Engineering Dynamics

Kinetics of a particle: Work and Energy

Work of a force
Principle of work and energy
Principle of work and energy for a system of particles


Engineering Dynamics
Objectives:

To develop Principle of Work and Energy and apply it to
solve Problems that involve Force, Velocity and
Displacement.
To Study Problems that involve Power and Efficiency
To introduce the concept of a Conservative Force and apply
the theorem of Conservation of Energy to solve Kinetic
Problems
Previously, problems dealing with the motion of particles were
solved through the fundamental equation of motion, and
Newton's laws served as a useful model for analyzing motion
and making predictions about the final state of an object's
motion

. a m F

=
Method of work and energy: directly relates force, mass,
velocity and displacement.
Motion will be approached from the perspective of work and
energy
Current chapter introduces additional methods of analysis.
Introduction
To understand work-energy approach to the analysis of motion, it is
important to understand few basic terms and meanings, such as work,
mechanical energy, potential energy, kinetic energy, and power.
When a force acts upon an object and it causes a displacement of the
object, it is said that work was done upon the object.
Three key ingredients to work - force, displacement, and cause.
In order for a force to qualify as having done work on an object, there
must be a displacement and the force must cause the displacement.

Several good examples of work that can be observed in everyday life
Horse pulling a plow through the field
Person pushing grocery cart down the aisle of a grocery store
Freshman lifting a backpack full of books upon his shoulder
weightlifter lifting a barbell above his head
Olympian launching the shot-put, etc.
In each case there is a force exerted upon an object to cause that object
to be displaced
Introduction
A teacher applies a force to a wall and
becomes exhausted

Not example of work. wall is not
displaced. force must cause a
displacement for work to be done
A book falls off a table and free falls to
the ground

Example of work. There is a force
(gravity) which acts on the book which
causes it to be displaced in a downward
direction (i.e., "fall")
A waiter carries a tray full of meals above
his head by one arm straight across the
room at constant speed
Not example of work. There is a force
(Waiter pushes up on the tray) and there
is a displacement (Tray is moved
horizontally across the room). Yet the
force does not cause the displacement.
To cause a displacement, there must be
a component of force in the direction of
the displacement
A rocket accelerates through space
Example of work. There is a force (the
expelled gases push on the rocket) which
causes the rocket to be displaced
through space
WORK OF A FORCE
A force does work on a particle only when the particle
undergoes a displacement in the direction of the force.
Work is defined as the product of force
and displacement components acting in
the same direction. So, if the angle
between the force and displacement
vector is u, the increment of work dU
done by the force is
dU = F ds cos u= F dr
By using the definition of the dot product
and integrating, the total work can be
written as
}
r
2
r
1
U
1-2
=
F dr
WORK OF A FORCE (continued)
Work is positive if the force and the
movement are in the same direction.
If they are opposing, then the work
is negative. If the force and the
displacement directions are
perpendicular, the work is zero.
If F is a function of position this becomes
}
=
s
2
s
1
F cos u ds
U
1-2
If F has a constant magnitude and the displacement is a
straight line path, the equation further simplifies to
U
1-2
= F
c
cos u (s
2
- s
1
)
WORK OF A WEIGHT
The work of a weight is the product of the magnitude of the
particles weight and its vertical displacement. If Ay is upward,
the work is negative since the weight force always acts downward.

Remember: displacement upward, force downward, both opposite
direction: work negative.
Displacement downward, force downward, both same direction:
work positive
Work of the force of gravity,
( ) y W y y W
dy W U
dy W
dz F dy F dx F dU
y
y
z y x
A = =
=
=
+ + =
}
1 2
2 1
2
1
WORK OF A SPRING FORCE
When stretched, a linear elastic spring develops a force
of magnitude F
s
= ks, where k is the spring stiffness and
s is the displacement from the unstretched position.

The work done on the spring by F
s
is positive, since the
force and the displacement are in the same direction.
(Remember force experienced by spring).
If a particle is attached to the spring, the force F
s
exerted on
the particle is opposite to that exerted on the spring. Thus,
the work done on the particle by the spring force will be
negative or
U
1-2
= [ 0.5k (s
2
)
2
0.5k (s
1
)
2
] .
The work of the spring force moving from position s
1
to position s
2
is
= 0.5k(s
2
)
2
- 0.5k(s
1
)
2
k s ds
F
s
ds U
1-2
s
2
s
1
s
2
s
1
= } = }
SPRING FORCES
1. The equations just shown are for linear springs only! Recall that a
linear spring develops a force according to
F = ks (essentially the equation of a line).
3. Always double check the sign of the spring work after calculating it. It is
positive work if the force put on the object by the spring and the
movement are in the same direction.
2. The work of a spring is not just spring force times distance at some
point, i.e., (ks
i
)(s
i
). Remember you are going to make this mistake!
It is important to note the following about spring forces:
Force deflecting the spring is in direct proportion to the distance the
spring travels. The linear spring is the most common type of spring.
PRINCIPLE OF WORK AND ENERGY
U
1-2
is the work done by all the forces acting on the particle as it moves from
point 1 to point 2. Work can be either a positive or negative scalar.
By integrating the equation of motion, F
t
= ma
t
principle of work and energy
can be written as
U
1-2
= m(v
2
)
2
m(v
1
)
2
or T
1
+ U
1-2
= T
2
T
1
and T
2
are the kinetic energies of the particle at the initial and final position,
respectively. Thus, T
1
= m (v
1
)
2
and T
2
= m (v
2
)
2
. The kinetic
energy is always a positive scalar.
}

