Dynamics

KINETICS OF A PARTICLE
Force and Acceleration

Lecturer: Dr. Khoa Do

Department of Applied Mechanics
School of Mechanical Engineering

1
Department of Applied Mechanics- School of Mechanical Engineering
 Outline

1. Newton’s Second Law of Motion

2. The Equation of Motion

2.1. Equation of Motion for a System of Particles

2.2. Equations of Motion: Rectangular Coordinates

2.3. Equations of Motion: Normal and Tangential Coordinates

2.4. Equations of Motion: Cylindrical Coordinates

Department of Applied Mechanics- School of Mechanical Engineering 2

1. NEWTON’S SECOND LAW OF
MOTION

Department of Applied Mechanics- School of Mechanical Engineering 3

APPLICATIONS

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!
 APPLICATIONS (continued)

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).
 APPLICATIONS (continued)

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?
 NEWTON’S LAWS OF MOTION (Section 13.1)

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.
 NEWTON’S LAWS OF MOTION (continued)

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
F = ma
where F is the resultant unbalanced force acting on the
particle, and a is the acceleration of the particle. The
positive scalar m is the mass of the particle.

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).
 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 2
r

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.
 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.
 UNITS: SI SYSTEM VERSUS FPS SYSTEM

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
 UNITS: SI SYSTEM VERSUS FPS SYSTEM
(continued)

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
2. EQUATIONS OF MOTION

Department of Applied Mechanics- School of Mechanical Engineering 13

 EQUATION 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.
 INERTIAL FRAME OF REFERENCE

This equation of motion is only valid if the

acceleration is measured in a Newtonian or inertial
frame of reference. What does this mean?

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.
 2.1 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: F = m aG

where F is the sum of the external forces acting on the entire
system.
 KEY POINTS

1) Newton’s second law is a “law of nature”-- experimentally

proven, not the result of an analytical proof.

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

to a change in velocity of the object.

3) 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.

4) Unbalanced forces cause the acceleration of objects.

This condition is fundamental to all dynamics problems!
 PROCEDURE FOR THE APPLICATION OF THE
EQUATION OF MOTION

1) Select a convenient inertial coordinate system. Rectangular,

normal/tangential, or cylindrical coordinates may be used.

2) Draw a free-body diagram showing all external forces

applied to the particle. Resolve forces into their
appropriate components.
3) Draw the kinetic diagram, showing the particle’s inertial
force, ma. Resolve this vector into its appropriate
components.
4) Apply the equations of motion in their scalar component
form and solve these equations for the unknowns.
5) It may be necessary to apply the proper kinematic relations
to generate additional equations.
 EXAMPLE

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.
 EXAMPLE (continued)

Solution:
1) An inertial x-y frame can be defined as fixed to the ground.
2) Draw the free-body diagram of the block:

The weight force (W) acts through the

block’s center of mass. F is the applied
W = 25g load and Fs = 200 (N) is the spring
y
force, where  is the spring deformation.
F=100 (N)
x When s = 0.4,
4
3  = 0.5  0.3 = 0.2 m.
Fs= 200  (N)
The normal force (N) is perpendicular to
= 40 (N) N the surface. There is no friction force
since the contact surface is smooth.
 EXAMPLE (continued)

3) Draw the kinetic diagram of the block.

The block will be moved to the right.

25 a The acceleration can be directed to
the right if the block is speeding up or
to the left if it is slowing down.
 CONCEPT QUIZ

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

Draw the FBD if the kinetic friction coefficient is k.
mg mg
v
A) kN B) kN

N N

mg
C) kmg D) None of the above.
N
 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. y

W may x
W
A) B)
= • max = • max
Rx Rx
Ry Ry

C) may
D) may
W

= • = • max

Ry Ry
 GROUP PROBLEM SOLVING

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.
 GROUP PROBLEM SOLVING (continued)

Solution:
1) An inertial x-y frame can be defined as fixed to the ground.
2) Draw the free-body diagram of the block:

F=500 (N) W = 10 g The weight force (W) acts through the

block’s center of mass. F is the applied
3
4 Fs=500 s (N) load and Fs =500 s (N) is the spring force,
y where s is the spring deformation. The
normal force (N) is perpendicular to the
x
N surface. There is no friction force since
the contact surface is smooth.
3) Draw the kinetic diagram of the block:

10 a
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.
 ATTENTION QUIZ

1. Internal forces are not included in an equation of motion

analysis because the internal forces are_____
A) equal to zero.
B) equal and opposite and do not affect the calculations.
C) negligibly small.
D) not important.

