MEE2002 ENGINEERING DYNAMICS - LECTURE NOTES

LECTURE 3: KINETICS: FORCE & ACCELERATION

NEWTON’S SECOND LAW OF MOTION

Newton’s Second Law: If an unbalanced force acts on an object, the object will accelerate in the
direction of the resultant force with a magnitude proportional to the resultant force. Mathematically,
this can be defined as:

𝐹 = 𝑚𝑎

Note: Based on our definition, mass can be defined as an objects resistance to acceleration for a given
applied force.

NEWTON’S LAW OF GRAVITATIONAL ATTRACTION

Newton’s Law of Gravitational Attraction: Governs the mutual attractive force between two particles
having mass separated by a given distance. It states that the gravitational attractive force between two
bodies having mass is directly proportional to the mass of both objects and inversely proportional to the
square of the distance between them. The constant of proportionality G is known as the universal
constant of gravitation (G = 66.73 X 10-12 m3/kg-s2). Mathematically, this can be defined as:
𝑚1 𝑚2
𝐹=𝐺
𝑟2

Weight: The weight of an object can be defined as the force resisting the tendency of an object to free-
fall due to gravity. For an object in static equilibrium, its weight is numerically equivalent to the objects
mass multiplied by the local gravitational constant, g. The gravitational constant for Earth has a value of
9.81 m/s2 in SI units and 32.2 ft/s2 in standard units at sea level.

2 Classifications for Weight:

- Actual Weight: The actual weight of an object is defined as its mass multiplied by the local
gravitational constant. This value is not affected by any resultant acceleration due to other
forces. Mathematically it is defined as follows:

⃑⃑⃑ 𝑎𝑐𝑡𝑢𝑎𝑙 = 𝑚𝑔𝑥 𝑖̂ + 𝑚𝑔𝑦 𝑗̂ + 𝑚𝑔𝑧 𝑘̂

𝑊

- Apparent Weight: The apparent weight of an object is comprised of the actual weight of the
object in addition to the resultant reaction force acting on the object due to acceleration.
Mathematically it can be defined as follows:

⃑⃑⃑ 𝑎𝑝𝑝𝑎𝑟𝑒𝑛𝑡 = 𝑚(𝑎𝑥 + 𝑔𝑥 )𝑖̂ + 𝑚(𝑎𝑦 + 𝑔𝑦 )𝑗̂ + 𝑚(𝑎𝑧 + 𝑔𝑧 )𝑘̂

𝑊

Page 1 of 4
Comment: Contrary to popular belief, astronauts in orbit around the earth experience almost the same
magnitude of gravitational acceleration we experience here on the surface of the earth. The reason
they appear to float in space is because they are in constant free-fall around the earth. They are
considered to be “weightless” because there is no reaction force resisting the tendency of their bodies
to free-fall and thus they have no weight!

OVERVIEW OF EQUATIONS OF MOTION

Equation of Motion: The summation of all forces acting on an object which cause it to accelerate. It can
also be thought of as the force balance governing motion. Mathematically, it is defined as follows:

∑ 𝐹 = 𝑚𝑎

Note: Equations of motion are only concerned with the forces that are causing or affecting the motion
of an object. Forces such as the weight of an object can be neglected when the object is in static
equilibrium with the ground.

Example 1: A heavy cart of mass m is connected to a rigid wall by a linear spring. An external force Fext
acts on the cart while a reaction force from a linear spring Fspring resists acceleration of the cart due to
the external force. Determine the equation of motion for the system.

∑ 𝐹 = 𝐹𝑒𝑥𝑡 − 𝐹𝑠𝑝𝑟𝑖𝑛𝑔 = 𝑚𝑎

Note: Gravity is not considered as part of the equations of motion as the system is completely in static
equilibrium with the ground!

Inertial Reference Frame: A fixed point of reference or a point of reference moving with constant
velocity for which equations of motion can be developed.

EQUATIONS OF MOTION EXPRESSED IN RECTANGULAR COORDINATES

Equation of Motion: The sum of all translational (x, y, and z) forces acting on an object which cause it to
accelerate. It is equivalent to the mass of the object multiplied by the resultant acceleration vector of

Page 2 of 4
the object expressed in rectangular coordinates. Equations of motion in rectangular coordinates can be
determined from the following equation:

∑ 𝐹 = 𝑚𝑎 = ∑ 𝐹𝑥 𝑖̂ + ∑ 𝐹𝑦 𝑗̂ + ∑ 𝐹𝑧 𝑘̂ = 𝑚𝑎𝑥 𝑖̂ + 𝑚𝑎𝑦 𝑗̂ + 𝑚𝑎𝑧 𝑘̂

The corresponding magnitude of force can be determined by the equation:

2 2 2
𝐹 = 𝑚‖𝑎‖ = √(∑ 𝐹𝑥 ) + (∑ 𝐹𝑦 ) + (∑ 𝐹𝑧 ) = 𝑚√𝑎𝑥 2 + 𝑎𝑦 2 + 𝑎𝑧 2

EQUATIONS OF MOTION EXPRESSED IN NORMAL AND TANGENTIAL COORDINATES

Equation of Motion: The sum of all tangential, normal, and binormal forces acting on an object which
cause it to accelerate. It is equivalent to the mass of the object multiplied by the resultant acceleration
vector of the object expressed in normal and tangential coordinates. Equations of motion in normal and
tangential coordinates can be determined from the following equation:

∑ 𝐹 = 𝑚𝑎 = ∑ 𝐹𝑡 𝑞̂𝑡 + ∑ 𝐹𝑛 𝑞̂𝑛 + ∑ 𝐹𝑏 𝑞̂𝑏 = 𝑚𝑎𝑡 𝑞̂𝑡 + 𝑚𝑎𝑛 𝑞̂𝑛 + 𝑚𝑎𝑏 𝑞̂𝑏

The corresponding magnitude of force can be determined by the equation:

2 2 2
𝐹 = 𝑚‖𝑎‖ = √(∑ 𝐹𝑡 ) + (∑ 𝐹𝑛 ) + (∑ 𝐹𝑏 ) = 𝑚√𝑎𝑡2 + 𝑎𝑛2 + 𝑎𝑏2

EQUATIONS OF MOTION EXPRESSED IN CYLINDRICAL COORDINATES

Equation of Motion: The sum of all radial, angular, and translational (z) forces acting on an object which
cause it to accelerate. It is equivalent to the mass of the object multiplied by the resultant acceleration
vector of the object expressed in cylindrical coordinates. Equations of motion in cylindrical coordinates
can be determined from the following equation:

∑ 𝐹 = 𝑚𝑎 = ∑ 𝐹𝑟 𝑞̂𝑟 + ∑ 𝐹𝜃 𝑞̂𝜃 + ∑ 𝐹𝑧 𝑞̂𝑧 = 𝑚𝑎𝑟 𝑞̂𝑟 + 𝑚𝑎𝜃 𝑞̂𝜃 + 𝑚𝑎𝑧 𝑞̂𝑧

where:

𝑎𝑟 = 𝑟̈ − 𝑟𝜃̇ 2

𝑎𝜃 = 𝑟𝜃̈ + 2𝑟̇ 𝜃̇

𝑎𝑧 = 𝑧̈

The corresponding magnitude of force can be determined by the equation:

Page 3 of 4
 2 2 2
𝐹 = 𝑚‖𝑎‖ = √(∑ 𝐹𝑟 ) + (∑ 𝐹𝜃 ) + (∑ 𝐹𝑧 ) = 𝑚√𝑎𝑟2 + 𝑎𝜃2 + 𝑎𝑧2

Page 4 of 4