DYNAMICS 265

Newton’s 2nd Law FBD Analysis Course Notes

Introduction

Machine analysis requires an understanding of the relationships between various different parameters related
to the path of an object, like displacement, velocity and acceleration for both translational and rotational
motion. But in order to understand why an object is moving the way it is, or changing its state of motion in a
particular way, an analysis of forces, and moments of force (torques) must be performed. Introductory motion
analysis (and the science of dynamics) is based on three laws of motion, first proposed by Isaac Newton in
Mathematical Principles of Natural Philosophy, first published in 1687.

Force

A force is a push or pull exerted on an object, which if unopposed can change the state of motion of the
object.
Symbol: F, F
Units: N (newton) 1 N  1 kg  m/s2

Force is a vector quantity, possessing magnitude, units and direction. Whenever direction is required, use
proper vector notation.
e.g.
F1  325 N 32.4
F2  175 N 
F3  (5.36 kN, 173)
F4  25.7 kN N17.5W
When talking about force “direction” it is convenient to break this idea into three separate but important
concepts:

1. Line-of-Action = the line along which the force acts, extended infinitely in both directions.
2. Sense = which of the two possible ways the force vector points along the line-of-action.
3. Point of Application = the particular location on the object where the force acts.

Mass

Mass is the amount of matter contained in an object.

Symbol: m
Units: kg

Mass is a scalar quantity, possessing magnitude and units only. Mass is a property of an object that can
affect its motion. It is this observation that helps to define translational inertia (an object’s resistance to a
change in translational motion).
Gravitational Force

Any two objects possessing mass will attract each other, and exert a force on each other equivalent to
Newton’s Gravitational Law:
GMm
F
r2
where
F  gravitational force magnitude (N)
M , m  masses of the two objects (kg)
r  separation between the centres of mass of the objects (m)
G  6.67 1011 N  m 2 /kg 2 (Gravitational Constant)

Weight

Weight is the force exerted on an object due to gravity.

Symbol: w
Units: N

Weight is the product of an object’s mass (in kg) and local acceleration due to gravity g (in m/s2). The
acceleration due to gravity is defined from Newton’s Gravitational Law:
GMm
F
r2
Near the surface of earth, if we consider M to refer to the Earth, then:

M  5.972 1024 kg (mass of Earth)

r  6371 km (radius of Earth)
G  6.67 1011 N  m 2 /kg 2 (Gravitational Constant)
All three values are approximately constant near the surface of Earth, so:

F
 6.67 10 11
N  m 2 /kg 2  5.972 1024 kg 
m
 6 371 000 m 
2

F  (9.81 m/s 2 )  m

The acceleration due to gravity g (the acceleration possessed by objects in free-fall ignoring air resistance,
near the surface of Earth), is a measure of gravitational field strength, and is only true near the surface of
Earth.
g  9.81 m/s2 
This acceleration points toward the centre of Earth (indicated downward for simplicity here).

So weight, the gravitational force exerted on an object can be simplified to

w  mg
Newton’s First Law of Motion

An object at rest tends to remain at rest, and an object in motion tends to remain in motion, along a straight
line, at a constant speed, unless acted upon by an unbalanced, external, force.

This law posits that objects will remain doing what they are already doing, in uniform motion, unless a non-
zero net force is exerted to change the state of motion. This applies equally to all types of motion
(translational, rotational, and vibrational). So an object rotating about its centroid will continue to do so until
a force is exerted that will slow or otherwise change that rotation.

Newton deduced that the natural state of motion for an object was to continue doing what it already was
doing, meaning that the object resisted any change to its state of motion. Newton thought that there was
some property of matter that caused it to resist acceleration, though he did not define what that property was.
This was a significant departure from the commonly held perception that the natural state of motion for all
objects was at rest, which was indicated from the fact that when friction is present, it does tend to oppose any
relative motion between two materials, slowing an object in motion to an eventual state of rest. But Newton,
and Galileo before him, understood that friction is just another external force acting on the object, and that if
friction was minimized, a moving object (in the absence of other unbalanced forces) would continue moving
indefinitely. Scientists after Newton used his 1st Law of Motion to describe the behaviour of objects as trying
to stay “inert” in terms of changes to its motion, and hence the term “inertia” was developed.

Inertia
Inertia is a measurement of an object’s resistance to a change in its state of motion. This refers to a change in
any aspect of its motion state (changes in speed, changes in direction, and changes from a state of rest).
Inertia is a concept that is important for determining the overall resulting motion of an object if it experiences
an unbalanced external net force.

Translational Inertia
Translational inertia, or sometimes linear inertia, is a measurement of an object’s resistance to a change in its
state of translational motion specifically. It is a property of the object. An object with high translational
inertia will be difficult to change from its current state of motion, and an object with low translational inertia
will be easier to change from its current state of motion. As will be stated below, translational inertia is
measured by mass m (in kg).

Symbol: m
Units: kg
Newton’s Second Law of Motion (for Translation)

Newton experimented with applying forces to objects, and determined the resulting linear/translational
acceleration experienced by an object was related:
 Directly to the net force applied to the object
 Inversely to the object’s translational inertia

net force
acceleration
linear inertia

Using standard symbols for these physical quantities, and defining linear inertia to be the object’s mass m (in
kg) which forms the proportionality constant in the equation, this helps define the units:

F
a
m

The acceleration of an object acted upon by an unbalanced force is directly proportional to the unbalanced
force and inversely proportional to the mass of the object. As a vector equation:
F  ma
Or in component form for two-dimensional plane motion:
Fx  max
Fy  ma y

The net force vector always points in the same direction as the
resulting acceleration vector.

In this case, if the vector sum of all of the forces applied on an object is non-zero it will result in an
acceleration of the object in the same direction. For a given net force, a high acceleration might be measured
(if inertia was low), or a low acceleration measured (if inertia was high).

This definition of inertia also defines the scale of force, and so the units of force were subsequently named
after Newton (newtons, 1 N = 1 kgm/s2).
Newton’s Third Law of Motion

For every action there is an equal and opposite reaction.

This statement always refers to forces that are exerted on a pair of objects. If object A exerts a force on
object B, then object B must exert an equal force, in the opposite direction, on object A.

FAB   FBA
where FAB  force by object A onto object B
FAB  force by object B onto object A

Newton’s Third Law does not apply to every pair of forces that are equal,
and never refers to a pair of forces that are exerted on a single object. It
always refers to identical magnitude loads mutually exerted by a single pair
of objects on each other.

Newton’s Third Law is the explanation of many action-reaction pairs. For example, when a standard
chemical fuel rocket blasts off, the combustion of the fuel causes rapid expansion in the exhaust gases. The
gases cannot expand through the walls of the rocket, and so are directed downward through an opening or
nozzle. The exhaust gases are forced downward by the walls of the rocket. This is the action. The reaction
explains why the rocket is propelled upward. There must be an equal and opposite force upward exerted by
the gases on the rocket (this is called thrust). The force exerted on gas molecules with low inertia (mass)
causes the molecules to have very high acceleration. The same reaction force upward on the rocket which
possesses a high inertia (mass) causes a much lower acceleration. Action/reaction pairs, since they are
exerted on different objects, can have very different effects.

