DYNAMICS

Module 3
 Kinetic Energy and Work
• Kinetic energy
• Work
• Work-kinetic energy theorem
• Work done by a constant force-Gravitational
force.
• Work done by a variable force: -Spring force
and general
• Power
• Circular Motion
 Kinetic Energy
• I. Kinetic energy
• Energy associated with the state of motion of
an object:
• units are in Joules,
• II. Work
• Energy transferred “to” or “from” an object by
means of a force acting on the object.
 Work
• Energy transferred “to” or “from” an object by means of a force
acting on the object.
• To +W
• From -W
• - Constant force
• But

• ⟹
•

• Work done by the force = Energy transfer due to the force.

• Note if we were to consider the normal force and gravitational
force=mg on the bead, these do no work because they are
perpendicular to its displacement.
 Work Cont’d
• To calculate the work done on an object by a force during a
displacement, we use only the force component along the object’s
displacement. The force component perpendicular to the
displacement does zero work.
• =
• A force does +W when it has a
vector component in the same
direction as the displacement, and
–W when it has a vector component in the

• i.e 𝞠<90° ⟹+ve W; 180°>𝞠>90° ⟹-ve W; 𝞠=90°

• opposite direction. W=0 when it has no such vector component.

⟹ W=0
• Net work done by several forces = Sum of works done by individual
forces
 Work-Kinetic Energy Theorem
• Change in the kinetic energy of the particle = Net work done on

• ⟹
the particle.

• Hence the work–kinetic energy theorem

• III. Work done by a constant force

• Rising object: W= mgd cos180° = -mgd ⟹ Fg

• - Gravitational force:

transfers mgd energy from the object’s kinetic

• Falling object: W= mgd cos 0° = +mgd ⟹ Fg

energy.

transfers mgd energy to the object’s kinetic energy.

 A Block Pulled on a Frictionless Surface
• A 6.0-kg block initially at rest is pulled to the right along a
horizontal, frictionless surface by a constant horizontal force of 12
N. Find the speed of the block after it has moved 3.0 m.
• Solution:
• The work done by this force is:

• Using the work kinetic energy

relationship we have:
 Work Done by a Constant Force
• A particle moving in the x-y plane undergoes a displacement as a
constant force acts on the particle.
• a) Calculate the magnitudes of the displacement and the force.

• c) Find the angle between Δr and F

• b) Calculate the work done by F.

• Solution:
• a) ;
• b)
• c)
 Exercise
goes a displacement Δr=(3i +j)m. Find (a) the work
• A force F=(6i -2j)N acts on a particle that under-

between F and Δr.

• done by the force on the particle and (b) the angle
 Work Done by Varying Force
• Consider a particle being displaced along the x axis under the action
of a force that varies with position.

cannot use W=FΔrCos 𝞠 to calculate the work done by the force

• E.g if the direction of increasing x is from x=xi to x=xf, here we

because this relationship applies only when F is constant in

magnitude and direction.

Δx, shown in Figure below:

• We imagine that the particle undergoes a very small dis-placement

• the x-component Fx of the force is

approximately constant over this small
interval; hence the shaded area gives:

Total work for displacement xi to xf is

 Work Done by Varying Force
• If the size of the displacements is allowed to approach zero, then

• Therefore, we can express the work done by Fx as the particle

moves from xi to xf as
• provided the force Fx is constant.
• If more than one force acts on a system and the system can be
modeled as a particle, the total work done on the system is just the
work done by the net force:

• The work done by the component Fx

Of the varying force as the particle moves
from xi to xf is exactly equal to
the area under this curve
Calculating Total Work Done from a Graph
• A force acting on a particle varies with x, as shown in Figure below.
Calculate the work done by the force as the particle moves from x=0
to x=6.0 m.

