Chapter 2

Kinetics of a Particle: Force & Acceleration

Abdulkadir Aman Hassen, PhD
Associate Professor at Addis Ababa University
Adjunct Professor at Ethiopian Aviation University

Engineering Mechanics II: Dynamics : Lecture Slides

Outline
3/1 Introduction
3/2 Newton’s Second Law
3/3 Equation of Motion and Solution of Problems
3/4 Rectilinear Motion
3/5 Curvilinear Motion

Engineering Mechanics II: Dynamics : Lecture Slides

 3/1 Introduction
• According to Newton’s second law, a particle will
accelerate when it is subjected to unbalanced forces.
• Kinetics is the study of the relations between unbalanced
forces and the resulting changes in motion.
• To study this chapter we combine our knowledge of the
properties of forces, which we developed in statics, and
the kinematics of particle motion just covered in Chapter
1.
• With the aid of Newton’s second law, we can combine
these two topics and solve engineering problems
involving force, mass, and motion.

Engineering Mechanics II: Dynamics : Lecture Slides

The three general approaches to the solution of kinetics
problems are:

(A)Direct application of Newton’s second law (called the

force-mass-acceleration method),
(B)use of work and energy principles, and
(C)solution by impulse and momentum methods.

(A) Will be covered in this chapter and the remaining

approaches will be covered in the subsequent chapters

Engineering Mechanics II: Dynamics : Lecture Slides

Kinetics of Force, Mass, and Acceleration
3/2 Newton’s Second Law
• The basic relation between force and acceleration is found in Newton’s
second law, the verification of which is entirely experimental.
• Let’s describe the fundamental meaning of this law by considering an ideal
experiment in which force and acceleration are assumed to be measured
without error.
Step 1 : subject a mass particle to the action of a single force F1, and
measure the acceleration a1 of the particle.
Step 2 : Record the ratio F1 ∕a1 which is some number C1 whose value
depends on the units used for measurement of force and acceleration.
Step 3 : Repeat step 1 by subjecting the same particle to a different force
F2 and measuring the corresponding acceleration a2.
Step 4: Record the ratio F2 ∕a2 as a number C2.
Step 5: The experiment is repeated as many times as desired.
Reading assignment : Inertial system page 58 Eng’g Dynamics 9th edition
Engineering Mechanics II: Dynamics : Lecture Slides
• The mass m is used as a quantitative measure of inertia,
and therefore, we may write the expression C = km,
where k is a constant introduced to account for the units
used. Thus, we may express the relation obtained from
the experiments as

(3.1)

• where F is the magnitude of the resultant force acting on

the particle of mass m, and a is the magnitude of the
resulting acceleration of the particle.

Engineering Mechanics II: Dynamics : Lecture Slides

 Conclusions from the experiment
1. The ratios of applied force to corresponding acceleration
all equal the same number, provided the units used for
measurement are not changed in the experiments. Thus,

• We conclude that the constant C is a measure of some invariable property

of the particle.
• This property is the inertia of the particle, which is its resistance to rate of
change of velocity.
• For a particle of high inertia (large C), the acceleration will be small for
a given force F and vice versa.

Engineering Mechanics II: Dynamics : Lecture Slides

2. The second conclusion we draw from this ideal experiment is that
the acceleration is always in the direction of the applied force.
Thus, Eq. 3∕1 becomes a vector relation and may be written

(3.2)

Engineering Mechanics II: Dynamics : Lecture Slides

• The equation of motion gives the instantaneous value of the
acceleration corresponding to the instantaneous values of the forces
which are acting.
Systems of Units
• It is customary to take k equal to unity in Eq. 3 ∕2, thus putting the relation
in the usual form of Newton’s second law.

• A system of units for which k is unity is known as a kinetic system. Thus,

for a kinetic system the units of force, mass, and acceleration are not
independent.
• In SI units, the units of force (newtons, N) are derived by Newton’s second
law from the base units of mass (kilograms, kg) times acceleration (meters
per second squared, m∕s2). Thus, N = kg∙m∕s2.
• This system is known as an absolute system since the unit for force is
dependent on the absolute value of mass.

