4 Particle Dynamics

In particle kinematics, we dealt with the motion of bodies by considering them to be particles
with no reference to any forces that were involved in such motion. In particle dynamics,
however, we will be concerned with forces that produce motion. All influences to the motion of
any one particle will constitute the environment in which the particle moves.

When we need to analyze the motion of particles, we will restrict ourselves to velocities which
are small compared to the velocity of light. Thus, if we give a particle an initial velocity by
applying a force F, we need to know what will happen to this particle after some time t. We now
wish to introduce the concept of a force acting on a body to give it an acceleration.

4.1 Newton’s First Law of Motion

If we place a block of wood on a rigid horizontal surface and give it a small push, it starts to
slide. It will move for a while and then start to slow down until it comes to rest. If we put the
same body on a smoother surface which is well-lubricated and apply the same force as above, the
velocity of the block decreases but at a slower rate. Furthermore, the block moves a larger
distance than before. We can conclude that, in the absence of friction, the block would continue
moving in a straight line with a constant velocity.

We state Newton’s First Law of motion as follows: A body remains at rest or continues moving
with constant velocity in a straight line until it is acted upon by an external force. Consider two
observers: one standing at a road side and looking at a tree; the other observer is inside a car
which is moving at a constant speed past the same tree. Both observers agree that the tree is not
experiencing any acceleration. According to the stationary observer, the tree is standing still. To
the observer in the moving car, it is the tree which is moving in the opposite direction at constant
speed! We thus state the first law as follows: If there is no net force acting on a body, its
acceleration is zero.

Consider a body of mass m, hanging on three strings as shown in Fig 4.1a. We need to find the
magnitudes of the forces acting on the body. We consider the body to be a particle located at the
junction O of the three strings. Fig 4.1b is a sketch showing the forces acting on the body. This
sketch is called a frre-body diagram. It is recommended that you draw this diagram to assist you
to see clearly the forces acting.

⃗
According to the first law of motion, the body will remain at rest under the action of the forces F 1
⃗ ⃗F
, F 2 and 3 (the weight of the body). Since there is no external force acting, there is no
acceleration. All the forces balance (the net force is zero).

⃗F + ⃗F + ⃗F =0
We write 1 2 3
 
F3
The sum of the components of all the forces in the x-direction is zero

∑ F x=0
F1x + F2x = 0 (F3 has no component in the x-direction)

F 1 cos ϕ 1 + F 2 cos ϕ2 =0

Similarly the sum of the components in the y-direction is also zero.

∑ F y =0
F1y + F2y + F3 =0

F 1 cos(90−ϕ 1 )+F 2 cos(90−ϕ 2 )+F3 =0

F 1 sin ϕ 1 +F 2 sin ϕ 2=mg

If one of the forces, say, F1 is known, the others can be determined.

Example 4.1


A 50Kg block is kept at rest on a smooth inclined plane of angle θ=30 0 to the horizontal by
means of a string attached to a vertical wall as shown in Fig 4.2. Find the forces acting on the
block.

W mg
Solution:

We identify the forces acting on the block and represent them on a free-body diagram (Fig 4.2b).
⃗
⃗ in string, the normal force F
These forces are: the tensional force T 1 acting perpendicular to the

incline and the weight W⃗ of the block. (Note that we have represented the bock in the free-body
diagram as a point mass). We then choose a reference frame in which the x-axis is along the
incline and positive upwards. The y-axis will be perpendicular to this direction.

Since the block is at rest, the acceleration of the block is zero. We apply Newton’s first law to
the block and write

⃗ ⃗+W
F 1+T ⃗ =0

The components of the forces in the x-direction must be equal to zero. Thus
 ∑ F x=0
T −W cos(90−θ )=0
T =W sin θ=(50 Kg) x(10 ms−2 )x 0. 5
¿250 N

In the y-direction the sum of the components must also be zero. Thus

∑ F y =0
F 1−W cosθ=0
F 1=W cosθ=(50 Kg)(10 ms−2 )x 0 . 866
¿ 433 N

⃗ ⃗.
(Note that the components of F 1 and T
⃗ in the vertical direction must balance the weight W
These components are:

F 1 cosθ=(433 N )x 0 .866=375 N
T sin θ=(250 N )x 0 .5=125 N
W =(50 Kg) x 10 ms−2 =500 N

Example 4.2

Two masses m1 and m2 are held at rest on two inclined planes of angles θ 1 and θ2 by a string via a
pulley as shown in Fig 4.3.

