Chapter 13 Kinetics of Particles: Newton’s Laws

Chapter 13. Kinetics of Particles: Newton’s Laws

운동역학 t 질점 =⇒ franslatcon

1. Newton’s Laws of Motion

a. 1st law

I b. 2nd law
c. 3rd law

2. Forces
a. Types

V (i) Contact forces

V (ii) Field force [ 장력] 예 . 중력

3. Force Vector

니 "

4. Couple and Couple moment

oml4.
5 ' Free Body Diagram

g u my p i
5.
6 Degree of Freedom and Constraints

MIT Physics 1: Classical Mechanics (Professor Walter Lewin)

MIT Engineering Dynamics (Professor J. Kim Vandiver)

Ⓒ EUN SOO KIM ALL RIGHTS RESERVED Since 2017 - 1 -

 LengtnTrm
[ Ma
MLT 독립적 움적이는
" ]
물제단
Chapter 13 Kinetics of Particles: Newton’s Laws :
., 다이

:
v - > c
독립 X *

관계상수
1. Newton’s Laws of Motion [published in 1687]
◎ Particle: Volumeless
힘
S
도르
모
a mass =
ma
행체함 환썽
이양
◎ Inertial Mass qnantaftcoe f rFs resistance
에
=
a property fmafter thatprourdes α measue
관성 질량 저항
to a
change in velocrtgy
ㅡ

속도

◎ Linear Momentum (Inertia quantity) -

선형운동량 ( 병진운동의 관성량 )

없아 했 =
mv 럭 -:thetendenoy f amass translatov
sustemfoantinueto

a. 1st law : If fthenetforceactingon amass sustemS equal fo zevo ,

the system remansn tslrnearmomertum

"

mass

Ʃ F =⑦ ⇒
게일 =
m고

니
b. 2nd law : Thesum
ofallforcesacfingon αmass
s4 stem )S
eu
에 o
" "

the rate of change of the IKnear Momentum f the mass sustem

*변화률"

td Equatn
(mv .
)

도모 Trauslatimal f Motron
- 영진운동방
=

π 볕이나

In
m tem
5

"…
O
험
고마따
네

:
(i) a constant mass system (  constant)

목행
매홈
L …
m

Ni 7 mi
=
!
tkmv- +타앓
k
픈 m더 mascntwr)
cantulabout
Ʃ
m
=

…
=
…
le al
a ,
… ,

control Volume
치 "
(ii) a body with variable mass massv sustm 이아닌3 때에 새한 애

atdmitm atdv
'

Ʃ부 F .

(x) → 자세한 뒤에서

a "

c. 3rd law : Principle of action and reaction

When two particles exert forces upon each other, those forces are equal in
magnitude and opposite in direction, and they lie along the line joining the
미 s(

에 d
particles. (Forces always occurs in pairs)

7
-←

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 소코 =
Mo
Chapter 13 Kinetics of Particles: Newton’s Laws
Llkgmls =
N)

2. Forces [  ≡· ]
: Forces
Forces are
are any interaction between two objects that causes
causes a
a change ar shaper
any interacfion between fwo objects that change inintherr
theirvelocrty
velocity or shape.
- Always
(Always exists
exists
Parsin pairs
in "
"

사
- Pull or push

*
다파예
고체역학 빠란다
에
여 i1 *
- Effects: translation, rotation, deformation, etc.
~
- External forces can change the knear
외력
linear
- Internal forces cannot change the
내력
~
momeatumof themasssustem
momentum
linear homentum
the linear momentum
of the mass

of theofmass
. system.
the sustem
mass system. .

O * mass

[
D ..
5cO
Ʃ
다

. .

