Chapter

KINETICS
of Particles

Introduction

Observational Experiments:
Newtons Laws of Motion
Kinematics goal: Describing objects motion

Via answering the

following questions:

Without asking the

When ?

question: Why is

Where ?

object moving in a

How fast ?

certain way ?

How far ?
How long ?

Observational Experiments:
Newtons Laws of Motion
Kinetics goal: Describing objects motion
Via answering the main questions:
Why is the object moving in a certain way?
What causes the object to change its velocity ?

How the interaction between objects influence

their motion ?

Observational Experiments:
Newtons Laws of Motion
Kinetics goal: Describing objects motion
Dynamics studies motion on a deeper level than
kinematics: it studies the causes of changes in
objects motion !

The motion of an object depends on the forces acting on it.

APPLICATIONS
A freight elevator is lifted using a motor
attached to a cable and pulley system
as shown.

Typical Problem:
How can we determine the tension
force in the cable required to lift the
elevator at a given acceleration?
Is the tension force in the cable greater than the
weight of the elevator and its load?

Bridging Kinematics and Dynamics

Kinematics

Dynamics

Question

- Quantity

Question

Where?

- Position

How much matter? - Mass

When?

- Clock reading

How strong is the

interaction?

- Force

What is the effect

of the interaction?

- Acceleration

For how long? - Time interval

How fast? - Velocity,
- speed,
- Acceleration

Acceleration

- Quantity

Lecture

Newtons
Laws of
Motion
Isaac Newtons work represents one of the greatest contributions to
science ever made by an individual. Most notably, Newton derived the
law of universal gravitation, invented the branch of mathematics called
calculus, and performed experiments investigating the nature of light
and color.

Newtons 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.

Newtons Three Laws of Motion

Third Law: The mutual forces of action and
reaction between two particles are equal,
opposite and collinear.

Newtons Three Laws 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. If F is applied to a
particle of mass m then:

12

Newtons Second Law of Motion

Newtons second law forms the basis of the study of
dynamics of particles:

Fext Fnet m a

Where: F is the resultant force acting on the particle,

a is the acceleration of the particle.

m is the mass of the particle.

Note: for rigid bodies we will need another equation:

Language and Questions of Dynamics

Force: The measure of interaction between two objects (pull
or push). It is a vector quantity it has a magnitude
and direction

Direction

MASS AND WEIGHT

Mass: The measure of how difficult it is to change objects
velocity (inertia of the object)
Weight: The force of the Earth is pulling the object with.
Weight is a vector quantity, it has a magnitude and
direction

It is important to understand the difference between the

mass and weight of a body!

MASS AND WEIGHT

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, (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 :
where g is the acceleration due to gravity.

UNITS

F=ma
units of force are ( Mass Length / Time 2 )

Metric Absolute (SI):

Length

Time

Mass

Force

meter

sec

kg

N = kgm/s2

Method of Solving

=
Free-Body
Diagram

Kinetic
Diagram

EXAMPLE

Given: A crate of mass m is pulled by a cable attached to a truck.

The coefficient of kinetic friction between the crate and road is
mk.

Find: Draw the free-body and kinetic diagrams of the crate.

Plan: 1) Define an inertial coordinate system.
2) Draw the crates free-body diagram, showing all external
forces applied to the crate in the proper directions.
3) Draw the crates kinetic diagram, showing the inertial force
vector ma 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 crate:

W = mg

T
30

F = mk N

The weight force (W) acts through the crates

center of mass. T is the tension force in the
cable. The normal force (N) is perpendicular
to the surface. The friction force (F = mKN)
acts in a direction opposite to the motion of
the crate.

3) Draw the kinetic diagram of the crate:

ma

The crate will be pulled to the right. The

acceleration vector can be directed to the
right if the truck is speeding up or to the left if
it is slowing down.

System

Free-Body Diagram

Kinetic Diagram

W = mg

T
30

F = mkN

ma

Free-Body Diagram

Kinetic Diagram

Note
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.

Any of the tools learned in the previous chapter may

be needed to solve a problem.

