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Unit 4: Dynamics
Dynamics- branch of mechanics which deals with the motion of bodies under the action of forces.
Force -is defined as a pull or a push that acts on a body.
−external influence(action) on an object that causes the object to change its state of motion.
−is a vector quantity with SI unit Newton(N) where 1N = 1kg · m/s2 .
Forces are of two kinds. Contact forces and non contact forces.
Contact force- is a force that acts on one object by another in physical contact with it. Examples:
Friction force, tension, normal force, etc.
Non contact force- is a force that acts on an object by a second object without direct physical
contact with it. Examples: the gravitational force, the magnetic force, and the electric force.
Effects of a force
• Force can cause or block motion.
• Force can change direction of motion.
• Force can speed up or slow down motion or force can cause acceleration.
• Force can cause deformation, i.e, it can change the shape or size of bodies.
Net Force-is a single force obtained by adding two or more forces simultaneously acting on a body.
Force Addition
Force addition is the same as vector addition. To add two forces simultaneously exerted at one point
on a body, we can apply the law of parallelogram technique of vector addition. For several forces
applied simultaneously on a body, the resultant (or net) force can be obtained by using resolution
technique, i.e we first resolve the forces in to their rectangular components( x and y components
for 2D forces) and then find their resultant along the component directions. Finally, we find the
magnitude of the resultant (or net) force by using Pythagoras theorem and direction, i.e, the angle
that the resultant force makes with the coordinate axes, by using tangent function for 2D resultant
force or direction cosines for 3D resultant force.
Newton’s First Law of Motion
” A body at rest, will remain at rest and a body in motion at a constant velocity will
continue in motion at that constant velocity, unless acted on by external force.”
Mass and Inertia
Inertia- is the tendency of an object to resist any attempt to change in its velocity.
The change in the state of motion of a body depends, in addition to the external force, on the
quantity of matter(mass) in the body. The greater the quantity of matter in the body, the stronger
is the tendency of the body to preserve a constant velocity, the greater is the inertia of the body.
Mass -is the quantity of matter in a body and it is the quantitative measure of the inertia or
resistance to change in motion of a body. The SI unit of mass is the kilogram.
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Newton’s Second Law

Newton’s Second Law states that: ”the acceleration of an object is directly proportional
to the net force acting on it and inversely proportional to its mass.” Mathematically:
F = ma
Note that this equation is a vector expression and hence is equivalent to three component equations:
Fx = max Fy = may Fz = maz
Mass and weight
Mass-is the quantity of matter contained in a body. It does not depend on location.
The attractive force exerted by the Earth on an object is called the gravitational force Fg . This
force is directed toward the center of the Earth, and its magnitude is called the weight of the object.
Weight of an object is equal to the magnitude of the gravitational force exerted on an object by
the Earth. The weight of an object of mass m on or near the surface of the Earth is calculated as
W = mg
Because it depends on g, weight varies with geographic location. Because g decreases with increasing
distance from the center of the Earth, objects weigh less at higher altitudes than at sea level.
Newton’s Third Law of Motion
”If two objects interact, the force F12 exerted by object 1 on object 2 is equal in mag-
nitude and opposite in direction to the force F21 exerted by object 2 on object 1:”
F12 = −F21
One of these forces is known as action force and the other reaction force. So, 3rd law states:”
for every action force, there always exist an equal and opposite reaction force.”
This also would mean that forces always occur in pairs, or that a single isolated force cannot
exist. Action and reaction forces always act on two different objects and so can not vanish.
Normal Force (N)
Normal Force- the reaction force a surface exerts to support the object resting on it.
For a book on a table, the normal force is the upward force that the table exerts on the book against
its weight. Why the book does not fall to the ground is because the normal force balances the
weight, N = mg. But the normal force N does not always equal to the weight mg of an object.
Normal Force of a body on an Inclined Plane
Consider an object with mass m placed on an incline plane with θ angle of inclination from the
horizontal direction as shown in the Figure. Whenever an object is placed on an incline plane, its
weight vector will be broken down to components parallel to and perpendicular to the inclined
plane directions. The parallel component of the weight is always directed down the incline plane
and for the body in Figure 1 this component is calculated as:
W// = mg sin θ
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The other component of the weight(W⊥ ) of a body on an incline plane presses the plane downward
but in the normal direction. Newton’s third law says that the plane also exerts an equal magnitude
but oppositely directed reaction force (N) to this component of weight as shown in Figure 1. Hence,
the magnitude of the normal force (FN = W⊥ ) for the object shown in Figure 1 is calculated as:
N = mg cos θ

