CEE 271: Applied Mechanics II, Dynamics

– Lecture 11: Ch.14, Sec.1–4 –

Prof. Albert S. Kim

Civil and Environmental Engineering, University of Hawaii at Manoa

Tuesday, September 25, 2012

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 THE WORK OF A FORCE, THE PRINCIPLE OF
WORK AND ENERGY and SYSTEMS OF
PARTICLES
Today’s objectives: Students In-class activities:
will be able to • Reading Quiz
1 Calculate the work of a • Applications
force.
• Work of A Force
2 Apply the principle of work
• Principle of Work And
and energy to a particle or
Energy
system of particles.
• Concept Quiz
• Group Problem Solving
• Attention Quiz

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 READING QUIZ
1 What is the work done by the force F ?
(a) F s
F1
0
1
0
0
1
(b) −F s
0
1
0
1
0
1 (c) Zero
0
1
0
1
0
1
s1 0
1 s2
0
1
0
1
0
1 (d) None of the above. ANS: (c)
2 If a particle is moved from 1 to 2, the work done on the
particle by the force, FR , will be

R s2 P
(a) s1
Ft ds
R s2 P
(b) − s1 Ft ds
R s2 P
(c) s1 Fn ds
R s2 P
(d) − s1 Fn ds ANS: (a)
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 APPLICATIONS

• A roller coaster makes use of gravitational forces to assist

the cars in reaching high speeds in the ‘valleys’ of the
track.
• Q: Why is B below A?
• How can we design the track (e.g., the height, h, and the
radius of curvature, ρ) to control the forces experienced by
the passengers?
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APPLICATIONS(continued)

• Crash barrels are often used along

roadways for crash protection.
• The barrels absorb the car’s kinetic
energy by deforming and moving.
• If we know the velocity of an oncoming
car and the amount of energy that can
be absorbed by each barrel, how can
we design a crash cushion?
One can determine size and weight of a cushin.

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 WORK AND ENERGY

• Another equation for working kinetics problems involving

particles can be derived by integrating the equation of
motion (F = ma) with respect to displacement.
• By substituting at = v(dv/ds) into Ft = mat , the result is
integrated to yield an equation known as the
principle of work and energy.
• This principle is useful for solving problems that involve
force, velocity, and displacement. It can also be used to
explore the concept of power.
• To use this principle, we must first understand how to
calculate the work of a force.

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 WORK OF A FORCE (Section 14.1)

• A force does work on a particle when

the particle undergoes a displacement
along the line of action of the force.
• Work is defined as the (dot) product of
force and displacement components
acting in the same direction. So, if the
angle between the force and
displacement vector is θ, the increment
of work dU done by the force is

dU = F ds cos θ
• By using the definition of the dot product and integrating,
the total work can be written as
Z r2
U1−2 = F · dr
r1
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 WORK OF A FORCE (continued)

• If F is a function of position (a common

case), this becomes
Z s2
U1−2 = F cos θds
s1

• If both F and θ are constant (F = Fc ),

this equation further simplifies to

U1−2 = Fc cos θ(s2 − s1 )

1 Work is positive if the force and the movement are in the
same direction.
2 If they are opposing, then the work is negative.
3 If the force and the displacement directions are
perpendicular, the work is zero.
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 WORK OF A WEIGHT

• The work done by the gravitational force acting on a

particle (or weight W of an object) can be calculated by
using
Z 2 Z y2
U1−2 = + F · dr = −W dy = −W (y2 − y1 ) = −W ∆y
1 y1

• The work of a weight is the product of the magnitude of the

particle’s weight and its vertical displacement.
• If ∆y is upward, the work is negative since the weight force
always acts downward.