 FGR

FRG  force by the Rocket on the Gas

FGR  force by the Gas on the Rocket

 FRG

Figure 4.1 Newton’s 3rd Law.

Friction
Friction is a force that is exerted on an object that opposes relative motion between a pair of surfaces.
Friction is always exerted parallel to the interface (the boundary between the two surfaces).

For example, if a wooden block is pulled to the right by an external force over a level surface of granite, and
the block slides to the right, friction will be exerted by the granite surface on the wooden block to the left.
There is an action-reaction pair in that the wooden block, by its action of moving to the right will try to drag
the marble surface to the right via friction.

aB
F f (GW ) Fapplied

Ff (WG )
where Ff (GW )  frictional force by the Granite on the Wood
Ff (WG )  frictional force by the Wood on the Granite
Fig 4.2 Frictional Force opposes relative motion

Friction between dry surfaces comes in two types:

1. Static Friction
This is the frictional force exerted between a pair of surfaces, opposing impending motion,
when the surfaces still remain at rest relative to each other.

2. Kinetic Friction
This is the frictional force exerted between a pair of surfaces, opposing relative motion
between the surfaces, when the surfaces are moving relative to each other.

Static friction reacts to applied forces, and can have any value between 0 and a maximum value.
Ffs (max)  s FN
where

Ffs (max)  maximum force of static friction (N)

s  coefficient of static friction (no units)
FN  normal force exerted perpendicular to the interface by each surface on the other (N)

Kinetic friction has a constant value for any pair of surfaces

Ffk  k FN
where
Ffk  maximum force of kinetic friction (N)
k  coefficient of kinetic friction (no units)
FN  normal force exerted perpendicular to the interface by each surface on the other (N)
Coefficient of friction
The coefficient of friction is a unitless number which indicates the relative roughness/stickiness or
smoothness of a pair of surfaces as they interact with each other. The higher the coefficient the higher the
force of friction can result. For most normal materials, the coefficient of static friction is greater than or
equal to the coefficient of kinetic friction for any pair of surfaces, i.e. s  k

Pair of Surfaces μs μk
Wood on Wood 0.4 0.2
Wood (waxed) on snow 0.05 0.03
Rubber on Concrete (dry) 1.0 0.8
Rubber on Concrete (wet) 0.7 0.5
Steel on Steel (dry) 0.7 0.6
Steel on Steel (lubricated) 0.15 0.07
Steel on Aluminum 0.61 0.47
Steel on Copper 0.53 0.36
Aluminum on Aluminum 1.90 1.40
Teflon on Teflon 0.04 0.04
Teflon on Steel 0.04 0.04
Human Synovial Fluid on Cartilage 0.01 0.003
Glass on Glass 0.94 0.35
Ice on Ice 0.1 0.03

Fig 4.3 Approximate Coefficients of Friction

Any applied force exerted on an object that resides on a surface where friction can be exerted will initially be
balanced by static friction, which will react to counter the applied force up to the maximum possible value
for static friction Ffs (max)  s FN . After the applied force has exceeded the maximum allowable static
friction force, the object begins to accelerate, and the friction force typically drops to become a constant
value Ffk  k FN .

F friction

Ffs (max)  s FN
Kinetic Friction
Ffk  k FN

Static
Friction
Fapplied

Fig 4.4 Static and Kinetic Friction

Free-Body Diagrams (FBD’s)
A free-body diagram (often abbreviated FBD) is an analysis tool, in which a sketch is drawn of an object,
free of all external connections (removed from any links to the outside world), and all external connections
are represented as force vector arrows on the diagram. Internal forces do not appear on a free-body diagram.
A good free body diagram has
 a title
 the object drawn in its original orientation (not typically rotated for convenience)
 all arrows have direction clearly labelled
 all force vectors have an algebraic symbol or numerical values to represent their magnitudes; the
algebraic symbols will agree with the symbols used in the equations of analysis.
 all relevant distances between forces’ lines-of-action are labelled.

Example 1 – Drawing a Simple FBD

A steel block is being pulled to the right over a level surface of copper by an applied force F exerted up to the
right at angle θ above horizontal. The block accelerates to the right. Draw the FBD of the block.

F Fsinθ
a
θ Fcosθ
Ffk
mg FN

Fig 4.5 Block pulled right by applied force Fig 4.6 FBD Block

In this case, since there is no resulting rotation of the block, the FBD can be drawn as though it is a coplanar
concurrent force system (all force lines-of-action pass through a single point). The kinetic friction force must
point left, in opposition of the block’s steel surface sliding to the right over the copper surface.

Example 2 – Drawing FBD’s Using Newton’s Third Law

A book (B) is sitting at rest on a level table (T), which is at rest on a level floor (F). An applied force R is
exerted downward on the book. Draw the FBD’s of the book and table.

R R
FBT

mBg FTB mTg FFT

Fig 4.7 Block on Table Fig 4.8 FBD Block Fig 4.9 FBD Table

In this case, the force R is applied downward only on the book’s upper surface, shown in Fig 4.8 FBD Block.
The weight if the book mBg acts at the centroid of the book downward. Holding the book up is the normal
force coming from the table FTB. In Fig 4.9 FBD Table, the only objects in contact with table are the book
(above) and the floor (below). The force exerted by the book downward on the table FBT is the same as the
force by the table on the book FTB. These forces are action-reaction pairs by Newton’s 3rd Law. The weight
of the table and the normal force from the floor on the table also act as shown in the table.
Motion on an Incline

An important type of motion frequently encountered is motion on an incline or slope. Inclined planes allow
one to raise an object vertically with a force much lower than its weight directed up the incline. The multiple
that decreases the required force from the weight is the mechanical advantage of the incline. The
disadvantage of such a system, of course, is that the force is acting over a much greater distance (the
hypotenuse of the incline as opposed to only its rise).

Consider an object of mass m on an incline with an angle of inclination θ, as shown in Figure 4.10.
Neglecting friction, the forces acting on the object are the force of gravity (i.e. the object’s weight mg acting
vertically downward), and the reaction force FN of the plane pushing against the object. The reaction force is
always perpendicular (normal) to the inclined plane, and is called the normal force FN. The free-body
diagram is shown on Figure 4.11.

FN

m
mg

θ
Figure 4.10 Block on a Frictionless Incline Fig 4.11 FBD of Block on Incline

In order to simplify the analysis, it is common practice to rotate the x- and y- axes so that one axis aligns with
any potential motion, which allows the acceleration vector to be resolved into components along one axis
only. For example, one can choose the x-axis to be parallel to the surface of the incline, and the y-axis to be
perpendicular to the surface of the incline. This means that only the weight must be resolved into its x- and
y- components, since the normal force is already aligned to the positive y-axis. The x- component of the
weight is mgsinθ directed downward parallel to the incline and the y- component is mgcosθ, directed
perpendicular into the incline.
 y
x
FN
θ
mgsinθ

θ θ mgcosθ

mg
Fig 4.12 FBD of Block on Incline with Weight Components

Free body diagrams are the analysis tool used with Newton’s second law to solve problems involving forces.
There are always three elements to Newton’s 2nd Law FBD Analysis, and they are treated separately:

F  ma
The object’s resulting
acceleration.

