1-D 3-D

Displacement:


Average Velocity:


Instantaneous
Velocity:



Average
Acceleration:


Instantaneous
Acceleration:
1
1 2
1 2
avg
t t
r r
t
r
v

=
A
A
=

dt
r d
t
r
lim v
0 t

=
A
A
=
A
1 2
r r r

= A
1 2
1 2
avg
t t
v v
t
v
a

=
A
A
=

dt
v d
t
v
lim a
0 t

=
A
A
=
A
Equation t
o
=0 variable


velocity
time
acceleration


velocity
time
acceleration


velocity
time
position


velocity
position
acceleration
( )
ox
v + =
o x x
t - t a v
( ) ( )
o o ox o x
x t t v t t a x + + =
2
2
1
( )( )
o o ox x
x t t v v x + + =
2
1
Useful Equations for Horizontal Motion with Constant Acceleration
2
ox
v + = t a v
x x
o ox x
x t v t a x + + =
2
2
1
( )
o ox x
x t v v x + + =
2
1
( )
o x
2
ox
2
x
x x a 2 v v = ( )
o x
2
ox
2
x
x x a 2 v v =
Rewrite the formulas using y coordinates and a=-g



Position as function time


Velocity as function of time


Velocity as function of position

( )
o yo y
yo y
yo o
y y g v v
gt v v
gt t v y y
=
=
+ =
2
2
1
2 2
2
Freely Falling Objects Cont.
3
j sin v i cos v v
sin v v
cos v v
j v i v v
o o o o o
o o oy
o o ox
oy ox o

o + o =
o =
o =
+ =
Note that gravity acts only in y-direction not x
g a
0 a
j a i a a
y
x
y x
=
=
+ =

4
Projectile Motion -2D version of free fall
Projectile Motion cont.

o =
o =
2
o o
o o
gt
2
1
t sin v y
t cos v x
( )
o o y
o o x
sin v gt v
cos v v
o + =
o =
5
o
o
o
v
A and B are Two special points

Peak point A(R/2,h)
Landing Point B(R,0)

The distance R is called the Horizontal range of the projectile. y=0
h is called the maximum height v
y
=0
Horizontal Range and Maximum Height of a Projectile
B
V
b/B
v
B/A
A
x x
B/A
X
b/B
Relative Velocity
6
In general this can be written as






velocity velocity velocity of ref. B
in ref. A in ref. B relative to ref. A







Identify
what is: reference frame A (usually the ground)
what is reference frame B (usually moving with respect to the ground)
A B B p A p
v v v

+ =
A B B p A p
r r r

+ =
Chp-04 14
Chapter 4
Newtons Laws of Motion
4.2 Newtons First Law (also called law of inertia)

"Every body persists in its state of rest or of uniform motion in a straight line unless it is
compelled to change that state by forces impressed on it."

"A body at rest remains at rest and a body in motion continues to move at a constant velocity
unless acted upon by an external force."
15
0 F F
Net
= =

Inertial reference frame defined as when 1
st
Newton law holds.

Inertial reference is not accelerating: an accelerating rocket ship or car is a noninertial
frame (1
st
law doesnt hold)

Any reference frame that moves with constant velocity relative to an inertial frame is
itself an inertial frame.

We will consider only inertial reference frames.

Newtons Second Law - The Particle Under a Net Force
Newtons second law of motion: If a net external force acts on a body, the body accelerates.
The direction of acceleration is the same as the direction of the net force. The mass of the body
times the acceleration of the body equals the net force vector.
1 Newton is the amount of the net force that gives an acceleration
of 1 m/s
2
to a body with a mass of 1 kg.
2
s m . kg 1 N 1 =
16
z z y y x x
ma F ma F ma F
a m F
= = =
=

Newtons Third Law

If two objects interact, the force exerted by
object A on object B is equal in magnitude but
opposite in direction to the force exerted by
object B on object A:



For every action there is an equal
and opposite reaction.
AonB
F

BonA
F

BonA AonB
F F

=
The two forces described in Newtons third law acts on
different bodies.
Newtons first or second law involve the forces that act on a
body.
17
Free-Body Diagrams
Free body diagram: draw all forces acting
on an object.

Tension
When a cord (or a rope or a string) is attached to a
body and pulled taut, that cord is said to be under
tension. It pulls on the body at the point of
attachment with a force T in the direction away
from the body and in the direction along the cord.

