Chapter 6

Work and kinetic energy

In chapters 4 and 5 we studied Newtons laws of motion and

applied them to various situations.
In chapter 6 we shall introduce a new approach that makes
the solution of mechanics problem easier
The following concepts will be introduced
Kinetic energy (symbol: K )
Work (symbol: W )
We will also introduce and use the work-energy theorem
(6-1)

The scalar product of two vectors (also known as "dot" product)

ur ur
A B AB cos
ur ur ur ur
Note 1: A B B A
ur ur
Note 2: A B 0 when 90
The dot product in terms of vector components
ur
A Ax $
i Ay $j Az k$
ur
B Bx $
i By $j Bz k$
ur ur
A B Ax Bx Ay By Az Bz

(6-2)

Work-energy theorem
(6-3)
Consider the motion of an object of mass m along the x-axis
from point 1 (coordinate x1) to point 2 (coordinate x2). A
constant net force Fnet acts on the object. The velocity at
points 1 and 2 is v1 and v2 , respectively
a

v1

x1

2a( x2 x1 ) v22 v12

Fnet

v2

x2

x-axis
(third equation of kinematics)

Fnet
a
Substitute a in the equation above
m
2
2
Fnet
mv
mv
2
( x2 x1 ) v22 v12 Fnet ( x2 x1 ) 2 1
m
2
2

v1

x1

m
x

Fnet

v2

(6-4)

x2

x-axis

mv22 mv12
Fnet ( x2 x1 )

Work-energy theorem x2 x1 x
2
2
mv22 mv12
Fnet x

We define as work (symbol W)

2
2
performed by Fnet during the motion from point 1 to point 2:
Wnet Fnet x

Units: Nm Joule (J)

We define as the kinetic energy of a moving object

kg m 2
Units:
Nm J
2
s
The work-energy theorem can be written as :
mv 2
K
2

Wnet K

Algebraic sign for Wnet = Fnetx (all possible scenarios) (6-5)

II

III

IV

.
2

.
1

.
2

Fnet

x
m
x
Fnet

Fnet

Fnet m

x-axis

x-axis

x-axis

1
x-axis

x > 0
Fnet > 0
Wnet > 0
x < 0
Fnet > 0
Wnet < 0
x > 0
Fnet < 0
Wnet < 0
x < 0
Fnet < 0
Wnet > 0

Caution
If there are more than one forces (F1 , F2, F3 , FN) acting on
the moving object we calculate the net work Wnet as follows:
We first determine the work each force performs:
W1 = F1 x , W2 = F2 x , W3 = F3 x , , WN = FN x
Wnet is simply the sum of all the terms above i.e.
Wnet = W1 + W2 + W3 + + WN
Note: The work-energy theorem Wnet = K applies for the
net work. All forces acting on the object for which we are
applying the theorem must be included

Example (6-1) page 146 A car of mass m = 1200 kg falls a

vertical distance h = 24 m starting from rest. Find the velocity
v2 of the car before it hits the water.

.1

Fnet mg
Wnet Fnet y (-mg )(-h) mgh
y Wnet 1200 9.8 24 2.8 105 J

mg

Wnet K

y
h

water
(6-7)

.2
v2

(work-energy theorem)

mv22
mv12
K
v1 0
2
2
2
mv2

Wnet v2 2 gh
2
v2 2 9.8 24 21.7 m/s

Work-energy theorem when we have

motion of an object of mass m in a plane

(6-8)
m

from point 1 to point 2 under the

ur
action of a constant force F
r
Displacement = r
Work-energy theorem: Wnet K

Below we give the general definition of W

ur r
W F r F r cos
mv22 mv12
r
r
K

v1 and v2 are the velocities of the object

2
2
at point 1 and point 2, respectively

mg

2
L

An object of mass m is thrown with an

initial speed v1 off a tall building. Find
the objects speed after it has fallen a
vertical distance h
mv22 mv12
Wnet K

2
2
r
r
r Li$ h $j
Fnet mg $j
ur ur
A B Ax Bx Ay By
r
r
Wnet Fnet r (mg )(h) mgh
mv22 mv12
K

mgh
2
2

(6-9)

v2 v12 2 gh

Solve for v 2

(6-10)

Consider the
motion of an
object from
point xo to point
xf along the xaxis under the
action of a force
F(x) that is not
constant.
xf

In this case the work W performed by F is given by:

F ( x)dx

xo

W Area under the F versus x curve from x o to x f

Work performed by a spring (spring constant = k) as it is

stretched from its relaxed length by L
x
W F ( x )dx (kx )dx k xdx k
2
0
0
0
L

W = shaded area in the F versus x plot

L2
k
2

(611)

The most general case is when the force F changes both

magnitude and direction from point to point. In this case the
work W performed by F as it moves an object from point A to
point B along a given path. W depends on rA, rB and the path.
W is calculated as follows:
(6-12)

 Divide the path into segments r

Calculate the work W = Fr for each element
Sum all the contributions and take the limit as r
0
uu
r
ur r
The limit of the sum gives: W F d r
rB

uu
r
rA

This type of integral is known as "line intergal"

(6-13)

Work performed during uniform circular motion.

The net force F points towards the center C of the orbit
(centripetal force). For the path segment ds the work dW is:
ur r
dW F d s Fds cos(90) 0
W dW 0
Conclusion:

No work is done on an
object that undergoes
uniform circular motion
(6-14)

Classification of forces
1
2
3

Work W performed by a force

F as it moves an object along
B one of the three paths from
point A to upoint
B:
u
r
r
ur r
W F dr
x
uu
r
B

rA

A force is called conservative if W does not depend on the

path but only on the coordinates of the start and finish points.
In this case: W1 = W2 = W3
A force is called non-conservative if W depends not only
on the coordinates of the start and finish points but on the path
as well. In this case W1 W2 W3
(6-15)

y
A

If the force F is conservative

than W along any closed path
is zero. This statement can
be used as an alternative
definition of a conservative
force

(6-16)

1
C

2
x

Consider a closed path ACBDA. This can be divided into two

different paths that take us from point A to point B. Path 1
(ACB), and path 2 (ADB). WACB = WADB
ur r
F d r (along path 2 )
A

WACBDA WACB WBDA

WBDA

Bu
ur r
r r
F d r F d r WADB
A

WBDA

WACBDA WACB WADB 0

Example of a conservative force: The gravitational force

We shall prove that the work gone by Fg along path 1 and path
2 is the same.
Path 1: W = F r
1

W1 = mgLcos(90-)
Path 1

r1

cos (90 - ) = sin

W1 = mgLsin
Path 2: W2 = WAC + WCB

Path 2

WAC = mghcos0 = mgh

h
= Lsin WAC = mgLsin
WCB = mgLcos(90) = 0
W2 = mgLsin = W1

(6-17)

(6-18)

Example of a non-conservative force: friction f

We shall calculate the work the work done by friction as it
moves the cup along a closed path that starts at point A and
ends at point A. During the trip we apply a force F = -f so
that the net force on the cup, and thus its acceleration a is zero

r1
A

f1

r2

f2

(6-19)
f1 = f2 = kmg

Note: friction opposes motion

W = WAB + WBA
WAB = f1 xmaxcos(180) = - f1xmax = -kmgxmax
WBA = f2 xmaxcos(180) = - f2xmax = -kmgxmax
W = -kmgxmax -kmgxmax = -2kmgxmax 0

Power Consider a force F that moves an object of mass m

from point x to point x + dx in time dt
F

(6-20)

t+dt
x+dx

x-axis

dx

Power (symbol P) is defined as the rate at which F performs

dW
work. P
Units: Joule/second Watt (W)
dt
dW Fdx
dx
dW Fdx P

F
Fv
dt
dt
dt
Note: The equation P = Fv is valid when F and the
displacement dx are parallel

y (6-21)
P
dr

In general the force F and

the displacement dr are
not parallel. In this case
the power P is given by the
equation:

v
path
x

ur r
P F v Fv cos

ur
r
F Fx $
i Fy $j
,
d r dxi$ dy $j
ur r
dW F d r Fx dx Fy dy
ur r
dW Fx dx Fy dy
P

Fx vx Fy v y F v
dt
dt

Commonly used practical (non-SI) Units

P = W/t

W = Pt

Power: The horsepower (symbol: hp) is the average power

that a horse can generate
1 hp = 746 W
Work: The kilowatt-hour (symbol: kWh) is the work
produced by a machine of power P = 1 kW = 1000 W in a time
interval t = 1 hour = 3600 s
W = Pt 1 kWh = 10003000 Ws = 3.6106 J
(6-22)