AMME2500

MODULE 1 – DYNAMICS
OF POINT-MASS SYSTEMS
Lecture 1.5 Kinetics of Particles (continued), Work
and Energy

Matthew Cleary
School of Aerospace, Mechanical and Mechatronic Engineering,
University of Sydney
 Last Lecture
• Kinetics of Particles:
• Review of F = ma
• Solving problems in rectangular coordinates

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 Today’s Lecture
• Kinetics of particles:
• Solving problems in n-t coordinates
• Numerical methods for solving kinetics problems
• Work and Energy

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 Equations of Motion: n-t Coordinates
Since the equation of motion is a vector
equation, åF = ma,
it may be written in terms of the n & t
coordinates as:

åFtut + åFnun = matut + manun

Here åFt & åFn 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: åFt = mat and åFn = man.

If we also consider forces and motion out of the plane, we can include a
third equation åFz = maz (equivalent to the rectangular z-coordinate)

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 Example 1.5.1: n-t coordinates
• A block is released from rest at the
top of a frictionless slide (A) and
slides onto a conveyor belt at B.
Determine (a) the angular velocity of
the conveyor such that when blocks
arrive at B, they do not slide on the
belt and (b) an expression for the
normal force acting up from the slide
to the block in terms of θ.

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 Numerical Integration of Kinetics Problems
• Consider a system with behaviour specified by:

• Remember Euler method from Lecture 2.

• Define a step size in time (dt), and a discrete sequence of

times t = t0, t0+dt, t0 + 2dt, t0 + 3dt, … we can setup a recursive
method for solving the value of y(t) at these times

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 Numerical Integration of Kinetics Problems
• Apply Euler’s method to F = ma, a = dv/dt, v = ds/dt:

dv 1 X
=a= F v(t = 0) = v0
dt m
1 X
vk+1 = vk + ak dt ak =
m
Fk

ds
=v s(t = 0) = s0
dt
sk+1 = sk + vk dt

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 Example 1.5.2: simple harmonic motion
• Consider a block attached to a spring
lying on a frictionless surface. If the
spring constant K = 25 N/m and mass
of the block is 2 kg, plot the horizontal
position and velocity of the block for 10
seconds of motion if the initial position Equilibrium
of the block is s0 = 0.1 m.
position x = s0

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 Example 1.5.2: simple harmonic motion
W = mg
• Consider a block attached to a spring
lying on a frictionless surface. If the
spring constant K = 25 N/m and mass
of the block is 2 kg, plot the horizontal
position and velocity of the block for 10
F = -Ks
seconds of motion if the initial position
of the block is s0 = 0.1 m.
N x=s

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 Example 1.5.2: simple harmonic motion
W = mg
• Consider a block attached to a spring
lying on a frictionless surface. If the
spring constant K = 25 N/m and mass
of the block is 2 kg, plot the horizontal
position and velocity of the block for 10
F = -Ks
seconds of motion if the initial position
of the block is s0 = 0.1 m.
N x=s

X
Fy = may = 0

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 Example 1.5.2: simple harmonic motion
• Consider a block attached to a spring
lying on a frictionless surface. If the
spring constant K = 25 N/m and mass
of the block is 2 kg, plot the horizontal
position and velocity of the block for 10
F = -Ks
seconds of motion if the initial position
of the block is s0 = 0.1 m. x=s

X
Fx = max Ks = max

1
ax = Ks
m

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 Example 1.5.2: simple harmonic motion
• Consider a block attached to a spring
lying on a frictionless surface. If the
spring constant K = 25 N/m and mass
of the block is 2 kg, plot the horizontal
position and velocity of the block for 10
F = -Ks
seconds of motion if the initial position
of the block is s0 = 0.1 m. x=s

1
ak = Ksk vk+1 = vk + ak dt
m

sk+1 = sk + vk dt

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 Example 1.5.2: simple harmonic motion

