TRC2201 Mechanics

Week 2 Lecture 1 – Kinetics of Particles

Equation of motion: Force and
acceleration
Cartesian coordinate (revision)
Normal tangent coordinate (revision)
Cylindrical coordinate

Department of Mechanical and Aerospace Engineering

 Outline
Outline
• Newton’s second law of motion
Newton’s 2nd
law • The equation of motion
Equation of
motion (EM) • Equation of motion of a system of particles
EM of a
system of • Equation of motion:
particles
– rectangular coordinates
Rectangular
coordinates – normal and tangent coordinates
Examples
– cylindrical coordinates

Kinetics is a branch of mechanics that deals with

the relationship between the change in motion of
a body and the force that causes the change.

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 Newton’s second law
Outline
• Newton’s second law of motion
Newton’s 2nd
law

Equation of A particle acted upon by an

motion (EM) unbalanced force F experiences
EM of a an acceleration a that has the
system of same direction as the force and
particles
a magnitude that is directly
Rectangular proportional to the force.
coordinates

Examples portrait of Isaac Newton (1689)

The constant of proportionality m

is called mass of the particle.

Philosophiæ Naturalis Principia Mathematica

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 Newton’s second law
Outline
• Newton’s law of gravitational attraction
Newton’s 2nd
law

Equation of
motion (EM)
m1m2
EM of a F=G 2
system of
particles r
Rectangular
coordinates
F= force of attraction
Examples between particles
G= universal constant of
gravitation
m1, m2= mass of each of the
particles

http://mathsforeurope.digibel.be/newton2.htm
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 Newton’s second law
Outline
• Newton’s law of gravitational attraction
Newton’s 2nd
law

Equation of
motion (EM) h
EM of a
system of
particles

Rectangular
coordinates R

…
Examples

• Weight of a particle

W = mg
g = 9.81m/s2

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 Equation of motion
Outline
• Equation of motion of a particle
Newton’s 2nd
law
– More than one force acting
Equation of
motion (EM)
– The resultant force FR
EM of a
system of
particles

Rectangular
coordinates

Examples

 Free body diagram

graphically illustrate the
magnitude and directions of
each force acting on particle.

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 Equation of motion
Outline
• Inertial Reference Frame
Newton’s 2nd
law – When applying the equation of motion, acceleration of
Equation of the particle is measured with respect to a reference
motion (EM) frame that is either fixed or translates with a constant
EM of a velocity.
system of
particles – Such a frame of reference is called Newtonian or
inertial reference frame.
Rectangular
coordinates

Examples
Note: The measured
acceleration of the
particle will be always
the same from any
reference of this type.

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 EM of a system of particles
Outline
• Equation of motion of a system of particles
Newton’s 2nd
law
 For particle i,
Equation of
motion (EM)

EM of a
system of
particles

Rectangular
coordinates

Examples  Internal force fi is the resultant of

all the forces from other particles.

 External force Fi represents the

rest of other forces.

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 EM of a system of particles
Outline
• Equation of motion of a system of particles
Newton’s 2nd
law – If all the equations of motion are added altogether
Equation of vectorially, the summation of internal forces will be
motion (EM) zero, because of the Newton’s 3rd law.
EM of a
system of
particles

Rectangular
coordinates

Examples – The center of mass G

– We have

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 Important points
Outline
• The equation of motion is founded upon experimental
Newton’s 2nd evidences and is valid only when applied within an inertial
law frame of reference.
Equation of
motion (EM) • The equation of motion states that the unbalanced force on a
EM of a
particle causes it to accelerate.
system of
particles • An inertial frame of reference does not rotate, rather its axes
either translate with constant velocity or are at rest.
Rectangular
coordinates
• Mass is a property of matter to measure the resistance to a
Examples change in its velocity.

• Weight is a force that is caused by the earth’s gravitation.

• The equation of motion of a system of particles justifies the

application of a particle to represent a body.

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 TRC2201 Mechanics
Week 2 Lecture 1 – Kinetics of Particles
Rectangular Coordinates (revision)

Department of Mechanical and Aerospace Engineering

 EM in rectangular coordinates
Outline
• Equation of motion: rectangular coordinates
Newton’s 2nd
law – When a particle is moving relative to an inertial x, y, z
Equation of frame of reference,
motion (EM)

EM of a
system of
particles

Rectangular
coordinates
– That is:
Examples

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 EM in rectangular coordinates
Outline
• Procedure of analysis
Newton’s 2nd
law

Equation of Free body diagram

motion (EM)
 Select inertial coordinate system.
EM of a
system of  Draw particle’s free body diagram (FBD) and provide a
particles graphical representation that accounts for all forces
Rectangular (ΣF).
coordinates
 Direction and sense of the particle’s acceleration a is
Examples also to be established. Often assuming the direction of a
along the position direction of coordinates.
 Acceleration is represented as ma vector on the kinetic
diagram.
 Identify the unknowns in the problem.

