Topics in textbook

 Actual Work
 Definition of Work
 Work on Particle

 Potential Energy Work-Energy Equation

 Definition of Energy
 Potential Energy

 Kinetics Energy
 Definition of Energs

1
Three approaches for
Newton’s
2nd Law  F  ma
i
Fi  Fi (a, v , s , t )
solving dynamics Kinematics Eq:

a (v , s , t )  v , s F2 path
1) Direct Method dr
From 2nd Law
(kinetics Eq)
1
m
 
F  a
A F3

F1
work (and potential energy)
2) Work and Energy of Force i along the path  m(a  dr )   m(v dv )
t t

 
From 2nd Law 1 1
 mv2 2  mv2 2
 
  Fi   dr  m(a  dr )
i   Fi  dr    m(a  dr ) 2 2
(change of kinetics energy)
 i  s 
 
s  i i   dr  s m(a  dr )
F

3) Impulse and Momentum

 m(a ) dt   m(dv )
linear impulse of Force i

 
From 2nd Law

 
s  i i   dt  s m(a dt )
F
i
 i
F dt   m( a ) dt   d (mv )  mv  mv
(linear momentum)
2 1

2
 Newton’s
2nd Law  F  ma
i
Work and Energy
From 2nd Law Usually convenient
change of
when F = F(s), and
kinetic energy
you want to find
 
i   Fi  dr    m(a  dr )
velocity at final state
(without finding acc.
s  first).
kinetic

def  m(a  dr )   m(a ds) t

energy
at B
Ui   F  dr
s
i
  m(v t dvt )
F2
1
path
B
Work of Force i along dr
1 1 kinetic
the path  mvB 2  mvA 2 energy A
F3
2 2 at A
Work of a force Fi
F1
during small displacement
 TB  TA  TB A
dU i  Fi dr
1 2
  Fi cos i  ds T
2
mv Principle of work and Energy

 Fi (ds)cos i  kinetic energy U AB  T  TB  TA

dU1  0 dU 2  0 dU 3  0
3
Work done on Particle
dU1  0
Work by a force Fi
Fi dU 2  0
dUi  Fi  dr
(dr ) cos i path
dU 3  0
dr  (Fi ) (dr ) cosi
F3 i
( F ) cos i
 (Fi ) cosi (dr )
F1 P
F2 (inactive force)

Work done over particle A

 dU   ( F i i  dr )  ( Fi )  dr
Since  F  ma ,
sum of works
done by all forces the total work done on object is
over the particle A …… 5
Note on work F2
path
dr

dUi  Fi  dr F3

F1

 dU i is positive when  Fi t  F (cosi ) and s

has the same direction.

 Unit of work is N-m or Joule (J).

 Active force is the force that does the work

 Reactive force = constrain force that does not do the work

6
The 10-kg block rest on a smooth incline. B
A (spring stretched
If the spring is originally stretched 0.5 m, length is 0.5m)
determine the total work done by all forces
acting on the block when a horizontal
force P = 400 N pushes the block up the
Pos B
plane s = 2 m. The block is not tipping.
Horizontal Force P: constant
Pos A

U P  ( P cos 30 )(2)  692.8 J

o

Weight W: constant.

UW    mg  (2sin 30 )  98.1J
“Active Force”
Spring Force Fs.: varying Force

2 2
U Fs    ( Fs )(dx)    k ( x  0.5)dx   1 k ( x  0.5) 2   90 J
B

A
0
 2 
0

Normal Force NB : U NB  0
U Overall  692.8  98.1  90
constant “Inactive Force”
 504.7 J
Work done on Particle
t Work done over particle A

F4 path
 dU   ( F
i i  dr )
dr
 ( Fi )  dr
F3
a sum of works
done by all forces
F1 P over the particle A
 (ma )  dr
F2
B B B
U AB     dU    m  a  dr    m  at ds 
Pos B

A A A
Pos A TB
B B
  m  vdv    mv 2   1 mvB2  1 mv A2
TA 1
A
 2  2 2
A
Work done on particle P
during path A->B, 1def TA
TB
is to increase kinetic T  mv 2
energy of particle 2
 path
F2
Kinetics Energy
1 2
T  mv A
2 F3

 T is the work done on a particle to F1 Principle of work and Energy

accelerate it from rest to the velocity v

 Unit of T is N-m or Joule (J)

U AB  TB  TA

( TA  U AB  TB )
Advantage
 Scalar equation. (1 unknown)
 Integral Equation (not instantaneous eq like 2nd Law)

 No need to find acceleration first

 Get change in velocity directly from active forces.

