Find the dot product of the two vectors

P = {5 i + 2 j + 3 k} m
Q = {-2 i + 5 j + 4 k} m
A. - 12 m
B. 12 m
C. -12 m
2

D. 12 m
2
Lecture 22
EXAMPLE
Given: The force acting on the pole
Find: The angle between the force
vector and the pole, and the
magnitude of the projection
of the force along the pole
OA.

A
Plan:
1. Get r
OA

2. u = cos
-1
{(F r
OA
)/(F r
OA
)}
3. F
OA
= F u
OA
or F cos u
EXAMPLE
(continued)
A
r
OA
= {2 i + 2 j 1 k} m
r
OA
= (2
2
+ 2
2
+ 1
2
)
1/2
= 3 m

F = {2 i + 4 j + 10 k}kN
F = (2
2
+ 4
2
+ 10
2
)
1/2
= 10.95 kN
u = cos
-1
{(F r
OA
)/(F r
OA
)}
u = cos
-1
{2/(10.95 * 3)} = 86.5
u
OA
= r
OA
/ r
OA
= {(2/3) i + (2/3) j (1/3) k}
F
OA
= F u
OA
= (2)(2/3) + (4)(2/3) + (10)(-1/3) = 0.667 kN
Or F
OA
= F cos u = 10.95 cos(86.51) = 0.667 kN
F r
OA
= (2)(2) + (4)(2) + (10)(-1) = 2 kN m
Problem: To accommodate the rise and fall of the tide, a
walkway from a pier to a float is supported by two rollers
as shown. If the mass center of the 300 kg walkway is at
G, calculate the tension T in the horizontal cable and find
the force under the roller at A.
m
g

R
A
R
B
( )
( )

=
= +
0 30 sin
0 30 cos
B
B A
R T
R mg R
( ) ( ) 0 30 cos 4 . 0 30 cos 8 . 0 = + mg R
A
( )
( ) N 6 . 849 30 sin
N 14 . 1699
30 cos
5 . 1471 2 5 . 1471
N 5 . 1471
2
= =
=

=
= =
B
B
A
R T
R
mg
R
Net moment must be zero:
Net force must be zero:
A force is applied to the tool to
open a
gas valve. The magnitude of the
moment of
this force about the z axis is
Problem: The uniform beam has a mass of 50 kg per
meter of length. Compute the reactions at the support O.
The force loads shown lie on a vertical plane.
Calculate the moment exerted by the wall.
m
1
g