}
=
=
|
.
|

\
|
=
=
2
1
2
1
v
v
s
s
t
t
t
t t
mvdv ds F
dv v m ds F
ds
dv
v m F
a m F
A particle of mass m is subjected to a system of
external forces. The equation of motion in tangential
direction ( n-t coordinates) is

We can solve those type of problems
which involve force, velocity and
displacement. e.g. if particles initial
speed is known and work of all the
forces acting on the particle can be
determined, then final velocity of the
particle can be obtained
PRINCIPLE OF WORK AND ENERGY (continued)
The principle of work and energy cannot be used, in general, to determine
forces directed normal to the path, since these forces do no work.
Note that the principle of work and energy (T
1
+ U
1-2
= T
2
) is not a vector
equation! Each term results in a scalar value.
Both kinetic energy and work have the same units, that of energy! In the SI
system, the unit for energy is called a joule (J), where 1 J = 1 N m.
For curved path, speed is the function of normal force. Thus one can use the
principle of work and energy to determine speed and then substitute the value
into the equation of motion (normal component (n-t coordinate system))
to obtain the normal force.

2
v
m F
n
=

So, the particles initial kinetic energy plus the work done by all the forces
acting on the particle as it moves from its initial to final position is equal to the
particles final kinetic energy.
The principle of work and energy can also be applied to a system of particles
by summing the kinetic energies of all particles in the system and the work
due to all forces acting on the system.
a
t
= dv/dt = v dv/ds a
n
= v
2
/
Given: The 20kg crate is subjected to a force having a constant direction
and a magnitude of 100N, where s is measured in meters. When
s=4m, the crate is moving to the right with a speed of 8m/s.
Find: Determine its speed when s=25m. The coefficient of kinetic friction
between the crate and the ground is 0.25.

M=20kg, F=100N, s
1
=4m, =30
o
, v
1
=8m/s, s
2
=25m,
k
=0.25.
Solution:
Equation of Motion: Since the crate
slides, the friction force developed
between the crate and its contact
surface is F
f
=N=0.25N.
;
y y
ma F = | +
) 0 ( 2 ) 81 . 9 ( 20 30 sin 100 = +
o
N
N N 2 . 146 =
Principles of Work and Energy: The horizontal component
of force F which acts in the direction of displacement does
positive work, whereas the friction force does negative work
since it acts in the opposite direction. The normal reaction N,
the vertical component of force and the weight of the crate do
not displace hence do no work.
2 2 1 1
T U T = +

2 2
) 20 (
2
1
) 4 25 )( 2 . 146 ( 25 . 0 ) 4 25 ( 30 cos 100 ) 8 )( 20 (
2
1
v = +
s m v / 07 . 7 =
Given: The cyclist travels to point A, pedaling until he reaches speed v
A
. He
then coasts freely up the curved surface.
Find: Determine the normal force he exerts on the surface when he
reaches point B. The total mass of bike and man is M. Neglect
friction, the mass of the wheels, and the size of the bicycle.
M=75kg, v
A
=8m/s, a=4m.
Solution:
When
x y =
a y = 2
4
a
y =
m y 1 =
2 2
2
1
2
1
B A
Mv Mgy Mv =
gy v v
A B
2
2
=
s m v
B
662 . 6 =
Remember.
For curved path, speed is the function of normal force. Thus
one can use the principle of work and energy to determine
speed and then substitute the value into the equation of
motion (normal component (n-t coordinate system))
to obtain the normal force.
When
x y = 1 =
'
y
y
y
1
=
' '
Thus
y
y
' '
'
+
=
3 2
) 1 (
y 8 = m 828 . 2 =
|
|
.
|

\
|
=

2
) 45 cos(
B
B
v
M Mg N
kN N
B
697 . 1 =
Now find the radius of curvature
a y x = +
0
2
1
2
1
= + dy
y
dx
x
x
y
y = '
y
x
x
y
dx
d
x y
y
2
2

= ' '
F
n
= ma
n


a
n
= v
2
/
Given: A 0.5 kg ball of negligible size is fired
up a vertical track of radius 1.5 m using
a spring plunger with k = 500 N/m.
The plunger keeps the spring
compressed 0.08 m when s = 0.
Find: The distance s the plunger must be pulled back and
released so the ball will begin to leave the track when
u = 135.
Plan: 1) Draw the FBD of the ball at u = 135.
2) Apply the equation of motion in the n-direction to
determine the speed of the ball when it leaves the
track.
3) Apply the principle of work and energy to determine s.
EXAMPLE
2) Apply the equation of motion in the n-direction. Since the
ball leaves the track at u = 135, set N = 0.
EXAMPLE (continued)
The weight (W) acts downward through the
center of the ball. The normal force exerted
by the track is perpendicular to the surface.
The friction force between the ball and the
track has no component in the n-direction.
Solution:
1) Draw the FBD of the ball at u = 135.
=> + F
n
= ma
n
= m (v
2
/) => W cos45 = m (v
2
/)