2. A 10 lb block is initially moving down a ramp

with a velocity of v. The force F is applied to F
bring the block to rest. Select the correct FBD.
10 F 10 F 10 F v
A) k10 B) k10 C) kN

N N N
 2.2. Equations of Motion: Rectangular Coordinates

If a man is trying to move a 100 lb crate, how large a force F

must he exert to start moving the crate? What factors influence
how large this force must be to start moving the crate?
If the crate starts moving, is there acceleration present?
What would you have to know before you could find these
answers?
 APPLICATIONS

Objects that move in air (or other fluid) have a drag force acting on them. This
drag force is a function of velocity.

If the dragster is traveling with a known velocity and the

magnitude of the opposing drag force at any instant is given
as a function of velocity, can we determine the time and
distance required for dragster to come to a stop if its engine is
shut off? How ?
 RECTANGULAR COORDINATES

The equation of motion, F = ma, is best used when the problem

requires finding forces (especially forces perpendicular to the
path), accelerations, velocities, or mass. Remember, unbalanced
forces cause acceleration!

Three scalar equations can be written from this vector equation.

The equation of motion, being a vector equation, may be
expressed in terms of three components in the Cartesian
(rectangular) coordinate system as

F = ma or Fx i + Fy j + Fz k = m(ax i + ay j + az k)

or, as scalar equations, Fx = max, Fy = may, and Fz = maz.
 PROCEDURE FOR ANALYSIS

• Free Body Diagram (is always critical!!)

Establish your coordinate system and draw the particle’s free
body diagram showing only external forces. These external
forces usually include the weight, normal forces, friction
forces, and applied forces. Show the ‘ma’ vector (sometimes
called the inertial force) on a separate kinetic diagram.

Make sure any friction forces act opposite to the direction

of motion! If the particle is connected to an elastic linear
spring, a spring force equal to ‘k s’ should be included on
the FBD.
 PROCEDURE FOR ANALYSIS

• Equations of Motion
If the forces can be resolved directly from the free-body
diagram (often the case in 2-D problems), use the scalar
form of the equation of motion. In more complex cases
(usually 3-D), a Cartesian vector is written for every force
and a vector analysis is often the best approach.
A Cartesian vector formulation of the second law is
F = ma or
Fx i + Fy j + Fz k = m(ax i + ay j + az k)
Three scalar equations can be written from this vector
equation. You may only need two equations if the motion is
in 2-D.
 PROCEDURE FOR ANALYSIS

• Kinematics
The second law only provides solutions for forces and
accelerations. If velocity or position have to be found,
kinematics equations are used once the acceleration is
found from the equation of motion.

Make sure you use consistent positive coordinate

directions as used in the equation of motion part of the
problem!
 EXAMPLE

Given: The motor winds in the cable

with a constant acceleration
such that the 20-kg crate moves
a distance s = 6 m in 3 s,
starting from rest. k = 0.3.
Find: The tension developed in the cable.
Plan:

1) Draw the free-body and kinetic diagrams of the crate.

2) Using a kinematic equation, determine the acceleration of the crate.
3) Apply the equation of motion to determine the cable tension.
 EXAMPLE (continued)

Solution:

1) Draw the free-body and kinetic diagrams of the crate.

