Dynamics (AE1130-II) summary

by Selim Kazanci
Table of contents
 Introduction
Dynamics is known for being one of the harshest subjects in the entire BSc, however, the
theories and the concepts are in fact pretty basic and intuitive since dynamics is a branch of
classical mechanics. Therefore, it is easy to visualize and hence understand the concepts. The
hard part of dynamics is solving problems. In order to master problem-solving skills, a person
must understand the theory very well with the small details since the path that leads to
solution to the problems is usually going through these small details. Then, the person should
have the right thought method and finally solve many problems. In this summary, I will
explain the theory with details and solve some hard questions to show the reader how to think
while solving problems.
 Particle dynamics
We divide our dynamics course into two broad categories. Particle and rigid body dynamics.

In particle dynamics, we treat our objects as a single point, a particle therefore their shape do
not matter, we treat all the shapes as a particle. For certain situations, this is a valid
assumption, but not always, thats why we have rigid body dynamics and further but we won’t
go further than rigid body dynamics.

The situations where we can make particle assumptions are usually the situations where our
objects is much smaller than the environment it is interacting with, however, when to make
this assumption will be clearer when we solve questions. It can be said that the distinction can
be made by intuition.
1.2: Rectilinear motion
Rectilinear motion refers to motion where the motion cannot be described by a single
function, instead, multiple functions are needed to describe the motion. An example to this
situation would be a in real life car trip.

Before starting, basic relationships should be known. They are:

ds
 v=
dt
dv
 a=
dt

Where s stands for displacement, t stands for time, v for velocity and a for acceleration.
Remember that they are vectors.

However, we could also write a relationship that depends on displacement instead of time,
since for certain situations we are more interested in how velocity and acceleration change
depending on the displacement -such as simple harmonic motion.

These relationships are:

 a=v ( dvds ) hence, acceleration at a specific position(displacement) can be found in

velocity-displacement graph by multiplying the velocity by the gradient of this graph.
s1
1 2 2
2 1 0 ∫
 ( v −v )= a ds by rearranging this formula the final velocity could be found
s 0

√∫
s1
2
v 1= a ds+2 v 0 hence, we would need the acceleration-displacement graph as well
s0

as the initial velocity of our particle to find the final velocity

There is not much about rectilinear motion, the formulas given above should be applied
directly. Let’s show some examples.
Problem solving:

1) First thing we should always do is determine a coordinate system. For this question,
we choose positive direction to be downwards and negative direction upwards.
2) Second thing that we should look for is the small hints in the text, for this question, it
is that we started from rest and at a very high altitude
dv
3) We are asked to find the velocity at 5 seconds after the drop and we know that a=
dt
dv
=9.81 ( 1−v ∙ 10 )and hence, the
2 −4
hence the given expression could be written as
dt
differential equation can be solved with basic calculus knowledge
0.1962t
100 (e −1)
4) The final equation is found to be v= 0.1962t
e +1
5) Thus, plugging in t = 5 gives v = 45.5m s−1 and t = ∞ gives v = 100m s−1
1) This question is in fact straightforward however, care must be put into the integral
boundaries. Let us start with the first part of the question where we find the s-t graph.
In this question we do not need to define a coordinate system since everything is
given on a graph.
2) The motion is divided into two functions. Normally, rectilinear motion means motion
that has so many functions however, for questions to be solved by hand easily, we are
usually given 2-3 functions.
3) v=± 2 √ s however, we pick the positive one because we can see on the graph that as
the distance increases (positively) the velocity increases in the positive direction as
 ds
well. Since we want s−t relationship, we will use the fact that v= , thus
dt
−1
s 2 ds=2 dt
100 −1 t

