Kinetics of Particles

Chapter 3

1
 Kinetics of Particles
 It is the study of the relations existing between the forces acting
on body, the mass of the body, and the motion of the body.
 It is the study of the relation between unbalanced forces and the
resulting motion.
 The three general approaches to the solution of kinetics problems
 Direct application of Newton’s second law (called the forcemass-
acceleration method),
 Use of work and energy principles, and
 Solution by impulse and momentum methods.

2
Force, Mass and Acceleration
 Newton’s second law states that F=ma
 The mass m is used as a quantitative measure of inertia (The
resistance of any physical object to change in its state of
motion or rest)
 
 F and a are two vectors having identical direction with respect
to an internal frame of reference.
 When a particle of mass m acted upon by several forces. The
Newton’s second law can be expressed by the equation.

∑ F = ma
3
 ∑ 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
∑ Fx = ma x  Generally, ∑ Fx = ma Resultant force are given by
x

∑F =0 ∑F = ma y
∑ F = (∑ F ) + (∑ Fy ) 2 + (∑ Fz ) 2
y 2
y

∑F
x
z =0 ∑F = maZ
Z

4
Curvilinear motion
 In applying Newton's second law, we shall make use of the three coordinate
descriptions of acceleration in curvilinear motion.
 Rectangular coordinates
∑F x
= max  Where
ax = x
••

∑F y = ma y ••
ay = y
 Normal and tangential coordinate
∑ Fn = man  Where an ρ=
= β
• 2 v2
ρ
,

∑F t = mat
at = v
•

 Polar coordinates
•• •2
Where ar = r − r θ
∑ F = ma

r r
•• • •

∑ Fθ = maθ an = r θ + 2 r θ

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Example
6
1.

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2.

8
3.

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4.

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6.

11
7.

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8.

13
Work and Energy

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Work and Kinetic Energy
 There are two general classes of problems in which
the cumulative effects of unbalanced forces acting on
a particle over an interval of motion.
 These requires integration of the forces with respect to the
displacement.
 OR integration of the forces with respect to the time they
are applied.
 The first one will result in Work-Energy equation
 The second will give Impulse-momentum equation
15
Work
 Consider the following figure
 
 The work done by the force F over the displacement dr
 
is dU = F dr

dr = ds

The magnitude of the dot product is



= dU Fds = cos α where dr ds

and α is the angle between F & dr
Or dU = ( F cos α )ds
 ds cos α - the component of resultant of resultant
displacement in the direction of force.
 F cos α - the component of resultant force in the direction of
displacement

 F - component in the   displacement 

dU =     
 direction of displacement    16
 dU = Ft ds
 Fn - has no work because it can not
displace the particles along its
direction, it is called reactive force.
 Ft - has work besause there is
displacement in its direction and its
called active force.
 If the force and displacement are in the same direction the work

done by F is +ve, otherwise it is –ve.
 Example of negative work
 Work by spring force
 Work by gravitational force
17
  Consider the work done on a particle of
mass m, moving along a curved path
under the action force F as shown
below.
2
  2 s2

