Faculty of Engineering

Mechanical Engineering

Dünya Seni Bekliyor

MEC 204 - DYNAMICS
Dr. Hikmet BAL
Ch13 - Kinetics of Particle (Work and Energy)
1
 THE WORK OF A FORCE, THE PRINCIPLE OF
WORK AND ENERGY & SYSTEMS OF PARTICLES

Today’s Objectives:
Students will be able to:
1. Calculate the work of a force.
2. Apply the principle of work and
energy to a particle or system of
particles.

How can we design the track (e.g.,

the height, h, and the radius of
curvature, r) to control the forces
experienced by the passengers?
 WORK AND ENERGY

For working kinetics problems can be derived by integrating

the equation of motion (F = ma) with respect to displacement.

 Ft = mat = mv(dv/ds)  the principle of work and energy can be

written as:
 U1-2 = 0.5 m (v2)2 – 0.5 m (v1)2 or T1 +  U1-2 = T2
 WORK OF A FORCE (Section 14.1)

A force does work on a particle when the particle undergoes a

displacement along the line of action of the force.

dU = F ds cos q

r2

U1-2 =  F • dr
r1
 WORK OF A FORCE (continued)

If F is a function of position (a common

case) this becomes:

s2

U1-2 =  F cos q ds
s1

If both F and q are constant (F = Fc), this equation further

simplifies to

U1-2 = Fc cos q (s2 - s1)

 WORK OF A WEIGHT

The work done by the mg acting on a particle (or weight of an

object) can be calculated by using

y2

U1-2 =  - W dy
y1

U1-2 = - W (y2 − y1) = - W Dy

If Dy is upward, the work is negative since the weight

force always acts downward.
 WORK OF A SPRING FORCE

a linear elastic spring force

Fs = ks,
where k is the spring stiffness and s is
the displacement.

The work of the spring force moving from position s1 to position

s2 is s2 s2

U1-2 =  Fs ds =  k s ds = k (s2)2 – k (s1)2

s1 s1

the force Fs exerted on the particle is opposite to that exerted on

the spring. Thus, the work done on the particle by the spring force
will be negative or
U1-2 = – [ 0.5 k (s2)2 – 0.5 k (s1)2 ].
 PRINCIPLE OF WORK AND ENERGY
(Section 14.2 & Section 14.3)

 Ft = mat = mv(dv/ds), the principle of work and energy can be

written as:

 U1-2 = 0.5 m (v2)2 – 0.5 m (v1)2

or T1 +  U1-2 = T2

So, the particle’s initial kinetic energy plus the work done by all the
forces acting on the particle as it moves from its 1st to 2nd position

is equal to the particle’s final kinetic energy.

 PRINCIPLE OF WORK AND ENERGY (continued)

Note that the principle of work and energy (T1 +  U1-2 = T2) is
not a vector equation! Each term results in a scalar value.

Both kinetic energy and work have the same units, that of
energy! In the SI system, the unit for energy is called a joule (J),
where 1 J = 1 N·m. In the FPS system, units are ft·lb.

The principle of work and energy cannot be used, in general, to

determine forces directed normal to the path, since these forces
do no work.
 WORK OF FRICTION CAUSED BY SLIDING

The case of a body sliding over a rough surface:

If the applied force P just balances the

resultant frictional force k N, a constant
velocity v would be maintained.

The principle of work and energy would be

applied as
0.5m (v)2 + P s – (k N) s = 0.5m (v)2

This equation is satisfied if P = k N.

 EXAMPLE

Given: When s = 0.6 m, the spring is

not stretched or compressed,
and the 10 kg block, which is
subjected to a force of 100 N,
has a speed of 5 m/s down
the smooth plane.

Find: The distance s when the block stops.