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 WORK OF A SPRING FORCE

• When stretched, a linear elastic spring

develops a force of magnitude Fs = ks,
where k is the spring stiffness and s is
the displacement from the unstretched
position.
• The work of the spring force moving from position s1 to
position s2 is
Z s2 Z s2
U1−2 = Fs ds = ksds = 0.5k(s2 )2 − 0.5k(s1 )2
s1 s1
• If a particle is attached to the spring, the force Fs 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
U1−2 = −[0.5k(s2 )2 − 0.5k(s1 )2 ]
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 SPRING FORCES

It is important to note the following about spring forces.

1 The equations above are for linear springs only! Recall that
a linear spring develops a force according to F = ks
(essentially the equation of a line).
2 The work of a spring is not just spring force times distance
at some point, i.e., (ksi )(si ). Beware, this is a trap that
students often fall into!
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.

F = −k (x − x0)

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 PRINCIPLE OF WORK AND ENERGY
(Section 14.2 and Section 14.3)
• By integrating ΣFt = mat = mv dv
ds , the principle of work
and energy can be written as
ΣU1−2 = 12 mv22 − 12 mv12
or
T1 + ΣU1−2 = T2
• ΣU1−2 is the work done (positive or negative) by all the forces
acting on the particle as it moves from point 1 to point 2.
• T1 and T2 are the kinetic energies (always positive) of the
particle at the initial and final position, respectively:
T1 = 21 mv12 and T2 = 21 mv22 .
• So, the particle’s 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 particle’s final kinetic
energy.
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PRINCIPLE OF WORK AND ENERGY (continued)
• Note that the principle of work and energy

T1 + ΣU1−2 = T2 (1)
T1 + U1 = T2 + U2 = constant E (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. In the FPS system, ft·lb.
• The principle of work and energy cannot be used, in
general, to determine forces directed normal to the path,
since these forces NO work.
• 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.
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WORK OF FRICTION CAUSED BY SLIDING

• The case of a body sliding over a rough surface

merits special consideration.
• Consider a block which is moving over a rough
surface. If the applied force P just balances the
resultant frictional force µk N , a constant velocity v
would be maintained.
• The principle of work & energy would be applied as
1 1
mv 2 + P s − (µk N )s = mv 2
2 2
• This equation is satisfied if P = µk N . However, we know
from experience that friction generates heat, a form of
energy that does not seem to be accounted for in this
equation. It can be shown that the work term (µk N s)
represents both the external work of the friction force and
the internal work that is converted into heat. 14 / 40
 EXAMPLE

• Given: When s = 0.6 m, the

spring is not stretched or
compressed, and the 10 kg
block, which is subjected to a
force of F = 100 N, has a speed
of 5 m/s down the smooth plane.
• Find: The distance s when the
block stops.

• Plan: Since this problem involves forces, velocity and

displacement, apply the principle of work and energy to
determine s.

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 EXAMPLE (Solution)

• Apply the principle of work and energy between

position 1 (s1 = 0.6 m) and position 2 (s2 ). Note
that the normal force (N ) does no work since it is
always perpendicular to the displacement.

T1 + ΣU1−2 = T2

• There is work done by three different forces;

1 work of a the force F = 100 N:
UF = 100(s2 − s1 ) = 100(s2 − 0.6)
2 work of the block weight:
UW = 10(9.81)(s2 − s1 ) sin 30◦ = 49.05(s2 − 0.6)
3 and, work of the spring force.
US = − 12 (200)(s2 − 0.6)2 = −100(s2 − 0.6)2
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 EXAMPLE (Solution)
• The work and energy equation will be

