Kinematics and Dynamics

Department of Mechanical Engineering

University of AASTU
• Kinetics of a particle: Work and Energy (Chapter 4)

W. Wang 2
 Kinetics of a particle: Work & Energy
Chapter 4

Chapter objectives
•Develop the principle of work and energy
and apply it in order to solve problems that
involve force, velocity and displacement
•Problems that involve power and efficiency
will be studied
•Concept of conservative force will be
introduced and application of theorem
of conservation of energy, in order to
solve kinetic problems, will be
described
W. Wang 3
 Material covered
•Kinetics of a particle: Work &
Energy
-The work of a force
- Principle of Work and Energy
-Principle of Work and Energy for a
system of particles
…Next lecture…Power and efficiency,
conservative forces and potential
energy, conservation of energy
W. Wang 4
 Objectives

Students should 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

5
 Applications I

A roller coaster makes use of gravitational forces to assist

the cars in reaching high speeds in the “valleys” of the
track.

How can we design the track (e.g., the height, h, and the
radius of curvature, ) to control the forces experienced by
the passengers? 6
Applications II

Crash barrels are often used

along roadways for crash
protection.
The barrels absorb the car’s
kinetic energy by deforming

If we know the typical velocity of

an oncoming car and the amount of
energy that can be absorbed by
each barrel, how can we design a
crash cushion?

7
 Work and Energy

Another equation for working kinetics problems involving particles can

be derived by integrating the equation of motion (F = ma) with respect to
displacement
By substituting at = v (dv/ds) into Ft = mat, the result is integrated to
yield an equation known as the principle of work and energy (F ds =
mvdv)
This principle is useful for solving problems that involve force, velocity,
and displacement. It can also be used to explore the concept of power

To use this principle, we must first understand how to calculate the work
of a force
8
 Work of a force (14.1)
A force does work on a particle when the particle undergoes a
displacement along the line of action of the force

Work is defined as the product of force

and displacement components acting
in the same direction.

So, if the angle between the force and

displacement vector is , the
increment of work dU done by

the of
force r2
By using the definition theis;
dot product and integration, the F • dr
U1-2==F ds cos
dU
total work can be written as:

r1 9
 Work of a force (14.1) continued…

If F is a function of position (a common case) this becomes

s2

U1-2   F cos 
ds
s1
If both F and  are constant (F = Fc), this equation
further simplifies to
U1-2 = Fc cos  s2 - s1)

Work is positive if the force and the movement are in the

same direction. If they are opposing, then the work is
negative. If the force and the displacement directions
are perpendicular, the work is zero
10
Work is positive if the force and the movement are in the same
direction. If they are opposing, then the work is negative. If
the force and the displacement directions are perpendicular, the
work is zero

F s2

F ds U1-2   F cos 
ds
s1
S1 S2 11
 Work of a weight (negative work)

The work done by the gravitational force acting on a

particle (or weight of an object) can be calculated by using;

y2

U1-2 =
 - W dy = - W (y2 - y1) = -W
y
y1
The work of a weight is the product of the magnitude of the particle’s
weight and its vertical displacement. If y is upward, the work is
negative since the weight force always acts downward

12
 Work of a spring force

When stretched, a linear elastic spring

develops a force of magnitude Fs = ks, where
k is the spring stiffness and s is the
displacement from the unstretched position

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

s2 is; s2 s2


U1-2  s1 Fs ds  s1 k s ds =0.5k(s2)2 - 0.5k(s1)2

If a particle is attached to the spring, 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 = – [ 0.5k (s2)2 – 0.5k (s1)2 ] 13
U1-2
W. Wang 14
[Link]
 Spring forces
It is important to note the following about spring forces:

1. The equations shown are just for linear springs only!

Recall that a linear spring develops a force according
to F = ks (essentially the equation of a line)
2. The work of a spring is not just spring force times distance
at some point, i.e., (ksi)(si). Beware, this is a trap that
students often fall into! Remember the work of the spring force moving from
position s1tos position s 2is;
2 2
s 
U1-2 Fs ds k s ds= 0.5k(s2)2 - 0.5k(s1)2
s1 s1
3. Always double check the sign of the spring work after
calculating it. It is positive work if the force put on the
object by the spring and the movement are in the same
direction
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 Principle of work and energy (14.2 & 14.3)
By integrating the equation of motion,  Ft = mat = mv(dv/ds),
the principle of work and energy can be written as
 U1-2 = 1/2m(v2)2 – 1/2m(v1)2 or T1 +  U1-2 =
T2