(a) Sketch the free body diagrams for each mass.

(b) Identify the components of the forces acting on each mass in the x- and y-directions
(c) If m1=10Kg, m2=5Kg, θ1=300, θ2=600, find the magnitudes of the forces acting on
each mass.

Solution:

(a) See Fig 4.4

(b) Forces acting on m1 Forces acting on m2
x-direction: Tension T, x-direction: Tension -T, W 2 sinθ 2
−W 1 sin θ 1
y-direction: Normal force F1, y-direction: Normal force F2,
W 1 cos θ1 −W 2 cosθ2
 Pulley

m1 m2

θ1 θ2

Fig 4.3 Two masses at rest on two inclines


F2
(c) Forces acting on m1:

W1=m1g=(10Kg)x(10ms-2)=100N
 T 1=W 1 sin θ=m1 g sin θ
¿(100 N )x 0 .5
¿ 50 N

F 1=W 1 cosθ1 =(100 N )(0. 866 )=86. 6 N

Forces acting on m2:

W2=m2g=(5Kg)(10ms-2)=50N

T 2=W 2 sin θ2 =(50 N )(0. 866 )=43. 3 N

F 2=W 2 cos 60 0=25 N

Example 4.3

Three boys A, B and C pull on horizontal ropes that are tied to a car tyre which is resting on the
ground as shown in Fig 4.5. A pulls with a force of 220N while C pulls with a force of 170N.
With what force must B pull in order for the tyre to stay stationary?

1370

Fig 4.5
Solution:

⃗
Let the forces applied by A, B and C be F A, FB and FC respectively. F A acts at an angle of 137 0
⃗ ⃗F
from the direction of F B (or at an angle of 470 from the –x-axis. C acts at an angle θ yet to be
determined. Fig 4.6 is a free body diagram showing the forces acting on the tyre. For the tyre to


remain stationary,

⃗F + ⃗F + ⃗F =0
A B C

FB
For the forces in the x-direction,

F C cosθ−F A cos 470 =0

(170 N ) x cos θ=(220 N ) x cos 470
220 x 0 .682
θ=cos−1 ( )=28 0
170

In the y-direction,
 F C sin θ+F A sin 47 0−F B =0
F B =(220 N ) x sin 280 +(170 N )x sin 470
¿ 227 . 5 N

Example 4.4

A 5.0kg block at rest on a frictionless surface is acted upon by the forces F 1 = 5.5N and F2 =
⃗ will keep the block at rest?
3.5N as shown below. What additional force F

F2
F1

300 370
x

Solution:

⃗F
If the x-component of 3 is F3x,

∑ F x=0
F 1 cos30 0 +F 2 cos370 +F3 x=0
F 3 x =−(5.5N )(0,866 )−(3.5N )(0.8)
¿−7.6 N

In the y-direction
 ∑ F y =0
−F 1 sin 300 +F 2 sin 370 +F 3 y =0
F 3 y=F 1 sin 300 −F 2 sin 370
¿(5 . 5 N )(0 .5 )−(3 .5 N )( 0. 6 )
¿ 0 . 64 N

⃗F =(−7.6 N )⃗i +(0.64 N )⃗j

3

4.2 Newton’s Second Law

Suppose a force ⃗F is applied to a body of mass m1 to produce an acceleration a1. If this force is
applied via a spring of length l (Fig 4.7), the spring will experience an extension ∆l. If we now
apply the same force to a different body of mass m 2 such that the spring experiences the same
extension as before, m2 will move with a new acceleration a 2. If m2 > m1, them m2 accelerates
more slowly than m1 (that is, a2 < a1). We can write

m2 a1
=
m1 a 2
m 1 a1 =m 2 a 2=F

a2
We state the second law of motion as follows:

The acceleration of a body is directly proportional to the force that produces it.

