 30
Weight of Wedge A WA = mAg = 133.4 N

( ) ( )
a B A = 1.54 m s 2 cos 30 + 9.81 m s 2 sin 30
a B A = 6.24 m s 2

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Edition
Eighth
Vector Mechanics for Engineers: Dynamics
Sample Problem 12.5
SOLUTION:
Resolve the equation of motion for the bob
into tangential and normal components.

Solve the component equations for the

normal and tangential accelerations.
Solve for the velocity in terms of the
normal acceleration.
The bob of a 2-m pendulum describes an
arc of a 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 accel-eration of the bob in
that position.

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Edition
Eighth
Vector Mechanics for Engineers: Dynamics
Sample Problem 12.5
SOLUTION:
Resolve the equation of motion for the bob into
tangential and normal components.
Solve the component equations for the normal and
tangential accelerations.
Ft = ma t : mg sin 30 = ma t
a t = g sin 30
a t = 4 .9 m s 2

Fn = man : 2.5mg mg cos 30 = man

an = g (2.5 cos 30)
a n = 16.01 m s 2
Solve for velocity in terms of normal acceleration.
v2
an =

v= (
a n = (2 m ) 16 .03 m s 2 )
v = 5.66 m s
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Edition
Eighth
Vector Mechanics for Engineers: Dynamics
Sample Problem 12.6
SOLUTION:
The car travels in a horizontal circular
path with a normal component of
acceleration directed toward the center of
the path.The forces acting on the car are
its weight and a normal reaction from the
road surface.

Resolve the equation of motion for the

Determine the rated speed of a highway car into vertical and normal components.
curve of radius = 122 m banked
through an angle = 18o. The rated
speed of a banked highway curve is the Solve for the vehicle speed.
speed at which a car should travel if no
lateral friction force is to be exerted at its
wheels.

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Edition
Eighth
Vector Mechanics for Engineers: Dynamics
Sample Problem 12.6
Resolve the equation of motion for the
car into vertical and normal components.

Fy = 0 : R cos W = 0
W
R=
cos
W
n
F = ma n : R sin = an
g
SOLUTION:
W W v2
The car travels in a horizontal circular sin =
cos g
path with a normal component of
acceleration directed toward the center of Solve for the vehicle speed.
the path.The forces acting on the car are v 2 = g tan
its weight and a normal reaction from the
road surface. ( )
= 9.81 m s 2 (122 m ) tan 18

v = 19.7 m / s
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Edition
Eighth
Vector Mechanics for Engineers: Dynamics
Angular Momentum of a Particle
  
H O = r m V =moment of momentum or the angular
momentum of the particle about O.
  
H O is perpendicular to plane containing r and m V
H O = rmV sin   
i j k
= rm v 
HO = x y z
= mr 2 mv x mv y mv z
Derivative of angular momentum with respect to time,
        
H O = r mV + r mV = V mV + r ma

= rF

= MO
It follows from Newtons second law that the sum of the
moments about O of the forces acting on the particle is
equal to the rate of change of the angular momentum of the
particle about O.
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Edition
Eighth
Vector Mechanics for Engineers: Dynamics
Eqs of Motion in Radial & Transverse Components
Consider particle at r and , in polar coordinates,

Fr = ma r = m (r r 2 )
F = ma = m (r + 2 r )

This result may also be derived from conservation of

angular momentum,

H O = mr 2

r F =
d
dt
(
mr 2 )
(
= m r 2 + 2 rr )
F = m (r + 2 r )

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Edition
Eighth
Vector Mechanics for Engineers: Dynamics
Conservation of Angular Momentum
When only force acting on particle is directed toward
or away from a fixed point O, the particle is said to
be moving under a central force.

Since the line of action of the central force passes

through O, M O = H O = 0 and
  
r m V = H O = constant
Position vector and motion
 of particle are in a plane
perpendicular to HO.

Magnitude of angular momentum,

H O = rm V sin = constant
= r0 m V0 sin 0

or H O = mr 2 = constant
HO angular momentum
= r 2 = h =
m unit mass
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Edition
Eighth
Vector Mechanics for Engineers: Dynamics
Conservation of Angular Momentum
Radius vector OP sweeps infinitesimal area
dA = 12 r 2 d

dA 1 2 d 1 2 
Define = 2r = 2 r = areal velocity
dt dt

Recall, for a body moving under a central force,

h = r 2 = constant

When a particle moves under a central force, its areal

velocity is constant.

