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Applied Mechanics II
應用力學(二)

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Topic: Chapter 13: Kinetic of a Particle: Force and Acceleration

李昌駿
Chang-Chun Lee
Department of Power Mechanical Engineering
National Tsing Hua University
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13.1 Newton’s Laws of Motion

First law:
A particle originally at rest, or moving in a straight line with a constant velocity,
will remain in this state provided the particle is not subjected to an unbalanced
force.

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
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proportional to the force. (F=ma)

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

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13.1 Newton’s Laws of Motion
Newton’s second law:
Equation of motion: Mass

F  ma

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Newton’s law of gravitational attraction

m1m 2
FG (13-1)
r2

F: force of attraction between the two particles

G: universal constant of gravitation (G=66.73e-12 m3/(kg*s2))
m1, m2= mass of each of the two particles
r=distance between the centers of the two particles

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13.1 Newton’s Laws of Motion

Mass and weight
m1m 2
m1=m FG
r2
m2: Mass of the earth
r: the distance between the earth’s center & the particle.

W  mg
Acceleration due to gravity

SI system of units
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W  mg (N) (g  9.81 m / s 2 ) (13-2)

Mass m (kg)
Acceleration due to gravity: g (m/s2)

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13.2 The Equation of Motion
Resultant force
Determined by a vector summation of all the forces F R F
General form

 F  ma (13-4)

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A mass m & is subjected to the action of two forces, F1 & F2

If F R  F  0
Static equilibrium

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13.2 The Equation of Motion

Inertial frame of reference
If the frame is accelerating at ao’ the particle will
appear to have an acceleration of a P / O'  a P  a O'
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Acceleration be made from a Newtonian or inertial frame of reference. Such

a coordinate system does not rotate & is either fixed or translate in a given
direction with a constant velocity (zero acceleration)
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13.3 Equation of Motion for a System of
Particles
A system of n particles isolated within an
enclosed region
Arbitrary ith particle, having a mass mi
Resultant internal force  fi
Resultant external force  Fi

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Equation of motion
 F  ma Fi  f i  mi a i

For a system (added vectorally)

F  f  m a
i i i i

0
Internal force =0  between particles are equal but opposite collinear

F  m a
i i i
(13-5)
 F  ma G
(13-6)

rG: position vector (center of mass G of particles)

mrG   mi ri where m   m i ma G   mi a i
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13.4 Equation of Motion:

Rectangular Coordinate
A particle is moving relative to an inertial x, y, z frame of
reference

 F  ma
 F i   F j  F k  m(a i a
x y z x y j  a z k)
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F x  ma x
F y  ma y (13-7)
F z  ma z

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13.5 Equation of Motion:

Normal and Tangential Coordinates
A particle moves over a curved path

Written by Tangential, normal, and binormal directions

 F  ma
0
(No motion of the particle in the bimotional direction)

 F u   F u  F u
t t n n b b  ma t ma n

 F  ma
t t

 F  ma
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n n (13-8)
F  0
b

a t  dv / dt
 Time rate of change in the magnitude of velocity
a n  v2 / 
 Time rate of change in the velocity’s direction
 Vector always acts in the positive n direction
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13.6 Equation of Motion:
Cylindrical Coordinates
Cylindrical components: unit-vector directions u r , u  , u z

 F  ma
 F u   F u  F u
r r   z z  ma r u r ma  u   ma z u z

 F  ma

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r r

 F  ma
  (13-9)
 F  ma
z z

Tangential and Normal forces

r
tan   (13-10)
dr / d Normal force

Applied force Frictional force

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13.6 Equation of Motion:

Cylindrical Coordinates

Tangential and Normal forces

ds  rd
rd
tan  
dr

r
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tan   (13-10)
dr / d

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