This formula for normal force valid only if the other external forces acting on the body do not have
components perpendicular to the inclined plane.
Tension(T)- is the magnitude of the force in stretched strings or ropes. Because it is the magnitude
of a vector quantity, tension is a scalar quantity.
Friction Force
Friction is the resistance to motion of a body offered by a surface or any medium through which
the body is moving. Friction is essential as it allows us to hold objects, drive a car and walk. The
strength of the frictional force depends on whether an object is stationary or moving. When an
object is stationary, the frictional force is called the force of static friction and when the object is
moving, the frictional force is called the force of kinetic friction.
• Kinetic friction points opposite to motion, static friction points in direction of impending motion.
• Both kinetic and static friction are proportional to the normal force. For static friction, we have
fs ≤ µs N
whereµs is the coefficient of static friction. This is an inequality because the force of static friction
can take on smaller values if less force is needed to hold an object in place. The equality holds
when the surfaces are on the verge of slipping, that is, when fs = (fs )max = µs N . This
situation is called impending motion.
For kinetic friction, we have
fk = µk N
where µk is the coefficient of kinetic friction. Note that the friction coefficients do not have units.
• The values of µk and µs depend on the nature of the surfaces, but µk is generally less than µs .
Because of this the force of static friction in general is larger than the force of kinetic friction.
• The coefficients of friction are nearly independent of the area of contact between the surfaces.
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Applications of Newton’s Laws of Motion

PROBLEM-SOLVING STRATEGY
Applying Newton’s Laws to Problems with Two or More Objects
1. Draw a separate free-body diagram for each object. Use a separate coordinate system for each
object. Remember, if two objects touch, the forces they exert on each other are equal and opposite
2. Apply Newton’s second law to each object.
3. Solve the simultaneous equations, together with any equations describing interactions and con-
straints, for the unknown quantities. Remember that you must have as many independent equations
as you have unknowns to obtain a complete solution.
Make sure your answer is consistent with the free-body diagrams that you have created.
1. Motion by a horizontal force on a rough surface

Since the object does not leave the floor and accelerate vertically, the acceleration in this direction
is zero, i.e ay = 0. Hence applying Newton’s second law in this direction implies,
P
Fy = may ⇒ N − mg = 0 ⇒ N = mg............(1)
Newton’s second law applied in the horizontal direction implies
P
Fx = max ⇒ F − f = ma ⇒ F − µN = ma...................(2)
Substituting the expression for the normal force from equation (1) to (2) will yield
F
F − µmg = ma ⇒ a= m − µg
Special case: If surface is frictionless, µ = 0, the acceleration of the two masses system will be
F
a= m
2. Motion by an obliquely applied force at an angle θ above the horizontal direction.
The object has no acceleration vertically, i.e. ay = 0 but it has a non zero acceleration a = ax .

Newton’s second law applied perpendicular to motion, i.e., along the y axis direction implies,
P
Fy = may ⇒ N + F sin θ − mg = 0 ⇒ N = mg − F sin θ........(1)
Newton’s second law applied in the horizontal direction implies
P
Fx = max ⇒ F cos θ − f = ma ⇒ F cos θ − µN = ma..........(2)
Substituting the expression for the normal force from equation (1) to (2) yields:
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F
F cos θ−µ(mg−F sin θ) = ma ⇒ F (cos θ−µ sin θ)−µmg = ma ⇒ a= m (cos θ+µ sin θ)−µg
Special case: If surface is frictionless, µ = 0, the acceleration of the object will be
F cos θ
a= m
3. Motion by an obliquely applied force at an angle θ below the horizontal direction.
The block shown in Figure 4 moves by a force applied at an angle θ below the horizontal direction.