W = 20 g 20 a
T
y
x
Fk= 0.3 N
=
30°
N
Since the motion is up the incline, rotate the x-y axes so the x-axis aligns with
the incline. Then, motion occurs only in the x-direction.
There is a friction force acting between the surface and the crate. Why is it in
the direction shown on the FBD?
 EXAMPLE (continued)

2) Using kinematic equation

s = v0 t + ½ a t2
 6 = (0) 3 + ½ a (32)
 a = 1.333 m/s2

s = 6 m at t=3 s
v0 = 0 m/s
3) Apply the equations of motion

+  Fy = 0  -20 g (cos30°) + N = 0
 N = 169.9 N

+  Fx = m a  T – 20g(sin30°) –0.3 N = 20 a
 T = 20 (981) (sin30°) + 0.3(169.9) + 20 (1.333)
 T = 176 N
 CONCEPT QUIZ

1. If the cable has a tension of 3 N,

determine the acceleration of block B.
A) 4.26 m/s2  B) 4.26 m/s2  10 kg
k=0.4
C) 8.31 m/s2  D) 8.31 m/s2 
4 kg

2. Determine the acceleration of the block.

•
30

A) 2.20 m/s2  B) 3.17 m/s2 

C) 11.0 m/s2  D) 4.26 m/s2  60 N
5 kg
 GROUP PROBLEM SOLVING

Given: The 300-kg bar B, originally at

rest, is towed over a series of
small rollers. The motor M is
drawing in the cable at a rate of
v = (0.4 t2) m/s, where t is in
seconds.
Find: Force in the cable and distance
s when t = 5 s.

Plan: Since both forces and velocity are involved, this

problem requires both kinematics and the equation of motion.
1) Draw the free-body and kinetic diagrams of the bar.
2) Apply the equation of motion to determine the acceleration
and force.
3) Using a kinematic equation, determine distance.
 GROUP PROBLEM SOLVING (continued)

Solution:
1) Free-body and kinetic diagrams of the bar:
W = 300 g
y
x T 300 a
=
N
Note that the bar is moving along the x-axis.

2) Apply the scalar equation of motion in the x-direction

+   Fx = 300 a  T = 300 a

Since v = 0.4 t2, a = ( dv/dt ) = 0.8 t

T = 240 t  T = 1200 N when t = 5s.
 GROUP PROBLEM SOLVING (continued)

3) Using kinematic equation to determine distance;

Since v = (0.4 t2) m/s
s = s0 + ∫ v dt = 0 + ∫ (0.4 t2) dt
.
s= t

At t = 5 s,
.
s= 5 = 16.7 m
 ATTENTION QUIZ

1. Determine the tension in the cable when the

T
400 kg box is moving upward with a 4 m/s2
acceleration.
60
A) 2265 N B) 3365 N
a = 4 m/s2
C) 5524 N D) 6543 N

2. A 10 lb particle has forces of F1= (3i + 5j) lb and

F2= (-7i + 9j) lb acting on it. Determine the acceleration of
the particle.
A) (-0.4 i + 1.4 j) ft/s2 B) (-4 i + 14 j) ft/s2
C) (-12.9 i + 45 j) ft/s2 D) (13 i + 4 j) ft/s2
 2.3. Equations of Motion: Normal and Tangential Coordinates

Race track turns are often banked to reduce the frictional forces
required to keep the cars from sliding up to the outer rail at high
speeds.
If the car’s maximum velocity and a minimum coefficient of
friction between the tires and track are specified, how can we
determine the minimum banking angle (q) required to prevent
the car from sliding up the track?
 APPLICATIONS

This picture shows a ride at the amusement park. The

hydraulically-powered arms turn at a constant rate, which creates
a centrifugal force on the riders.
We need to determine the smallest angular velocity of cars A and B such that
the passengers do not lose contact with their seat. What parameters are
needed for this calculation?
 APPLICATIONS

Satellites are held in orbit around the earth by using the earth’s
gravitational pull as the centripetal force – the force acting to
change the direction of the satellite’s velocity.
Knowing the radius of orbit of the satellite, we need to
determine the required speed of the satellite to maintain this
orbit. What equation governs this situation?
 NORMAL & TANGENTIAL COORDINATES

When a particle moves along a

curved path, it may be more
convenient to write the equation
of motion in terms of normal
and tangential coordinates.

The normal direction (n) always points toward the path’s center
of curvature. In a circle, the center of curvature is the center of
the circle.