Normal
When an object is at rest on a surface, the surface
exerts a force called the Normal force, that balances
the weight of the object. The normal force is
written as F
normal
= n; this name comes from the
mathematical term normal which means
perpendicular.

18


o Normal force (meaning perpendicular): is
exerted on an object by any surface with
which it is contact.

o Frictional force (friction): this force is
directed along the surface, opposite the
direction of the intended motion

o Tension force: when a cord (or a rope, cable,
) is attached to a body and pulled taut, the
cord pulls on the body with a force T
directed away from the body and along the
cord.

Long range force:
o Gravitational force
Force and Interaction cont.
19
Forces on a Block
What are the forces acting on a block thats pushed on a frictionless horizontal surface?
External
force
Normal
force
Force of
gravity
g
F

ext
F

20
Forces on a Block
What are the forces acting on a block thats pulled by a rope on a frictionless horizontal
surface?
Normal
force
Force of
gravity
Tension
force
g
F

21
Block on an Inclined Plane
What are the forces acting on a block thats sliding down a
frictionless inclined plane?
Normal
force
Force of
gravity
g
F

u
22
Chp-05 23
Chapter 5
Applying Newtons Law
frictional Forces

Whenever the surface of one body slides over that of another, each body
exerts a frictional force on the other, and this force is directed parallel to
the surfaces.


Two types: Static Friction and Kinetic Friction
A
s
f
app
F
Friction between two surfaces
24
Frictional Forces
Experimentally it is found that f
s,max
and f
k
for an object resting or
sliding on a surface are each proportional to the magnitude of the normal
force, N.

S
is generally larger than
K

S
and
K
are coefficients of static
and kinetic friction. They have
no units or dimensions
N f N f
K K s s
= = and
max ,
25
As we have previously noted, uniform circular motion, while possessing constant
velocity, nevertheless has nonzero acceleration because of a continual change in
direction of the velocity. The magnitude of this acceleration can be represented as



where v is the constant speed and r the radius of the circle








By Newton's Second Law we know that a force in the direction of acceleration must be
acting on the object in motion. This magnitude of this force can be written

r
v
a
c
2
=
r
v
m ma F
c
2
= =

Newtons Second Law Applied to a Particle in Uniform Circular Motion

Figure 5.8
Overhead view of a ball moving in a circular path in a horizontal
plane. A force directed toward the center of the circle keeps the
ball moving in its circular path. NET
F

26
Chp-06 34
Chapter 6
Work and Kinetic Energy
Work is done only when:
1. a force is applied to a body
2. the body moves



6. Work and Kinetic Energy
35
The work W done on a system by an external constant force is the
product of the component of the force along the direction of the
displacement, F cos|, and the magnitude of the displacement:


| cos Fs s F W = =

Scalar dot product angle between

s F

and
6.1 Work Done by Constant Force
Unit of work = N.m = Joule (J)
36
Summary of Work Formulas
Constant Force
x F W
r F W
r F W
x
A =
A =
A =

.
.
Non-Constant Force
}
}
=
=
f
i
f
i
r
r
x
x
x
r d F W
dx F W

.
1D non-constant force(s)
General case
With several constant forces
With several 1D constant forces
( )
2 2
2
1
f i
x x k W =
Spring is an example of
non-Constant Force
37
2
2
1
mv K =
i f
K K K W = A =
Work Kinetic Energy theorem
In presence of friction

int forces other
E W K A = A

Summary of Work-Kinetic Energy Formulas
Kinetic Energy
friction int
W E = A Internal Energy
v F
dt
dW
P
t
W
P
avg

= =
A

Power
38
Chp-07 39
Chapter 7
Potential Energy and Energy
Conservation


Both gravitational and elastic force do work on the body
2
2 2
2
2 other
2
1 1
2
1
2 2 , grav 2 , el other 1 1 , grav 1 , el
1 2 other grav el tot
mv
2
1
mgy kx
2
1
W mv
2
1
mgy kx
2
1
K U U W K U U
K K W W W W
+ + = + + +
+ + = + + +
= + + =
The work done by all forces other than the gravitational force or elastic force equals the
change in the total mechanical energy E=K+U of the system, where U=U
grav
+U
el
is the
sum of the gravitational potential energy and elastic potential energy.
( ) ( )
0 E U K
0 W K K U U
K U W K U
int
other 1 2 1 2
2 2 other 1 1
= A + A + A
= +
+ = + +
The law of conservations of Energy
Law of conservation of energy
40
Chp-08
Chapter 8
41
Momentum, Impulse,
and Collisions
i f
p p J
p t
t
p
t F J