Newton’s second law applied perpendicular to the motion implies,

P
Fy = may ⇒ N − F sin θ − mg = 0 ⇒ N = mg + F sin θ........(1)
Newton’s second law applied in the horizontal direction implies
P
Fx = max ⇒ F cos θ − f = ma ⇒ F cos θ − µN = ma..........(2)
Substituting the expression for the normal force from equation (1) to (2) yields:
F
F cos θ−µ(mg+F sin θ) = ma ⇒ F (cos θ−µ sin θ)−µmg = ma ⇒ a= m (cos θ−µ sin θ)−µg
Special case: If surface is frictionless, µ = 0, the acceleration of the object will be
F cos θ
a= m
4. Motion of connected bodies by a string on a horizontal floor
Consider the motion of two objects connected by a massless and inelastic string due to a horizontal
applied force on one of the objects as shown in Figure 5.

In such situation when a system involves motion of two or more bodies, it is necessary to apply
Newton’s second law of motion in component form for each body separately by identifying what
forces are applied on each body.
The forces acting on m1 are F-to the right, N1 -upward, m1 g-down, and T and f to the left. After
computing the components of these forces along the x and y directions applying Newton’s second
law of motion to these directions will yield the equations of motion.
Newton’s second law applied to y- direction implies,
P
Fy = may ⇒ N1 − m1 g = 0 ⇒ N1 = m1 g............(1)
Newton’s second law applied to x- direction implies,
P
Fx = max ⇒ F − f1 − T = m1 a ⇒ F − µN1 − T = m1 a...................(2)
Substituting the expression for the normal force from equation (1) to (2) will yield
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F − µm1 g − T = m1 a........................(3)
The forces acting on m2 are T-to the right, N2 -upward, m2 g-down, and f to the left. After com-
puting the components of these forces along the x and y directions applying Newton’s second law of
motion to these directions will yield the equations of motion.
Newton’s second law applied to y- direction implies,
P
Fy = may ⇒ N2 − m2 g = 0 ⇒ N2 = m2 g............(4)
Newton’s second law applied to x- direction implies,
P
Fx = max ⇒ T − f2 = m2 a ⇒ T − µN2 = m2 a...................(5)
Substituting the expression for the normal force from equation (4) to (5) will yield
T − µm2 g = m2 a........................(6)
Solving the simultaneous equations (3) and (6) by elimination technique,simply by adding the two
equations, will yield the acceleration of the system.

F − µm1 g − T = m1 a........................(3)
+ T − µm2 g = m2 a........................(6)
F − µm1 g − µm2 g = (m1 + m2 )a
⇒ F − µg(m1 + m2 ) = (m1 + m2 )a
F
⇒ a= m1 +m2 − µg
Substituting this acceleration to Eq.(6) yields the tension in the string connecting the masses.
m2
T − µm2 g = m2 a ⇒ T = µm2 g + m2 a = µm2 g + m2 ( m1 F
+m2 − µg) = m1 +m2 F
Special case: If surface is frictionless, µ = 0, the acceleration of the two masses system will be
F
a= m1 +m2
5. Motion of contact bodies
Figure 6 shows two masses in body contact and moving on a rough surface by a horizontal force
applied to m1 . Find expressions for the magnitudes of the acceleration and action-reaction forces
that act between the two bodies.

Let us first consider the motion of m1 . The forces acting on it are: the applied force F-to the right,
the friction force f1 and the reaction force F21 of m2 against the push of m1 -both to the left, the
normal force N1 -upward, and the weight m1 g-down.
Newton’s second law applied to y- direction shows that:
P
Fy = may ⇒ N1 − m1 g = 0 ⇒ N1 = m1 g............(1)
Newton’s second law applied to x- direction implies,
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P
Fx = max ⇒ F − f1 − F21 = m1 a ⇒ F − µN1 − F21 = m1 a...................(2)
Substituting the expression for the normal force from equation (1) to (2) will yield
F − µm1 g − F21 = m1 a........................(3)
The forces acting on m2 are: the push (action force)F12 of m1 on m2 -to the right, N2 -upward,
m2 g-down, and f2 to the left.
Newton’s second law applied to y- direction implies,
P
Fy = may ⇒ N2 − m2 g = 0 ⇒ N2 = m2 g............(4)
Newton’s second law applied to x- direction implies,
P
Fx = max ⇒ F12 − f2 = m2 a ⇒ F12 − µN2 = m2 a...................(5)
Substituting the expression for the normal force from equation (4) to (5) will yield
F12 − µm2 g = m2 a........................(6)
Notice that F12 and F21 are action and reactions forces with the property F12 = F21 . Using this
property in solving the simultaneous equations (3) and (6)will yield the acceleration of the system.
F − µm1 g − F21 = m1 a........................(3)
+ F12 − µm2 g = m2 a........................(6)
F − µm1 g − µm2 g = (m1 + m2 )a
⇒ F − µg(m1 + m2 ) = (m1 + m2 )a
F
⇒ a= m1 +m2 − µg
Substituting this acceleration to Eq.(6) yields the magnitudes of the action-reaction forces.
m2
F12 −µm2 g = m2 a ⇒ F12 = µm2 g +m2 a = µm2 g +m2 ( m1 F
+m2 −µg) = m1 +m2 F
Special case: If surface is frictionless, µ = 0, the acceleration of the two masses system will be
F
a= m1 +m2
6. Motion over a frictionless pulley-1
Consider the motion of two unequal masses m1 and m2 hanged vertically by a light and inelastic
string that passes over a frictionless pulley as shown in Figure 7. Assuming m2 > m1 , find expres-
sions for the magnitudes of the acceleration of the two masses and the tension in the string.