Tnternalforces)
a. Types of external forces
에 d l 에

(i) Contact forces: applied directly to the contact point or area of the body
협축력

- Applied forces / Reactive forces ㅧ k …

- Spring force: 
   (Hooke’s law)
로

C [

- Tension force: exerted by a cable or wire and acting only in pull

나

No pash ,
정
l 니
- Normal force: acting perpendicular to a surface and acting only in push
마 영

area NoPull
confact
사
수작 마찰계연 점
:
면접록 - Friction: acting along a surface,  
 
  (Coulomb friction model)
정만대방양 호 -
댕
/흥방양 )
NN: Normalforce

rukN
이의
fr u

꽃 ty
는
통작용힘

디 쌉

(ii) Field force (body force): applied to a body uniformly without contact

ex) [gravitational force1

"
0 관성력
x
도= ma.⇒ 고무- mi영
uror
cquikbrruml
Dynamicl
※ Inertia force (not a real force) hertralore
: IF
It Tsis aa Tousfic
fictitious
fK *
or forcosupposed
or virtual
Vrfual foact to
force supposed an aceleraled
uponact upon an body in the drrection
accelerated body in the direction
니
rd
opposite
opposFle b to
the the acceleration.
accelerafon Theforce
The inantia
.
inertia force
is hof is not
safrsfred satisfiedBrdthelawNewton’s
the Newton because 3 law because it
'
s

acts as an torce
action force
*actsasanactronn but there
buttheve is nois redatron
"
no reaction
forcer force.

Ⓒ EUN SOO KIM ALL RIGHTS RESERVED Since 2017 - 3 -

Chapter 13 Kinetics of Particles: Newton’s Laws

3. Force Vectors

※ Mathematically, two vectors that are parallel and have 1. Deformable body

the same magnitude are considered as the same vector

regardless of their position.
∴ free
Freevector
vect or = magnitude + direction 2. Rigid body
< Translation >
니 "

※ Physically, the same force vectors should create the same

4he Same

effects
effecfs of of
thethe deformation,
deformalion franslation andtranslation,
, rolatrons
.
and rotation. C

" ~
Q
' 7

< Rotation > 같.

…

a. External force acting on a deformable body sin ( π ①) -

히
ㅡ

므
STMO ,

: A force acting on a different point on a deformable .

1
N
팩

body causes a different deformation.

"

했다 .
-

∴ Force vector = magnitude + direction

identrcal
+ point
pornt ofofapplrcation
applicatio n = Fix Vectorss
Fixed ed

A force vector must include its magnitude, direction and

vector
용 pont

N
i
치 "
point of application. 작용점
시

b. External force acting on a rigid body

∨ No deformation: rigid body

  
모
∨ Translation: ext

- resul,M thesam.* ranslafron atfhemasscenter Vegondless of the

- .

π
o

… … …Line of
action
LOz

1
[ 작용선)
point of applrcafron .

∨ Rotation:   ×


  ext    sin 
  
   a

whenforces
- results in the same rotation when act
forces act along
along the
the
samesame line
kne ofof action
actio n amum

line of
∴ Force vector = magnitude + direction + line of action
action ㅡ

= Sliding
slidng Wet이vector -

… a

에에

D F -

tisn@E d
dh
=

c. Principle of Transmissibility (external force+rigid body)

: A external force can be applied at any point on a
rigid body along its line of action and still creates the
same acceleration and will result in the same moment. Q lli
~t 네
..

※ When analyzing the internal forces (stress) in a rigid body, the exact point of application does matter.
This difference in stresses may also result in changes in geometry which will may in turn affect reaction
forces. For this reason, the principle of transmissibility should only be used when examining external forces
on bodies that are assumed to be rigid.

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Chapter 13 Kinetics of Particles: Newton’s Laws

평행 힘크기 미 방향 반해
,
=
,

4. Couple and Couple Moment

a. Couple
Couple
: A couple is defined as two parallel forces that have
the same magnitude, but opposite directions, and are
.
,
0

separated by a perpendicular distance O

d. "" "
.
☆ ib ☆ = FNA1 ST서 O
…
ㅡ

.
B


  
   
    ⇒   
목

   
있일 LN
…
…
Auno
ㅡ

.
"
0

※ The sum of the couple is always equal to zero and thus,

" .
@ 쎄

the acceleration of the center of mass is always equal to

zero, as well.
"

Mo =
tit
b. Couple moment
: The moment produced by a couple is called a couple moment. 있라
"

…

항
   × 
    × 
   × 
   × 

   ×     × 
     sin   
   
ㅡ

② ㅡ

where the point A and B can be any point on the line of action of
each force.

