Chapter 12

Kinetics of Particles:
Newton’s Second Law
 Learning Outcomes
At the end of the chapter students should be able to:
• Describe Newton’s second law (CO1:PO1)
• Define Linear and angular momentum (CO1:PO1)
• Apply Newton’s second Law to solve problem of motion of particles
(CO2:PO2)

© 2019 McGraw-Hill Education.

 Contents
Introduction Angular Momentum of a Particle
Newton’s Second Law of Motion Conservation of Angular Momentum
Linear Momentum of a Particle Sample Problem 12.12
Systems of Units
Equations of Motion
Dynamic Equilibrium
Sample Problem 12.1
Sample Problem 12.3
Sample Problem 12.5
Sample Problem 12.6
Sample Problem 12.7

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 Kinetics of Particles
We must analyze all of the forces As a centrifuge reaches high
acting on the racecar in order to velocities, the arm will experience
design a good track very large forces that must be
considered in design.

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 Introduction

F = ma
Newton’s Second Law of Motion
• If the resultant force acting on a particle is not zero, the particle will
have an acceleration proportional to the magnitude of resultant and
in the direction of the resultant.

• Must be expressed with respect to a Newtonian (or inertial)

frame of reference, i.e., one that is not accelerating or rotating.
• This form of the equation is for a constant mass system.

© 2019 McGraw-Hill Education.

 Linear Momentum of a Particle

• Replacing the acceleration by the derivative of the velocity

yields,
dv
F = m dt
d dL
( )
=m v =
dt dt
L = linear momentum of the particle

• Linear Momentum Conservation Principle:

If the resultant force on a particle is zero, the linear momentum
of the particle remains constant in both magnitude and
direction.

© 2019 McGraw-Hill Education.

 Systems of Units
• Of the units for the four primary dimensions (force,
mass, length, and time), three may be chosen
arbitrarily. The fourth must be compatible with
Newton’s 2nd Law.

• International System of Units (SI Units): base units are

the units of length (m), mass (kg), and time (second).
The unit of force is derived,
 m kg  m
1N = (1kg ) 1 2  = 1 2
 s  s

• U.S. Customary Units: base units are the units of force

(lb), length (m), and time (second). The unit of mass is
derived,
1lb 1lb lb  s 2
1lbm = 1slug = =1
32.2 ft s 2 1ft s 2
ft

© 2019 McGraw-Hill Education.

 Equations of Motion 1

• Newton’s second law  F = ma.

• Can use scalar component equations, example for
rectangular components,

 ( F i + F j + F k ) = m (a i + a j + a k )
x y z x y z

 F = ma  F = ma  F = ma
x x y y z z

 F = mx  F = my  F = mz
x y z

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 Free Body Diagrams and Kinetic Diagrams 1

The free body diagram is the same as you have done in statics;
we will add the kinetic diagram in our dynamic analysis.
1. Isolate the body of interest (free body).
2. Draw your axis system (example: Cartesian, polar, path).
3. Add in applied forces (example: weight, 225 N pulling force).
4. Replace supports with forces (example: normal force).
5. Draw appropriate dimensions (usually angles for particles).

© 2019 McGraw-Hill Education.

 Free Body Diagrams and Kinetic
Diagrams 2

Put the inertial terms for the body of interest on the kinetic
diagram.
1. Isolate the body of interest (free body).
2. Draw in the mass times acceleration of the particle; if
unknown, do this in the positive direction according to your
chosen axes.

F = ma
© 2019 McGraw-Hill Education.
 Free Body Diagrams and Kinetic
Diagrams 3

Draw the FBD and KD for block A (note that the

massless, frictionless pulleys are attached to block A
and should be included in the system).

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 Free Body Diagrams and Kinetic
Diagrams 4

1. Isolate body
2. Axes
3. Applied forces
4. Replace supports with forces
5. Dimensions (already drawn)
6. Kinetic diagram

© 2019 McGraw-Hill Education.

 Free Body Diagrams and Kinetic
Diagrams 5

Draw the FBD and KD for the collar B. Assume there is

friction acting between the rod and collar, motion is in
the vertical plane, and θ is increasing

© 2019 McGraw-Hill Education.

