Define the linear momentum vector
p=mv,\mathbf{p} = m\mathbf{v},p=mv,
where mmm is the mass and v\mathbf{v}v the velocity vector.
Define force as rate of change of momentum
Newton’s second law (modern form) defines the net force F\mathbf{F}F as the time derivative
of momentum:
F≡dpdt.\mathbf{F} \equiv \dfrac{d\mathbf{p}}{dt}.F≡dtdp.
Case 1 — mass constant
If the mass mmm is constant in time (the typical case for a rigid body or particle of fixed mass),
differentiate:
F=ddt(mv)=mdvdt=ma,\mathbf{F}=\frac{d}{dt}(m\mathbf{v}) = m\frac{d\mathbf{v}}{dt} =
m\mathbf{a},F=dtd(mv)=mdtdv=ma,
because dvdt=a\dfrac{d\mathbf{v}}{dt}=\mathbf{a}dtdv=a (the acceleration vector).
Thus, in vector form,
F=ma\boxed{\mathbf{F}=m\mathbf{a}}F=ma
and this equation holds for all components — i.e. Fx=max, Fy=may, Fz=maz.F_x = m a_x,\; F_y
= m a_y,\; F_z = m a_z.Fx=max,Fy=may,Fz=maz.
Case 2 — mass variable (more general)
If the mass changes with time (e.g., a rocket losing mass), use the product rule:
F=ddt(mv)=mdvdt+vdmdt=ma+v dmdt.\mathbf{F}=\frac{d}{dt}(m\mathbf{v}) = m\frac{d\
mathbf{v}}{dt} + \mathbf{v}\frac{dm}{dt} = m\mathbf{a} + \mathbf{v}\,\frac{dm}{dt}.F=dtd
(mv)=mdtdv+vdtdm=ma+vdtdm.
So F=ma\mathbf{F}=m\mathbf{a}F=ma only when dmdt=0\dfrac{dm}{dt}=0dtdm=0. For
variable mass systems you must include the extra term (or better: treat the system boundaries
carefully — momentum flux terms appear for open systems like rockets).