※ The couple moment has the same value for all moment centers and
it depends only on the distance between the lines of action of the
couple. Thus, the couple moment is a free vector, whereas the
moment of a force is a sliding vector on the axis through the
reference point.

    × 
    

 

Multiple couple moments can be combined regardless of their axes by

joining their tail at any arbitrary point.

c. Force-Couple system Force-Couple system

: Transfer of a force from one point to another
◎ Effects of a force acting on a rigid body
= Translation in the direction of the force + Rotation about a fixed axis

A force acting on A ⇔ An equal parallel force acting on B

+ A couple moment

다
Ⓒ EUN SOO KIM ALL RIGHTS RESERVED Since 2017 - 5 -
Chapter 13 Kinetics of Particles: Newton’s Laws

5. Free Body Diagram

I method for the correct evaluation of the resultant of all actual forces acting on it.
: isolating a particle or body, in which we are interested from a system, to establish a reliable

* How to Draw F.B.D.

①퇘
Isolate the particle from a system.
[

② Set an inertial frame of reference

"
E OlM
.

③ Select coordinates with unit vectors IF + tettNtfr mdc

은

"
ㅡ
=

④ Find all forces acting on it

Ʃ M . 구 + xFettsx * tNtX5 IR
ㅡ
8
= 2

⑤ Derive the E.O.M for the particle

x =

r
ㅡ

⑥ Decompose the forces in the directions of the unit vectors.

A down / B up Bdown 1 A1 Up :

FB D forA )
.

이밝켄
0

T
.
* A …
다
Λ
*
M frs

때
. A
V Vt
"

mag i
훙
.
*

시
"
*
. L
다 frs
-
,

… …

D .

Eurth

관가 1차원운등
5. Degree of Freedom and Constraints

a. Degree of Freedom
했 ↑
"
성

.
임
.
" …

취
: the minimum number of independent coordinates necessary to describe the motion
Translation Rotation D.O.F
1D 가 ㅇ 1

2D H y
-

φ ( k) 3

3D 기 d o b
-Z φ
y - .

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Chapter 13 Kinetics of Particles: Newton’s Laws

1D 
 
 
 
 
 



 
 
 


 
     
  
2D

     
 

    

 
   
 


   
     
  

   
     
     

3D

     
 
 

    
   

 
  
    
  
  

Translation
Rotatron
ㅡ

~
~

~
~

* N-body in -dimension
: Max D.O.F * The number of D.O.F is the number
3 DO F 2 const
of independent variables in the
-
. .

position, velocity, or acceleration. = 늬 D

. OF

부라면

아기하다
맣다아다때
b. Constraints a가

나 "
- geometric or kinematic restrictions on the motion of particles or bodies
바
가
a
'
1

"
4

- each constraint applied to a system reduces the number of D.O.F by one

ㅡ
"

고식선은동
을 Y

NoRrlale
uonstrarn"
O

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Chapter 13 Kinetics of Particles: Newton’s Laws

Example)
Determine the steady-state angle if the constant force  is applied to the cart of mass . The
pendulum bob has mass m and the rigid bar of length L has negligible mass. Ignore all friction.
Evaluate your expression for    .

F.B.D. F.B.D.

i) For the cart of mass M


  
      
 


  
   sin
   cos
  sin
  cos
    
  

   sin   sin    cos    cos 
         
 
ii) For the pendulum of mass m
    
 

 sin
  cos
  sin
   cos
   
 

 sin   sin  cos    cos 
           
 
 cos 
   ⇒  
cos 

iii) For the system of the cart and pendulum

    (Steay-state angle)
⇒    sin    sin      sin    sin  
  cos 
⇒ sin   →   
   cos 
 
⇒ sin    cos  ⇒ ∴ tan   
   cos     cos 

∴  tan   
   cos  

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Chapter 13 Kinetics of Particles: Newton’s Laws

Example)
The airplane with mass  flies along a vertical
loop which in part follows the path of a cardioid,
     cos, where  is in radians. If the
airplane’s speed,  , is a constant at point A,
determine the minimum L such that the centrifugal
force(원심력) acting on the airplane does not
exceed 5 times the airplane’s weight. Use the given
polar coordinate in Figure 2. Express your answer in
terms of  and  . Show all steps in detail.
Sol)
The centrifugal force act on the airplane in the
direction opposite to the radial acceleration.