U=
1,2 ∫=
du ∫ F =
1
dr
1
∫ F ds
s1
t

Ft = mat
s2

U1,2 = ∫ mat ds
s1

at ds = vdv
  2 v2

U1,2 ∫=
= F dr ∫ mvdv
1 v1

1
=
U1,2 m(v22 − v12 )
2 18
 Kinetic Energy of a Particle (T)
 K.E of a particle is the work done on the particle to bring the particle from state of rest to
a velocity V. 1
T = mv 2
2
 K.E is a scalar quantity with the unit of Nm or Joule (J).
 K.E is always positive.
U1→ 2 =
T2 − T1 =∆T
 U1→2-the total work done by all external acting forces on the particle during an interval of
its motion from condition 1 to 2.
 Power 
dU F • dr 
 Time rate of doing work. P= = = F •v
dt dt
 Scalar quantity and units of Nm/s=J/s=watt(W)
 Efficiency:- the ratio of work done by a machine to the work done on the machine
during the same of interval
Work done by the machine Power out put
= em =
work done on the machine Power in put 19
Potential Energy
 Gravitational potential energy
U g = mgh
∆U=
g mg (h2 − h1 )
 Elastic potential energy
1
=
Ue k ( x22 − x12 )
2
 Work energy equation
 If U1→2 stands works done of all external force other than gravitational potential
energy and elastic potential energy.
U1→2 − U e − U g =
∆T
 If there is no external forces U1→2 =0
0 = ∆U e + ∆U g + ∆T
1 1
=
0 k ( x22 − x12 ) + mg (h2 − h1 ) + m(v22 − v12 )
2 2
0 = U e2 − U e1 + U g2 − U g1 + T2 − T1

U e1 + U g1 + ∆T
=1 U e2 + U g2 + T2 20
Example
21
1.

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2.

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3.

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4.

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5.

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Impulse and Momentum

27
 Integrating the equation of motion F=ma with respect to time leads
to the equations of Impulse and Momentum.
 Linear impulse and momentum
 Consider the general curvilinear motion in space of a particle of mass m,
  

∑ F = ma where a = dv

  dt
dv d 
∑ m=
=F
dt dt
(mv )
 
where mv= G → Linear momentum of the Particle.
 d   
∑ F= G → ∑ Fdt = dG
t2
  dt    
∫t1
Fdt = ∆ =
G G 2 − =
G1
mv2 − mv1

 Momentum:-capacity for progressive development.

 The power to increase or develop at an every going
 Forward movement 28
 
 The scalar components of equation G = mv are:
∑F x
= G x , ∑F y = G y , ∑F
z = G z
 The total linear impulse on a mass m equals the corresponding
change in linear momentum of m.
t2

∫ ∑=
t1
F dt ( mV ) − ( mV )
x x 2 x 1

t2

F dt ( mV ) − ( mV )
∫ ∑= y y 2 y 1
t1
t2

∫ ∑=
t1
F dt ( mV ) − ( mV )
z z 2 z 1

 
 If ∑F = 0 then ∆G =
 
0
The SI units of linear momentum is
G2 − G1 =
0 Kgm/s or Ns.
 
G2 = G1 29
 Angular Impulse and Angular Momentum
 Consider the following

 Angular momentum H o is defined as the moment of linear
momentum vector (mv) about the origin o.
 And it is given by:-
   
H 0 =× r mv =× r G
 The angular momentum is a vector perpendicular to
plane A defined by r and v.

 The direction H o is clearly defined by the right hand rule
for cross product.
 The scalar component of angular momentum obtained by
       cross product.
H o = (r × v )m r = xi + yj + zk
   
v = vx i + v y j + vz k      
i j k H o =×
r mv =m(vz y − v y z )i + m(vx z − vz x) j + m(v y x − vx y )k

Ho = m x y z Hx =
m(vz y − v y z ), H y =
m (v x z − v z x ) H z =
m (v y x − v x y )
vx vy vz
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 In order to analyze the components of angular momentum
consider following figure

 The magnitude of H o
  
H o = r mv sin θ
 
Where θ is the angle between r and v

= (r sin θ )v mr sin θ
H o m=

= =
H o mr (v sin θ ) mr sin θ

 SI unit of angular momentum is kg(m/s)m=kgm2/s=Nm.s

31
 If ∑ F represents the resultant of all forces acting on the particles
P, the moment Mo about the origin O is the vector cross product.
   