Engineering Mechanics II: Dynamics : Lecture Slides

 (b) Newton’s Second Law

(a) Gravitational Free-Fall

Engineering Mechanics II: Dynamics : Lecture Slides

 3/3 Equation of Motion and Solution of Problems
• When a particle of mass m is subjected to the action of concurrent
forces F1, F2, F3, . . . whose vector sum is ΣF, Eq. 1 ∕1 becomes

ΣF =ma (3∕3)
• When applying Eq. 3∕3 to solve problems, we usually express it in
scalar component form with the use of one of the coordinate systems
developed in Chapter 2.
• The choice of an appropriate coordinate system depends on the type of
motion involved and is a vital step in the formulation of any problem.
• Equation 3∕3, or any one of the component forms of the force-mass-
acceleration equation, is usually called the equation of motion.
• The equation of motion gives the instantaneous value of the
acceleration corresponding to the instantaneous values of the forces
which are acting.
Engineering Mechanics II: Dynamics : Lecture Slides
Two Types of Dynamics Problems
1st : The acceleration of the particle is either specified or can be
determined directly from known kinematic conditions. We then
determine the corresponding forces which act on the particle by direct
substitution into Eq. 3∕3.

2nd : The forces acting on the particle are specified and we must
determine the resulting motion. If the forces are constant, the
acceleration is also constant and is easily found from Eq. 3∕3. When the
forces are functions of time, position, or velocity, Eq. 3∕3 becomes a
differential equation which must be integrated to determine the velocity
and displacement.

Problems of this second type are often more formidable, as the

integration may be difficult to carry out, particularly when the force is a
mixed function of two or more motion variables.

Engineering Mechanics II: Dynamics : Lecture Slides

 Constrained and Unconstrained Motion
• There are two physically distinct types of motion, both described by
Eq. 3 ∕3.
• The first type is unconstrained motion where the particle is free of
mechanical guides and follows a path determined by its initial motion
and by the forces which are applied to it from external sources.
• Example : An airplane or rocket in flight and an electron moving in a charged
field are examples of unconstrained motion.
• The second type is constrained motion where the path of the particle is
partially or totally determined by restraining guides.
• Example : A train moving along its track and a collar sliding along a fixed shaft
are examples of more fully constrained motion.
• In the second type of motion, all forces, both applied from outside and or reactive
(reactions on the particle from the constraining guides), which act on the particle
must be accounted for in applying Eq. 3 ∕3.
READING ASSIGNMENT about Freed body diagram Page 62 of Eng’g Dynamics 9th
Edition
Engineering Mechanics II: Dynamics : Lecture Slides
Dynamic Equilibrium
• Alternate expression of Newton’s second law,
 
 F  ma 0

 ma  inertial vector
• With the inclusion of the inertial vector, the system
of forces acting on the particle is equivalent to
zero. The particle is in dynamic equilibrium.
• Methods developed for particles in static
equilibrium may be applied, e.g., coplanar forces
may be represented with a closed vector polygon.
• Inertia vectors are often called inertial forces as
they measure the resistance that particles offer to
changes in motion, i.e., changes in speed or
direction.
• Inertial forces may be conceptually useful but are
not like the contact and gravitational forces found
in statics.
Engineering Mechanics II: Dynamics : Lecture Slides
Free Body Diagrams and Kinetic Diagrams
The free body diagram is the same as you have done in statics; we
will add the kinetic diagram in our dynamic analysis.
1. Isolate the body of interest (free body)
2. Draw your axis system (e.g., Cartesian, polar, path)
3. Add in applied forces (e.g., weight, 225 lb pulling force)
4. Replace supports with forces (e.g., normal force)
5. Draw appropriate dimensions (usually angles for particles)

x y
225 N

25o

Ff
N
mg
 Free Body Diagrams and Kinetic Diagrams
Put the inertial terms for the body of interest on the kinetic diagram.
1. Isolate the body of interest (free body)
2. Draw in the mass times acceleration of the particle; if unknown,
do this in the positive direction according to your chosen axes
x y may
225 N
max

25o 
Ff
N
mg

F  ma
Engineering Mechanics II: Dynamics : Lecture Slides
Free Body Diagrams and Kinetic Diagrams
Draw the FBD and KD for block A (note that the
massless, frictionless pulleys are attached to block A
and should be included in the system).

Engineering Mechanics II: Dynamics : Lecture Slides

 Free Body Diagrams and Kinetic Diagrams
1. Isolate body
2. Axes
3. Applied forces
4. Replace supports with forces
5. Dimensions (already drawn)
6. Kinetic diagram

y
T T NB
T
T may = 0
x

T
mg
Ff-B
= max

N1 Ff-1
Free Body Diagrams and Kinetic Diagrams

Draw the FBD and KD for the collar B. Assume

there is friction acting between the rod and collar,
motion is in the vertical plane, and q is increasing

Engineering Mechanics II: Dynamics : Lecture Slides

Free Body Diagrams and Kinetic Diagrams
1. Isolate body
2. Axes
3. Applied forces
4. Replace supports with forces
5. Dimensions
6. Kinetic diagram

eq er maq
mar

q
q
=
Ff
mg
N
Engineering Mechanics II: Dynamics : Lecture Slides
 Example 1
SOLUTION:
• Resolve the equation of motion for the
block into two rectangular component
equations.

