Kinetics of Particles

Ch.
3: Kinetics of Particles
3.0 Outline
Introduction
Newton’s Second Law
Equations of Motion
Rectilinear Motion
Curvilinear Motion
3.0 Outline
Ch. 3: Kinetics of Particles
3.1 Introduction
Kinetics is the study of the relations between the forces
and the motion. Here we will not seriously concern
whether the forces cause the motion or the motion
generates the forces (causality).
In this chapter, the focus is on the particles. That is the

body whose physical dimensions are so small compared
with the radius of curvature of its path.
There are at least 3 approaches toe the solution of

kinetic problems: (a) Newton’s second law (b) work and
energy method (c) impulse and momentum method.
3.1 Introduction
3.2 Newton’s Second Law
F = ma
m = mass (resistance to rate of change of velocity) of the particle
F = resultant force acting on the particle
a = resulting acceleration measured in a nonaccelerating frame of reference
For most engineering problems on earth, the acceleration

measured w.r.t. reference frame fixed to the earth’s
surface may be treated as absolute. And Newton’s 2nd
law of motion holds.
Newton’s 2nd law breaks when the velocities of the order

of the speed of light are involved Æ theory of relativity
3.2 Newton’s Second Law

3.3 Equation of Motion and Solution of Problems
∑ F = ma --- equation of motion

scalar components decomposition according to a specified coordinate
Two problems of dynamics

(1) specified kinematic conditions, find forces Æ
straightforward application of Newton’s law as
algebraic equations
(2) specified forces, find motion Æ
Difficulty depends on the form of force function
(t, s, v, a), as the solutions are found by solving
a system of differential equations.
For simple functions, we can find closed form solutions
of motion as in rectilinear motion (sec. 2.2).
3.3 Equation of Motion and Solution
Unconstrained motion
Motion of the particle is determined by its initial motion and
the forces from external sources. It is free of constraints
and so has three degrees of freedom to specify
the position. Three scalar equations of motion would
have to be applied and integrated to obtain the motion.
Constrained motion
Motion of the particle is partially or totally determined by
restraining guides, other than its initial motion and the
forces from external sources. Therefore, all forces, both
applied and reactive, that act on the particle must be
accounted for in Newton’s law. The number of d.o.f. and
equations are reduced regarding to the type of constraints.

Free body diagram
All forces acting on the particle needed to be accounted
in the equations of motion. Free body diagram unveils
every force that acts on the isolated particle. Only after
the FBD has been completed should the equations of
motion be written. The appropriate coordinate axes and
directions should be indicated and consistently used
throughout the problem.
Treatment of the body as particle is valid when the forces

may be treated as concurrent through the mass center.

3.4 Rectilinear Motion
If the x-axis is the direction of the rectilinear motion,
∑F x = ma x ∑F y =0 ∑F
z =0
If we are not free to choose a coordinate direction along the motion,

the nonzero acceleration component will be shown up in all equations:
∑F x = ma x ∑F y = ma y ∑F z = ma z
Other coordinate system such as n-t or r-θ
a may be determined via the use of relative motion

For pure translating moving reference frame
a A = a B + a A/B

P. 3/17 The coefficient of static friction between the flat
bed of the truck and the crate it carries is 0.30.
Determine the minimum stopping distance s that
the truck can have from a speed of 70 km/h with
constant deceleration if the crate is not to
slip forward.

mg
P. 3/17
+x
F < 0.3N
N
If the crate is not to slip, crate and truck must have same acceleration.
If the crate is not to slip, friction = static friction at impending status.
Minimum stopping distance when the deceleration is the max allowable value.
⎡⎣ ∑ Fx = ma x ⎤⎦ − 0.3mg = ma x , a x = −0.3g constant for minimum distance
2
⎛ 10 ⎞
⎡⎣ v 2 = v o2 + 2a ( s − s o ) ⎤⎦ 0 = ⎜ 70 × ⎟ + 2 ( −0.3g ) s, s = 64.2 m
⎝ 36 ⎠

P. 3/18 If the truck of Prob. 3/17 comes to stop from an initial forward
speed of 70 km/h in a distance of 50 m with uniform deceleration,
determine whether or not the crate strikes the wall at the forward
end of the flat bed. If the crate does strike the wall, calculate its
speed relative to the truck as the impact occurs. Use the friction
coefficients μs = 0.3 and μk = 0.25.