 it can be applied to system of particles with

frictionless and non-deformable links 12
15
18
 F2
How to calculate Work 1
path
dUi  Fi  dr
dr
In general F3   Fi cos i  ds
displacement x
U i   dU i   Fi  dr Fi force component
s s in the direction of
F   Fi  x iˆ   Fi  y ˆj   Fi  z kˆ displacement

 Fi (ds)cos i 
In xyz-coord
dr  (dx)iˆ  (dy ) ˆj  (dz )kˆ

Ui    Fi x dx   Fi  y dy   Fi z dz scalar
(be careful
Of +/-) displacement in the
make sure that the direction of  Fi  x  Fi  y  Fi  z direction of force
x force component
In nt-coord is positive according to  x  y  z direction.

make sure that the direction of  Fi t

Ui    Fi t ds is positive according to +s direction.

In r-coord F  Fr eˆr  F eˆ dr  (dr )eˆr  (rd )eˆ

Ui    Fr  dr   F  rd 19
M3/107) Calculate the work done on 10-kg object with the
constant Force ( F= 8N ) during the curve path AB.
F  8iˆ (const) dr   dx  iˆ   dy  ˆj
x-y
0.75

U F , A B   F  dr   8 dx  8(0.75) J
0

 
mg   mg   ˆj
0

U mg , A B    mg   dr
y    mg  dy
0.375

 mg (0.375)
x
U mg , A B  (mg )(0.375)  36.7875 J
mg
F=8N (const) U N , A B  0

N U A B  U F , A B  U mg , A B  U N , A B
Does not do the work

 42.7875 J Ans
If F is not constant, how to calculate it?
If F is not constant
U F , A B   F  dr
F  ( x  y )iˆ  ( x 2  y 2 ) ˆj B
  ( x  y ) dx  ( x 2  y 2 ) dy
A

y B
  ( x  (0.375  0.667 x 2 )dx
A
y  0.375  0.667 x 2
 0.375  y  2 
B
     y  dy
A   
0.667
x

More general case

B
U F , A B   F  dr   Fx dx  Fy dy
F  Fx ( x, y)iˆ  Fy ( x, y) ˆj
A

B
   Fx ( x, f ( x)) dx  Fy ( x, f ( x)) dy 
A

y  f ( x) Fy ( f 1 ( y), f ( y))dy

or Fy ( x, f ( x))
dy
dx
21
dx
M3/107) Calculate the work done by F during the curve path AB.
n-t Fn doest
not effect

F (s)  Ft (s)eˆt  Fn ( s)eˆn

works!

s Fn ( s )
Ft  2s cos 
Fn  2s sin 
engine thrust

U F , A B   F  dr   Ft ( s)ds

  2s cos  ds

F (t )  2 s

M3/107) Calculate the work done by F during the curve path AB.
r-
 FC eˆr
(dr )eˆr  rd eˆ
F  F
rA
FCC eˆr
U F , A B   F  dr

rB
F (const)     Feˆr  0eˆ    (dr )eˆr  (rd )eˆ 
r- reference point

d 0 central force
B B
    FC  dr   FC  dr
A A

  FC  rB  rA 
r  reˆr
 
dr   dr  eˆr  r  d  eˆ     dr  eˆr  r eˆ
 FC (rA  rB )

23
M3/121) The 0.2-kg slider moves freely along the fixed curved rod from A to B
in the vertical plane under the action of the constant 5-N tension in the cord. If
the slider is released from rest at A, calculate its velocity v as it reaches B.
mg
F Work-Energy Eq.
general 0
U AB  12 mv
TB  T A
position
N 2
B
Does not
do the work
eˆr 2U A B
vB 
F r- coordinate
m
reference point 2
  2.0095  4.482745
0.2

What does it mean

if U A B  0?
U mg   mg (0.25)  0.4905 J
B rB 0
U F    Fdr  F  dr   F (r B  rA ) U A B  U F  U mg  U N
rA
A

 F (rA  rB )  5( 0.62  0.252  0.15)  2.5

 2.5   0.4905  2.0095 J
25
Work on frictionless connected particles

Only the external

forces are needed to
calculate the total
work on a system of
particles.

(If frictions exist, the

sum of action and
reaction of the
friction may not be
zero.)

 internal force R and –R will have the same displacement.

 So, the sum of these works are zero.