Example 1 : Breaking Force (1-D case)

A twenty-ton-train cart (m = 20T) is moving at 27 m/s.
What breaking force is needed to stop the cart in 50m?
v0= 27 m/s

vf = 0 m/s

x
Dx = 50 m

Solution

ext

Dx

v 2f v02

We know the mass of the cart but how can

we find its acceleration?

ma
a

To find acceleration we have to use our

knowledge of kinematics.
If we know the stopping distance and the
initial velocity, we can find acceleration!

v 2f v02

2a
2Dx
(0 2 ) (27m / s ) 2
a
7.3m / s 2
2(50m)

F ma
F (20,000kg)( 7.3m / s 2 )
F 146,000 N

What does this answer mean? How can the force be negative?

Example 2 : Pushing Three Boxes

You are pushing three boxes by applying a 7.5 N force as shown in
the picture on a frictionless surface.
(a) Find the acceleration of the boxes and (b) all the contact forces
between them.

Notice, we have to draw a FBD to solve the problem!

Solution

Fext Fnet ma
F (m1 m2 m3 )a
7.5 N
a
0.8m / s 2
9.4kg

Box1 : Fnet ma

7.5 N

7.5N F2 on1 (1.3kg)(0.8m / s )

2

F2 on1 7.5N 1.04 N 6.46 N

1.3kg

F2 on 1

To solve the problem, we first look at three boxes as one system to

find a, and then we looked at each box separately.

Solution

Box 2 : Fext Fnet ma

F1 on 2 F3 on 2 (3.2kg)(0.8m / s )

x
F1 on 2

F2 on 1 F1 on 2
6.46 N F3 on 2 2.56 N
F3 on 2 6.46 N 2.56 N 3.9 N
F3 on 2 F2 on 3

3.2kg

F3 on 2

a
F2 on 3

4.9kg
a

Box 3 : F2 on 3 3.9 N
Notice, that the negative answer for the force means that the force
is directed in the opposite direction to the chosen axis.

Making Sense of the Answers

F3 on 2 F2 on 3 F2 on 3 3.9 N
3.9 N
a3
0.8m / s 2
4.9kg
a3 a 0.8m / s 2

x
F2 on 3

4.9kg

We checked our answer: the acceleration of the third box equals to

0.8m/s2 as we expected. If we didnt use the third law of Newton in
conjunction with the second one, we wouldnt be able to solve the
problem! Also please notice how proper indices for forces helped us
to solve the problem!

Quiz : Two Cars Train

A light train made up of two cars is traveling at 90 km/h, when the
brakes are applied to both cars.
Knowing that car A has a mass of 25 Mg and car B a mass of 20
Mg, and the braking force is 30 kN on each car,
Determine:
(a) the distance traveled by the train before it comes to a stop,
(b) the force in the coupling between the cars while the train is
slowing down.
90 km/h

Quiz : Dependent Motion

Knowing that the system shown starts from rest, find the
velocity at t = 1.2s of block A. Neglect the masses of the
pulleys and the effect of friction.
10 kg
A
25 N
B
15 kg

EXAMPLE

Given: WA = 10 kg

WB = 20 kg
voA = 2 m/s
mk = 0.2
Find: vA when A has moved 4 m.

Plan:
Since both forces and velocity are
involved, this problem requires both
the equation of motion and
kinematics.

First, draw free body diagrams of A and B.

Apply the equation of motion.
Using dependent motion equations, derive a relationship
between aA and aB and use with the equation of motion
formulas.

EXAMPLE (continued)
Solution:
Free-body and kinetic
diagrams of B:

2T

=
WB

mB aB

Fy m a y
Apply the equation of
motion to B:

WB 2T mB aB

mB g 2 T mB aB

(1)

EXAMPLE (continued)
Free-body and kinetic diagrams of A:

WA

T
N

mAaA

F = mk N

Apply the equations of motion to A:

+

Fy m a y 0
N WA mA g

F mk N mk WA mk mA g

Fx m ax

T F mA a A
T m k m A g mA a A

(2)

EXAMPLE (continued)

Now consider the kinematics.

Constraint equation:
sA

Datums

A
sB

- sA + 2 sB = constant
or
- vA + 2 vB = 0
Therefore
- aA + 2 aB = 0
aA = 2 aB
(3)

(Notice aA is considered
positive to the right and aB is
positive downward.)

