3rd Quarter Robotics By Ace Balmaceda

Kirchhoff’s Rule

Kirchhoff’s First Rule: Kirchhoff’s Current Law/The Junction Rule

- The sum of all currents entering a junction must equal the sum of all currents leaving the
junction:

- The algebraic sum of the currents passing through a node is zero.

- Applies to the charge entering and leaving a junction. A junction, or node, is a
connection of three or more wires. Current is the flow of charge, and charge is conserved;
thus, whatever charge flows into the junction must flow out.

Kirchhoff’s Second Rule: Kirchhoff’s Voltage Law/ The Loop Rule

- The algebraic sum of changes in potential around any closed circuit path (loop) must be
zero.

- Applies to potential differences. The loop rule is stated in terms of potential V rather than
potential energy, but the two are related since U=qV. In a closed loop, whatever energy is
supplied by a voltage source, the energy must be transferred into other forms by the
devices in the loop, since there are no other ways in which energy can be transferred into
or out of the circuit.
 - Kirchhoff’s loop rule states that the algebraic sum of potential differences, including
voltage supplied by the voltage sources and resistive elements, in any loop must be equal
to zero.

Passive Sign Convention

- Is satisfied when the current enters through the positive terminal of an element and
p = +vi.
- If the current enters through the negative terminal, p = -vi.
- Positive +p is absorbing power (Direction: Enters positive terminal and exits negative
terminal.)
- Negative -p is supplying power (direction: enters negative terminal and exits positive
terminal)

Problem-Solving Strategy: Kirchhoff’s Rules

1. Label points in the circuit diagram using lowercase letters a,b,c,\ldots. These labels
simply help with orientation.
2. Locate the junctions in the circuit. The junctions are points where three or more wires
connect. Label each junction with the currents and directions into and out of it. Make sure
at least one current points into the junction and at least one current points out of the
junction.
3. Choose the loops in the circuit. Every component must be contained in at least one loop,
but a component may be contained in more than one loop.
4. Apply the junction rule. Again, some junctions should not be included in the analysis.
You need only use enough nodes to include every current.
5. Apply the loop rule.
Kinetic Energy, Potential Energy, and Work

Energy
- Energy is the ability to do work.

Work
- is the energy transferred to or from a system by a force that acts on it.
- In physics, work represents a measurable change in a system, caused by a force.
- is defined as a force acting upon an object to cause a displacement.

Work Done or No Work Done

1. A teacher applies a force to a wall and becomes exhausted.
Answer: No work done. The wall is not displaced.
2. A book falls off a table and free falls to the ground.
Answer: Work done. There is a force (gravity) which acts on the book which causes it to
be displaced in a downward direction (fall).
3. A waiter carries a tray full of meals above his head by one arm straight across the room at
constant speed.
Answer: No work done. There is a force (the waiter pushes up on the tray) and there is a
displacement (the 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.
4. A rocket accelerates through space.
Answer: Work done. There is a force (the expelled gases push on the rocket)
which causes the rocket to be displaced through space.

Mathematically, work can be expressed by the following equation:

𝑊 = 𝐹 x 𝑑 𝑐𝑜𝑠 θ

Where F =force, d = displacement, and θ = angle between the force and the displacement vector

Unit: 1 Joule (J) = N.m (Newton meter)

Work Calculations

𝑊 = 𝐹x𝑑
𝑊 = 100𝑁 x 5𝑚
𝑊 = 500 𝐽 𝑜𝑟 500 𝑁. 𝑚

𝑊 = 𝐹 x 𝑑 (𝑐𝑜𝑠 θ)
𝑊 = 100𝑁 x 5𝑚 (𝑐𝑜𝑠 30°)
𝑊 = 100𝑁 x 5𝑚 (87)
𝑊 = 433. 01 𝑁. 𝑚 𝑜𝑟 433. 01 𝐽

𝐹 = 𝑚𝑎𝑠𝑠 x 𝑎𝑐𝑐𝑒𝑙𝑒𝑟𝑎𝑡𝑖𝑜𝑛
𝑚
𝐹 = 15𝑘𝑔 x 9. 8 2
𝑠
𝑚
𝐹 = 147 𝑘𝑔 2 𝑜𝑟 147 𝑁
𝑠
𝑊 = 147𝑁 x 5𝑚
𝑊 = 735 𝑁. 𝑚 or 735 𝐽
Concept of Energy

How is all energy divided?

Potential Energy
- “Stored energy”
- “Potential” simply means the energy that can do something useful later.
- Stored energy that depends upon the relative position of various parts of a system.
- The higher an object, the more potential energy it has.
- The more mass an object has, the more potential energy it has.
- After an object has been lifted to a height, work is done.
- Is maximum at the maximum height.

Equation:
𝑃𝐸 = 𝑚𝑔ℎ
Where m = mass in kilograms, g = acceleration due to gravity (9.8 m/s^2), and h = height in
meters.
Examples: stretched rubber bands, water at the top of a waterfall, yo-yo held in your
hand, and a drawn bow and arrow.
Gravitational Potential Energy
- Is the energy possessed by an object because of a gravitational interaction.