33
 initial state Final state
The system starts from rest at
Configuration 1. Find the velocity of A mA g
mA g mB g
at configuration where d = 0.5 m . F is
mB g
20 N (constant)

0.5

U A 12  TA Fd  mA gd  
0
Tdy  TA
0.5

N causes U B 12  TB mB gd   Tdy  TB

no work! 0

System selection is not so good

(you have to calculate Tension T for its work)

1 1
U sys  TA Fd  mA gd  mB gd  TA  mAv 2  mB v 2
12 2 2 34
mA g mB g
M3/131) The ball is released from position A with a velocity of 3m/s and
swings in a vertical plane. At the bottom position, the cord strikes the fixed bar
at B, and the ball continues to swing in the dashed arc. Calcuate the velocity
v of the ball as it passes position C.
Work-Energy Eq.

U AC  12Tmv
C  1
T mv
2 A
2
C
2
A

U AC  U mg   UT  AC

AC
T does
no work

system
U mg  mg (hA  hB )  mg (1.2cos 60o  0.8)
mg  mg (0.2)  mg (0.2)

2 1 2
vC   mg
U  mv A  12.924  3.595 m/s 2

m 2  35
 F2
Power path

dr
 Power is defined as time rate of work A F3

d F r 
F1
dU
P   F v
dt dt
(scalar quantity)

 For a machine, power tells how

much work it can do in a period of
time.
(small machine can deliver lots
of energy given enough time)

 Unit of power: Watt (W) = J/s = N-m/s

37
 Mechanical Efficiency

 Mechanical Efficiency

useful power output


power input
1
energy output If energy applied to the
 machine occurs during the
Poutput
energy input same time interval at which
it is removed.
 F v
 Since machine consists of moving
parts which may have frictions, so extra
energy or power is needed to overcome
the frictions.
38
A car has a mass of 2 Mg and an engine efficiency of  = 0.65. The car
uniformly accelerates at 5 m/s2, starting from rest. During that
constant acceleration, the wind outside creates a drag resistance on the car
of FD = 1.2v2 N, where v is the velocity in m/s. Find the engine output
input when t=4 s. a
Poutput Poutput  F  v

Pinput
Poutput   F t 4  v t 4 
t 4
x
 10480  20  209.6 kW
Poutput 209.6
Pinput    322.46 kW
t 4  0.65

[  :  Fx  max ] FC  1.2v  ma FC  ma  1.2v 2  10480 N

2

a  5 (constant)
Constant
acceleration:

v  at v t 4  (5)(4)  20 m/s 39
 A 50-N load (B) is lifted up by the motor from rest until the distance is
10 m. The motor M has an efficiency of 0.76 and exerts a constant force
of 30 N. Find the power supplied to the motor at that instant. Neglect
the mass of the pulleys and cable.
P Poutput
v=?  output
Pinput  
375.6
 494.2 W
Pinput  0.76

sP Poutput  F  v  (30)(2  6.26)  375.6 W

F = 30 N
d dsP
(const) LM  2sP  C vM  LM  2
dt dt
 2vP  2vB

2F= 2(30)   F  ma 
Energy 2UFAB 50
 TBma
TA
50N Approach
1
(2 F2)(Fs)50mgs  mv 2
a  9.812
s = 10 m
(start
B
5029.81
 2 Fs  mgs 
from rest) v  6.26
m
50 N v  u  2as
2 2 v  2(9.81)10
 kinetic
Work and Energy energy
at B

F1 path
 1 1 
  mv B
2
 mvA2  B
 2 2  dr
kinetic
energy A
at A

U AB  TB  TA F2
F3

summation of all forces

We found that ….
U F1 , A B U F2 , A B U F3 , A B
It is much easier to solve dynamic
Work from Work from
Gravity Force spring problem, if we think the work done
Work from all
other forces by spring and gravity force in the
(not spring & form of Potential Energy
gravitation)
Gravitational Elastic
Potential Potential
42
Energy Energy
 Work of Gravity Force dUW  W (dh) Only depends on Only depends on
>0 position at position at
final state (2) initial state (2)
Vg ,1 UW ,12  mg (h1  h2 )
any path
1 energy level (higher)  mg (h2  h1 )  (mgh2  mgh1 )
W=mg
Work done by W , only depends on the initial
Vg ,2 state position and final state position only,
2
i.e. , it does not depends on actual path
energy level (lower)

h1 h h2 Think in Term of “Potential Energy” def

(for convenience) Vg  mgh
Fixed reference line
Potential Energy point function
- Energy from gravity field
UW , anyPath 12   (Vg ,2  Vg ,1 )
Vg ,2  Vg ,1 :
Change in Internal Energy: + (increasing)
Work done by
Gravity Force:
U  V  V Energy “Emission”:
from position 1 Work = “Energy in Transfer”
from position 1 to position 2
to position 2 h1  h2  Vg ,1  Vg ,2
 when change in g is significant
Define V g as negative of work done from the position to r 

mgR 2 mgR 2
 GM earth 
F  m Vg (r )    2 dr  
 r r
 r 
2
r

GM earth
g  9.81  the potential energy at r is
 Rearth 
2

mg  Rearth 
2

Vg  
r

 Vg from r1 to r2

Vg  
GM earth
0  mgR 2   mgR 2 
Rearth Vg     
 r2   r1  44
Work of Spring Force Only depends on Only depends on