EXAMPLE (continued)
Now combine equations (1), (2), and (3).

aB

mB 2m k mA

g
mB 4 mA

a A 2 aB

aB 2.616 m / s 2
a A 5.232 m / s 2

VA2 V02A 2 a A s A s A0
V 2 2 5.232 4
2
A

VA 6.772 m / s

Lecture

The inclined plane is a plane surface set at an angle, other than a right
angle, against a horizontal surface. The inclined plane permits one to
overcome a large resistance by applying a relatively small force through a
longer distance than the load is to be raised.

Components of the Weight on the Ramp

Wx W sin ( )

Wy W cos ( )

Now instead of talking about the horizontal & vertical components we

have components in the direction of the ramp (x) and in the
perpendicular direction (y)!

Notice, it is convenient to resolve the weight of the object on an incline into

components. The x-axis is in the direction of the incline
(motion/acceleration), y is perpendicular to the inclined surface.

Example:

Inclined Plane (Ramp)

Your brother (30 kg) slides downhill (=300) on a sled

(10kg)

(a) Find the acceleration of the

brother and the sled
(b) Find the contact force of the
surface on the sled.
(c) Explain.

Solution
To solve the problem, we had
to decide what objects we are
looking at. In this problem: a
brother-sled is the system.

Wx W sin(30 )

Wy W cos(30 )
0

We had to resolve the weight of the

system into components first!

m
a

ext

N W m a

Fx max

Fy ma y

mg sin( ) m a x

mg cos( ) N 0
g sin( ) a x

m g cos( ) N
2
0

(
10
m
/
s
)
sin(
30
) ax

2
0

(
40
kg
)(
10
m
/
s
)
cos(
30
)N

5m / s a x

346 Newtons N
2

Solution
Reality Check: Units and
Special Cases
Units make sense!
When the angle of an inclined
plane is zero the acceleration
along the incline is zero:
ax = gsin()= gsin(00)=0

When an inclined plane is

vertical, the acceleration
along it must equal g (free
fall):
ax = gsin(900) = g
The answer makes sense!

Forces in Everyday Life:

Friction
and

Tension

I: Frictional Forces: Observations

Frictional forces are contact
forces
No surface is smooth
Extremely smooth surfaces
stick as well
Whatever you have you will
always have some friction
Frictional forces depend on
many things, we will explore
it in detail

Static and Kinetic Friction

Static (v = 0) and kinetic friction (non zero v) are two

related by different types of friction!
We denote them and fs and fk.

Kinetic versus Static Friction

Kinetic friction is the frictional force existing during relative

motion of surfaces
Static friction exist when the surfaces are not moving
relatively to each other.

Exploring Kinetic Friction

What can kinetic friction depend on?

Quality of the surfaces

Area of Contact
Weight of the object
Normal force
Relative speed of motion
Temperature of objects

II: Model for Kinetic and Static Friction

Kinetic Friction

f k mk mg

Static Friction

f s ms mg

or

or

f k mk N

f s ms N

Example : Incline with Friction

You are pushing a 10-kg shopping cart up a 300 incline
with a constant force of F = 80N parallel to the incline.
If mk=0.2, find carts acceleration.

Problem Solving Strategy

y

1. Choose coordinate axes

2. Resolve the forces into

x
a=?

Fperson
f

components
3. Apply Newtons 2nd law to
each one of the
dimensions: x and y
4. Solve the equations

5. Check IF the answers

make sense

Applying Newtons 2nd Law

Fext Fnet ma

N surface /cart f surface/cart FEarth/cart Fperson/cart macart

F W N f ma

Fx m a x

Fy m a y
m g sin( ) F m k N m a x

m g cos( ) N 0

m g sin( ) F m k m g cos( ) m a x

N m g cos( )

Applying Newtons 2nd Law

axcart g sin( ) mk g cos( ) F / mcart

a x 10 m / s 2 sin 300 0.2 10 m / s 2 cos 300 80 N / 10 kg

a x 5 m / s 2 1.72 m / s 2 8 m / s 2
a x 1.38 m / s 2

So What does it Mean?

1- No Friction force ( f ) and no pushing force ( F ) :

ax g sin
2- No pushing force ( F ) [ only friction and weight ]:
a x g sin m k g cos
a x g m k cos sin

If g sin m k g cos m k tan a 0

Notice, FRICTION changes its sign: its direction is up now against gravitational force

3- No friction :

ax g sin( ) F / mcart

String (cable) Tension

We will deal with
massless and nonstretching strings. In this
case the tension across
the string is uniform.
We will denote it as T

Example: Pulley and Inclined Planes

Frictionless inclined
plane and frictionless
pulley:

Find a - ?