P. 3/18
stopping distance = 50 m, which is less than minimum value 64.2 m
∴ the crate slips
2
⎛ 10 ⎞
⎡⎣ v = v + 2a ( s − s o ) ⎤⎦ 0 = ⎜ 70 × ⎟ + 2a truck × 50, a truck = −3.781 m/s 2
2 2
o
⎝ 36 ⎠
⎛ 10 ⎞
⎡⎣ v = v o + a ( t − t o ) ⎤⎦ 0 = ⎜ 70 × ⎟ − 3.781× t, t stop = 5.14 s
⎝ 36 ⎠
Friction force: Fs = 0.3mg = 2.943m and Fk = 0.25mg = 2.45m

Assume crate and truck go together → a truck = a crate +x
⎡⎣ ∑ Fx = ma x ⎤⎦ − F = m ( −3.781) → required friction = 3.781m > Fs
∴ the crate slips and F = Fk F < 0.3N
−Fk = ma crate , a crate = −2.45 m/s 2
N
[ a crate/truck = a crate − a truck ] a crate/truck = −2.45 − ( −3.781) = 1.331 m/s 2
∴ the crate slips forward but will it strike the wall?
⎡ 2 ⎤
⎢⎣s = s o + v o ( t − t o ) + 2 a ( t − t o ) ⎥⎦ relative motion calculation
1 2
1
3 = ×1.331× t 2 , t strike = 2.123 s < t stop ∴ crate will strike the wall before the truck stops
2
⎡⎣ v = v o + a ( t − t o ) ⎤⎦ relative motion calculation
v crate/truck = 0 + 1.331× 2.123 = 2.826 m/s
P. 3/23 If the coefficients of static and kinetic friction
between the 20-kg block A and the 100-kg cart B
are both essentially the same value of 0.50,
determine the acceleration of each part for
(a) P = 60 N and (b) P = 40 N.

P. 3/23 20g
2P
(a) N A = 20g, Fmax = 0.5N A = 98.1 N < 120 N
∴ block A moves forward relative to B
F
⎡⎣ ∑ Fx = ma x ⎤⎦ 120 − 98.1 = 20a A , a A = 1.095 m/s 2 NA NA
F 100g
98.1 = 100a B , a B = 0.981 m/s 2
(b) Fmax > 80 N ∴ block A does not move relative to B

⎡⎣ ∑ Fx = ma x ⎤⎦ A & B move together
NB
80 = 120a, a = 0.667 m/s 2
Find developed friction by isolated FBD at A or B
80 − F = 20a, F = 66.67 N < Fmax ∴ assumption is valid
F = 100a, F = 66.67 N

P. 3/24 A simple pendulum is pivoted at O and is free to
swing in the vertical plane of the plate. If the
plate is given a constant acceleration a up the
incline θ, write an expression for the steady
angle β assumed by the pendulum after all
initial start-up oscillations have ceased. Neglect
the mass of the slender supporting rod.

P. 3/24 y
T
x
β
θ
mg
⎡⎣ ∑ Fy = 0 ⎤⎦ Tcosβ − mgcosθ = 0
⎡⎣ ∑ Fx = ma x ⎤⎦ Tsinβ − mgsinθ = ma
⎛ a + gsinθ ⎞
β = tan ⎜−1
⎟
⎝ gcos θ ⎠

P. 3/28 For the friction coefficients μs = 0.25 and
μk = 0.20, calculate the acceleration of each
body and the tension T in the cable.

T
P. 3/28
60g
2T
F N
s A + 2s B + c = l → a A + 2a B = 0
20g
N = 60gcos30, Fmax = μs N = 127.4 N
Assume motion impends at block A → F = Fmax and equilibrium
⎡⎣ ∑ F = 0 ⎤⎦ 60gsin30 − Fmax − T = 0, T = 166.9 N
but cylinder B will not be in equilibrium ( 20g − 2T < 0 → move up )
Assum block A slides down and block B moves up
⎡⎣ ∑ F = ma ⎤⎦ 60gsin30 − Fk − T = 60a A = −120a B
20g − 2T = 20a B , T = 105.35 N, a B = −0.725 m/s 2 , a A = 1.45 m/s 2

P. 3/35 A bar of length l and negligible mass connects the cart of mass
M and the particle of mass m. If the cart is subjected to a constant
acceleration a to the right, what is the resulting steady-state
angle θthat the freely pivoting bar makes with the vertical?
Determine the net force P (not shown) that must be applied to
the cart to cause the specified acceleration.

P. 3/35 P Mg
y
θ T
T N
x
mg
From the given statements, pendulum and cart have same acceleration
At the pendulum,
⎡⎣ ∑ Fy = 0 ⎤⎦ Tcosθ − mg = 0, T = mg/cosθ
⎛a⎞
⎣⎡ ∑ Fx = ma x ⎦⎤ Tsinθ = ma, θ = tan −1 ⎜ ⎟
⎝g⎠
At the cart,
⎡⎣ ∑ Fx = ma x ⎤⎦ P − Tsinθ = Ma, P = ( m + M ) gtanθ

P. 3/36 Determine the accelerations of bodies A and B
and the tension in the cable due to the
application of the 250 N force. Neglect all friction
and the masses of the pulleys.

