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Engineering Mechanics

L19: Work and Energy

Indian Institute of Technology Jodhpur

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Definition of work
F dr
 A
Fn
A
F

r r + dr

(b)
O
(a) 𝑑𝑈 = 𝐅. 𝑑𝐫

𝑑𝑈 = 𝐹 𝑑𝑠 cos 𝛼 𝐹 = 𝐹 cos 𝛼

𝑑𝑈 = 𝐹 𝑑𝑠

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Definition of work
Work is positive if the working component Ft is
in the direction of the displacement and
negative if it is in the opposite direction.
Forces which do work are termed active forces.
Constraint forces which do no work are termed
reactive forces.
The SI units of work are those of force (N)
times displacement (m) or N∙m. This unit is
given the special name joule (J)

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Calculation of work

𝑈= 𝐅 𝑑𝐫 𝐅=𝐹 𝐢+𝐹 𝐣+𝐹𝐤

𝑑𝐫 = 𝑑𝑥𝐢 + 𝑑𝑦𝐣 + 𝑑𝑧𝐤

= 𝐹 𝑑𝑥 + 𝐹 𝑑𝑦 + 𝐹 𝑑𝑧

Ft
Alternatively

𝑈= 𝐹 𝑑𝑠
dU = Ft ds

s
s1 s2
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Example of work: External force

𝐅 = 𝑃 cos 𝛼 𝐢 + 𝑃 sin 𝛼 𝐣

𝑈 = 𝐅 𝑑𝐫 = [ 𝑃 cos 𝛼 𝐢 + 𝑃 sin 𝛼 𝐣 ] . 𝑑𝑥𝐢

=− 𝑃 cos 𝛼 𝑑𝑥

= 𝑃 cos 𝛼 𝑥 − 𝑥

= 𝑃𝐿 cos 𝛼

x P

dr

L
1 2
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Example of work: Spring Force

Force F required to
stretch or compress spring
𝐅 = −𝑘𝑥𝐢

F = kx

x1 x2 x

𝑈 = 𝐅 𝑑𝐫 = −𝑘𝑥𝐢 . 𝑑𝑥𝐢

(a)
=− 𝑘𝑥 𝑑𝑥

kx
Undeformed dr
= 𝑘(𝑥 −𝑥 )
position
x

(b)

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Example of work: Weight

2
𝐅 = −𝑚𝑔𝐣
dr
y2 m
y
𝑈 = 𝐅 𝑑𝐫 = − 𝑚𝑔𝐣 . 𝑑𝑥𝐢 + 𝑑𝑦𝐣 mg
1
y1 x
= −𝑚𝑔 𝑑𝑦
(a)
= −𝑚𝑔(𝑦 − 𝑦 )

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Example of work: Weight

Gm em er
𝐅=− 𝒆
𝑟
Earth R 2
me m d
1 r
−𝐺𝑚 𝑚 r1 r
𝑈 = 𝐅 𝑑𝐫 = 𝒆 . 𝑑𝑟𝒆 r2
𝑟

𝑑𝑟
= −G𝑚 𝑚
𝑟

1 1
= 𝐺𝑚 𝑚 −
𝑟 𝑟 𝐺𝑚 = 𝑔𝑅

1 1
= 𝑚𝑔𝑅 −
𝑟 𝑟

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Work and Curvilinear Motion

𝑈 = 𝐅 𝑑𝐫 = 𝐹 𝑑𝑠
z
t Fn
2 dr
s2  F = F
𝑈 = 𝐅 𝑑𝐫 = 𝑚𝐚. 𝑑𝐫 m
r F
y
1 t
n
Path
𝐚. 𝑑𝐫 = 𝑎 𝑑𝑠 and 𝑎 𝑑𝑠 = 𝜐 𝑑𝜐 s1
O

𝑈 = 𝑚𝐚. 𝑑𝐫 x

= 𝑚𝜐 𝑑𝜐

= 𝑚(𝜐 −𝜐 )

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Work and Kinetic Energy

𝑈 = 𝑚(𝜐 −𝜐 ) z
t Fn
2 dr
1 s2  F = F
m
𝑇 = 𝑚𝜐
2 F
r 1 t
n y
Path
s1
𝑈 = 𝑇 − 𝑇 = ∆𝑇 O

x
𝑇 +𝑈 =𝑇

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Power
The capacity of a machine is measured by the
time rate at which it can do work or deliver
energy.
power, which is defined as the time rate of
doing work.
𝑑𝑈
𝑃=
𝑑𝑡
𝐅. 𝑑𝒓
=
𝑑𝑡

𝑃 = 𝑭. 𝒗

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Efficiency
The ratio of the work done by a machine to the
work done on the machine during the same
time interval is called the mechanical efficiency
em of the machine.