• Solution:
• The work done by the force is equal to the area
• under the curve from xA=0 to xC=6.0 m.
 Exercise
• A particle is subject to a force Fx that varies with position as in Figure
below. Find the work done by the force on the particle as it moves:
• (a) from x=0 to x=5.00 m,
• (b) from x=5.00 m to x=10.0 m, and (c) from x=10.0 m to x=15.0 m.
(d) What is the total work done by the force over the distance x=0 to
x=15.0 m?
 Work Done by a Spring
• If the spring is either stretched or compressed a small distance
from its un-stretched (equilibrium) configuration, it exerts on the
block a force that can be expressed as
• Where x is the position of the block relative to its equilibrium (x=0)
position and k is a positive constant called the force constant or
the spring constant of the spring.
• This force law for springs is known as Hooke’s law.
• The value of k is a measure of the stiffness of the spring.
• Stiff springs have large k values, and soft springs have small k
values.
• the units of k are N/m.
• the force exerted by the spring is al-ways directed opposite to the
displacement from equilibrium.
 Work Done by a Spring Cont’d
• When x>0, the block is to the right
of the equilibrium position, the
spring force is directed to the left,

• When x< 0, the block is to

in the negative x-direction.

the left of equilibrium and

the spring force is directed
to the right, in the positive
x-direction.
• When x=0, the spring is un-
stretched and Fs = 0
 Work Done by a Spring Cont’d
• Suppose the block has been
pushed to the left to a position –
xmax and is then re-leased. Then
work done by the spring force is:

• Because the block arrives at x=0

with some speed, it will continue
moving, until it reaches a position
+ xmax
• From x=0 to x=+ xmax

• Therefore net-work by spring from

–xmax to +xmax =0
 Work Done by a Spring Cont’d
• If the block undergoes an arbitrary displacement from x=xi to x=xf,
the work done by the spring force on the block is:

• This relationship gives work done by the spring on the block.

• If work is done on the spring, then the applied force Fapp is equal in
magnitude and opposite in direction to the spring force Fs, so that
Fapp=-(-kx)=kx
• The work done by this applied force on the block-spring system is:

• between arbitrary positions of the block work done is:

• The spring force and the applied force are of equal magnitude but
in opposite directions.
 Three Dimensional Analysis
• ⟹
 Power
• Power is rate at which the applied force does work.
• Average power: amount of work done in an amount of time ∆t by a
force.
• Instantaneous power: instantaneous rate of doing work;
 Exercise
• An elevator car has a mass of 1600kg and is carrying passengers
having a combined mass of 200kg. A constant friction force of 4 000
N retards its motion upward, as shown in Figure below.
a) What is the required power delivered by the motor to lift the
elevator car at a constant speed of 3.00m/s?
 Circular Motion
• Rotational variables:
• Rigid body: A body that can rotate with all its parts locked together
and without shape changes.
• Rotation axis: every point of a body moves in a circle whose center
lies on the rotation axis. Every point moves through the same angle
during a particular time interval.
• Reference line: fixed in the body, perpendicular to the rotation axis
and rotating with the body.
• Angular position: the angle of the reference line relative to the
positive direction of the x-axis.
 Circular Motion
• The angular position is:

• Translation: body’s movement

described by x(t).
• Rotation: body’s movement given
by θ(t) = angular position of the
body’s reference line as function of
time.
 Circular Motion
• Angular displacement: body’s
rotation about its axis changing the
angular position from (θ1to θ2).

• Clockwise rotation negative

• Counterclockwise rotation positive
• Angular velocity:

• Units: rad/s or rev/s

 Circular Motion
• These equations hold not only for the rotating rigid body as a whole
but also for every particle of that body because they are all locked
together.
• Angular speed (ω): magnitude of the angular velocity.
• Angular acceleration:

• Angular quantities are “normally” vector

quantities.
• Object rotates around the direction of the axis
• a vector defines an axis of rotation not
the direction in which something is moving.
Rotation with constant angular
acceleration
 Example
• A wheel rotates with a constant angular acceleration of 3.50rad/s2
• a) If the angular speed of the wheel is 2.00rad/s at ti =0,
• through what angular displacement does the wheel rotate in
• 2.00s?
• Solution:

• b) Through how many revolutions has the wheel turned

• during this time interval?

