Chapter Three

Kinetics of particles
Kinetics of particles
• It is the study of the relations existing between
the forces acting on body, the mass of the body,
and the motion of the body.
• It is the study of the relation between
unbalanced forces and the resulting motion.
• Newton ’s first law and third law are sufficient

for studying bodies at rest (statics) or bodies in

motion with no acceleration.

• When a body accelerates ( change in velocity

magnitude or direction) Newton ’s second law is

required to relate the motion of the body to the

forces acting on it.

Force, mass and acceleration
• Newton ’s 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.
• The basic relation between force and
acceleration is found in Newton's second law of
motion and its verification is entirely
experimental.
• Consider a particle subjected to constant forces

F1 F2 F
  ...   const
a1 a2 a

• We conclude that the constant is a measure of

some property of the particle that does not
change.
• This property is the inertia of the particle which is its
resistance to rate of change of velocity.
• The mass m is used as a quantitative measure of inertia, and
therefore the experimental relation becomes,
F=ma
• This relation provides a complete formulation of Newton's
second law; it expresses not only that the magnitude F and a are
proportional but also that the vector F and a have the same
direction.
Equation of motion and solution of problems
• When a particle of mass m acted upon by several forces. The
Newton’s second law can be expressed by the equation

F  ma

• To determine the acceleration we must use the analysis used in

kinematics, i.e
• Rectilinear motion
• Curvilinear motion
Rectilinear Motion
• If we choose the x-direction, as the direction
of the rectilinear motion of a particle of mass
m, the acceleration in the y and z direction will
be zero, i.e
F x
 ma x
F y
0
F z
0
 • Generally,
F x
 ma x
F y
 ma y
F Z
 maZ

• Where the acceleration and resultant force are given

by
a  a xi  a y j  a z k F  F i  F j  F k
x y z

a ax  a y  az  F   F   ( F )  ( Fz ) 2
2 2 2 2 2
x y
Curvilinear motion
• In applying Newton's second law, we shall make
use of the three coordinate descriptions of
acceleration in curvilinear motion.
Rectangular coordinates
F x
 ma x
F y
 ma y
 
Where a x  x and a y  y
Normal and tangential coordinate
F n  man
F t  mat
 2 v2 

• Where an    

, at  v
Polar coordinates
F r  mar
 F  ma
  2   
• Where ar  r  r  and an  r   2 r 
Examples
Example 1
• Block A has a mass of 30kg and block B has a mass of
15kg. The coefficient of friction between all plane
surfaces of contact are  s  0.15 and  k  0.10.
Knowing that Ѳ=300 and that the magnitude of the
force P applied to block A is 250N, determine

a) The acceleration of block A ,and

b) The tension in the cord

Example 2
• A small vehicle enters the top A of the circular path with a
horizontal velocity vo and gathers speed as it moves down the path.
• Determine an expression for the angle β to the position where the
vehicle leaves the path and becomes a projectile. Evaluate your
expression for vo=0. Neglect friction and treat the vehicle as a
particle
Example 3
• The slotted arm revolves in the horizontal about the fixed vertical axis
through point O. the 2 Kg slider C is drawn towards O at the constant
rate of 50mm/s by pulling the cord S. At the instant for which
r=225mm, the arm has a counterclockwise angular velocity ω=6rad/s
and is slowing down at the rate of 2rad/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 the smooth radial slot. Indicate which side, A
or B, of the slot contacts the slider. (problem 3/69)
work and kinetic energy
• The method of work and energy directly relates force, mass,
velocity, and displacement.

• We apply this method:

 When intervals of motion are involved where the change in
velocity or the corresponding displacement of the particle is
required.