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 EM in rectangular coordinates
Outline
• Procedure of analysis
Newton’s 2nd
law
Equation of motion
Equation of
motion (EM)  Apply equations of motion on FBD in their scalar
component form.
EM of a
system of  If geometry of the problem appears complicated,
particles
Cartesian vector analysis can be used for the solution.
Rectangular
coordinates
Kinematics
Examples
 Apply kinematics equations once the particle’s
acceleration is determined from ΣF = ma
 If acceleration is a function of time, use a = dv/dt
and v = ds/dt
 If acceleration is a constant, use the kinematic
relations we derived in lecture 2.
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 Examples
Outline
The baggage truck A has a weight of 3600 N and
Newton’s 2nd
law
tows a 2200 N cart B and a 1300 N cart C. For a
short time the driving frictional force developed at
Equation of
motion (EM) the wheels is FA = (160t) N where t is in seconds. If
EM of a the truck starts from rest, determine its speed in 2
system of
particles
seconds. What is the horizontal force acting on the
Rectangular
coupling between the truck and cart B at this
coordinates instant?
Examples

Solution:
The studied system includes
three particles

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 Examples
Outline
Given: mA=360kg, mB=220kg, mC=130kg,
Newton’s 2nd and driving friction force FA=160tN.
law
Question: v=? at t=2s, and the force on A
Equation of
motion (EM) from B
EM of a
system of Solution:
particles
(1)Free body diagram
Rectangular
coordinates Taken three carts as a system,
Examples external forces as shown.

(2) Equation of motion

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 Examples
Outline
Given: Free body diagram
Newton’s 2nd
law Question: v=? at t=2s, and the
force on A from B
Equation of
motion (EM)

EM of a
Solution:
system of
particles
(3) Kinematics
Rectangular
coordinates
The velocity of the truck is obtained using a = dv/dt with the
initial condition that v0 = 0 at t = 0,
Examples

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 Examples
Outline
Given: Free body diagram
Newton’s 2nd
law Question: v=? at t=2s, and the
force on A from B
Equation of
motion (EM)
Solution:
EM of a
system of
(1) Free body diagram
particles

Rectangular
To get the force acting on A from B, we need to separate A from
coordinates the rest of the system and redraw the free body diagram.
Examples
(2) Equation of motion

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 TRC2201 Mechanics
Week 2 Lecture 1 – Kinetics of Particles
Normal and Tangent Coordinates
(revision)

Department of Mechanical and Aerospace Engineering

 Outline
Outline
• Equation of motion: normal and tangent coordinates
EM in normal • Equation of motion: cylindrical coordinates
and tangent
coordinates

Examples

EM in
cylindrical
coordinates

Examples

The centrifuge is used to

subject a particle to a very
large normal acceleration
caused by rapid rotation. As the car of weight W descends the spiral
track, the resultant normal force which the
track exerts on the car can be represented
by its three cylindrical components.
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 EM in normal and tangent coordinates
Outline
• Equation of motion for the particle may be written in
the tangential, normal and bi-normal directions.
EM in normal
and tangent
coordinates • Since the particle is constrained to move along the path in
Examples
plane (the case considered in this unit), there is no motion
in the bi-normal direction.

EM in
cylindrical
coordinates

Examples

SFt = mat
SFn = man
SFb = 0

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 EM in normal and tangent coordinates
Outline
- Recall that at = dv/dt represents the time rate of change in
the magnitude of velocity.
EM in normal
and tangent - Ft tangent force causes the increase and slow down of
coordinates speed.
Examples
- Recall that an = v2/r represents the time rate of change in
direction of velocity.
EM in
cylindrical - It is caused by centripedal force Fn
coordinates