 Free Body Diagrams and Kinetic
Diagrams 6

1. Isolate body
2. Axes
3. Applied forces
4. Replace supports with forces
5. Dimensions
6. Kinetic diagram

© 2019 McGraw-Hill Education.

 Sample Problem 12.1 1

Strategy:
• Resolve the equation of motion for the
block into two rectangular component
equations.

• Unknowns consist of the applied force

P and the normal reaction N from the
plane. The two equations may be
solved for these unknowns.

A 80-kg block rests on a horizontal

plane. Find the magnitude of the force
P required to give the block an
acceleration of 2.5 m/s2 to the right. The
coefficient of kinetic friction between
the block and plane is mk = 0.25.

© 2019 McGraw-Hill Education.

 Sample Problem 12.1 2

Modeling and Analysis:

• Resolve the equation of motion for the block
into two rectangular component equations.
 Fx = ma :
y
(
P cos30° - 0.25 N = (80kg ) 2.5m s 2 )
= 200 N
O
x  Fy = 0 :
N — P sin 30° - 785 N = 0
• Unknowns consist of the applied force P and
the normal reaction N from the plane. The two
equations may be solved for these unknowns.
N = P sin 30° + 785 N
P cos30° - 0.25 (P sin 30° + 785 N ) = 200 N
P = 535 N

© 2019 McGraw-Hill Education.

 Sample Problem 12.1 3

Reflect and Think

When you begin pushing on an object, you
first have to overcome the static friction
force (F = μsN) before the object will
move.
Also note that the downward component
of force P increases the normal force N,
which in turn increases the friction force F
that you must overcome.

© 2019 McGraw-Hill Education.

 Sample Problem 12.3 1

Strategy:
• Write the kinematic relationships for the
dependent motions and accelerations of
the blocks.
• Write the equations of motion for the
blocks and pulley.
• Combine the kinematic relationships
with the equations of motion to solve for
The two blocks shown start the accelerations and cord tension.
from rest. The horizontal
plane and the pulley are
frictionless, and the pulley is
assumed to be of negligible
mass. Determine the
acceleration of each block
and the tension in the cord.

© 2019 McGraw-Hill Education.

 Sample Problem 12.3 2

Modeling and Analysis:

• Write the kinematic relationships for the
dependent motions and accelerations of the
blocks.
yB = 12 xA aB = 12 a A
• Write equations of motion for blocks and pulley.
F x = mA a A :
T1 = (100 kg ) a A

F y = mB aB :
m Bg-T2 =m Ba B
( 300 kg ) ( 9.81m s 2 ) -T2 = ( 300 kg ) a B
T2 =2940N- ( 300 kg ) a B

F y = mC aC = 0 :
T2 − 2T1 = 0

© 2019 McGraw-Hill Education.

 Sample Problem 12.3 3

• Combine kinematic relationships with equations

of motion to solve for accelerations and cord
tension.
yB = 12 xA aB = 12 a A

T1 = (100 kg ) a A
T2 =2940N- ( 300 kg ) a B
= 2940N- ( 300 kg ) ( 12 a A )
T2 − 2T1 = 0
2940 N − (150 kg ) a A − 2 (100 kg ) a A = 0

a A = 8.40 m s 2
aB = 12 a A = 4.20 m s 2
T1 = (100 kg ) a A = 840 N
T2 = 2T1 = 1680 N
© 2019 McGraw-Hill Education.
 Sample Problem 12.3 4

Reflect and Think

• Note that the value obtained for T2 is
not equal to the weight of block B.
Rather than choosing B and the
pulley as separate systems, you
could have chosen the system to be
B and the pulley. In this case, T2
would have been an internal force.

© 2019 McGraw-Hill Education.

 Sample Problem 12.5 1

Strategy:
• The block is constrained to slide down
the wedge. Therefore, their motions are
dependent. Express the acceleration of
block as the acceleration of wedge plus
the acceleration of the block relative to
the wedge.

• Write the equations of motion for the

wedge and block.
The 6-kg block B starts from rest and
slides on the 15-kg wedge A, which is • Solve for the accelerations.
supported by a horizontal surface.
Neglecting friction, determine (a) the
acceleration of the wedge, and (b) the
acceleration of the block relative to the
wedge.

© 2019 McGraw-Hill Education.