P. 3/36
70g 35g
300 N
2T 3T
NA NB
sA sB
2s A + 3s B + c = l → 2a A + 3a B = 0
⎡⎣ ∑ Fx = ma x ⎤⎦ − 2T = 70a A and 300 − 3T = 35a B
a A = −2.34 m/s 2 , a B = 1.56 m/s 2 , T = 81.8 N

P. 3/44 The sliders A and B are connected by a light
rigid bar and move with negligible friction in the
slots, both of which lie in a horizontal plane.
For the position shown, the velocity of A is
0.4 m/s to the right. Determine the acceleration
of each slider and the force in the bar
at this instant.

NB
P. 3/44
T
NA
sB T
sA 40 N
Kinematics: triangle OAB
s A = s B and 0.5 = s A cos15 + s B cos15, s A = s B = 0.2588 m
l 2 = s 2A + s B2 − 2s A s B cos150
diff: 0 = 2s A v A + 2s B v B − 2 cos150 ( s A v B + s B v A )
given: v A = 0.4 m/s → v B = −0.4 m
diff: 0 = v 2A + s A a A + v B2 + s Ba B − cos150 ( s A a B + s Ba A + 2v A v B )
0 = 0.04287 + 0.4829a A + 0.4829a B (1)
Kinetics:
⎣⎡ ∑ F = ma ⎦⎤ 40 − Tcos15 = 2a A and − Tcos15 = 3a B into (1)

a A = 7.95 m/s 2 , a B = −8.04 m/s 2 , T = 25.0 N
P. 3/46 With the blocks initially at rest, the force P is
increased slowly from zero to 260 N. Plot the
accelerations of both masses as functions of P.

35g
P. 3/46
FA NA
NA
FA
P
N A = 35g, N B = N A + 42g = 77g 42g
FAmax = 0.2N A = 68.67 N, FBmax = 0.15N B = 113.3 N
FAk = 0.15N A = 51.5 N, FBk = 0.10N B = 75.54 N
FB
NB
Three possible situations: no motion, B & A move together, and B & A move separately.
Two impossible situations: B moves alone ∵ then FA will ≠ 0 → A will move eventually
and A moves alone ∵ P is applied at block B and force P is increased slowly from zero
( not jump right to F )
A max
1) 0 ≤ P ≤ FBmax : FB will be developed to cancel with the applied P,

FA will stay zero, and so there is no motion → a A = 0 & a B = 0

P. 3/46
2) assume both A and B go together in this phase ∴ FA ≤ FAmax and FB = FBk
⎡⎣ ∑ F = ma ⎤⎦ FA = 35a & P − FA − FBk = 42a
at P = Pmin = FBmax ( increased slowly ) , a = 0.49 m/s 2 and FA = 17.16 N ( jumping )
at FA = FAmax ( about to slip relative to each other ) , P = 226.6 N and a = 1.962 m/s 2
P − FBk
between these extremum values, a = : linear function of P
77
∴ FBmax < P ≤ 226.6 : a A = a B which varies linearly from 0.49 to 1.962 m/s 2
3) A slide ( backward ) relative to B ∵ increasing P makes B accelerates more and more
P > 226.6 N makes A slips → FA = FAk
⎡⎣ ∑ F = ma ⎤⎦ FAk = 35a A & P − FA k − FBk = 42a B
P − 127.04
a A = 1.47 m/s 2 constant and a B = : linear function of P
42
∴ 226.6 < P ≤ 260.0 : a A = 1.47 m/s 2 constant and 2.37 < a B ≤ 3.166 m/s 2 ( jumping )

P. 3/46

P. 3/48 The system is released from rest in the position
shown. Calculate the tension T in the cord and
the acceleration a of the 30 kg block. The small
pulley attached to the block has negligible mass
and friction. (Suggestion: First establish the
kinematic relationship between the accelerations
of the two bodies.)