The acceleration vector is in the same direction as the force. In general, for a body of mass m and
acceleration a,

F ∝a
orF =ma
If F is zero, then a=0. Thus the body will remain at rest or in uniform motion. This is indeed
what the first law says.

We recall Example 4.1 in which a block of mass m rested on an inclined plane of angle θ. If the
string is suddenly cut, the tensional force T no longer exist. The system is not in equilibrium any
more. Instead the block starts to accelerate down the incline. In the y-direction there is no
acceleration and we can write, as before,

N−W cos θ=0

N=W cos θ
F 1−mgcosθ=0

In the x-direction is positive up the incline, then the block accelerates in the negative x-direction.
We can write

−W sin θ=ma
or
−mg sin θ=ma
a=−g sin θ
Example 4.5

A block of mass m1 is placed on a smooth horizontal surface as shown in Fig 4.8a.

The mass m1 is pulled by a string attached to another mass m 2 hanging over a frictionless pulley
of negligible mass. Find

(a) the acceleration of the system

(b) the tension in the string
 
T
Solution:

(a) F1 is the normal force exerted on m 1 by the horizontal surface. Since m 1 is pulled by m 2,
there is a tension T in the string. For mass m 1 which accelerates in the x-direction, we
have

T=m1ax (1)

There is no acceleration of m1 in the y-direction. For this direction we write

F1-m1g=m1ay=0 (2)

For mass m2 accelerating vertically downwards, we write

m2g – T = m2ay (3)

Both masses are moving with the same acceleration, so that a x=ay=a. (1) and (3) can be rewritten
as

T=m1a (4)
m2g – T =m2a (5)

m2g =m1a +m2a

 m2 g
a=
m1 +m2

If, for example, m1=5Kg, m2=10Kg and g=10ms-2, then

(10 Kg) x 10 ms−2

a= =6 . 7 ms−2
15 Kg

T =m1 a=(5 Kg) x 6 . 66 ms−2 =33 .3 N

or
−2
(b) T =m2 ( g−a )=(10 Kg )x 3. 3 ms =33 .3 N

Example 4.6

A 2Kg mass is connected by a cord to the ceiling of an elevator (Fig 4.9) which is accelerating
upwards with an acceleration a=3ms-2.

(a) Determine the tension in the cord according to a stationary observer outside
the elevator.

(b) Determine the tension in the cord according to an observer riding in the
elevator.

Solution:

(a) Since the mass and the lift are accelerating at the same rate, we apply Newton’s second law,
thus

∑ F=ma
From the free-body diagram of Fig 4.9b we have

T −W =ma
T −mg=ma
T =ma+mg=m( a+g)
=(2 Kg )(3+9 . 8)ms−2
¿ 25 . 6 N
 a=3ms-2 T

T
m

W
Observer

Fig 4.9 A mass attached to an accelerating elevator

(b) When the observer is inside the lift, we still use the same free body diagram as
Fig 4.9b. The real forces acting are T and mg. The force causing the
acceleration of the lift is ma. As far as the observer in the lift is concerned,
the lift appears to move uniformly, The acceleration a’ of the system
(mass +lift +observer) is zero.

∑ F=ma'+ma
(T −mg)−ma=ma '=0
T=m(a+g )=(2 Kg)(3+9. 8 )ms−2
¿ 25. 6 N

Example 4.7

Two blocks having masses m1=3Kg and m2=2Kg are in contact on a fixed smooth inclined plane
as shown in Fig 4.10.
 +x
m2

m1
F

370

Fig 4.10 Two masses accelerating up an inclined plane

(a) Consider the two blocks as one block and calculate the force F that will move
the blocks up the incline with an acceleration of 2ms-2. (g=9.8ms-2)

(b) Consider the two blocks separately and calculate the force that each block
exerts on the other.

(c) What can you say about the forces exerted by the two forces on each other?

Solution:

(a) If the two blocks are treated as one block of mass 5Kg, moving in the positive x-direction,
 F−W sin 370 =ma x
F=ma x +W sin 370
¿(5 Kg )(2 ms−2 )+(5 Kg )(9. 8 ms−2 ) x0 . 6
¿39 . 4 N

(b) If the blocks are considered separately, we have the block diagrams of Fig
4.11 (a) and (b).

