Chapter 14 :

Kinetics of a Particle:
Work and Energy
(II)

by

Dr. Toh Hoong Thiam

 Principle of Work and Energy
 Consider a particle P, which is located on the path defined
relative to an inertial coordinate system.
 Equation of motion in the tangential direction:
S Ft = m at
dv
 Ft  m v
ds


s2 v2
Ft ds   mv dv
s1 v1

v2
 v2 

s2
Ft ds  m 
s1
 2  v1
1 2 1 2

s2
Ft ds  mv2  mv1 (1)
s1 2 2
 s2
 Let U 12   Ft ds
s1

1 2
T1  mv1
2
1 2
T2  mv2
2
 Then Eq. (1) becomes

U 1 2  T2  T1

or
T1   U1 2  T2 (Principle of Work and Energy)

So, the particle’s 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 particle’s final kinetic energy.
 NOTE:
 Work
 U1-2 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.

 Energy
 T1 and T2 are the kinetic energies of the particle at the initial and
final position, respectively.
 The kinetic energy is always a positive scalar (velocity is squared!).

 Both kinetic energy and work have the same units, that of energy!

 Note that the principle of work and energy (T1 +  U1-2 = T2)
is not a vector equation! Each term results in a scalar value.
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 external force Fi
and a resultant internal force fi, which all
the other particles exert on the ith particle.
• The principle of work and energy for the ith particle
1 1
mi vi1   ( Fi )t ds   ( f i )t ds  mi vi22
si 2 si 2
2

2 si 1 si 1 2

• Since both work and force are scalars, the results may be added
together algebraically,
1 1
 2 i i1  si1 i t  si1 i t  2 i i 2
si 2 si 2
m v 2
 ( F ) ds  ( f ) ds  m v 2

• We can write this equation symbolically

ST1  SU1 2  ST2

• This equation states that the system’s initial energy plus the work
done by all the external and internal forces acting on the particles of
the system is equal to the system’s final kinetic energy
NOTE:

 If the system represents a translating rigid body, or a series of

connected translating bodies, then all the particles in each body will
undergo the same displacement.
Therefore, the work of all the internal forces (which appear in equal
but opposite collinear pairs) will cancel out.

 If the body is assumed to be nonrigid, the particles of the body may be

displaced along different paths, and some of the energy due to force
interactions would be given off and lost as heat or stored in the body if
permanent deformation occur.
Therefore, the total work done by all the internal se forces will not
cancel out.
Example 1

Given:

• The 17.5-kN automobile is traveling down the 10°inclined

road at a speed of 6 m/s.

• The coefficient of the kinetic friction between the wheels and the
road is μk = 0.5.

Find:
If the driver jams on the brakes, causing his wheels to lock,
determine how far s the tires skid on the road.
Solution:
 Method 1
Free-body & kinetic diagrams:

Equation of motion:
+ S Fn  man : NA − 17.5 cos 10 = 0
NA = 17.234 kN

Frictional force:
FA = mk NA
FA = 0.5 (17.234 kN) = 8.617 kN
 1
2
Principle of Work and Energy
v1 = 6 m/s

v2 = 0

T1  S U1-2 = T 2

1 2
2
 
 
1 2
mv1  W sin 10 s  FA s  mv2
2

1  17500  2

2  9.81 
 
(6)  (17500sin10 ) s  (8617.1) s  0

s = 5.75 m
 Method 2
Free-body & kinetic diagrams:

Equations of motion:

+ S Fn  0 : NA − 17.5 cos 10 = 0

NA = 17.234 kN
 + S Fs  mas : W sin 10 − FA = ma

W sin 10 − mk NA = (W/g) a

 17500 
17500 sin 10  0.5 (17.234 )   a
 9.81 

a = −3.13 m/s2

Kinematics

+ v 2  v02  2as  s0 

0 = 62 + 2 (−3.13) (s −0)
0 = 62 + 2 (−3.13) (s −0)
s = 5.75 m
Example 2

Given:

• Packages having a mass of 2-kg are

delivered from a conveyor to a smooth
circular ramp with a velocity of v0 = 1 m/s.

