I.

EQUATION OF MOTION of Particle

1. Newton’s second Law
Chapter 2. 2. Equations of motion
• Rectangular coordinates

Equations of motion •
•
Normal and Tangential Coordinates
Polar Coordinates
• Cylindrical Coordinates
of a particle 3. Examples

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1. Newton’s Second Law Free-Body Diagram

• A particle will have an acceleration proportional to the magnitude of the Forces acting on the particle (body): applied forces, constraint
resultant force acting on it and in the direction of the resultant force. forces 
F2 P 
   m  T
ma = F = å Fk a
m
O
 
m
r Fms

Force - acceleration equation 
F1 N
• The rate of change of linear momentum of the particle is
equal to the resultant of the forces acting on a particle 
F

 d (mv )      M

p = = F = å Fk , p = mv mv T
T T T

dt

N1 N3
• Must be expressed with respect to a Newtonian frame of reference
(or inertial frame), i.e., one that is not accelerating or rotating. N2 N4

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2. Equations of motion (EOM) in Cartesian coordinates 3. Equations of motion (EOM) in Natural Coordinate System

From Newton’s second law of motion z The equations of motion for Particle in 
m eb
d    Natural Coordinate System, Mtnb 
(mv )  F   Fk , (m  const )   
s(t) m
ds
et
dt a  at  a n with
    
ez
r F    
 ma  F (r , v , t ) at  se
 t , an  (s2 /  )en
P0

In a fixed cartesian coordinate Oxyz:  O

r F
ex 
ey at  s  v, an  s / ,2
ab  0 en
    y O
a  xe x  ye  y  ze
 z ,
x    
      F  Fe  Fnen  Fbeb
F (r , v , t )  Fxex  Fyey  Fzez t t

Equations of motion in Cartesian coordinates Equations of motion

mx  F
 x  ms  Ft ,
The initial conditions of position and velocity
  2
my  Fy x (0)  x 0, y(0)  y 0, z (0)  z 0 mv /   Fn , The initial conditions of position and velocity
  m 0 F
mz  Fz x(0)  x0, y(0)  y0, z(0)  z0  b s(0)  s0 , s(0)  v0
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3. EOM in Cylindrical coordinates 4. EOM in polar coordinates (planar motion)

Generalized coordinates: (r , , z ) Generalized coordinates: (r ,  )

     zM F
a  v  (r  r  2 )er  (r   2r )e  ze
 z    
a  v  (r  r  2 )er  (r   2r )e F
m m
     
F  Frer  Fe  Fzez r   e e r

ez
F  Frer  Fe
 z r
e 
Equations of motion O  r Equations of motion
yM O x
xM  er
m(r  r  )  Fr ,
2
m(r  r  2 )  Fr ,
m(r   2r )  F , m(r   2r )  F ,
mz  Fz The initial conditions of position and velocity
The initial conditions of position and velocity
r (0)  r0 , r(0)  r0
r (0)  r0 , r(0)  r0
(0)  0, (0)  0
(0)  0 , (0)  0
z (0)  z 0 , z(0)  z0
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5. Fundamental problems of Kinetics of a Particle Examples / example 1

The relationship between force and acceleration (motion): Example 1. The model of an elevator is
shown in the figure. A motor connects 2
    directly to gear 1 (r1, z1). The drum having a
r 1 1
ma  F (r , v , t ) O B

 c  radius of r is fixed to gear 2 (r2, z2). The r1
several forces act on a particle
F1 F F cable is inextensible and in tension. Motion r2
  g of the gear 1 is given as
F = å Fk m 
  F q1 = 21 a 0t 2 , a 0 = const A
For a constrained particle
   F2 Fa
m
F = å Fka + å Fjc Determine the tension of cable, if the
mass of the cabin A is m.
1. Forward problem: the motion of the body is known, and the task is to
Answer T
determine the forces causing that motion.
2. Inverse problem: the forces acting on the body and the initial condition of the Motion Analysis:
body motion are known, and the task is to specify the motion of the body.
A
3. Mixed problem: Given some of the forces (active forces) and some Determine acceleration of cabin: m
a
information about motion (such as trajectory), determining the motion of point and
unknown forces (reaction forces).
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Examples / example 1 Examples / example 3

