ES 12: DYNAMICS OF RIGID BODIES

LECTURE 11:
WORK-ENERGY METHOD
FOR PARTICLE KINETICS
ENGR. GIANCARLO P. VENTURA
Institute of Civil Engineering
College of Engineering
University of the Philippines Diliman
 INTRODUCTION

KINETICS
relates forces to motion

FORCE- WORK- IMPULSE-

INERTIA ENERGY MOMENTUM
METHOD METHOD METHOD
relates forces to relates forces to relates forces to
acceleration displacements and speeds velocities

ES 12: DYNAMICS OF RIGID BODIES 2 GPVentura

 INTRODUCTION

ES 12: DYNAMICS OF RIGID BODIES 3 GPVentura

 LECTURE OBJECTIVES
After this lecture, students are expected to be able to:
Calculate the work done on the particle by various commonly encountered
forces such as gravity, spring force, friction and other applied forces
Identify forces that do zero work
Use the principle of work and energy to solve problems involving speeds,
distances and forces
Evaluate the kinetic energy of the particle given its mass and speed
Identify situations where conservative forces are acting on the particle
Calculate the potential energy associated with each of the conservative forces
Use the principle of conservation of energy to solve problems involving
speeds, distances and conservative forces
ES 12: DYNAMICS OF RIGID BODIES 4 GPVentura
 WORK OF A FORCE
Consider a particle acted upon by a force. The work of the
force is then given by

dU F dr
F ds cos Fx dx Fy dy Fz dz
Work is a scalar quantity, i.e., it has magnitude
and sign but not direction.

Dimensions of work are length and force.

Its unit is called the Joule and is given by

1 J joule 1 N 1 m 1ft lb 1.356 J

ES 12: DYNAMICS OF RIGID BODIES 5 GPVentura

 WORK OF A FORCE
Note: Work is represented
by the area under the curve
The work of a force during a finite of Ft plotted against s.
displacement is given by Ft is the force in the direction of the displacement ds

A2

U12 F dr
A1
s2 s2

F cos ds Ft ds
s1 s1
A2

F dx F dy F dz
A1
x y z

ES 12: DYNAMICS OF RIGID BODIES 6 GPVentura

 WORK OF A FORCE
1. Work of a constant force in rectilinear motion

A2

U12 F dr
A1

F cos x

ES 12: DYNAMICS OF RIGID BODIES 7 GPVentura

 WORK OF A FORCE
2. Work of the force of gravity

dU Fx dx Fy dy Fz dz W dy
y2

U12 W dy
y1

W y2 y1 W y

Work of the force due to gravity is positive when the

movement of the particle is the same as the direction
of the weight (i.e. when it is moving downward).

ES 12: DYNAMICS OF RIGID BODIES 8 GPVentura

 WORK OF A FORCE
3. Work of the force exerted by a spring
Magnitude of the force exerted by a spring is
proportional to deflection,
F kx k spring constant N/m or lb/in.

dU F dx kx dx
x2

U12 kx dx 12 kx12 12 kx22

x1

Work of the force exerted by spring is positive when x2 < x1, i.e.,
when the spring is returning to its undeformed position.
ES 12: DYNAMICS OF RIGID BODIES 9 GPVentura
 WORK OF A FORCE
4. Work of the force done by friction

=
d
k = coefficient of kinetic friction
N = normal force
d = distance traveled in the direction of the frictional
force

ES 12: DYNAMICS OF RIGID BODIES 10 GPVentura

 WORK OF A FORCE

dU F dr Forces which DO NOT do work
(ds = 0 or cos = 0):
F ds cos
reaction at frictionless pin supporting rotating body

reaction at frictionless surface when body in

contact moves along surface
reaction at a roller moving along its track

weight of a body when its center of gravity moves

horizontally

ES 12: DYNAMICS OF RIGID BODIES 11 GPVentura

 CONCEPT CHECK
In the figure on the left, when is the work
done by the weight positive?
A. Moving from y1 to y2
B. Moving from y2 to y1
C. Never
Referring to the figure on the right, as
the block moves from A0 to A1, is the
work positive or negative?

Positive Negative
ES 12: DYNAMICS OF RIGID BODIES 12 GPVentura
 CONCEPT CHECK
As the block slides from B to A,
describe the work done by the
normal force.
A. It is positive.
B. It is negative.
C. It does no work.

As the block slides from A to B, describe the work done by the weight.

A. It is positive. B. It is negative. C. It does no work.

ES 12: DYNAMICS OF RIGID BODIES 13 GPVentura
 PRINCIPLE OF WORK & ENERGY: KINETIC ENERGY

Consider a particle of mass m acted upon by

a force

dv dv ds dv
Ft mat m m mv
dt ds dt ds
F t ds mv dv
s2 v2

t
1 2 1 2
F ds m v dv 2 mv 2 2 mv1
s1 v1

U12 T2 T1 T 12 mv 2 kinetic energy

ES 12: DYNAMICS OF RIGID BODIES 14 GPVentura

 PRINCIPLE OF WORK & ENERGY: KINETIC ENERGY

The work of the force is equal to the change in kinetic energy of the
particle.