For m1=3Kg,

F−P21−m1 g sin 370 =m1 a x

39 . 4 N −P 21−(3 Kg)(9 . 8 ms−2 )x 0 .6
P21=15 . 8 N (P21=Force on m2 by m1)

For m2=2Kg

P12−m2 g sin 370 =m2 a x

P12=(2 Kg )(2 ms−2 )+(2 Kg )( 9. 8 ms−2 )x 0 . 6
¿ 15 . 8 N

(b) The force of m1 on m2 is equal to the force of m2 on m1.

Example 4.8

A boy pushes a block of mass m=20Kg up a smooth inclined plane at a uniform speed to a floor
which is 3m high (Fig 4.12a). If the length of the incline is 5m,

(a) Draw a free body diagram showing all the forces acting on the block
(b) Determine the magnitude of the force F applied by the boy
(c) What is the work done by the force F?
(d) If the block was to be raised up directly, what would be the work done?

Solution:

(a) See Fig 4.12b.

(b) In the x-direction, the speed is uniform. F is constant and acceleration a=0.

From the second law,

∑ F x=ma


F−mg sin ϕ=0
3
F=mg sin ϕ=(20 Kg)(9 . 8 ms−2 )x =117. 6 N
5

F
(c) Work done W=F x displacement
= (117.6N)x(5m)
= 588Nm (or J)

(d) If the block is raised directly,

F=mg
W =Fx 3 m=mgx 3m=(20Kg )(9. 8 ms−2 ) x3m=588 N

(Note that the work done along incline is the same. The only difference is that it is easier to push
the block along the incline using a smaller force of 117N but over a longer distance of 5m).

Example 4.9

In Fig 4.13a, m1=3Kg, m2=2Kg and m3=6Kg. The pulley is frictionless and the connecting cords
can be regarded as being weightless.

(a) Calculate the acceleration of the system of weights when released from rest.
(b) Determine the tension T1 in the cord between m1and m2 when the system is moving.

Solution:

(a) We will consider m1 and m2 as if they are stuck together as one mass m=m 1+m2 (Fig 4.13b).
Since the pulley is frictionless, the tension T is the same on both sides of the pulley. The
acceleration is the same for all the masses. The masses m 1 and m2 accelerate upwards while
m3 accelerates downwards.

For m1 and m2 we can write

∑ F y =ma
 Fig 4.13
(b)

T T
T T a

m2 a

m2 m3 m1 m3

T1

m1 W1,2=mg W3=m3g

T −( m1 + m 2 ) g=( m1 +m2 ) a (1)

For m3 we have

∑ F y =m3 a
m3 g−T =m3 a
(2)
Equations (1) and (2) have two unknown quantities: T and a. But from (2) we have

T =m3 g−m3 a

Substituting for T in (1) we get

(m 3 g−m3 a)−(m1 + m2 )g=(m1 +m2 )a

a(m1 + m2 + m3 )=[ m3 −(m1 +m2 ) ] g

a=
[ m3−(m1+m2 )] g
m1 +m 2 +m 3

¿ 9 .8 ms−2 [ (6−5) Kg
11Kg ]
=0 .89 ms−2

(b) If we apply the second law to m1 alone, we get

 T 1−m1 g=m1 a
T 1=m1 (a+ g )=(3 Kg )(0. 89+ 9. 8 )ms−2 =32 .1 N

(Note that T1 is larger than the weight W1 of m1 (which is 29.4N). This is expected since the
mass m1 is being accelerated upwards).

Example 4.10

Three boxes having masses m1 = 0.25kg, m2 = 0.50kg and m3 = 0.25kg are connected by strings
via two pulleys of negligible mass as shown below.

m3
T1 T2

T1 T2

m1 m2

(a) What is the acceleration of the system and in which direction is it?
(b) If m1=0.35kg, m2=0.15kg and m3=0.50kg, what will be the new acceleration and
in which direction is it?