w1 r2 z2 z1 z1 Resistance force depends on velocity

w1 = q1 = a 0t , = =  w2 = w1 = a 0t
w2 r1 z1 z2 z2 Example 3. A car moving on horizontal lines from rest by the thrust P =
const, and resistance force is proportional to velocity.
z1 z1 • Determine the velocity of the car as a function of time.
vA = r w2 = r a 0t  a A = vA = r w 2 = r a0 • Determine the required time T at which the velocity reach a value 95%
z2 z2
of the limit speed.
Write Force – Acceleration for free Cabin x Fc  kv

  
ma  P  T Solution P m
T
ma  T  P  Motion analysis: The Car moves horizontally under the action of two forces
T  P  ma  P (1  a / g ) P and Fc.
A
m
a mx  Fx (x , v, t )  mv  P  kv,
If a is downward
Solve first-order differential equation with initial condition
P dv
T  P  ma  P (1  a / g ) m  P  kv, v(0)  0
dt
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Examples / example 3 Examples / example 3

• Determine the velocity of the car as a function of time.

x Fc  kv
 dv P kt
m  P  kv,
x Fc  kv v(t )  (1  e m )
 dt k P m
v(0)  0 P m
 • Determine limit velocity
mdv d[P  kv ] k
 dt    dt P kt P
P  kv [P  kv ] m vgh  lim (1  e m ) 
t  k k
kt kt kt
ln(P  kv )    C (P  kv )  exp(  C )  C * exp( ) • Determine the required time T, at which the velocity to reach a value
m m m
95% of the limit speed:

t  0, v(0)  0  P  C * exp(0)  C *  P P kT P  kS T m

v(T )  (1  e m )  0.95  e m  0.05  T  ln 20
k k k
kt P kt
(P  kv )  P exp( )  v(t )  (1  e m )
m k 13 14
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EOM of a particle in polar coordinates Illustrative Examples

  
  (r  )e
v  re  A block B of mass m can slide freely on a frictionless arm OA which rotates in a
  r   mv horizontal plane at a constant rate 0.
a  v  (r  r  2 )er  (r   2r )e 
  F Knowing that B is released at a distance r0 from O, express as a function of r
F  Frer  Fe
 a) the component vr of the velocity of B along OA, and
• EOM in Polar Coordinates Fr b) the magnitude of the force exerted on B by the arm OA.

 m
mar  m(r  r  2 )  Fr , e e r
r
ma  m(r   2r )  F , 
O x A 
F
• This result may also be derived from angular momentum theorem: r 
B
         Fr
 r  r e )  mr 2er  e  lO  mr 2
lO  r  mv  r  m(re  er

O
0 e 
d d
lO  (mr 2 )  m(r 2  2rr )  rF  m(r   2r )  F
dt dt

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Illustrative Examples Illustrative Examples
SOLUTION A • Integrate the radial equation to find
• Draw FBD for the block B  an expression for the radial velocity.
• Write the radial and transverse equations of motion for the block. (using F
polar coordinates) r
B 
• Substitute known information into the transverse equation to find an  Fr
dr dr dr dr dv
expression for the force on the block. 
 er r    r  vr r
  
O
0 e  dt dr dt dr dr
 r  (r  )e
v  re vr r

A     
 vrdvr  r 02dr  
0
vrdvr   r0
r 02dr
F a  v  (r  r  2 )er  (r   2r )e
r 
B
Fr
  
F  Frer  Fe  vr2  02 (r 2  r02 )


 er • Using the transverse equation:
O
0 e 
F  2m0r  2m0 (r 2  r02 )

mar  m(r  r  2 )  Fr  0,   0  const    0 • The same if using angular momentum theorem:

ma  m(r   2r )  F , r  r 02  0, 2mr0  F lO  r  (mv )  mr 2  lO  2mrr  rF  F  2mr

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Examples / example 2 Example / example 2

Example 2. Small cylinder C (2 kg) has a pin P  Force – Acceleration equations 

that can move in the groove of the crank OA. O e From the figure, we can write equations O e
   
The crank OA moves in the vertical plane with
 W sin   NC sin   2ar (1) 
angular velocity  = 0.5 (rad/s). Determine the h = 0.4 m er h = 0.4 m er
forces acting on the cylinder C (consider it as a W cos   FP  NC cos   2a (2)
particle) at  = 60. C C
P W  mg  2  9.81  19.62 N P
A Kinematics A
Solution
The position of C is determined by the OC distance and the ar  r  r2 , a  r   2r
angle , so we use Polar coordinates to solve this problem. O  O 
e From the figure, we determine the relationship between r and θ e
 