4) Solve the integral, ∫ s 2

ds=∫ 2 dt → s=t 2 since we know that displacement is zero
0 0

initially and thus t=10 s when the function changes

400 t
ds ds ds
5) Let us do the second function then
dt
=0.2 s ∴ =0.2 dt
s ∫ =∫ 0.2 dt thus
2 10
100

ln 4=0.2t−2 ∴ t=16.9 when s = 400m. We also figured out that the function is
100 0.2 t
s= 2
e
e
6) Combining all these information, we can sketch the s-t graph:

dv
7) Now a-s graph can be found. Let’s remind ourselves that a=v
ds
d dv dv
8) Start with the first function. (v ¿¿ 2)=2 v =4 → v =a=2 ¿ hence it is a
ds ds ds
constant function
dv dv 2
9) The second function can be written as =0.2 → v =0.2 s=a hence:
ds ds
1.3: Curvilinear motion
Curvilinear motion is the motion that occurs when a particle is moving along a curved
path. Do not confuse this with circular motion.

The displacement-velocity-acceleration relationships are the same as before.

Our universe has 3 dimensions, x-y-z, however, in many cases, we are able to reduce it to
1 or 2 dimensions when we are analyzing and solving the questions since usually there is
nothing important going on in the third dimension.

For a 3 dimensional system, we could find displacement from the origin by:
s= √ y 2 + z 2 + x 2

The same logic can be applied to velocity and acceleration calculations.

The last thing we should consider regarding the curvilinear motion is projectile motion.
The projectile motion usually has 2 dimensions and x-y coordinate system is preferred.
The basic idea behind it is what we learned in Chapter 1.2 however, now, in order to solve
questions we have to combine information from 2 dimensions. There is a set of formulas
derived from the basics that only but only works when there is a constant acceleration
we call them SUVAT equations.

 v=u+at
( v+ u )
 s= t
2
2
 at
s=ut+
2
  2 2
v =u +2 as

Where v is the final velocity, u is the initial velocity, t is time, s is displacement and a is
acceleration.

Problem solving:

1) In this question we do not need to define a coordinate system as it is already given.

One of the key information that we should notice is that the vertical velocity is
constant and hence the vertical acceleration is zero. Additionally, we should notice
that we are asked the total velocity and acceleration when the rocket reaches 80m,
 hence, we should use √ v 2x + v 2y and the total acceleration will only be the horizontal
acceleration.
2) Let’s begin with writing the equation: y 2−80 y +1600=160 x
dx
3) We know that =v x and similarly for y. Hence, let's differentiate the expression with
dt
respect to time, notice that we use implicit differentiation
dy dy dx dy
2y −80 =160 hence, if we plug in y=80 and =180 we find that
dt dt dt dt
dx −1
=90 m s
dt
4) Thus, the total velocity is √ 902 +1802=201m s−1
5) To find the horizontal acceleration we should differentiate the entire expression with

( )
dy 2 d2 y d2 y d2 x 2
d y
respect to time again: 2 +2 y t −80 2 =160 2 since 2 =0 we find
2
dt d dt dt dt
2
d x −2
2
=405 m s which is also the total acceleration
dt
1) First thing we should do is defining a coordinate system. Let us define the origin as
where the rocket took off and we choose x-y coordinate system.
2) Important information that we have are that rocket was initially at rest, when it stops
accelerating (upwards) it changes its motion and the first motions acceleration is
a=5 t by reading the graph and after changing its direction, it is free falling.
 3) To find h b and v b we will use a=5 t
4) Since the initial altitude and velocity are 0 we can just integrate the acceleration.
5 2 5 3
Hence: v b= t and h b= t and if we plug in t=8 s we get v b=160 m s−1 and
2 6
h b=427 m
5) Now we can move on to the second part of the question. We know that our rocket is
tilted 45 degrees hence we can find the initial velocities after the direction change. To
find the max altitude, we should write the equation for vertical displacement
2
9.81 t and to find the maxima of this function, we could take
h y =hb + v b cos ( 45 ) t−
2
the first derivative and find at what value of t that equation becomes zero, hence:
v b cos ( 45 ) −9.81 t=0→ t=11.5 s thus h y =1079 m at maximum altitude
6) Moving on to the last sub-question, the maximum range is achieved when the rocket
falls on the ground hence, when its altitude is 0. Thus,
2
9.81 t
0=427+ v b cos ( 45 ) t− →t=26 s
2
7) The horizontal displacement can be written as h x =v b sin ( 45 ) t since there is no
acceleration in the x direction. Plugging in t = 26s gives us h x =2983 m