 Lo  L1    Lo  L2 
dU Fs  Fs dL position at position at
final state (2) initial state (1)
L1  Ve,1  Ve,2
E1 2
U Fs ,12   k ( Lo  L)dL
1 1
L L2
L2 1 
   k ( L  Lo ) 2     
Lo natural length 1 1
(unstretched length)  k ( L  L ) 2
 k ( L1  Lo ) 2 
2  L1 2
2 o
2 
E2
Work done by Spring , depends only on the
Fs 2 initial state and final state only, i.e. ,
it does not depends on actual path
any path
def
1 x : distance , stretched or
Think in Term of “Energy” Ve  kx 2 compressed from natural
point function
(for convenience)
2 length

U Fs , anyPath 12   (Ve ,2  Ve ,1 )  (Ve ,1  Ve ,2 )

Energy Emission:
U  V
Work done by Spring Force:
from position 1 to position 2 from position 1 to position 2
Work-Energy Equation
FBD **
(Use Energy Concept)
FBD
Not
Recommended
Method in this
course

N
N

Work-Energy Equation (2nd Form)

Work-Energy Equation
(1st Form)
U AB  T U *AB  V  T

U AB  U A B  T
*

Virtual work by non-

 U A B  V   VB  VA 


conservative forces.

Energy Concept
 Work-Energy Equation (1st Form)

U AB  T

FBD
Work-Energy Equation (2nd Form)

U AB  V  T = E
*

N
M3/173) The 0.6-kg slider is released from rest at A and slides down
under the influence of its own weight and of the spring of k = 120 N/m.
Determine the speed of the slider and the normal force at point B. The
U U 0 *
AB N , AB
unstrecthed length of the spring is 200 mm.
U A*  B  V  T
F
N
mg  5.866
VA  TA  VB  TB
y  2x 2

1 1 1 1
mghA  kxA2  mvA2  mghB  kxB 2  mvB2
gravitational
2 2 2 2
potential datum hA  0.5 x A  ( 0.52  0.252  0.2) xB  (0.25  0.2)

vB  5.9234 m/s
At position B
vB2
FB  k (0.25  0.2) N B  mg  Fs  m an N B  84.09 N
man

 mg 
  df  
2 2

3

mat 1    
  dx   1
3

NB  

1  (4 x) 
2 2
  m
2
d y x 0
4 4 49
dx 2
Advantage

 Integral Equation (not instantaneous equation like 2nd Law)

 Scalar equation. (easy to handle with1 unknown)

 Get change in velocity directly.

(No need to find acceleration first)

 Handle with only active forces.

 it can be applied to system of particles with

frictionless and non-deformable links
We will see this later, when applying at system of particles
57
Work on frictionless connected particles

A
B C

58
 initial state Final state
The system starts from rest at
T
Configuration 1. Find the velocity of A T
at configuration where d = 0.5 m . F is
mA g mB g
20 N (constant) T
T
F mA g
mB g
F

Object A
0.5

U A* ,12  VA  TA Fd  0

Tdy  VA  TA

Object B 0.5
Ny
U B* ,12  VA  TA   Tdy  VA  TA
0
Nx

,12  Vsys  Tsys

*
U sys
Fd  VA  TA
T is internal force
F
(excluding from Work Calculation)

We have no interest in T, thus object separation

(separating object A and B) is not good in this problem.
60
64
M3/158) If the system is released from rest, SA
determine the speeds of both masses after B have
SB
move 1 m. Neglect friction and the masses of pulleys.
System: block A + block B + cord+ 2 Pulleys
Position A: at rest
(assume)
up L  3S A  2S B  C1
Position B: block B moves down as 1 meter 3vA  2vB  0
3aA  2aB  0
U *
sys , AB  V  T
datum

1  1 
mA g  hA   mB g  hB    mAv A2  0    mB vB2  0   0
2  2 

2
 sB   
2 2
s A  
3 3
sB  1 v A   vB
3
2
hA   sin 20o hB  1
3

2
1  2  1
10.9924  mA   vB   mB vB2  0
2  3  2 unsolvable
M3/158) If the system is released from rest, SA
determine the speeds of both masses after B have
SB
move 1 m. Neglect friction and the masses of pulleys.
System: block A + block B + cord+ 2 Pulleys
Position A: at rest
(assume)
up L  3S A  2S B  C1
Position B: block B moves down as 1 meter 3vA  2vB  0
3aA  2aB  0
U *
sys , AB  V  T
datum