 Sample Problem 12.5 2

Modeling and Analysis:

• The block is constrained to slide down the
wedge. Therefore, their motions are dependent.
  
aB = a A + aB A
• Write equations of motion for wedge and block.
 Fx = m A a A :
y N1 sin 30° = mA a A
0.5 N1 = (mA ) a A

x
 Fx = mB a x = mB (a A cos 30 − a B A ) :
(
- mB g sin 30° = (mB ) a A cos30° - aB A )
aB A = a A cos30° + g sin 30°

 Fy = mB a y = mB (− a A sin 30) :
N1 - mB g cos30° = - (mB )a A sin 30°
© 2019 McGraw-Hill Education.
 Sample Problem 12.5 3

• Solve for the accelerations.

0.5 N1 = (mA ) a A

N1 - mB g cos30° = - (mB ) a A sin 30°

2 (mA ) a A - mB g cos30° = - (mB ) a A sin 30°
gmB cos30°
aA =
2mA + mB sin 30°
(6 kg )(9.81m/s 2 )cos30°
aA =
2 (15kg ) + (6 kg )sin 30°
a A = 1.545m s 2

aB A = a A cos30° + g sin 30°

aB A ( ) (
= 1.545m s 2 cos30° + 9.81m s 2 sin 30° )
aB A = 6.24m s 2

© 2019 McGraw-Hill Education.

 Sample Problem 12.5 4

Reflect and Think

Many students are tempted to draw the
acceleration of block B down the incline in
the kinetic diagram. It is important to
recognize that this is the direction of the
relative acceleration. Rather than the
kinetic diagram you used for block B, you
could have simply put unknown
accelerations in the x and y directions and
then used your relative motion equation to
obtain more scalar equations.

© 2019 McGraw-Hill Education.

 Group Problem Solving 1

Strategy:
• Write the kinematic relationships for the
dependent motions and accelerations of the
blocks.
• Draw the FBD and KD for each block
• Write the equations of motion for the
blocks and pulley.
• Combine the kinematic relationships with
the equations of motion to solve for the
accelerations and cord tension.

The two blocks shown are originally at rest. Neglecting the

masses of the pulleys and the effect of friction in the pulleys
and between block A and the horizontal surface, determine (a)
the acceleration of each block, (b) the tension in the cable.

© 2019 McGraw-Hill Education.

 Group Problem Solving 2

Modeling and Analysis:

• Write the kinematic relationships for the
dependent motions and accelerations of
the blocks.
This is the same problem worked last
chapter - write the constraint equation.
x A + 3 yB + constants = L

Differentiate this twice to get the

acceleration relationship.
v A + 3vB = 0
a A + 3aB = 0
a A = −3aB (1)

© 2019 McGraw-Hill Education.

 Group Problem Solving 3

• Draw the FBD and KD for each block,

• Write the equation of motion for each block, +

⎯⎯ Fx = mA a A :
+ F = m a
−T = mA aB
y B B

WB − 3T = mB aB (2)
From Equation (1) T = 3mA aB (3)

• Solve the three equations, 3 unknowns,

(3) → (2) mB g − 3(3mA aB ) = mB aB T = 3  30 kg  0.83136 m/s 2

g9.81 m/s 2 T = 74.8 N
aB = = = 0.83136 m/s 2 
m 30 kg a A = −2.49 = 2.49 m/s 2 →
1+ 9 A 1+ 9
mB 25 kg
© 2019 McGraw-Hill Education.
 Group Problem Solving 4

Reflect and Think:

• The acceleration of Block A is to the right
as would be expected
• The tension force in the cable has to be
less than 1/3 of the weight of Block B.
(Otherwise the block would not move
downward)
25kg m
T = 74.8 N   9.81 2 = 81.8 N
3 s

© 2019 McGraw-Hill Education.

 Concept Quiz 1

The three systems are released from rest. Rank the

accelerations, from highest to lowest.

a) (1) > (2) > (3) d) (1) = (2) = (3)

b) (1) = (2) > (3) e) (1) = (2) < (3)
c) (2) > (1) > (3)

© 2019 McGraw-Hill Education.