• Let’s look at Example 1.5.2 Simple Harmonic Motion.ipynb

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 Example 1.5.3: slide problem revisited
• A block is released from rest at the
top of a slide (A) and slides onto a
conveyor belt at B. The factory
requires an accurate estimate of the
tangential velocity of the block when it
arrives at point B. Consider additional
modelling effects:
a. Friction along an oil lubricated slide surface
b. Aerodynamic drag acting on the block

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 Example 1.5.3: slide problem revisited

a. Friction along an oil lubricated slide surface

b. Aerodynamic drag acting on the block
$
$
#$ F
𝐹 = 𝜇! 𝑁 + 𝜇" − 𝜇! 𝑁𝑒 !"# + 𝑓𝑣
Where vstr, f, μs, μk are constant

“Stribeck Friction”*, which

combines stiction, Coulomb
friction and viscous friction into
a single model: friction is now a
function of normal force and
surface velocity.

*H. Olsson, K.J. Astrom, C. Canudas de Wit, M. Gafvert, P. Lischinsky, "Friction Models and Friction
Compensation," European Journal of Control, Vol. 4, No. 3, pp. 176-195, 1998.

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 Example 1.5.3: slide problem revisited

a. Friction along an oil lubricated slide surface

b. Aerodynamic drag acting on the block D
1
D = ⇢CD Av 2
2
Where ρ, CD and A are constant

Aerodynamic drag is linearly

proportional to air density, drag
coefficient and surface area,
and proportional to the square
of velocity.

Batchelor, G.K. (1967). An Introduction to Fluid Dynamics. Cambridge University Press. ISBN 0-521-66396-2.

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 Example 1.5.3: slide problem revisited

• Let’s look at Example 1.5.3 Slide.ipynb

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 break

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 Work and Energy
• Two of the problems we examined today involved the integration of
forces as a function of displacement:
• Spring forces vary as a function of compression
• Component of force acting along a slide depends on slide shape, which varies as a
function of displacement

• Integration with respect to displacement leads to the equations of

work and energy

• Using principles of work and energy:

• simplifies the analysis of many problems
• allows us just to examine the start and end points of motion, while not needing to
evaluate accelerations resulting from unbalanced forces as a function of time

• Integration with respect to time leads to the equations of impulse and

momentum (see next week’s lecture)

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 Work of a Force
• Consider a force F acting on a particle as it travels along a path
between points 1 and 2.
• A force does work on a particle when the particle undergoes a
displacement along the line of action of the force.

• The total work done by F is:

r2
U1-2 = ∫ F • dr
r1

• The magnitude of the dot product

expression F • dr is equal to the s2 s2
component of the force projected
onto the path at each path U1-2 = ∫ Fcosθds = ∫ Ftds
segment: s1 s1

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 Work of a Force
• Work is a scalar and has units N.m, or Joules (J) (the work done by
a force of 1N acting through 1m)

• Work is positive if the force is acting in the direction of movement

• Forces in the direction of motion do work. They are called active

forces

• Forces acting perpendicular to the direction of motion produce no

work. Such constraints are called reactive forces

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 Work by a Constant Force
• If both F and q are constant (F = Fc), work further simplifies to

U1-2 = Fc cos q (s2 - s1)

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 Work by Friction
• Friction can be modeled as the work done by a constant
force, if the friction is constant (e.g. constant normal force)

• However, in general the friction force is not constant, e.g.

the circular slide example we have been looking at in this
lecture

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 Work by a Weight
The work done by the gravitational force acting on a particle (or
weight of an object) can be calculated by using
Z 2
U1 2 = F · dr
1
Z 2
U1 2 = ( mgj) · (dxi + dyj)
1

Z y2
U1 2 = mg dy = mg(y2 y1 )
y1

The work of a weight is the product of the magnitude of the

particle’s weight and its vertical displacement.