The sum of all external The object’s inertia. For

force vectors is done (in translational motion this
full or component form). is mass.
Example 3: A Block Sliding on a Frictionless Incline

An object with a mass of 2.00 kg slides down a frictionless incline which makes an angle of 35.0° with
respect to the horizontal. Calculate:
(a) the force F that would have to be applied parallel to the incline in order to hold the object at rest.
(b) the force with which the object pushes against the surface of the incline.
(c) with no applied force F present, find the object’s velocity after sliding 7.45 m down the incline from
rest.
(d) the time it takes to slide the 7.45 m.

(a)
For the object to be held at rest, its acceleration
must be zero. The unknown force F appears in
the x-direction:
FN Given:
F
m  2.00 kg
θ a0
mgsinθ F ?
θ θ mgcosθ Analysing FBD Block (Fig 4.13)
 Fx  max
mg sin   ( F )  m(0)
mg mg sin   F
Figure 4.13 FBD of Block on Incline F  (2.00 kg)(9.81 m/s 2 )(sin 35.0)
F  11.25357 N
+y F 11.3 N 35.0
(b)
The normal force appears in the y- direction:
+x Fy  ma y
Since motion is eventually down along the incline, FN  (mg cos )  m(0)
choose these coordinate axes as positive. FN  mg cos
FN  (2.00 kg)(9.81 m/s 2 )(cos35.0)
FN  16.07176 N
FN 16.1 N 65.0

(c)
If the object accelerates down the incline, the
a acceleration vector points down the incline, the x-
component of which will be ax  a .
 Fx  max
mg sin   m(a)
mg sin 
a
m
a  g sin 
a  (9.81 m/s 2 )(sin 35.0)
a  5.62678 m/s 2
Now this is a kinematics problem.
Given:
vi  0
s  7.45 m
a  5.62678 m/s 2
vf  ?
vf 2  vi 2  2as
vf  vi 2  2as
vf  0  2(5.62678 m/s 2 )(7.45 m)
vf  83.83909 m 2 /s 2
vf  9.15637 m/s
vf 9.16 m/s2 35.0

(d)
Given:
vi  0
s  7.45 m
a  5.62678 m/s 2
t ?
s  vit  12 at 2
When initial velocity is zero, this reduces to:

s  12 at 2
t 2  2as
t  2as
t  2(7.45 m) 2
5.62678 m/s
t  2.64805 s 2
t  1.6273 s
t 1.63 s
Example 4: Two Object Frictionless Mechanical System

For the system shown in Fig 4.14, neglecting friction, the mass of the cord, and the mass of the pulley,
calculate:
(a) the acceleration of the block up the incline.
(b) the tension in the connecting cord.

Fig 4.14 Two-Object Frictionless System With Incline

The sliding block travels up the incline, so the Given:

direction of motion is known for both objects. The m1  5.00 kg
coordinate axes are chosen to align with the m2  2.50 kg
motion.   24.0
a?

FN Analysing FBD m2 (Fig 4.16):

T
+y Notice ay  a
m1gsinθ +x Fy  ma y
m2 g  (T )  m2 (a )
θ θ m1gcosθ
a T  m2 g  m2a EQN 1

m1g Analysing FBD m1 (Fig 4.15):

Fig 4.15 FBD Sliding Block m1 ax   a
Notice ay  0
Fx  max
T  (m1 g sin  )  m1 (a)
T  m1g sin   m1a EQN 2
T
There are two equations and two unknowns, so
setting the tensions to be equal from the two
equations:
a +y
T T
m1g sin   m1a  m2 g  m2a
m2g Solving for acceleration:
m1a  m2 a  m2 g  m1 g sin 
Fig 4.16 FBD Hanging Block m2 a (m1  m2 )  m2 g  m1 g sin 
m2 g  m1 g sin 
a
m1  m2
 (2.50 kg)(9.81 m/s 2 )(5.00 kg)(9.81 m/s 2 )sin 24.0
a (2.505.00) kg
4.57457 kgm/s 2
a 7.50 kg
a  0.60994 m/s 2

(a)
a1  0.610 m/s 2 24.0

(b)
Using EQN 1
T  m2 g  m2a
T  (2.50 kg)(9.81 m/s 2 )  (2.50 kg)(0.60994 m/s 2 )
T  23.0 N

Check using EQN 2:

T  m1g sin   m1a
T  (5.00 kg)(9.81 m/s 2 )(sin 24.0)  (5.00 kg)(0.60994 m/s 2 )
T  23.0 N
Example 5: Block on Incline with Friction
Due to the force of gravity, a 15.0 kg wooden crate slides down a steel ramp with an incline of 25.0°.
Compute the acceleration of the crate down the incline. The coefficient of kinetic friction is 0.300.

θ
Fig 4.17 Block on incline With Friction

The sliding block travels down the incline so Given:

choose the coordinate axes to align with the m  15.0 kg
motion. All the acceleration is in the x-direction,   25.0
none is in the y-direction with this choice. k  0.300
a?
The acceleration appears in the x-direction, but so
FN does the unknown acceleration and the unknown
Ffk force of friction. So, starting with the y-direction,
mgsinθ the normal force can be calculated, and from that
the force of friction can be obtained.
mgcosθ +y
θ Analysing FBD Block (Fig 4.18):
+x
a Fy  ma y
mg FN  (mg cos )  m(0)
FN  mg cos
Fig 4.18 FBD Sliding Block but Ffk  k FN
Ffk  k mg cos
Fx  max
mg sin   ( Ffk )  m(a)
mg sin   k mg cos  ma
mg (sin   k cos )  ma
mg (sin   k cos )
a
m
a  g (sin   k cos )

a  (9.81 m/s 2 )(sin 25.0  0.300 cos 25.0)

a  1.47862 m/s 2
a  1.48 m/s2 25.0

Finding a solution algebraically can cancel out

terms that are extraneous or simplify the
expression; this generates general equations of
motion. And, you only need to substitute values
and evaluate one time. Notice the mass of the
block was not relevant to its acceleration on an
incline with friction.
Example 6: Box on an Incline, Static and Kinetic Friction

A 35.0 kg wooden box is resting on a steel incline of 30.0°. For these materials, k  0.300 and
s  0.500 .
(a) What force P applied parallel to the plane is required to just balance the box (i.e. enough to just keep
the box from sliding down the incline)?
(b) What force P applied parallel to the plane is required to keep the box moving up the incline at
constant velocity?
(c) If an upward force of P = 300 N parallel to the plane is applied to the box, what acceleration will the
box acquire after it starts to move?
(d) Using the same conditions as in part (c), how far will the box move up the incline in 3.00 s starting
from rest?
(e) If an upward force of P = 200 N parallel to the incline is applied to the box, what will be the
acceleration?
(f) If an upward force of P = 10.0 N parallel to the incline is applied to the box, what will be the
acceleration?