Solution:

For the forces acting on m1,

T 1−m1 g=m1 a
For forces on m2,

m2 g−T 2 =m2 a
T 2=m2 (g−a)

For m3,

T 2−T 1 =m3 a
m3 a=m2 ( g−a )−m1 ( a+ g)
(m2 −m1 )g
a=
m1 +m2 + m3

(0 .50−0 . 25)kgx 9 .8 ms−2

a= =+ 2. 5 ms− 2
(a) 1 kg

System moves from left to right (+ve acceleration)

(b) If m1=0.35kg, m2=0.15kg and m3=0.50kg,

(0 .15−0 . 35)kgx 9 .8 ms−2

a= =−2. 0 ms−2
1 kg

System moves from right to left (-ve acceleration)

4.3 Newton’s Third Law of Motion

⃗ on a second body B (Fig 4.13a), then B will exert an equal but

When a body A exerts a force F
opposite force − ⃗
F on A. The two forces necessarily act along a common line that connects the
two bodies. We write

⃗F =− F⃗
AB BA

(where the left-hand side is the force of A on B while the right-hand side is the force of B on A).
Any one of the forces above can be considered as an action force while the other is a reaction
force. Thus Newton’s third law can be stated as follows: For every action there is an equal and
opposite reaction.

Note that the two forces above act at the same time on two different bodies. They don’t cancel
each other. If they acted on the same body at the same time, they are not an action-reaction pair
even if they are equal in magnitude and opposite in direction.
 ⃗F


A satellite orbiting the earth as shown in Fig 4.13b exerts an action force SE on the earth (by
⃗F
virtue of its gravitational pull). The earth exerts a reaction force ES on the satellite.

FEB
Consider the case of a block resting on a table as shown in Fig 4.13c. The block exerts an action
⃗ ⃗
force F BT on the table while the table exerts a reaction force F TB on the block. The two forces act

⃗F EB F
oppositely on different bodies. The earth, on the other hand, exerts a force on the block. EB
⃗
and F TB , though equal and opposite in direction, do not constitute an action-reaction pair. This
⃗ ⃗
is because they both act on the same body (the block). But F BE and F EB are an action-reaction
pair.

Example 4.11

A block of mass m1=30Kg is pushed across a frictionless table top by a stick of mass m 2 =3.3Kg
(Fig 4.14). The block is moved from rest through a distance d=60cm in a time of 1.2s.

(a) Identify the action-reaction pairs in the arrangement.

(b) What force must the hand apply to the stick?
(c) With what force does the stick push the block?
(d) What is the net force on the stick?
 
FSH
(a) The action-reaction pairs are:

⃗F ,− ⃗F
HS SH
⃗F ,− F⃗
SB BS

(b) To get the force the hand must apply to the stick, we first find the acceleration a

u=0, x=d

1
x=ut + at 2
2
1
0 . 6 m=0+ ax 1. 22 s 2
2
2 x 0 . 6 ms− 2
a= =0 . 83 ms−2
1 . 44

⃗F
The force of the hand on the stick is HS . (Note that the hand pushes both the stick and
the block).
⃗F =( m +m )a
HS 1 2
−2
¿(33 .3 Kg)(0.83 ms )=27 .7 N
 ⃗F
(c) To get the force SB applied to the block by the stick, we apply the second law to the block
alone.

⃗F SB=m1 a=(30 Kg )x (0 . 83 ms−2 )=25 N

⃗F + F
⃗
(d) The net force on the stick = HS BS
⃗F − ⃗F
= HS SB (from third law)
= (27.7-25)N=2.7N

(Note that if the force of the block on the stick was larger than the force of the
hand on the stick, then the system would move to the right!)

Example 4.12

Two blocks of masses m1 and m2 are in contact with each other on a smooth (frictionless) table.
A horizontal force F=3.7N is applied to m1 as shown in Fig 4.15a).

a a
N1 N2
m1

a F P12 P21
F
F
m2
W1 W2

(a) (b) (c)

Fig 4.15 Two masses pushed by a horizontal force

If m1=4.0Kg and m2=2.1Kg,

(a) find the force of contact between the two blocks

(b) show that if the same force F is applied to m2 in the opposite direction, then the
contact force between the two blocks is larger than in (a). Explain why.
 (a) We first need to find the acceleration a of the system.