Equation:

Potential Energy Calculation

1. How much potential energy is lost by a 5kg object to kinetic energy due a decrease in height
of 4.5 m?
𝑃𝐸 = 𝑚𝑔ℎ
2
𝑃𝐸 = (5𝑘𝑔)(9. 8 𝑚/𝑠 )(4. 5 𝑚)
2 2
𝑃𝐸 = 225 𝑘𝑔 𝑚 /𝑠
𝑃𝐸 = 220. 5 𝐽

Kinetic Energy
- “Motion Energy”
- When stored energy is being used up, it is making things move or happen.
- The energy an object has because of its motion.
- Energy of motion
- The faster the object moves, the more kinetic energy is produced.
- The greater the mass and speed of an object, the more kinetic energy there will be.
Examples: A person walking, soaring baseball, and a charged particle in an electric field.

Equation:
1 2
𝐾𝐸 = 𝑚𝑣
2
Where m = mass in kilograms and v = velocity in meters per second.

Kinetic energy calculation

Find the kinetic energy of a 4 Kg object moving at 5m/s.
1 2
𝐾𝐸 = 𝑚𝑣
2
1 2
𝐾𝐸 = (4𝑘𝑔)(5𝑚/𝑠)
2
2 2
𝐾𝐸 = 50 𝑘𝑔 𝑚 /𝑠 𝑜𝑟 50 𝑁. 𝑚

𝐾𝐸 = 50 𝐽
Power
- The time rate of doing work
- Is simply energy exchanged per unit time, or how fast you get work done (Watts =
Joules/Sec)
1 watt (W) = 1 J/sec
Perform 100 J of work in 1s s and call it 100 W

1 horsepower (hp) = 745 W

6 3
1 MegaWatt (MW) = 10 𝑊, 10 𝑘𝑊, 𝑎𝑛𝑑 1341. 02 ℎ𝑝
9 6 3
1 GigaWatt (GW) = 10 𝑊, 10 𝑘𝑊, 𝑎𝑛𝑑 10 𝑀𝑊

Power Calculation
1. A 5 kg cart is pushed by a 30 N force against friction for 10m in 5 seconds. Determine
the power needed to move the cart.
𝐹𝑥𝑑
𝑃 =
𝑡
30 𝑁 (10𝑚)
𝑃 =
5 𝑠
𝑃 = 60 𝑁. 𝑚/𝑠 𝑜𝑟 60 𝐽/𝑠
𝑃 = 60 𝑤𝑎𝑡𝑡𝑠

2. Run upstairs, raising your 70 kg mass in 3 m for 3 seconds. Calculate your average
power.
𝐹 = 𝑚𝑔
2
𝐹 = 70𝑘𝑔 𝑥 9. 8 𝑚/𝑠
2
𝐹 = 686 𝑘𝑔 𝑚/𝑠
𝐹 = 686 𝑁

𝐹𝑥𝑑
𝑃 =
𝑡
686 𝑁 𝑥 3 𝑚
𝑃 =
3𝑠
𝑃 = 686 𝑁. 𝑚/𝑠 𝑜𝑟 686 𝐽/𝑠
𝑃 = 686 𝑊
Equations:
𝑊𝑜𝑟𝑘 𝐷𝑜𝑛𝑒
𝐴𝑣𝑒𝑟𝑎𝑔𝑒 𝑃𝑜𝑤𝑒𝑟 =
𝑡𝑖𝑚𝑒
𝐹𝑜𝑟𝑐𝑒 𝑥 𝐷𝑖𝑠𝑡𝑎𝑛𝑐𝑒
𝐴𝑣𝑒𝑟𝑎𝑔𝑒 𝑃𝑜𝑤𝑒𝑟 =
𝑇𝑖𝑚𝑒
𝐴𝑣𝑒𝑟𝑎𝑔𝑒 𝑃𝑜𝑤𝑒𝑟 = 𝐹𝑜𝑟𝑐𝑒 𝑥 𝑉𝑒𝑙𝑜𝑐𝑖𝑡𝑦

Work, Energy, and Power - Application and Practice Problem

Conservative and Non-Conservative Forces

Internal Forces
- Includes gravity forces, magnetic force, electrical force, and spring force.

External forces
- Includes applied force, normal force, tension force, friction force, and air resistance
force.

Application and Practice Problem

1. Calculate the work done by a force of 40 N in lifting a load of 4kg to a height of 12m.

2. What is the work done by gravity if a 100 kg block is pushed along a 60m track?

3. A 2kg box slides down a ramp two meters before it reaches the ground. The ramp has an
angle of 30. The coefficient of kinetic friction for the ramp is 0.1. Calculate the normal
force on the box?
 4. A 6−kg object has a speed of 2m/s at point A and 4m/s later at point B. Find the total
work done on the object as it moves from point A to B.

5. How much work must be done to stop a 1200 kg car moving at 99 km/h in a straight path.

6. A 1850 kg fast car accelerates from 0 to 30 m/s in 3 seconds. Calculate the following:
a. What is its average acceleration?
b. What is its displacement?
c. How much work was done on the car?
d. What is the average force acting on the car over this time interval?

