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ME 141

Engineering Mechanics

Lecture 11: Kinetics of


particles: Energy method
Ahmad Shahedi Shakil
Lecturer, Dept. of Mechanical Engg, BUET
E-mail: sshakil@me.buet.ac.bd, shakil6791@gmail.com
Website: teacher.buet.ac.bd/sshakil

Courtesy: Vector Mechanics for Engineers, Beer and Johnston


Introduction
Approaches to Kinetics Problems

Forces and Velocities and Velocities and


Accelerations Displacements Time

Newton’s Second Work-Energy Impulse-


Law (last chapter) Momentum

 F  ma
t2
G
T1  U12  T2 mv1   F dt  mv2
t1
Work of a Force

• Differential vector dr is the particle displacement.

• Work of the force is


 
dU  F  dr
 F ds cos 
 Fx dx  Fy dy  Fz dz

• Work is a scalar quantity, i.e., it has magnitude and


sign but not direction.

• Dimensions of work are length  force. Units are


1 J  joule   1 N 1 m 1ft  lb  1.356 J
Work of a Force
• Work of a force during a finite displacement,
A2 

U12   F  d r
A1
s2 s2
  F cos  ds   Ft ds
s1 s1
A2
  Fx dx  Fy dy  Fz dz 
A1

• Work is represented by the area under the


curve of Ft plotted against s.

• Ft is the force in the direction of the


displacement ds
Work of a Force
• Work of the force of gravity,
dU  Fx dx  Fy dy  Fz dz
 W dy
y2
U12    W dy
y1
 W  y 2  y1   W y

• Work of the weight is equal to product of


weight W and vertical displacement y.

• In the figure above, when is the work done by the weight positive?

a) Moving from y1 to y2 b) Moving from y2 to y1 c) Never


Work of a Force
• Magnitude of the force exerted by a spring is
proportional to deflection,
F  kx
k  spring constant  N/m or lb/in.
• Work of the force exerted by spring,
dU   F dx  kx dx
x2
U12    kx dx  12 kx12  12 kx22
x1

• Work of the force exerted by spring is positive


when x2 < x1, i.e., when the spring is returning to
its undeformed position.

• Work of the force exerted by the spring is equal to


negative of area under curve of F plotted against x,
U12   12  F1  F2  x
Work of a Force

Forces which do not do work (ds = 0 or cos   0:

• Reaction at frictionless pin supporting rotating body,


• Reaction at frictionless surface when body
in contact moves along surface,
• Reaction at a roller moving along its track, and
• Weight of a body when its center of gravity
moves horizontally.
Particle Kinetic Energy: Principle of Work &

Energy • Consider a particle of mass m acted upon by force F
dv
Ft  mat  m
dt
dv ds dv
m  mv
ds dt ds
F t ds  mv dv
• Integrating from A1 to A2 ,
s2 v2
 Ft ds  m  v dv  12 mv2  12 mv1
2 2

s1 v1

U12  T2  T1 T  12 mv 2  kinetic energy



• The work of the force F is equal to the change in
kinetic energy of the particle.
• Units of work and kinetic energy are the same:
2
 m   m
T  12 mv  kg    kg 2 m  N  m  J
2
s  s 
Power and Efficiency
• Power  rate at which work is done.
 
dU F  dr
 
dt dt
 
 F v

• Dimensions of power are work/time or force*velocity.


Units for power are
J m ft  lb
1 W (watt)  1  1 N  or 1 hp  550  746 W
s s s

•   efficiency
output work

input work
power output

power input
Sample Problem 13.1
SOLUTION:
• Evaluate the change in kinetic energy.
• Determine the distance required for the
work to equal the kinetic energy change.