The tangential direction (t) is tangent to the path, usually set as

positive in the direction of motion of the particle.
 EQUATIONS OF MOTION
Since the equation of motion is a vector
equation, F = ma,
it may be written in terms of the n & t
coordinates as
Ftut + Fnun+ Fbub = mat+man

Here Ft & Fn are the sums of the force components acting in
the t & n directions, respectively.
This vector equation will be satisfied provided the individual
components on each side of the equation are equal, resulting in
the two scalar equations: Ft = mat and Fn = man .
Since there is no motion in the binormal (b) direction, we can also
write Fb = 0.
 NORMAL AND TANGENTIAL ACCELERATION

The tangential acceleration, at = dv/dt, represents the time rate of

change in the magnitude of the velocity. Depending on the direction
of Ft, the particle’s speed will either be increasing or decreasing.

The normal acceleration, an = v2/r, represents the time rate of change

in the direction of the velocity vector. Remember, an always acts
toward the path’s center of curvature. Thus, Fn will always be
directed toward the center of the path.
/
Recall, if the path of motion is defined dy
1+
dx
as y = f(x), the radius of curvature at ρ=
d y
any point can be obtained from dx
 SOLVING PROBLEMS WITH n-t COORDINATES

• Use n-t coordinates when a particle is moving along a known,

curved path.

• Establish the n-t coordinate system on the particle.

• Draw free-body and kinetic diagrams of the particle. The normal

acceleration (an) always acts “inward” (the positive n-direction).
The tangential acceleration (at) may act in either the positive or
negative t direction.

• Apply the equations of motion in scalar form and solve.

• It may be necessary to employ the kinematic relations:

at = dv/dt = v dv/ds an = v2/r

 EXAMPLE

Given:The 10-kg ball has a velocity of

3 m/s when it is at A, along the
vertical path.

Find: The tension in the cord and the

increase in the speed of the ball.

Plan: 1) Since the problem involves a curved path and requires

finding the force perpendicular to the path, use n-t
coordinates. Draw the ball’s free-body and kinetic
diagrams.
2) Apply the equation of motion in the n-t directions.
 EXAMPLE (continued)

Solution:
1) The n-t coordinate system can
be established on the ball at
Point A, thus at an angle of 45°.
Draw the free-body and kinetic
diagrams of the ball.

Free-body diagram Kinetic diagram

n n
T W man

45
=
t mat
t
 EXAMPLE (continued)

2) Apply the equations of motion in the n-t directions.

(a) Fn = man  T – W sin 45° = m an
Using an = v2/r = 32/2, W = 10(9.81) N, and m = 10 kg
 T – 98.1 sin 45° = (10) (32/2)
 T = 114 N

(b) Ft = mat  W cos 45° = mat

 98.1 cos 45° = 10 at

 at = (dv/dt) = 6.94 m/s2
 GROUP PROBLEM SOLVING I

Given:The boy has a weight of 60 lb.

At the instant q = 60, the boy’s
center of mass G experiences a
speed v = 15 ft/s.
Find: The tension in each of the two
supporting cords of the swing
and the rate of increase in his
speed at this instant.
Plan:
1) Use n-t coordinates and treat the boy as a particle.
Draw the free-body and kinetic diagrams.
2) Apply the equation of motion in the n-t directions.
 GROUP PROBLEM SOLVING I (continued)

Solution:
1) The n-t coordinate system can
be established on the boy at
angle 60°. Approximating the
boy as a particle, the free-body
and kinetic diagrams can be
drawn:
Free-body diagram Kinetic diagram

W n n
60 2T = 60 man
mat
t t
 GROUP PROBLEM SOLVING I (continued)

Free-body diagram Kinetic diagram

W n n
60 2T = 60 man
mat
t t

2) Apply the equations of motion in the n-t directions.

