THE WORK OF A FORCE, THE PRINCIPLE OF

WORK AND ENERGY & SYSTEMS OF PARTICLES

Todays Objectives:
Students will be able to:
1. Calculate the work of a force.
2. Apply the principle of work and
energy to a particle or system of
particles.
QUIZ
1. What is the work done by the force F?
A) F s B) F s
C) Zero D) None of the above.
s
s
1
s
2
F
2. If a particle is moved from 1 to 2, the work done on the
particle by the force, F
R
will be
A) B)
C) D)
2
1
s
t
s
Fds E
}
2
1
s
t
s
Fds E
}
2
1
s
n
s
F ds E
}
2
1
s
n
s
F ds E
}
APPLICATIONS
A roller coaster makes use of gravitational forces to assist the
cars in reaching high speeds in the valleys of the track.
How can we design the track (e.g., the height, h, and the radius
of curvature, ) to control the forces experienced by the
passengers?
WORK AND ENERGY
Another equation for working kinetics problems involving
particles can be derived by integrating the equation of motion
(F = ma) with respect to displacement.
This principle is useful for solving problems that involve
force, velocity, and displacement. It can also be used to
explore the concept of power.
By substituting a
t
= v (dv/ds) into F
t
= ma
t
, the result is
integrated to yield an equation known as the principle of work
and energy.
To use this principle, we must first understand how to
calculate the work of a force.
WORK OF A FORCE (Section 14.1)
A force does work on a particle when the particle undergoes a
displacement along the line of action of the force.
Work is defined as the product of force
and displacement components acting in
the same direction. So, if the angle
between the force and displacement
vector is u, the increment of work dU
done by the force is
dU = F ds cos u
By using the definition of the dot product
and integrating, the total work can be
written as
}
r
2
r
1
U
1-2
=
F dr
WORK OF A FORCE
(continued)
Work is positive if the force and the movement are in the
same direction. If they are opposing, then the work is
negative. If the force and the displacement directions are
perpendicular, the work is zero.
If F is a function of position (a common
case) this becomes
}
=
s
2
s
1
F cos u ds
U
1-2
If both F and u are constant (F = F
c
), this equation further
simplifies to
U
1-2
= F
c
cos u (s
2
- s
1
)
WORK OF A WEIGHT
The work done by the gravitational force acting on a particle
(or weight of an object) can be calculated by using
The work of a weight is the
product of the magnitude of the
particles weight and its vertical
displacement.
If Ay is upward, the work is
negative since the weight force
always acts downward.
y
W
}
r
2
r
1
U
1-2
=
F dr
( ) y W y y W Wdy k dz j dy i dx j W
y
y
r
r
A = = = + + =
} }
2
1
2
1
1 2
)

.( )

(
y
1
y
2
WORK OF A SPRING FORCE
When stretched, a linear elastic spring
develops a force of magnitude F
s
= ks, where
k is the spring stiffness and s is the
displacement from the unstretched position.
If a particle is attached to the spring, the force F
s
exerted on the
particle is opposite to that exerted on the spring. Thus, the work
done on the particle by the spring force will be negative or
U
1-2
= [ 0.5 k (s
2
)
2
0.5 k (s
1
)
2
] .
The work of the spring force moving from position s
1
to position
s
2
is
= 0.5 k (s
2
)
2
0.5 k (s
1
)
2
k s ds
F
s
ds U
1-2
s
2
s
1
s
2
s
1
= }
= }
WORK OF A SPRING FORCE
}
r
2
r
1
U
1-2
=
F dr
2
) (
2 2
) ( )

.( )

(
2
2
2
1
2
1
2
2
2
1
2
1
2
1
s s k
ks ks
ds ks ds F k dz j dy i ds i F
s
s
s
s
s
r
r
s

