MMB222

(Dynamics)
MMB241
(Dynamics of Particles)

Kinetics of Particles
Kinetics - study of relations between unbalanced
forces and the changes in motion they produce.

There are four general approaches to the solution of

kinetics problems:

➢ direct application of Newton’s second law (called

the force-acceleration method),
➢ d’Alembert’s principle,
➢ use of work and energy principles, and
➢ solution by impulse and momentum methods.
 Introduction
• Newton’s first and third laws are sufficient for the study of
bodies at rest (statics) or bodies in motion with no
acceleration.
• When a body accelerates (changes in velocity magnitude or
direction), Newton’s second law is required to relate the
motion of the body to the forces acting on it.
Newton’s second law:
– A particle will have an acceleration proportional to the
magnitude of the resultant force acting on it and in the direction
of the resultant force.
– The resultant of the forces acting on a particle is equal to the rate
of change of linear momentum of the particle.
– The sum of the moments about O of the forces acting on a
particle is equal to the rate of change of angular momentum of
the particle about O.
NEWTON’S LAWS OF MOTION and Gravitation
 NEWTON’S LAWS OF MOTION
• First Law: A particle originally at rest, or moving in a
straight line at constant velocity, will remain in this
state if the resultant force acting on the particle is
zero.

This first law is used in developing the concepts of statics.

 NEWTON’S LAWS OF MOTION
• Second Law: If the resultant force on the particle is not zero, the
particle experiences an acceleration in the same direction as the
resultant force.
• This acceleration has a magnitude proportional to the resultant
force.

• The property m is the inertia of the particle, which is its

resistance to change in motion of the object.
• Newton’s second law forms the
basis of the study of dynamics.

• Mathematically, Newton’s second law of motion

can be written
F = ma
where F is the resultant unbalanced force acting on the particle,
and a is the acceleration of the particle.
The positive scalar m is the mass of the particle.
Newton’s second law cannot be used:
• when the particle’s speed approaches the speed of light,
• or if the size of the particle is extremely small (~ size of an
atom).
 NEWTON’S LAWS OF MOTION

• Third Law: Mutual forces of action and reaction

between two particles are equal, opposite, and
collinear.
 NEWTON’S LAW OF GRAVITATION
Gravitational force attraction exists between any two particles or
bodies with mass.
Newton postulated the law governing this gravitational force as:
m1 m2 We can’t feel this force
F=G 2
r due to G

where: F = force of attraction between the two bodies,

G = universal constant of gravitation, G = 66.73 x10-12 m3 (kg.s2)
m1, m2 = mass of each body, and
r = distance between centers of the two bodies.
• The gravitational attraction forces between any two particles
are equal and opposite.
Mass vs. Weight
mM e
W =G 2
R
R: radius of the earth
Me: mass of the earth

Me
g =G 2 W = mg
R

g: constant of gravitation of the earth

g = 9.81m / s 2
 Mass vs. Weight
➢ mass (m) measures the amount of matter an object is
composed of, whereas weight (W) is the magnitude of
the force of gravity acting on the object. On earth:

mM e
W = G 2 = mg
r
➢ The weight of an object thus depends on the
acceleration due to gravity in the local environment;
the mass of an object is independent of where the
object is.
 PROCEDURE FOR THE APPLICATION OF
THE EQUATION OF MOTION (EOM)
1) Select a convenient inertial coordinate system. Rectangular,
normal/tangential, or polar coordinates may be used.

2) Draw a free-body diagram showing all external forces

applied to the particle. Resolve forces into their appropriate
components.
3) Draw the kinetic diagram, showing the particle’s inertial
force, ma. Resolve this vector into its appropriate
components.
4) Apply the equations of motion in their scalar component
form and solve these equations for the unknowns.