2.1: Normal&Tangential and polar coordinate systems

This lecture is particularly important as it is introducing the normal&tangential (n-t) and
polar polar coordinate systems (c.s). Besides them, we have the x-y c.s which we are familiar
with. Choosing the right c.s is essential for solving questions in dynamics in the easiest way
possible. Technically all questions could be solved with all c.s however, it would require
-much- more effort with some than others. Hence, when I mean the right c.s I mean the
easiest c.s for that particiular question.

Previously we saw how we use the x-y c.s therefore I won’t talk about it as it should be clear
how and where it is used.

Today we will look at c.s we use when there is a curvilinear motion.

Let’s begin with n-t c.s:

n-t:

n-t c.s has two axis where the “tangent” axis is tangent to the path, hence, the velocity vector
is only this axis. Normal axis is normal to the path hence, also to the tangent axis therefore
acceleration vector may be on both axis. The origin of this c.s is where our particle/point is
and in this c.s the c.s is changing instantaneously. This means that the c.s is not static as it is
in x-y c.s however, the c.s is changing as the particle propagates. This is because the tangent
and hence the normal to the path is changing. When solving questions, always keep it in mind
that this c.s is only valid instantaneously.
Keep in mind that the positive normal axis is always pointing at the center of the curve. The
distance between the center and the particle is called the radius of curvature and is denoted by

( ( ))
2 3
dy 2
1+
dx
ρ . If the paths equation is given in terms of y (x ) we can define ρ=

| |
2
d y
d x2

The velocity of the particle is v and only direction is only on the tangential axis.

2
dv v
Acceleration is defined as a= ut + un which makes sense since the acceleration on the
dt ρ
tangential axis is change in speed of the particle and the normal acceleration is caused by the

We will mostly prefer this c.s where we have a curved path and we are not given an angular
velocity. Also we would mostly prefer it when we are working with systems that have normal
and tangential forces such as friction and normal reaction force.

Polar coordinate system:

Polar c.s is also used for curved paths however, we will prefer it when we are given
information that is related to angular velocity or angular acceleration. This c.s has two axis,
radial and axial axis. They are denoted by ur and uθ respectively. This c.s is a static one,
hence, it does not move with the particle unlike n-t c.s. The origin of the c.s is usually defined
to be the point where the angular velocity is created.

Do not confuse the origin of the c.s with the center of the curve. In this c.s, the motion/path is
achieved by moving on the radial axis as well as the angular velocity.
 dr dθ
v r= , v θ=r
dt dt

( )
2 2 2
d r dθ d θ dr dθ
a r= 2
−r , aθ =r 2 + 2
dt dt dt dt dt

Now, it should be clearer why we prefer this c.s when we are given an angular
velocity/acceleration.

Problem solving:

1) We know that our path is y=sin ⁡(x ) hence a curved path and we are not given any
angular value thus, it is clear that n-t c.s is the best option here.
2) We know that we only have velocity in the tangential and is constant hence at all
times v t=2 m s−1
3) We also know that there are two acceleration contributions, tangential and normal.
Tangential acceleration is the change in the speed of the particle and it is zero
2
v
since we are moving at constant speed. Normal acceleration is found by a n=
ρ
3

however, we do not know the radius of curvature. By definition ρ= ( 1+ cos ( x ))