=
+

= = = + + =
} } }
Note s here is measured
with respect to the
upstretched position.
PRINCIPLE OF WORK AND ENERGY
(Section 14.2 & Section 14.3)
U
1-2
is the work done by all the forces acting on the particle as it
moves from point 1 to point 2. Work can be either a positive or
negative scalar.
By integrating the equation of motion, F
t
= ma
t
= mv(dv/ds), the
principle of work and energy can be written as
U
1-2
= 0.5 m (v
2
)
2
0.5 m (v
1
)
2
or T
1
+ U
1-2
= T
2
T
1
and T
2
are the kinetic energies of the particle at the initial and final
position, respectively. Thus, T
1
= 0.5 m (v
1
)
2
and T
2
= 0.5 m (v
2
)
2
.
The kinetic energy is always a positive scalar (velocity is squared!).
So, the particles initial kinetic energy plus the work done by all the
forces acting on the particle as it moves from its initial to final position
is equal to the particles final kinetic energy.
PRINCIPLE OF WORK AND ENERGY
(continued)
The principle of work and energy cannot be used, in general, to
determine forces directed normal to the path, since these forces
do no work.
Note that the principle of work and energy (T
1
+ U
1-2
= T
2
) is
not a vector equation! Each term results in a scalar value.
Both kinetic energy and work have the same units, that of
energy! In the SI system, the unit for energy is called a joule (J),
where 1 J = 1 Nm. In the FPS system, units are ftlb.
The principle of work and energy can also be applied to a system
of particles by summing the kinetic energies of all particles in the
system and the work due to all forces acting on the system.
The case of a body sliding over a rough surface merits special
consideration.
This equation is satisfied if P =
k
N. However, we know from
experience that friction generates heat, a form of energy that does
not seem to be accounted for in this equation. It can be shown that
the work term (
k
N)s represents both the external work of the
friction force and the internal work that is converted into heat.
WORK OF FRICTION CAUSED BY SLIDING
The principle of work and energy would be
applied as
0.5m (v)
2
+ P s (
k
N) s = 0.5m (v)
2
Consider a block which is moving over a
rough surface. If the applied force P just
balances the resultant frictional force
k
N,
a constant velocity v would be maintained.
Given: When s = 0.6 m, the spring is
not stretched or compressed,
and the 10 kg block, which is
subjected to a force of F=
100 N, has a speed of 5 m/s
down the smooth plane.
Find: The distance s when the block stops.
Plan:
Since this problem involves forces, velocity and displacement,
apply the principle of work and energy to determine s.
EXAMPLE
S
2
S
1
F
s
W
F
N
y
2
y
1
sin()=( y
1
-y
2
)/( s
2
-s
1
)
y
1
-y
2

y
2
-y
1
= -(s
2
-s
1
) sin()
Apply the principle of work and energy between position 1
(s
1
= 0.6 m) and position 2 (s
2
). Note that the normal force (N)
does no work since it is always perpendicular to the
displacement.
EXAMPLE
(continued)
Solution:
T
1
+ U
1-2
= T
2
There is work done by three different forces;
1) work of a the force F =100 N;
U
F
= 100 (s
2
s
1
) = 100 (s
2
0.6)
2) work of the block weight= -WAy=-(s
2
-s
1
) sin()*-mg
U
W
= 10 (9.81) (s
2
s
1
) sin 30 = 49.05 (s
2
0.6)
3) and, work of the spring force.
U
S
= - 0.5 (200) (s
2
0.6)
2
= -100 (s
2
0.6)
2
The work and energy equation will be
T
1
+ U
1-2
= T
2
0.5 (10) 5
2
+ 100(s
2
0.6) + 49.05(s
2
0.6) 100(s
2
0.6)
2
= 0
125 + 149.05(s
2
0.6) 100(s
2
0.6)
2
= 0
EXAMPLE
(continued)
Solving for (s
2
0.6),
(s
2
0.6) = {-149.05 (149.05
2
4(-100)125)
0.5
} / 2(-100)
Selecting the positive root, indicating a positive spring deflection,
(s
2
0.6) = 2.09 m
Therefore, s
2
= 2.69 m
CONSERVATIVE FORCES, POTENTIAL ENERGY
AND CONSERVATION OF ENERGY
CONSERVATIVE FORCE
(Section 14.5)
A force F is said to be conservative if the work done is
independent of the path followed by the force acting on a particle
as it moves from A to B. This also means that the work done by
the force F in a closed path (i.e., from A to B and then back to A)
is zero.
Thus, we say the work is conserved.
}
r F 0
=
d
x
y
z
A
B
F
The work done by a conservative
force depends only on the positions
of the particle, and is independent of
its velocity or acceleration.
CONSERVATIVE FORCE (continued)
A more rigorous definition of a conservative force makes
use of a potential function (V ).
The conservative potential energy of a particle/system is
typically written using the potential function V.
There are two major components to V commonly encountered
in mechanical systems, the potential energy from gravity and
the potential energy from springs or other elastic elements.
V
total
= V
gravity
+ V
springs
POTENTIAL ENERGY
Potential energy is a measure of the amount of work a
conservative force will do when a body changes position.
In general, for any conservative force system, we can define
the potential function (V) as a function of position. The work
done by conservative forces as the particle moves equals the
change in the value of the potential function (e.g., the sum of
V
gravity
and V
springs
).
It is important to become familiar with the two types of
potential energy and how to calculate their magnitudes.
POTENTIAL ENERGY DUE TO GRAVITY
The potential function (formula) for a gravitational force, e.g.,
weight (W = mg), is the force multiplied by its elevation from a
datum. The datum can be defined at any convenient location.
V
g
= W y
V
g
is positive if y is above the
datum and negative if y is
below the datum. Remember,
YOU get to set the datum.
ELASTIC POTENTIAL ENERGY
Recall that the force of an elastic spring is F = ks.
Notice that the potential
function V
e
always yields
positive energy.
k s
2
2
1
V
e
=
V
e
(where e denotes an
elastic spring) has the distance
s raised to a power (the
result of an integration) or
CONSERVATION OF ENERGY
(Section 14.6)
When a particle is acted upon by a system of conservative
forces, the work done by these forces is conserved and the
sum of kinetic energy and potential energy remains
constant. In other words, as the particle moves, kinetic
energy is converted to potential energy and vice versa.
This principle is called the principle of conservation of
energy and is expressed as
2 2 1 1
V T V T
+ = +
= Constant
T
1
stands for the kinetic energy at state 1 and V
1
is the
potential energy function for state 1. T
2
and V
2
represent these energy states at state 2. Recall, the
kinetic energy is defined as T = mv
2
.
EXAMPLE
Given: The 2 kg collar is moving down
with the velocity of 4 m/s at A.
The spring constant is 30 N/m. The
unstretched length of the spring is
1 m.
Find: The velocity of the collar when
s = 1 m.
Plan:
Apply the conservation of energy equation between A and
C. Set the gravitational potential energy datum at point A
or point C (in this example, we choose point A).
Similarly, the potential and kinetic energies at A will be
V
A
= 0.5 (30) (2 1)
2
, T
A
= 0.5 (2) 4
2
EXAMPLE
(continued)
Solution:
Note that the potential energy at C has two parts.
V
C
= (V
C
)
e
+ (V
C
)
g
V
C
= 0.5 (30) (5 1)
2
2 (9.81) 1
The kinetic energy at C is
T
C
= 0.5 (2) v
2
The energy conservation equation becomes T
A
+ V
A
= T
C
+ V
C
.
[ 0.5(30) (5 1)
2
2(9.81)1 ] + 0.5 (2) v
2
= [0.5 (30) (2 1)
2
]+ 0.5 (2) 4
2
v = 5.26 m/s
V
g
= W y
k s
2
2
1
V
e
=
2 2 1 1
V T W V T
conser non
+ = + +