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Edition
Eighth
Vector Mechanics for Engineers: Dynamics
Newtons Law of Gravitation
Gravitational force exerted by the sun on a planet or by the
earth on a satellite is an important example of gravitational
force.
Newtons law of universal gravitation - two particles of
mass M and m attract each other with equal and opposite
force directed along the line connecting the particles,
Mm
F =G 2
r
G = constant of gravitatio n
3 4
m ft
= 66 .73 10 12 = 34 . 4 10 9
kg s 2 lb s 4
For particle of mass m on the earths surface,
MG m ft
W =m = mg g = 9.81 = 32 .2
R2 s2 s2

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Edition
Eighth
Vector Mechanics for Engineers: Dynamics
Sample Problem 12.7
SOLUTION:
Write the radial and transverse equations
of motion for the block.
Integrate the radial equation to find an
expression for the radial velocity.
Substitute known information into
A block B of mass m can slide freely on a the transverse equation to find an
frictionless arm OA which rotates in a expression for the force on the block.
horizontal plane at a constant rate 0 .
Knowing that B is released at a distance r0
from O, express as a function of r
a) the component vr of the velocity of B
along OA, and
b) the magnitude of the horizontal force
exerted on B by the arm OA.

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Edition
Eighth
Vector Mechanics for Engineers: Dynamics
Sample Problem 12.7
Integrate the radial equation to find an
expression for the radial velocity.
dv dv dr dv
r = vr = r = r = vr r
dt dr dt dr
dv dv dr dv
r = vr = r = r = vr r
dt dr dt dr
vr dvr = r 2 dr = r02 dr
SOLUTION: vr r
2
Write the radial and transverse vr dvr = 0 r dr
equations of motion for the block. 0 r0

Fr = m a r :0 = m r r ( 2
F = m a : F = m (r + 2 r )
) (
v r2 = 02 r 2 r02 )
Substitute known information into the
transverse equation to find an expression for
the force on the block.

F = 2 m 02 (r 2
r0 )
2 12

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Edition
Eighth
Vector Mechanics for Engineers: Dynamics
Sample Problem 12.8
SOLUTION:
Since the satellite is moving under a
central force, its angular momentum is
constant. Equate the angular
momentum at A and B and solve for the
velocity at B.

A satellite is launched in a direction

parallel to the surface of the earth with
a velocity of 30155 km/h from an
altitude of 385 km. Determine the
velocity of the satellite as it reaches it
maximum altitude of 3749 km. The
radius of the earth is 6345 km.

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Edition
Eighth
Vector Mechanics for Engineers: Dynamics
Sample Problem 12.8
SOLUTION:
Since the satellite is moving under a central
force, its angular momentum is constant.
Equate the angular momentum at A and B
and solve for the velocity at B.

rm v sin = H O = constant
rA m v A = rB m v B
rA
vB = v A
rB
= (30155 km/h )
(6345km + 385 km )
(6345km + 3749km )

v B = 20105 km/h

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Edition
Eighth
Vector Mechanics for Engineers: Dynamics
Trajectory of a Particle Under a Central Force
For particle moving under central force directed towards force center,
( )
m r r 2 = Fr = F m (r + 2 r ) = F = 0

Second expression is equivalent to r 2 = h = constant, which,

from
h h2 d 2 1
 = 2
and r = 2 2 r
r r d

After substituting into the radial equation of motion and simplifying,

d 2u F 1
2
+u = 2 2
where u=
d mh u r

If F is a known function of r or u, then particle trajectory may be found

by integrating for u = f(), with constants of integration determined from
initial conditions.

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Edition
Eighth
Vector Mechanics for Engineers: Dynamics
Application to Space Mechanics
Consider earth satellites subjected to only gravitational pull of the
earth,
d 2u F 1 GMm
+u = where u= F = = GMmu 2
d 2 mh 2 u 2 r r2
d 2u GM
2
+u = 2
= constant
d h

Solution is equation of conic section,

1 GM Ch2
u = = 2 (1 + cos ) = = eccentrici ty
r h GM

Origin, located at earths center, is a focus of the conic section.

Trajectory may be ellipse, parabola, or hyperbola depending on

value of eccentricity.