Fn = man  2T  W sin 60° = man
Using an = v2/r = 152/10, W = 60 lb,
we get: T = 46.9 lb
Ft = mat  60 cos 60° = (60 / 32.2) at

at = v = 16.1 ft/s2
 GROUP PROBLEM SOLVING II

Given: A 800 kg car is traveling over

a hill with the shape of a
parabola. When the car is at
point A, its v = 9 m/s and
a = 3 m/s2. (Neglect the size
of the car.)
Find: The resultant normal force and resultant frictional force
exerted on the road at point A by the car.
Plan:
1) Treat the car as a particle. Draw its free-body and
kinetic diagrams.
2) Apply the equations of motion in the n-t directions.
3) Use calculus to determine the slope and radius of
curvature of the path at point A.
 GROUP PROBLEM SOLVING II (continued)
Solution:
1) The n-t coordinate system can
be established on the car at
point A. Treat the car as a
particle and draw the free-
body and kinetic diagrams:
W
q
F
= man mat
N
q n t
n t
W = mg = weight of car
N = resultant normal force on road
F = resultant friction force on road
 GROUP PROBLEM SOLVING II (continued)

2) Apply the equations of motion in the n-t directions:

 Fn = man  W cos q – N = man
Using W = mg and an = v2/r = (9)2/r
 (800)(9.81) cos q – N = (800) (81/r)
 N = 7848 cos q – 64800 / r Eq. (1)

 Ft = mat  W sin q – F = mat

Using W = mg and at = 3 m/s2 (given)
 (800)(9.81) sin q – F = (800) (3)
 F = 7848 sin q – 2400 Eq. (2)
 GROUP PROBLEM SOLVING II (continued)

3) Determine r by differentiating y = f(x) at x = 80 m:

y = 20(1 – x2/6400)  dy/dx = (–40) x / 6400
 d2y/dx2 = (–40) / 6400
dy 2 3/2
[1 + ( ) ] [1 + (–0.5)2]3/2
dx
r = 2
= = 223.6 m
dy 0.00625
x = 80 m 2
dx
Determine q from the slope of the curve at A:

tan q = dy/dx
dy x = 80 m
q
q = tan-1 (dy/dx) = tan-1 (-0.5) = 26.6°
dx
 GROUP PROBLEM SOLVING II (continued)

From Eq. (1): N = 7848 cos q – 64800 / r

= 7848 cos (26.6°) – 64800 / 223.6 = 6728 N

From Eq. (2): F = 7848 sin q – 2400

= 7848 sin (26.6°) – 2400 = 1114 N
2.4. Equations of Motion: Cylindrical Coordinates

The forces acting on the 100-lb

boy can be analyzed using the
cylindrical coordinate system.

How would you write the

equation describing the
frictional force on the boy as
he slides down this helical
slide?
 APPLICATIONS (continued)

When an airplane executes the vertical loop shown above, the

centrifugal force causes the normal force (apparent weight)
on the pilot to be smaller than her actual weight.
How would you calculate the velocity necessary for the pilot
to experience weightlessness at A?
 CYLINDRICAL COORDINATES

This approach to solving problems has

some external similarity to the normal &
tangential method just studied. However,
the path may be more complex or the
problem may have other attributes that
make it desirable to use cylindrical
coordinates.
Equilibrium equations or “Equations of Motion” in cylindrical
coordinates (using r, q , and z coordinates) may be expressed in
scalar form as: 

 Fr = mar = m (r – r q 2 )
  
 Fq = maq = m (r q – 2 r q )

 Fz = maz = m z
 CYLINDRICAL COORDINATES (continued)

If the particle is constrained to move only in the r – q

plane (i.e., the z coordinate is constant), then only the first
two equations are used (as shown below). The coordinate
system in such a case becomes a polar coordinate system.
In this case, the path is only a function of q
 
 Fr = mar = m(r – rq 2 )
 
 Fq = maq = m(rq – 2rq )

Note that a fixed coordinate system is used, not a “body-

centered” system as used in the n – t approach.
 TANGENTIAL AND NORMAL FORCES

If a force P causes the particle to move along a path defined

by r = f (q ), the normal force N exerted by the path on the
particle is always perpendicular to the path’s tangent. The
frictional force F always acts along the tangent in the opposite
direction of motion. The directions of N and F can be
specified relative to the radial coordinate by using angle y .
 DETERMINATION OF ANGLE y

The angle y, defined as the angle

between the extended radial line
and the tangent to the curve, can be
required to solve some problems.
It can be determined from the
following relationship.