F=ma
F F 3. 7 N ( Kgms−2 ) −2
a= = = =0 . 60 ms
m m1 + m 2 6 .1 Kg

We next isolate the two bodies and obtain the free-body diagrams of Fig 4.15b (for m 1) and Fig
4.15c (for m2). For m1, the forces in the x- direction will be

F−P12=m1 a (P12 is the force of contact applied on m1 by m2)

P12=F−m1 a
¿ 3 .7 N −( 4 Kg)(0 . 6 ms−2 )
¿ 1 .3 N

(b) If F is applied to m2 in the opposite direction, we use Fig 4.15c and get the
forces acting in the direction of the acceleration as given by

F−P21=m2 a
P21=F−m2 a
¿3 .7 N −(2 .1 Kg )(0. 6 ms−2 )
¿2 . 4 N

When F is applied to m1, it is opposed by the force of contact of m 2 on m1 (ie P12). When F is
applied to m2, it is opposed by the force of contact of m 1 on m2 (ie P21). Since m1 is larger than
m2, P21 must be larger than P12.

4.4 Frictional Forces

A block of mass m which is moving with an initial velocity u on a long horizontal table slows
down until it eventually comes to a stop. This is because it experiences some acceleration in a
direction opposite to that of the motion. This opposite acceleration is due to some force which is
exerted on the block by the table surface. This force is the frictional force.

Frictional forces exist everywhere in life. They exist in moving car parts, walking, car breaking
systems etc. Without friction, cars, for example, would not come to a halt after the beaks are
applied. If a spring is attached to a block resting on a horizontal table and a small force F is
applied to the spring, the block at first is stationary. This is because the applied force is balanced
by a frictional force f exerted by the table surface on the block. The frictional force f acts in the
opposite direction to the applied force F. It acts along the surface of contact between the block
and the table. As F is increased, it gets to a point when the block just starts to move. If F is
reduced while the block is still moving, it is possible to keep it in uniform motion by applying
some minimum force Fmin.
4.4.1. Static Frictional Force

When a body of mass m is at rest on a horizontal surface, the surface exerts a force on the body
which acts perpendicular to the surface. This force is called the normal force N (Fig 1.16). The
normal force has a magnitude equal to the weight of the body and acts opposite to it. It helps the
body to stay stationary (or static).

F m

fs

W=mg
Fig 1.16

If a small force F is applied to the body, it may not move. This is because the surface is pushing
on the body with a force of friction fs which tends to oppose the motion. If we increase F
steadily, there comes a time when the body just starts to move. F just balances the frictional
force. The frictional force f s which just balances the applied force to keep the body moving with
constant velocity is the static frictional force.

The static frictional force fs is directly proportional to the normal force N. We can thus write

f s∝N
f s =μN

(where μ is a constant of proportionality and is called the coefficient of static friction). We

represent it by μs. The above relation is true only when the applied force F just balances f s.
Otherwise the more accurate expression is
 f s ≤μs N

Thus the maximum static frictional force between two surfaces is equal to the smallest force
necessary to set the body in motion. We can summarize that the static frictional force:

 Occurs between two surfaces at rest with respect to one another

 Changes in magnitude up to a maximum value when a body just starts to move
 Is proportional to the magnitude of the normal force N

Example 4.13

A block of mass m rests on an inclined plane of angle θ (Fig 4.17a). As θ is increased gradually


by raising the incline, the block just slips at an angle θ s. What is the coefficient of static friction
μs between the block and the incline?

Solution:

W
Forces acting on the block are shown in Fig 4.17b. Since the block is at rest, acceleration a = 0.
From the first law we write

∑ F=0
⃗ + ⃗f =0
⃗ +W
N s
Considering the forces acting in the +x-direction, we have

f s −W sin θ=0
f s =W sin θ (1)

In the +y direction we have

N−W cosθ=0
N=W cosθ (2)

At the moment of slipping, θ = θs and

f s =μs N . Substituting for f in (1), we get
s

μ s N =W sin θ (3)

Dividing (3) by (2), we have

W sin θ
μ s= =tan θ−tan θ s
W cos θ

μs can be determined in a lab for a surface if θs can be found at which slipping just occurs.

