CHAPTER THREE

Kinetics Of Particle
 Kinetics of particles is the study of motion of particles by
considering the different forces applied on the particle. OR

 Kinetics is the study of the relation between unbalanced force

and the resulting motion.

 There is actually exists a force acting on a body with in the given

time interval to cause the body to move, which was first be
postulated by a great physician Newton with his first law of
motion, a body will remain at rest or move with a constant
velocity unless otherwise it is acted up on by unbalanced force.
 Conti…..
 Basically there are three general techniques to
solve kinetics problem. These are:

1. Direct application of Newton second law of

motion. (force, mass and acceleration
method)

2. Work and Energy method

3. Conservation of momentum method

 Newtons law of motion
An object at rest remains at rest, and an
1. Newton’s First Law of object in motion remains in motion at
Motion (Inertia) constant speed and in a straight line unless
acted on by an unbalanced force.
The acceleration of an object depends on
2. Newton’s Second Law
the mass of the object and the amount of
of Motion (Force)
force applied.
3. Newton’s Third Law of Whenever one object exerts a force on
Motion (Action & another object, the second object exerts an
Reaction) equal and opposite force on the first.
 Newton ’s first law and third law are sufficient for
studying bodies at rest (statics) or bodies in motion with
no acceleration.

 When a body accelerates ( change in velocity magnitude

or direction) Newton ’s second law is required to relate
the motion of the body to the forces acting on it.
Newton ’s Second Law: If the resultant force acting on a particle is
not zero the particle will have an acceleration proportional to the
magnitude of resultant force and in the direction of the resultant
force
 The basic relation between force and acceleration is
found in Newton's second law of motion and its
verification is entirely experimental.
When a body accelerates ( change in velocity magnitude or
direction) Newton ’s second law is required to relate the
motion of the body to the forces acting on it.
 Consider a particle subjected to different forces

F1 F2 F
  ...   const
a1 a2 a

 We conclude that the constant is a measure of some

property of the particle that does not change.
 The mass m is used as a quantitative measure of
inertia, and therefore the experimental relation
becomes.

F = ma
 Equation of motion and solution of problems
 When a particle of mass m acted upon by several forces.
The Newton’s second law can be expressed by the
equation

F  ma
 To determine the acceleration we must use the analysis
used in kinematics, i.e
 Rectilinear motion
 Curvilinear motion
 Rectilinear Motion

 If we choose the x-direction, as the direction of the

rectilinear motion of a particle of mass m, the
acceleration in the y and z direction will be zero, i.e

F x
 ma x
F y
0
F z
0
  Generally,
F x
 ma x
F y
 ma y
F Z
 maZ
 Where the acceleration and resultant force are
given by

a  axi  a y j  az k F  F i  F j  F k
x y z

a  ax  a y  az  F   F   ( F )  ( F )
2 2 2 2 2 2
x y z
 Rectangular coordinates

 Rectilinear motion

F2y=0 F1y
F1

F2 W=m*g F1x
F2x
Rectangular coordinates
F x  max
F y  ma y
F z  maz
Where

ax  x

ay  y

az  z
 Problem 3.2
A 40-lb suitcase slides from rest 20ft down the smooth
ramp. Determine the point where it strikes the ground at C.
How long does it take to go from A to C?
 Problem 3.4
 The 2-lb collar C fits loosely on the smooth shaft. If the
spring is unstretched when and the collar is given a
velocity of 15 ft/s, determine the velocity of the collar
when s = 1 ft.
 PROBLEM 3

 Curvilinear motion
 In applying Newton's second law, we shall make
use of the three coordinate system to describe the
acceleration in curvilinear motion.
 Curvilinear Motion

Normal and tangential coordinate:

When a particle moves along a curved path which is known, the
equation of motion for the particle may be written in the tangential,
normal,

 F  ma
n n

 F  ma
t t
 Cont.…


The formula for the radius of curvature at any point x for the
curve y = f(x) is given by:
 Problem 4
 The 0.8-Mg car travels over the hill having the shape of a
parabola. If the driver maintains a constant speed of 9 m/s,
determine both the resultant normal force and the resultant
frictional force that all the wheels of the car exert on the road at
the instant it reaches point A. Neglect the size of the car.
 Polar Coordinates
 We can specify the location of the particle shown
in Fig. using a radial coordinate r, which extends
outward from the fixed origin O to the particle,
and a transverse coordinate which is the
counterclockwise angle between a fixed reference
line and the r axis.