   
              
    

     


     cos   sin    sin   cos

                   

 

         ⇒      ⇒   



            
                                  




         
  




  

 ≤  ⇒  ≥  ∴   
  

Ⓒ EUN SOO KIM ALL RIGHTS RESERVED Since 2017 - 9 -

Chapter 13 Kinetics of Particles: Newton’s Laws

Example) As shown in Fig. a force P applies on the wedge-shaped block of mass  with the  incline.
There is the friction between the wedge-shaped block and the block of mass  on it. Neglect the friction
associated with the wheels of the wedge-shaped block. 오부 man
"
=
먹N 2
~
m명

뷰
도군 -

m급= kg

…행
Fr공
'

@ zg + 2
' 3

CA 공 -sD ) O
;

nag (sD 동
수만요
' .c + + m.ck( =

집
-

N
,

=
금 삼관 ….
공' magsbt makco 명
.
: -
fr

…□
=
ㅡ …

O
/↓ D
fr @
mac magso
.
-

접촉력
paar
중력 N :

광 mkgg 수) mad cD <

Migso ) mkpck 도 magst
iπ
frTcton
×
=
자면&블렁 면에 대한
(Normal force to < o trsD →
* 몰
-

Determine the range of applied force P over which the block of mass  not slip on the
wedge-shaped block of mass  . Express your answer in terms of  ,  ,  , g and  .
댕

UsN …

≤
K IS
>
했
함
했
?
… …
USa
…

i) when the block is about to slip downward   sin  ≥   cos 

F.B.D f

:
fr t =

한N돋 …

숲 N "
@
-3

L
졌다가문제대
=
N

Sr=
,

N . p
어

Dp )

…
imitmb
INI
없
ㄹmagg
=
cmi + ma) 업
뮤점 = ⇒ 더
도 =

부 =
m& 심tFkitv = m ,
+ m×) 교

i u tr= + 엠마 (Trs .Eow) PN +

NiZ -
(mi 4 m.
)g
= [ m . tmk) a를

uncog )
. .

!대피다값
-
bu = tmtml -n
:

황 P
= cm tm) 에 디 P 키m +
m(
+

u , oo 0o
kgst NsLSD곳t CDB) ← UMsN (
.

-
-

CD 곤 tSDB ) =
Mak동

남g ; : N, =
(minmi)
g
= 청 + Ncli-
-

+uswas : (Na( cDt ussθ )

.
=

mag ⇒ N ㅋ
=~

CotlssD

연 usNrc =maa NzCsA UrC@) madk ⇒ SD NkcO

=

골 Nas
- -

k
- @

vg
=
… ㅡ =

catusso

- 10 - Ⓒ EUN SOO KIM ALL RIGHTS RESERVED Since 2017

Chapter 13 Kinetics of Particles: Newton’s Laws

N1 ,2ot이미m . 고려

사
fr> O (공) DEOM form 마 & )yX
mit (

ii) when the block is about to slip upward   sin  ≤   cos  ⇒ M 으로만해석,


    sin  
  cos 
 
′     cos 
  sin  


F.B.D
    for   
    
′  
     

          
        
       


 

               ⇒    
cos   sin 


            

 sin    cos
∴          
 cos   sin 

    for   
 
  
  
′      


     sin  
         cos 
  cos      
  sin      



      sin      cos    ⇒        sin    cos 

No slip   

  sin    cos    sin    cos 
       sin    cos    
cos   sin  cos   sin 
 
sin    cos sin    cos
       ⇒ ∴  max       
cos   sin  cos   sin 

Therefore, the range of applied force P should be

sin    cos sin    cos

∴       ≤  ≤      
cos   sin  cos   sin 

for the  not to slip on the wedge-shaped block.

Ⓒ EUN SOO KIM ALL RIGHTS RESERVED Since 2017 - 11 -

Chapter 13 Kinetics of Particles: Newton’s Laws

Example)
The block A with mass  rests on
the plate B with mass  . Neglecting
the mass of the rope and pulley. There
is the friction between the block A and
plate B but the inclined plane is
smooth.