 EXAMPLE (continued)

Solution:
Apply the principle of work and energy between position 1
(s1 = 0.6 m) and position 2 (s2). Note that the normal force (N)
does no work since it is always perpendicular to the
displacement. T + U = T S =0.6 m
1
1 1-2 2
S2
There is work done by three different forces;
1) work of a the force F =100 N;
UF = 100 (s2− s1) = 100 (s2 − 0.6)
2) work of the block weight;
UW = 10 (9.81) (s2− s1) sin 30 = 49.05 (s2 − 0.6)
3) and, work of the spring force.
US = - 0.5 (200) (s2−0.6)2 = -100 (s2 − 0.6)2
 EXAMPLE (continued)

The work and energy equation will be

T1 + U1-2 = T2

0.5 (10) 52 + 100(s2 − 0.6) + 49.05(s2 − 0.6) − 100(s2 − 0.6)2 = 0

 125 + 149.05(s2 − 0.6) − 100(s2 − 0.6)2 = 0

Solving for (s2 − 0.6),

(s2 − 0.6) = {-149.05 ± (149.052 – 4×(-100)×125)0.5} / 2(-100)

Selecting the positive root, indicating a positive spring deflection,

(s2 − 0.6) = 2.09 m
Therefore, s2 = 2.69 m
GROUP PROBLEM SOLVING I

Given: The 1-kg brick slides

down a smooth roof,
with vA=1.5 m/s.

Find: The speed at B,

the distance d from the
wall to where the brick
strikes the ground, and
its speed at C.
 GROUP PROBLEM SOLVING I (continued)

Solution:
1) Apply the principle of work and energy
TA + UA-B = TB

Solving for the unknown velocity yields vB = 9.515 m/s

Similarly, apply the work and energy principle between A and C
TA + UA-C = TC

vC = 16.34 m/s
 GROUP PROBLEM SOLVING I (continued)

2) Apply the kinematic relations in x and y-directions:

Equation for horizontal motion
+ xC = xB + vBx tBC
d = 0 + 9.515 (4/5) tBC
 d = 7.612 tBC

Equation for vertical motion

+ yC = yB + vBy tBC – 0.5 g tBC2
 -9 = 0 + (-9.515)(3/5) tBC – 0.5 (9.81) tBC2

Solving for the positive tBC yields tBC = 0.8923 s.

 d = 7.612 tBC = 7.612 (0.8923) = 6.79 m
 POWER AND EFFICIENCY

Today’s Objectives:
Students will be able to:
1. Determine the power generated by a machine, engine, or
motor.
2. Calculate the mechanical efficiency of a machine.

The capacity of a machine is

measured by the time rate at
which it can do work or deliver
energy. The total work or energy
output is not a measure of this
capacity. since a motor, no
matter how small, can deliver a
large amount of energy if given
sufficient time
 POWER AND EFFICIENCY (Section 14.4)

Power is defined as the amount of work performed per unit

of time.

If a machine or engine performs a certain amount of work,

dU, within a given time interval, dt, the power generated can
be calculated as
P = dU/dt

Since the work can be expressed as dU = F • dr, the power

can be written
P = dU/dt = (F • dr)/dt = F • (dr/dt) = F • v
 POWER

Using scalar notation, power can be written

P = F • v = F v cos q
where q is the angle between the force and velocity vectors.

The unit of power in the SI system is the Watt (W) where

1 W = 1 J/s = 1 (N · m)/s .
 EFFICIENCY

The mechanical efficiency of a machine is the ratio of the

useful power produced (output power) to the power supplied
to the machine (input power) or

e = (power output) / (power input)

If energy input and removal occur at the same time, efficiency

may also be expressed in terms of the ratio of output energy
to input energy or

e = (energy output) / (energy input)

 EXAMPLE

Given: A 50 kg block (A) is hoisted by the

pulley system and motor M. The motor
has an efficiency of 0.8. At this instant,
point P on the cable has a velocity of 12
m/s which is increasing at a rate of 6
m/s2. Neglect the mass of the pulleys and
cable.
Find: The power supplied to the motor at this
instant.
 EXAMPLE (continued)
Solution:
1) Define position coordinates to relate velocities.
Datum sm Here sP is defined to a point on the cable. Also
SP sB sA is defined only to the lower pulley, since the
block moves with the pulley. From kinematics,
SA
sP + 2 s A = l
 aP + 2 a A = 0
 aA = − aP / 2 = −3 m/s2 = 3 m/s2 ()