• c) What is the angular speed of the wheel at t =2.00s?

 Relation between linear and angular variables
• Position: 𝞠 is always in rads
• Speed:
• is tangent to the circle in which a point
moves.
• Since all points within a rigid body have the
same angular speed ω, points located at greater
distance with respect to the rotational axis have
greater linear (or tangential) speed, v.
• If ω=constant, v=constant each point
• within the body undergoes uniform circular motion.
• Period of revolution:
 Relation between linear and angular
variables
• Acceleration: (Tangential component of linear acceleration)
• Radial component of linear acceleration is given as:
• (units m2/s)
• The total linear acceleration vector at the point
• is , where the magnitude of ar
• is the centripetal acceleration ac.
• Because a is a vector having a radial and a
• tangential component, the magnitude of a at
the point P on the rotating rigid object is:
 Example
On a compact disc (Fig. below), audio information is stored in a
series of pits and flat areas on the surface of the disc. The
information is stored digitally, and the alternations between pits and
flat areas on the surface represent binary ones and zeroes to be
read by the compact disc player and converted back to sound
waves. The pits and flat areas are detected by a system consisting of
a laser and lenses. The length of a string of ones and zeroes
representing one piece of information is the same everywhere on
the disc, whether the information is near the center of the disc or
near its outer edge. In order that this length of ones and zeroes
always passes by the laser–lens system in the same time period, the
tangential speed of the disc surface at the location of the lens must
be constant. This requires, according to Equation , that the angular
speed vary as the laser–lens system moves radially along the disc. In
a typical compact disc player, the constant speed of the surface at
the point of the laser–lens system is 1.3 m/s.
 Example Cont’d
a) Find the angular speed of the
disc in revolutions per minute
when information is being
read from the innermost first
track (r=23mm) and the
outermost final track
(r=58mm).
Solution
For the inner track

For the outer track:

=213.99revs/min
 Example Cont’d
b) The maximum playing time of
a standard music CD is 74min and
33s. How many revolutions does
the disc make during that time?
Solution:
At
At
 Example Cont’d
c) What total length of track
moves past the objective lens
during this time?
Solution:
Since we know the constant linear
velocity and the total time taken
then:

d) What is the angular

acceleration of the CD over the
4473-s time interval? Assume that
is constant.
 Kinetic energy of rotation
• Remember Angular velocity, ω is the same for all particles within
the rotating body.
• Linear velocity, v of a particle within the rigid body depends on the
particle’s distance to the rotation axis (r).
• Each particle has kinetic energy determined by its mass (mi) and
tangential speed(vi): its kinetic energy=
• although every particle in the rigid object has the
same angular speed , the individual tangential
speeds depend on the distance r from the axis of
rotation according to
• The total kinetic energy of the rotating rigid object
is the sum of the kinetic energies of the individual
particles:
 Kinetic energy of rotation cont’d
•
• This expression can be written in the form:
• Rotational inertia = Moment of inertia, I:
• This indicates how the mass of the rotating body is distributed
about its axis of rotation.
• The moment of inertia is a constant for a particular rigid body and a
particular rotation axis. Units: kg m2
• Therefore Rotational Kinetic Energy is given by
• Note, this is ordinary kinetic energy because it is derived from a
sum of individual kinetic energies of the particles contained in the
rigid object.
• The moment of inertia is a measure of the resistance of an object
to changes in its rotational motion, just as mass is a measure of
the tendency of an object to resist changes in its linear motion.
 Calculation of Moments of Inertia
• We imagine an extended rigid object ; we imagine an object divided
into many small volume elements; each of mass . Then:
• Moment of inertia of a rigid object=
• It is usually easier to calculate moments of inertia in terms of the

• ∴ the mass of a small element is

volume of the elements rather than their mass, .