(a) When the block A and the plate B are at rest, draw the free-body diagrams for both the
block A and the plate B. You may need to draw the free-body diagrams assuming two different
situations.
i) When the friction acts downward ii) When the friction acts upward
on the block A, on the block A,

(b) When the block A and the plate B are at rest, derive the equations of motion for both the
block A and the plate B. You may need to drive the equations of motion assuming two different
situations. Express each force using the given rectangular coordinate in Figure.
Sol)
i) When the friction acts downward on the block A,
For the block A

말더
했다
지닭
~
W,
당

m
@
"
.
n
fsr
-

For the plate B

"

N
없다
싸
.

- 12 - Ⓒ EUN SOO KIM ALL RIGHTS RESERVED Since 2017

 Chapter 13 Kinetics of Particles: Newton’s Laws

ii) When the friction acts upward on the block A, s

"
×

For the block A .

물

뇰
T
~0 o
-
sr

-
w

:
. -
-

하다
V
ㅡ N

.
mgu
For the plate B
"

N
과 뛔

(c) Determine the range of mass  for the block A to remain at rest.
Express your answer in terms of    , and  . Show all steps in detail.
Sol) i) When the friction acts downward on the block A,
For the block A 도함 빠A

5 . +족 +πAz mAkA
문: r

T모 Ms NA 몰 + NAg tl SD 공 3 ] mag
ㆍQ mAaA 용
- - = -
.

공 ,
T WNm
. - -

sDmAg = -

mAaA =tsamAg
T WKA - mAaA
/,

cDm nAdA
NA = DRAg
magtsomag-
내
모 NA - cDmAg= =
N
,
b
: (

For the plate B

도군 mbap * WB t김
코*Fn .tWt mp화
=

mBdB일 1
T공 tMsㆍ A 송 -1NgA XVStE SD코 (D
; ) myg UA dβ
. -
=
=

sUsckmAgtcmAmp)sog
: a = --

곤 TtUsNA ⑧mpg mba⑬P = 5lht Xsomsg

+ mpas mAtm,
-

=
M
-
S
,

는 s <
Dmag + SDmBg 4 mpaB
2
UsEDmAg tlma mp)sDg
-

☆ NA + V
( z
cDmog =
w
FMsomaytsomg
-

ma
-
:
~ ~
-

hatMB
NB = UAt eDmpy
(n J= UscDmAgt mAg s⑧ -
mydA
µscDmagtusaOmA mog + 2skmamz
'

운
'

스
CDg ( mA4 mz) [ m* tmp) a =
Usz E@mAg t (mA -
MB) sDg
=

MA +ms

ii) When the friction acts upward on the block A,

For the block A 고름 mAA
구tJr +πA + vA,
zm서 ,

T- NH 로 1 NA 39 - sDi - ( θ; I mAg
: MpaA 에
-

+s (

다 tsomag mAaA
N
고 NAus sDmag =
mAdA F MoArs -
- -
-

UcDns mag tsamng 버AdA

NA EDMAg
-
디)
모
=
: NArcA mAg =⑤
: =

For the plate B

SKB mpap 그
'
부*Fr ,+ NA* * 템+ cm⑬
VbS 5 -SD목- CDS 1 mBaD중
T공 USNA 공 N③
masg aA dB
=
+
←
- =
.

ZuseomagtmA - MB)SDg
: a= -~

일 T UsNA SDmBg mbakT =MslrA + Somag

+ mpaB mA+ mm
←
-
:

만
scDmAg ts☆ m ☆gtmpap uscomAgtmA ly]sDg
-

3 : WAfNDcDmg
(
=
o
TFUscomagfsom법 -m -
g
~

nAtm,
[ 1) T= uscD magtsomAg mAaA
-

[NB 는 NA← cDmDy

µscDmj' gtusalmAmbg + 2sㆍmAmzg
=
cogcmAtms) [ matmp) a ≥
MsE CDmAg X (MA -
MB) SOg
: …

mAtmB

Therefore, the range of mass  for the block A to remain at rest,

 sin  sin
∴  ≤  ≤ 
sin   cos sin   cos

Ⓒ EUN SOO KIM ALL RIGHTS RESERVED Since 2017 - 13 -

μ
μ
μ
Chapter 13 Kinetics of Particles: Newton’s Laws

Example)
The mass  is at rest on the rough incline with the
static friction coefficient  and the kinetic friction
coefficient . The mass  and the mass  are
connected by an inextensible wire as shown in Figure.
The friction on pulleys can be neglected.