U1-2 is the work done by all the forces acting on the particle as
it moves from point 1 to point 2. Work can be either a positive
or negative scalar
T1 and T2 are the kinetic energies of the particle at the initial and
final position, respectively. Thus, T1 = 1/2 m (v1)2 and T2 = 1/2
m (v2)2. The kinetic energy is always a positive scalar (velocity
is squared!)
So, the particle’s initial kinetic energy plus the work done by all
position is equal to the particle’s final kinetic energy
the forces acting on the particle as it moves from its initial to 16
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final
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
The principle of work and energy can also be applied to a system
of particles by summing the kinetic energies of all particles in
the system and the work due to all forces acting on the system
W. Wang 17
 WORK OF FRICTION CAUSED BY SLIDING
The case of a body sliding over a rough surface merits
special consideration.
Consider a block which is moving over
a
rough surface. If
the applied force P just balances the
resultant frictional force k N, a constant
The principle of work and energy would be
Kinetic velocity v would be maintained.
friction applied as
because
it’s 1/2m (v)2 + P s – (k N) s = 1/2m (v)2
sliding

This equation is satisfied if P = k N. However, we know from

experience that friction generates heat, a form of energy that does
not seem to be accounted for in this equation. It can be shown
that the work term (k N)s represents both the external work of
the [Link] force and the internal work that is converted into
heat. 18
Remember!

Energy equation is useful for solving problems that

involve force, velocity, and displacement.

Energy and work is a scalar, but still needs to find

forces doing work on the object. Only the forces going
in the direction of the motion will contribute any work!

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 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.

Plan: Since this problem involves forces, velocity and
displacement, apply the principle of work and energy to
determine s.
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 EXAMPLE
Solution: (continued)
Apply the principle of work and energy between position 1
(s = 0.6 m) and position 2 (s). Note that the normal force
(N) does no work since it is always perpendicular to the
displacement.
T1 + U1-2 = T2

There is work done by three different forces;

1) work of a the force F =100 N;
UF = 100 (s− s1) = 100 (s − 0.6)
2) work of the block weight;
UW = 10 (9.81) (s− s1) sin 30 = 49.05 (s − 0.6)
3) and, work of the spring force.
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U S = - 0.5 (200) (s  −0.6) 2 = -100 (s − 0.6)2
 21
 EXAMPLE
(continued)
The work and energy equation will be
T1 + U1-2 = T2

0.5 (10)+100(s − 0.6) + 49.05(s − 0.6) − 100(s − 0.6)2 = 0

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

Solving for (s − 0.6),

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

Selecting the positive root, indicating a positive spring

deflection, (s − 0.6) = 2.09 m
Therefore, s = 2.69 m
W. Wang 22
 CONCEPT QUIZ
1. A spring with an un-stretched length of 5 in expands from a
length of 2 in to a length of 4 in. The work done on the
spring is in·lb .
A) -[0.5 k(4 in)2 - 0.5 k(2 in)2] B) 0.5 k (2 in)2
C) -[0.5 k(3 in)2 - 0.5 k(1 in)2] D) 0.5 k(3 in)2 - 0.5 k(1 in)2

2. If a spring force is F = 5 s3 N/m and the spring is compressed

by s = 0.5 m, the work done on a particle attached to the
spring will be
A) 0.625 N · m B) – 0.625 N ·
C) 0.0781 N · m D) – 0.0781 N
W. Wang 23
m ·m
 Example
Given: The 2 lb brick slides
down a smooth
roof, with vA=5 ft/s.

Find: The speed at B,

the distance d from the
wall to where the
brick strikes the
C ground, and its speed
at C.
Plan: 1) Apply the principle of work and energy to the brick, and
determine the speeds at B and C.
2) Apply the kinematic relations in x and y-
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 Example (continued)
Solution: scalar

Solving for the unknown velocity yields vB = 31.48 ft/s

vC = 54.1 ft/s 25
 Vertical motion Horizontal motion

Y direction Since we know Vc we X direction

can find Vcy fron Vcx
Voy = Vosin and since VAx is Vox = Vocos
known then t can be
Vfy 2= Voy2 +2aY Vfx 2= V ox2
solved
Vfy = Voy +at
Vfx = Vox
Y= Voy t+1/2 at2
X= Vox t
Y=1/2(Vfy+Voy)t
X=1/2(V
fx+Vox)t 26
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 Example (continued)
2) Apply the kinematic relations in x and y-directions:
Equation for horizontal motion
(+ ) xC = xB + vBx tBC
d = 0 + 31.48 (4/5) tBC
 d = 6.996 tBC