Problem Solving Strategy

Fext Fnet m M a

mg Mg sin m M a
mg Mg sin
a
mM
When friction is involved the problem
gets trickier: you have to figure out
first where the object is going to move
and then to include friction in the
direction opposite to relative motion. If
you need to find string tension, look at
each mass separately!

1. Choose coordinate axes

2. Resolve the forces into

components
3. Apply Newtons 2nd law to
each one of the dimensions:
x and y
4. Solve the equations
5. Check IF the answers make
sense

Problem
The two blocks A and B shown are
originally at rest. Neglecting the masses of
the pulleys and assuming that the
coefficients of friction between block A and
the incline are ms = 0.25 and mk = 0.20,
determine the acceleration of block B.
100 kg
A

30

160
kg

Problem
Block A has a mass of 25 kg and block B a mass of
15 kg.
The coefficients of friction between all surfaces are
ms = 0.20 and mk = 0.15.
Knowing that = 25o and that the magnitude of the
force P applied to block A is 250 N, determine:
(a) the acceleration of block A ,
(b) the tension in the cord.

A
B

Lecture

Circular
Motion

Looking for Acceleration

Where to look for acceleration:

a DV Dt

Changing
magnitude of
velocity

Changing
direction of
velocity

Changing
magnitude and
direction of v

Speeding up or
slowing down along a
straight line

Moving with constant

speed along a curved
line

Speeding
up
or
slowing down along a
curved line

EQUATIONS OF MOTION:

CYLINDRICAL
COORDINATES
This approach to solving
problems has some
similarity to the normal &
tangential method.
However, the path may have attributes that make it
desirable to use cylindrical coordinates (e.g., a function
of ).

EQUATIONS OF MOTION:
CYLINDRICAL COORDINATES

The equations of motion in

cylindrical coordinates (using
r, , and z coordinates) may
be expressed in scalar form
as:

m r 2r

Fr mar m r r

F ma
F ma m z
z

EQUATIONS OF MOTION (continued)

If the particle is constrained to move only in the r

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.

Fr mar m r r

2r
F

ma

m
r

NORMAL & TANGENTIAL COORDINATES (Review)

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 paths

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 FOR

NORMAL & TANGENTIAL COORDINATES
The equation of motion,

F = ma,

may be written in terms of the n & t coordinates as

Ft ut + Fn un = m at ut + m an un
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

NORMAL AND TANGENTIAL ACCELERATIONS

(Review)

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

rate of change in the magnitude of the velocity.
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 paths center of curvature.

Recall, if the path of motion is

defined as y = f(x), the radius of
curvature at any point can be
obtained from

dy
1
dx
r
2
d y
dx 2

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 ndirection). The tangential acceleration (at) may act in either
the positive or negative t direction.
Apply the equations of motion and solve.
It may be necessary to employ the kinematic relations:

at = dv/dt = v dv/ds

and/or

an = v2/r

Circular Motion: Observations

Whenever an object is moving along
a curved path with constant speed,
the direction of velocity is changing
therefore acceleration must be
present!
The presence of acceleration means
that the net force acting on an
object is NOT zero.

What are the magnitude

and direction of this net
force?

Fext Fnet ma

dV
at
dt
V2
aN
R

When an object is moving along a

circular path with a constant speed, the
net force acting on it has to be directed
toward the center of a curvature
(circle). In this case, only radial
acceleration is involved. The magnitude
of the net force has to equal the mass
of the object multiplied by the square of
its speed and divided by the radius of
the curvature.

If the object is moving with changing speed along the

circular path the object will have both radial and
tangential accelerations. Radial acceleration (for
turning) and tangential acceleration for changing the
speed!

Looking for Acceleration

Where to look for acceleration: a = Dv/Dt
Changing
magnitude of
velocity

Changing
direction of
velocity

Changing
magnitude and
direction of v

Speeding up or
slowing down along a
straight line

Moving with constant

speed along a curved
line

Speeding up or
slowing down along a
curved line

Tangential a: at

Radial a: aR

aR and at

Example: Bridges & Speed Bumps

Evaluate the maximum safe speed of the car which allow you
to stay on the bump ( N > 0 )

Example 2: Bridges & Speed Bumps

2

v
Fext m R
v2
mg N m
R
NR
v gR
m
N 0 vCr

gR

The curvature of the bridge/bump and your speed determines if

you are going to stay on the bump (N>0) or if you are going to
bump: fly off it!