1  1 
mA g  hA   mB g  hB    mAv A2  0    mB vB2  0   0
2  2 

2
 sB   
2 2
s A  
3 3
sB  1 v A   vB
3
2
hA   sin 20o hB  1
3

2
1  2  1 vB2  0.85285 vB  0.85285 vB  0.85285
10.9924  mA   vB   mB vB2  0
2  3  2
vA  0.61566
H14/16) Block A rest on a surface which has sA
friction. Determine the distance d cylinder B 20 N
must move down so that A has a speed of k  0.3
vA  2 m/s starting from rest. sB
System: block A + block B + cord+ 2 Pulleys
50 N
Position A: at rest
Position B: block B moves down as d meter

U *
Sys , AB  E *
U Sys , AB  ( k N )(2d )

1 1 L  s A  2 sB
E  mA v A  mB vB 2  (mB g )d
2

2 2
0  sA  2sB
1 1
  k N  2d   mA (2)2  mB (1) 2  mB g (d ) sB : d  sA  2d
2 2
vA  2vB  0
1 (4mA  mB )
d  0.1744 m
2 (mB g  2 k mA g ) vA : 2  vB  1
67
3/168) The system is released from rest with =180, where the uncompressed
spring of stiffness k= 900 N/m is just touch the underside of 4-kg collar.
Determine the angle  corresponding to the maximum spring compression.

, AB  V  T
O2-1 O2-2 *
O1
U sys
r
L
 /2
VA  TA  VB  TB
 /2
datum r 1 1
 /2 m1 g (h1, A )  2m2 g (h2, A )  kx A2  m1 g (h1, B )  2m2 g (h2, B )  kxB2
2 2
* 
 180  h1, B  2(0.2)sin  
h1, A  2(0.2) sin    0.4
System: O1+O2+O3+4 rods  2   2

 180  * 
Position A: at rest with =180 h2, A  (0.2  0.3) sin    0.5
h2, B  (0.2  0.3)sin  
 2   2

Position B: maximum compression  *  

xB   2(0.2) sin    2(0.2) 
 * (v*  0 for all object)   2 

2
 *   *  1    * 
 4(9.81)(0.4) 1  sin   (2)(3)(9.81)(0.5) 1  sin    900  0.4 1  sin  
h1  2r sin  2  2 2   2 
2
  *    *  45.13
h2  (r  L) sin 1  sin   0 or 1  sin  
 *  0 or 43.8o 68
2  2  2 72
Power F2
path

dr
 Power is defined as time rate of work A F3

d F r 
F1
dU
P   F v
dt dt
(scalar quantity)

 For a machine, power tells how much

work it can do in a period of time.
(small machine can deliver lots
of energy given enough time)

 Unit of power: Watt (W) = J/s = N-m/s

70
 Mechanical Efficiency

 Mechanical Efficiency

useful power output


power input
1
If energy applied to the
energy output
 machine occurs during the
Poutput
energy input same time interval at which
it is removed.
 F v
 Since machine consists of moving
parts which may have frictions, so extra
energy or power is needed to overcome
the frictions.
71
 A 50-N load (B) is lifted up by the motor from rest until the distance is
10 m. The motor M has an efficiency of 0.76 and exerts a constant force
of 30 N. Find the power supplied to the motor at that instant. Neglect
the mass of the pulleys and cable.
Poutput Poutput 375.6
v=?  Pinput    494.2 W
Pinput  (  0.76 ) 0.76

F = 30 N sP Poutput  F  v Poutput ? (30)(6.26) No!

(const)
 (30)(2  6.26)  375.6 W
LM  2sP  C vM 
d ds
LM  2 P  2vP  2vB
50N dt dt
Ny

 B50
U2A*F (VBma
VA )  (TB  TA )
2F= 2(30) Nx   F  ma 
Energy
s = 10 m Approach
(start from rest)
F = 30 N
 1 2
 )(2  20)  mgs
9.81  2 mv
2 F 50
a( F
(const)

50  
50 N v
9.81

2 2 Fs  mgs   6.26
50 N v  u  2as
2 2 v m 2(9.81)10
Summary
 Make sure you write FBD (no FBD, no score)

 U *
A B  V  T or U A B  T

 Scalar Equation (Only 1 unknown)

 Equation itself is not hard to solve, but calculating

work may be more difficult than you thought.

74
 Recommended Problem
M3/144 M3/155
M3/160

M3/168 H14/93 , H 14/96

M3/166

75
77