θ
Fig 4.19 Box on incline With Friction
(a)
If the box is just about to slide down the incline,
static friction must be up the incline as in Fig 4.20.
Since the box is not moving, acceleration is 0.
FN P Since motion is impending, the maximum static
+y friction force is about to be exceeded.
mgsinθ Ffs +x Given:
m  35.0 kg
θ θ mgcosθ   30.0
a s  0.500
a0
mg P?
Analysing FBD Block (Fig 4.20)
Fig 4.20 FBD Block, Static Friction Up Incline Fy  ma y
FN  (mg cos )  m(0)
FN  mg cos
but Ffs (max)  s FN
Ffs (max)  s mg cos
Fx  max
P  Ffs  (mg sin  )  m(0)
P  mg sin   s mg cos
P  mg (sin   s cos )
 P  mg (sin    s cos  )
P  (35.0 kg)(9.81 m/s 2 )(sin 30.0  0.500 cos 30.0 )
P  23.0 N 30.0

FN (b)
P
If the box moves up the incline with constant
+y
Ffk velocity, the acceleration is still 0, but the friction
+x is now kinetic, and is pointing down the incline,
opposing the relative motion, as in Fig 4.21.
mgsinθ mgcosθ
a k  0.300
The same normal force will exist
FN  mg cos 
so F fk   k mg cos 
Fig 4.21 FBD Block, Kinetic Friction Down
Incline Analysing FBD Block (Fig 4.21)
Fx  max
P  ( Ffk )  (mg sin  )  m(0)
P  mg sin   k mg cos
P  mg (sin   k cos )
P  (35.0 kg)(9.81 m/s 2 )(sin 30.0  0.300 cos 30.0 )
P  261 N 30.0
(c)
Given:
m  35.0 kg
  30.0
k  0.300
P  300 N
a?
Since the applied force exceeds 261 N (from part
(b), the box will slide up the incline and
accelerate.

Analysing FBD Block (Fig 4.21)

Fx  max
P  ( Ffk )  (mg sin  )  m(a)
P  k mg cos  mg sin   ma
Pk mg cos mg sin
a m

2 2
300 N  0.300(35.0 kg)(9.81 m/s )(cos 30.0 )  (35.0 kg)(9.81 m/s )(sin 30.0 )
a 35.0 kg
39.12005 kg  m/s2
a
35.0 kg
a  1.11772 m/s2
a  1.12 m/s2 30.0
 (d)
Given:
a  1.11772 m/s 2 (from part c)
vi  0
t  3.00 s
s?
s  vit  12 at 2
s  0  12 (1.11772 m/s 2 )(3.00 s) 2
s  5.03 m 30.0

(e)
This problem can be solved using the information
from the previous parts. The force required to hold
the box in place is 23.0 N. Force required to keep
the box moving with constant velocity up the
incline is 261 N. Therefore, a force of 200 N will
not be sufficient to move the box, and the
acceleration is zero.

(f)
Since a force of 23.0 N is required to hold the box
in place, the 10.0 N applied force causes the box
to be accelerating down the incline. Therefore the
force of kinetic friction on the box must be
directed up the incline to oppose the relative
FN P motion of the surfaces. New coordinate axes are
+y chosen to align with the new acceleration
mgsinθ Ffk
direction.
+x
k  0.300
mgcosθ F  10.0 N
a
The same normal force will exist
FN  mg cos 
so F fk   k mg cos 
Fig 4.22 FBD Block, Kinetic Friction Up
Analysing FBD Block (Fig 4.22)
Incline
Fx  max
mg sin   ( P)  ( Ffk )  m(a)
mg sin   P  k mg cos  ma
mg sin Pk mg cos
a m

2 2
(35.0 kg)(9.81 m/s )(sin 30.0 )  10.0 N  0.300(35.0 kg)(9.81 m/s )(cos 30.0 ) 
a 35.0 kg
72.47005 kg  m/s 2
a
35.0 kg
a  2.07 m/s2 30.0
Example 7: Two Objects, Overcoming Static Friction On Incline

In the diagram below, if m1 = 15.0 kg and μs = 0.650 between the block and the incline surface, compute the
minimum mass m2 that will cause m1 to just start to move up the incline. Neglect the friction of the pulley
and the mass of the cord.

Figure 4.23 Two Objects Connected over Pulley, Incline.

Since the sliding block travels up the incline, the To just overcome static friction on the sliding
direction of motion is known for both objects. The block, a  0 for the system.
coordinate axes are chosen to align with the Given:
motion. m1  15.0 kg
s  0.650
  30.0
FN T a0
+y m2  ?
Ffs Analysing FBD m2 (Fig 4.25):
m1gsinθ +x Fy  ma y
θ θ m1gcosθ m2 g  (T )  m2 (0)
EQN 1 T  m2 g
m1g Analysing FBD m1 (Fig 4.24)
Fy  ma y
Fig 4.24 FBD Sliding Block m1
FN  (m1 g cos )  m1 (0)
FN  m1g cos
but Ffs (max)  s FN
T Ffs (max)  s m1 g cos
Fx  max
+y
T  (m1 g sin  )  ( F fs )  m1 (0)
EQN 2 T  m1g sin   s m1g cos
m2g Setting the tensions to be equal:
T T
m1g sin   s m1g cos  m2 g
Fig 4.25 FBD Hanging Block m2
Solving for m2:
m1 g (sin    s cos )
 m2
g
m2  m1 (sin   s cos )
m2  (15.0 kg)( sin 30.0  0.650 cos 30.0)
m2  15.9 kg
Practice Exercises

1. What would be the acceleration of the system in the diagram below if:
(a) m1 = 3.00 kg and m2 = 6.00 kg
(b) m1 = 5.00 kg and m2 = 6.00 kg
Neglect friction.

2. Using the diagram in the previous question, what mass must m1 be if it is to slide down the
frictionless plane, when m2 = 4.00 kg?

3. An object having a mass of 5.00 kg slides down a frictionless incline which makes an angle of 21.0°
with respect to the horizontal. Calculate:
(a) The acceleration of the object down the incline.
(b) The time taken to slide 3.50 m down the incline if it starts from rest.
(c) The velocity at the end of the 3.50 m.
(d) Compare this with the velocity gained by an object that free-falls through the same vertical
displacement.
(e) What force applied parallel to the incline must be applied to just balance the mass?
(f) What force is required to keep the mass moving up the incline at a constant velocity?
(g) If an upward force of 25.0 N parallel to the plane is applied to the mass, what acceleration will the
mass acquire after it starts to move?
(h) Applying the 25.0 N force up the incline, how far will the mass move in 2.00 s, starting from rest?
(i) If an upward force of 17.6 N parallel to the plane is applied, what will occur?
(j) If an upward force of 14.0 N parallel to the incline is applied to the 5.00 kg mass, what will occur?
(k) Applying the 14.0 N force up the incline, how far will the mass move in 2.75 s, starting from rest?

4. One way to measure the coefficient of friction is as follows. A box sits on a variable-angle incline.
It is found that the box will start to move when the angle is increased to 50.0° or larger. Once the
box is moving, it will continue to move if the angle of the incline is larger than 40.0°. From this
data, find that static and kinetic coefficients of friction.