2 2

sin ( x )
4 sin ( x )
a= m s−2
4) Thus, 3
( 1+cos 2 ( x ) ) 2
1) In this question, we have a curved path and we are given angular values therefore
it hints us to use the polar c.s. We could say that the pin is our origin.
2) Now, we will meet with one of the most important concepts in dynamics.
Constraints. Constraints basically block or lead the objects and particles in certain
directions. We have general formulas however, for each case, we must consider
their constraints. In this question, we can see that our rod is constrained to move
in the angular direction hence it can only move in the radial direction. This means
that we will ignore the velocity and acceleration in the angular direction as it is
constrained and hence there is no movement there. We will only calculate the
radial velocity and acceleration.
3) The harsh part was to notice the constraint, now we only have to differentiate. By
dr dθ −1 −1
radial velocity formula, =−100 sin ( θ ) →−250 mm s =−0.25 m s
dt dt
4) For acceleration we need

( ) ( )
2 2 2 2
d r dθ dθ d θ 2
−100 sin (θ ) 2 −6 ( 200+100 cos ( θ ) )=−9.3 m s
−2
a r= 2
−r →−100 cos (θ )
dt dt dt dt
5) Notice how we used implicit differentiation
1) We are asked to find the angular velocity hence it hints us to use polar c.s. Draw first

2) Now, we need to pick the key information such as 50 m s−1 speed

3) Since we are given the speed, we need to figure out both the radial and angular
velocity components (the axis), we are given the length “r” we can write the equation
in terms of angular velocity and solve for it.
dr dθ dθ
4) v r= =−200 sin ( 2 θ ) and v θ=100 cos ( 2 θ )
dt dt dt
dθ dθ rad
5) Hence 50=
dt
√ 2 2
( 200 sin ( 2θ ) ) + ( 100 cos ( 2 θ ) ) → =0.378
dt s
2.2: Dependent and relative motion
These two concepts are vastly important for upcoming lectures and in pretty much all
dynamics questions, especially in rigid body dynamics.

Let’s begin with dependent motion.

Dependent motion: Dependent motion arises when the motion of a particle is dependent
on another particle. This is usually done by an inextensible chord. It is important that the
chord is inextensible so that the motion can be transferred directly, otherwise, the chord
would extend and then transfer the motion to the other particle.

Let us look at how to analyze such systems and I will give important hints.

1) First thing we should determine a datum point, how to choose one will be told when I
give hints
2) From this datum point, we take a distance to our particle
3) We do that in a way that we can sum these distances to equate it to the length of the
chord
4) Then we take the derivative with respect to time, since the length of the chord is
constant it is zero and the derivatives of the distances give us the speed at the
particles/that point is moving
5) Thus, we can relate them to each other and see how one depends on the other
Now, I will give important tips that will be useful when solving difficult questions.

-The first thing you should do is to determine how many chords there are because, for each
chord, we could write a separate equation that allows us to solve for more dependent values

-Another important step is to write the datum. We will write all our distances starting from
the datum and all the distances should be perpendicular to that datum line. We must choose
our datum so that it is at a static point or the datum is moving with the entire system. This
needs to be satisfied otherwise the datum would be moving and hence, the found velocity
would be relative, not absolute

-In the system, there may be constant distances that do not change. When we cannot write our
equation, we may use them to write the relationship and when differentiated, they disappear
as they are constant lengths. Such lengths are indicated in red in the example below

-When needed, you could write more than one datum point however, the requirements for the
datum must still hold. We would write multiple datums when there is motion in more than
one direction (since each datum can only be used for 1 direction motion, which is
perpendicular to the datum line)
Problem solving:

1) We should firstly find out how many ropes there are. We can clearly see that there are
two
2) Now, we should determine a datum and write the appropriate distances to write the
length. Notice that the length between the connection between the second and the
third pulley is constant

−v a
3) Write the equation for the first rope: s A + s c + ( s c + h )=l 1 hence v c =
2
vc −v a
4) Write the second equation: sb +¿ v b= ∴ vb=
2 4
5) Hence v b=−0.5 m s−1

Relative motion:
As the name suggests, relative motion describes the motion of two particles relative to
one another. This concept is extremely important in dynamics especially when we will
start with rigid body dynamics, our formulas will be derived from this concept.