 Concept Quiz 2

The three systems are released from rest. Rank the

accelerations, from highest to lowest.

a) (1) > (2) > (3) d) (1) = (2) = (3)

b) (1) = (2) > (3) e) (1) = (2) < (3)
c) Answer: (2) > (1) > (3)

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 Kinetics: Normal and Tangential
Coordinates
Aircraft and roller coasters can both experience large normal
forces during turns.

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 Equations of Motion 2

• Newton’s second law  F = ma.

• For tangential and normal components,

F t = mat F n = man
dv v2
 t dt
F =m F n =m


© 2019 McGraw-Hill Education.

 Sample Problem 12.6 1

Strategy:
• Resolve the equation of motion for the
bob into tangential and normal
components.
• Solve the component equations for the
normal and tangential accelerations.
• Solve for the velocity in terms of the
normal acceleration.
The bob of a 2-m pendulum
describes an arc of a circle in a
vertical plane. If the tension in
the cord is 2.5 times the weight
of the bob for the position
shown, find the velocity and
accel-eration of the bob in that
position.

© 2019 McGraw-Hill Education.

 Sample Problem 12.6 2

Modeling and Analysis:

• Resolve the equation of motion for the bob into
tangential and normal components.
• Solve the component equations for the normal
and tangential accelerations.
 F = ma :
t t
mg sin 30 = mat
at = g sin 30 at = 4.9 m s 2

F n = man : 2.5mg − mg cos 30 = man

an = g ( 2.5 − cos 30 )
an = 16.03m s 2

• Solve for velocity in terms of normal

acceleration.
v2
an = v =  an = ( 2 m ) (16.03m s2 )

v = 5.66 m s

© 2019 McGraw-Hill Education.

 Sample Problem 12.6 3

Reflect and Think:

• If you look at these equations for an
angle of zero instead of 30o, you will
see that when the bob is straight below
point O, the tangential acceleration is
zero, and the velocity is a maximum.
The normal acceleration is not zero
because the bob has a velocity at this
point.

© 2019 McGraw-Hill Education.

 Sample Problem 12.7 1

Strategy:
• The car travels in a horizontal circular
path with a normal component of
acceleration directed toward the center
of the path. The forces acting on the
car are its weight and a normal reaction
from the road surface.

• Resolve the equation of motion for

Determine the rated speed of a the car into vertical and normal
highway curve of radius  = 120 m components.
banked through an angle q = 18o. The
rated speed of a banked highway curve • Solve for the vehicle speed.
is the speed at which a car should
travel if no lateral friction force is to
be exerted at its wheels.

© 2019 McGraw-Hill Education.

 Sample Problem 12.7 2

• Resolve the equation of motion for

the car into vertical and normal
components.
 Fy = 0 : R cos q − W = 0
W
R=
cos q
W
 Fn = man : R sin q = an
SOLUTION: g
W W v2
Modeling and Analysis: sin q =
cos q g 
• The car travels in a horizontal circular
path with a normal component of • Solve for the vehicle speed.
acceleration directed toward the center
of the path. The forces acting on the
car are its weight and a normal
reaction from the road surface. v = 19.56m s = 70.4km h
© 2019 McGraw-Hill Education.
 Sample Problem 12.7 3

Reflect and Think:

• For a highway curve, this seems like a
reasonable speed for avoiding a spin-
out. If the roadway were banked at a
larger angle, would the rated speed be
larger or smaller than this calculated
value?
• For this problem, the tangential
direction is into the page; since you
were not asked about forces or
accelerations in this direction, you did
not need to analyze motion in the
tangential direction.

© 2019 McGraw-Hill Education.

 Group Problem Solving 5

STRATEGY:
• Draw the FBD and KD for the collar.
• Write the equations of motion for the
collar.
• Determine kinematics of the collar.
The 3-kg collar B rests on the
frictionless arm AA′. The collar is • Combine the equations of motion
held in place by the rope attached with kinematic relationships and
to drum D and rotates about O in solve.
a horizontal plane. The linear
velocity of the collar B is
increasing according to v = 0.2 t 2
where v is in m/s and t is in sec.
Find the tension in the rope and
the force of the bar on the collar
after 5 seconds if r = 0.4 m.
© 2019 McGraw-Hill Education.
 Group Problem Solving 6

Modeling and Analysis:

• Given: v = 0.2t 2 , r = 0.4 m
• Find: T and N at t = 5 sec
Draw the FBD and KD of the collar

Write the equations of motion

Fn = man Ft = mat

v2 T =m
dv
N =m
 dt

© 2019 McGraw-Hill Education.