Equation for vertical motion

(+) yC = yB + vBy tBC – 0.5 g t BC
2 
C
 -30 = 0 + (-31.48)(3/5) tBC – 0.5 (32.2) t 2
BC

Solving for the positive tBC yields tBC = 0.899 s.

 d = 6.996 tBC = 6.996 (0.899) = 22.6 ft
W. Wang 27
 Vertical motion Horizontal motion

Since we know Vc we vC = 54.1 ft/s

Y direction X direction
can find Vcy fron Vcx
Voy = Vosin and since VAx is Vox = Vocos
known then t can be
Vfy 2= Voy2 +2aY Vfx 2= V ox2
solved
Vfy = Voy +at
Vfx = Vox
Y= Voy t+1/2 at2
X= Vox t
Y=1/2(Vfy+Voy)t
X=1/2(V
fx+Vox)t 28
W. Wang
 Example
Given: A 0.5 kg ball of negligible size is
fired up a vertical track of
radius
1.5 m using a spring plunger with k =
500 N/m. The
plunger keeps the spring
compressed 0.08 m when s = 0

Find: The distance s the plunger must be pulled back and released so
the ball will begin to leave the track (N=0) when
 = 135°
Plan: 1) Draw the FBD of the ball at  = 135°.
2) Apply the equation of motion in the n-direction to
determine the speed of the ball when it leaves the track.
3) Apply the principle of work and energy to determine s
W. Wang 29
 Look at what’s given

1.5 cos45o m
135o
1.5m

0.08m
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 FBD

t N=0

n
45°
W

Normal tangential coordinate is easiest

W. Wang 31
 What are the unknown?

T1 + U1-2 = T2

0.5m (v1)2 – W y – (0.5k(s2)2 – 0.5k (s1)2) = 0.5m (v2)2

s1 = s + 0.08 m, s2 = 0.08 m
y = 1.5 + 1.5 sin 45° = 2.5607 m
s and V2 are unknown

How to find V2?

Equation of motion at =135o

Why?
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man = mv2/ = Fn 32
 Example (continued)
Solution:

1) Draw the FBD of the ball at  =

135° t N
The weight (W) acts downward through the
center of the ball. The normal force
n exerted by the track is perpendicular to the
45° surface. The friction force between the ball
W and the track has no component in the n-
2) Apply the equation of motion in the n-direction.
direction Since
the ball leaves the track at  = 135°, set N = 0
=> + Fn = man = m (v2/) => W cos45° = m
(v2/)
33
=> (0.5)(9.81) cos 45° = (0.5/1.5)v2 => v = 3.2257
m/s
 Example (continued)

3) Apply the principle of work and energy between position 1

( = 0) and position 2 ( = 135°). Note that the normal
force
(N) does no work since it is always perpendicular to the
displacement direction. (Students: Draw a FBD to
confirm the work forces)
T1 + U1-2 = T2
and (v1)2 –v1W= y
0.5m 0, –v(0.5k(s
2 = 3.2257
2 ) 2 – 0.5k (s )2) = 0.5m (v )2
m/s 1 2

s1 = s + 0.08 m, s2 = 0.08 m
y = 1.5 + 1.5 sin 45° = 2.5607 m
=> 0 – (0.5)(9.81)(2.5607) – [0.5(500)(0.08)2 – 0.5(500)(s + 0.08)2]
= 0.5(0.5)(3.2257)2
=> s = 0.179 m = 179 mm
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 1.5 cos45om

1.5m

0.08m
W. Wang 35
 Homework
Assignment
Chapter13-59, 65, 66, 75, 91, 93, 97, 107
Chapter14-3,11,14, 21

Due Wednesday !!!