R
x
R
y
m
2
g

30
o

= +
=
0 ) 30 sin( 4 . 1
0 ) 30 cos( 4 . 1 3
2 1
x
y
R
g m g m R
( )
( ) 0 4 4 . 1 ) 2 . 1 30 cos 4 . 2 (
) 30 cos 6 . 0 4 . 2 ( 2 . 1 3 8 . 1
2 1
= + +
+ g m g m
O
t
Net torque with respect to O must be zero:
Net force must be zero:
30
o
m kN
N g m
N g m
=
= =
= =
12 . 9
588 8 . 9 2 . 1 50
1176 8 . 9 4 . 2 50
2
1
t
Testing question Determine
the magnitude of the projection
of the force F along the pipe AB.
PLAN:
1. Find the coordinates of points
A and B
2. Find the unit vector for the
directions AB
3. Use the dot product to
determine the angle.
What is the unit vector for the direction from
A to B?
A. 3.0 i + 4.0 j
B. 0.6 i 0.8 j
C. +3.0 i 4.0 j
D. 0.8 i 0.6 j
What is the angle (in degrees) between the direction
of the force and the direction of the section AB of the
pipe?
A. 30
B. 43
C. 25
D. 59
E. None of the above
What is the value (in lb) of the projection of
the force onto the direction of the pipe AB?
A. 70
B. 59
C. 42
D. 36
Problem:
Determine the magnitude P of the vertical force required to lift the
wheelbarrow free of the ground at point B. The combined mass of
wheelbarrow and load is 110 kg with center of mass at G. At the
moment the wheelbarrow is about to get free of the ground the
normal force at B disappears.
Determine the magnitude P of the vertical
force required to lift the wheelbarrow free
of the ground at point B. The combined
mass of wheelbarrow and load is 110 kg
with center of mass at G.
At the moment the wheelbarrow is about to get free of the ground the
normal force at B disappears.
Lets now write the equation that states the second condition for
equilibrium: net torque with respect to point C is zero.
N 7 . 179
200 . 0 110 ) 200 . 0 525 . 0 475 . 0 (
=
= + +
P
g P
NEWTONS LAWS OF MOTION
First Law: A particle originally at rest, or moving in
a straight line at constant velocity, will remain in
this state if the resultant force acting on the particle
is zero.
Second Law: If the resultant force on the particle is not zero, the
particle experiences an acceleration in the same direction as the
resultant force. This acceleration has a magnitude proportional to
the resultant force (F = ma).
Third Law: Mutual forces of action and reaction between two
particles are equal, opposite, and collinear.
Problem: For what value(s) of the angle u will the
acceleration of the 35 kg block be 9 m/s
2
to the
right?
g F P
a F P
N
fr
35 sin
35 cos
= +
=
u
u
8 . 9 35 sin 450
9 35 5 . 0 cos 450
= +
=
N
N
F
F
u
u
) 9 8 . 9 ( 35 sin 450 cos 900 + = + u u
) 9 8 . 9 ( 35 1 450 900
2
+ = + x x
Making the substitution
2 2
1 cos 1 sin
cos
x
x
= =
=
u u
u
Solving for x we get 75090 . 0 and 97887 . 0 = = x x
And the angle is
o o
3 . 41 and 8 . 11 = = u u
Problem: Determine the tension P in the cable that will give the 50 kg
block a steady acceleration of 2.0 m/s
2
up the incline.
2
m/s 0 . 2
50 30 sin 50 30 cos
=
= +
a
a F g P P
N k

N 227
30 sin 25 . 0 30 cos 1
100 ) 30 cos 25 . 0 30 (sin 50
100 ) 30 cos 30 (sin 50 ) 30 sin 25 . 0 30 cos 1 (
=
+ +
+ +
=
+ + = + +
g
P
g P
k

mg

F
N
F
fr
P

) 30 sin 30 cos 50 ( 25 . 0
30 sin 30 cos 50
0 30 cos 50 30 sin
P g F
P g F
g P F
fr
N
N
=
=
= +
2
m/s 0 . 2
50 30 sin 25 . 0 ) 30 cos 50 ( 25 . 0 30 sin 50 30 cos
=
= + +
a
a P g g P P
NORMAL AND TANGENTIAL ACCERLERATIONS
The tangential acceleration, a
t
= dv/dt, represents the time rate of
change in the magnitude of the velocity. Depending on the direction
of F
t
, the particles speed will either be increasing or decreasing.
The normal acceleration, a
n
= v
2
/, represents the time rate of change
in the direction of the velocity vector. Remember, a
n
always acts
toward the paths center of curvature. Thus, F
n
will always be
directed toward the center of the path.
If the path of motion is defined as y = f(x),
the radius of curvature at any point can be
obtained from

2
2
2 / 3
2
1
dx
y d
dx
dy
(
(

|
.
|

\
|
+
=
The normal component of the equation of motion is written
as EF
n
=ma
n
, where EF
n
is referred to as the _______.
A. Inertial force
B. Tangential force
C. Centrifugal force
D. Centripetal force
SOLVING PROBLEMS WITH n-t COORDINATES
Use n-t coordinates when a particle is moving along a known,
curved path.
Establish the n-t coordinate system on the particle.
Draw free-body and kinetic diagrams of the particle. The normal
acceleration (a
n
) always acts inward (the positive n-direction).
The tangential acceleration (a
t
) may act in either the positive or
negative t direction.
Apply the equations of motion in scalar form and solve.
It may be necessary to employ the kinematic relations:

a
t
= dv/dt = v dv/ds a
n
= v
2
/r
A 20 lb block is moving along a smooth surface. If the normal
force on the surface at A is 10 lb, the velocity is ________.
A. 10.6 ft/s
B. 9.6 ft/s
C. 7.6 ft/s
D. 12.6 ft/s
=7 ft
A
If the ball has a mass of 30 kg and a speed v = 4 m/s at the instant it is at its lowest
point, Q = 0, determine the tension in the cord at this instant. Also, determine the angle
to which the ball swings and momentarily stops. Neglect the size of the ball.
The block has a mass of 20 kg and a speed of v = 30 m/s at
the instant it is at its lowest point. Determine the tension
in the cord at this instant.
A. 1096 N
B. 1996 N
C. 1896 N
D. 1604N
u
10 m
v = 30m/s
EXAMPLE
Given: At the instant u = 45, the boy with
a mass of 75 kg, moves at a speed of
6 m/s, which is increasing at 0.5
m/s
2
.
Neglect his size and the mass of the
seat and cords. The seat is pin
connected to the frame BC.
Find: Horizontal and vertical reactions
of the seat on the boy.
W
n
t
45
Free-body diagram
=
R
x
R
y
n
t
ma
n
ma
t
Kinetic diagram
2) Apply the equations of motion in the n-t directions.
Using equations (1) and (2), solve for R
x
, R
y
.
R
x
= 217 N, R
y
=572 N
Using a
n
= v
2
/r = 6
2
/10, W = 75(9.81) N, and m = 75 kg,

we get: R
x
cos 45 R
y
sin 45 + 520.3 = (75)(6
2
/10) (1)
(b) F
t
= ma
t
=> R
x
sin 45 + R
y
cos 45 W cos 45 = ma
t
we get: R
x
sin 45 + R
y
cos 45 520.3= 75 (0.5) (2)

(a) F
n
= ma
n
=> R
x
cos 45 R
y
sin 45 +W sin 45 = ma
n
W
n
t
45
=
R
x
R
y
n
t
ma
n
ma
t
M=75 kg
Given: A 800 kg car is traveling over
the hill having the shape of a
parabola. When it is at point
A, it is traveling at 9 m/s and
increasing its speed at 3 m/s
2
.
Find: The resultant normal force and resultant frictional force
exerted on the road at point A.
Plan:
1) Treat the car as a particle. Draw the free-body and
kinetic diagrams.
2) Apply the equations of motion in the n-t directions.
3) Use calculus to determine the slope and radius of
curvature of the path at point A.
W = mg = weight of car
N = resultant normal force on road
F = resultant friction force on road
t n
ma
t
ma
n
t
q
q
n
N
F
W
=
F
t
= ma
t
=> W sin u F = ma
t
F
n
= ma
n
=> W cos u N = ma
n
Using W = mg and a
n
= v
2
/ = (9)
2
/
=> (800)(9.81) cos u N = (800) (81/)
=> N = 7848 cos u 64800/ (1)
Using W = mg and a
t
= 3 m/s
2
(given)
=> (800)(9.81) sin u F = (800) (3)
=> F = 7848 sin u 2400 (2)
3) Determine by differentiating y = f(x) at x = 80 m:
Determine u from the slope of the curve at A:
y = 20(1 x
2
/6400) => dy/dx = (40) x / 6400
=> d
2
y/dx
2
= (40) / 6400
tan u = dy/dx

u = tan
-1
(dy/dx) = tan
-1
(-0.5) = 26.6
x = 80 m
u
dy
dx
| |
m 6 . 223
00625 . 0
) 5 . 0 ( 1
1
2 / 3
2
2
2
2 / 3
2
=
=
=
(
(