Example 3: Car Rounding a Curve Unbanked

A curve in a Round/About has a radius of 45 m. Evaluate the

maximum safe speed of the car which prevents skidding on the curve.

Car Rounding a Curve Unbanked

Fext ma

v2
v2
x : f m
x : mk N m
R
R

y : N mg 0
y : N mg

v2
x : m k mg m
v m k gR ; R 45m; m k 0.5; v 53.5km / h
R
On a wet pavement : m k 0.1 v 24 km / h
The max speed is
independent of the mass of
the car! Friction is what
makes your car turn: slow
down when wet!

Example 4: Car Rounding a Curve Banked

A curve in a speed track has a radius R and a banking angle .

Evaluate the maximum safe speed of the car which prevents
skidding on the curve.

Car Rounding a Banked Curve without friction

Fext ma

x : n normal direction

mg
v
sin( ) m

v2
x :
R
x : N sin( ) m
cos( )

y : N cos( ) mg 0
y : N mg

cos( )

v2
x : g tan( )
v Rg tan( ) ; R 50m; 200 ; v 48 km / h
R

The max speed is

independent of the mass
of the car! This solution
does not include friction!

Example 5: Car Rounding a Banked Curve

y
with friction
W = mg

=
m an

f
N

Car Rounding a Banked Curve with friction

Fext ma

v
n : N sin( ) m N cos m

v2

n : N sin( ) f cos m

mg
y : N cos( ) f sin( ) mg 0
y : N

cos( ) m sin( )

mg
v2
sin m cos m
n:
cos( ) m sin( )
R
v

sin m cos
Rg
cos( ) m sin( )

sin m cos
v2
g

cos( ) m sin( ) R

; R 50m; 20 0 ; m 0.5;
v 74 km/h

This solution include

friction!

Problem 1:
The bob of a 2 m
pendulum describes an
arc of circle in a vertical
plane. If the tension in the
cord is 2.5 times the
weight of the bob for the
position shown, find the
velocity and acceleration
of the bob in that position.

2m
30 o

The weight of the bob is W=mg; the tension in the cord is thus 2.5
mg.

Recalling that an is directed toward O and assuming at as

shown, we apply Newtons second law and obtain :

T = 2.5 mg

m an

=
m at
t
W = mg

30 o

Ft mat

mg sin 30 mat
o

at g sin 30o 4.90 m / s 2

at 4.90 m / s 2
+

Fn man

2.5 mg mg cos 30o m an

an 1.634 g 16.03 m / s 2
an 16.03 m / s 2

Since an = v 2/R we have v2 = R an = (2m)(16.03 m/s2)

V = 5.66 m/s

V = 5.66 m/s

(up or down)

Problem 2:
A single wire ACB passes
through a ring at C
attached to a sphere
which revolves at a
constant speed v in the
horizontal circle.
Knowing that the tension
is the same in both
portions of the wire,
determine the speed v.

30 o
B
45 o
C

5 kg
1.6 m

Recalling that an is directed toward the centre of rotation, we

apply Newtons second law and obtain :

y
T
T

n:x

45 o

W = mg
30 o

m an

 Fx ma

mv2
T sin 30 sin 45
R

Fy 0

T cos 30 cos 45 mg 0
T cos 30 cos 45 mg

Divide (1) by (2) :

sin 30 sin 45
v2

cos 30 cos 45
Rg
v 3.47 m / s

(1)

(2)

Problem 3:
A

A single wire ACB passes

through a ring at C
attached to a sphere
which revolves at a
constant speed v in the
horizontal circle.
Knowing that the tension
is the same in both
portions of the wire,
determine the speed v.

30 o

1.5 m

45 o
B

C
3 kg

Recalling that an is directed toward the centre of rotation, we

apply Newtons second law and obtain :

y
T

45 o

n:x
T

W
30 o

m an

 Fx ma

mv2
T sin 30 sin 45
R

Fy 0

T cos 30 cos 45 mg 0
T cos 30 cos 45 mg

Divide (1) by (2) :

sin 30 sin 45
v2

cos 30 cos 45
Rg
v 10.57 m / s

(1)

(2)