Electric Potential and Electric Potential Energy

Action at a distance
A. Charge interactions
Example: rubbed a balloon with animal fur, wool, sweater, or your own hair.
B. Electric Force
● Non-contact force
● Opposites attract, and like charges repel.

C. Electric Field
 D. Gravitational Force

E. Magnetic Force

The Electric Force and Newton’s Third Law

Newton’s Law of Action-Reactions

- A mutual interaction
- An equal and opposite push or pull

Interaction Between Charged and Neutral Objects

Any charged object
- Whether positively charged or negatively charged will have an attractive interaction with
a neutral object.
\
Charge movement within the Electric Field
● Charge movement in the direction of the electric field
● Charge movement against the direction of the electric field

Factors affecting Gravitational Potential Energy (PEg)

● Mass of the object (kg)
● Height of the object or location of the object (m)

Note:
Doubling the height of the object, it will double the amount of PEgrav.
Doubling the mass of the object, it will double the amount of PEgrav.

Gravitational Potential
- It is defined as the potential energy per mass.
- Ug (Gravitational Potential) = PEgrav. / mass
- Standard units: Joules/kg

Factors affecting Electric Potential Energy (EPE)

● Location
● The amount of test charge at that location
● The strength of the electric field

Electric Potential (V)

- It describes the amount of energy (EPE or U) stored in an electric field at a location in a
way that it is independent of the amount of charge.
- V (Electric Potential) = PEE /q or U/q
- Standard units: Joules/Coulomb or Volts
- If a charge has twice the magnitude it would have twice the Electric Potential Energy
(EPE or U); and it would have the same amount of Electric Potential (V) when placed at
the same location.
Gravitational Potential Energy

Electric Potential Energy (U)

A. Electric Potential Energy in a Uniform field

● Forces acting on a charge q between two plates, A and B, which have an electric
field E between them.
● The electric force F exerted by the field on the positive charge is F = qE.
● To move the charge from plate A to plate B, an equal and opposite force (F = -qE)
must be applied.
● The electric potential energy - that is, the work W done in moving the positive
charge through a distance d - is W = Fd = -qEd
Doing work in an electric field

P.EE (U) depends on the ff:

● Type of charge (q)
● Amount of charge ©
● Strength of the electric field (E or N/C)
Electric Potential Energy (U)
- Energy stored in electric charges
- Is the energy needed to move a charge particle in an electric field.
- Measured in Joules (J)

Equations:

Electric Potential Energy Difference

Electric Potential Energy Associated with Two-point charges

B. Electric Potential Energy of two point charges

𝑄 𝑞𝑜
𝑈 = 𝑘
𝑟
The potential energy U when the test charge qo is at any distance r from a center charge
Q. This equation is valid for any combination of signs of Q and qo. The potential energy
is positive if the charges have the same sign and negative if they have opposite signs.

The Work Done In Moving a Test Charge

● As a test charge moves away from a charge of like sign, the path does not matter
(with respect to work or energy) only the distance between the charges.
C. Electric Potential Due to a single point
Electric Potential
- The amount of work needed to move a unit charge from a reference point to a
specific point against an electric field.
- The electric potential energy per unit charge.
- S.I. Units: Joules/Coulombs or Volts

Equation:

Electric Potential due to a single point charge is dependent on the ff:

● The amount of charge
● Distance from the charge
Therefore:

D. Electric Potential (V) due to multiple point charges

It equals the sum of the potential of each individual charge, at a point in a space/system
 Important thing to remember:
There doesn’t have to be a test charge qo at a given point for a potential V to exist at that
point. (In the same way, an electric field can exist at a given point even if there’s
no test charge there to respond to it.)

E. Kinetic Energy - Work Theorem (Work Energy Principle)

- The work W done by the net force on a particle equals the change in the particle’s
kinetic energy KE.

Rule of thumb for deciding whether U is increasing:

● If a charge is moving in the direction that it would normally move, its
electric potential energy is decreasing.
● If a charge is moved in a direction opposite to that of it would normally
move, its electric potential energy is increasing.

Analysis Example:
Practice Problems:
References:
https://openpress.usask.ca/physics155/chapter/6-3-kirchhoffs-rules/

https://byjus.com/physics/kirchoffs-second-law/#:~:text=Kirchhoff%27s%20second%20law%2C
%20also%20known,and%20also%20conservation%20of%20energy.

http://edulli.weebly.com/uploads/8/7/0/5/87054230/worksheet_6.2_kirchhoffs_laws.pdf

https://static.secure.website/wscfus/9573005/uploads/KIRCCHOFF_SOLVED_EXAMPLES.pdf

https://drive.google.com/drive/folders/114lMckVDhjoiU6_nhi39EFYFaTQATYhj

https://docs.google.com/presentation/d/12TosgjcvR3J__9bczYYaRQd3QGCnfLsH/edit#slide=id.
p4

https://drive.google.com/file/d/1ggVbA2C-OmoskbJ1N_Z1uJc_kKW8sdkg/view

https://drive.google.com/file/d/1hcWURbAjVhgaRhSPgzCznGPI7exnbENj/view