Engineering Mechanics:

Dynamics in SI Units, 12e

Chapter 13
Kinematics of a Particle: Force and Acceleration
Copyright © 2010 Pearson Education South Asia Pte Ltd
PLT222/3 APPLIED MECHANICS

Chapter 13
Kinematics of a Particle: Force and
Acceleration
Assoc. Prof. Dr. ZOL BAHRI RAZALI
019 457 9207
Faculty of Engineering Technology, UNIVERSITI MALAYSIA PERLIS

Copyright © 2010 Pearson Education South Asia Pte Ltd

Chapter 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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Chapter 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
6. Equations of Motion: Cylindrical Coordinates
7. *Central-Force Motion and Space Mechanics

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13.1 Newton’s Second Law of Motion

 Second Law:
A particle acted upon by an unbalanced force F
experiences an acceleration a that has the same
direction as the force and a magnitude that is
directly proportional to the force.

Newton’s Law of Gravitational Attraction

 A law governing the mutual attractive
gravitational force acting between them
m1m2
F G 2
r
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13.1 Newton’s Second Law of Motion

Newton’s Law of Gravitational Attraction

 Mass is a property of matter
W  mg
 Mass of the body is specified in kilograms
 Weight is calculated using the equation of
motion, F = ma

W = mg (N)
(g = 9.81 m/s2)

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13.2 The Equation of Motion

 Equation of motion is written as  F  ma

 Consider P of mass m subjected to the action of
two forces, F1 and F2
 From free body diagram, the
resultant of these forces
produces the vector ma
 Represented graphically
on the kinetic diagram
 FR = ΣF = 0, acceleration is zero
 Such a condition is called static equilibrium,
Newton’s First Law of Motion
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13.2 The Equation of Motion

Inertial Reference Frame

 Acceleration of the particle is measured with
respect to a reference frame that is either fixed
or translates with a constant velocity
 Such a frame of reference is known as a
Newtonian or inertial reference frame,

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13.2 The Equation of Motion

Inertial Reference Frame

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

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13.3 Equation of Motion for a System of Particles

 The free body diagram for the ith particle are

shown. Applying equation of motion yields
ΣF = ma; Fi + fi = miai
 If equation of motion is applied to each of the
other particles, these equations can be added
together vectorially,

ΣFi + Σ fi = Σmiai

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13.3 Equation of Motion for a System of Particles

 The summation of internal forces will be equal to

zero where
ΣFi = Σmiai

 If rG is a position vector which locates the center

of mass G of the particles, we have
mrG = Σmiri

 Differentiating twice w.r.t time yields

maG = Σmiai

Copyright © 2010 Pearson Education South Asia Pte Ltd

PLT222/3 APPLIED MECHANICS

Chapter 13
Kinematics of a Particle: Force and
Acceleration
Assoc. Prof. Dr. ZOL BAHRI RAZALI
019 457 9207
Faculty of Engineering Technology, UNIVERSITI MALAYSIA PERLIS

Copyright © 2010 Pearson Education South Asia Pte Ltd

13.3 Equation of Motion for a System of Particles

 ΣF = maG

 The sum of the external forces acting on the

system of particles is equal to the total mass of
the particles times the acceleration of its center
of mass G

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13.4 Equation of Motion: Rectangular Coordinates

 When a particle is moving relative to an inertial x,

y, z frame of reference,
ΣF = ma
ΣFxi + ΣFyj + ΣFzk = m(axi + ayj + azk)

 The three scalar equations:

 Fx  max
 Fy  ma y
 Fz  maz
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13.4 Equation of Motion: Rectangular Coordinates

Procedure for Analysis

Free-Body Diagram
 Select inertial coordinate system
 Draw particle’s free body diagram (FBD) and
provides a graphical representation that
accounts for all forces (ΣF)
 Direction and sense of the particle’s acceleration
a is also be established
 Acceleration is represented as ma vector on the
kinetic diagram
 Identify the unknowns in the problem