=> (0.5)(9.81) cos 45 = (0.5/1.5)v
2
=> v = 3.2257 m/s

t
n
N
W
45
T
1
+ U
1-2
= T
2

0.5m (v
1
)
2
W Ay (0.5k(s
2
)
2
0.5k (s
1
)
2
) = 0.5m (v
2
)
2
and v
1
= 0, v
2
= 3.2257 m/s
s
1
= s + 0.08 m, s
2
= 0.08 m
Ay = 1.5 + 1.5 sin 45 = 2.5607 m

EXAMPLE (continued)
3) Apply the principle of work and energy
between position 1
(u = 0) and position 2 (u = 135). Note that
the normal force (N) does no work since it is
always perpendicular to the displacement
direction.
=> 0 (0.5)(9.81)(2.5607) [0.5(500)(0.08)
2
0.5(500)(5 + 0.08)
2
]
= 0.5(0.5)(3.2257)
2
=> s = 0.179 m = 179 mm
Given: The collar has a mass of 30 kg and is supported on the rod having a
coefficient of kinetic friction
k
=0.4. The attached spring has an
unstretched length of 0.2m and a stiffness k=50N/m.
Find: Determine the speed of the collar after the applied force F = 200 N
causes it to be displaced a distance s=1.5 m from point A. When s=0
the collar is held at rest.
M=30kg, F=200N, s
1
=1.5m, =45
o
, g=9.81m/s
2
, a=0.5m, l=0.2m,

k
=0.4.
Solution:
0 ) 45 sin( 200 ) 81 . 9 ( 30
0 ) sin(
= +
= +
C
C
N
F Mg N u
( )
2 2 2
2 2 2
1 1 1
) 30 (
2
1
) 3 . 0 ( 50
2
1
) 8 . 1 ( 50
2
1
) 5 . 1 )( 88 . 152 ( 4 . 0 5 . 1 ) 45 cos( 200
2
1
) (
2
1
) (
2
1
) cos( 0
v
Mv l a k l a s k s N s F
C k
=
(

=
(

+ + u
N N
C
9 . 152 =
s m v 666 . 1 =
; 0 = | +
y
F
2 2 1 1
T U T = +

If a particle is attached to the spring, the force F
s
exerted on the particle is
opposite to that exerted on the spring. Thus, the work done on the particle by the
spring force will be negative or
U
1-2
= [ 0.5k (s
2
)
2
0.5k (s
1
)
2
] .

2 2 1 1
T U T = +

GROUP PROBLEM SOLVING
Given: Block A has a weight of 60 N and
block B has a weight of 10 N. The
coefficient of kinetic friction between
block A and the incline is
k
= 0.2.
Neglect the mass of the cord and pulleys.
Find: The speed of block A after it moves 3 m down the plane,
starting from rest.
Plan: 1) Define the kinematic relationships between the blocks.
2) Draw the FBD of each block.
3) Apply the principle of work and energy to the system
of blocks.
GROUP PROBLEM SOLVING (continued)
Since the cable length is constant:
2s
A
+ s
B
= l
2As
A
+ As
B
= 0
As
A
= 3m => As
B
= -6 m
and 2v
A
+ v
B
= 0
=> v
B
= -2v
A
Note that, by this definition of s
A
and s
B
, positive motion
for each block is defined as downwards.
Solution:
1) The kinematic relationships can be determined by defining
position coordinates s
A
and s
B
, and then differentiating.
s
B
s
A
GROUP PROBLEM SOLVING (continued)
F
y
= 0: N
A
(4/5)W
A
= 0 => N
A
= (4/5)W
A
2) Draw the FBD of each block.
Sum forces in the y-direction for block A (note that there is no
motion in this direction):
y
x
N
A
N
A

2T
W
A
5
3
4
A
B
T
W
B
GROUP PROBLEM SOLVING (continued)
Note that the work due to the cable tension force on each block
cancels out.
(0.5m
A
(v
A1
)
2
+ .5m
B
(v
B1
)
2
) + ((3/5)W
A
2T N
A
)As
A

+ (W
B
T)As
B
= (0.5m
A
(v
A2
)
2
+ 0.5m
B
(v
B2
)
2
)
=> 0 + 0 + (3/5)(60)(3) 2T(3) (0.2)(0.8)(60)(3) + (10)(-6)
T(-6) = 0.5(60/9.81)(v
A2
)
2
+ 0.5(10/9.81)(-2v
A2
)
2

=> v
A2
= 1.94 m/s
3) Apply the principle of work and energy to the system (the
blocks start from rest).
T
1
+ U
1-2
= T
2
v
A1
= v
B1
= 0, As
A
= 3 m, As
B
= -6 m, v
B
= -2v
A
, N
A
= (4/5)W
A
y
x
N
A
N
A

2T
W
A
5
3
4
A