The distance between particle B and A relative to B is written as r b / a=r b −r A we can

similarly write the velocity and acceleration. In this equation r b and r A

This concept should be fairly easy to internalize. If not, you could think of it as how the
cars that are going in the same direction as you appear to go slower and vice versa.

Problem solving:
1) Firstly we need to determine a c.s. In this question since there is no curved path x-y
c.s seems the most appropriate. Let us take the origin to be where the person A stands.
I prefer to take the positive x axis to be where the ball is thrown and positive y
direction to be upwards.
2) The easiest way to find the required speed of the person B is by considering the
relative motion between the ball and person B which I will refer as B.
3) First, we need to find the time it takes to fall on the ground hence B can catch it. Thus
9.81 2 40 sin ( 60 )
0=20 sin ( 60 ) t− t →t= =3.53 s
2 9.81
4) r B/ C =r B−r C =0 for B to catch the ball and v B /C =v B −20 cos ⁡(60)
5) Thus r B/ C =15+3.53 ( v B −20 cos ( 60 )) =0 → v B =5.75 m s
−1

6) The relative velocity can be calculated by finding the total relative velocity hence
both in x and y axis velocities are needed. In x axis:
 −1
v B /C =5.75−20 cos ( 60 )=−4.25 ms and in y axis: 20 sin ( 60 )=17.3 ms−1 since energy
is conserved
7) Thus √ 4.252 +17.32 =17.8 m s−1 and when we are asked such questions, we need to
specify the angle as well. We do that by taking the tangent of the velocity vector
17.3
hence tan (θ )= →θ=76.2° and we show the direction. Since the x-direction of
−4.25
the ball is to the right and y-direction is downwards, we write it as

8) It is obvious that there is no acceleration in the x-direction neither for the ball or B
and the acceleration in y-direction only exist for the ball and it is clearly the Earth’s
gravitational acceleration 9.81 m s−2 downwards

2.3: FBD, KD and EOM

This chapter is also one of the most basics and important part of dynamics. It should be
familiar with you from high school, however, we must make it sure that we draw the Free
Body Diagram, Kinetic Diagram and Equations of Motion correctly to be able to solve even
complex questions with ease. Because, when these three points are written correctly, majority
of the question is in fact solved.

- FBD makes us to figure out which forces are acting on the body
- Kinetic diagram tells us in which direction our body is moving at
 - Equations of motion writes it down all that information mathematically so that we
could solve the equation and get a numerical value

Just by doing these 3 steps, you could pass your dynamics exam without further solving the
question.

Before starting how to perform these 3 steps, we should discuss the Newton’s laws. Newton
has 3 laws.

1) If the sum of the forces acting on an object is zero, the body is either moving at
constant speed or is stationary
2) Sum of the forces acting on a body is equal to mass times acceleration of the body
hence ∑ F=ma
3) Every force has a counterforce acting on the exact opposite direction with the same
magnitude. Pay attention that the force and the counterforce never acts on the same
body

Now we can talk about how to perform the 3 steps.

1) First thing we should do is to determine a c.s. In previous chapters I told you how you
should choose it therefore I will not repeat it again.
2) Second of all, we should draw a FBD. A box or a sketch of the shape of the body and
then we could draw the forces acting on the body. Please pay attention to the length of
the arrows
3) Kinetic diagram may be the only unfamiliar diagram. Kinetic diagram shows in which
direction the body is accelerated at hence, the direction of the sum of the forces. Note
that the KD’s c.s is based on the c.s we chose. An example is:

4) EOM is simply writing sum of the forces acting on the body. Be careful at the
direction the forces act as well as possible negative signs
Now I will talk about 2 important forces. Weight and friction.

Weight: It is simply the mass of the object times the gravitational acceleration of the planet.
On Earth, we usually take it as g=9.81 ms−2 and weight is always acting towards the center
of the planet hence, on the FBD it will always be downwards. For questions that are in space,
you may have to use Newton’s gravitational law.