W. Wang 36
W. Wang 37
 Lecture 9

• Kinetics of a particle: Work and Energy (Chapter 14)

- 14.4-14.6

W. Wang 38
 Kinetics of a particle: Work & Energy
Chapter 14
Chapter objectives
•Develop the principle of work and energy
and apply it in order to solve problems that
involve force, velocity and displacement
•Problems that involve power and efficienc y
will be studied
•Concept of conservative force will be
introduced and application of theorem
of conservation of energy, in order to
solve kinetic problems, will be
described
W. Wang 39
 Material covered
• Kinetics of a particle
- Power and efficiency
- Conservative forces and potential energy
- Conservation of energy
…Next lecture…MIDTERM REVIEW

W. Wang 40
 Today’s Objectives
Students should be able to:
1. Determine the power generated by a machine, engine, or motor
2. Calculate the mechanical efficiency of a machine
3. Understand the concept of conservative forces and determine
the potential energy of such forces
4. Apply the principle of conservation of energy

W. Wang 41
 Applications of power and efficiency I

Engines and motors are often rated in

terms of their power output. The power
requirements of the motor lifting this
elevator depend on the vertical force F that
acts on the elevator, causing it to move
upwards

Given the desired lift velocity for the

elevator, how can we determine the power
requirement of the motor?

W. Wang 42
 Applications of power and efficiency II

The speed at which a vehicle can climb a hill depends in part

on the power output of the engine and the angle of inclination
of the hill
For a given angle, how can we determine the speed of this
jeep, knowing the power transmitted by the engine to the
[Link] 43

?ang
 Power and efficiency (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

Thus, power is a scalar defined as the product of the

force and velocity components acting in the same
direction 44

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 Power

Using scalar notation, power can be written

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

So if the velocity of a body acted on by a force F is

known, the power can be determined by calculating the
dot product or by multiplying force and velocity
components
The unit of power in the SI system is the watt (W) where
1 W = 1 J/s = 1 (N ·m)/s
In the FPS system, power is usually expressed in units
of horsepower (hp) where
1 hp = 550 (ft · lb)/s = 746 W
W. Wang 45
 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
 = (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
 = (energy output)/(energy input)

Machines will always have frictional forces. Since

frictional forces dissipate energy, additional power will be
required to overcome these forces. Consequently,
the efficiency of a machine is always less than 1
W. Wang 46
 Procedure of analysis

• Find the resultant external force acting on the body causing

its motion. It may be necessary to draw a free-body diagram
• Determine the velocity of the point on the body at which the
force is applied. Energy methods or the equation of motion
and appropriate kinematic relations, may be necessary
• Multiply the force magnitude by the component of velocity
acting in the direction of F to determine the power
supplied to the body (P = F v cos )
• In some cases, power may be found by calculating the work
done per unit of time (P = dU/dt)
• If the mechanical efficiency of a machine is known, either
the power input or output can be determined
W. Wang 47
 Conservative forces and potential energy

W. Wang 48
 APPLICATIONS

The weight of the sacks resting on

this platform causes potential energy
to be stored in the supporting springs.

As each sack is removed, the platform

will rise slightly since some of the
potential energy within the springs
will be transformed into an increase
in gravitational potential energy of the
remaining sacks.

If the sacks weigh 100 lb and the equivalent spring constant

is k = 500 lb/ft, what is the energy stored in the springs?
W. Wang 49
 APPLICATIONS (continued)

The young woman pulls the

water balloon launcher back,
stretching each of the four
elastic cords.

If we know the unstretched length

and stiffness of each cord, can we
estimate the maximum height and
the maximum range of the water
balloon when it is released from
the current position? Would we
need to know any other
information?
W. Wang 50
 APPLICATIONS (continued)

The roller coaster is released from rest at the top of the hill
A. As the coaster moves down the hill, potential energy is
transformed into kinetic energy.
What is the velocity of the coaster when it is at B and C?
Also, how can we determine the minimum height of hill A
so that the car travels around both inside loops without
leaving the track?
W. Wang 51
Frictional force is a non-conservative force because it
depends on the path.
W. Wang 52
 Potential energy due to gravity

The potential function (formula) for a gravitational force, e.g., weight

(W = mg), is the force multiplied by its elevation from a datum (a fixed
starting point). The datum can be defined at any convenient location

Vg

±Wy

Vg is positive if y is above the

datum and negative if y is
W. Wang 53
below the datum.
 Elastic potential energy

Recall that the force of an elastic spring is F = ks. It is important to

realize that the potential energy of a spring, while it looks similar, is a
different formula