• Integration of the forces with respect to the displacement

of the particle leads to the equation of work and energy.
 Work of Force
 
dU  F  dr
dU  Fds cos
   
    
dU  Fx i  Fy j  Fz k  d x i  d y j  d z k 
 Fx dx  Fy dy  Fz dz
 A2
 
U 1 2   F  dr
A1
s2 s2

U 1 2   F cos ds   F ds
s1 s1
t

A2

U 1 2   F dx  F
A1
x y dy  Fz dz 
Work of a constant force in rectilinear motion

U12  F cos x

 Work of the Force of Gravity

dU  Wdy
y2

U 1 2    Wdy Wy1  Wy2

y1

U 1 2  W ( y 2  y1 )  Wy

When y is negative (moves down), the work is

positive
Work of the Force Exerted by a Spring
F  kx
dU   Fdx   kxdx
x2
1 1
U 1 2    kxdx  kx1  kx2
2 2

x1
2 2

U 1 2  
1
F1  F2 x
2
If the spring returning to the
undeformed position, then positive energy
Work of a gravitational Force

Mm
F G
r2
Mm
dU   Fdr  G dr
r2
r2
GMm GMm GMm
U1 2    2
dr  
r1
r r2 r1
Kinetic Energy of a Particle
dv dv ds dv
Ft  mat  m m  mv
dt ds dt ds
Ft ds  mvdv
s2 v2
1 1
 Ft ds  m  vdv 
s1 v1
2
mv22  mv12
2

U 1 2  T2  T1
T1  U 1 2  T2
 Power and Efficiency
• Friction energy dissipated by heat
and reduce kinetic energy

dU F  dr 
power    F v
dt dt
power output

power input
 Potential Energy y2

U 1 2    Wdy Wy1  Wy 2
y1

U 1 2  (Vg )1  (Vg ) 2
Vg  Wy
Potential Energy of the body with
respect to the force of gravity

When Vg2 >Vg1, potential energy increases, and U 1-2

is negative
it should be noted that the expression just obtained for the potential energy of a
body with respect to gravity is valid only as long as the weight of body can be
assumed to remain constant, i.e, as long as the displacements of the body are small
compared with the radius of the earth.

r2
GMm GMm GMm
U 1 2    dr  
r1
r2 r2 r1
Mm WR 2
Vg G 
r r

R is from the center of the

earth
 x2
1 1
U 1 2    kxdx  kx1  kx2
2 2

x1
2 2
U 1 2  (Ve )1  (Ve ) 2
1
Ve  kx 2
2

Potential Energy of the body

with respect to the elastic
force F
Only the initial and final deflection of
the spring are needed
Deflection of the spring is measured
from its undeformed position
 Equation of work and energy
U12  T
where
Where U12 =work done by other
of

U12  U12  U12  U12

w s of
(non conservative/ path
dependant) forces

 Vg  Ve  U1 2  T

of

U12  T  Ve  Vg

of

U12  E
of
 Advantages and disadvantages of work and
energy method

• Advantage; 1. No need to calculate values between A1 and

A2. Only final stages are counted 2. All scalars so can be
added easily 3. Forces that do no work are ignored

• Disadvantage; can not determine accelerations, can not

determine accelerations and forces that do no work
Example 1
• For the slider collar shown in the figure, if m=0.5kg,
b=0.8m, and h=1.5m, and if the velocity of the collar as it
strikes the base B is 4.70m/s after the release of the
collar from rest, calculate the work Q of friction. What
happens to the energy that is lost?
Example 2
• The 0.8kg collar slides with negligible friction
on the fixed rod in the vertical plane. If the
collar starts from rest at A under the action of
8N horizontal force, calculate its velocity v as
it hits the stop at B.
Example 3
• The 6kg cylindrical collar is released from rest
in the position shown and drops onto the spring.
Calculate the velocity v of the cylinder when
the spring has been compressed 50mm.
Example 4
• The two springs, each of stiffness k=1.2KN/m, are if equal
length and un-deformed when θ=0. If the mechanism is
released from rest in the position θ=20, determine its
angular velocity θ’ when θ=0. the mass m of each sphere is
3kg. Treat the sphere as particles and neglect the masses
of the light rods and springs.
Impulse and momentum
• Work and energy is obtained by integrating the
equation of F=ma with respect to the
displacement of the particle.
• Impulse and momentum can be generated by
integrating the equation of motion (F=ma) with
respect to time.
 Linear impulse and momentum
• Consider a particle of a mass m which
is subjected to several forces in space.

d
 F  mv  dt
(mv) or  F  G .......... ..(1)
• The product of the mass & the velocity
is defined as the linear momentum.