(a) Draw the free body diagrams for each of the

mass  and the mass  .
    
Sol)

     ⇒    

         
     

     ⇒    

         
   

(b) Write the translational equations of motion for each of the mass  and the mass  .
Each force in the equation should be expressed in vector form using a coordinate
system.
Sol)
For the mass  (5pt)

  
        ⇒   

       
    
  
   

 

For the mass  (5pt)


  
  
   ⇒   
′ 
′  

′

(c) Determine the mass  that makes the system in static equilibrium. Assume the values
of    ,   , and  are known.
Sol) In static equilibrium for the body moving with a constant velocity,
     and   
  



    
   
     
    
  

        ⇒    
   

           ⇒   

  
    
′ ′   ⇒   
 
The tension of the wire should be constant at any point.
       
   ⇒    ⇒ ∴  
      


- 14 - Ⓒ EUN SOO KIM ALL RIGHTS RESERVED Since 2017

Chapter 13 Kinetics of Particles: Newton’s Laws

Example)
The spring-mounted 0.8-kg collar A oscillates along the horizontal rod, which is rotating at the
constant angular rate    rad/s. At a certain instant,  is 1.0 m and increasing at the constant
rate of 0.800 m/s. If the coefficient of kinetic friction between the collar and the rod is 0.40,
calculate the friction force 
 exerted by the rod on the collar and the spring force  at this
instant.

F.B.D.

Therefore,
∴    
  ∴
   
 

Ⓒ EUN SOO KIM ALL RIGHTS RESERVED Since 2017 - 15 -

Chapter 13 Kinetics of Particles: Newton’s Laws

Example)
The system is released from rest in Fig. at time   . The coefficients of static and kinetic
friction between the block of mass  and the body of mass  are denoted by   and   ,
respectively. Also, the coefficients of static and kinetic friction between the body of mass 
and the ramp are known as   and   , respectively. The gravitational acceleration is given by  .

Figure F.B.D

(a) Draw the free body diagrams and write the equations of motion for the block of mass
 and the body of mass  .
Sol) See the above figure for the F.B.D.
  
         
      
  

(b) Let        (no friction between the block of mass  and the body of mass  ,
and the body of mass  slips on the ramp.
i. Determine the time  when the block of mass  contacts the lower stop of the
body of mass  . Express your answer in terms of            , and   .

Sol) 
  

   
     
  
     
   sin     sin    

⇒    sin     sin  
 
   cos       cos      
⇒      cos
     
 


       sin   sin     cos     cos



 

    ⇒ ∴     
  
     cos

- 16 - Ⓒ EUN SOO KIM ALL RIGHTS RESERVED Since 2017

Chapter 13 Kinetics of Particles: Newton’s Laws

ii. Also, determine the corresponding distance   traveled by the body of mass  . Express
your answer in terms of            , and   .
Sol)


   

∴        sin     cos 
 


    cos
sin
   

   cos 
(c) If there is friction between the block of mass  and the body of mass  , and the
body of mass  slips on the ramp,
i. Determine the smallest value of the coefficient of static friction   over which the block
of mass  will not slip on the body of mass  . Express your answer in terms of
          , and   .
Sol)
   
         
  
      
   sin       sin       
   cos       cos      
⇒    cos       cos
The accelerations of the block and the body should be the same for the block not to slip
on the body! ⇒     
   
   sin    cos     sin     cos     cos
 
   
∵    ⇒  sin    cos   sin     cos     cos
  
     
   cos     cos ⇒ ∴    
 
ii. Also, determine the corresponding acceleration of the block of mass  and the body of
mass  . Express your answer in terms of           , and   .
Sol) ∴      sin    cos

Ⓒ EUN SOO KIM ALL RIGHTS RESERVED Since 2017 - 17 -