An automobile weighing 4000 lb is


driven down a 5o incline at a speed of
60 mi/h when the brakes are applied
causing a constant total breaking force
of 1500 lb.
Determine the distance traveled by the
automobile as it comes to a stop.
Sample Problem 13.1
SOLUTION:
• Evaluate the change in kinetic energy.
 mi  5280 ft  h 
v1   60     88 ft s
 h  mi  3600 s 
T1  12 mv12  12 4000 32.2 882  481000 ft  lb

v2  0 T2  0
• Determine the distance required for the work
to equal the kinetic energy change.
U12   1500 lbx  4000 lbsin 5x
 1151 lbx
T1  U12  T2
481000 ft  lb  1151 lbx  0
x  418 ft
Sample Problem 13.2
SOLUTION:
• Apply the principle of work and
energy separately to blocks A and B.

• When the two relations are combined,


the work of the cable forces cancel.
Solve for the velocity.
Two blocks are joined by an inextensible
cable as shown. If the system is released
from rest, determine the velocity of block
A after it has moved 2 m. Assume that the
coefficient of friction between block A
and the plane is mk = 0.25 and that the
pulley is weightless and frictionless.
Sample Problem 13.2
SOLUTION:
• Apply the principle of work and energy separately
to blocks A and B.
 
W A  200 kg  9.81 m s 2  1962 N
FA  m k N A  m k W A  0.251962 N   490 N
T1  U12  T2 :
0  FC 2 m   FA 2 m   12 m Av 2

FC 2 m   490 N 2 m   12 200 kg v 2

 
WB  300 kg  9.81 m s 2  2940 N
T1  U12  T2 :
0  Fc 2 m   WB 2 m   12 m B v 2

 Fc 2 m   2940 N 2 m   12 300 kg v 2


Sample Problem 13.2
• When the two relations are combined, the work of the
cable forces cancel. Solve for the velocity.
FC 2 m   490 N 2 m   12 200 kg v 2

 Fc 2 m   2940 N 2 m   12 300 kg v 2

2940 N 2 m   490 N 2 m   12 200 kg  300 kg v 2


4900 J  12 500 kg v 2

v  4.43 m s
Sample Problem 13.3
SOLUTION:
• Apply the principle of work and energy
between the initial position and the
point at which the spring is fully
compressed and the velocity is zero.
A spring is used to stop a 60 kg package The only unknown in the relation is the
which is sliding on a horizontal surface. friction coefficient.
The spring has a constant k = 20 kN/m
and is held by cables so that it is initially • Apply the principle of work and energy
compressed 120 mm. The package has a for the rebound of the package. The
velocity of 2.5 m/s in the position shown only unknown in the relation is the
and the maximum deflection of the spring velocity at the final position.
is 40 mm.
Determine (a) the coefficient of kinetic
friction between the package and surface
and (b) the velocity of the package as it
passes again through the position shown.
Sample Problem 13.3
SOLUTION:
• Apply principle of work and energy between initial
position and the point at which spring is fully compressed.
T1  12 mv12  12 60 kg 2.5 m s 2  187 .5 J T2  0

U12  f   m kW x

 
  m k 60 kg  9.81 m s 2 0.640 m   377 J m k

Pmin  kx0  20 kN m 0.120 m   2400 N


Pmax  k  x0  x   20 kN m 0.160 m   3200 N
U12 e   12 Pmin  Pmax x
  12 2400 N  3200 N 0.040 m   112 .0 J

U12  U12  f  U12 e  377 J m k  112 J

T1  U1 2  T2 :
187 .5 J - 377 J m k  112 J  0 m k  0.20
Sample Problem 13.3
• Apply the principle of work and energy for the rebound
of the package.

T2  0 T 3 12 mv32  12 60kg v32

U 23  U 23  f  U 23 e  377 J m k  112 J


 36.5 J

T2  U 23  T3 :
0  36.5 J  12 60 kg v32
v3  1.103 m s
Sample Problem 13.4
SOLUTION:
• Apply principle of work and energy to
determine velocity at point 2.
• Apply Newton’s second law to find
normal force by the track at point 2.
A 2000 lb car starts from rest at point 1
and moves without friction down the • Apply principle of work and energy to
track shown. determine velocity at point 3.
• Apply Newton’s second law to find
Determine:
minimum radius of curvature at point 3
a) the force exerted by the track on such that a positive normal force is
the car at point 2, and exerted by the track.
b) the minimum safe value of the
radius of curvature at point 3.
Sample Problem 13.4
SOLUTION:
• Apply principle of work and energy to determine
velocity at point 2.
1W 2
T1  0 T2  12 mv22  v2
2g
U1 2  W 40 ft 
1W 2
T1  U1 2  T2 : 0  W 40 ft   v2
2g

v22  240 ft g  240 ft  32.2 ft s 2  v2  50.8 ft s

• Apply Newton’s second law to find normal force by


the track at point 2.
   Fn  m an :