+ = +
2 2 1 1
V T V T
For a system of particles under conservative forces:
For a particle under conservative and non conservative
forces:
Important Notes:
Given: When s = 0.6 m, the spring is
not stretched or compressed,
and the 10 kg block, which is
subjected to a force of F=
100 N, has a speed of 5 m/s
down the smooth plane.
Find: The distance s when the block stops.
EXAMPLE
mgh k mv s s F mv
V T W V T
conser non
A + = + +
+ = + +

2 2
2 1 2
2
1
2 2 1 1
2
1
2
1
) ( 0
2
1
S
2
S
1
y
2
y
1
sin()=( y
1
-y
2
)/( s
2
-s
1
)
y
1
-y
2

h=y
1
-y
2
= (s
2
-s
1
) sin()
Datum
( ) ) sin( ) (
2
1
2
1
) ( 0
2
1
1 2
2
1 2
2
2
1 2
2
1
u s s mg s s k mv
s s F mv
+
= + +
Below is the solution of the other approach in numbers:
T
1
+ U
1-2
= T
2
0.5 (10) 5
2
+ 100(s
2
0.6) + 10 (9.81) (s
2
s
1
) sin 30
100(s
2
0.6)
2
= 0
Both are the same.
Example
Given: The 800 kg roller
coaster starts from
A with a speed of
3 m/s.
Note that only kinetic energy and potential energy due
to gravity are involved. Determine the velocity at B using the
equation of equilibrium and then apply the conservation of
energy equation to find minimum height h .
Find: The minimum height, h, of the hill so that the car
travels around inside loop at B without leaving the track. Also
find the normal reaction on the car when the car is at C for this
height of A.
Plan:
Example (continued)
1) Placing the datum at A:
T
A
+ V
A
= T
B
+ V
B
0.5 (800) 3
2
+ 0
= 0.5 (800) (v
B
)
2
800(9.81) (h 20) (1)
Solution:
ma
n
mg
N
B
~ 0
=
Equation of motion applied at B:

2
v
m ma F
n n
= =
10
800 (9.81) = 800
(v
B
)
2
v
B
= 9.905 m/s
2) Find the required velocity of the coaster at B so it doesnt
leave the track.
Example (continued)
Now using the energy conservation, eq. (1), the minimum h
can be determined.
0.5 (800) 3
2
+ 0 = 0.5 (800) (9.905)
2
800(9.81) (h 20)
h= 24.5 m
ma
n
mg
N
C
=
N
C
= 16.8 kN
3) To find the normal reaction at C, we need v
c
.
T
A
+ V
A
= T
C
+ V
C
0.5 (800) 3
2
+ 0 = 0.5 (800) (v
C
)
2
800(9.81) (24.5 14)
V
C
= 14.66 m/s
Equation of motion applied at B:

2
v
m
F
n
=
7
N
C
+800 (9.81) = 800
14.66
2

ATTENTION QUIZ
If the pendulum is released from the
horizontal position, the velocity of its
bob in the vertical position is _____
A) 3.8 m/s. B) 6.9 m/s.
C) 14.7 m/s. D) 21 m/s.