Examples

SFt = mat
SFn = man
SFb = 0

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 EM in normal and tangent coordinates
Outline
• Procedure of analysis
EM in normal
and tangent
Free body diagram
coordinates
 Establish the inertial t, n, b coordinate system at the particle
Examples and draw the particle’s FBD
 Normal acceleration an, always acts in the positive n direction
EM in  Tangential acceleration at is assume in the positive t direction
cylindrical
coordinates  Identify the unknowns in the problem
Examples
Equation of motion (kinetics)
 Apply the equations of motion,

Kinematics
 Formulate the tangential and normal components of
acceleration: at =dv/dt or at = v dv/ds and an = v2/ρ
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 Examples
Outline
Determine the banking θ for the race track so that the wheels
of the racing cars will not have to depend upon friction to
EM in normal prevent any car from sliding up or down the track. Assume
and tangent
coordinates the car has a negligible size and a mass of m, and travels
around the curve of radius ρ with a speed v.
Examples

Solution:
EM in
cylindrical (1) Free body diagram
coordinates

Examples

No frictional force acting on the car.

NC represents the resultant of the
ground on all four wheels.
Unknown are NC and θ.
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 Examples
Outline
Given: Free body diagram.

EM in normal
Question: θ=? so that no friction force
and tangent
coordinates

Examples Solution:
(2) Equation of motion
EM in Using the n and b axes
cylindrical
coordinates
+
Examples ® å F = ma ;
n n N C sinq = man
+­ å F = 0;
b N C cosq - mg = 0

(3) Kinematics an = v 2 / r
Solving the 3 equations, eliminating NC and m,
v2 æ v 2
ö
tan q = q = tan ç ÷
-1

gr è gr ø 25
 TRC2201 Mechanics
Week 2 Lecture 1 – Kinetics of Particles
Cylindrical Coordinates

Department of Mechanical and Aerospace Engineering

 EM in cylindrical coordinates
Outline
• When all forces acting on a particle are resolved
EM in normal
into cylindrical components,
and tangent
coordinates

Examples

EM in
cylindrical
coordinates
So we have:
Examples

SFr = mar
SFq = maq
SFz = maz

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 EM in cylindrical coordinates
Outline
• Tangent and normal forces
EM in normal – For example, when a particle is moving along path r=f(θ)
and tangent
coordinates
– The normal force N that the path exerted on the particle is
Examples always perpendicular to the tangent of the path.

– Whereas the friction force F always acts along the

EM in tangent.
cylindrical
coordinates

Examples

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 EM in cylindrical coordinates
Outline Mixed usage of cylindrical and
• Tangent and normal forces normal-tangent coordinate.

EM in normal – The directions of force N and F can be specified relative to

and tangent
coordinates
the radial coordinate by using angle ψ
Examples

r
tan 
dr / d
EM in
cylindrical
coordinates

Examples

– The angle ψ can be positive or negative

It is positive if it is measured from the

extended radial line to the tangent in
the counterclockwise sense.

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 Procedure of analysis
Outline
Free body diagram
 Establish r, θ, z inertial coordinate system and draw the
EM in normal
and tangent
particle’s FBD
coordinates  Assume ar, aθ, az act in the positive directions of r, θ, z if they
Examples are unknown
 Identify all the unknowns in the problem

EM in Equation of motion (kinetics)

cylindrical
coordinates  Apply the equations of motion,
Examples
Kinematics

 Determine r and and evaluate acceleration

components

 If acceleration components is negative quantity, it is acting in

the negative coordinate direction
 Use chain rule when taking the time derivatives of r = f(θ)
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 Example-1
Outline
The smooth 0.5-kg double-collar can freely slide on arm AB
and the circular guide rod. If the arm rotates with a constant
EM in normal angular velocity of dθ/dt = 3rad/s, determine the force the
and tangent
coordinates arm exerts on the collar at the instant θ=450. Motion is in the
horizontal plane.
Examples

Solution:
EM in
cylindrical (1) Free body diagram
coordinates

Examples

Four unknowns, ar, aθ, NC and F

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 Example-1
Outline
Given: free-body diagram
Question: NC=? F=? when θ=450
EM in normal
and tangent
coordinates

Examples
Solution:
(2) Equation of motion

EM in
cylindrical
coordinates
sin
Examples

(3) Kinematics
from the path of motion r = 0.8cosθ

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 Example-1
Outline
Given: free-body diagram
Question: NC=? F=? when θ=450
EM in normal
and tangent
coordinates

Examples
Solution:
(3) Kinematics

EM in So we have:
cylindrical
coordinates

Examples

Substituting back into the equation of motion, we solve

N C = 7.20N
F=0
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