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CHAPTER14:
KINEMATICSOFAPARTICLE WORKAND
ENERGY
DrMohamedAICHOUNI
http://faculty.uoh.edu.sa/m.aichouni/me201dynamics/
The s e L e c tur e no te s ar e pr e pa r e d f r o m : R. C. H i b b e le r , E ngine e r i n g Me chanics Dynamics , 12th E d.

14.1 The Work of a Force


A force F does work on a particle only when the particle undergoes a
displacement in the direction of the force.
Consider the force acting on the particle;
If the particle moves along the path s from
position r to new position r,
Displacement is then : dr = r r
Magnitude of dr is represented by ds, differential segment along the path
If the angle between tails of dr and F is , work dU done by F is a scalar
quantity :
dU = F ds cos
dU = Fdr
Resultant interpreted in two ways
1) Product of F and the component of displacement in the direction of the
force ds cos
2) Product of ds and component of force in the direction of the displacement
F cos

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14.1 The Work of a Force


If 0 < < 90, the force component and the displacement has the same sense
so that the work is positive
If 90 < < 180, the force component and the displacement has the opposite
sense so that the work is negative
dU = 0 if the force is perpendicular to the displacement since cos 90 = 0 or if
the force is applied at a fixed point where displacement = 0
Basic unit for work in SI units is joule (J)
This unit combines the units for force and displacement
1 joule of work is done when a force of 1 newton moves 1 meter along its line
of action
1J = 1N.m
Moment of a force has this same combination of units, however, the concepts
of moment and work are in no way related
A moment is s vector quantity, whereas work is a scalar

14.1 The Work of a Force


Work of a Variable Force.
If the particle undergoes a finite displacement along its path from r1 to r2 or s1
to s2, the work is determined by integration.
If F is
i expressed
d as a ffunction
ti off position,
iti
F = F(s),
F( )

U 1 2 =

r2

r1

F . dr =

s2

s1

F cos ds

If the working component of the force, F cos , is plotted versus s, the


integral in this equation can be interpreted as the area under the curve from
position s1 to position s2

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14.1 The Work of a Force


Work of a Constant Force Moving Along a Straight Line.
If the force Fc has a constant magnitude and acts at a constant angle from its
straight line path, then the components of Fc in the direction of displacement is
Fc cos

The work done by Fc when the particle is displaced from s1 to s2 is determined

s2

U1 2 = Fc cos ds
s1

U1 2 = Fc cos ( s2 s1 )

or

The work of Fc represents the area of the rectangle

14.1 The Work of a Force


Work of a Weight.
Consider a particle which moves up along the path s from s1 to position s2.
At an intermediate point, the displacement dr = dxi +dyj + dzk. Since W = -Wj
r2
~
U1 2 = F .dr = (W~j ).(dx~
i + dy~j + dzk )
r1

y2

y1

Wdy = W ( y2 y1 )

U122 = Wy
Work done is equal to the magnitude of the particles weight times its
vertical displacement.
If W is downward and y is upward, work is negative
If the particle is displaced downward (-y), the work of the weight is positive.

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14.1 The Work of a Force


Work of a Spring Force.
The magnitude of force developed in a linear elastic spring when the spring is
displaced
p
a distance s from its unstretched p
position is Fs = ks.
If the spring is elongated or compressed from a position s1 to s2, the W.D on
spring by Fs is positive, since force and displacement are in the same direction.

s2

s2

s1

s1

U1 2 = Fs ds = ks ds
1
1 2
= kks22 ks
k1
2
2

14.1 The Work of a Force


If a particle is attached to a spring, then the force Fs exerted on the particle is
opposite to that exerted on the spring.
The force will do negative work on the particle when the particle is moving so
as to further elongate (or compress) the spring.

1
1
U1 2 = ks22 ks12
2
2

This equation represents the trapezoidal area under the line Fs=ks

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Example 14.1
The 10-kg block rest on a smooth incline. If the spring is
originally stretched 0.5 m, determine the total work done
by all forces acting on the block when a horizontal force
P = 400 N pushes the block up the plane s = 2 m.

