Chapter 3: kinetics of particles

Lecture 13
Newton’s 2 Law nd

 
ma  F
Hirotaka SATO
hirosato@ntu.edu.sg
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 M A1001
D Y N AM IC S

K inem atics K inetics

P articles R igid bodies P articles R igid bodies

position velocity force mass

acceleration angular torque
velocity moment
angular
accel. of inertia

at rest

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   
r  r cos i  r sin j
position
ê
velocity
 d  r
v  r  reˆr  reˆ 
êr
dt
 d 
acceleration
a v
dt
 reˆr  reˆ  r eˆr  2reˆ
  2

relative entrained Coriolis

3
in general anB/A
atB/A
as r is constant as q is constant as r is constant

tangential normal

a  reˆr  reˆ  r eˆr  2reˆ

  2

relative entrained Coriolis

aA 
a A  a A iˆ
 t n
a n
B/A aB / A  aB / A  aB / A
aA   
aB  a A  aB / A
atB/A
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 N
aA

T
anB/A mAg
then T
aA what?
at rest
atB/A need something to mBg
link KD to FBD
Kinematic Diagram Free Body Diagram
(KD) (FBD)

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   Newton’s 2nd Law

ma  F
mass accel. force

6
  
ma  F N
aA

T
anB/A = mAg
T
aA
at rest
atB/A mBg

Kinematic Diagram Free Body Diagram

(KD) (FBD) 7
  
ma  F N
mAaA

T
mBanB/A
= mAg
T
mBaA
at rest
mBatB/A mBg

Kinematic
Kinetic Diagram
Diagram Free Body Diagram
(KD) (FBD) 8
 at rest

set up equations

2
n
 vB / A  0
‘system is at rest’  a B / A  
2
r
5 unknowns / 4 equations r
  
Newton’s 2nd Law

mg
v1 ma  F
Lecture 15
work kinetic energy

= -
Dx

v2

Lecture 16
FDt
impulse momentum
v1 v2 =
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 direct approach, newton’s 2nd law
 
ma  F

STEP 1: kinematic diagram

STEP 2: free body diagram

STEP 3: apply Newton’s 2nd law: FDG = KD

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 Steps to Apply Newton’s 2nd Law

KD
a

STEP 1: kinematic analysis

• Consider given constraints
• Do kinematic analysis
• Input all the accelerations of the object

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 Steps to Apply Newton’s 2nd Law

mg

STEP 2: free body diagram

draw all the forces acting on the object

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Steps to Apply Newton’s 2nd Law

 
ma  F N
ma

=
mg
STEP 3:
Apply Newton’s 2nd law: KD = FBD

14
set up equations

2 unknowns / 2 equations

15
simple example 2

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 a ɵ
m

STEP 1: kinematic analysis

calculate and input the acceleration of the object

a  reˆr  reˆ  r eˆr  2reˆ
  2
textbook P. 43

because ɵ is constant
=a ɵ 17
 a ɵ N

mg
ɵ
ɵ

STEP 2: free body diagram (FBD)

input all the forces acting on the object

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 ma ɵ N
 
ma  F

ɵ
= ɵ
mg

STEP 3:
Apply Newton’s 2nd law
KD = FBD

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set up equations

2 unknowns / 2 equations 20
simple example 3

release from rest

V=0

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simple example 3

ɵ
êr

at rest ê
reˆ
STEP 1: kinematic analysis
calculate and input the acceleration of the object

a  reˆr  reˆ  r 2 eˆr  2reˆ because r is constant
 re  r eˆr because w = v/r = 0 (v = 0, rest)
ˆ 2

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simple example 3

ɵ ɵ

T
reˆ
mg
STEP 2: free body diagram (FBD)
input all the forces acting on the object

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simple example 3
 
ɵ
ma  F ɵ

= T

m reˆ
mg
STEP 3
Apply Newton’s 2nd law
: KD = FBD
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set up equations

2 unknowns / 2 equations

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simple example 4

no slip, B and A move together

B
m ms: between B & A
A
M F: given
no friction between A & table

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simple example 4
ms: between B & A
no slip, B and A move together

B
a
m
A
M a
no friction between A & table

STEP 1: kinematic analysis

input the acceleration of the object

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simple example 4 N
ms: between B & A
f
no slip, B and A move together

B
N’ mg
a
m
A
M a f F
no friction between A & table
N
Mg

STEP 2: free body diagram (FBD)

input all the forces acting on the object

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 N
B
f
m
a
ma
=
  mg
ma  F
N’
f
A
M a
Ma
= F

N
Mg
STEP 3
Apply Newton’s 2nd law
: KD = FBD
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set up equations
■ For B

■ For A

4 unknowns / 4 equations 30
 Static friction varies.
msN is the maximum value of the static friction.
static friction msN

N
how about mfsN
kinetic friction?

N’ mg
msNf F

N
Mg 31
simple example 5

slip occurs, B and A do not move together

B
m mk: between B & A

A
M F
no friction between A & table

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simple example 5
mk: between B & A
slip occurs, B and A do not move together

B
a
m
A
M A
no friction between A & table

STEP 1: kinematic analysis

input the acceleration of the object

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simple example 5 N
mk: between B & A
mk
slip occurs, B and A move not together

B
N’ mg
a
m
A mk
A
M F
no friction between A & table
N
Mg

STEP 2: free body diagram (FBD)

input all the forces acting on the object

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 N
B
mk
m
a
ma
=
  mg
ma  F
N’
mk
A
M A
MA
= F

N
Mg
STEP 3
Apply Newton’s 2nd law
: KD = FBD
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set up equations
■ For B

■ For A

4 unknowns / 4 equations 36
 Summary of concepts

• Newton’s Laws - Direct approach

 Given forces/motion at any

instant,
 
 Fwhat
 misathe motion/force?
• Vector formula
• Free body diagrams, kinetic diagrams
• Step 1: kinematic analysis
• Step 2: free body diagram
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thank you for your attention

Ed by Hirotaka Sato