• Unknowns consist of the applied force

P and the normal reaction N from the
plane. The two equations may be
solved for these unknowns.

A 200-lb block rests on a horizontal

plane. Find the magnitude of the force
P required to give the block an
acceleration of 10 ft/s2 to the right. The
coefficient of kinetic friction between
the block and plane is mk  0.25.

Engineering Mechanics II: Dynamics : Lecture Slides

 SOLUTION:
• Resolve the equation of motion for the block
into two rectangular component equations.
 Fx  ma :
y
 
P cos 30  0.25 N  6.21 lb  s 2 ft 10 ft s 2 
 62.1lb
O
x  Fy  0 :
W 200 lb N  P sin 30  200 lb  0
m 
g 32.2 ft s 2 • Unknowns consist of the applied force P and
the normal reaction N from the plane. The two
lb  s 2
 6.21 equations may be solved for these unknowns.
ft
N  P sin 30  200 lb
F  mk N
P cos 30  0.25 P sin 30  200 lb   62.1 lb
 0.25 N
P  151lb
Engineering Mechanics II: Dynamics : Lecture Slides
 Example 3
SOLUTION:
• Write the kinematic relationships for the
dependent motions and accelerations of
the blocks.
• Write the equations of motion for the
blocks and pulley.
• Combine the kinematic relationships
with the equations of motion to solve for
the accelerations and cord tension.
The two blocks shown start from rest.
The horizontal plane and the pulley are
frictionless, and the pulley is assumed
to be of negligible mass. Determine
the acceleration of each block and the
tension in the cord.

Engineering Mechanics II: Dynamics : Lecture Slides

 SOLUTION:
• Write the kinematic relationships for the dependent
O motions and accelerations of the blocks.
x
y B  12 x A a B  12 a A
y
• Write equations of motion for blocks and pulley.
 Fx  m A a A :
T1  100 kg a A
 Fy  m B a B :
m B g  T2  m B a B
300 kg 9.81 m s 2  T2  300 kg a B
T2  2940 N - 300 kg a B
 Fy  mC aC  0 :
T2  2T1  0
 • Combine kinematic relationships with equations of
motion to solve for accelerations and cord tension.
O
x y B  12 x A a B  12 a A

y T1  100 kg a A
T2  2940N - 300 kg a B

 2940N - 300 kg  12 a A 
T2  2T1  0
2940 N  150 kg a A  2100 kg a A  0

a A  8.40 m s 2
a B  12 a A  4.20 m s 2
T1  100 kg a A  840 N
T2  2T1  1680 N
 Example 3
SOLUTION:
• The block is constrained to slide down
the wedge. Therefore, their motions are
dependent. Express the acceleration of
block as the acceleration of wedge plus
the acceleration of the block relative to
the wedge.

• Write the equations of motion for the

wedge and block.
The 12-lb block B starts from rest and
slides on the 30-lb wedge A, which is • Solve for the accelerations.
supported by a horizontal surface.
Neglecting friction, determine (a) the
acceleration of the wedge, and (b) the
acceleration of the block relative to the
wedge.
Engineering Mechanics II: Dynamics : Lecture Slides
 SOLUTION:
• The block is constrained to slide down the
wedge. Therefore, their motions are dependent.
  
aB  a A  aB A

• Write equations of motion for wedge and block.

 Fx  m A a A :
y N1 sin 30  m A a A
0.5 N1  W A g a A

x
 Fx  mB a x  mB a A cos 30  a B A  :
 WB sin 30  WB g a A cos 30  a B A 
a B A  a A cos 30  g sin 30

 Fy  mB a y  mB  a A sin 30 :
N1  WB cos 30  WB g a A sin 30
 • Solve for the accelerations.
0.5 N1  W A g a A

N1  WB cos 30  WB g a A sin 30

2W A g a A  WB cos 30  WB g a A sin 30
gWB cos 30
aA 
2W A  WB sin 30

aA 
32.2 ft s 2 12 lb  cos 30
230 lb   12 lb  sin 30
a A  5.07 ft s 2

a B A  a A cos 30  g sin 30

   
a B A  5.07 ft s 2 cos 30  32.2 ft s 2 sin 30
aB A  20.5 ft s 2

Engineering Mechanics II: Dynamics : Lecture Slides

3/4 Rectilinear Motion
• Here we will analyze the motions of bodies which can be treated as
particles as long as we are interested only in the motion of the mass center
of the body.
• In this case we may treat the forces as concurrent through the mass
center.
• If we choose the x-direction, for example, as the direction of the rectilinear
motion of a particle of mass m, the accelerations in the y- and z-directions
will be zero and the scalar components of Eq. 3 ∕3 become