• ⟹
• If the object is homogeneous, then is constant and the integral can
be evaluated for a known geometry.
• If is not constant, then its variation with position must be known to
complete the integration.
 Calculation of Moments of Inertia
• is sometimes referred to as volumetric mass density because it
represents mass per unit volume.
• other ways of expressing density are used e.g. when dealing with a
sheet of uniform thickness t, here a surface mass density is used;
which represents mass per unit area.
• Finally, when mass is distributed along a rod of uniform cross-
sectional area A, we sometimes use linear mass density;
• ; which is the mass per unit length.
 Example
• Uniform Thin Hoop:
• Find the moment of inertia of a uniform thin hoop of mass M and
radius R about an axis perpendicular to the plane of the hoop and
passing through its center in figure below:
• All mass elements dm are at the same distance

• ∴ the moment of inertia about

• r=R from the axis,

• ⟹.
• the z-axis through O:
 Example on Uniform Rigid Rod
• Calculate the moment of inertia of a uniform rigid rod of length L
and mass M(Fig. below) about an axis perpendicular to the rod (the
y-axis) and passing through its center of mass.
• Solution:
• The shaded length element dx, has mass dm given:
 Uniform Solid Cylinder
• A uniform solid cylinder has a radius R, mass M, and length L.
Calculate its moment of inertia about its central axis (the z-axis in fig
below).
• Solution:
• divide the cylinder into many cylindrical shells each of which has
radius r, thickness dr, and length L,
• The volume dV of each shell is its cross-sectional area
multiplied by its length:
if , then

the total volume of the cylinder is .The next table gives the moment of
inertia of different objects.
Rotational Inertia for different bodies
 Torque
• Torque: Is to do with turning
action of force .
• Radial component, Fr :does
not cause rotation pulling a
door parallel to door’s plane.
• Tangential component, Ft:
does cause rotation pulling a
door perpendicular to its
plane.
 Torque Cont’d
• (Nm)
• Sign:
• Torque >0 if body rotates
counterclockwise.
• Torque <0 if clockwise
rotation.
• Superposition principle:
• When several torques act
on a body, the net torque
is the sum of the
individual torques.
 Newton’s second law for rotation
• Particle can move only along the
circular path ,only the tangential
component of the force Ft (tangent
to the circular path) can accelerate
the particle along the path.
 The Net Torque on a Cylinder
• A one-piece cylinder is shaped as shown in Figure below, with a
core section protruding from the larger drum. The cylinder is free
to rotate about the central axis shown in the drawing. A rope
wrapped around the drum, which has radius R1, exerts a force T1
to the right on the cylinder. A rope wrapped around the core,
which has radius R2, exerts a force T2 downward on the cylinder.
a) What is the net torque acting on the cylinder about the
• rotation axis (which is the z-axis )?
• Solution:
• Torque due to T1 is
• Torque due to T2 is
 The Net Torque on a Cylinder
b) Suppose T1=5.0N, R1=1.0m, T2=15.0N, and R2=0.50m. What is the
net torque about the rotation axis, and which way does the cylinder
rotate starting from rest?

This torque is positive, ∴ the cylinder will begin

to rotate in the counterclockwise direction.
 Work and Rotational kinetic energy
• Consider a rigid object rotating • Suppose a single external force
about an axis through O under F is applied at P, where F lies in
the action of an external force the plane of the page.
F applied at P. • The work done by F on the
object as it rotates through an
infinitesimal distance is:
•
• where is the component of the
force along the displacement.
• Note that the radial
component of F does no work
because it is perpendicular to
the displacement
 Work and Rotational kinetic energy
• the magnitude of the torque due to F about O is defined as:
•
• work done for the infinitesimal rotation.
• The rate at which work is being done by F as the object rotates
about the fixed axis through the angle in a time interval is:

• is the instantaneous power delivered by the force

• And , this expression reduces to