T1 + ΣU1−2 = T2
2
0.5(10)5 + 100(s2 − 0.6)
+49.05(s2 − 0.6) − 100(s2 − 0.6)2 = 0
125 + 149.05(s2 − 0.6) − 100(s2 − 0.6)2 = 0
• Solving for (s2 − 0.6),
p
−149.05 ± 149.052 − 4 × (−100) × 125)
(s2 − 0.6) =
2(−100)
• Selecting the positive root, indicating a positive spring
deflection,
(s2 − 0.6) = 2.09m (3)
s2 = 2.69m (4)
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 CONCEPT QUIZ
1 A spring with an un-stretched length of 5 in expands from a
length of 2 in to a length of 4 in. The work done on the
spring is in · lb .
(a) −[ 12 k(4 in)2 − 12 k(2 in)2 ]
(b) + 12 k(2 in)2
(c) −[ 21 k(3 in)2 − 12 k(1 in)2 ]
(d) + 12 k(3 in)2 − 12 k(1 in)2
ANS: (c)
2 If a spring force is F = 5s3 N/m and the spring is
compressed by s = 0.5 m, the work done on a particle
attached to the spring will be
(a) +0.625 N· m
(b) -0.625 N · m
(c) +0.0781 N · m
(d) -0.0781 N · m
ANS: (d)

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 GROUP PROBLEM SOLVING

• Given: Block A has a weight of 60 lb and

block B has a weight of 40 lb. The
coefficient of kinetic friction between the
blocks and the incline is µk = 0.1. Neglect
the mass of the cord and pulleys.
• Find: The speed of block A after block B
moves 2 ft up 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. Why choose this method?

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 GROUP PROBLEM SOLVING (continued)
Solution:
• The kinematic relationships can be
determined by defining position
coordinates sA and sB , and then
differentiating. Since the cable length is
constant:

2sA + sB = l (5)
2∆sA + ∆sB = 0 (6)

When ∆sB = −2 ft ⇒ ∆sA = 1 ft and

2vA + vB = 0

vB = −2vA
• Note that, by this definition of sA and sB , positive motion
for each block is defined as downwards.
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 GROUP PROBLEM SOLVING(continued)
2 Draw the FBD of each block.

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Sum forces in the y-direction for

Similarly, for block B:
block A (note that there is no
motion in y-direction), ΣFy = 0: NB = WB cos 30◦
NA − WA cos 60◦ = 0 (7)
NA = WA cos 60◦ (8) 21 / 40
 GROUP PROBLEM SOLVING(continued)

3 Apply the principle of work and energy to the system (the

blocks start from rest).

ΣT1 + ΣU1−2 = ΣT2

[ 21 mA (vA1 )2 + 12 mB (vB1 )2 ] + [WA sin 60◦ − 2T − µNA ]∆sA +

[WB sin 30◦ − T − µNB ]∆sB = [ 21 mA (vA2 )2 + 12 mB (vB2 )2 ]

Since vA1 = vB1 = 0, ∆sA = 1 ft, ∆sB = −2 ft, vB = −2vA ,

NA = WA cos 60◦ , NB = WB cos 30◦ ,

[0 + 0] + [60 sin 60◦ − 2T − 0.1(60 cos 60◦ )](1) + [40 sin 30◦ −
T + 0.1(40 cos 30◦ )](−2) =
1 2 1 2
2 (60/32.2)(vA2 ) + 2 (40/32.2)(−2vA2 )

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 GROUP PROBLEM SOLVING(continued)

• Again, the Work and Energy equation is:

[0 + 0] + [60 sin 60◦ − 2T − 0.1(60 cos 60◦ )](1) + [40 sin 30◦ −
T + 0.1(40 cos 30◦ )](−2) =
[ 21 (60/32.2)(vA2 )2 + 12 (40/32.2)(−2vA2 )2 ]

• Solving for the unknown velocity yields

vA2 = 0.771ft/s

Note that the work due to the cable tension force on each
block cancels out.

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ATTENTION QUIZ

1 What is the work done by the normal

force N if a 10 lb box is moved from A to
B?
(a) −1.24 lb·ft
(b) 0.0 lb·ft
(c) 1.24 lb·ft
(d) 2.48 lb·ft ANS: (b)
2 Two blocks are initially at rest. How
many equations would be needed to
determine the velocity of block A after
block B moves 4 m horizontally on the
smooth surface?