T 1 U12 T2
Units of work and kinetic energy are the same
2
T 12 mv 2 kg kg 2 m N m J
m m
s s

ES 12: DYNAMICS OF RIGID BODIES 15 GPVentura

 EXAMPLE 11.1
SOLUTION:
Apply the principle of work and
energy separately to blocks A and B.

When the two relations are combined,

the work of the cable forces cancel.
Solve for the velocity.
Two blocks are joined by an inextensible
cable as shown. If the system is released
from rest, determine the velocity of block A
after it has moved 2 m. Assume that the
coefficient of friction between block A and
the plane is k = 0.25 and that the pulley is
weightless and frictionless.
ES 12: DYNAMICS OF RIGID BODIES 16 GPVentura
 EXAMPLE 11.1
Apply the principle of work and energy separately to blocks A and B.
1 = 0 (12 ) = (2)
1
2 = (200)(2) (12 ) = 0.25 200 (9.81)(2)
2
1 + 12 = 2

+ . . =

1 = 0 (12 ) = (2)
1
2 = (300)(2) (12 ) = (300)(9.81)(2)
2
1 + 12 = 2

+ . =

ES 12: DYNAMICS OF RIGID BODIES 17 GPVentura
 EXAMPLE 11.1
When the two relations are combined, the work of
the cable forces cancel. Solve for the velocity.

+ . . =


+ . =

FC 2 m (981Nm) 200 kg v 2
1
2

Fc 2 m (5886 Nm) 12 300 kg v 2

(5886 Nm) (981Nm) 1

200 kg 300 kg v 2
2
v 4.43 m s
4905 J 12 500 kg v 2
ES 12: DYNAMICS OF RIGID BODIES 18 GPVentura
 EXAMPLE 11.2

A spring is used to stop a 60 kg package which is sliding on a rough horizontal

surface. The spring has a constant k = 20 kN/m and is held by cables so that it
is initially compressed 120 mm. The package has a velocity of 2.5 m/s in the
position shown and the maximum deflection of the spring is 40 mm. Determine
A. the coefficient of kinetic friction between the package and surface
B. the velocity of the package as it passes again through the position shown.
ES 12: DYNAMICS OF RIGID BODIES 19 GPVentura
 EXAMPLE 11.2
Apply principle of work and energy between initial
position and the point at which spring is fully
compressed.
T1 12 mv12 12 60 kg 2.5 m s 2 187.5 J T2 0

U12 f k N d

k 60 kg 9.81 m s 2 0.640 m 377 J k

U12 e 12 200x 2
12 200 0.12 2 0.16 2 112.0 J

T1 U12 T2 :
187.5 J - 377 J k 112 J 0
k 0.20
ES 12: DYNAMICS OF RIGID BODIES 20 GPVentura
 EXAMPLE 11.2
Apply the principle of work and energy for the
rebound of the package.

T2 0 T 3 12 mv32 12 60kg v32

U 23 U 23 f U 23 e 377 J k 112 J
36.5 J

T2 U 23 T3 :
0 36.5 J 12 60 kg v32 v3 1.103 m s

ES 12: DYNAMICS OF RIGID BODIES 21 GPVentura

 PRINCIPLE OF WORK & ENERGY: POTENTIAL ENERGY
Recall the work of the force of gravity,
U12 W ( y2 y1 )
W y1 W y2
Work done is independent of the path
followed. It depends only on the initial and
final values of the product Wy.

Vg Wy = potential energy of the body with

respect to the force of gravity
The work done by the force of gravity can now be expressed as the change in
potential energy of the body with respect to this force.

U12 V g 1 Vg 2
ES 12: DYNAMICS OF RIGID BODIES 22 GPVentura
 PRINCIPLE OF WORK & ENERGY: POTENTIAL ENERGY
Recall the work of the force of the spring,
1 2 1 2
U12 kx1 kx2
2 2
Work done is independent of the path
followed. It depends only on the initial and
final values of the product kx2.
1 2
Ve kx = potential energy of the body with respect to
2 the force of a spring (elastic potential energy)
The work done by the force of a spring can now be expressed as the change in
potential energy of the body with respect to this force.

U12 Ve 1 Ve 2
ES 12: DYNAMICS OF RIGID BODIES 23 GPVentura
 CONSERVATIVE FORCES
The concept of potential energy can be
applied if the work of the force is
independent of the path followed by its
point of application. Such forces are
described as conservative forces.