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Edition
Eighth
Vector Mechanics for Engineers: Dynamics
Application to Space Mechanics
Trajectory of earth satellite is defined by
1 GM Ch2
= 2 (1 + cos ) = = eccentrici ty
r h GM

hyperbola, > 1 or C > GM/h2. The radius vector becomes

infinite for
1 1 1 GM
1 + cos 1 = 0 1 = cos = cos
2
C h
parabola, = 1 or C = GM/h2. The radius vector becomes
infinite for
1 + cos 2 = 0 2 = 180

ellipse, < 1 or C < GM/h2. The radius vector is finite for

and is constant, i.e., a circle, for < 0.

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Edition
Eighth
Vector Mechanics for Engineers: Dynamics
Application to Space Mechanics
Integration constant C is determined by conditions at
beginning of free flight, =0, r = r0 ,
1 GM Ch 2
= 2 1+ cos 0
r0 h GM

1 GM 1 GM
C= 2 =
r0 h r0 (r0 v0 )2

Satellite escapes earth orbit for

1 or C GM h 2 = GM (r0 v 0 )2
2GM
v esc = v 0 =
r0

Trajectory is elliptic for v0 < vesc and becomes

circular for = 0 or C = 0,
GM
v circ =
r0
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Edition
Eighth
Vector Mechanics for Engineers: Dynamics
Application to Space Mechanics
Recall that for a particle moving under a central force,
the areal velocity is constant, i.e.,
dA 1 2  1
= 2 r = 2 h = constant
dt
Periodic time or time required for a satellite to complete
an orbit is equal to area within the orbit divided by areal
velocity,
ab 2 ab
= =
h 2 h

a= 1 (r + r1 )
where 2 0
b= r0 r1

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Edition
Eighth
Vector Mechanics for Engineers: Dynamics
Sample Problem 12.9
SOLUTION:
Trajectory of the satellite is described by
1 GM
= 2 + C cos
r h
Evaluate C using the initial conditions at
= 0.
A satellite is launched in a direction
Determine the maximum altitude by
parallel to the surface of the earth with a
finding r at = 180o.
velocity of 36,900 km/h at an altitude of
500 km. With the altitudes at the perigee and
apogee known, the periodic time can be
Determine:
evaluated.
a) the maximum altitude reached by the
satellite, and
b) the periodic time of the satellite.

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Edition
Eighth
Vector Mechanics for Engineers: Dynamics
Sample Problem 12.9
SOLUTION:
Trajectory of the satellite is described by
1 GM
= 2 + C cos
r h
Evaluate C using the initial conditions at
= 0.
r0 = (6370 + 500)km
= 6.87 106 m 1 GM
C= 2
km 1000 m/km r0 h
v 0 = 36900
h 3600s/h 1 397.6 1012 m 3 s 2
=
= 10.25 103 m s 6
6.87 10 m (
70.4 m 2 s )
2

( )(
h = r0 v0 = 6.87 106 m 10.25 103 m s ) = 65.3 10 9 m -1
= 70.4 109 m 2 s
2
( 2
GM = gR = 9.81m s 6.37 10 m )(
6 2
)
= 397.6 1012 m 3 s 2

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Edition
Eighth
Vector Mechanics for Engineers: Dynamics
Sample Problem 12.9
Determine the maximum altitude by finding r1 at
= 180o.
1 GM 397.6 1012 m 3 s 2 9 1
= 2 C = 65 . 3 10
r1 h 70.4 m s2 2
( ) m

r1 = 67.1 10 6 m = 67100 km
max altitude = (67100 - 6370 )km = 60730 km
With the altitudes at the perigee and apogee known, the
periodic time can be evaluated.
a= 1
2
(r0 + r1 ) = 12 (6.87 + 66.7 ) 10 6 m = 36.8 10 6 m
b = r0 r1 = 6.87 66.7 10 6 m = 21.4 10 6 m

=
(
2 ab 2 36.8 10 6 m 21.4 10 6 m
=
)( )
h 70.4 10 9 m 2 s

= 70.3 10 3 s = 19 h 43 min
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Edition
Eighth
Vector Mechanics for Engineers: Dynamics
Keplers Laws of Planetary Motion

Results obtained for trajectories of satellites around earth may also be applied
to trajectories of planets around the sun.

Properties of planetary orbits around the sun were determined astronomical

observations by Johann Kepler (1571-1630) before Newton had developed
his fundamental theory.
1) Each planet describes an ellipse, with the sun located at one of its foci.
2) The radius vector drawn from the sun to a planet sweeps equal areas in
equal times.
3) The squares of the periodic times of the planets are proportional to the
cubes of the semimajor axes of their orbits.

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