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13.4 Equation of Motion: Rectangular Coordinates

Procedure for Analysis

Equation of Motion
 Apply equations of motion on FBD in their scalar
component form
 Cartesian vector analysis can be used for the
solution
Kinematics
 Apply kinematics equations once the particle’s
acceleration is determined from ΣF = ma
 If acceleration is a function of time, use a = dv/dt
and v = ds/dt

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13.4 Equation of Motion: Rectangular Coordinates

Procedure for Analysis

Kinematics
 When acceleration is a function of displacement,
integrate a ds = v dv to find velocity as a function
of position
 If acceleration is constant, use
v  v0  act
1 2
s  s0  v0t  act
2
v 2  v02  2ac s  s0 
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Example 13.1

The 50-kg crate rests on a horizontal plane for which

the coefficient of kinetic friction is μk = 0.3. If the
crate is subjected to a 400-N towing force, determine
the velocity of the crate in 3 s starting from rest.

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Example 13.1

Solution
Free-Body Diagram
Weight of the crate is W = mg = 50 (9.81) = 490.5 N.
The frictional force is F = μkNC and acts to the left,
There are 2 unknowns, NC and a.
Equations of Motion

  Fx  max ; 400 cos 30  0.3N C  50a
   Fy  ma y ; N C  490.5  400 sin 30  0

Solving we get N C  290.5 N , a  5.19m / s 2

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Example 13.1

Solution
Kinematics
Acceleration is constant.
Velocity of the crate in 3s is

v  v0  act
 0  5.19(3)
 15.6m / s 

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Example 13.3

The baggage truck A has a weight of 3600 N and

tows a 2200 N cart B and a 1300 N cart C. For a
short time the driving frictional force developed at
the wheels is FA = (160t) N where t is in seconds. If
the truck starts from rest, determine its speed in 2
seconds. What is the horizontal force acting on the
coupling between the truck and cart B at this
instant?

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Example 13.3

Solution
Free-Body Diagram
We have to consider all 3 vehicles.
Equations of Motion
Only horizontal motion is considered.

 F x  max ;
 3600  2200  1300 
160t   a
 9.81 
a  0.221t

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Example 13.3

Solution
Kinematics
The velocity of the truck is obtained using a = dv/dt
with the initial condition that v0 = 0 at t = 0,
v 2 22
0 dv  0 (0.221t ) dt; v  0.1105t  0.442m / s
0

Free-Body Diagram
Equations of Motion
When t = 2 s, then

 F x  max ;
 3600 
160(2)  T   0.221(2)  T  157.8 N
 9.81 
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Example 13.5

The 100-kg block A is released from rest. If the

masses of the pulleys and the cord are neglected,
determine the speed of the 20-kg block B in 2 s.

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Example 13.5

Solution
Free-Body Diagrams
Since mass of the pulleys is neglected, then for
pulley C, ma = 0.
It can be seen that T = 490.5 N for A to be static and
T = 196.2 N for B to be static.
Assume both blocks accelerate downward,
in the direction of +sA and +sB

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Example 13.5

Solution
Equations of Motion
Block A:    Fy  may ; 981  2T  100aA

Block B:   F y  may ; 196.2  T  20aB

Kinematics
It is seen that 2s A  sB  l
where l is constant and represents the total vertical length of cord.

Differentiating this expression twice w.r.t time yield

2a A   a B
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Example 13.5

Solution
Kinematics
Solving the three equations yields
T  327.0 N , a A  3.27m / s 2 , aB  6.54m / s 2

Since aB is constant, velocity in block B in 2 s is

v  v0  aBt  13.1m / s
The negative sign indicates that block B is moving
upward.