5. A block weighing 44.0 N sits on an adjustable inclined plane. If the coefficient of static friction
between the block and the plane is 0.650, above what angle of incline will the block start to move
down the plane?
 6. The system shown below consists of 10.0 kg mass acted on by the force of gravity, a frictionless
pulley and cord, and a 4.00 kg hardwood block on a hardwood ramp (μk = 0.250) inclined upward at
an angle of 35.0°. What is the acceleration of the system?

7. In the diagram below, the masses are m1 = 10.0 kg and m2 = 3.00 kg. The coefficient of friction for
each block is 0.200. Find the acceleration of the blocks and the tension in the connecting cord.

Practice Exercises Answers

1. a. a = 4.90 m/s2 i. the object will remain at rest, or at a

b. a = 3.12 m/s2 constant velocity if it was already
moving.
2. slightly greater than 8.00 kg j. a  0.716 m/s2 down the incline
k. s  2.71 m down the incline
3. a. a  3.52 m/s2 down the incline
b. t = 1.41 s 4. μs = 1.19, μk = 0.839
c. v  4.96 m/s down the incline
d. v  4.96 m/s down the incline 5. 33.0°
(the same!)
e. F  17.6 N up the incline 6. a  4.83 m/s2 up the incline
f. F  17.6 N up the incline 7. a  0.664 m/s2 (m1 moving down the
g. a  1.48 m/s2 up the incline incline), T = 25.4 N
h. s  2.97 m up the incline
FBD Analysis of Rotational Motion

An analysis of rotational motion requires similar concepts to the translational case.

Moment of Force (Torque) (M)

Moment of force (torque) is defined as force multiplied by the perpendicular distance to an axis of rotation
measured from the line of action of the force. A non-zero net moment tends to produce rotation.
Symbol: M, M
Units: Nm

M  F  d

F
d
·

Figure 4.26 Definition of Moment of Force (Torque)

The force applied on a rotating wheel at a perpendicular distance from the axis of rotation, will tend to
produce rotation about that axis.

Moment is a vector quantity, in plane motion it would be denoted by clockwise or counterclockwise rotation.

Rotational Inertia (aka Moment of Inertia)

Rotational inertia, or moment of inertia, is a measurement of an object’s resistance to a change in its state of
rotational motion specifically. It is a property that an object possesses specifically in relation to a
particular axis of rotation. An object with high rotational inertia will be difficult to change from its current
state of rotation, and an object with low rotational inertia will be easier to change from its current state of
rotation.

Symbol I
Units kg  m2

Do not confuse this with moment of force (torque), as they are separate concepts. Moment of inertia refers
to a measurement of the difficulty to start rotating an object, or to alter the rotational motion of an object that
is already rotating. It makes sense that moment of inertia should depend on mass, m, since the more material
contained within the object, the more difficult it would be to move this material from its current state of
motion (no matter what that is). However, the distribution of the mass in the object relative to the axis of
rotation actually has a more significant effect than the mass itself.
Consider a uniform disk rotating about is centroid C from rest to some final counter-clockwise angular
velocity. Now consider two points of equal mass m, at A and B, where A is close to the centre of the disk,
and B is at the edge of the disk.

vB

vA
sB
sA
θ
  
C Am B m

Figure 4.27 Two points on a rotating disk

When the disk rotates from rest, both mass points are accelerated from rest, and both travel through the same
angular displacement θ. But, point B, on the edge of the disk will travel a much greater curvilinear distance
around the edge of the disk than will point A, as is illustrated by sB and sA as shown. Consequently, point B
will be moving at a higher linear velocity vB than is point A, v A , during the rotation. Since the same amount
of time elapses between the initial and final positions for each point, point B requires a higher linear
tangential acceleration than point A for the same rotation. Therefore, according to Newton’s 2 nd Law for
linear motion, point B will be more difficult to move than will point A, since it requires a higher net force for
its motion than point A. Consequently, the distance from the axis or rotation for a single mass point is
critical for determining the contribution to the overall difficulty in rotation.

This is why flywheels are designed the way they are. A flywheel in a machine generally is constructed so
that most of the mass of the wheel is at the edges. This makes it very difficult to begin rotating from rest, but
the advantage is that they are also very difficult to slow down or stop rotating. Energy in a machine can be
stored in rotational kinetic energy of the flywheel and energy may be borrowed from this when needed by the
machine. A flywheel in a car will smooth the power output of the car between impulses given by the
cylinders, and a flywheel in a piece of farm equipment ensures smooth rotation for all of the pieces of the
machine that are connected.

Figure 4.28 Example of a flywheel.

Most of the mass is concentrated at the edge of the wheel, making it difficult to stop rotating.
For a single point of mass m, at a distance d from an axis of rotation P, the moment of inertia about axis P,
called IP is defined as:
IP  m  d 2
The units of I can be derived by substituting the units for mass and distance respectively.
I   kg  m 2

Newton’s Second Law of Motion (for Rotation)

The observed angular acceleration α of an object is related:

 Directly to the net moment (or torque) applied to the object
 Inversely to the rotational inertia of the object.

That is to say that if the net moment of force (torque) on the object increased, a corresponding increase
would be observed in the angular acceleration, but if the rotational inertia of the object was increased, a
corresponding decrease in the angular acceleration would be measured. This can be summarized into a
single relationship, which is entirely analogous to Newton’s Second Law for Translational Motion.
M P  I P  

 M P  sum of the moments about axis P (N  m)

where I P  moment of inertia about axis P (kg  m 2 )
  angular accleration (rad/s 2 )

For objects exhibiting rotational motion, a measure of the difficulty to change their rotational motion is
rotational inertia (I). The more rotational inertia that an object possesses, the more difficult it is to divert
from its current state of rotational motion.

The units of Newton’s Second Law for Rotation can be confirmed by unit analysis:
[ M P  I P   ]
N  m  (kg  m 2 )  (rad/s 2 )
N  m  kg  m 2 /s 2
N  m  (kg  m/s 2 )  m
Nm  Nm

When analyzing problems that involve rotation, the drawing of the FBD of the physical situation is still
a key skill, but remember to include relevant distances between lines-of-action of forces in order to
calculate the moment vector.
Moment of Inertia of a Uniformly Dense Disk
Using calculus, one can determine the equation for the moment of inertia of a uniform disk of radius R and
mass m. Consider a disk of uniform density of radius R and thickness H, as shown in Figure 4.29.
Coordinate axes are placed for convenience.
The area that is revolved about the x-axis to
y produce this disk is the rectangle bound
yR from y  0 to y  R , and from x  0 to x  H ,
in the first quadrant (shaded). Choosing a
horizontal element (parallel to the x-axis) element
H and revolving it about the x-axis produces a
dy volume cylindrical shell element (Fig 4.30).
dV  2 r  h  dt
dV  2 y  H  dy
y0 dV  2 H  y  dy
x
x0 The mass element can be found by multiplying by
xH
the uniform density ρ.
dm  2 H  y  dy
The moment of inertia of a mass at a distance y
from the x-axis will be the mass multiplied by the
distance squared:
dI x  2 H  y 3  dy
Figure 4.29 A Uniform Disk Integrating to get moment of inertia I x :

I x  2 H  y 3  dy
R

0
R
 y4 
H I x  2 H  
dy  4 0
 H 4 4
y Ix 
2
R  0 
 HR 4
Ix 
2

So the moment of inertia about the axis of the disk

is related to its density and both dimensions. But
Figure 4.30 Cylindrical Shell Integration mass is a commonly measured property of an
Element object (as opposed to knowing its exact density), it
is useful to write this in terms of mass m.