(a) One (c) Three

(b) Two (d) Four
ANS: (c)
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 POWER AND EFFICIENCY
Today’s objectives: Students In-class activities:
will be able to • Reading Quiz
1 Determine the power • Applications
generated by a machine,
• Define Power
engine, or motor.
• Define Efficiency
2 Calculate the mechanical
• Concept Quiz
efficiency of a machine.
• Group Problem Solving
• Attention Quiz

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 READING QUIZ

1 The formula definition of power is .

(a) dU/dt
(b) F ·v
(c) F · dr
dt
(d) All of the above.
ANS: (d)
2 Kinetic energy results from .
(a) displacement
(b) velocity
(c) gravity
(d) friction
ANS: (b)

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APPLICATIONS

• Engines and motors are often rated in

terms of their power output. The power
output of the motor lifting this elevator is
related to the vertical force F acting on
the elevator, causing it to move
upwards.
• Given a desired lift velocity for the
elevator (with a known maximum load),
how can we determine the
power requirement of the motor?

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 APPLICATIONS(continued)

• The speed at which a truck can climb a

hill depends in part on the power output
of the engine and the angle of
inclination of the hill.
• For a given angle, how can we
determine the speed of this truck,
knowing the power transmitted by the
engine to the wheels? Can we find the
speed, if we know the power?
• If we know the engine power output and speed of the truck,
can we determine the maximum angle of climb of this
truck?

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 POWER AND EFFICIENCY(Section 14.4)

• Power is defined as the amount of work performed

per unit of time.
• If a machine or engine performs a certain amount of work,
dU , within a given time interval, dt, the power generated
can be calculated as
dU
P =
dt
• Since the work can be expressed as dU = F · dr, the
power can be written
 
dU F · dr dr
P = = =F · =F ·v
dt dt dt

• Thus, power is a scalar defined as the product of the force

and velocity components acting in the same direction.

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 POWER
• Using scalar notation, power can be written

P = F · v = F v cos θ
where θ is the angle between the force and velocity
vectors.
• So if the velocity of a body acted on by a force F is known,
the power can be determined by calculating the dot product
or by multiplying force and velocity components.
• The unit of power in the SI system is the Watt (W) where

1W = 1J/s = 1(N · m)/s

• In the FPS system, power is usually expressed in units of
horsepower (hp) where
1hp = 550(f t · lb)/s = 746W
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 EFFICIENCY

• The mechanical efficiency of a machine is the ratio of the

useful power produced (output power) to the power
supplied to the machine (input power) or

power output energy output

= =
power input energy input
• If energy input and removal occur at the same time,
efficiency may also be expressed in terms of the ratio of
output energy to input energy.
• Machines will always have frictional forces. Since frictional
forces dissipate energy, additional power will be required to
overcome these forces. Consequently, the efficiency of a
machine is always less than 1. 1
1
Hydroelectic Power - How it Works (http://youtu.be/cEL7yc8R42k)
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 PROCEDURE FOR ANALYSIS

• Find the resultant external force acting on the body causing

its motion. It may be necessary to draw a free-body
diagram.
• Determine the velocity of the point on the body
at which the force is applied. Energy methods or the
equation of motion and appropriate kinematic relations,
may be necessary.
• Multiply the force magnitude by the component of velocity
acting in the direction of F to determine the power supplied
to the body (P = F v cos θ ).
• In some cases, power may be found by calculating the
work done per unit of time (P = dU/dt).
• If the mechanical efficiency of a machine is known, either
the power input or output can be determined.
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 EXAMPLE

• Given: A 50 kg block (A) is hoisted by

the pulley system and motor M . The
motor has an efficiency of 0.8. At this
instant, point P on the cable has a
velocity of 12 m/s which is increasing at
a rate of 6 m/s2 . Neglect the mass of
the pulleys and cable.
• Find: The power supplied to the motor
at this instant.
• Plan:
1 Relate the cable and block velocities by defining position
coordinates. Draw a FBD of the block.
2 Use the equation of motion to determine the cable tension.
3 Calculate the power supplied by the motor and then to the
motor.
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 EXAMPLE (Solution)