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13.5 Equations of Motion: Normal and Tangential Coordinates

 Equation of motion for the particle may be written

in the tangential, normal and bi-normal directions
 Since the particle is constrained to move along
the path, there is no motion in the bi-normal
direction

 Ft  mat
 Fn  man
 Fb  0

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13.5 Equations of Motion: Normal and Tangential Coordinates

 at (=dv/dt) represents the time rate of change in

the magnitude of velocity
 an (=v2/ρ) represents the time rate of change in
the velocity’s direction

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13.5 Equations of Motion: Normal and Tangential Coordinates

Procedures for Analysis

Free-Body Diagram
 Establish the inertial t, n, b coordinate system at
the particle and draw the particle’s FBD
 Normal acceleration an, always acts in the
positive n direction
 Tangential acceleration at is assume in the
positive t direction
 Identify the unknowns in the problem

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13.5 Equations of Motion: Normal and Tangential Coordinates

Procedures for Analysis

Equation of Motion
 Apply the equations of motion,

 F  ma
t t , F n  man , F b 0

Kinematics
 Formulate at =dv/dt or at = v dv/ds and an = v2/ρ
 If the path is defined as y = f(x),


  1  dy / dx 
2 3/ 2
/ d 2 y / dx2

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Example 13.6

Determine the banking θ for the race track so that

the wheels of the racing cars will not have to depend
upon friction to prevent any car from sliding up or
down the track. Assume the cars have negligible
size a mass m, and travel around the curve of radius
ρ with a speed v.

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Example 13.6

Solution
Free-Body Diagrams
No frictional force acting on the car.
NC represents the resultant of the ground on all four
wheels.
Unknown are NC and θ.

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Example 13.6

Solution
Equations of Motion
Using the n and b axes,
 2
 Fn  man ;
v
 NC sin   m

  Fb  0; NC cos   mg  0

Solving the 2 equations, eliminating NC and m,

v2  v 2
tan     tan 1 
g  g 
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Example 13.8

Design of the ski requires knowing the type of forces

that will be exerted on the skier and his approximate
trajectory. In the case as shown, determine the
normal force and acceleration on the 600-N skier the
instant he arrives at the end of jump, A, where his
velocity is 9 m/s.

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Example 13.8

Solution
Free-Body Diagrams
As path is curved, there are an and at
Unknowns are at and NA
Equations of Motions
600  9 2 
   Fn  man ; N A  600   
9.81   
600
  Ft  mat ; 0  at
 9.81

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Example 13.8

Solution
Equations of Motions
1 2 dy 1 d2y 1
We have y x  15   x ; 2

60 dx 30 dx 30
At x = 0,


1  (dy / dx)  2 3/ 2
 30m
2 2
d y / dx
x 0

Thus NA = 765 N
Kinematics
With at = 0, v2
an   2.7m / s 2 ; a A  an  2.7m / s 2 

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 Segala yang BENAR adalah milik
ALLAH
pencipta langit dan bumi dan
segala yang ada diantara keduanya

‫السالم عليكم ورحمة هللا وبركاته‬

Assoc. Prof. Dr. ZOL BAHRI RAZALI

019 457 9207
Faculty of Engineering Technology, UNIVERSITI MALAYSIA PERLIS
Copyright © 2010 Pearson Education South Asia Pte Ltd
13.6 Equations of Motion: Cylindrical Coordinates

 When all forces acting on a particle are resolved

into cylindrical components,
ΣF = ma
ΣFrur + ΣFθuθ + ΣFzuz = marur +maθuθ+mazuz

 3 scalar equations of motion are

 F  ma
r r

 F  ma
 F  ma
z z

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13.6 Equations of Motion: Cylindrical Coordinates

Tangential and Normal Forces

 Resultant force components ΣFr, ΣFθ and ΣFz
cause a particle to move with a known
acceleration.

 Directions or magnitudes of the forces acting on

the particle must be known or computed to solve.