Free-Body Diagram  
The forces acting on the cylinder: Gravity W, NC er r sin   h  0 (3) NC er
NC, and FP
The directions of ar and aθ are selected as shown Fp First and second order derivative of constraint equations: Fp
in the figure
a r sin   r cos   0, (4)
a
Determine ar, aθ, FP and NC. ar ar
W r sin   2r cos   r cos   r2 sin   0 (5) W
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Examples / example 2 Examples / example 2

Solving the system of equations

O  O 
e ar  r  r2  0.192  0.462(0.5)2  0.0770 e
 
 a  r  2r  0  2(0.133)(0.5)  0.133 
r sin   h  0
(3) NC er NC er
r sin   r cos   0, (4) Fp Force = mass x acceleration Fp
r sin   2r cos   r cos   r sin   0 (5)
2
a W sin   NC sin   mar (1) a
ar ar
W W
W cos   FP  NC cos   ma (2)
With   60,     0.5,     0 we get W  mg  2  9.81  19.62 N
r  0.462, r  0.133, r  0.192 From (1) and (2) with θ = 60:

Then: NC = 19.4 N, FP = -0.356 N.

ar  r  r2  0.192  0.462(0.5)2  0.0770 In Cartesian coord.
The (-) indicates that FP acts on the opposite
a  r  2r  0  2(0.133)(0.5)  0.133 direction. max   Fkx , ax  ?
may   Fky , ay  y  0
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Examples / example 4 Examples / example 4

Example 4. A small ball having mas of (m kg) mat  ml   P cos , man  ml  2  T  P sin 
is hung by an inextensible rope. The ball is O Using this equation

dropped from the horizontal position of the
rope without initial velocity. Determine the l d d d d
velocity of the ball depending on its position g      ml  P cos   ml d  P cos d
m dt d dt d
and tension of the rope.
Solution Based on the initial conditions of motion, we have:
  1
 mld   P cos d  2 ml  mg(sin   sin 0 )
2
Motion analysis:
  The particle moves on a circle trajectory under the 0
forces P,T , using method of natural coordinates:
0

       O    2gl 1(sin   sin 0 )

ma  P  T  m(an  at )  P  T 
n
at  l , an  l  , 2 T
Velocity of particle: v  l  2gl (sin   sin 0 )
m
mat  ml   P cos  P Cable tension: T  ml  2  P sin   mg(3 sin   2 sin 0 )
man  ml  2  T  P sin  If (0)=0  v  2gl sin  , T  3mg sin 

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Example (using natural coordinate system) Example (using natural coordinate system)
b
The sports car, having a Equations of motion 𝑁
mass of 1700 kg, is b
traveling horizontally along 𝑁 man  mv /   Fms cos   N sin 
2
n
a 20 banked track which is mab  0  P  Fms sin   N cos  𝐹⃗
circular and has a radius of n
curvature of ρ = 100 m. If
the coefficient of static 𝐹⃗
friction between the tires Fms cos   N sin   mv 2 /  (1) 𝑃
and the road is  = 0.2, Fms sin   N cos   P (2)
determine the maximum 𝑃 
constant speed at which the
(1)*cos  + (2)*sin  ==>
car can travel without  b
sliding up the slope. Fms  cos  mv 2 /   P sin  n
Neglect the size of the car.
g = 9.81 m/s2. (1)*sin  - (2)*cos  ==>
b
n N  sin  mv 2 /   P cos 

Fms   N   v 2  ....  vmax 

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EOM for a system of particles

• Generalized coordinates (position parameters for each particle):

II. EQUATION OF MOTION of a Particle • Constraint equations
System      
f j (r1,..., rN ) = 0  f j (v1,..., vN ) = 0  f j (a1,..., aN ) = 0

1. Some concepts • FBD for each particle:

2. Method of body separation   z
Fk = å j Fk , j (all forces on mk ) m1
3. Examples
• EOM for each particle: 
 zk Fk
 
mkak = mk vk = Fk mk

• Solving EOM and constraint equations
O rk yk
xk y
x

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Examples Examples

Example 6. Constrained particle system O

O Free-body diagram D
(neglect the pulley’s weight). D
Because the pulleys and the cords are massless, the
Block A (100 kg) is released from rest. If
tension of the cord is constant. Name of tension in sB
neglecting the masses of pulleys and cords, sA
cord hanging block B is T, from force diagram on
determine the velocity of block B (20 kg) after 2 sB
sA pulley C we deduce force in cord hanging block A is
seconds.
2T. Determine: T, aA and aB. C
B
C A
Solution Force – acceleration equations
B
• Generalized coordinates: T T
sA and sB
A Block A: : mAaA  981  2T (1)
T