Example 4.14

A cord is attached to a 3Kg block as shown in Fig 4.18a. The incline is at an angle of 36 0. It is
passed over a frictionless pulley and connected to a freely hanging weight M. The coefficient of
static friction between the block and the inclined plane is 0.32. Determine the maximum mass M
required for the block and the weight to remain at rest.

Solution:

The free body diagram for the block is shown in Fig 4.18b. Note that f s acts in the –x direction
because it tries to balance T. The component forces acting on the block are shown in Fig 4.18c.
In the +x direction we have the forces T, -mgsinθ and f s. In the +y direction we have the forces N
and mgcosθ.
 mg cos
Since the system is to be at rest, T=Mg. We also need the maximum value of M, the static force
of friction fs = μsN. We do not know N. To get N, we look at the forces acting in the y direction.
From the first law

∑ F y =0
N−mgcos θ=0
N=mgcos θ

In the x-direction, ∑ F x=0 .

T −mg sin θ−f s =0
Mg−mg sin θ−μ s N=0
Mg−mg sin θ−μ s mg cosθ=0
M=m(sin θ−μs cos θ)
¿(3 Kg )(sin36 0 −0 .32 cos36 0 )
¿ 0 . 99 Kg
Example 4.15


A box weighing 100N is just supported on a 30 0 inclined plane (Fig 4.19) by two external forces:
one force of 10N applied upward and parallel to the incline; the other force ⃗
F is applied parallel
to the base of the incline and in such a direction as to increase the normal reaction force F N on
⃗ if the coefficient of static friction is 0.350.
the box. What is the magnitude of F

F
Solution:

Considering forces in the +x direction, we have

10 N + f s + F cos 300 =(100 N )sin30 0

f s =40−F cos30 0

In the +y direction, we have

F N =F sin 300 +100 cos 300

 fs
μ s=
FN
40−F cos 300
=0. 350
100 cos 30 0 + F sin 30 0
But F=9 . 32 N

4.4.2 Kinetic Frictional Force

We have seen already that when a body at rest just starts to move the applied force is equal to the
static frictional force. If the applied force is increased further, the body starts to accelerate. The
applied force can be reduced to some minimum value which will keep the body moving at
constant velocity. The small applied force balances a frictional force that acts opposite to it. This
frictional force which balances the small applied force to maintain constant motion is the kinetic
frictional force fk. It is less than the maximum static frictional force f s which acts on the body
when it is at rest.

The kinetic frictional force has the following properties:

 It exists between surfaces which are in relative motion.

 It is independent of the velocity of motion.
 It is independent of the contact surface area
 It is proportional to the normal force N.

From the last property, we can write

f k ∝N
f k =μk N
(where μk is the coefficient of kinetic friction.

Both μs and μk are dimensionless. For any given pair of surfaces,

μ s ¿μ k ¿

Example 4.16

The coefficient of static friction between a 40kg crate and the floor is 0.65.

(a) With what horizontal force must a worker pull to move the crate?
(b) If the worker maintains that force once the crate starts motion, what is the
acceleration of the crate?
Solution:

(a) The crate will not move until the applied force F exceeds the maximum static frictional
force fsmax. We need to find fsmax.

The weight of the crate =Normal force N

f s max =μN=μ s ( mg)

¿(0 . 65 )(40 kg )(9 . 8 ms−2 )=255 N

(b) If now the crate is in motion, the worker maintains a constant force of 255N. The
kinetic frictional force fk acts opposite to F.

F−f k =F−μ k N=ma

( F−μ k N F−μ k (mg )
a= =
m m
¿(255 N −(0 . 50)( 40 kg )(9 .8 ms−2 )/40 kg
¿ 1 . 48 ms−2

Example 4.17

A 4.0Kg block slides on a horizontal surface (Fig 4.20). The coefficient of kinetic friction
between the block and the surface is 0.36. Determine the kinetic frictional force and the
acceleration of the block.

