Kinetics of a Particle (Force and Acceleration)

Road Map
Kinetics of particles

Newtons motion law

x-y coord.

Engineering Dynamics

The equation of Motion

n-t coord.

r- coord.

APPLICATIONS

The forces acting on the 100-lb boy can be analyzed using the
cylindrical coordinate system.
If the boy slides down at a constant speed of 2 m/s, can we
find the frictional force acting on him?
Engineering Dynamics

APPLICATIONS
(continued)
When an airplane
executes the vertical loop
shown above, the
centrifugal force causes
the normal force
(apparent weight) on the
pilot to be smaller than
his actual weight.
If the pilot experiences
weightlessness at A,
what is the airplanes
velocity at A?

Engineering Dynamics

ACCELERATION (POLAR COORDINATES) Chapter 12

The instantaneous acceleration is defined as:

u u r

.
.
a = dv/dt = (d/dt)(rur + ru)
After manipulation, the acceleration can be
expressed as
..
..
.. . 2
a = (r r )ur + (r + 2r)u
.. . 2
The term (r r ) is the radial acceleration
or ar.

..
..
The term (r + 2r) is the transverse
acceleration or a
..
.. 2
.. . 2 2
The magnitude of acceleration is a = (r r ) + (r + 2r)
Engineering Dynamics

CYLINDRICAL COORDINATES
This approach to solving problems
has some similarity to the normal &
tangential method. However, the
path may be more complex or the
problem may have other attributes
that make it desirable to use
cylindrical coordinates.
Equilibrium equations or Equations of Motion in cylindrical
coordinates (using r, , and z coordinates) may be expressed in
scalar form as:
.2
..
Fr = mar = m(r r )
.. . .
F = ma = m(r + 2r)
..
Fz = maz = mz

Engineering Dynamics

CYLINDRICAL COORDINATES
(continued)

If the particle is constrained to move only in the r

plane (i.e., the z coordinate is constant), then only the first
two equations are used (as shown below). The coordinate
system in such a case becomes a polar coordinate system.
In this case, the path is only a function of .
.. . 2
Fr = mar = m(r r )
..
..
F = ma = m(r + 2r)
Note that a fixed coordinate system is used, not a bodycentered system as used in the n t approach.

Engineering Dynamics

TANGENTIAL AND NORMAL FORCES

If a force P causes the particle to move along a path defined
by r = f ( ), the normal force N exerted by the path on the
particle is always perpendicular to the paths tangent. The
frictional force F always acts along the tangent in the opposite
direction of motion. The directions of N and F can be
specified relative to the radial coordinate by using angle .

Engineering Dynamics

DETERMINATION OF ANGLE
The angle , defined as the angle
between the extended radial line
and the tangent to the curve, can
be required to solve some
problems. It can be determined
from the following relationship.
tan =

r d
dr

r
dr d

If is positive, it is measured counterclockwise from the radial

line to the tangent. If it is negative, it is measured clockwise.
Engineering Dynamics

GROUP PROBLEM SOLVING

Given: A plane flies in a vertical loop
as shown.
vA = 80 ft/s (constant)
W = 130 lb
Find: Normal force on the pilot at A.
Remember:
.. . 2
Fr = mar = m(r r )
..
..
F = ma = m(r + 2r)
.
. 2
2
v = (r ) + ( r )
..
.
Plan: Determine and from the velocity at A and by
differentiating r. Solve for the accelerations, and
apply the equation of motion to find the force.
Solution:
Kinematics: r = - 600 cos( 2 )
r = 1200 sin( 2 )
2

r = 2400cos(2 ) +1200sin(2 )
At A ( = 90) r = 0

.
. 2
2
v = (r ) + ( r )

GROUP PROBLEM SOLVING (continued)

Remember ch12

At A ( = 90)

r = 0

2
2

Therefore v A = (r ) + (r ) = r
80
= 0.133 rad
at A, =
s
600
..
..

Since vA is constant, a = r + 2r = 0 => = 0

Since r = 600 ft

r = 2400 cos(180) 2 + 1200 sin(180) = - 2400(0.133) 2 = - 42.67 ft

2
ft

=
a r r r = - 42.67 - 600(0.133) 2 = - 53.33
Remember:

Engineering Dynamics

.. .
Fr = mar = m(r r2)

s2

s2

GROUP PROBLEM SOLVING

(continued)
Free Body Diagram & Kinetic Diagram
r
N

mar

mg
Kinetics: Fr = mar => -mg N = mar
130
N = -130
(-53.3) => N = 85.2 lb
32.2
Notice that the pilot would experience weightlessness when his
radial acceleration is equal to g.
Engineering Dynamics

EXAMPLE
Given: The ball (P) is guided along
P A
the vertical smooth circular
path.
.
W = 0.5 lb, = 0.4 rad/s,
..
rc
= 0.8 rad/s2, rc = 0.4 ft
r = 2rc cos
Find:

Force of the arm OA on the

ball when = 30.
Plan: Draw a FBD. Then develop the kinematic equations
and finally solve the kinetics problem using
cylindrical coordinates.
Solution: Since r = 2rc cos , therefore:
.
.
r = -2rc sin
..
.2
..
r = -2rc cos 2rc sin

EXAMPLE
(continued)
Free Body Diagram: Establish the r , inertial coordinate
system and draw the particles free body diagram.

mg

r+

+
maq

Ns NOA

n+
=30
Engineering Dynamics

mar

EXAMPLE
(continued)
Kinematics: at = 30
r = 2(0.4) cos(30) = 0.693 ft
.
r = -2(0.4) sin(30)(0.4) = -0.16 ft/s
..
r = -2(0.4) cos(30)(0.4)2 2(0.4) sin(30)(0.8) = -0.431 ft/s2
Acceleration components are
.. . 2
ar = r rq = -0.431 (0.693)(0.4)2 = -0.542 ft/s2
..
..
aq = rq + 2rq = (0.693)(0.8) + 2(-0.16)(0.4) = 0.426 ft/s2

Engineering Dynamics

EXAMPLE
(continued)

angle , defined as the

Kinetics:
angle between the
extended radial line and
Fr = mar
the tangent to the curve
0.5
Ns cos(30) 0.5 sin(30) = 32.2 (-0.542)
Ns = 0.279 lb

Fq = maq
0.5
NOA + 0.279 sin(30) 0.5 cos(30) =
(0.426)
32.2

NOA = 0.3 lb
tan = r/(dr/dq) where dr/dq = -2rc sinq
tan = (2rc cosq)/(-2rc sinq) = -1/tanq
Engineering Dynamics

= 120

Engineering Dynamics
Assignment No 4
Chapter 13
Solve Examples 13-10 to 13-12 and maximum
Problems from 13-84 to 13-115

Engineering Dynamics

Engineering Dynamics