 Group Problem Solving 7

Kinematics : find vt, an, at

vt = 0.2t 2 = 0.2(52 ) =5 m/s
v2
52
an = = = 62.5 (m/s 2 )
 0.4
dv
at = = 0.4t = 0.4(5) = 2 m/s 2
dt

Substitute into equations of motion

Fn = man Ft = mat

N = 3.0(62.5) T = 3.0(2)

N = 187.5 N T = 6.0 N

© 2019 McGraw-Hill Education.

 Group Problem Solving 8

Reflect and Think:

How would the problem

change if motion was in the
vertical plane?
You would add an mg term
and would also need to
calculate q
When is the tangential force greater than the normal force?

Only at the very beginning, when starting to accelerate. In most

applications, an >> at

© 2019 McGraw-Hill Education.

 Concept Question

A car is driving from A to D on

the curved path shown. The
driver is doing the following at
each point:

A – going at a constant speed B – stepping on the accelerator

C – stepping on the brake D – stepping on the accelerator

Draw the approximate direction

of the car’s acceleration at each
point.

© 2019 McGraw-Hill Education.

 Angular Momentum of a Particle 1

Satellite orbits are analyzed using conservation of

angular momentum.

© 2019 McGraw-Hill Education. Source: NASA/JSC

 Angular Momentum of a Particle 2

• H O = r  mV = moment of momentum or the

angular momentum of the particle about O.
• H O is perpendicular to plane containing r and mV
H O = rmV sin  i j k
= rm vq HO = x y z
= mr 2q mv x mv y mvz
• Derivative of angular momentum with respect to
time,
H O = r  mV + r  mV = V  mV + r  ma
= rF
=  MO
• It follows from Newton’s second law that the
sum of the moments about O of the forces acting
on the particle is equal to the rate of change of
the angular momentum of the particle about O.
© 2019 McGraw-Hill Education.
 Conservation of Angular Momentum 1

• When only force acting on particle is

directed toward or away from a fixed point
O, the particle is said to be moving under a
central force.
• Since the line of action of the central force
passes through O,  M O = H O = 0 and
r  mV = H O = constant
• Position vector and motion of particle are in
a plane perpendicular to H O .
• Magnitude of angular momentum,
H O = rmV sin  = constant
= r0 mV0 sin 0
or H O = mr 2q = constant
HO angular momentum
= r 2q = h =
m unit mass

© 2019 McGraw-Hill Education.

 Conservation of Angular Momentum 2

• Radius vector OP sweeps infinitesimal area

dA = 12 r 2 dq

• Define dA = 12 r 2 dq = 12 r 2q = areal velocity

dt dt

• Recall, for a body moving under a central

force,
h = r 2q = constant
• When a particle moves under a central force,
its areal velocity is constant.

© 2019 McGraw-Hill Education.

 Sample Problem 12.12 1

Strategy:
• Since the satellite is moving under a
central force, its angular momentum is
constant. Equate the angular momentum
at A and B and solve for the velocity at B.

A satellite is launched in a direction

parallel to the surface of the earth
with a velocity of 30,000 km/h from
an altitude of 400 km. Determine the
velocity of the satellite as it reaches it
maximum altitude of 4000 km. The
radius of the earth is 6370 km.

© 2019 McGraw-Hill Education.

 Sample Problem 12.12 2

Modeling and Analysis:

• Since the satellite is moving under a
central force, its angular momentum is
constant. Equate the angular momentum
at A and B and solve for the velocity at B.
rmv sin f = H O = constant
rAmv A = rB mvB
Reflect and Think: rA
vB = v A
• Note that in order to increase rB
velocity, a spacecraft often applies
= (30,000 km h )
(6370 + 400) km
thrusters to push it closer to the
earth. This central force means the (6370 + 4000)km
spacecraft’s angular momentum vB = 19,590 km h
remains constant, its radial distance
r decreases, and its velocity v
increases.
© 2019 McGraw-Hill Education.