P. 3/48
+b
Kinematics: b 2 = c 2 + x 2 and b + y = l
c
diff: bb = xx and b + y = 0
b 2 + bb = x 2 + xx and b + y = 0 (1)
+x +y
at this instant: x/b = 4 / 5, x = 0, b = 0 ( initially rest )
T
assume cylinder moves down, hence block moves to the left 30g
Kinetics: for 30 kg block
⎡⎣ ∑ F = ma ⎤⎦ T × 3/5 − T − 30g + N = 0, N = 30g + 2T/5
F − T × 4/5 = 30x
F T
assume the block moves → F = 0.25N
N
for 15 kg cylinder
15g − T = 15y = −15b T
x 4 b ( T/15 − g ) × 30
recall (1) , = = = , T = 137.9 N
b 5 x 7.5g − 0.7T
7.5g − 0.7T
x= = −0.766 m/s 2 15g
30

3.5 Curvilinear Motion
Choose appropriate coordinate system (x-y, n-t, or r-θ)
for the given problem. Determine the motion along
those axes. Then set up the Newton’s law
along those axes. The positive sense of the force and
acceleration must be consistent.
x-y system:∑ F = mx ∑ F = my
x y
n-t system: ∑ F = m ( ρβ ) = m ( v / ρ )
n
2 2
∑ F = mvt
r-θ system: ∑ F = m ( r − rθ )
r
2
∑ Fθ = m ( rθ + 2rθ )

P. 3/55 The member OA rotates about a horizontal axis through O
with a constant counterclockwise velocity ω= 3 rad/s. As it
passes the position θ= 0, a small block of mass m is placed
on it at a radial distance r = 450 mm. If the block is observed
to slip at θ= 50°, determine the coefficient of static friction
μs between the block and the member.

P. 3/55
mg
use n-t coordinate system
given: ρ = 0.45 m, β = 50°, ρ = 0 ( no slip until β = 50° ) , t
β = 3 rad/s, β = 0
⎡⎣ ∑ Ft = ma t ⎤⎦ ( )
N − mgcos50 = m ρβ + ρβ , N = mgcos50
n
⎡⎣ ∑ Fn = ma n ⎤⎦ mgsin50 − F = m ( ρβ )2
N
At 50°, F = Fs = μs N and directs upward because gsin50 > ρβ 2 F
which means bar OA rotates too slow than required to keep
the block stays on the bar. The friction will develop to resist
(
the block from sliding down or to match ∑ F with ρβ ) .
2
If the bar rotates very very slow, friction force cannot make
∑ F to match ρβ ( ∑ F cannot be reduced any more, ∑ F > ρβ ) .
2 2
And then the block will slide down, hence ρ decreases, to the position
where v 2 / ρ large enough to match ∑ F (i.e., to satisfy Newton's law)
( )
mgsin50 − μs mgcos50 = m ρβ 2 , μs = 0.549

P. 3/67 A 2 kg sphere S is being moved in a vertical plane by a robotic
arm. When the arm angle θis 30°, its angular velocity about
a horizontal axis through O is 50 deg/s CW and its angular
acceleration is 200 deg/s2 CCW. In addition, the hydraulic
element is being shortened at the constant rate of 500 mm/s.
Determine the necessary minimum gripping force P if the
coefficient of static friction between the sphere and the gripping
surfaces is 0.5. Compare P to the minimum gripping force Ps
required to hold the sphere in static equilibrium in the 30˚ position.

P. 3/67 θ mg mg
r
2Fr
2Fs
2Fθ
given: m = 1 kg, r = 1 m, r = −0.5 m/s, r = 0

π π
θ = 30°, θ = −50 × = −0.873 rad/s, θ = 200 × = 3.49 rad/s 2
180 180
⎡⎣ ∑ Fr = ma r ⎤⎦ ( )
− mgsinθ + 2Ffr = m r − rθ 2 , Ffr = 4.143 N
⎡⎣ ∑ Fθ = maθ ⎤⎦ 2Ffθ − mgcosθ = m ( rθ + 2rθ ) , Ffθ = 12.859 N
Ff = Ff2r + Ff2θ = 13.51 = μs P → P = 27.02 N

static equilibrium: 2Fs = 2 μs Ps = mg → Ps = 19.62 N

P. 3/69 A flatbed truck going 100 km/h rounds a
horizontal curve of 300 m radius inwardly banked
at 10°. The coefficient of static friction between
the truck bed and the 200 kg crate it carries is
0.70. Calculate the friction force F acting on
the crate.