W v22 W 240 ft g
 W  N  m an  
g  2 g 20 ft
N  5W N  10000 lb
Sample Problem 13.4
• Apply principle of work and energy to determine
velocity at point 3.
1W 2
T1  U13  T3 0  W 25 ft   v3
2g
v32  225 ft g  225 ft 32.2 ft s  v3  40.1ft s

• Apply Newton’s second law to find minimum radius of


curvature at point 3 such that a positive normal force is
exerted by the track.

   Fn  m an :

W  m an
W v32 W 225 ft g
  3  50 ft
g 3 g 3
Sample Problem 13.5
SOLUTION:
Force exerted by the motor
cable has same direction as
the dumbwaiter velocity.
Power delivered by motor is
equal to FvD, vD = 8 ft/s.

The dumbwaiter D and its load have a • In the first case, bodies are in uniform
combined weight of 600 lb, while the motion. Determine force exerted by
counterweight C weighs 800 lb. motor cable from conditions for static
equilibrium.
Determine the power delivered by the
electric motor M when the dumbwaiter • In the second case, both bodies are
(a) is moving up at a constant speed of accelerating. Apply Newton’s
8 ft/s and (b) has an instantaneous second law to each body to
velocity of 8 ft/s and an acceleration of determine the required motor cable
2.5 ft/s2, both directed upwards. force.
Sample Problem 13.5
• In the first case, bodies are in uniform motion.
Determine force exerted by motor cable from
conditions for static equilibrium.

Free-body C:
   Fy  0 : 2T  800 lb  0 T  400 lb

Free-body D:
   Fy  0 : F  T  600 lb  0
F  600 lb  T  600 lb  400 lb  200 lb

Power  Fv D  200 lb8 ft s 


 1600 ft  lb s
1 hp
Power  1600 ft  lb s   2.91 hp
550 ft  lb s
Sample Problem 13.5
• In the second case, both bodies are accelerating. Apply
Newton’s second law to each body to determine the required
motor cable force.
a D  2.5 ft s 2  aC   12 a D  1.25 ft s 2 

Free-body C:
800
   Fy  mC aC : 800  2T  1.25 T  384.5 lb
32.2
Free-body D:
600
   Fy  m D a D : F  T  600  2.5
32.2
F  384.5  600  46.6 F  262.1 lb
Power  Fv D  262.1 lb8 ft s   2097 ft  lb s
1 hp
Power  2097 ft  lb s   3.81 hp
550 ft  lb s
Prob # 13.11
Packages are thrown down an incline at A with a velocity of 1 m/s.
The packages slide along the surface ABC to a conveyor belt which
moves with a velocity of 2 m/s. Knowing that μk = 0.25 between
the packages and the surface ABC, determine the distance ‘d’ if the
packages are to arrive at C with a velocity of 2 m/s
Prob # 13.20
The system shown is at rest when a constant 30-lb force is applied
to collar B. (a) If the force acts through the entire motion, determine
the speed of collar B as it strikes the support at C. (b) After what
distance ‘d’ should the 30-lb force be removed if the collar is to
reach support C with zero velocity?
Potential Energy

• Work of the force of gravity W,
U12  W y1  W y 2

• Work is independent of path followed; depends


only on the initial and final values of Wy.
V g  Wy
 potential energy of the body with respect
to force of gravity.
   
U12  V g  V g
1 2

• Choice of datum from which the elevation y is


measured is arbitrary.