 Cont.
 Position: At any instant the position of the particle, Fig is defined
by the position vector.

Velocity: The instantaneous velocity v is obtained by taking the time

derivative of r. Using a dot to represent the time derivative, we have
 Acceleration
F r  ma r
 F  ma

Where   
  2
a  r   2 r  ar  r  r 
 CONT…

 Normal reaction force
 It is a perpendicular reaction force component by
the surface to the total forces acting against the
surface.
 It is always acts perpendicular to the surface.
 This force is responsible to friction.
 Friction
 It is a force component acting on a moving body due to the normal
reaction force of the surface and surface factor called coefficient
of friction, μ.

 It acts on a body in parallel fashion to surface but opposite

direction to the motion.

where

N -is normal force and

μ- is the coefficient of friction b/n the
surface and the body
 Conti….

 Coefficient of friction
 The coefficient of friction can be either a static

coefficient or kinematic coefficient depending on the

body weather it starts a motion or not in which the
former is used when the body is at rest and acted by a
force but the later one is used after the body start its
motion and less in magnitude than the static.
Typical example of force system
y x
F1y
F1

F1x

W=m*g
Cont.
Example 1: The motor M pulls in its attached rope
causing an acceleration of 6 m/s2. Determine this
towing force, given the coefficient of kinetic friction
between the 50-kg crate and the inclined plane is k =
0.3. Note: Neglect the mass of the pulleys and rope
and assume the pulleys are frictionless.
 2. Work and Energy
 This method is mainly useful when intervals of motion
are involved where the change in velocity or the
corresponding displacement of the particle is required.

 Integration of the forces with respect to the

displacement of the particle leads to the equation of
work and energy.
 A’
F
dr
Fn
θ Ft

A
 Cont.
The work done by the force F during the displacement dr is
defined as a dot product of force and displacement.

dU = F . dr , dU = F drcosθ , dr = ds
dU = Fcosθ ds
dU = Ft ds
 Forces that do work are termed as active forces and forces that
do no work are termed as reactive forces

 Work is +ve when F and ds are in the same direction and it is –

ve when F and ds are in opposite direction
 Cont.
 Work done by a gravitational force on a particle
i. When a particle is moving in the upward direction

y2 2
 Cont.


 Work of a spring force on a particle
i, When the spring is stretched from equilibrium position

Work of the spring force Fs

dU = -Fs . dx , Fs = kx
dU = -kx. dx ….integrating from x1 to x2
U1-2(Fs) = -1/2k(x22 – x12)
U1-2 = U1-2(P) + U1-2(Fs)
= P(x2-x1) -1/2k(x22 – x12)
 Cont.
ii. When the spring is compressed from equilibrium
position

Fs P

x
 Cont.
Work of constant force P:
dU = P . dx …….integrating from X1 to X2
U1-2(P) = P(X2-X1)

Work of the spring force Fs

dU = -Fs . dx, Fs = kX

dU = -kX . dx ….integrating from X1 to X2

U1-2(Fs) = -1/2k(X22 – X12)

U1-2 = U1-2(P) + U1-2(Fs) = P(X2-X1) -1/2k(X22 – X12)

 Cont.
 The force exerted by the spring on the body in
each case above is in the sense opposite to the
displacement, so it does –ve work on the body
 If the spring under tension or compression is
being relaxed, the force exerted on the body by
the spring in both cases is in the same sense as
the displacement, therefore the work done on the
body is +ve
 Cont.
 If we represent both the force and its displacement
as Cartesian vectors, then the work can also be
expressed as:
dU = F ·dr = (Fxi+ Fyj + Fzk) · (dxi + dyj + dzk)

dU = Fx dx + Fy dy + Fz dz
 Cont.
 Example 1. Determine the total work needed to move the
block with mass m from X1 to X2 shown in the figure below.

x2
 Principles of work and energy

 Cont.