|
.
|

\
|
+
=
dx
y d
dx
dy

From Eq.(1): N = 7848 cos q 64800 / r

= 7848 cos (26.6) 64800 / 223.6 = 6728 N
From Eq.(2): F = 7848 sin q 2400
= 7848 sin (26.6) 2400 = 1114 N
When u=60
o
the boys center of mass G has a speed of 15 ft/s.
Determine the rate of increase of his speed and the tension in
each of the cords. The boy has a weight of 60 lb. Neglect the
mass of the seat and cords.
Ans is 47 lb
Goals:
To be able to derive and apply work-energy
theorem.
Learn how to use energy conservation in
problem solving.
Solve problems.
31
WORK AND ENERGY
WORK OF A FORCE
A force does work on a particle when the particle undergoes
a displacement along the line of action of the force.
Work is defined as the product of force
and displacement components acting in
the same direction. So, if the angle
between the force and displacement
vector is u, the increment of work dW
done by the force is
dW = F ds cos u
By using the definition of the dot product
and integrating, the total work can be
written as
}
r
2
r
1
W
1-2
=
F ds
WORK OF A FORCE
Work is positive if the force and the displacement are in
the same direction. If they are in opposite directions, then
the work is negative. If the force and the displacement
directions are perpendicular, the work is zero.
If F is a function of position (a common case) this becomes
}
=
s
2
s
1
F cos u ds
W
1-2
If both F and u are constant (F = F
c
), this equation further
simplifies to
W
1-2
= F
c
cos u (s
2
- s
1
)
Spring force
Gravitational force
Friction force
WORK AND ENERGY
Another useful equation for working kinetics problems
involving particles is the equation which can be derived by
integrating F
t
= ma
t
, with respect to displacement.
This principle is useful for solving problems that involve
force, velocity, and displacement. It can also be used to
explore the concept of power.
By substituting a
t
= v (dv/ds) and integrating the resulting
equation we obtain an equation which is known as the
principle of work and energy.
To use this principle, we must first understand how to
calculate the work of a force.
PRINCIPLE OF WORK AND ENERGY
The principle of work and energy cannot be used, in general, to
determine forces directed normal to the path, since these forces
do no work.
Note that the principle of work and energy (T
1
+ U
1-2
= T
2
)
is not a vector equation! Each term results in a scalar value.
Both kinetic energy and work have the same units, that of
energy! In the SI system, the unit for energy is called a joule (J),
where 1 J = 1 N m. In the FPS system, units are ft lb.
The principle of work and energy can also be applied to a system
of particles by summing the kinetic energies of all particles in the
system and the work due to all forces acting on the system.
PRINCIPLE OF WORK AND ENERGY
W
1-2
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.
By integrating the equation of motion, F
t
= ma
t
= mv(dv/ds), the
principle of work and energy can be written as
W
1-2
= 0.5m(v
2
)
2
0.5m(v
1
)
2
or T
1
+ W
1-2
= T
2
T
1
and T
2
are the kinetic energies of the particle at the initial and final
position, respectively. Thus, T
1
= 0.5 m (v
1
)
2
and T
2
= 0.5 m (v
2
)
2
.
The kinetic energy is always a positive scalar (velocity is squared!).
So, the particles 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 particles final kinetic energy.
PRINCIPLE OF WORK AND ENERGY (continued)
CAUTION!! The principle of work and energy cannot be used, in
general, to determine forces directed normal to the path, since
these forces do no work.
Note that the principle of work and energy (T
1
+ W
1-2
= T
2
)
is not a vector equation! Each term is a scalar term.
Both kinetic energy and work have the same units, that of
energy! In the SI system, the unit for energy is called a joule (J),
where 1 J = 1 N m. In the FPS system, units are ft lb.
The principle of work and energy can also be applied to a system
of particles by summing the kinetic energies of all particles in the
system and the work due to all external forces acting on the
system.
THE WORK of the gravitational force and potential energy
For conservative forces the work W
1-2
= U
1
U
2.
where U
i
stands for
potential energy at point i, i=1, 2. Potential energy is a relative concept.
Potential energy is always referring to a level we choose.
Conservative forces are forces whose work does not depend on the path
followed and only depends on the initial and final points of the path.
Examples of conservative forces are the gravitational and the spring forces.
An example of an non-conservative force is the friction force.