P. 3/69 y
mg
F
assume the crate tends to slide up the truck bed
∴ friction directs downslope N
the crate has absolute curve motion into the paper on the horizontal plane
2
m ⎛ 10 ⎞
⎣⎡ ∑ Fn = ma n ⎦⎤ Nsin10 + Fcos10 = ⎜
300 ⎝
100 × ⎟
36 ⎠
⎡⎣ ∑ Fy = 0 ⎤⎦ − mg + Ncos10 − Fsin10 = 0
N = 2021.52 N and F = 165.9 N
check if this friction can be provided
Fmax = 0.7N = 1415 N > F
∴ the crate tends to slide up due to high speed curved motion
but still too far from sliding up (can increase the truck speed
yet the crate does not move relative to the truck bed)

P. 3/69 The flatbed truck starts from rest on a road whose constant
radius of curvature is 30 m and whose bank angle is 10°. If
the constant forward acceleration of the truck is 2 m/s2,
determine the time t after the start of motion at which the crate
on the bed begins to slide. The coefficient of static friction
between the crate and truck bed is μs = 0.3, and the truck
motion occurs in a horizontal plane.

P. 3/69
static motion
y
200g 200g
n Fsn
Fst
F (inward)
N N

P. 3/69
Static case: N s = 200gcos10 = 1932.2 N, Fs = 0.3N s = 579.66 N
F = 200gsin10 = 340.7 N upward to prevent sliding down the incline, and < Fs
Slipping when friction = Fs but in what direction?

Fs can be divided in two components: along n- and t-axis
Fst points in positive t (inward the paper) to match the positive a t
Fsn points down the incline to match the component of a n down the incline
When the truck moves, N > N s to match the positive component of a n up the truck bed
given: ρ = 30 m, ρ = 0, ρ = 0, a t = 2 m/s 2
[a t = v] v = a t t = 2t
⎡⎣ ∑ Fy = 0 ⎤⎦ Ncos10 − 200g − Fsn sin10 = 0 (1)
⎛ 4t 2 ⎞
⎡⎣ ∑ Fn = ma n ⎤⎦ Fsn cos10 + Nsin10 = 200 × ⎜ ⎟ ( 2)
⎝ 30 ⎠
⎡⎣ ∑ Ft = ma t ⎤⎦ Fst = 200 × 2 = 400 N
⎡⎣ Fs2n + Fs2t = Fs2 ⎤⎦ Fs2n + Fs2t = ( 0.3N )
2
Fsn = 0.09N 2 − 160000 and substitute into (1)

N = 2076.47, 1919.24 N but 1919.24 < Ns which is impossible
∴ N = 2076.47 N, Fsn = 477.55 N, Fst = 400 N, t = 5.58 s

P. 3/72 The small object is placed on the inner surface of the conical
dish at the radius shown. If the coefficient of static friction
between the object and the conical surface is 0.30, for what
range of angular velocities ωabout the vertical axis will the block
remain on the dish without slipping? Assume that speed changes
are made slowly so that any angular acceleration may be neglected.

mg mg
P. 3/72
ωmin ωmax Fs
Fs N N
given: ω = 0, ρ = 0.2 m, ρ = 0, ρ = 0
ωmin causes small a n → Fs upward to reduce ∑ Fn
ωmax causes large a n → Fs downward to increase ∑ Fn
ωmin : ⎡⎣ ∑ Fy = 0 ⎤⎦ Ncos30 + 0.3Nsin30 − mg = 0
⎡⎣ ∑ Fn = ma n ⎤⎦ Nsin30 − 0.3Ncos30 = m ( 0.2ωmin
2
) , ωmin = 3.405 rad/s
ωmax : ⎡⎣ ∑ Fy = 0 ⎤⎦ Ncos30 − 0.3Nsin30 − mg = 0
⎡⎣ ∑ Fn = ma n ⎤⎦ Nsin30 + 0.3Ncos30 = m ( 0.2ωmax
2
) , ωmax = 7.214 rad/s
∴ 3.405 < ω < 7.214 rad/s

P. 3/74 The 2 kg slider fits loosely in the smooth slot of the disk, which
rotates about a vertical axis through point O. The slider is free
to move slightly along the slot before one of the wires becomes
taut. If the disk starts from rest at time t = 0 and has a constant
clockwise angular acceleration of 0.5 rad/s2, plot the tensions
in wires 1 and 2 and the magnitude N of the force normal to
the slot as functions of time t for the interval 0<=t<=5 s.

P. 3/74
given: θ = 0.5 rad/s 2 constant → θ = 0.5t, θ = 0.25t 2

r = 0.1 m & free to move slightly ≈ move with the disk → r = 0, r = 0
assume N and T to be in the indicated direction and use r-θ coordinate
( )
r
⎡⎣ ∑ Fr = ma r ⎤⎦ − Ncos45 − Tcos45 = 2 × −0.1× ( 0.5t ) = −0.05t 2
2
N
⎡⎣ ∑ Fθ = maθ ⎤⎦ Nsin45 − Tsin45 = 2 × ( 0.1× 0.5 ) = 0.1
0.05t 2 + 0.1 0.05t 2 − 0.1 45°
N= T= T
2 2
N is always positive ∴ the assumed direction is correct θ θ
T will be negative for t < 1.414 s
⎧0, 0 ≤ t ≤ 1.414 s ⎧ 0.1 − 0.05t 2
⎪ ⎪ , 0 ≤ t < 1.414 s
∴ T1 = ⎨ 0.05t 2 − 0.1 and T2 = ⎨ 2
⎪ , t > 1.414 s ⎪0, t ≥ 1.414 s
⎩ 2 ⎩