The downward weights and the upward tension in the string are the forces acting on both masses.
Notice also that the masses are accelerating in opposite directions with same magnitude of acceler-
ation, i.e., ~a1 = −~a2 . Let’s assign 00 +00 sign for the forces and accelerations in the upward directions
and 00 −00 sign in the downward direction as we apply Newton’s 2nd law for each mass separately.
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Applying Newton’s second law for m1 , we see that:

P
Fy = m1 a1y ⇒ T − m1 g = m1 (+a) = m1 a..................(1)
Applying Newton’s second law for m2 , we see that:
P
Fy = m2 a2y ⇒ T − m2 g = m2 (−a) = −m2 a..................(2)
Subtracting Equation (2) from (1) gives magnitude of the acceleration of the masses.
T − m1 g = m1 a............(1)
− ( T − m2 g = −m2 a)........(2)
⇒ (m2 − m1 )g = (m2 + m1 )a
2 −m1
⇒ a = (m
m2 +m1 )g
Substituting this acceleration in to Equation (1) or (2) yields the tension in the string.
2 −m1
T = m1 g + m1 a = m1 g + m1 ( m m1 m2
m2 +m1 )g = 2( m1 +m2 )g
7. Motion over a frictionless pulley-2
Consider a system of two masses connected by a string that passes over a frictionless pulley with
m1 sliding on a horizontal floor and m2 hanged vertically is moving down as shown in figure 8.
Determine the magnitudes of the accelerations of the masses and the tension in the string.

Let’s first consider the motion of m1 which accelerates to the right. The forces acting on m1 are
tension T-to the right, friction f - to the left, normal force N1 = m1 g- upward, and weight m1 g-
downward. Applying Newton’s second law to m1 along the horizontal direction implies,
T − f = m1 a ⇒ T − µN1 = m1 a ⇒ T − µm1 g = m1 a............(1)
Applying Newton’s second law to m2 in the vertical direction implies,
T − m2 g = m2 (−a) ⇒ T − m2 g = −m2 a ⇒ m2 g − T = m2 a.........(2)
Adding these two equations gives the acceleration of the two masses.
T − µm1 g = m1 a............(1)
+ m2 g − T = m2 a..............(2)
⇒ a = ( mm21−µm
+m2 )g
1