G  mv
• Equation (1) states that the resultant of all
forces acting on a particle equals its time rate
of change of linear momentum.
• It is valid as long as the mass m of the particle
is not changing with time.
• The scalar components of equation (1) are:
F x
 G x , F
y  G y , F
z  G z
• The effect of the resultant force F on the linear
momentum of the particle over a finite period of time
simply by integrating with respect to time t.
 Fdt  dG
t2

  Fdt  G
t1
2  G1  G

• The linear momentum at time t2 is G2=mV2 and the linear

momentum at time t1 is G1=mV1.
• The product of force and time is called linear impulse.
• The total linear impulse on a mass m equals
the corresponding change in linear momentum
of m. t2

G1    Fdt  G2 The impulse integral is a vector

t1

t 2
   Fx dt  mVx 2  mVx 1
 t1
t 2
   Fy dt  mV y 2  mV y 1

Scalar impulse
momentum eqns.  t1
t 2
 F dt  mVz 2  mVz 1
 t  z
1
Conservation of linear momentum
• If the resultant force on a particle is zero
during an interval of time, its linear momentum
G remains constant. In this case the linear
momentum of a particle is said to be conserved.
G  0 or G1  G2
 Angular impulse and momentum
• The moment of a linear momentum vector mv
about the origin O is defined as the angular
momentum H o of P & is given by the product
relation for moment of vector:-
H 0  r  mv
• The angular momentum then is a vector
perpendicular to the plane A defined by r & v
• The scalar component of angular momentum
is:-
H o  r  mv  m(vz y  v y z )i  m(vx z  v z x) j  m(v y x  v x y )k
i j k
Ho  m x y z
vx vy vz
H x  m(vz y  v y z ), H y  m(v x z  v z x) H z  m(v y x  v x y )
• If  F represents the resultant of all forces acting on the particles
P, the moment Mo about the origin O is the vector cross product.

M o  r   F r  mv
H o  r  mv  r  mv  v  mv  r  mv
 M  H .......... ....(*)
o o

• The moment about the fixed point O of all forces acting on M equals
the time rate of change of angular momentum of M about O.
• To obtain the effect of moment  M o on the angular
momentum of the particle over a finite period of time;
t2

  M dt  H
t1
o o2  H o1  H o

where H o2  r 2  mv 2 & H o1  r 1  mv1

• The product of moment & time is angular impulse the total

angular impulse on M about a fixed point O equals the
corresponding change in angular momentum of M about O.
t2

H o1    M o dt  H o2
t1
Conservation of angular momentum
• If the resultant moment about a fixed point O of all
forces acting on a particle is zero during the interval
of time, equation (*) requires that its angular
momentum H0 about that point remains constant.
H o  0 or H o1  H o2
Impact
Impact
• Refers to the collision b/n two bodies
and is characterized by the generation
of relatively large contact forces that
act over a very short interval of time.
Direct central impact
• Consider the collinear motion of two spheres of masses m1
and m2 travelling with velocities V1 & V2. If V1 is greater
than V2, collision occurs with the contact forces directed
along the line of centers.
• In as much as the contact forces are equal
& opposite during impact; the linear
momentum of the system remains
unchanged.
m1v1  m2v2  m1v1 'm2v2 '
• For given masses & initial conditions, the momentum
equation contains two unknowns, v1’ & v2’, an additional
relationship is required.
• The relationship must reflect the capacity of the
contacting bodies to recover from the impact & can be
expressed by the ratio e of the magnitude of the
restoration impulse to the magnitude of the deformation
impulse. This ratio is called the coefficient of restitution.
• Fr – contact force during restoration period

• Fd – contact force during deformation period

t

 F dt
r
m1  v1 ' vo  vo  v1 '
e  
to
.......... ..... for particle 1
to
m1  vo   v1  v1  vo
 F dt
t
d

 F dt
r
m2 v2 'vo  v2 'vo
e  
to
.......... .......... . for particle 2
to
m2 vo  v2  vo  v2
 F dt
t
d
• According to classical theory of impact, the value
e=1 means that the capacity of the two particles to
recover equal their tendency to deform.