𝑃
𝑒 =
𝑃

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Example 1
Calculate the velocity v of the 50-kg crate when it
reaches the bottom of the chute at B if it is given
an initial velocity of 4 m/s down the chute at A.
The coefficient of kinetic friction is 0.30.

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Example 1
The total work done on the crate during the motion

Work-energy equation gives

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Example 2
The 50-kg block at A is mounted on rollers so that it moves along the
fixed horizontal rail with negligible friction under the action of the
constant 300-N force in the cable. The block is released from rest at
A, with the spring to which it is attached extended an initial amount
x1 = 0.233 m. The spring has a stiffness k = 80 N/m. Calculate the
velocity v of the block as it reaches position B.

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Example 2
Block moves from

Work done by the spring force acting on the block

The work done on the system by the constant 300-N force

Work-energy equation to the system

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Gravitational Potential Energy

Vg2 = mgh
It is defined as the work mgh done against
the gravitational field to elevate the particle a
h
distance h above some arbitrary reference mg
plane (called a datum), where Vg1 is taken to Vg1 = 0
be zero

𝑉 = 𝑚𝑔ℎ

(a)
For non zero reference the change in potential
energy becomes

∆𝑉 = 𝑚𝑔 ℎ − ℎ = 𝑚𝑔∆ℎ

corresponding work done by the

gravitational force on the particle

− 𝑚𝑔∆ℎ

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Gravitational Potential Energy

mgR 2
𝐺𝑚 𝑚 𝑚𝑔𝑅 m Vg =
= is no longer constant r
𝑟 𝑟
mgR 2 r
𝑟 Earth
Change in gravitational potential energy me
R
𝑑𝑟 1 1
𝑚𝑔𝑅
𝑟 = 𝑚𝑔𝑅 𝑟
−
𝑟

(b)
1 1
∆𝑉 = 𝑚𝑔𝑅 − Negative of work done by gravitational force
𝑟 𝑟

𝑤ℎ𝑒𝑛 𝑟 = ∞

𝑚𝑔𝑅
𝑉 =−
𝑟

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Elastic Potential Energy

The work which is done on the spring to deform it is stored in the spring and is
called its elastic potential energy Ve.
1
𝑉 = 𝑘𝑥 𝑑𝑥 = (𝑘𝑥 ) where 𝐹 = 𝑘𝑥
2

For deformation from x1 to x2

∆𝑉 = 𝑘(𝑥 −𝑥 )

Negative of work done by spring force

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Modified Work Energy Equation

𝑈 = ∆𝑇

𝑈 + (−∆𝑉 ) + (−∆𝑉 ) = ∆𝑇

𝑈 = ∆𝑇 + (∆𝑉 + ∆𝑉 )

𝑈 = ∆𝑇 + ∆𝑉

𝑇 +𝑉 +𝑈 =𝑇 +𝑉

System with only are gravitational, elastic, and nonworking constraint forces

𝑇 + 𝑉 = 𝑇 + 𝑉 or 𝐸 = 𝐸

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F1 F1
N F1
B
A System
Vg = mgh
F2 F2
h
F2
F = kx Vg = 0
W = mg
(a) U1-2 = ∆ T U'1-2 = ∆ T + ∆ V
(b) (c)

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Example 3
The 10-kg slider moves with negligible friction up the
inclined guide. The attached spring has a stiffness of 60
N /m and is stretched 0.6 m in position A, where the
slider is released from rest. The 250-N force is constant
and the pulley offers negligible resistance to the motion
of the cord. Calculate the velocity vC of the slider as it
passes point C.

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Example 3

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References :

Thanking you
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