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13.6 Equations of Motion: Cylindrical Coordinates

Tangential and Normal Forces

 Normal force N is always perpendicular to the
tangent of the path
 Frictional force F always acts along the tangent
in the opposite direction of motion

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13.6 Equations of Motion: Cylindrical Coordinates

Tangential and Normal Forces

 Directions of N and F can be specified relative to
the radial coordinate ψ
r
tan 
dr / d

 ψ can be positive
or negative

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13.6 Equations of Motion: Cylindrical Coordinates

Procedures for Analysis

Free-Body Diagram
 Establish r, θ, z inertial coordinate system and
draw the particle’s FBD
 Assume ar, aθ, az act in the positive directions of
r, θ, z if they are unknown
 Identify all the unknowns in the problem

Equations of Motion
  Fr  mar ,  F  ma , F z  maz

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13.6 Equations of Motion: Cylindrical Coordinates

Procedures for Analysis

Kinematics
 Determine r and r, r,,, z and evaluate
acceleration components
ar  r  r 2 ; a  r  2r ; a z  z
 If acceleration components is negative quantity,
it is acting in it negative coordinate direction
 Use chain rule when taking the time derivatives
of r = f(θ)

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Example 13.10

The smooth 0.5-kg double-collar can freely slide on

arm AB and the circular guide rod. If the arm rotates
with a constant angular velocity of   3 rad/s ,
determine the force the arm exerts on the collar at
the instant   45 . Motion is in the horizontal plane.

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Example 13.10

Solution
Free-Body Diagrams
The 4 unknowns are NC , F , ar , a
Equations of Motions
 Fr  mar ;  N ccos 45  0.5ar (1)
 Fr  mar ; F  N ccos 45  0.5a (2)

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Example 13.10

Solution
Kinematics
Using the chain rule,
r  0.8 cos 45  0.5657 m
r  0.8 sin 453  1.6971 m/s
  
r  0.8 sin 450  cos 45 32  5.091 m/s 2
We have
ar  r  r 2  10.18 m/s 2
a  r  2r  10.18 m/s 2


Sub into (1) and (2) and solve, NC=0.75N and F=0
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Example 13.12

A can C, having mass 0.5-kg, moves along a

grooved horizontal slot. The slot is in a form of spiral
defined by equation r = (0.1θ) m, where θ is in
radians. If the arm OA is rotating at a constant rate
  4rad / s in the horizontal plane, determine the
force it exerts on the can at the instant θ = π rad.

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Example 13.12

Solution
Free-Body Diagrams
FC acts perpendicular to the arm OA
NC acts perpendicular to the tangent to the curve at
θ = π rad
r
The angle is defined as tan  
dr / d

1 

When θ = π ,  tan   72.3
Thus   90    17.7
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Example 13.12

Solution
Equations of Motion

Using   17. 7

  Fr  mar ; NC cos17.7  0.5ar (1)
   F  ma ; FC  NC sin 17.7  0.5a (2)
Kinematics
The time derivatives of r and θ are
  4rad / s r  0.1
  0 r  0.1  0.4m / s
r  0.1  0
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Example 13.12

Solution
Kinematics
At the instant    rad,
ar  r  r2  5.03m / s 2
a  r  2r  3.20m / s
  2

Sub into Eqs. 1 and 2,

NC = -2.64 N
FC = 0.800 N

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13.7 Central-Force Motion and Space Mechanics

 If a particle is moving under the influence of a

force having a line of action which is always
directed toward a fixed point, the motion is called
central-force motion
 Consider particle P which has a mass m and is
acted upon only by the central force F

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13.7 Central-Force Motion and Space Mechanics

 Using polar coordinates (r, θ), the equations of

motion,
 d 2 r  d  2   d 2 dr d 
 F  m 2  r    ; 0  m r 2  2 
 dt  dt    dt dt dt 

 The second of these equations may be written

1  d  2 d  d
 r   0 r2 h
r  dt  dt  integrate dt

dA 1 2 d h
 The a real velocity is defined as  r 
dt 2 dt 2

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13.7 Central-Force Motion and Space Mechanics

 To obtain the path of motion, r = f(θ)

dr dr d h dr d 2 r  d  h dr  h
  2 ;   2  2
dt d dt r d dt 2
 d  r d  r
 Sub a new dependent variable (xi)   1/ r into
second equation, we have
d 2r d 2
 h 
2 2
dt 2
d 2
d 2
 F d 2
 F
h 
2 2
 h     2  
2 3

d 2
m d mh2 2

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13.7 Central-Force Motion and Space Mechanics

 By Newton’s law of gravitational, the force of

attraction is given by
M em
F G
r2
 Therefore,
d 2 GM e
 
d 2
h2

This is a second O.D.E with constant coefficients

and is non-homogeneous.