Integrating to get mass m:

m  2 H  y  dy
R

0
R
 y2 
m  2 H  
 2 0
m   H  R 2  02 
m   HR2
Factoring this mass out of the moment of
inertia:
 HR 4
Ix 
2
 R2 
I x   HR 2  
 2 
 R2 
Ix  m 
 2 
I x  12 mR2

Conclusion

The moment of inertia of a uniform disk about

an axis parallel to its axis of symmetry
(through its centroid) is

IC  12 mR2
Example 8: Two Object Mechanical System With Rotation and Linear Motion

A wheel A is a uniform disk of mass 18.0 kg and diameter 72.0 cm is pinned at its centroid C. A block B of
mass 5.00 kg is hanging from a cable at the left edge of the disk (see Fig 4.31). Neglecting friction and the
mass of the cable, calculate:
(a) the acceleration of the hanging block
(b) The angular acceleration of the disk
(c) the tension in the connecting cable

C ·

B
Fig 4.31 Hanging Block Connected to Rotating Disk

Since the wheel is uniform the formula for its

centroid is known:
T I C  12 mAr 2
mA  18.0 kg
r  0.360 m
a +y mB  5.00 kg
a?
 ?
mBg T ?
Analysing FBD B (Fig 4.32):
Fig 4.32 FBD Hanging Block B Notice ay  a
Fy  ma y
The weight of block B will cause a non-zero mB g  (T )  mB (a )
tension in the cable. That non-zero tension will T  mB g  mBa EQN 1
cause a counterclockwise moment (and angular
acceleration) about point C for the wheel A. In
choosing positive directions to align with the
resulting motion, choose down to be positive for
the block, and counterclockwise to be positive for
the wheel.
 Analysing FBD A (Fig 4.33):
Taking moments about axis C eliminates both the
weight vector mAg and the pin reaction Cy from
+y the analysis since both their lines of action pass
Cy through the axis. The angular acceleration of the
wheel will just be its edge acceleration (the same
r +x
· as block B in magnitude) divided by the wheel
a
α mAg radius   .
+ r
M C  I C  

a T
Fig 4.33 FBD Wheel A 
T (r )  12 mAr 2  a
r
Tr  12 mAra
T  12 mAa EQN 2
With two equations and two unknowns, setting the
tensions to be equal from the two equations:
T T
1
2
mAa  mB g  mB a

Solving for acceleration:

Every time an equation is written for acceleration
1
mAa  mB a  mB g
 
2
from Newton’s Second Laws, it can be interpreted a 12 mA  mB  mB g
as net force divided by net inertia. The force
mB g
accelerating the system is the weight of the a
hanging block. In terms of linear inertia, all of
1
2
mA  mB
mass B is accelerated to the total acceleration a,
but for the wheel, only the mass points on the very (5.00 kg)(9.81 m/s 2 )
edge achieve that same high acceleration. Moving a 1
(18.0 kg)5.00 kg
2
inward toward C, the mass points will have lower 49.05 kgm/s 2
and lower linear acceleration until reaching 0 at a 14.0 kg
the centre. On average, the inertia of rotating the a  3.50357 m/s 2
wheel is equivalent to trying to move ½ the mass (a)
of the wheel in a straight line at the wheel’s edge aB  3.50 m/s 2 
in this configuration.
(b)
a

r
3.50357 m/s 2

0.360 m
  9.73 rad/s2
 (c)
Using EQN 1
T  mB g  mBa
T  (5.00 kg)(9.81 m/s 2 )  (5.00 kg)(3.50357 m/s 2 )
T  31.5 N

Check using EQN 2:

T  12 mAa
T  12 (18.0 kg)(3.50357 m/s 2 )
T  31.5 N

Parallel Axis Theorem

An object rotating about its centroid C possesses the minimum possible rotational inertia. If an object is
forced to rotate about any axis P parallel to an axis through its centroid, it will be more difficult to rotate.
Basically, the moment of inertia about the new axis will be the sum of the rotational inertia of the object
about its centroid plus the inertia required to rotate the entire mass as through it was concentrated at its
centroid about the new axis of rotation. Since the moment of inertia to rotate a single mass point about an
axis is known ( I  md 2 ), so the sum will be:

I P  I C  md PC 2

I P is the moment of inertia of the object of mass m about axis P, and d PC is the distance between the
centroid C and the new axis of rotation P.

This will apply directly to the rolling wheel, which remember rolls about a new axis of rotation P, the point
of contact at the bottom of the wheel that is at rest.
2v

1.41v
C . v
1.41v
d PC ω

.
P
rest

Fig 4.34 Rolling Wheel Composite Motion

Example 9: Uniform Disk Rolling Down an Incline

A uniform disk of mass 4.00 kg and diameter 60.0 cm is placed at rest at the top of an incline of angle 25.0°
with respect to horizontal. Assuming it rolls without slipping, find:
(a) the translational acceleration of the disk
(b) the angular acceleration of the disk
(c) the static friction force experienced by the disk
(d) the minimum coefficient of static friction required to allow the wheel to roll without slipping
(e) the final linear velocity of the disk at the bottom of the incline if it is 3.00 m long
(f) the final angular velocity of the disk at the bottom of the incline if it is 3.00 m long

rest
·

ω
·
25.0° v
Fig 4.35 Uniform Disk Rolling on Incline

Since the wheel is uniform the formula for its

centroid is known.
I C  12 mr 2
m  4.00 kg
r C + r  0.300 m
mgcosθ · mgsinθ
  25.0
Ffs +y a?
·P a (a)
+x Analysing FBD Disk (Fig 4.36):
FN Taking moments about axis P eliminates both the
weight component mgcosθ and the normal force
Fig 4.36 FBD Disk FN, but also the friction force Ffs from the analysis
since all their lines-of-action pass through the
The component of the weight vector mgsinθ that is axis. The angular acceleration of the wheel is
parallel to but directed down the incline is linear acceleration of its centre divided by the
responsible for the clockwise moment (and a
angular acceleration) about point P for the wheel. wheel radius   .
In choosing positive directions to align with the r
resulting motion, choose down incline be positive
x-direction (which aligns with the resulting linear M P  I P  
acceleration), and choose perpendicular out of the mg sin   (r )   I C  md pc 2   
a

 
r
incline for the positive y-direction and clockwise
to be positive rotation for the wheel.
mgr sin    1
2
mr 2  mr 2 a


r

mgr sin   32 mr 2  a
r
If there were no friction, the wheel would slide
mgr sin   32 mra
down without rotating, so the friction force must
oppose that relative motion, so therefore it must
act up the incline.
Notice a few things: mgr sin 
- The rotational inertia of the rolling wheel a 3
mr
around its edge on the point of contact P 2
3
is 2 mr 2 , exactly 3x the inertia about its a  23 g sin 
centroid. This is true for all uniform a  23 (9.81 m/s2 )sin 25.0
wheels rolled about their edges.
a  2.76 m/s2 25.0
- The resulting acceleration is independent (b)
of mass and radius, and only depends on a
the angle of the incline. Therefore, all 
r
uniform disks, of any size or density, will 2.76392 m/s 2
all roll down an incline with the same 
0.300 m
acceleration.
  9.21 rad/s2
(c)
To calculate frictional force, analyse FBD Disk
(Fig 4.36) again, but an equation that has friction
force in it is needed. So either sum forces in x-
direction, or take moments about C.
Notice ax  a .
Fx  max
mg sin   ( Ffs )  m(a)
mg sin   ma  Ffs
But, the solution for a is known, so it can be
substituted:

Ffs  mg sin   m 23 g sin  

Ffs  mg sin   23 sin  
Ffs  13 mg sin 
-OR-
M C  I C
a
Ffs  (r )  12 mr 2  
r
2 a 
Ffs  2 mr  2 
1

r 
Ffs  2 ma
1


Ffs  12 m 23 g sin  
- The force of friction on a freely rolling
Ffs  13 mg sin 
uniform disk that does not slip while it
rolls down an incline is 1/3 the weight of
the disk directed down the incline! Ffs  13 (4.00 kg)(9.81 m/s2 )sin 25.0
F fs  5.53 N 25.0
(d)
The maximum static friction that can be produced
between the surfaces is defined by
Ffs (max)  s FN
The actual friction force required must be less
than or equal to this number. So in the situation
 where the coefficient of friction is just small
enough to supply this force, the minimum possible
coefficient of friction is:
Ffs
 s (min) 
FN

Analysing FBD Disk (Fig 4.36) again, solve for

the normal force, which appears in the y-direction.

Notice a y  0 .
Fy  ma y
FN  ( mg cos  )  m(0)
FN  mg cos
mg sin 
1

 s (min)  3
- The minimum possible coefficient of mg cos 
static friction required to keep a uniform
disk freely rotating down an incline is a
s (min)  13 tan 
function of the angle of the incline only! s (min)  13 tan 25.0
s (min)  0.155
(d)
Incline is 3.00 m long:
a  2.76392 m/s 2
vi  0
s  3.00 m
vf  ?
v f 2  vi 2  2as
v f  0 2  2(2.76392 m/s 2 )(3.00 m)
v f  4.07 m/s 25.0
(e)
vf
f 
r
 f  4.07229 m/s
0.300 m

  13.6 rad/s
Example 10 Wheel with Hub, Block on Incline
The wheel/hub A is non-uniform and has mass 20.0 kg, with outside diameter 80.0 cm and hub diameter 64.0
cm, and I C  1.50 kg  m 2 . The block B has mass 12.0 kg, and a coefficient of kinetic friction of 0.300
between the block and the surface, and is connected to the wheel via a cable around a pulley and wrapped
about the hub of the wheel. Assuming the wheel rolls without slipping, and ignoring the mass of the pulley
and cable, find:
(a) The direction the system will move
(b) The acceleration of the sliding block B
(c) The acceleration of the centre of the wheel A
(d) The tension in the cable
(e) The force of static friction exerted on the wheel
(f) The minimum coefficient of static friction that must exist between the incline and the wheel surface
(g) The final velocity of the block after sliding 2.40 m from rest.

·
15.0°
B
66.0°
Figure 4.37 Wheel with Hub, Block on Incline.

a (a)
T Which way does system move? Analysing moments
rhub +y
+x on the rolling wheel:
mAgsinθA C Down incline (ccw rotation):
· rA M  mA g sin  A  rA
mAgcosθA + M  (20 kg)(9.81 m/s 2 )(sin 15)(0.4 m)
P
· FfsA
M  20.3 N  m
FNA Up incline (cw rotation):
Estimate the tension in the cable as the weight of
block B down the incline. The actual tension will
Fig 4.38 FBD Wheel A be somewhat higher or lower than this number, but
it will give an indication of which direction the
system would initially tend to move in from a static
FfkB initial condition.
T FNB
M  mB g sin  B  (rA  rhub )
mBgcosθB M  (12 kg)(9.81 m/s 2 )(sin 66)(0.40 m  0.32 m)
θB M  77.4 N  m
+y
mBgsinθB
Therefore wheel A will roll clockwise, i.e. up the
mBg +x incline. Block B must therefore slide down its
a
incline. The coordinate axes are chosen to align
with the motion.
Fig 4.39 FBD Sliding Block B
 mA  20.0 kg
rA 0.400 m
rhub 0.320 m
IC  1.50 kg  m 2
mB  12.0 kg
 k  0.300
 A  15.0
 B  66.0
a?
(b)
Analysing FBD Wheel A (Fig 4.38):
Taking moments about axis P eliminates the weight
component mAgcosθA, the normal force FNA, and the
friction force FfsA from the analysis since all their
lines of action pass through the axis. The angular
acceleration of the wheel is linear acceleration of
the cable divided by the radius from the cable to the
axis of rotation P.
M P  I P  

T  (rA  rhub )  mA g sin  A  (rA )  I C  md pc 2  r ar  
 
A hub

T (rA  rhub )  mA g sin  ArA  I C  mArA 2 a

rA  rhub
 IC  mArA2 
T (rA  rhub )  rA  rhub
a  mA g sin  ArA
 I m r 
 
2

T a  mA g sin  A rA
C A A

 rA rhub 
2
rA  rhub

Numerically this could be reduced to:

1.520(0.4) 
 
2

T a  20(9.81)sin15 0.40
 0.72 2
0.72

EQN 1 T  9.06636a  28.21128

Analysing FBD m1 (Fig 4.39)
Fy  ma y
FNB  (mB g cos  B )  mB (0)
FNB  mB g cos B
but Ffk  k FN
FfkB  k mB g cos B
Fx  max
mB g sin  B  (T )  ( FfkB )  mB (a)
T  mB g sin B  k mB g cos B  mBa
Numerically this can be reduced to:
T  12(9.81)sin 66  0.3(12)(9.81)cos66 12a
EQN 2 T  93.17826 12a

Setting the tensions to be equal:

T T
9.06636a  28.21128  93.17826  12a
21.06636a  64.96698
a  3.08392 m/s 2
aB  3.08 m/s 2 66.0
(c)
 rA 
aA  a  
 rA  rhub 
 0.400 m 
a A  3.08392 m/s 2  
 0.720 m 
a A  1.71329 m/s 2

aA  1.71 m/s 2 15.0

(d)
From EQN 1:
T  9.06636(3.08392)  28.21128
T  56.171 N
T  56.2 N
Check EQN 2:
T  93.17826 12(3.08392)
T  56.2 N
(e)
To calculate frictional force, analysing FBD Wheel
A (Fig 4.38) again, but an equation that has friction
force in it is needed. So either sum forces in x-
direction, or take moments about C.
Notice ax  aA .
Fx  max
T  (mA g sin  A )  ( FfsA )  mA (aA )
FfsA  mA g sin  A  T  mAaA
FfsA  (20)(9.81) sin 15  56.171  20(1.71329)
FfsA  28.875 N
FfsA  28.9 N 15.0
-OR-
M C  I C
 