If motion is upward, the work is negative since the weight force

always acts downward.
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 Work by an Elastic Force

When stretched, a linear elastic

spring develops a force of
magnitude Fs = ks, via Hooke’s law
x1 x2

The work of the spring force moving from position s1 to position s2 is:
Z 2
U1 2 = F · dr
1
Z 2
1
U1 2 = ( kxi) · dxi U1 2 = k(x21 x22 )
1
Z 2
x2
U1 2 = kxdx
x1

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 Work and Kinetic Energy
• If we consider F to be the resultant force vector of all forces acting on
a particle, the total work done by F = ma is:
Z 2
U1 2 = F · dr
1
Z 2
U1 2 = ma · dr a · dr = at ds = vdv
1
Z v2
1
U1 2 = mvdv = m(v22 v12 )
v1 2

1 1
U1 2 = mv22 mv12 = T2 T1
2 2
Where T2 and T1 are the kinetic energies (units = Joule) of the particle
at path positions 1 and 2

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 Work and Kinetic Energy
• The relationship between the work done on a particle and
its change in kinetic energy can be used to determine the
velocity of a particle when constrained to a path,
independent of the path itself:

X
T2 = U1 2 + T1

• Since constraining forces always act perpendicular to the

path, they do no work (no component of force in the
direction of motion):
• Problems may be greatly simplified when examining particles under
certain types of force

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 Example 1.5.4: Work and Kinetic Energy
• A block is released from rest at the
top of a frictionless slide (A) and
slides onto a conveyor belt at B.
Determine the velocity of the block at
the bottom of the slide at B.

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 Example 1.5.5: Work and Kinetic Energy
• Calculate the velocity of the 50kg
crate when it reaches the bottom of
the flat slide at B if the initial velocity
is 4 m/s down the slide at A and the
coefficient of kinetic friction is μk = 0.3

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 Conservative Forces
• A force F is said to be conservative if the work done is independent
of the path followed by the force acting on a particle as it moves
from A to B.

• This also means that the work done by the force F in a closed path
(i.e., from A to B and then back to A) is zero.
z
• Work is conserved when: F B

I
F · dr = 0 A
y

• The work done by a conservative force

depends only on the positions of the
particle, and is independent of its x
velocity or acceleration.

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 Conservative Forces
• Generally, forces whose magnitude and direction are only a
function of position, and are independent of other variables that
change along the path are conservative

• Forces due to gravity (even when accounting for changes in

the magnitude of gravitational acceleration) and elastic
elements (such as springs) are conservative forces

• In general friction and aerodynamic/hydrodynamic drag are not

conservative forces, as their work is dependent on the path
taken

• Drag is a function of particle velocity, hence non-conservative

due to force magnitude changes and direction dependent on
velocity, not position

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 Potential Energy
Potential energy (V) is a measure of the amount of work a
conservative force will do when a body changes position.

Gravitational Potential Energy: is the weight force (W = mg)

multiplied by its elevation from a datum. The datum can be defined at
any convenient location.

Vg = mg y

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 Potential Energy
Elastic Potential Energy: is the force provided by a spring multiplied
by its distance from the uncompressed position.

1 k s2
V =
e
2

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 Conservation of Energy
• When a particle is acted upon by a system of conservative forces,
the work done by these forces is conserved and the sum of kinetic
energy and potential energy remains constant.

• As the particle moves, kinetic energy is converted to potential

energy and vice versa. This principle is called the principle of
conservation of energy and is expressed as

T
1
+ V1 = T 2 + V 2 = constant

• T1 and T2 are the kinetic energies at states 1 and 2

• V1 and V2 are the potential energies at states 1 and 2

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 Conservation of Energy
• If the system is additionally subjected to other forces that are
not conservative, then the change in the sum of potential and
kinetic energies from state 1 to state 2 is equal to the work
done by these non-conservative forces:

T
1
+ V1 + U'1-2 = T2 +V 2

• U'1-2 is the work done by the non-conservative forces.

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 Example 1.5.6: Potential Energy
• A block is released from rest at the
top of a frictionless slide (A) and
slides onto a conveyor belt at B.
Determine the velocity of the block at
the bottom of the slide at B:

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 Next Week
• Kinetics of particles:
• Power and Efficiency
• Impulse and Momentum
• Impact
• Kinetics and Relative Motion

• Suggested Reading
• Mariam, Kraige and Bolton: Section 3/8, 3/9, 3/10, 3/12, 3/14, 4/1

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