P. 3/74

P. 3/86 A small rocket-propelled vehicle of mass m travels down the
circular path of effective radius r under the action of its weight
and a constant thrust T from its rocket motor. If the vehicle
starts from rest at A, determine its speed v when it reaches B
and the magnitude N of the force exerted by the guide on the
wheels just prior to reaching B. Neglect any friction and any
loss of mass of the rocket.

P. 3/86
mg
T
N
t
⎡⎣ ∑ Fn = ma n ⎤⎦ N − mgsinθ = mv 2 / r
T + mgcosθ
⎡⎣ ∑ Ft = ma t ⎤⎦ T + mgcosθ = ma t , a t =
m
θ
⎛ Tθ ⎞
[ vdv = a t ds] v 2 / 2 = ∫ a t ( rdθ ), v 2 = 2r ⎜ + gsinθ ⎟
0 ⎝ m ⎠
N = 3mgsinθ + 2Tθ
⎛πT ⎞
vθ =π /2 = r ⎜ + 2g ⎟ Nθ =π /2 = 3mg + Tπ
⎝ m ⎠

P. 3/97 A hollow tube rotates about the horizontal axis
through point O with constant angular velocity
ωo . A particle of mass m is introduced with
zero relative velocity at r = 0 when θ= 0 and
slides outward through the smooth tube.
Determine r as a function of θ.

P. 3/97
given: θ = ωo , θ = 0
mg
at t = 0, r = 0, r = 0, θ = 0 ∴θ ( t ) = ωo t N
⎡⎣ ∑ Fr = ma r ⎤⎦ (
mgsinθ = m r − rθ 2 )
r − ωo2 r = gsinωo t ← differential equation of r ( t ) r
r ( t ) = rp + rh θ
particular solution rp is a solution of r − ωo2 r = gsinωo t
rp ( t ) = forced response of gsinωo t = Cgsinωo t
1
sub. into diff. eq. − Cωo2 gsinωo t − Cωo2 gsinωo t = gsinωo t → C = −
2ωo2
homogeneous solution rh is a solution of r − ωo2 r = 0
rh ( t ) = free ( natural ) response = Aest
sub. into diff. eq. As 2 est − Aωo2 est = 0, s = ωo , − ωo
∴ rh ( t ) = Aeωo t + Be −ωo t
1
r ( t ) = rp + rh = Aeωo t + Be −ωo t − gsinωo t, which must satisfy i.c.
2ωo2
g
r ( 0 ) = 0 = A + B and r ( 0 ) = 0 = Aωo − Bωo −
2ωo
g g g
→ A= , B=− ∴r = ( sinh θ − sin θ )
4ω 2
4ω 2
2ωo2
o o 3.5 Curvilinear Motion
P. 3/98 The small pendulum of mass m is suspended from a trolley
that runs on a horizontal rail. The trolley and pendulum are
initially at rest with θ= 0. If the trolley is given a constant
acceleration a = g, determine the maximum angle θmax
through which the pendulum swings. Also find the tension T
in the cord in terms of θ.

n
P. 3/98 lθ e n
2
T
lθ e t t
aP gi
mg
use n-t coordinate to avoid unknown T in t-direction
[aP = aC + aP/C ] translating axes attached to the cart to observe pendulum
a C = gi a P/C = lθ 2e n + lθ e t
(
⎡⎣ ∑ Ft = ma t ⎤⎦ − mgsinθ = m −gcosθ + lθ )
g
θ = ( cos θ − sin θ ) as function of θ
l
θ
g g
⎡⎣θ dθ = θ dθ ⎤⎦ θ / 2 = ∫ ( cos θ − sin θ ) dθ , θ 2 = 2 ( sin θ + cos θ − 1)
2
0
l l
θ max or θ min when θ = 0 → sin θ + cos θ = 1 ∴θ max = π / 2
(
⎡⎣ ∑ Fn = ma n ⎤⎦ T − mgcosθ = m gsinθ + lθ 2 )
T = mg ( 3sinθ + 3cos θ − 2 )

P. 3/99 A small object is released from rest at A and slides with friction
down the circular path. If the coefficient of friction is 0.2,
determine the velocity of the object as it passes B. (Hint: Write
the equations of motion in the n- and t- directions, eliminate N,
and substitute vdv = atrdθ. The resulting equation is a linear
nonhomogeneous differential equation of the form
dy/dx + f ( x ) y = g ( x ) , the solution of which is well known.)