Thus ,if only conservative forces are acting on a particle, the principle
of work and energy can be written alternatively as
U
1
U
2
= 0.5m(v
2
)
2
0.5m(v
1
)
2
or
T
1
+ U
1
= T
2
+ U
2

Which is a statement of the principle of conservation of energy!
If conservative and non-conservative forces are considered then
T
1
+ U
1
+W
1-2
= T
2
+ U
2
12/05/2012 39
Work - Summary
Positive work: force acts in the direction of motion
Zero work: force acts in the direction perpendicular to
motion
Negative work: force acts in the opposite direction to
motion
Work is a scalar quantity: it can be positive, negative or
zero but it does not have direction!
Graphical Interpretation of Work
Work can be represented as the area under the F
x
=Fcos(u) line in
the graph. Note that in this case F
x
is the component of the force
in the direction of the objects displacement. It is true for constant
as well as for variable forces.
Work of a constant force moving along a straight line: F(x
2
-x
1
)
Find the work done by the force while pulling the
object from the position x
1
= 0.25 m to x
2
= 0.5 m.
A. 0.60 J
B. 0.40 J
C. 0.20 J
D. 0.10 J
E. 0.05 J
When stretched, a linear elastic
spring develops a force of
magnitude F
s
= ks, where k is the
spring stiffness and s is the
displacement from the un-
stretched position.
If a particle is attached to the spring, the force F
s
exerted on the
particle is opposite to that exerted on the spring. Thus, the work done
on the particle by the spring force will be negative.
W
1-2
on the particle
= [ 0.5k (s
2
)
2
0.5k (s
1
)
2
] .
The work of the spring force moving from position s
1
to position
s
2
is
2 2
2
1
2
2
spring on the
2 1
2
1
2
1
ks ks
ds ks ds F W
s
s
s
s
s
= = =
} }

WORK OF A SPRING FORCE

The work needed to stretch a spring 10 cm from
equilibrium (from x
1
= 0 m to x
2
= 0.1 m) is 10 J. How
much work needs to be done to stretch the spring an
additional 10 cm (from x
2
= 0.1 m to x
3
= 0.2 m) ?
A. 5 J
B. 10 J
C. 20 J
D. 30 J
E. 40 J
WORK OF THE GRAVITATIONLA FORCE
The work done by the gravitational force acting on a particle
(or weight of an object) can be calculated by using
The work of the force weight is the product of the
magnitude of the particles weight and its vertical
displacement. If Ay is upward, the work is negative
since the weight force always acts downward.
- mg (y
2
- y
1
) = - mg Ay - mg dy =
W
1-2
=
}
y
2
y
1
The case of a body sliding over a rough surface merits special
consideration.
This equation is satisfied if P =
k
N. However, we know from
experience that friction generates heat, a form of energy that does
not seem to be accounted for in this equation. It can be shown that
the work term (
k
N)s represents both the external work of the
friction force and the internal work that is converted into heat.
WORK OF FRICTION CAUSED BY SLIDING
The principle of work and energy would be
applied as
0.5m (v)
2
+ P s (
k
N) s = 0.5m (v)
2
Consider a block which is moving over a
rough surface. If the applied force P just
balances the resultant frictional force
k
N,
a constant velocity v would be maintained.
12/05/2012 48
Gravity as a Conservative Force
Compare the work done by the
gravitational force (by the
Earth) on the box of mass m,
while the box is moving along
two different paths:
D-A-B and D-C-B
B C D B A D
B C C D B C D
B A A D B A D
W W
mgh mgh
W W W
mgh mgh
W W W



=
= + =
= + =
= + =
= + =
0
0
The work done by a force of gravity along
DAB is the same as along the path DCB.
Gravity only does work when an object
changes its height! And the change of
height along the two paths was the
same!
The Force of Gravity Conservative Force
Since the work done by the gravitational
force is independent of the path and only
depends on the initial and final height
(position) of the object. We can define
gravitational potential energy as objects
ability to do work due to the gravitational
attraction of the Earth. The more PE the
object has the more work it can do.
) (
) (
force ve conservati by
i f gravity
i f
h h mg h mg W
PE PE PE W
= A =
= A =
PE has no absolute
meaning. What is
really important is
the CHANGE of PE:
APE.
The collar has a mass of 30 kg and is supported on the rod having a coefficient
of kinetic friction of 0.4. The spring has an un-stretched length of 0.2 m and a
stiffness of 50 N/m. Determine the speed of the collar after the applied force F
causes it to be displaced s=1.5 m from point A. When s=0 the collar is kept at
rest.
0+(0.5)(50)(0.5-0.2)
2
+120.58= (0.5)(30)v
2
+(0.5)(50)(2.0-0.2)
2

v =1.67 m/s
If conservative and non-
conservative forces are
considered then
T
1
+ U
1
+W
1-2
= T
2
+ U
2
F
y
= 0: N m
A
g+200sin45 = 0
=> N = 152.57 and F
fr
=61.03 N
W
1-2
= (200cos45-61.03)(1.5)
=120.58 J