5) It may be necessary to apply the proper kinematic relations

to generate additional equations.

ds dv
v= a= ads = vdv
dt dt
 Rectangular Coordinates
• The equation of motion, F=ma is best used when the problem
requires finding forces (especially forces perpendicular to the path),
accelerations, velocities, or mass. Remember, unbalanced forces
cause acceleration!
• Three scalar equations can be written from this vector equation.
The equation of motion, being a vector equation, may be expressed
in terms of three components in the Cartesian (rectangular)
coordinate system as

 F = ma or  F i +  F j +  F k = m(a i + a
X Y Z x y j + az k )

 F = ma
X x

Or, scalar equations  F = ma and

Y y

 F = ma
Z z
 EQUATION OF MOTION FOR A SYSTEM
OF PARTICLES
The equation of motion can be extended to include systems of
particles. This includes the motion of solids, liquids, or gas systems.
As in statics, there are internal forces
and external forces acting on the system.
What is the difference between them?
Using the definitions of m = mi as
the total mass of all particles and aG as
the acceleration of the center of mass G
of the particles, then m aG = mi ai .
Inertial coordinate
system
But for a system of particles: F = m aG where F is the sum of the
external forces acting on the entire system.
 EQUATION OF MOTION FOR A SYSTEM
OF PARTICLES

But for a system of particles: F = m aG where F is

the sum of the external forces acting on the entire
system.
Equation states that:
vector sum of the external forces acting on a particular
set of particles equals the product of their total mass
times the acceleration of their centre of mass,
irrespective of the individual motion of the separate
particles.
 External vs. internal forces
• an external force is a force that the environment exerts
on the object of interest

• an internal force is a force exerted by one part of the

object on another part of it

– internal forces do not enter into Newton’s laws, and

therefore cannot change the state of motion of the
object as a whole.
 APPLICATIONS

If a man is trying to move a 100 Kg crate, how large a force F

must he exert to start moving the crate? What factors influence
how large this force must be to start moving the crate?
If the crate starts moving, is there acceleration present?
What would you have to know before you could find these
answers?
 APPLICATIONS (continued)

Objects that move in air (or other fluid) have a drag force
acting on them. This drag force is a function of velocity.

If the dragster is traveling with a known velocity and the

magnitude of the opposing drag force at any instant is given
as a function of velocity, can we determine the time and
distance required for dragster to come to a stop if its engine is
shut off? How ?
Types of Forces
 The normal force
The normal force FN is one component of the force that a surface can
exert on an object when the object is in contact with the surface. The
direction of the normal force is perpendicular (or normal) to the plane
of the surface.
• E.g. for a box resting on the floor, the floor exerts a
normal force straight-upwards against the box.

– If the only external force acting on the box is

gravity, then the magnitude of the normal force is
equal to the weight of the box (why ?)

– If you push downward on the box, the normal

force is greater than the weight of the box

– If you pull on the box without lifting it, the

normal force is less than the weight of the box
 Example
• A 1.0kg bucket is suspended by a hook from
the ceiling.
• 10kg of water is thrown into the bucket.
• What is the normal force exerted by the ceiling
on the hook?

Answer: 107.91N towards the ceiling

Note: then that normal forces can point either
toward or away from a surface exerting them!
 Frictional forces
• The normal force was one component of the force a
surface can exert on a body in contact with it.
Frictional forces are one example of the “other”
component, and they are directed parallel to the
surface.

• The magnitude of a frictional force depends primarily

on three factors:
– size of the normal force,
– how rough the surfaces are, and
– whether or not the surfaces are moving relative to one
another (static versus kinetic frictional forces)
 Frictional forces
• Why is the frictional force proportional to the normal
force? Because of the microscopic nature of contact
between surfaces:

➢ The more the object on top

weighs, or the harder you push
the surfaces together, etc., the
greater the normal force; this in
turn causes a larger number of
contact points, and so increases
the frictional force
 Frictional forces
• That the frictional force is
proportional to the normal force
also makes intuitive sense.
• In the example: the heavier the box
is (i.e., the larger the resultant
normal force is), the harder you
have to pull to overcome the
frictional force to cause the box to
start moving.
• This implies the maximum
frictional force is proportional to
the normal force.
 Static Frictional Force
• For an object at rest and in contact with a surface, the static
frictional force is a contact force acting in a direction parallel to
the surface.
• The magnitude of the static frictional force is a maximum value
that is proportional to the magnitude of the normal force:

0  fs  fs
MAX

=  s FN
MAX
fs

• μs is a dimensionless number, depending upon the properties of the

object and surface, and is called the coefficient of static friction
– typical values range from 0.01 to 1.5 (ice on ice ~ 0.1, steel on steel ~ 0.7)

• If the magnitude of the external force exceeds the maximum, the object
will begin to move
Kinetic Frictional Force
➢ The kinetic frictional force is similar to the static frictional
force, except it applies when the object is in motion relative
to the contact surface.
➢ The magnitude of the kinetic frictional force is proportional
to the normal force, and always points opposite to the
direction of motion

f k = k FN

k is called the coefficient of kinetic friction

k is always smaller than or equal to (why can’t it be larger?)
 Examples
1. The motor winds in the cable with a constant acceleration, such
that the 20-kg crate moves a distance s = 6 m in 3 s, starting from
rest. Determine the tension developed in the cable. The coefficient
of kinetic friction between the crate and the plane is μk = 0.3.