P. 3/99
⎡⎣ ∑ Fn = ma n ⎤⎦ (
N − mgsinθ = m 3θ 2 ) mg
⎡⎣ ∑ Ft = ma t ⎤⎦ ( )
mgcosθ − 0.2N = m 3θ n
eliminate N: gcosθ − 0.2 × ( gsinθ + 3θ ) = 3θ2
⎡⎣θ dθ = θ dθ ⎤⎦ θ dθ = {gcosθ − 0.2 × ( gsinθ + 3θ )} dθ = d (θ )

1 2 1 2
3 2
F=0.2N
d (θ )
2
+ 0.4 (θ ) = g ( cosθ − 0.2sin θ ) , θ as a function of θ

2
2 2
dθ 3 N
let θ = u (θ ) and to solve the differential equation for u (θ )
2 t
u = up + uh
2
u p (θ ) = forced response of g ( cosθ − 0.2sin θ ) = A cos θ + B sin θ
3
2
sub. into diff. eq. − A sin θ + B cos θ + 0.4 ( A cos θ + B sin θ ) = g ( cosθ − 0.2sin θ )
3
1.2 ⎛ 2 0.48 ⎞
match the coeff. of sinθ and cosθ : A = g B=⎜ − ⎟g
3.48 ⎝ 3 3.48 ⎠
u h (θ ) = solution of the homogeneous equation = Cesθ
Csesθ + 0.4 × Cesθ = 0, s = −0.4
1.2 ⎛ 2 0.48 ⎞
∴ u (θ ) = gcosθ + ⎜ − ⎟ gsinθ + Ce
−0.4θ
with u ( 0 ) = 0
3.48 ⎝ 3 3.48 ⎠
1.2 1.2 ⎛ 2 0.48 ⎞ 1.2 −0.4θ
g + C = 0 → u (θ ) = θ 2 = gcosθ + ⎜ − ⎟ gsinθ − ge
3.48 3.48 ⎝ 3 3.48 ⎠ 3.48
at θ = π / 2, θ 2 = 3.382 → v B = rθ = 5.52 m/s
Real world where friction exists makes the phenomena difficult
P. 3/100 A small collar of mass m is given an initial
velocity of magnitude vo on the horizontal
circular track fabricated from a slender rod.
If the coefficient of kinetic friciton is μk,
determine the distance traveled before the
collar comes to rest. (Hint: Recognize that
the friction force depends on the net normal
force.)

P. 3/100 y
mg
n
Nh
F
Normal force has component N v and N h t Nv
⎡⎣ ∑ Fy = 0 ⎤⎦ N v = mg
v2
⎡⎣ ∑ Fn = ma n ⎤⎦ Nh = m
r
⎡⎣ ∑ Ft = ma t ⎤⎦ − F = − μk N 2v + N 2h = ma t
μk
[ vdv = a t ds] vdv = − r 2 m 2 g 2 + m 2 v 4 ds
mr
0
− rdv 2
s
r ⎛ v2 + v4 + r 2g 2 ⎞
∫ = ∫ ds, s= ln ⎜ o ⎟
o
2μ k r 2 g 2 + ( v 2μ k ⎜ ⎟
vo
)
2 2 0 ⎝
rg
⎠

P. 3/101 The slotted arm OB rotates in a horizontal plane about point O
of the fixed circular cam with constant angular velocity θ =
15 rad/s. The spring has a stiffness of 5 kN/m and is
uncompressed when θ= 0. The smooth roller A has a mass
of 0.5 kg. Determine the normal force N that the cam exerts
on A and also the force R exerted on A by the sides of the slot
when θ= 45°. All surfaces are smooth. Neglect the small
diameter of the roller.

P. 3/101 r
0.2
β r θ
θ F
0.1
N
Kinematics: 0.22 = 0.12 + r 2 + 0.2rcosθ β
diff: 0 = 2rr + 0.2rcosθ − 0.2rθ sinθ R
0 = 2r 2 + 2rr + 0.2rcosθ − 0.2rθ sinθ
− 0.2rθ sinθ − 0.2rθ sinθ − 0.2rθ 2 cos θ
given: θ = π / 4, θ = 15 rad/s, θ = 0
∴ r = 0.1164 m, r = 0.66 m/s, r = 15.05 m/s 2
0.2 0.1
= , β = 20.7°
sin135 sin β
Kinetics: spring force at θ = π / 4 : F = 5000 × ( r − 0.1) compressed
⎡⎣ ∑ Fr = ma r ⎤⎦ (
− F + Ncos20.7 = m r − rθ 2 )
⎡⎣ ∑ Fθ = maθ ⎤⎦ R − Nsin20.7 = m ( rθ + 2rθ )
N = 81.7 N R = 38.7 N

P. 3/102 The small cart is nudged with negligible
velocity from its horizontal position at A onto
the parabolic path that lies in a vertical plane.
Neglect friction and show that the cart
maintains contact with the path for all values
of k.