• The value e=0, on the other hand describes

inelastic or plastic impact where the particles cling
together after collision & the loss of energy is a
maximum.
b) Oblique central impact
• Here the initial and final velocities are not parallel.
• The spherical particles of mass m1 & m2 have initial
velocities v1 & v2 in the same plane & approach each other
on a collision course.
• The direction of the velocity vector are measured from
the direction tangent to the contacting surfaces.
 v1 n  v1 sin1 , v1 t  v1 cos1 ,
v2 n  v2 sin 2 , v2 t  v2 cos 2 ,
There will be four unknown namely, (v1’)n, (v1’)t, (v2’)n, & (v2’)t
1) Momentum of the system is conserved in the n-direction,
2) & 3) The momentum for each particle is conserved in the t-
direction since there is no impulse on either particle in the t-
direction m1 (v1 ) t  m1 (v1 ' ) t
m2 (v2 ) t  m2 (v2 ' ) t
3) the coefficient of restitution, the velocity component in the
n- direction,

v2 'n  v1 'n

e
v1 n  v2 n
Example 1
• The 4kg cart, at rest at t=0, is acted on by a
horizontal force that varies with time t as
shown. Neglect friction and determine the
velocity of the cart at t=1Sec and t=3Sec
Example 2
• The loaded mine skip has a mass of 3Mg. The hoisting
drum produces a tension T in the cable according to the
time schedule shown. If the skip is at rest againest A a
when the drum is activated, determine the speed v of the
skip when t=6Sec. Friction loss may be neglected.
Example 3
• a particle with a mass of 4kg has a position vector in
meters given by r  3t 2 i  2t j  3t k ,where t is the time in
seconds. For t=3sec, determine the magnitude of the
angular momentum of the particle and the magnitude of
the moment of all forces on the particle, both about the
origins of the coordinates.
Example 4
• A particle of mass m moves with negligible friction
on a horizontal surface and is connected to a light
spring fastened at O. At position A the particle has
the velocity VA=4m/s. Determine the velocity VB
of the particle as it passes position B.
Example 5
• The assembly of two 5Kg spheres is rotating freely about the vertical
axis at 40rev/min with θ=900. if the force F necessary to maintain the
given position is increased to raise the base collar and reduce θ to 600,
determine the new angular velocity ω. Also determine the work U done
by F in changing the configuration of the system. Assume that the mass
of the arms and the collars is negligible.
Example 6
• The magnitude and direction of the velocities of
two identical frictionless balls defore strike each
other are as shown in the figure. Assume e=0.90,
A) determine the magnitude and direction of the velocity of
each ball after impact.
B) calculate the percentage loss of energy due to the impact.
Example 7
• Sphere A has a mass of 23Kg and a radius of 75mm while sphere
B has a mass of 4Kg and a radius of 50mm. If the spheres are
travelling initially along the parallel paths with the speeds
shown, determine the velocities of the spheres immediately
after impact. Specify the angles θA and θB with respect to the
x-axis made by the rebound velocity vectors. The coefficient of
restitution is 0.4 and friction is neglected.
Example 8
• The 2Kg sphere is projected horizontally with velocity of 10m/s
against the 10kg carriage that is backed up by the spring with a
stiffness of 1600N/m. The carriage is initially at rest with the
spring uncompressed. If the coefficient of restitution is 0.6,
calculate the rebound velocity v’, the rebound angle, and the
maximum travel δ of the carriage after impact.