Find: The tension developed in the cable.

Plan:
1. Draw the free-body and kinetic
diagrams of the crate.
2. Using a kinematic equation, determine
the acceleration of the crate.
3. Apply the equation of motion to
determine the cable tension.
Solution:
1. Draw the free-body and kinetic diagrams of the crate.

Since the motion is up the incline, rotate the x-y axes so the x-
axis aligns with the incline. Then, motion occurs only in the x-
direction.

There is a friction force acting between the surface and the

crate. Why is it in the direction shown on the F B D
 y
2. Using kinematic equation x

s = v0 t + ½ a t 2
 6 = (0) 3 + ½ a (32 )

 a = 1.333m/s 2
3. Apply the equations of motion

 T = 20 (9.81) (sin30) + 0.3(169.9) + 20 (1.333)

 T =176 N
2. The 300-kg bar B, originally
at rest, is being towed over a
series of small rollers.
Determine the force in the
cable when t = 5 s, if the motor
M is drawing in the cable for a
short time at a rate of v = (0.4
t2) m/s, where t is in seconds
. 0  t  6s 
Plan:
How far does the bar move in Since both forces and velocity are
5 s? Neglect the mass of the involved, this problem requires both
cable, pulley, and the rollers. kinematics and the equation of motion.
1. Draw the free-body and kinetic
Find: Force in the cable and diagrams of the bar.
distance s when t = 5 s. 2. Apply the equation of motion to
determine the acceleration and force.
3.Using a kinematic equation,
determine distance.
Solution:
1) Free-body and kinetic diagrams of the bar:
W = 300 g
y
x T 300 a
=
N
Note that the bar is moving along the x-axis.
2) Apply the scalar equation of motion in the x-direction

+ →  Fx = 300 a  T = 300 a
Since v = 0.4 t2, a = ( dv/dt ) = 0.8 t
T = 240 t  T = 1200 N when t = 5s.
3) Using kinematic equation to determine distance;
Since v = (0.4 t2) m/s
t
s = s0 + ‫ ׬‬v dt = 0 + ‫׬‬0 (0.4 t2) dt
0.4 3
s= t
3
At t = 5 s,
0.4 3
s= 5 = 16.7 m
3
 D’Alembert’s Principle
➢The principle that the resultant of the external
forces F and the kinetic reaction acting on a
body equals zero.

➢The kinetic reaction is defined as the negative of

the product of the mass m and the acceleration
a.

➢The principle is therefore stated as

F − ma = 0.
 D’Alembert’s Principle
• It amounts to rewriting the equation of motion
as:
ΣF - m a = 0
• which assumes the form of a zero force summation if –
ma is treated as a force
• This fictitious force is known as inertia force,
and the artificial state of equilibrium created is
known as dynamic equilibrium.
• The apparent transformation of a problem in
dynamics to one in statics has become known as
D’Alembert’s Principle
 D’Alembert’s Principle
• The particle acceleration we measure from a fixed
set of axes X-Y-Z, Fig. a, is its absolute
acceleration a. In this case the familiar relation
ΣF = ma applies.
• When we observe the particle from a moving
system x-y-z attached to the particle, Fig. b, the
particle necessarily appears to be at rest or in
equilibrium in x-y-z.
• Thus, the observer who is accelerating with x-y-z
concludes that a force -ma acts on the particle to
balance ΣF.
• This point of view, which allows the treatment
of a dynamics problem by the methods of
statics, was an outgrowth of the work of
D’Alembert (1743).
 D’Alembert’s Principle
• This approach merely amounts to rewriting the
equation of motion as ΣF-ma = 0, which assumes
the form of a zero force summation if -ma is
treated as a force.
• This fictitious force is known as the inertia force,
and the artificial state of equilibrium created is
known as dynamic equilibrium.
• The apparent transformation of a problem in
dynamics to one in statics has become known as
D’Alembert’s principle.