Draw the FBD and kinetic diagram of the block:

2T
mA aA
A = A

W = 50 (9.81) N
 EXAMPLE (continued)

2) The tension of the cable can be obtained by applying the

equation of motion to the block.
+↑ Fy = mA aA
2T − 50 (9.81) = 50 (3)  T = 320.3 N

3) The power supplied by the motor is the product of the force

applied to the cable and the velocity of the cable.
Po = F • v = (320.3)(12) = 3844 W
The power supplied to the motor is determined using the
motor’s efficiency and the basic efficiency equation.
Pi = Po/e = 3844/0.8 = 4804 W = 4.8 kW
 GROUP PROBLEM SOLVING

Given:A 2000 kg sports car increases its speed uniformly from

rest to 25 m/s in 30 s. The engine efficiency e = 0.8.
Find: The maximum power and the average power supplied by
the engine.
 GROUP PROBLEM SOLVING (continued)
Solution:
1) Draw the FBD & Kinetic Diagram of the car as a particle.
1 W
y 10 ma
x =
Fc
Nc

The normal force Nc and frictional

force Fc represent the resultant
forces of all four wheels.
The frictional force between the wheels and road pushes the
car forward. What are we neglecting with this approach?
 GROUP PROBLEM SOLVING (continued)

2) The equation of motion

+  Fx = max  – 2000 g (sin 5.711) + Fc = 2000 ax

q W q = tan-1(1/10) = 5.711
Determine ax using constant
acceleration equation max

 v = v0 + ax t Fc
=
Nc
ax = (25 – 0) / 30 = 8.333 m/s2

Substitute ax into the equation of motion and determine

frictional force Fc:
Fc = 2000 ax + 2000 g (sin 5.711)
= 2000(8.333) + 2000 (9.81) (sin 5.711) = 3619 N
 GROUP PROBLEM SOLVING (continued)

3) The max power output of the car is calculated by

multiplying the driving (frictional) force and the car’s final
speed:
(Pout)max = (Fc)(vmax) = 3619 (25) = 90.47 kW
The average power output is the force times the car’s
average speed:
(Pout)avg = (Fc)(vavg) = 3619 (25/2) = 45.28 kW

4) The power supplied by the engine is obtained using the

efficiency equation.
(Pin)max = (Pout)max / e = 90.47 / 0.8 = 113 kW
(Pin)avg = (Pout)avg / e = 45.28 / 0.8 = 56.5 kW
 CONSERVATIVE FORCES, POTENTIAL ENERGY
AND CONSERVATION OF ENERGY

Today’s Objectives:
Students will be able to:
1. Use the concept of conservative forces and determine the potential
energy of such forces.
2. Apply the principle of conservation of energy.

how can we determine the minimum height

of hill A so that the car travels around both
inside loops without leaving the track?
 CONSERVATIVE FORCE (Section 14.5)

if the work done is independent of the path of particles moves fro

A to B when force F acting on.

we say the work is conserved.

z F
 F · dr = 0 B

A
The work done by a conservative y
force depends only on the positions
of the particle, and is independent of x
its velocity or acceleration.
 CONSERVATIVE FORCE (continued)

A conservative force definition makes use of a potential energy

function (V).
The “conservative” potential energy of a particle/system
commonly encountered in mechanical is typically written from
gravity and the elastic elements.

Vtotal = Vgravity + Vsprings

In general, for any conservative force system, we can define the

potential function (V) as a function of position.
POTENTIAL ENERGY DUE TO GRAVITY

Vg = ± W y

Vg is positive if y is above the

datum and negative if y is
below the datum.
ELASTIC POTENTIAL ENERGY

1 2
Ve = k s
2

Notice that the potential

function Ve always yields
positive energy.
 CONSERVATION OF ENERGY (Section 14.6)

In a conservative system:
sum of kinetic energy and potential energy remains constant.