U1-2 = ½ m (V22 – V12)

This equation is known as work energy equation
principle of work and energy for system particle

 The principle of work and energy can be extended to include a

system of particles isolated within an enclosed region of space as
shown in Fig. Here the arbitrary ith particle, having a mass is
subjected to a resultant external force Fi and a resultant internal force

fi which all the other particles exert on the ith particle.

 Kinetic energy

 Potential Energy
 Potential energy is an energy stored inside the particle
due to gravity action, which we call it gravitational
potential energy, and due to the action of spring force
which we call it elastic potential energy.

 This type of energy is characterized by its potential to

restore the particle to its initial position if it is released
and allowed to act freely
 Gravitational Potential Energy
y2

U12    Wdy Wy1  Wy2

y1

U12  (Vg )1  (Vg ) 2

U12  Vg
Vg  Wy

Gravitational Potential Energy of the body with respect to the

force of gravity

When Vg2 >Vg1, potential energy increases, and U 1-2 is negative

Elastic Potential Energy
x2
1 2 1 2
U12    kxdx  kx1  kx2
x1
2 2
U12  (Ve )1  (Ve ) 2
U12  Ve
1 2
Ve  kx
2
Potential Energy of the body with
respect to the elastic force F
 Conti…..
 Gravitational potential energy is given as:-

Where m is mass
g is gravity
h is height
 elastic potential energy is given as:-

X0 X
f
 Potential Function.
 Potential Function. In the general case, if a particle is
subjected to both gravitational and elastic forces, the
particle’s potential energy can be expressed as a potential
function, which is the algebraic sum.
 Work of Friction Caused by Sliding.
These problems involve cases where a body slides over
the surface of another body in the presence of friction.
Consider, for example, a block which is translating a
distance s over a rough surface as shown in Fig.
 Conservation of energy

The total change in kinetic energy of the system is equals to the sum of
change in potential energies and the external work done on the system


 Where :-
:-Change in gravitational potential energy

:-change in elastic potential energy

:- work done on the system by the external force acting on the

system
 General sign argument on forms of energy
 For a body rising up a given height will have a negative change in
its gravitational potential energy
 A body falling dawn will have a positive net energy gain in its
gravitational energy.
 A body which is acted by a spring force and the spring is retracted or
extended from its initial un-extended position (neutral position), or
in the way that the final position is much greater in displacement
(defection of the spring ) from its initial displaced position, then it
will extract energy from the system being deflected more, therefore
the net change in elastic potential energy is negative
 Typical example

Xf
X0
h

F
Δs
 Power and Efficiency

 3.3. Impulse and Momentum
• Work and energy is obtained by integrating the
equation of F=ma with respect to the
displacement of the particle.
• Impulse and momentum can be generated by
integrating the equation of motion (F=ma) with
respect to time.
 Cont.
 Using kinematics, the equation of motion for a particle of
mass m can be written as:

This equation is referred to as the principle of linear impulse and

momentum.
 Cont.
 Linear Momentum. Each of the two vectors of the form
L = mv
Is referred to as the particle’s linear momentum. Since m is a
positive scalar, the linear-momentum vector has the same direction as
v.
Linear Impulse. The integral in is referred to as the linear impulse.

This term is a vector quantity which measures the effect of a force

during the time the force acts. Since time is a positive scalar, the
impulse acts in the same direction as the force, and its magnitude has
units of force–time
 Cont.
 If the force is expressed as a function of time, the impulse
can be determined by direct evaluation of the integral.