∑ o
M =
r × ∑ F =
r × 
mv (1)
  
 Angular momentum H = o ( r × mv )
 Differentiate with respect to time
d  d  
=Ho (r × mv )
dt dt
  
dr   d    
Ho = × mv + r × (mv ) dr
× mv =×
v mv =0
dt dt but dt
Since the cross product of parallel vector is zero.
 d     d 
r ×∑F
r × (mv ) = Since ∑ F = dt (mv )
dt
  
H o= r × ∑ F (2)
  d 
From equation (1) and (2) ∑ M=o H=o dt H o
 
∑ M o dt =dH o 32
 The moment about the fixed point O of all forces acting on M
equals the time rate of change of angular momentum of M about O.
  d 
∑ M=o H=o dt H o
 
∑ M o dt =dH o
 The product of momentum and time is defined as angular impulse.
t2
   
∫∑ o
t1
M dt =
H o2 − H o1 =
∆H o

Where  
H o= r 2 × mv 2
 
2

H o1= r1 × mv1
 If the resultant moment about a fixed point O of all forces acting on
a particle is zero t2

∫ ∑ M dt= 0= H − H
t1
o o2 o1

=
∆H o 0 or=
H o1 H o2
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Example
34
1.

35
2.

36
3.

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4.

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Impact
39
 Impact refers to the collision between two bodies and is
characterized by the generation of relatively large contact forces
that act over a very short interval of time.
 Direct central impact
 Consider the collinear motion of two spheres of masses m1 and m2
travelling with velocities V1 & V2. If V1 is greater than V2, collision occurs
with the contact forces directed along the line of centers.
a. Before impact

b. Maximum deformation during impact

c. After impact

40
 As far as the contact forces are equal and opposite during impact, the linear
momentum of the system is conserved.
m1v1 + m2 v2 =m1v1' + m2 v2'
 In this equation we have two unknowns v1' and v2' so we need another
relation or equation.
 During collision, there are two kinds of forces experienced by the particles
 Force of deformation: for 0 ≤ t ≤ to
 Force of restoration: for to ≤ t ≤ t '
 Particle 1
Before collision

During collision
0 ≤ t ≤ to to ≤ t ≤ t '

After collision
41
 Particle 1
Before collision During collision

0 ≤ t ≤ to to ≤ t ≤ t '
After collision
Applying the principle of linear momentum and impulse
0 ≤ t ≤ t (state of deformation)
o
t ≤ t ≤ t ' (State of restoration)
o
to t'

∫ F dt=t
o
d
o
m1 (−vo − (−v1 ))
∫ F dt=
r m1 (−v1' − (−vo ))
to

∫ F=
d dt m1 (v1 − vo ) t'

o ∫=
F dtr m1 (vo − v1' )
Coefficient of restoration (e) to

It is the ratio of magnitude of the restoration impulse to the magnitude of the deformation
impulse. t'

∫t Fr dt m (v − v' )
= e too= 1 o 1
(vo − v1' )
m1 (v1 − vo ) e= (1)
∫ d F dt
o
( v1 − vo )
42
 Particle 2
Before collision During collision

0 ≤ t ≤ to to ≤ t ≤ t '
After collision
Applying the principle of linear momentum and impulse
0 ≤ t ≤ to (state of deformation) to ≤ t ≤ t ' (State of restoration)
to t'

∫=
o
F dtd m2 (vo − v2 )
∫ r
=
F dt m1 2 − vo )
( v '

to

Coefficient of restoration (e)

It is the ratio of magnitude of the restoration impulse to the magnitude of the
deformation' impulse.
t

∫ F dt
r
m1 (v2' − vo ) (v2' − vo )
=e = e=
to
(2)
m1 (vo − v2 )
to
(vo − v2 )
∫ Fd dt o
43
 From equation (1) and (2)
v2' − v1'
e=
vo − v2

 If e=1 then the collision is perfectly elastic collision (no energy loss)
 If e=0 then the collision is perfectly plastic collision (maximum energy loss)

44
Oblique Central Impact
 Occurs when the direction of motion of the mass centers of the
colliding particles are not the line of impact.
m1v1n + m2 v2 n =m1v1' n + m2 v2' n

m1v1t = m1v1' t
m2 v2t = m2 v2' t

v −v ' '
e= 2n 1n
v1n − v2 n
45
Example
46
1.

47
2.

48