T1 + V1 = T2 + V2 = Constant

T1 stands for the kinetic energy at state 1 and V1 is the

potential energy function for state 1. T2 and V2
represent these energy states at state 2.
EXAMPLE

Given: The 4 kg collar, C, has a

velocity of 2 m/s at A.
The spring constant is 400
N/m. The unstretched length
of the spring is 0.2 m.

Find: The velocity of the collar at

B.
 EXAMPLE (continued)
Solution:
. Datum Note that the potential energy at B has two
parts.
0.3 m
0.5 m VB = (VB)e + (VB)g
. VB = 0.5 (400) (0.5 – 0.2)2 – 4 (9.81) 0.4
The kinetic energy at B is
TB = 0.5 (4) vB2
Similarly, the potential and kinetic energies at A will be
VA = 0.5 (400) (0.1 – 0.2)2, TA = 0.5 (4) 22
The energy conservation equation becomes TA + VA = TB + VB.
[ 0.5(400) (0.5 – 0.2)2 – 4(9.81)0.4 ] + 0.5 (4) vB2
= [0.5 (400) (0.1 – 0.2)2 ]+ 0.5 (4) 22
 vB = 1.96 m/s
 GROUP PROBLEM SOLVING I

Given: The 800 kg roller

coaster car is
released from rest
at A.

Find: The minimum height, h, of Point A so that the car travels

around inside loop at B without leaving the track. Also find the
velocity of the car at C for this height, h, of A.
 GROUP PROBLEM SOLVING I (continued)
Datum
Solution:
1) Placing the datum at A:
TA + VA = TB + VB

 0.5 (800) 02 + 0
= 0.5 (800) (vB)2 − 800(9.81) (h − 20) (1)

2) Find the required velocity of the coaster at B so it doesn’t

leave the track.
Equation of motion applied at B:
2 NB  0
v
 Fn = man = m r

800 (9.81) = 800

(vB)2 =
7.5 man
mg
 vB = 8.578 m/s
 GROUP PROBLEM SOLVING I (continued)

Datum
Now using the energy
conservation, eq. (1), the
minimum h can be determined.

0.5 (800) 02 + 0 = 0.5 (800) (8.578)2 − 800(9.81) (h − 20)

 h = 23.75 m

3) Find the velocity at C applying the energy conservation.

TA + VA = TC + VC
 0.5 (800) 02 + 0 = 0.5 (800) (vC)2 − 800(9.81) (23.75)
 VC = 21.6 m/s
 GROUP PROBLEM SOLVING II

Given: The arm is pulled back such that

s = 100 mm and released.
When s = 0, the spring is
unstretched.
Assume all surfaces of contact to
be smooth. Neglect the mass of
the spring and the size of the ball.

Find: The speed of the 0.3-kg ball and the normal reaction of the
circular track on the ball when q = 60.
 GROUP PROBLEM SOLVING II (continued)
Solution:
1) Placing the datum at A:
TA + VA = TB + VB
60
where  B
Datum
TA = 0.5 (0.3) 02 A

VA = 0 + 0.5 (1500) 0.12

TB = 0.5 (0.3) vB2
VB = 0.3 (9.81) 1.5 (1 − cos 60)
The conservation of energy equation is
0 + 0.5 (1500) 0.12 = 0.5 (0.3) (vB)2
+ 0.3 (9.81) 1.5 (1 − cos 60)
vB = 5.94 m/s
 GROUP PROBLEM SOLVING II (continued)

2) Find the normal reaction on the ball when q = 60.

Free-body diagram Kinetic diagram
n W n
60 mat
man 60
t t
=
N

Equation of motion applied at q = 60 :

2
v
 Fn = man = m B
r
5.942
N  0.3 (9.81) cos 60 = 0.3
1.5
N = 8.53 N
Refs:

• Dynamics, Fourteenth Edition in SI Units,

R.C.Hibbeler, Pearson, Prentice Hall

• Engineering Mechanics Dynamics, Meriam&Kraige

61