Lecture 09:

Force & Acceleration

Engineering Mechanics

Thirteenth Edition

Chapter 13: Kinetics of a particle

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2013. All rights reserved.

Chapter 13: Objectives

 State Newton’s Laws of Motion and Gravitational attraction

and to be able to define mass and weight

 Analyze accelerated motion of a particle using the equation of

motion

 Investigate central-force motion and apply it to problems in

space mechanics

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2013. All rights reserved.

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Chapter 13: Outline

1. Newton's Second Law of Motion

2. The Equation of Motion

3. Equation of Motion for a System of Particles

4. Equations of Motion: Rectangular Coordinates

5. Equations of Motion: Normal and Tangential Coordinates

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NEWTON’S LAWS OF MOTION, EQUATIONS OF MOTION, &

EQUATIONS OF MOTION FOR A SYSTEM OF PARTICLES

Today’s Objectives: In-Class Activities:

Students will be able to: • Reading Quiz
1. Write the equation of motion for an • Applications
accelerating body.
• Newton’s Laws of Motion
2. Draw the free-body and kinetic
• Newton’s Law of Gravitational Attraction
diagrams for an accelerating body.
• Equation of Motion for a Particle or
System of Particles
• Problem Solving

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Reading Quiz

1. Newton’s second law can be written in mathematical form as F = ma.

Within the summation of forces, F, ________ are(is) not included.
A) external forces B) weight
C) internal forces D) All of the above.

2. The equation of motion for a system of n-particles can be written as

Fi =  miai = maG , where aG indicates _______.
A) summation of each particle’s acceleration
B) acceleration of the center of mass of the system
C) acceleration of the largest particle
D) None of the above.

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Applications (1)

The motion of an object depends on

the forces acting on it.

A parachutist relies on the atmospheric

drag resistance force generated by her
parachute to limit her velocity.

Knowing the drag force, how can we

determine the acceleration or velocity
of the parachutist at any point in time?

This has some importance when landing!

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Applications (2)

The baggage truck A tows a cart B,

and a cart C.
If we know the frictional force
developed at the driving wheels of the
truck, could we determine the
acceleration of the truck?

How?

Can we also determine the horizontal

force acting on the coupling between the
truck and cart B?

This is needed when designing the

coupling (or understanding why it
failed).
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Applications (3)

A freight elevator is lifted using a

motor attached to a cable and pulley
system as shown.

How can we determine the tension

force in the cable required to lift the
elevator and load at a given
acceleration?
This is needed to decide the size of the
cable that should be used
Is the tension force in the cable greater
than the weight of the elevator and its
load?

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13.1 Newton’s Laws of Motion
The motion of a particle is governed by Newton’s three laws of motion;

First Law: A particle originally at rest, or moving

in a straight line at constant velocity, will remain
in this state if the resultant force acting on the
particle is zero.

Second Law: If the resultant force on the particle

is not zero, the particle experiences an acceleration
in the same direction as the resultant force.
This acceleration has a magnitude proportional to
the resultant force.

Third Law: Mutual forces of action and reaction

between two particles are equal, opposite, and
collinear

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13.1 Newton’s Laws of Motion

The motion of a particle is governed by Newton’s three laws of motion;

First Law: (Statics)


Resultant Force; F  0 Constant Velocity

Second Law:
 d  
F  ( mv )  m a
dt

Third Law:
  Forces are:
f12   f 21 • Equal
• Opposite
• Collinear
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13.1 Newton’s Laws of Motion

The first and third laws were used in developing the concepts of statics.
Newton’s second law forms the basis of the study of dynamics

Mathematically, Newton’s second law of motion can be written as:

F = ma
Where: F is the resultant unbalanced force acting on the particle,
a is the acceleration of the particle.
m is the mass of the particle.

The equation is referred to as the equation of motion, and is one of the most
important formulations in mechanics

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13.1 Newton’s Laws of Motion

The validity of the equation of motion is solely based on experimental evidence.

In 1905, however, Albert Einstein developed the theory of relativity and placed
limitations on the use of Newton's second law for describing general particle motion

Through experiments it was proven that time is not an absolute quantity as

assumed by Newton;

Newton’s second law cannot be used when the particle’s speed approaches the
speed of light, or if the size of the particle is extremely small (~ size of an atom).

If an object tries to travel 186,000 miles per second, its mass becomes infinite, and
so does the energy required to move it.