Friction: Now, this is quite important because so many students are mixing up the type of the
friction force and its properties. There are two types of friction forces. Static and kinetic
friction. Static friction occurs when there is no relative motion between the two surfaces. It is
so important to keep in mind that friction occurs when there is relative motion. Static friction
may vary from zero to a maximum value. If we are told that the static friction is at its
maximum value, then we could use the formula F static=μN where N is the normal force and μ
is the static friction coefficient. Otherwise we should just write F static in our EOM as the
formula with coefficient is only true for the maximum static friction.

Kinetic friction does not have a similar property. It has no maximum value however, we use
the formula with coefficient for kinetic friction. The difference is that the kinetic friction
coefficient is smaller than the static friction coefficient. Kinetic friction is hence, always
smaller than static friction. Later, when we work with rigid bodies, that information will be
extremely important.

Problem solving:
1) First of all we choose our c.s. In this question, it is clear that x-y c.s is the easiest one
to work with. There is no motion in the x-direction as there is no force acting in the x-
axes. I choose the upwards to be positive y-axes.
2) Second thing to do is draw the FBD.

3) When we track down the forces chord and forces acting on the middle pulley:

4) Since the pulley is in equilibrium, we can conclude that T A=2 ∙ 2∙ 150=600 N

5) Now we need the KD. We know that the body is accelerating upwards hence

6) Now we can write the EOM for block A: ∑ F y =¿ T A −mg=ma → a=2.19 m s−2 ¿
7) We need to find the time it took for the block to rise 3m and we know that our
acceleration is constant ∴ we can use SUVAT:
2
2.19 t −1
3= →t=1.66 s ∴ v =at → v=3.62m s
2
1) In this question it seems like x-y c.s is the easiest one to work with however, this time
we will use two different c.s one for each block. I choose upward to be positive y-axes
and right to be positive x-axes. For block A, I will use the typical x-y c.s however, for
block B, I will tilt the c.s so that the x-axes would be aligned with the direction of the
motion of block B. We usually do this trick to make further EOM calculations easier.
We will always prefer to have our motion in the same direction as our c.s axis.
2) Now, let us draw the FBD for the blocks:

Block A:

Block B:

3) Instead of drawing the KD, in this question I showed the direction of acceleration by
writing “a” and showing the direction by an arrow. Instead of drawing the KD this
could be done as well since there is no motion in other axes directions.
4) Now we can write the EOM. For block A: ∑ F A y =9.81 m A−3 T =m A a A and
∑ F B x =T −5 ∙ 9.81sin ( 60 )=5 a B
5) We can clearly see that we need to find a b to find T so we could solve for m A and we
will figure out a A later. From the given kinematics information we could find a b by
4a −2
using SUVAT since the acceleration is constant: 0.75= → a=0.375 m s hence
2
T =44.4 N
6) Now we need to find a A to find the mass since we have one equation but two
unknowns. Thus, we need another equation. What we should see is that there is
dependent motion hence we could relate the acceleration of block A to the block B
and figure out a A thus:

−a B
7) Thus l=s A +2 ( s A−h ) + s B which gives us a A= (meaning block A is moving
3
downwards) and if we plug in the numbers into EOM for block A we find m A =13.7 kg
3.1: EOM on n-t c.s
This chapter is pretty basic. It is exactly what we did in chapter 2.3 however, instead of using
x-y c.s we will use n-t c.s. That is the only difference, the rest is exactly the same. To remind
you, we will use this c.s:

When we use n-t c.s we will have an extra standard procedure step compared to before. Even
before choosing the c.s it may be very helpful to sketch the path then choose the c.s, draw
FBD, draw KD and write EOM.
Problem solving:

1) In this question x-y c.s may also be used however, since there is a curved path I
choose to use n-t c.s. I will divide the system into two parts, A and B.
2) We know that A is in equilibrium therefore we can easily tell that T =m A g and let's
draw the FBD for B

3) We know that the only acceleration is in the normal direction and in the z-direction

the particle is in equilibrium hence Tcos ( θ )=mb g →θ=arccos ( )

mb
ma
 2
mv
4) ∑ F bn=Tsin ( θ )= ρ
and we can see that the radius of the circle/path is