Solution of Example 14.1


Horizontal Force P.
Since this force is constant, the work is determined using:

U P = 400 N 2m cos 30o

= 692.8 J
Spring Force Fs.
The spring is stretched to its final position s2 = 0.5 + 2 = 2.5 m. The work is
negative since force and displacement are in opposite directions.
The work of Fs is thus:

1
1
U s = (30 N / M )(2.5m) 2 (30 N / M )(0.5m) 2 = 90 J
2
2

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Solution of Example 14.1


Weight W.:
Weight acts in the opposite direction to its vertical displacement, the work is
negative:
ti

UW = 98.1N (2m sin 30o ) = 98.1J


Normal Force NB.
This force does no work since it is always perpendicular to the displacement.
Total Work.
Work
The work of all the forces when the block is displaced 2 m is thus

UT = 692.8 90 98.1 = 505 J

14.2 Principle of Work and Energy


Consider a particle P, which at the instant
considered located on the path as measured from
an inertial coordinate system
For the particle in the tangential direction,
Ft = mat

s1

Ft ds =

v1

s1

Ft ds =

1
1
mv 22 mv 12
2
2

s2
s2

v2

mv dv

F principle
For
i i l off work
k and
d energy for
f the
th particle,
ti l

U 1 2

1
mv
2

Sum of work done by all the


forces acting on the particle as the
particle moves from point 1 to 2.

2
2

1
mv 12
2

This term defines the particles final


and initial kinetic energy.

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14.2 Principle of Work and Energy


T1 + U1 2 = T2
The particles initial kinetic energy plus the work done by all
the forces acting on the particle as it moves from initial to its
final position is equal to the particles final kinetic energy.
If instead v2 is determined by means of the equation of motion, a two
step process is necessary, apply Ft = mat to obtain at , then integrate
at = v dv/ds to obtain v2.

14.3 Principle of Work and Energy for a


System of Particles
Principle of work and energy can be extended to include
a system of n particles isolated within an enclosed region
of space.
An arbitrary ith particle, having a mass mi, is subjected to
a resultant force Fi and a resultant internal force fi, which
each of the other particles exerts on the ith particle
We can write this equation symbolically:

T1 + U12 = T2
The equation states that the systems initial energy plus the work done by all
the external and internal forces acting on the particles of the system is equal to
the systems final kinetic energy.

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14.3 Principle of Work and Energy for a


System of Particles
Work of Friction Caused by Sliding.
Consider a case when a body is sliding over the surface of another body in the
presence of friction
Consider a block translating a distance s over a rough surface:
If the applied force P just balances the resultant frictional
force kN then due to equilibrium a constant velocity v is
maintained:

1 2
1
mv + Ps k N s = mv2
2
2
Sliding motion will generate heat, a form of energy which
seems not to be accounted for in the work-energy equation

Example 14.3
For a short time the crane lifts the 2.50-Mg
beam with a force of F = (28 + 3s2) kN.
kN
Determine the speed of the beam when it
has risen s = 3 m. How much time does it
take to attain this height starting from rest.

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Example 14.3
Work (Free-Body Diagram).
The towing force F does positive work, which must be determined by
integration since this force is a variable. The weight is constant and
will do negative work since the displacement is upwards.
Principle of Work and Energy.

T1 U 1 2 = T2
0+

0 ( 28 + 3 s

)(10 3 ) ds ( 2 . 50 )(10 3 )( 9 . 81 ) s =

1
( 2 . 50 )(10 3 ) v 2
2

28 (10 3 ) s + (10 3 ) s 3 24 . 525 (10 3 ) s = 1 . 25 (10 3 ) v 2


v = ( 2 . 78 s + 0 . 8 s 3 )1 / 2
For : s = 3 m,

v = (2.78 3 + 0.8(3)3 )1/ 2 = 5.47m / s

Example 14.3
Kinematics.
Since we were able to express the velocity as a function of displacement
using v = ds/dt

v = (2.78s + 0.8s 3 )1/ 2 =


ds
0 ( 2.78s + 0.8s 3 )1 / 2
= 1.799 s

t=

ds
dt

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14.4 Power and Efficiency


Power
is defined as the amount of work performed per unit of time.
The power generated by a machine or engine that performs an amount of work
dU within a time interval dt is:

P=

dU
dt

Provided the work dU is expressed by dU = F.dr, then it also possible to write


P = F.v

Power is a scalar, where in the formulation v represents the velocity of the point
which is acted upon by the force F.
SI unit for power is watt (W). It is defined as:

1 W = 1 J/s = 1 N.m/s

Power and Efficiency


Efficiency
It is defined as the ratio of the output of useful power produced by the machine
to the input of power supplied to the machine:

power output
power input

If energy applied to the machine occurs during the same time interval at which
it is removed, then the efficiency may also be expressed in terms of the ratio of
output energy to input energy:

=
The efficiency of any machine is always less than 1.