• Constraint equations (inextensible cords):

Block B: : mBaB  20  9.81  T (2)
2T
2
d
2sA  sB  l  const  2 (..)  2T WB
dt
2sA  sB  0
WA
 2aA  aB  0 (3)
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Examples Examples

Equations of motion T T Example 7. The 6-kg block B starts from rest

B
: mAaA  981  2T (1) T and slides on the 15-kg block A, which is
supported by a horizontal surface. Neglecting
2T
friction, determine (a) the acceleration of the A
: mBaB  20  9.81  T (2)
30
2T WB block A, and (b) the acceleration of the block B
Constraint at acceleration level: relative to the block A.
2aA  aB  0 (3)
WA Solution
Solving a set of 3 eqs. (1-2-3): • Generalized coordinates: sA and sB
• Free-body diagram
T  327.0 N, aA  3.27 m/ s2 , aB   6.54 m/ s2 sB
N
Therefore, block A has a downward acceleration, block B has an upward acceleration. B

The velocity of object B after 2 seconds is v  v 0  a Bt sA N

PB
determined as follows: A
 0  (6.54)(2)  13.1 m/ s 30 30

The (-) shows that object B has upward velocity. PA

NA
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Example Examples / example 5

Kinematics • Free-body diagram • Some types of differential equations of motion:

   
aB  aA  aB / A, y
N Fc  kv n
(1) mv  P  kv, v(0)  0
aA  sA, aB /A  sB
P m
  (2) mv  P  kv 2 , v(0)  0
Equations of motion N PB
    30 x
mAaA  PA  N A  N ,  (3) mx  P, x (0)  x 0, x(0)  v 0
   
mBa B  PB  N PA k
NA F(t)
m
Project onto x and y c
(4) mx  kx , x (0)  x 0, x(0)  v 0
x
 mAa A  N sin 30,
 mB (a A  a B / A cos 30)  N sin 30 (5) mx  cx  kx , x (0)  x 0 , x(0)  v 0
 mBaB /A sin 30  PB  N cos 30
aA  (6) mx  kx  F0 sin t, x (0)  x 0 , x(0)  v 0
Solving 3 eqs. for 3 unknowns a B /A 
N  (7) mx  cx  kx  F0 sin t, x (0)  x 0, x(0)  v 0
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Problem 10-12. Problem 10-15’.

10-15’. A submarine, while maintaining its level at a
10-12. A block P moves upwards on a slope depth (gravitation force is equal to (Archimedes’) buoyant
with the initial velocity v0 = 15 m/s. The slope force), receives a force P and travels downwards in the
forms with the horizontal plane an angle  =  vertical direction. The water resistance force is assumed R
v0
30. The coefficient of kinetic friction is  = 0,1.  P to be given as R = kSv, where k>0 is a constant, S is the
Determine the distance the block has moved projected area of the vehicle, and v is its diving velocity.
until it reaches the highest position (v = 0) and The sub’s mass is m.
 Determine the time-varying velocity of the submarine, v(t). v
the time it takes.
Find the time T taken for the velocity to reach 95% of its
upper bound.
P

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Problem Problem
14-26. A load B of mass m = 300 kg is being pulled by a pulley with a 14-30. An elevator cabin together with loads
velocity v = 0.4t2 m/s, where t is in seconds, s. Determine the tension in weighing m = 500 kg are being pulled by motor
the cable when t = 5 s and the distance traveled by B in 5 s. The M. Given that the tension in the cable is a T
masses of the cable, pulley, and rollers are negligible. constant T = 1.50 kN, determine the acceleration M
and velocity of the cabin after it has been lifted
v up 3 m from rest. Neglecting friction and masses
B
M of the cable and pulleys.
m

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The sports car, having a mass of 1700 kg, is traveling horizontally along a 20 The ball has a mass of 30 kg and a speed v = 4 m/s at the instant it is at its lowest
banked track which is circular and has a radius of curvature of ρ = 100 m. If the point,  = 0. Determine the tension in the cord and the rate at which the ball's
coefficient of static friction between the tires and the road iss = 0.2, determine speed is decreasing at the instant  = 20. Neglect the size of the ball.
the maximum constant speed at which the car can travel without sliding up the
slope. Neglect the size of the car.
O


l=4m

20

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