• Units of work and potential energy are the same:


V g  Wy  N  m  J
Potential Energy
• Work of the force exerted by a spring depends
only on the initial and final deflections of the
spring,
U12  12 kx12  12 kx 22

• The potential energy of the body with respect


to the elastic force,
Ve  12 kx 2
U12  Ve 1  Ve 2

• Note that the preceding expression for Ve is


valid only if the deflection of the spring is
measured from its undeformed position.
Conservative Forces
• Concept of potential energy can be applied if the
work of the force is independent of the path
followed by its point of application.
U12  V  x1 , y1 , z1   V  x2 , y 2 , z 2 
Such forces are described as conservative forces.
• For any conservative force applied on a closed path,
 
 F  dr  0
• Elementary work corresponding to displacement
between two neighboring points,
dU  V  x, y, z   V  x  dx, y  dy, z  dz 
  dV  x, y, z 
 V V V 
Fx dx  Fy dy  Fz dz   dx  dy  dz 
 x y z 
  V V V 
F       grad V
 x y z 
Conservation of Energy
• Work of a conservative force,
U12  V1  V2

• Concept of work and energy,


U12  T2  T1

• Follows that
T1  V1  T2  V2
E  T  V  constant
T1  0 V1  W • When a particle moves under the action of
T1  V1  W conservative forces, the total mechanical
energy is constant.
1W
T2  12 mv22  2 g   W V2  0 • Friction forces are not conservative. Total
2g
mechanical energy of a system involving
T2  V2  W friction decreases.
• Mechanical energy is dissipated by friction
into thermal energy. Total energy is constant.
Sample Problem 13.6
SOLUTION:
• Apply the principle of conservation of
energy between positions 1 and 2.
• The elastic and gravitational potential
energies at 1 and 2 are evaluated from
the given information. The initial kinetic
energy is zero.
A 20 lb collar slides without friction • Solve for the kinetic energy and velocity
along a vertical rod as shown. The at 2.
spring attached to the collar has an
undeflected length of 4 in. and a
constant of 3 lb/in.
If the collar is released from rest at
position 1, determine its velocity after
it has moved 6 in. to position 2.
Sample Problem 13.6
SOLUTION:
• Apply the principle of conservation of energy between
positions 1 and 2.

Position 1: Ve  12 kx12  12 3 lb in.8 in.  4 in.2  24 in.  lb


V1  Ve  Vg  24 in.  lb  0  2 ft  lb
T1  0
Position 2: Ve  12 kx22  12 3 lb in.10 in.  4 in.2  54 in.  lb
Vg  Wy  20 lb  6 in.  120 in.  lb
V2  Ve  Vg  54  120  66 in.  lb  5.5 ft  lb
1 20 2
T2  12 mv22  v2  0.311v22
2 32.2
Conservation of Energy:
T1  V1  T2  V2
0  2 ft  lb  0.311v22  5.5 ft  lb
v2  4.91 ft s 
Prob# 13.64
A 2-kg collar is attached to a spring and slides without friction in
a vertical plane along the curved rod ABC. The spring is undeformed
when the collar is at C and its constant is 600 N/m. If the
collar is released at A with no initial velocity,
determine its velocity
(a) as it passes through B, (b) as it reaches C.
Prob# 13.70
A section of track for a roller
coaster consists of two circular
arcs AB and CD joined by a
straight portion BC. The radius of
AB is 27 m and the radius of CD is
72 m. The car and its occupants,
of total mass 250 kg, reach point A
with practically no velocity and
then drop freely along the track.
Determine the normal force
exerted by the track on the car as
the car reaches point B. Ignore
air resistance and rolling
resistance.
Prob # 13.68
A spring is used to stop a 50-kg package which is moving down a
20° incline. The spring has a constant k = 30 kN/m and is held by
cables so that it is initially compressed 50 mm. Knowing that the
velocity of the package is 2 m/s when it is 8 m from the spring and
neglecting friction, determine the maximum additional deformation
of the spring in bringing the package to rest.

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