10

energy output
energy input

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Example 14.7
The motor M of the hoist operates with
an efficiency of = 0.85. Determine the
power that must be supplied to the
motor to lift the 375-N crate C at the
instant point P on the cable has an
acceleration of 1.2m/s2, and a velocity
of 0.6 m/s

Solution - Example 14.7


First we determine the tension in the cable.

Since

= ma y ; 2T + 375 = m ac =

2 sC + sP = l

375
ac
9.81

taking time derivative of this equation, and substituting aP = +1.2 m/s2

2aC = aP
aC = 1.2 / 2 = 0.6m / s 2

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T = 199.0 N

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Example 14.7
The power output required to draw the cable in at a rate of 0.6 m/s is

P = T v = 199( N ) 0.6(m / s ) = 119.4W


This power output requires that the motor provide a power input of

1
power input = ( power output )

1
(119.4) = 140.5W
0.85

14.5 Conservative Forces and


Potential Energy
Conservative Force.
It is defined by the work done in moving a particle
from one point to another that is independent of
the path followed by the particle.
Two examples are weight of the particle and
elastic force of the spring.

Potential Energy.
It is
i th
the measure off the
th amountt off workk a conservative
ti force
f
will
ill do
d when
h it
moves from a given position to the datum.

Gravitational Potential Energy.


If a particle is located a distance y above an arbitrary selected datum, the
particles weight W has positive gravitational potential energy Vg.

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14.5 Conservative Forces and


Potential Energy
W has the capacity of doing positive work
when the particle is moved back down to the
datum.
The particle is located a distance y below
the datum, Vg is negative since the weight
does negative work when the particle is
moved back up to the datum.

If y is positive upward, gravitational potential energy of the


particle of weight W is :

Vg = Wy

14.5 Conservative Forces and Potential


Energy
Elastic Potential Energy
When an elastic spring is elongated or compressed a distance s from its
unstretched position,
position the elastic potential energy Ve can be expressed by:

1
Ve = + ks 2
2
Ve is always positive since
since, in the
deformed position, the force of the
spring has the capacity for always doing
positive work on the particle when the
spring is returned to its unstretched
position.

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Conservative Forces and Potential


Energy
Potential Function.
If a particle is subjected to both gravitational and elastic forces, the particles
potential energy can be expressed as a potential function:

V = Vg + Ve

14.6 Conservative of Energy


When a particle is acted upon by a system of both conservative and nonconservative forces, the portion of the work done by the conservative forces can
be written in terms of the difference in their potential energies using :

(U12 )cons. = V1 V2
As a result, the principle of work and energy can be written as

T1 + V1 + (U1 2 ) noncons. = T2 + V2
(U1-2)noncons represents the work of the non-conservative forces acting on the
particles.
If only conservative forces are applied to the body, this term is zero and we
have :

T1 + V1 = T2 + V2

This equation referred to as the conservation of mechanical energy or simply


the conservation of energy.

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14.66 Conservative of Energy


It states that during the motion the sum of the particles
kinetic and potential energies remain constant.

Conservative of Energy
System of Particles.
If a system of particles is subjected only to conservative forces, then an equation
can be written :

T1 + V1 = T2 + V2
The sum of the particles initial kinetic and potential energies is
equal
q
to the sum of the particles
p
final kinetic and potential
p
energies ; That is:

T + V = const

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Example 14.9
The gantry structure is used to test the response of an airplane during a
clash. The plane of mass 8-Mg is hoisted back until = 60, and then
pull-back cable AC is released when the plane is at rest. Determine the
speed of the plane just before clashing into the ground
ground, = 15.
15 Also,
Also
what is the maximum tension developed in the supporting cable during
the motion?

Example 14.9

Potential Energy.
For convenience, the datum has been established at the top of the gantry.

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Example 14.9
Conservation of Energy.

TA + VA = TB + VB
0 8000(9.81)(20 cos 60o ) =
1
(8000)vB2 8000(9.81)(20 cos15o )
2
vB = 13.5m / s

Example 14.9
Equation of Motion.
Using data tabulated on the free-body diagram when the plane is at B,
+

Fn = man ;
(13.5) 2
T 8000(9.81) N cos15 = (8000)
20
T = 149kN
o

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