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13.1 Newton’s Law of Gravitational Attraction

Any two particles or bodies have a mutually attractive gravitational force acting
between them.
Newton postulated the law governing this gravitational force as

m1 m2
F=G
r2
where F = force of attraction between the two bodies,
G = universal constant of gravitation ,
m1, m2 = mass of each body, and
r = distance between centers of the two bodies.

When near the surface of the earth, the only gravitational force having any
sizable magnitude is that between the earth and the body.

This force is called the weight of the body.

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13.1 Newton’s Laws of Motion: Mass and Weight

It is important to understand the difference between the mass and weight of a body!

Mass is an absolute property of a body.

It is independent of the gravitational field in which it is measured.
The mass provides a measure of the resistance of a body to a change in velocity, as
defined by Newton’s second law of motion (m = F/a).

The weight of a body is not absolute, since it depends on the gravitational field in
which it is measured.

Weight is defined as: W = mg

where g is the acceleration due to gravity.

Weight on Earth: 100kg x 9.8m/s2 = 980N.

Weight on Moon: 100kg x 1.622 m/s2 = 162.2N © Pearson Education South Asia Pte Ltd
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13.1 Newton’s Laws of Motion: Mass and Weight

SI system: In the SI system of units, mass

is a base unit and weight is a derived unit.

Typically, mass is specified in kilograms (kg),

and weight is calculated from W = mg.

If the gravitational acceleration (g) is

specified in units of m/s2, then the weight is
expressed in newtons (N).

On the earth’s surface, g can be taken as g = 9.81 m/s2.

W (N) = m (kg) g (m/s2)  N = kg·m/s2
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13.1 Newton’s Laws of Motion: Mass and Weight

FPS System: In the FPS system of units,

weight is a base unit and mass is a derived
unit

Weight is typically specified in pounds (lb),

and mass is calculated from m = W/g.

If g is specified in units of ft/s2, then the

mass is expressed in slugs.

On the earth’s surface, g is approximately 32.2 ft/s2.

m (slugs) = W (lb)/g (ft/s2)  slug = lb·s2/ft
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 When F = FR = ma = 0
13.2 Equation of Motion
Such a condition is called static equilibrium,
Newton’s First Law of Motion
The motion of a particle is governed by Newton’s second law, relating the unbalanced
forces on a particle to its acceleration.
If more than one force acts on the particle, the equation of motion can be written
F = FR = ma
where FR is the resultant force, which is a vector summation of all the forces.

To illustrate the equation, consider a particle

acted on by two forces.

First, draw the particle’s free-body diagram,

showing all forces acting on the particle.
Next, draw the kinetic diagram, showing the
inertial force ma acting in the same direction as
the resultant force FR.
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13.2 Inertial Reference Frame

F = FR = ma
This equation of motion is only valid if the acceleration is
measured in a Newtonian or inertial frame of reference.

What does this mean?

Acceleration of the particle should be measured with respect
to a reference frame that is either fixed or translates with a
constant velocity
In this way, the observer will not accelerate and measurements of the particle's
acceleration will be the same from any reference of this type.
For problems concerned with motions at or near the earth’s surface, we typically
assume our “inertial frame” to be fixed to the earth. We neglect any acceleration
effects from the earth’s rotation.

For problems involving satellites or rockets, the inertial frame of

reference is often fixed to the stars.
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13.2 Inertial Reference Frame

Consider the passenger who is strapped to the seat of a rocket sled

The sled is at rest or is moving

with constant velocity

The thrust of the rocket engine causes the

sled to accelerate, then the seat upon
which he is sitting exerts a force F on him
which pushes him forward with the sled.

Upon deceleration the force of the seatbelt F'

tends to pull his body to a stop, but his head
leaves contact with the back of the seat and his
face distorts forward © Pearson Education South Asia Pte Ltd
2013. All rights reserved.

13.3 Equation of Motion for a System of Particles

The equation of motion can be extended to include systems of particles.

This includes the motion of solids, liquids, or gas systems
As in statics, there are internal forces and external forces
acting on the system.
What is the difference between them?

Using the definitions of m = mi as the total mass of

all particles and aG as the acceleration of the center of
mass G of the particles, then m aG = mi ai .

The text shows the details, but for a system of particles:

Fi + fi = mi ai  F = m aG

where F is the sum of the external forces acting on the

entire system. The summation of internal forces will be
equal to zero. Why? © Pearson Education South Asia Pte Ltd
2013. All rights reserved.

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Example- 1

Consider the composite uniform sphere and uniform cylinder shown, each of density ρ.
Find the mass center of the composite body in terms of R.