Ve (where ‘e’ denotes an elastic

spring) has the distance “s”
raised to a power (the result of
an integration) or
1 2
Ve  ks
2
Notice that the potential
function Ve always yields
positive energy
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W. Wang 55
W. Wang 56
 Conservation of energy
(Section 14.6)
When a particle is acted upon by a system of conservative forces, the
work done by these forces is conserved and the sum of kinetic
energy and potential energy remains constant. In other words,
as the particle moves, kinetic energy is converted to potential energy
and vice versa. This principle is called the principle of conservation
of energy and is expressed as

= Constant
T1 V1  T2 V2

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.
Recall, the
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kinetic energy is defined as T = ½ mv 2
57
W. Wang 58
Example: Three Phase Diamagnetic
Levitation Motor

Magnetic restoring force ~

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 Horizontal levitation

W. Wang 60
 Example

Given: The girl and bicycle

weigh 125 lbs. She moves
from point A to B.
Find:

The velocity and the

normal force at B if the
velocity at A is 10 ft/s and
she stops pedaling at A.

Plan: Note that only kinetic energy and potential energy due
to gravity (Vg) are involved. Determine the velocity at B using
the conservation of energy equation and then apply equilibrium61
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equations to find the normal force.
 Example (continued)
Solution:
Placing the datum at B:

TA VA  TB VB
1 125 1 125
125(30)  2(
(
2 32.2)(10) 2
)v 2 B
32.2
VB  45.1 s
ft
Equation of motion applied at B:
2
 Fn man m  v

NB  125  125 (45.1)
2

32.2
50lb
NB  283
W. Wang 62
 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.

Plan: Apply the conservation of energy equation between A and B.

Set the gravitational potential energy datum at point A or
point B (in this example, choose point A—why?).

W. Wang 63
 EXAMPLE (continued)
Solution:
. Datum Note that the potential energy at B has two
parts.
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
2
Similarly, the potential Tand
B = kinetic
0.5 (4) vB at A will be
energies
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) vB
2
= [0.5 (400) (0.1 – 0.2)2 ]+ 0.5 (4) 22
W. Wang vB = 1.96 m/s 64
 CONCEPT QUIZ

1. If the work done by a conservative force on a particle as it

moves between two positions is –10 ft·lb, the change in
its potential energy is
A) 0 ft·lb. B) -10 ft·lb.
C) +10 D) None of the above.
ft·lb.
2. Recall that the work of a spring is U1-2 = -½ k(s22 – s12) and
can be either positive or negative. The potential energy of a
spring is V = ½ ks2. Its value is
A) always B) either positive or
negative. negative.
C) always positive.
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D) an imaginary number! 65
 Example

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

around inside loop at B without leaving the track. Also find
travels
the velocity of the car at C for this height, h, of A.
Plan: Note that only kinetic energy and potential energy due to
gravity are involved. Determine the velocity at B using the
equation of motion and then apply the conservation of energy
equation to find minimum height h .
66
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 GROUP PROBLEM SOLVING (continued)
Solution:
1) Placing the datum at
A: TA + VA= TB + VB Datum
Tw
unknowns!!
o
 0.5 (800) 02 + 0
= 0.5 (800) (vB)2 − 800(9.81) (h − 20)
2) Find the required velocity of the coaster at B so it doesn’t
(1)the track.
leave
Equation of motion applied at B:
NB 
 F n  man   0
=
v 2 (vB)2
m
800 (9.81) = 800 7.5
mg man
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 vB = 8.578 m/s 67
 Example (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
68
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 Vertical motion Horizontal motion

Y direction X direction
Voy = Vosin Vox = Vocos
Vfy 2= Voy2 +2aY Vfx 2= V ox2

Vfy = Voy +at

Vfx = Vox
Y= Voy t+1/2 at2
X= Vox t
Y=1/2(Vfy+Voy)t
X=1/2(V
fx+Vox)t 69
W. Wang
 Homework
Assignment
Chapter14-71, 77, 79, 91, 92 (work on these
problems <- it will appear in 1st midterm)
Chapter15-6,11, 21,42, 54,57

Due next
Wednesday !!!