=
A = A
A
A
= A =

The Impulse-momentum Theorem

If a collision lasts from time t = t
i
until a short time later, t = t
f
, the
impulse of a force is the product of the force and the time interval during
which it acts. For constant force:
The unit of impulse is Newtons x seconds (N s)
( ) t F t t F J
i f
A = =


42
Impulse-momentum theorem: The change in momentum of a particle
during a time interval is equal to the impulse of the net force acting on
the particle during that interval.
Elastic collisions
In an elastic collision, the total
kinetic energy of the system is
the same after the collision as
before.

Figure at the left illustrates an
elastic collision between air
track gliders.
43
Inelastic collisions
In an inelastic collision, the
total kinetic energy after the
collision is less than before the
collision.

A collision in which the bodies
stick together is called a
completely inelastic collision
(see Figure at the right).
44
1-D Perfectly Inelastic Collisions
Two objects (m
1
and m
2
) moving with initial velocities v
1i
and
v
2i
along a straight line collide head on and stick together.
( )
f i i
v m m v m v m
2 1 2 2 1 1
+ = +

v
f
=
m
1
m
1
+ m
2
|
\

|
.
|
v
1i
+
m
2
m
1
+ m
2
|
\

|
.
|
v
2i
When m
2
has the initial velocity of v
2i
= 0, the above equation can be reduces to

v
f
=
m
1
m
1
+ m
2
|
\

|
.
|
v
1i
45
(8.12)
(8.13)
For more than two objects in a line (say n objects) the procedure is very similar:
M
x m
m
x m
m m m
x m x m x m
x
i
i i
i
i
i
i i
n
n n

= =
+ + +
+ + +
=

2 1
2 2 1 1
CM
The Center of Mass
46

x
CM
=
m
1
x
1
m
1
+ m
2
+
m
2
x
2
m
1
+ m
2
=
m
1
x
1
+ m
2
x
2
m
1
+ m
2
9.2 Rotational Kinematics: The Rigid Object under Constant
Angular Acceleration
Translational Motion (Fixed
Direction) a = constant
Rotational Motion (Fixed
Axis) o = constant
at v v
i f
+ =
( )
1
2

f i i f
x x v v t = + +

x
f
= x
i
+ v
i
t +
1
2
at
2

v
f
2
= v
i
2
+ 2a x
f
x
i
( )

e
f
=e
i
+ot
( )
1
2

f i f i
t u u e e = + +

u
f
=u
i
+e
i
t +
1
2
ot
2

e
f
2
=e
i
2
+ 2o u
f
u
i
( )
47
The rotational formulas have the same form as the straight-line formulas
Moments of inertia of homogeneous rigid objects with different
geometry
48
Example: A solid cylinder ( ) of mass m
2
= 500 g and radius
R = 20 cm is connected by a string through its center to a hanging
mass m
1
= 200 g via a massless, frictionless pulley. The cylinder can
move on a horizontal plane and freely rotate about its center. It rolls
without slipping.

1
2
2
I MR =
a) What is the acceleration of the falling
weight?
b) What is the tension of the string?
c) What is the friction force?
d) What is the minimum coefficient of
static friction between the table and
the rolling object for the roll without
slipping condition to be maintained?


Solution
a) What is the acceleration of the falling weight?











b) What is the tension of the string?


1 1
2
1 2 1 1 1
1
2
1 2 1 2
2
1 1
1 2 1 2 1 2
2 2
3
1 2 1
2
1 1


( ) / /
( ) ( / ) /
( )
( )
/(
f
f
f
m a m g T a r rF
m a T F I
m m a m g F m g r m g I r
m m a m g m r a r r
m m a m g m a m g m a
m m a m g
a m g m
o t
t o
t o
= = =
= =
+ = = =
+ =
+ = =
+ =
= +
3
2
2
2
) 2.06 m/s m =
1 1 1
( ) 1.55 N T m g m a m g a = = =
c) What is the friction force?




d) What is the minimum coefficient of static friction between the table
and the rolling object for the roll without slipping condition to be
maintained?


2
2
1.5 N (0.5 kg)(2.06 m/s ) 0.52 N
f
F T m a = = =
2 2
/ 0.11
f f
F m g F m g = = =