Engineering Mechanics II: Dynamics : Lecture Slides

• For cases where we are not free to choose a coordinate direction
along the motion, we may write

where the acceleration and resultant force are given by

Engineering Mechanics II: Dynamics : Lecture Slides

Problems- Part I
• SAMPLE PROBLEM 3/1
• SAMPLE PROBLEM 3/2
• SAMPLE PROBLEM 3/3
• SAMPLE PROBLEM 3/4
• SAMPLE PROBLEM 3/5

Engineering Mechanics II: Dynamics : Lecture Slides

 SAMPLE PROBLEM 3/3
• The 250-lb concrete block A is released from rest in the
position shown and pulls the 400-lb log up the 30° ramp. If
the coefficient of kinetic friction between the log and the
ramp is 0.5, determine the velocity of the block as it hits the
ground at B.

Engineering Mechanics II: Dynamics : Lecture Slides

• Solution
• The motions of the log and the block A are clearly dependent.
Although by now it should be evident that the acceleration of the log
up the incline is half the downward acceleration of A, we may prove it
formally.
The constant total length of the cable
is L = 2sC + sA + constant, where the
constant accounts for the cable
portions wrapped around the pulleys.

Differentiating twice with respect to time gives

We assume here that the masses of the pulleys are

negligible and that they turn with negligible friction.
the tension in the cable attached to the log is twice
that applied to the block.
Engineering Mechanics II: Dynamics : Lecture Slides
 Note that the accelerations of the log and the center of pulley C are
identical.
The free-body diagram of the log
shows the friction force kN for
motion up the plane.
Equilibrium of the log in the y-
direction gives

and its equation of motion in the x-direction gives

For the block in the positive downward

direction, we have

Engineering Mechanics II: Dynamics : Lecture Slides

Solving the three equations in aC, aA, and T gives us

For the 20-ft drop with constant

acceleration, the block acquires a velocity

v s
vdv  ads   vdv   ads
vo so

v2 v 2  vo 2
 a  s  so 
v s
  a s so 
2 vo
2
 v 2  v o 2  2 a (s  s 0 )

Engineering Mechanics II: Dynamics : Lecture Slides

3/5 Curvilinear Motion
• kinetics of particles which move along plane curvilinear paths will
be analyzed in this section.
• In applying Newton’s second law, Eq. 3 ∕ 3, we will make use of the
three coordinate descriptions of acceleration in curvilinear motion
which we developed in chapter 1 (Rectangular, normal and
tangential, polar coordinates)
• Rewrite Eq. 3 ∕3 in three ways, the choice of which depends on
which coordinate system is most appropriate.
Rectangular coordinates

where

Engineering Mechanics II: Dynamics : Lecture Slides

Normal and tangential coordinates

Polar coordinates

 r
F  ma r  m r

  rq 2

 Fq  maq  mrq  2rq 

Engineering Mechanics II: Dynamics : Lecture Slides

Problems- Part II

• SAMPLE PROBLEM 3/6

• SAMPLE PROBLEM 3/7
• SAMPLE PROBLEM 3/8
• SAMPLE PROBLEM 3/9
• SAMPLE PROBLEM 3/10

Engineering Mechanics II: Dynamics : Lecture Slides

SAMPLE PROBLEM 3/8
• A 1500-kg car enters a section of curved road in the horizontal plane
and slows down at a uniform rate from a speed of 100 km∕ h at A to a
speed of 50 km∕ h as it passes C. The radius of curvature of the road
at A is 400 m and at C is 80 m. Determine the total horizontal force
exerted by the road on the tires at positions A, B, and C. Point B is the
inflection point where the curvature changes direction.

Engineering Mechanics II: Dynamics : Lecture Slides

Solution
The car will be treated as a particle so that the effect of all forces exerted
by the road on the tires will be treated as a single force. Since the motion
is described along the direction of the road, normal and tangential
coordinates will be used to specify the acceleration of the car. We will
then determine the forces from the accelerations.
The constant tangential
acceleration is in the negative
t-direction, and its magnitude
is given by

Engineering Mechanics II: Dynamics : Lecture Slides

The normal components of acceleration at A,
B, and C are

Application of Newton’s second law in both the

n- and t-directions to the free-body diagrams of
the car gives

Thus, the total horizontal force acting on the tires becomes

Engineering Mechanics II: Dynamics : Lecture Slides