√ g ( l−h ) ( ma−mb )
2 2
p=sin ⁡(θ)(l−h) hence v=
ma mb

1) First of all I want to say that many students get confused with whether they should use
sine or cosine in this question. To figure that out I will give a nice and easy tip
2) We have a curved path and clearly n-t c.s is the best option as we are not given any
angular value. Let’s draw the FBD of the pilot:

3) We know that the only acceleration is in the normal direction hence, in the z-axes,
there should be no acceleration. Here, we need to figure out whether we should use
sine or cosine to project normal force on the z-axes. In such situations what I do is to
check what happens in extreme angles. In other words, when θ=0∨90. When the
bank angle is zero, we can see that the plane is inverted 90 degrees hence the pilot is
not feeling any normal force to counter his weight (I try to imagine how the plane
 would look like, thats how I come up with this argument) on the other hand, when the
bank angle is 90 degrees the plane is moving in the typical cruise way and hence, the
pilot is receiving the maximum normal force. When sine is 90 degrees it is at its max
thus we should use sine for the z direction and cosine for normal direction. Thus
∑ F z=N sin ( θ )−mg=0 → N =2.65 kN
2
4) ∑ F n=Ncos ( θ )= mρv → ρ=68.3 m
3.2: EOM on polar c.s
Similarly from chapters 2.3 and 3.1, we will do the exact same thing on polar c.s however
there is a small extra this time therefore I will not repeat the first part and just tell the new
stuff.

As we know friction force is tangent and opposite to the direction of the particle and
normal force is perpendicular to the tangent. How can we project these forces on the polar
c.s axis then?

Firstly we sketch the path and draw a tangent to that path. Later, we draw our axis and we
define the angle between the extended radial axis and the tangent line to be ψ where
r
tan (ψ )=
dr thus we could project the normal force and friction force on our axis.
dθ

To understand this better, let’s solve a problem.

Problem solving

1) First thing we do is sketch the path of the particle. From the constraint it should be
obvious that the particle is moving horizontally only hence, the tangent is a horizontal
line which means the normal force is perpendicular to the slot
2) From the given angular values it is clear that we should be using polar c.s
3) Let us draw the FBD then
4) There is the weight, normal force, and the force from the rod acting on the particle.
The force that comes from the rod is always perpendicular to the rod in other words it
is on the angular axis
0.5 dr sin ( θ )
5) Let us calculate ψ first: We know that r = ∴ = →ψ =60 ° from the
cos ( θ ) dθ 2cos 2 (θ )
geometry, this means that the angle between the normal force and radial axis is 30 °
6) From the standard formula we could calculate the acceleration
7) ∑ F r =Ncos ( 30 )−mgcos ( 30 )=m ar
8) ∑ F−mgsin ( 30 )−Nsin ( 30 ) =m aθ
9) By solving these equations we find that N=6.37 N and F=2.93 N
3.3: Work, energy and power
Since all these concepts (such as what is energy, what is work etc.) should be quite familiar
by now, I will just stay on the important parts and hints that I will give to solve problems
faster and easier.

The work of a force is the dot product of the displacement and force vectors hence
dU =Fdr cos ⁡(θ) where θ is the angle between these two vectors.

Work of a weight is a bit different than work of a force. What we do is to determine a zero
point, a datum first.

Then U 1−2=−W ∆ y hence, if we go below our datum we get a positive work and vice versa.
However, with the method I will show soon we will not have to bother with this at all as
defining a datum may be confusing in complex problems.

The work of a spring is also different. Keep in mind that the formula I will show is not valid
2
ks
for circular springs. Work of a spring is defined as U = where k is the spring constant and
2
s is the spring displacement from the equilibrium position. Keep in mind that spring force is a
type of a potential energy that cannot be negative.
 2
mv
Finally, probably the most important energy formula: Kinetic energy KE ¿ . It would be
2
possible that kinetic energy is the only real form of energy in terms of mechanical energy
because all types of energy is in fact turned into kinetic energy when released.