(1) Define position coordinates to relate

velocities. Here sP is defined to a point
on the cable. Also sA is defined only to
the lower pulley, since the block moves
with the pulley. From kinematics,

sP + 2sA = l
aP + 2aA = 0
aA = − 21 aP = −3 m/s2 (↑) (9)
• Draw the FBD and kinetic diagram of the block:

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(2) The tension of the cable can be obtained by applying the
equation of motion to the block.
(+ ↑) ΣFy = mA aA (10)
2T − 490.5 = 50(3) ⇒ T = 320.3N (11)

(3) The power supplied by the motor is the product of the force
applied to the cable and the velocity of the cable.
Po = F · v = (320.3)(12) = 3844W
• The power supplied to the motor is determined using the
motor’s efficiency and the basic efficiency equation.
Po 3844
Pi = = = 4804W = 4.8kW
 0.8
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 CONCEPT QUIZ

1. A motor pulls a 10 lb block up a smooth

incline at a constant velocity of 4 ft/s. Find
the power supplied by the motor.
(a) 8.4 ft·lb/s
(b) 20 ft·lb/s
(c) 34.6 ft·lb/s
(d) 40 ft·lb/s
ANS: (b)
2. A twin engine jet aircraft is climbing at a 10 degree angle at
260 ft/s. The thrust developed by a jet engine is 1000 lb.
The power developed by the aircraft is
(a) (1000 lb)(260 ft/s)
(b) (2000 lb)(260 ft/s) cos 10◦
(c) (1000 lb)(260 ft/s) cos 10◦
(d) (2000 lb)(260 ft/s)
ANS: (a) 36 / 40
 GROUP PROBLEM SOLVING

• Given: A sports car has a mass of 2000

kg and an engine efficiency of  = 0.65.
Moving forward, the wind creates a
drag resistance on the car of
FD = 1.2v 2 N, where v is the velocity in
m/s. The car accelerates at 5 m/s2 ,
starting from rest.
• Find: The engine’s input power when
t = 4 s.
• Plan:
1 Draw a free body diagram of the car.
2 Apply the equation of motion and kinematic equations to
find the car’s velocity at t = 4 s.
3 Determine the output power required for this motion.
4 Use the engine’s efficiency to determine input power.
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 GROUP PROBLEM SOLVING (continued)
Solution:

1. Draw the FBD of the car.The drag force

and weight are known forces. The
normal force Nc and frictional force Fc
represent the resultant forces of all four
wheels. The frictional force between the
wheels and road pushes the car
forward.
2. The equation of motion can be applied in the x-direction,
with ax = 5 m/s2 :

(+ →) ΣFx = max => Fc − 1.2v 2 = (2000)(5) (12)

=> Fc = (10, 000 + 1.2v 2 )N (13)

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 GROUP PROBLEM SOLVING(continued)

3. The constant acceleration equations can be used to

determine the car’s velocity.

vx = vxo + ax t = 0 + (5)(4) = 20 m/s

4. The power output of the car is calculated by multiplying the

driving (frictional) force and the car’s velocity:

Po = (Fc )(vx ) = [10, 000 + (1.2)(20)2 ](20) = 209.6kW

5. The power developed by the engine (prior to its frictional

losses) is obtained using the efficiency equation.

Po 209.6
Pi = = = 322kW
 0.65

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 ATTENTION QUIZ

1 The power supplied by a machine will always be the

power supplied to the machine.
(a) less than
(b) equal to
(c) greater than
(d) A or B
ANS: (a)
2 A car is traveling a level road at 88 ft/s. The power being
supplied to the wheels is 52,800 ft·lb/s. Find the combined
friction force on the tires.
(a) 8.82 lb
(b) 400 lb
(c) 600 lb
(d) 4.64 × 106 lb
ANS: (c)

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