tan = =
/

If y is positive, it is measured counterclockwise from the radial

line to the tangent. If it is negative, it is measured clockwise.
EXAMPLE

Given: The 0.2 kg pin (P) is

constrained to move in the
smooth curved slot, defined
by r = (0.6 cos 2q ) m.
The slotted arm OA has a
constant angular velocity of
̇ = 3 rad/s. Motion is in
the vertical plane.
Find: Force of the arm OA on the
pin P when q = 0.
Plan:
 EXAMPLE

Given: The 0.2 kg pin (P) is

constrained to move in the
smooth curved slot, defined
by r = (0.6 cos 2q) m.
The slotted arm OA has a
constant angular velocity of
̇ = 3 rad/s. Motion is in
the vertical plane.
Find: Force of the arm OA on the
pin P when q = 0.
Plan: 1) Draw the FBD and kinetic diagrams.
2) Develop the kinematic equations using cylindrical
coordinates.
3) Apply the equation of motion to find the force.
 EXAMPLE (continued)

Solution :

1) Free Body and Kinetic Diagrams:

Establish the r, q coordinate system when q
= 0, and draw the free body and kinetic
diagrams.

Free-body diagram Kinetic diagram

q
maq
W
r mar
=
N
 EXAMPLE (continued)

2) Notice that r = 0.6 cos(2θ), therefore:

ṙ = −1.2 sin 2θ θ̇
r̈ = −2.4 cos(2θ) θ̇ − 1.2 sin(2θ) θ̈

Kinematics: at q = 0, θ̇ = 3 rad/s, ̈ = 0 rad/s2.

r = 0.6 cos 0 = 0.6 m
ṙ = −1.2 sin 0 −3 = 0 m/s
r̈ = −2.4 cos(0) −3 − 1.2 sin(0)(0) = −21.6 m/s

Acceleration components are

ar = ̈ − ̇ = - 21.6 – (0.6)(-3)2 = – 27 m/s2
aq = ̈ + 2 ̇ ̇ = (0.6)(0) + 2(0)(-3) = 0 m/s2
 EXAMPLE (continued)

3) Equation of motion: q direction

(+)  Fq = maq
N – 0.2 (9.81) = 0.2 (0)
N = 1.96 N 

Free-body diagram Kinetic diagram

q
maq
W
r mar
= ar = –27 m/s2
N aq = 0 m/s2
 GROUP PROBLEM SOLVING I

Given: The smooth can C is lifted

from A to B by a rotating rod.
The mass of can is 3 kg.
Neglect the effects of friction
in the calculation and the size
of the can so that
r = (1.2 cos q) m.

Find: Forces of the rod on the can when q = 30 and

̇ = 0.5 rad/s, which is constant.

Plan: 1) Find the acceleration components using the kinematic

equations.
2) Draw free body diagram & kinetic diagram.
3) Apply the equation of motion to find the forces.
 GROUP PROBLEM SOLVING (continued)

Solution:
1) Kinematics:
r = 1.2 cos θ
ṙ = −1.2 (sin θ)θ̇
r̈ = −1.2 cos θ θ̇ − 1.2 (sin θ)θ̈
When q = 30, θ̇ = 0.5 rad/s and θ̈ = 0 rad/s2.
r = 1.039 m
ṙ = 0.3 m/s
r̈ = 0.2598 m/s2

Accelerations:
ar = r̈ − rθ̇ = − 0.2598 − (1.039) 0.52 = − 0.5196 m/s2
aq = rθ̈ + 2ṙ θ̇ = (1.039) 0 + 2 (0.3) 0.5 =  0.3 m/s2
 GROUP PROBLEM SOLVING (continued)

2) Free Body Diagram Kinetic Diagram

q
3(9.81) N
30 maq
r mar
=
30 F
N

3) Apply equation of motion:

 Fr = mar  -3(9.81) sin30 + N cos30 = 3 (-0.5196)
 Fq = maq  F + N sin30  3(9.81) cos30 = 3 (-0.3)
N = 15.2 N, F = 17.0 N