Substituting this acceleration in to Equation (1) or (2) yields the tension in the string.
T = µm1 g + m1 a = µm1 g + m1 ( mm21−µm
+m2 )g =
1 m1 m2 g
m1 +m2 (1 + µ)
8. Motion on an inclined plane-1
Consider an object accelerating up an inclined plane with angle θ from the horizontal by a force
applied parallel to the plane as shown in Figure 9. Determine the acceleration of the object.
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Net force applied on the object is the resultant of the (F) applied parallel to and up the inclined,
and friction force(f ) and (mg sin θ) both acting parallel to but down the inclined. Forces acting
perpendicular to the incline plane are the perpendicular component of the weight (mg cos θ) and the
reaction force of the surface, i.e the normal force N.
Applying Newton’s second law perpendicular to the inclined plane shows that:
P
Fy = may ⇒ N − mg cos θ = 0 ⇒ N = mg cos θ.......(1)
Applying Newton’s 2nd law with + sign for forces up and parallel to the plane shows that:
P
Fx = ma ⇒ F − f − mg sin θ = F − µN − mg sin θ = ma....................(2)
Substituting the expression for the normal force from Equation (1) to (2), we get
F − µmg cos θ − mg sin θ = ma ⇒ F − (µ cos θ + sin θ)mg = ma
F
⇒ a= m − (µ cos θ + sin θ)g
If incline plane is frictionless, µ = 0, the objects acceleration becomes
F
⇒ a= m − g sin θ
If the applied force is removed, the object’s acceleration becomes
⇒ a = −g sin θ
This shows that the object accelerates down the incline plane with magnitude a = g sin θ.
9. Motion on an inclined plane-2
Consider a system of two masses connected by a string that passes over a frictionless pulley with
m1 sliding up an inclined plane and m2 hanged vertically is moving down as shown in figure 10.
Determine the magnitudes of the accelerations of the masses and the tension in the string.

Applying Newton’s second law to m1 parallel to the incline plane gives the following equation.
T −f1 −m1 g sin θ = m1 a ⇒ T −µN1 −m1 g sin θ = m1 a ⇒ T −µm1 g cos θ −m1 g sin θ = m1 a...(1)
Applying Newton’s second law to m2 implies
T − m2 g = m2 (−a) ⇒ m2 g − T = m2 a.................(2)
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Adding equations (1) and (2) gives magnitude of acceleration of the masses.
T − µm1 g cos θ − m1 g sin θ = m1 a............(1)
+ m2 g − T = m2 a................(2)
m2 g − µm1 g cos θ − m1 g sin θ = (m1 + m2 )a
m2 g−µm1 g cos θ−m1 g sin θ
⇒ a= m1 +m2
Substituting this acceleration to Equ.(1) or (2) gives the following value of tension in the string.
m1 m2 g
T = m1 +m2 (1 + sin θ + µ cos θ)
10. Motion over a doubled inclined plane
Assuming m2 >> m1 , find the acceleration of the two masses and the tension in the string.

Forces acting on both masses parallel to the inclined plane are the tension in the string, parallel
component of the weight and the friction force. Perpendicular to the inclined plane, there is no net
force acting on both masses implying that N1 = m1 g cos θ and N2 = m2 g cos θ.
Applying Newton’s second law to m1 parallel to the incline plane gives the following equation.
T −f1 −m1 g sin θ1 = m1 a ⇒ T −µN1 −m1 g sin θ1 = m1 a ⇒ T −µm1 g cos θ1 −m1 g sin θ1 = m1 a...(1)
Applying Newton’s second law to m2 parallel to the incline plane gives the following equation.
m2 g sin θ2 −T −f2 = m2 a ⇒ m2 g sin θ2 −T −µN2 = m2 a ⇒ m2 g sin θ2 −T −µm2 g cos θ2 = m2 a...(2)
Adding Equations (1) and (2) yields the expression for the acceleration of the system.
T − µm1 g cos θ1 − m1 g sin θ1 = m1 a
+ m2 g sin θ2 − T − µm2 g cos θ2 = m2 a
⇒ m2 g sin θ2 − µm2 g cos θ2 − µm1 g cos θ1 − m1 g sin θ1 = (m1 + m2 )a
m2 g(sin θ2 −µ cos θ2 )−m1 g(sin θ1 +µ cos θ1 )
⇒ a= m1 +m2
Substituting this acceleration to Equ.(1) or (2) gives the following tension in the string.
T = µm1 g cos θ1 +m1 g sin θ1 +m1 a = µm1 g cos θ1 +m1 g sin θ1 +m1 ( m2 g(sin θ2 −µ cos m
θ2 )−m1 g(sin θ1 +µ cos θ1 )
1 +m2
)
m1 m2 g[µ(cos θ1 −cos θ2 )+sin θ1 +sin θ2 ]
⇒ T = m1 +m2
Newton’s law of gravitation
States that:”Every particle of matter in the universe attracts every other particle with
a force that is directly proportional to the product of the masses of the particles and
inversely proportional to the square of the distance between them.”
For two masses m1 and m2 separated by a distance r, Newton’s law of of gravitation expresses