Now, I want you to forget about all the energy conservation stuff. What we will do is to write
the energy situation initially and then in the final situation and equate them. Because the total
energy must be the same, of course we are including lost energy such as energy lost to
friction in our equation. When I solve an example it will be clearer how to do it. We will use
this method for all questions that involve energy.

Another question that students usually struggle with is when to use the concept of energy. My
advice is to write it all the time if it can be written, sometimes it is quite clear that we lack so
much of data that we cannot really use it. However, even if you lack small data, always but
always write the initial and final energy equation because you may use that information to
solve another equation by combining it with other concepts. We only have a few distinct
concepts therefore when we solve complex questions, my advice is to write all the concepts
equations down and solve the puzzle basically.

dU
Before we dive into some problems, I want to talk about power. Power is defined as P=
dt
and if we have constant velocity and a force then P=Fv . The efficiency of a machine can be
Power /energy out
found by μ=
Power /energy∈¿ ¿
Problem solving:

1) First of all we should try to imagine/animate the situation in our mind. What will
happen is that the train will start slowing down due to friction and then it will hit the
springs. It is very important to notice that when the springs are shrinking the friction
still acts on the train hence friction keeps slowing down the train. Then, at one point
the train will stop due to friction energy loss and spring storing the energy.
2) Second thing we do is to define a c.s and in this question, we have a linear motion
therefore x-y c.s is clearly the best option. I define upwards to be positive y-axis and
left to be the positive x-axis. Note that there is no motion in y-axis therefore it is
useless.
3) In this question it is clear that we should involve energy because we are given
distance, friction and spring. We could draw the FBD too just so we understand the
 situation better however, EOM would not be useful in this case since the acceleration
of the train is changing due to the spring gets more and more shrunk. This would
leave us with a nasty differential equation. To notice such details and prevent
unnecessary work you should solve many questions and get familiar with dynamics
4) Let us write the energy equation. Initial energy only consists of the KE of the train
5 2
10 ∙ 5
hence:
2
5) Final energy is the energy stored in the springs and the energy dissipated into heat due
to friction. Notice that we do not know the distance the springs shrank:
5 2 5 2
3∙ 10 x 1 5∙ 10 x2 3 9.81
+ +10 ∙10 ∙ ( 30+s ) where s is the distance the train moved after
2 2 100
the 30m distance which is also s= x1 + x 2
6) It is clear that we need another equation to solve for x 1 and x 2. Here, we need he
knowledge that the force that is exerted on the both springs is the same hence
5 5
3 ∙10 x 1=5 ∙10 x 2 thus we could equate the initial and final energy equations and we
find that x 1=0.628 m and x 2=0.377 m
1) Let’s imagine how the system works. The force will pull the block and gravity +
spring will slow down. I choose the typical x-y c.s since there is a linear motion
2) Let’s draw the FBD
3) Just like in the previous question, using EOM would cause a nasty equation which we
do not want. By looking at the given information, we could try to use energy. Also,
notice the important hints given in the question that the slot is smooth which means
there is no energy loss to friction and we know that there will be no motion in the x-
axis due to the slot constraint although the force pulls. In reality there is a normal
force acting from the slot but I did not show it in the FBD not to confuse the readers
4) Now, let’s find the initial energy: We know that the force applied in the direction of
vertical displacement does work. Let us calculate the difference in length to use the
hint they gave us in the question

5) Thus, the initial energy is 0.11 F . Let’s calculate final energy: We know that the block
moved up 0.15m up and let’s define our datum the point where the spring is
unstretched. In the final position, the block gains gravitational potential energy, since
the spring moves with the block it also gains spring potential energy and finally it has
2 2
2.5 0.15
kinetic energy as it gained speed. Thus: 0.8 ∙ +0.8 ∙ 9.81∙ 0.15+100 ∙
2 2
6) Equating the initial and final energy, we find F = 43.9N