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W. Wang 71
 Chapter reviews
Chapter 12: pages 101-105
Chapter 13: pages 166-167
Chapter 14: pages 217-219
Chapter 15: pages 295-297
Chapter 16: pages 391-393
Chapter 17: pages 452-453
Chapter 18: pages 490-493
Chapter 19: pages 531-533

Book chapter reviews give you a good but brief idea

W. Wang about each chapter… 72
 General exam rules

•Midterm exam will consist of 4 questions. 3 questions

must be solved. The 4th question will be a bonus
question.
•Sub-questions may include statements of theoretical
definitions
• Midterm exam counts for 25% of the total mark
•Come on time. Since the lecture theatre will be used for
another class at 1:30, there will be no extra time
• Calculators with memory are not allowed

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 Midterm Exam
• Exam is on Friday!
• Exam will cover materials from Chapter 12, 13 and 14
• No wilress electronics
• Be careful of UNITS – Practice
• Solving equations symbolically
• Free body diagrams – Resolve forces
• Explain why are you doing things
• Full marks will be awarded for FULLY explained soluti ons
• Do not use random formulae but ONLY the relevant ones
• READ THE QUESTIONS CAREFULLY

W. Wang 74
 Fix and movable pulleys

Look at direction of supporting forces elative to load before

summing
W. Wang 76
 Static friction for tipping, wheel turning
and coefficient used when thing just start
to move.

Kinetic friction when thing is sliding.

W. Wang 77
 EXAMPLE II

Given: Projectile is fired with

vA=150 m/s at point
A.
Find:The horizontal distance it
travels (R) and the time
in
the air.

Plan: How will you proceed?

W. Wang
 EXAMPLE
II

Given: Projectile is fired with

vA=150 m/s at point
A.
Find:The horizontal distance it
travels (R) and the time
in
the air.

Plan: Establish a fixed x, y coordinate system (in this

W. Wang solution, the origin of the coordinate system is

placed at A).Apply the kinematic relations in x-

 Vertical Horizontal
motion motion
Y direction X direction
Voy = Vox = Vocos
VfyV2o=sin
Voy 2 +2aY Vfx 2= Vox2
Vfy = Voy +at
Vfx = Vox
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Y= Voy t+1/2 at2 X= Vox t
 EXAMPLE II
(continued) Solution:
1)Place the coordinate system at point A.
Then, write the equation for horizontal motion.
+ xB = xA + vAx
tAB
where xB = R, xA = 0, vAx = 150 (4/5) m/s

Range, R, will be R = 120 tAB

2) Now write a vertical motion equation. Use

the distance equation.
+ yB
= yA + vAy tAB – 0.5 g tAB2
where yB = – 150, yA = 0, and vAy = 150(3/5) m/s
We get the following equation: –150 = 90 tAB +
0.5 (– 9.81) tAB2
 Example

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

around inside loop at B without leaving the track. Also find
travels
the velocity of the car at C for this height, h, of A.
Plan: Note that only kinetic energy and potential energy due to
gravity are involved. Determine the velocity at B using the
equation of motion and then apply the conservation of energy
equation to find minimum height h .
82
W. Wang
 GROUP PROBLEM SOLVING (continued)
Solution:
1) Placing the datum at
A: TA + VA= TB + VB Datum
Tw
unknowns!!
o
 0.5 (800) 02 + 0
= 0.5 (800) (vB)2 − 800(9.81) (h − 20)
2) Find the required velocity of the coaster at B so it doesn’t
(1)the track.
leave
Equation of motion applied at B:
NB 
 F n  man   0
=
v 2 (vB)2
m
800 (9.81) = 800 7.5
mg man
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 vB = 8.578 m/s 83
 Example (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
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W. Wang 85
 n-t coordinate system

The tangential component of acceleration is constant, at = (at)c.

In this case,
Ftut + Fnun

= mat + man s = so + vot +

(1/2)(at)ct2

v = vo + (at)ct

v2 = (vo)2 + 2(at)c(s – so)

a = v˙ut + (v2/)un = atut +
anun
Solve the problem in polar coordinates:

 Fr = mar = m( – 2)

 F = ma = m(r +2
)
Position r = rur
Velocity v = ur + uθ
: =( ) ur +(2 + ) uθ
Accelera
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tion:
 (I) a= constant (Constant acceleration)
The three kinematic equations can be integrated for the
special case when acceleration is constant (a = ac) to
obtain very useful equations. A
common example of constant acceleration is gravity; i.e., a
body freely falling toward earth. In this
v
case, ac = g = 9.81 yield
t m/s2 = 32.2 ft/s2 downward. These
 dv   v  vo 
vo s equations are:
os
a c dt t act
 ds   v yield s  so  vot  (1/2)a
s
dt
v s ct
2
so
 v dv
o
 yield v2  (v )2  2a (s -
s)
a c ds s o
c
o
vo so
W. Wang
 Remember…

…next time is Exam time

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W. Wang 90