P. 3/102
If the cart maintains contact, N > 0
use n-t coordinate since N aligns with the n-axis
⎡ ⎡1 + ( y ')2 ⎤ ⎤
3/ 2
⎢ ⎣ ⎦ ⎥ dy d2 y
⎢ρ = ⎥ y = kx 2
= k ( 2x ) = tan θ = 2k
y '' dx dx 2
⎢⎣ ⎥⎦
3/ 2
⎡⎣1 + 4k 2 x 2 ⎤⎦
ρ= mg
2k
v2
⎡⎣ ∑ Fn = ma n ⎤⎦ − N + mgcosθ = m dx
ρ
N θ dy
1 ds
⎡⎣1 + tan θ = sec θ ⎤⎦
2 2
cosθ =
1 + 4k 2 x 2
n
⎡⎣ ∑ Ft = ma t ⎤⎦ mgsinθ = ma t
[ vdv = a t ds] vdv = gsinθ ds = gdy, v 2 = 2gy = 2kgx 2 t
mg 2k mg
∴N = − 2mkgx 2 × = >0
2 3/ 2 2 3/ 2
1 + 4k x2 2
⎡⎣1 + 4k x ⎤⎦
2
⎡⎣1 + 4k x ⎤⎦
2

Kinetics of Particles

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Kinetics of Particles

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Ch.

In this chapter, the focus is on the particles. That is the

There are at least 3 approaches toe the solution of

For most engineering problems on earth, the acceleration

Newton’s 2nd law breaks when the velocities of the order

3.2 Newton’s Second Law

∑ F = ma --- equation of motion

Two problems of dynamics

3.3 Equation of Motion and Solution

Treatment of the body as particle is valid when the forces

3.3 Equation of Motion and Solution

If we are not free to choose a coordinate direction along the motion,

Other coordinate system such as n-t or r-θ

a may be determined via the use of relative motion

3.4 Rectilinear Motion

3.4 Rectilinear Motion

3.4 Rectilinear Motion

3.4 Rectilinear Motion

Friction force: Fs = 0.3mg = 2.943m and Fk = 0.25mg = 2.45m

3.4 Rectilinear Motion

(b) Fmax > 80 N ∴ block A does not move relative to B

3.4 Rectilinear Motion

3.4 Rectilinear Motion

3.4 Rectilinear Motion

3.4 Rectilinear Motion

3.4 Rectilinear Motion

3.4 Rectilinear Motion

3.4 Rectilinear Motion

3.4 Rectilinear Motion

3.4 Rectilinear Motion

3.4 Rectilinear Motion

⎣⎡ ∑ F = ma ⎦⎤ 40 − Tcos15 = 2a A and − Tcos15 = 3a B into (1)

3.4 Rectilinear Motion

1) 0 ≤ P ≤ FBmax : FB will be developed to cancel with the applied P,

3.4 Rectilinear Motion

3.4 Rectilinear Motion

3.4 Rectilinear Motion

3.4 Rectilinear Motion

3.4 Rectilinear Motion

3.5 Curvilinear Motion

3.5 Curvilinear Motion

3.5 Curvilinear Motion

3.5 Curvilinear Motion

given: m = 1 kg, r = 1 m, r = −0.5 m/s, r = 0

Ff = Ff2r + Ff2θ = 13.51 = μs P → P = 27.02 N

3.5 Curvilinear Motion

3.5 Curvilinear Motion

3.5 Curvilinear Motion

3.5 Curvilinear Motion

3.5 Curvilinear Motion

Slipping when friction = Fs but in what direction?

Fsn = 0.09N 2 − 160000 and substitute into (1)

3.5 Curvilinear Motion

3.5 Curvilinear Motion

3.5 Curvilinear Motion

3.5 Curvilinear Motion

given: θ = 0.5 rad/s 2 constant → θ = 0.5t, θ = 0.25t 2

3.5 Curvilinear Motion

3.5 Curvilinear Motion

3.5 Curvilinear Motion

3.5 Curvilinear Motion

3.5 Curvilinear Motion

3.5 Curvilinear Motion