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13.7 Central-Force Motion and Space Mechanics

 The complementary and particular solution are

GM e
 c  C cos(   ) ;  p  2
h
 The complete solution is
1 GM e
   C cos(   ) 
r h2

 The equation represent a

conic section expressed in
terms of polar coordinates

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13.7 Central-Force Motion and Space Mechanics

 The fixed point is called focus, and the fixed line

DD is called the directrix
 The constant ratio is called the eccentricity of the
conic section and is denoted by e
FP
e
PA
where
F P  r  e( PA)  e p  r cos   

 cos    
1 1 1
r p ep

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13.7 Central-Force Motion and Space Mechanics

 The velocity v0 has no radial component

d
hr ; h  r0 v0
0
2

dt
 With θ = 0°, r = r0, we can determine C
1  GM e 
C  1 
r0  r0v02 

 The equation for free-flight trajectory is

1 1  GM e  GM e
 1  2  cos  
r r0  r0v0  r0v02

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13.7 Central-Force Motion and Space Mechanics

 The type of path taken by the satellite is

determined from the value of the eccentricity of
the conic section

e=0 free-flight trajectory is circle

e=1 free-flight trajectory is parabola
e<1 free-flight trajectory is ellipse
e>1 free-flight trajectory is hyperbola

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13.7 Central-Force Motion and Space Mechanics

Parabolic Path
 Initial launch velocity, v0, is required to follow the
escape velocity, ve
2GM e
ve 
r0

Circular Orbit
 The speed vc required to
launch a satellite into a
circular orbit is
GM e
vc 
r0
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13.7 Central-Force Motion and Space Mechanics

Elliptical Obit
 Minimum distance from orbit to the center of
earth O, is rp  r0
 Minimum distance is called
perigee of the orbit
 Apogee or maximum distance is
r0
ra 
2GM e / r0v02  1
 T is the period of time required to make one
orbital revolution

T
h
rp  ra  rp ra

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Example 13.13

A satellite is launched 600 km from the surface of

the earth, with an initial velocity of 30Mm/h acting
parallel to the tangent at the surface of the earth.
Assuming that the radius of the earth is 6378 km and
that its mass is 5.976(1024) kg, determine (a) the
eccentricity of the orbital path and (b) the velocity of
the satellite at apogee.

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Example 13.13

Solution
Part (a)
Since rp  r0  6378  600  6.978(106 )m
v0  30Mm / h  8333.3m / s
 h  rp v0  6.978(106 )8333.3  58.15(109 )m2 / s

Thus 1  GM e 
C 1    25.4(10 9 )m 1
rp r v 2 
 p 0 

Ch 2
e  0.215  1
GM e

Orbit is an ellipse.
Copyright © 2010 Pearson Education South Asia Pte Ltd
Example 13.13

Solution
Part (b)
If the satellite is launched at the apogee A, with a
velocity vA, h  rp v0  ra v A
 58.15(109 )m 2 /s
rp
We have ra   10.804(106 )
 2GM e 
  1
 rv 2
 p 0 
58.16(109 )
vA  6
 5382.2m / s  19.4 Mm / h
10.804(10 )

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 Segala yang BENAR adalah milik
ALLAH
pencipta langit dan bumi dan
segala yang ada diantara keduanya

‫السالم عليكم ورحمة هللا وبركاته‬

Assoc. Prof. Dr. ZOL BAHRI RAZALI

019 457 9207
Faculty of Engineering Technology, UNIVERSITI MALAYSIA PERLIS
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