T  rhub  Ffs  rA  I C  r 
a
r


 A hub 
 
Ffs  rA  T  rhub  I C  r a 

 A  rhub 
   
Ffs  T   rhub
r 
I  a 
C  r  r r  
 A   A A hub 
 
FfsA  56.171 0.32 
  1.5 
3.08392 

0.40   0.4 0.72  
FfsA  28.875 N
FfsA  28.9 N 15.0
(f)
The maximum static friction that can be produced
between the surfaces is defined by
Ffs (max)  s FN
The actual friction force required must be less than
or equal to this number. So in the situation
where the coefficient of friction is just large enough
to supply this force, the minimum possible
coefficient of friction is:
Ffs
 s (min) 
FN
Analysing FBD Wheel A (Fig 4.38) again, solve for
the normal force, which appears in the y-direction.
Notice a y  0 .
Fy  ma y
FNA  (mA g cos  A )  m(0)
FNA  mA g cos A
s (min)  20.0 kg(9.81
28.875 N
m/s )(cos15.0 )
2

s (min)  0.152
(g)
Incline is 2.40 m long:
a  3.08392 m/s 2
vi  0
s  2.40 m
vf  ?
v f 2  vi 2  2as
v f  0 2  2(3.08392 m/s 2 )(2.40 m)
v fB  3.85 m/s 66.0
Example 11 Wheel with Hub, Compound Pulley, Block on Incline
The wheel/hub W is non-uniform and has mass 18.0 kg, with outside diameter 64.0 cm and hub diameter
36.0 cm, and I C  0.800 kg  m 2 . The block B has mass 19.5 kg, and a coefficient of kinetic friction of
0.250 between the block and the surface, and is connected to the wheel via a cable around a compound pulley
system and wrapped about the edge of the wheel. Assuming the wheel rolls without slipping on its hub, and
ignoring the mass of the pulley and cable, find:
(a) The direction the system will move
(b) The acceleration of the sliding block B
(c) The acceleration of the centre of the wheel W
(d) The tension in the cable connected to the wheel
(e) The force of static friction exerted on the wheel
(f) The time it takes for the sliding block to reach a velocity of 1.50 m/s if it started from rest.

12 3 ·
4
B 5

Figure 4.40 Wheel with Hub, Block on Incline.

(a)
2a T Which way does system move? Analysing
+y moments on the rolling wheel:
+x Down incline (cw rotation):
C rW
M  53 mW g  rhub
3
· mg 5 W

M  53 (18.0 kg)(9.81 m/s 2 )(0.18 m)

P·
FfsW m g 4
r 5 W
M  19.1 N  m
hub
+ FNW Up incline (ccw rotation):
Estimate the tension in the cable connected to
Fig 4.41 FBD Wheel A block as the weight of block B down the incline.
Due to the compound pulley system, half that
tension will be the tension in the cable connected
to the wheel.

FNB
2T
FfkB

M  12 12
13 
mB g  (rW  rhub )
5
M  13 (19.5 kg)(9.81 m/s 2 )(0.32 m  0.18 m)
6

13
mB g M  44.1 N  m
12 +y Therefore wheel W will roll counterclockwise,
13
mB g i.e. up the incline. Block B must therefore slide
down its incline. The coordinate axes are chosen
a +x to align with the motion. If block B slides down
the incline with acceleration a, the cable
connected to the wheel at the edge of the wheel
Fig 4.42 FBD Sliding Block B
must move with acceleration 2a due to the
pulley system.
 mW  18.0 kg
rW  0.320 m
rhub 0.180 m
IC  0.800 kg  m 2
mB  19.5 kg
k  0.250
a?
(b)
Analysing FBD Wheel A (Fig 4.41):
Taking moments about axis P eliminates the
weight component 54 mW g , the normal force FNW,
and the friction force FfsW from the analysis since
all their lines of action pass through the axis. The
angular acceleration of the wheel is linear
acceleration of the cable (2a) divided by the radius
from the cable to the axis of rotation P (rW + rhub in
this case).
M P  I P  

T  (rW  rhub )  5 mW g (rhub )  I C  md pc 2  r 2ar
3
 
 
W hub

T (rW  rhub )  mW grhub

3
5
 I C  mW rhub 2 2a
rW  rhub

2 IC  mW rhub 2 
T (rW  rhub )  rW  rhub
a  53 mW grhub

T

 rW rhub 

2 I C  mW rhub 2
a  53 mA g
2  rhub
rW  rhub 
Numerically this could be reduced to:

2 0.818(0.18)2 
T a  53 (18)(9.81)  0.18 

 0.52 0.5 

EQN 1 T  11.0656a  38.14128

Analysing FBD Block B (Fig 4.42)

Fy  ma y
FNB  ( mB g )  mB (0)
5
13
FNB  135 mB g
but Ffk  k FN
FfkB  k 135 mB g
Fx  max
12
13
mB g  (2T )  ( FfkB )  mB (a)
2T  1213
mB g  k 135 mB g  mB a
T  136 mB g  k 5
26
mB g  12 mBa
Numerically this can be reduced to:
T  136 (19.5)(9.81)  0.25 265 (19.5)(9.81)  12 (19.5a)
EQN 2 T  79.093125  9.75a
Setting the tensions to be equal:
T T
11.0656a  38.14128  79.093125  9.75a
20.8156a  40.951845
a  1.96736 m/s 2
aB  1.97 m/s 2 |12
5
(c)
The centre of the wheel is closer to the axis of
rotation than the edge of the wheel where the
cable acceleration 2a applies:
 r 
aW  2a  hub 
 rW  rhub 
 0.180 m 
aW  2(1.96736) m/s 2  
 0.500 m 
aW  1.41650 m/s 2

aW  1.42 m/s2 3 |
4
(d)
From EQN 1:
T  11.0656(1.96736)  38.14128
T  59.911 N
T  59.9 N
Check EQN 2:
T  79.093125  9.75(1.96736)
T  59.9 N
(e)
To calculate frictional force, analyse FBD Wheel
A (Fig 4.41) again, an equation that has friction
force in it is needed. So either sum forces in x-
direction, or take moments about C.
Notice ax  aW .
Fx  max
T  ( mW g )  ( FfsW )  mW (aW )
3
5
FfsW  53 mW g  T  mW aW
FfsW  53 (18)(9.81)  59.911  18(1.41650)
FfsW  71.534 N
FfsW  71.5 N 3|
4
-OR-
M C  I C
 
T  (rW )  Ffs  rhub  I C  r 2a 

 W  rhub 
 
Ffs  rhub  T  rW  2 I C  r 
a
r


 W hub 
   
Ffs  T   rrW   2 I  a 
C  r  r r  
 hub   hub W hub 
  
FfsW  59.911 0.32 
  2(0.8) 
1.96736 

0.18   0.18 0.50  
FfsW  71.534 N
FfsW  71.5 N 3|
4

(f)
a  1.96736 m/s 2
vi  0
v f  1.50 m
t ?
v f  vi  at
v v
t  fa i
1.50 m/s 0
t  1.96736 m/s 2
t  0.762 s