U12 V x1, y1, z1 V x2 , y2 , z2

For any conservative force applied on a

closed path,

F dr 0
ES 12: DYNAMICS OF RIGID BODIES 24 GPVentura
 CONSERVATION OF ENERGY
Work of a conservative force,
U12 V1 V2
From the concept of work and energy,
U12 T2 T1
It then follows that
T1 V1 T2 V2
E T V constant
When a particle moves under the action of conservative forces, the total mechanical
energy (E) is constant and is said to be conserved.
Friction forces are not conservative. Total mechanical energy of a system involving
friction decreases.
Mechanical energy is dissipated by friction into thermal energy. Total energy is
constant.
ES 12: DYNAMICS OF RIGID BODIES 25 GPVentura
 WORK-ENERGY METHOD
From the basic equation of the work-energy method previously discussed,
T 1 U12 T2
This can be expanded in the form distinguishing the work done by conservative
and non-conservative forces. This equation is given by,

T 1 (U12 )C (U12 ) NC T2

If there is no work done by non-conservative forces (e.g. friction forces), then

the equation reduces to
T 1 (U12 )C T2
wherein the work done by conservative forces is equal to the difference in
potential energy
T1 V1 T2 V2
ES 12: DYNAMICS OF RIGID BODIES 26 GPVentura
 EXAMPLE 11.3
200 mm
A 10 kg collar slides without friction
along a vertical rod as shown. The
spring attached to the collar has an
undeformed length of 100 mm and a
spring constant of 600 N/m. 150 mm
If the collar is released from rest at
position 1, determine its velocity after
it has moved 150 mm to position 2.

ES 12: DYNAMICS OF RIGID BODIES 27 GPVentura

 EXAMPLE 11.3
200 mm
Apply the principle of conservation of energy between
positions 1 and 2.
Position 1: Ve 12 kx12 1
2
600 N/m 0.2m 0.1m 2 3Nm
10 kg
150 mm V1 Ve Vg 3 0 3Nm

250 mm T1 0
Position 2: Ve 12 kx22 600 N/m 0.25m 0.1m 2 6.75Nm
1
2

Vg Wy (10kg )(9.81m/s 2 ) 0.15m 14.715 Nm

10 kg
V2 Ve Vg 6.75 14.715 7.965 Nm
Conservation of Energy: 1
T2 12 mv22 (10)v22 5v22
T1 V1 T2 V2 2

0 3Nm 5v22 7.965 Nm v2 1.48m/s

ES 12: DYNAMICS OF RIGID BODIES 28 GPVentura
 EXAMPLE 11.4
The 250 g pellet is pushed against
the spring and released from rest
at A.
500 mm
k = 600 N/m
Neglecting friction, determine the
m = 250 g smallest deflection of the spring for
which the pellet will travel around
the loop and remain in contact with
the loop at all times.

ES 12: DYNAMICS OF RIGID BODIES 29 GPVentura

 EXAMPLE 11.4
Setting the force exerted by the loop to zero, solve for
the minimum velocity at D.
Fn man : W man mg m vD2 r

vD2 rg 0.5m 9.81 m/s 2 4.905m 2 / s 2
Apply the principle of conservation of energy between
points A and D.
V1 Ve Vg 12 kx 2 0 12 600 N/m x 2 300 x 2
T1 0
1m
V2 Ve Vg 0 Wy 0.25kg 9.81m/s 2 (1m) 2.45J

T2 12 mvD2
1
2

(0.25kg ) 4.905m 2 /s 2 0.613J
T1 V1 T2 V2
0 300 x 2 2.45 0.613 x 0.101m
ES 12: DYNAMICS OF RIGID BODIES 30 GPVentura
 QUIZ
The 8-kg block is moving
with an initial speed of 5
m/s as shown in the
figure. If the coefficient of
kinetic friction between
the block and plane is k
= 0.25, determine the
compression in the spring
when the block
momentarily stops.

ANSWER:
0.688 m

ES 12: DYNAMICS OF RIGID BODIES 31 GPVentura

 PRACTICE PROBLEM A
A 2-kg collar is attached to a spring
and slides without friction in a vertical
plane along the curved rod ABC.

The spring is undeformed when the

collar is at C and its constant is 600
N/m.

If the collar is released at A with no

initial velocity, determine its velocity

A. as it passes through B,
B. as it reaches C.
ANSWERS:
A. 2.48 m/s
B. 1.732 m/s
ES 12: DYNAMICS OF RIGID BODIES 32 GPVentura
 PRACTICE PROBLEM B
A package is thrown down an incline
at A with a velocity of 1 m/s.

The package slides along the surface

ABC to a conveyor belt which moves
with a velocity of 2 m/s. Knowing that
d = 7.5 m and k = 0.25 between the
package and all
surfaces, determine

A. the speed of the package at C,

B. the distance a package will slide
on the conveyor belt before it
comes to rest relative to the belt.
ANSWERS:
A. 2.9 m/s
B. 0.893 m
ES 12: DYNAMICS OF RIGID BODIES 33 GPVentura
 Engr.
GIANCARLO P. VENTURA

Institute of Civil Engineering

ES 12: DYNAMICS OF RIGID BODIES

College of Engineering
University of the Philippines
Diliman

END OF LECTURE ICE 319

[email protected]

Beer, F. P. et al (2013). Vector Mechanics for Engineers: Statics and Dynamics (10th ed.). New York: McGraw-Hill.
Hibbeler, R. C., & Hibbeler, R. C. (2013). Engineering Mechanics: Dynamics (12th ed.). Upper Saddle River, NJ: Pearson/Prentice Hall.
GPVentura