In particular, if the force is constant in both magnitude and

direction, the resulting impulse becomes
 Principle of Linear Impulse and Momentum
 For problem solving, will be rewritten in the form

If each of the vectors is resolved into its x, y, z components,

we can write the following three scalar equations of linear
impulse and momentum.
Cont..
Conservation of linear momentum for a system of particles

 When the sum of the external impulses acting on a system

of particles is zero, the equation simplified form, namely

 This equation is referred to as the conservation of linear

momentum.
 Impact
 Impact occurs when two bodies collide with each other
during a very short period of time, causing relatively large
(impulsive) forces to be exerted between the bodies.

 In general, there are two types of impact.

 Central Impact: To illustrate the method for analyzing the
mechanics of impact, consider the case involving the central impact
of the two particles A and B shown in Fig.
Cont.
 Cont.

In order to obtain a second equation necessary to solve for

and we must apply the principle of impulse and momentum
to each particle.

For the restitution phase

The ratio of the restitution impulse to the deformation impulse is

called the coefficient of restitution, e. From the above equations, this
value for particle A is :
 Cont.
 In a similar manner, we can establish e by considering
particle B
 Angular momentum
 He angular momentum of a particle about point O is
defined as the “moment” of the particle’s linear
momentum about O. Since this concept is analogous to
finding the moment of a force about a point, the angular
momentum, is sometimes referred to as the moment of
momentum
 Cont.
(HO)Z =(r)(mv)

Here r is the moment arm or perpendicular distance from O to the line of

action of mv.

The direction of Ho is defined by the right-hand rule. As shown, the

curl of the fingers of the right hand indicates the sense of rotation of
mv about O, so that in this case the thumb (or Ho ) is directed
perpendicular to the x–y plane along the + z axis
 Cont.
 sector Formulation. If the particle moves along a space curve, Fig.
the vector cross product can be used to determine the angular
momentum about O. In this case.

Here r denotes a position vector drawn from point O to the

particle. As shown in the figure, Ho is perpendicular to the
shaded plane containing r and mv.
 Rate of Change of Angular Momentum
 We are now ready to relate the moment of the forces acting on the
particle P to its angular momentum. The moment MO about the
origin O is the vector cross product
 Cont.

Principle of Angular Impulse and Momentum.

 Chapter Four

Kinematics of Rigid Bodies:

 Fixed Axis Rotation
 The planar motion of a body occurs when all the particles of a rigid
body move along paths which are equidistant from a fixed plane.

 There are three types of rigid body planar motion, in order of

increasing complexity, they are:
 Cont..
 Translation. This type of motion occurs when a line in the body remains parallel to
its original orientation throughout the motion. When the paths of motion for any two
points on the body are parallel lines, the motion is called rectilinear translation, Fig.
a. If the paths of motion are along curved lines which are equidistant, the motion is
called curvilinear translation Fig. b.
● Rotation about a fixed axis. When a rigid body rotates about a fixed axis, all the
particles of the body, except those which lie on the axis of rotation, move along
circular paths, Fig. c.
● General plane motion. When a body is subjected to general plane motion, it
undergoes a combination of translation and rotation, Fig. d. The translation occurs
within a reference plane, and the rotation occurs about an axis perpendicular to the
reference plane. In the following sections we will consider each of these motions in
detail. Examples of bodies undergoing these motions are shown in Fig. .
Cont.
Translation.
Cont.
 Cont.

 Cont.


 The above two equations indicate that all points in a rigid

body subjected to either rectilinear or curvilinear
translation move with the same velocity and acceleration
 Rotational About a fixed axes

 Cont.

Angular motion Relation
 Cont.

 Cont.

Rotation about a fixed point.
 Cont.

Cont.
Problem
Answer
 Relation motion Analysis : velocity

 Cont.

 Cont.

 Cont.

Instantaneous center of zero velocity

 cont.

 Cont.

Cont.
 CONT.

 Cont.

 Example

Example
Cont.
 Example 4.3