Solution:

Since the motion is in the +x direction,

∑ F x=ma x
−f k =ma x (1)

There is no motion in the y-direction. Thus

∑ F y =ma y=0
N1-W=0
N1 =W =mg

f k =μk N =μ k N=0. 36 x (4 Kg )x (9 . 8 ms−2 )=14 . 1 N

 f 14 . 1 N
a x =− k =− =−3 .53 ms−2
m 4 Kg

+y

N1 N1

fk
ax
m
fk
+x W=mg
W
(a) (b)

Fig 4.20

Example 4.18

Two blocks of masses m1 and m2 are held stationary on two surfaces inclined an angle θ by a
string via a light frictionless pulley as shown in Fig 4.21a. If m1 >m2 and the coefficient of
kinetic friction between the blocks and the inclines is μ’

(a) Sketch the free body diagrams for m1 and m2 indicating the forces
acting on each one of them.
(b) Determine the acceleration a of the system.
(c) Determine the tension T in the string.

f k =μk N =μ k N=0. 36 x (4 Kg )x (9 . 8 ms−2 )=14 . 1 N

f 14 . 1 N
a x =− k =− =−3 .53 ms−2
m 4 Kg
 Fig 4.21
a
T
T T N2 T
N1

m2 m1 fs2 fs1

W1 a

θ θ W2

(a)(b)(c)

Solution:

(a) See Fig 4.21b and c

(b) If m1 > m2 , the system moves with an acceleration a. For forces on m2 in the +ve
x-direction we have

T −m 2 g sin θ−f s 2 =m 2 a
T −m 2 g sin θ−μ k N 2 =m 2 a (i)

For m1,

m1 g sin θ−T −f s 1=m1 a

m1 g sin θ−T −μ k N 1=m1 a (ii)

Adding (i) and (ii) we get

m 1 g sin θ−μ k N 1−m2 g sin θ−μk N 2 =( m1 + m2 ) a

( m1 −m 2 ) g sin θ−μ k ( N 1 + N 2 )
a=
m 1 +m2

We can evaluate N1 and N2 by considering forces in the +ve y-direction for

both blocks. For m2,

N 2 −m2 g cos θ=0

For m1, N 1 =m1 g cos θ . Thus

( m1−m2 ) g sinθ−( m1 +m2 ) μk g cos θ

a=
m 1 +m2

(c) From equation (i) we have

T =m2 a+ m2 g sin θ+ μ k N 2
m2 [( m1 −m2 ) g sin θ−( m1 +m2 ) μ k g cos θ ]+ m2 g sin θ+ μ k m2 g cos θ
¿
m1 +m2
2 m1 m2 g sin θ
¿
m1 +m2

Example 4.19

A wooden block weighing 40N is placed on a table top as shown below. A force of 14N is
necessary to keep the block moving at constant velocity.

(a) What is the coefficient of kinetic friction between the block and the table?

(b) If a 20N weight is placed on top of the block, what force will be required to keep the
block and the weight moving at constant velocity?

Solution:

Known: F1=14N; W1 =40N; W2=20N.

μk =?
Unknown:
f k 2=?

(a)
F 1=f k 1 (Applied force is equal to the kinetic force)

Fk =μkN1

But N1 =W1=40N

f k 1 14 N
μk = = =0. 35
N 1 40 N

(c) In order to keep W=W1+W2 moving at constant velocity,

 f k2=Falignl¿ 2 ¿¿ ¿

But
f k 2=μ k N 2=μ k W

F 2=f k 2=0 .35 x (60 N )=21 N

(Note that
μk depends on the surfaces in contact and these surfaces are the same in both cases).

Example 4.20

A body is projected with an initial horizontal speed of 3.0ms -1 on a level surface. It comes to rest
after moving a distance of 15m. Find the coefficient of kinetic friction. (Take g=9.80ms -2)

Solution:

The kinetic frictional force fk is the unbalanced force acting on the body of mass m.

∑ F=ma
f k =ma=μ k N=μ k mg
a
μ k=
g
We know g, but we do not know a. We use the kinematic equation

v 2=u 2 +2 ax
0=(3 ms−1 )+2 a(15 m)
a=−0 . 3 ms−2
(The minus sign indicates a deceleration).

a 0. 3 ms−2
μk = = =0 .031
g 9. 8 ms−2