Vcylinder  R 2 h
4 3
Vsphere  R
3
mass  ρV

  mi ri
rOC 
 mi

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Example- 1

Distance to mass center in X-Direction from origin:

mcylinder x cylinder  msphere x sphere

x
mcylinder  msphere

5R 3  ( 2.5 R )  4 R 3  ( 4 R )
x 3
5R 3   4 R 3 
3

x  2.82 R

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Example- 1

Distance to mass center in y-Direction from origin:

mcylinder y cylinder  msphere y sphere

y
mcylinder  msphere

5R 3  (0)  4 R 3  ( 2 R )
y 3
5R 3   4 R 3 
3

y  0.421R

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Summary Key Points

 Newton’s second law is a “law of nature”-- experimentally proven, not

the result of an analytical proof.

 Mass (a property of an object) is a measure of the resistance to a

change in velocity of the object.

 Weight (a force) depends on the local gravitational field. Calculating

the weight of an object is an application of;

F = ma, i.e., W = mg

 Unbalanced forces cause the acceleration of objects. This condition is

fundamental to all dynamics problems

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Procedure for Application

 Select a convenient inertial coordinate system. Rectangular,

normal/tangential, or cylindrical coordinates may be used.

 Draw a free-body diagram showing all external forces applied to the particle.
Resolve forces into their appropriate components.

 Draw the kinetic diagram, showing the particle’s inertial force, ma. Resolve
this vector into its appropriate components.

 Apply the equations of motion in their scalar component form and solve these
equations for the unknowns.

 It may be necessary to apply the proper kinematic relations to generate

additional equations.
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Example- 2
Given:
A 25-kg block is subjected to the force F=100 N.
The spring has a stiffness of k = 200 N/m and
is unstretched when the block is at A. The
contact surface is smooth

Find:
Draw the free-body and kinetic diagrams of
the block when s=0.4 m.

Plan:
1) Define an inertial coordinate system.
2) Draw the block’s free-body diagram, showing all external forces.
3) Draw the block’s kinetic diagram, showing the inertial force vector
in the proper direction.
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Example- 2
Solution: W = 25g
y
1) An inertial x-y frame can be defined as F=100 (N)
fixed to the ground
x
3
2) Draw the free-body diagram of the 4
N
block: Fs= 200  (N)
= 40 (N)
The weight force (W) acts through
the block’s center of mass.
The normal force (N) is perpendicular to the surface.
There is no friction force since the contact surface is
smooth.
F is the applied load = 100 N

Fs = 200 (N) is the spring force, where  is the spring deformation.

When s = 0.4,  = 0.5  0.3 = 0.2 m.
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Example- 2
Solution:

3) Draw the kinetic diagram of the block.

W = 25g
y
F=100 (N)
25 a
x
3 N
4
Fs= 200  (N)
= 40 (N) The block will be moved to the right.
The acceleration can be directed to the
right if the block is speeding up or to
the left if it is slowing down.

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Concept Quiz

1. The block (mass = m) is moving upward with a speed v.

Draw the FBD if the kinetic friction coefficient is k.

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Concept Quiz

2. Packaging for oranges is tested using a machine that exerts ay = 20 m/s2 and
ax = 3 m/s2, simultaneously. Select the correct FBD and kinetic diagram for this
condition

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Example- 3
Given:
A 10-kg block is subjected to a force F=500 N. A
spring of stiffness k=500 N/m is mounted
against the block. When s = 0, the block is at
rest and the spring is uncompressed. The
contact surface is smooth.
Find:
Draw the free-body and kinetic diagrams of the block

Plan:
1) Define an inertial coordinate system.
2) Draw the block’s free-body diagram, showing all external forces applied to
the block in the proper directions.
3) Draw the block’s kinetic diagram, showing the inertial force vector ma in
the proper direction. © Pearson Education South Asia Pte Ltd
2013. All rights reserved.

Example- 3
Solution: m=10kg

1) An inertial x-y frame can be defined as

fixed to the ground
2) Draw the free-body diagram of the block:
1- The weight force (W) acts through
the block’s center of mass. F=500 (N) W = 10 g
2- F is the applied load = 500 N 3
y 4
3- Fs =500 s (N) is the spring force, where s
is the spring deformation Fs=500 s (N)
x
4- The normal force (N) is perpendicular to the surface. N
No friction force since the contact surface is smooth.
10 a
3) Draw the kinetic diagram of the block:
The block will be moved to the right. The acceleration
can be directed to the right if the block is speeding up
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