• The radius of the ramp is 0.5 m

Find:
The angle θ = θmax at which each package begins to leave the
surface.
 1
Solution:
Free-body diagram: Dy

Work 2

• Initial position of weight : q1= 0

• Final position of weight : q2= qmax
• The work done by the weight is

U1-2 = WDy

U1-2 = 2g(0.5 – 0.5cosqmax)

U1-2 = g (1 – cosqmax)
 Principle of Work and Energy

T1  S U1-2 = T 2
1 2 1
mv1  WDy  mv22
2 2

1
212  g 1  cosqmax   1 2v22 1
2 2

v22  g (1  cosq max )  1 (1) Dy

2
Note:
• Eq. (1) has 2 unknowns, θmax, v2
• Thus, a second equation is needed. ⟹ Equation of motion in n-direction
 Equation of motion:

= mat
t
NB man =
q t
W=mg m(v2/r)
n n

+ S Fn  man : mg cos q  NB = man

g cos q – NB/m = v2/r (2)

When the package leaves the ramp at q = q max, NB = 0 and v = v2,

Eq.(2) becomes
v22
g cosq max  (3)
r
From Eq.(1) & Eq.(3),

rg cosqmax  g (1  cosqmax )  1

g 1
cosq max 
rg  g

9.81  1
cosq max 
0.59.81  9.81
cos q max = 0.7346

q max = 42.7 o
Example 3

Given:

• Blocks A and B have a mass

of 10-kg and 100-kg
respectively.

Find:
Determine the distance B travels when it is released from rest to
the point where its speed becomes 2 m/s.
Solution:
Kinematics
• Position Coordinate System
sA + 4 sB = l (1)

• Velocity
vA + 4 vB = 0 (2)

• From Eq.(1),
DsA +4 D sB = 0
DsA = − 4D sB (3)

• From Eq.(2),
vA = −4vB = −4(2 m/s) = − 8 m/s
Free-body diagram:
• Blocks A and B are considered together as a single system so that the
work of the cable tension can be eliminated.

• The cable force T and reactions R1 & R2 do not work as the

displacements at their points of application are zeros.
Principle of Work and Energy

T1  S U1-2 = T 2

1 2 1 2
 m A v 2
A 1 
1
m B v 
B 1  W A Ds A  WB Ds B    m A v 2
A 2 
1
m B v 
B 2
 2 2   2 2 

1
0  0 98.1(4DsB )  (981)DsB    (10) 8  (100)22 
2 1
2 2 

588.6 DsB = 520

DsB = 0.883 m (↓)

Example 4
Given:
For a short time the crane lifts the
2.50-Mg beam with a force of
F = (28 + 3s2) kN.

Find:

• The speed of the beam when it has

risen s = 3 m.

• The time it takes to attain this

height starting from rest.
Solution
• Free-body diagram:

 Work done by the force F .

The towing force F does positive work.
s
s   s  
U F   F  dr   F j  dsj
0 0

 F ds
0

28  3s 10
s
UF 

2 3
ds
0

U F  10 3
 3 s
28s  s 0  =(28s + s3)103
 Work done by weight W.

The weight is constant and will do negative work since the

displacement is upwards.
s
s   s
 
0 0

U W   W  dr    W j   dsj   W ds = − mgs
0

 Total Work

S U1-2 = UF +UW

SU1-2 = (28s + s3)103 − mgs

   
 28s  s 3 103  2.5 103 9.81s
• Principle of Work and Energy.
T1  S U1-2 = T 2
mv1  U F  UW   mv2
1 2 1 2
2 2

   
0  28s  s 3 103  2.5 103 9.81s  12 2.5 10  v
3 2
2

v2  2.78s  0.8s3

When s = 3 m,

v2  2.783  0.833 = 5.47 m/s

• Kinematics.
ds
v
dt

ds
2.78s  0.8s3 
dt

t
3
 
ds
dt 
0
0 2.78s  0.8s 3

Solving the above equation numerically, we have

t = 1.79 s