Chapter 13

Kinematics of a Particle : Force and Acceleration

Chapter Objectives

„ To state Newton’s Second Law of Motion and to

define mass and weight
„ To analyze the accelerated motion of a particle using
the equation of motion with different coordinate
systems
„ To investigate central-force motion and apply it to
problems in space mechanics
13.1 Newton’s Second Law of Motion

„ Newton’s Second Law:

c can be verified by applying a known unbalanced force F to a
particle,
d the particle will accelerate in the direction of the force
e with a magnitude that is directly proportional to the force.

„ If the mass is m, Newton’s Second Law can be

written as :
F ma

13.1 Newton’s Second Law of Motion

Newton’s Law of Gravitational Attraction

„ Newton’s law governing the mutual attraction
between any two particles :

m1m2
F G
r2 (13-1)
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13.1 Newton’s Second Law of Motion

Newton’s Law of Gravitational Attraction

„ When a particle located at or near the surface of the
earth, the force is termed the “weight”, it will be the only
gravitational force considered
„ For finding the weight W, having m1=m, let m2 = Me be the
mass of the earth. If g = GMe/r2 Æ W = mg

„ In SI system the mass of the body

is in kilograms, thus :

W = mg (N) (g = 9.81 m/s2) (13-2)

Fig. 13-1

13.2 The Equation of Motion

„ When more than one force acts on a particle :

¦F ma (13-3)

„ Consider the particle has

a mass m subjected to the
Action of two forces, F1 and F2
Fig. 13-1

„ From the free body diagram, the resultant of these

forces produces the vector ma
13.2 The Equation of Motion

„ Its magnitude and direction can be represented

graphically on the kinetic diagram

„ If FR = ΣF = 0,
the acceleration is zero
Free-body Kinetic
diagram diagram
„ Then the particle will
either remain at rest or Fig. 13-2
move along a straight-line path with a constant
velocity
Æ Conditions of static equilibrium
Æ Newton’s First Law of Motion

vt=564.1m/s
13.2 The Equation of Motion r=6378137m
an=0.033m/s2

Inertial Reference Frame

„ Acceleration of the particle is measured with respect
to a reference frame that is either fixed or translates
with a constant velocity
„ Such a frame of reference is known as a Newtonian
or inertial reference frame,

Fig. 13-3
13.2 The Equation of Motion
Inertial Reference Frame
„ Consider the passenger who is strapped to the seat
of a rocket sled

13.3 Equation of Motion for a System of Particles

„ The free body diagram for the ith particle are shown.
Applying equation of motion yields
ΣF = ma; F i + f i = m ia i
„ If all these equations can are added together
vectorially, we obtain :
ΣF i + Σf i = Σmia i

Fig. 13-4
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13.3 Equation of Motion for a System of Particles

„ The summation of internal forces will be equal to

zero, only the sum of the external forces will remain,
therefore :
ΣF i = Σm ia i (13-4)

„ If rG is a position vector which locates the center of

mass G of the particles, then the center of mass :
mr G = Σm ir i
„ Differentiating twice with respect to time yields :
ma G = Σm ia i

13.3 Equation of Motion for a System of Particles

„ Therefore, ΣF = maG (13-5)

„ The sum of the external forces acting on the system

of particles is equal to the total mass of the particles
times the acceleration of its center of mass G
 13.4 Equation of Motion: Rectangular Coordinates

„ When a particle is moving relative to an inertial x, y, z

frame of reference,
ΣF = ma; ΣFxi + ΣFyj + ΣFzk = m(axi + ayj + azk)

„ The three scalar equations:

¦F x max
¦F y ma y
¦F z maz (13-6)

Fig. 13-5

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13.5 Equations of Motion: Normal and Tangential Coordinates

„ Equation of motion for the particle may be written in

the tangential, normal and bi-normal directions
„ Since the particle is constrained to move along the
path, there is no motion in the bi-normal direction

¦F t mat
¦F n man
¦F b 0 (13-7)

Fig. 13-11

13.5 Equations of Motion: Normal and Tangential Coordinates

„ at (=dv/dt) represents the time rate of change in the

magnitude of velocity
„ an (=v2/ρ) represents the time rate of change in the
velocity’s direction

b
n

t
n t
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13.6 Equations of Motion: Cylindrical Coordinates

„ When all forces acting on a particle are resolved into

cylindrical components,
ΣF = ma
ΣFrur + ΣFθuθ + ΣFzuz = marur +maθuθ+mazuz

„ To satisfy this equation, we require :

¦F r mar
¦ FT maT
¦F z maz (13-8)

Fig. 13-16
13.6 Equations of Motion: Cylindrical Coordinates
Tangential and Normal Forces
„ Resultant force components ΣFr, ΣFθ and ΣFz cause
a particle to move with a known acceleration.
„ Directions or magnitudes of the forces acting on the
particle must be known or computed to solve.

13.6 Equations of Motion: Cylindrical Coordinates

Tangential and Normal Forces

„ Normal force N is always perpendicular to the
tangent of the path
„ Frictional force F always acts along the tangent in
the opposite direction of motion

Fig. 13-17
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Neglect the weight

Neglect the weight

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