The potential energy here is elastic potential energy
Problem: Beginning from rest when u=20
o
,
a 35 kg child slides with negligible friction
down a sliding board in the shape of a 2.5 m
circular arc. Determine the tangential
acceleration, the speed of the child, and the
normal force exerted on her when u=30
o
.
B
O
Using conservation of energy we have for (a)
A
30
o 20
o
) 30 sin 1 (
) 20 sin 1 (
2
1
0
2
=
=
+ = +
R h
R h
mv mgh mgh
A
O
A A O
Solving for v
A
gives v
A
=2.78 m/s
where F
T
is the tangential force at A thus,
2
m/s 496 . 8 60 sin
60 sin
= =
= =
g a
mg ma F
T
T T
On the other hand, the normal force F
N
is
N 87 . 279
60 cos
2
=
=
N
N
F
R
v
m mg F
A body weighing
32.2 lb has a mass
of 1 slug
(g=32ft/s
2
).
POWER AND EFFICIENCY
Objectives:
Students will be able to:
1. Determine the power generated
by a machine, engine, or motor.
2. Calculate the mechanical
efficiency of a machine.
In-Class Activities:
Define Power
Define Efficiency

POWER in Translational Motion
Power is time rate of doing work (or of energy transfer)
Average power:
P
W
t
av
=
A
A
Instantaneous power:
P
W
t
dW
dt
t
=

lim
A
A
A
0
dW Fds =
But
v
ds
dt
= .
and So, Power is:
P
dW
dt
F
ds
dt
Fv = = =
units: [P] = J/s = W (watt)
supplied
required
P
P
ef f =
Efficiency is defined as
In the FPS system, power is usually expressed in units of
horsepower (hp) where
1 hp = 550 (ft lb)/s = 746 W .
EFFICIENCY
If energy input and removal occur at the same time, efficiency
may also be expressed in terms of the ratio of output energy
to input energy or
c = (energy output) / (energy input)
Machines will always have frictional forces. Since frictional
forces dissipate energy, additional power will be required to
overcome these forces. Consequently, the efficiency of a
machine is always less than 1.
The mechanical efficiency of a machine is the ratio of the
useful power produced (output power) to the power supplied
to the machine (input power) or
c = (power output) / (power input)
Given: A sports car has a mass of 2000 kg and an engine
efficiency of c = 0.65. Moving forward, the wind creates
a drag resistance on the car of F
D
= 1.2v
2
N, where v is the
speed in m/s. The car accelerates at 5 m/s
2
, starting from
rest.
Find: The engines input power when t = 4 s.
1) Draw a free body diagram of the car.
2) Apply the equation of motion and kinematic equations
to find the cars velocity at t = 4 s.
3) Determine the output power required for this motion.
4) Use the engines efficiency to determine input power.
Solution:
1) Draw the FBD of the car.
The drag force and weight
are known forces. The
normal force N
c
and driving
force F
c
represent the
resultant forces of all four
wheels.
2) The equation of motion can be applied in the x-direction,
with a
x
= 5 m/s
2
:
+ F
x
= ma
x
=> F
c
1.2v
2
= (2000)(5)
=> F
c
= (10,000 + 1.2v
2
) N
3) The constant acceleration equations can be used to
determine the cars velocity.
4) The power output of the car is calculated by multiplying the
driving force and the cars velocity:
5) The power developed by the engine (prior to its frictional
losses) is obtained using the efficiency equation.

P
i
= P
o
/c = 209.6/0.65 = 322 kW
P
o
= (F
c
)(v
x
) = [10,000 + (1.2)(20)
2
](20) = 209.6 kW
v
x
= v
xo
+ a
x
t = 0 + (5)(4) = 20 m/s