Friction, Inclined Plane,

and Pulley Problems

The Importance of Free Body Diagrams
Introduction

There are two friction coefficients: the static μs and the the
dynamic or kinetic μk.

If the static friction coefficient value is greater than the kine-

tic coefficient value (μs > μk), it means we must employ a
greater force to start the movement of the mass. But, once
the mass is moving, we employ less force to keep it moving.

In many problems we assume both coefficients are the same.

If not, we must relate them to the proper coefficient, e.g., if
the bodies are moving, we must determine the kinetic fric-
tion coefficient.
Introduction

In many questions we must decide

the direction of the movement. This
is important because the direction
of the friction force is always oppo-
site to the movement direction.

Note the top figure assumes the

motion of the block is up the
inclined plane, while the bottom
figure assumes motion down the
inclined plane.
Introduction

For the top figure, Newton’s 2nd

Law yields:
ΣFx = F − mgsinθ − f = ma
where f = μN = μmgcosθ.

So, the acceleration is:

𝑭 − 𝒎𝒈(𝐬𝐢𝐧 𝜽 − 𝝁 cos 𝜽)
𝒂=
𝒎
Introduction

For the bottom figure, Newton’s 2nd

Law yields:
ΣFx = mgsinθ − F − f = ma
where f = μN = μmgcosθ.

So, the acceleration is:

𝒎𝒈 𝐬𝐢𝐧 𝜽 − 𝝁 cos 𝜽 − 𝑭
𝒂=
𝒎
Introduction

We may conclude that for friction

problems a negative acceleration
result doesn’t mean that the motion
is in the opposite direction but that
we must change the direction of the
motion and solve again.

If we again obtain a negative value,

the mass will not move due to the
friction force.
Introduction

In the pulley problem to the

right, if mass M moves a dis-
tance x then this distance is
divided by each cable that
holds mass m. So, mass m
moves a distance x/2.

If the distance travelled by m is

half of that travelled by M, the
acceleration of m will also be
half that of M: a1 = 2a2.
Problem 01

A body whose mass is m is resting

on an inclined surface with an an-
gle of θ and a friction coefficient
of μk.

Find the acceleration of the mass

m as a function of μk and angle θ.
Problem 01

From equilibrium in the x and y

direction, using Newton’s 2nd Law,
we get:
ΣFx = mgsinθ − Nμk = ma (1)
ΣFy = N − mgcosθ = 0 (2)

From (2):
N = mgcosθ

Substitute N into (1):

mgsinθ − mgμkcosθ = ma
Problem 01

So, the acceleration is:

a = g(sinθ − μcosθ)

When the system is at rest (or

moving uniformly), a = 0, then:
sin 𝜃
𝜇= = tan 𝜃
cos 𝜃
We can see that the friction coeffi-
cient for the case of a “no accelera-
tion condition” must be equal or
greater than the tangent of the
slope μk > tanθ.
Problem 02

A body of mass m rests on a hori-

zontal surface whose coefficient of
friction is μk. A force F is applied to
the mass at an angle θ.

Find:
1. the acceleration of mass m, and
2. the maximum force that the
mass m will still be at rest.
Problem 02

From the FBD diagram we obtain

the equilibrium equations:
ΣFx = Fcosθ − Nμ = ma (1)
ΣFy = N + Fsinθ − mg = 0 (2)

From (2)
N = mg − Fsinθ

Substitute this into (1)

Fcosθ − mgμ + Fμsinθ = ma
Problem 02

So, solving for a we obtain:

𝐅(𝐜𝐨𝐬 𝜽 + 𝝁𝒌 𝐬𝐢𝐧 𝜽) − 𝒎𝒈𝝁𝒌

𝒂=
𝒎

For the maximum force F that can

be applied so that the mass m will
still be at rest, we have:

fmax = Nμs = (mg − Fsinθ)μs

𝒎𝒈𝝁𝒔
𝑭𝒎𝒂𝒙 =
𝐜𝐨𝐬 𝜽+𝝁𝒔 𝐬𝐢𝐧 𝜽
Problem 03

Two masses are located on each

other, mass m is tied to the wall
by a rope, a force F is exerted on
mass M.

Find the acceleration of mass M

if the friction coefficients bet-
ween the two masses is μ1 and
between mass M and the lower
surface is μ2.
Problem 03

Friction force f1 is:

f1 = mgμ1

Friction force f2 is:

f2 = (M + m)gμ2

Mass M is effected by both fric-

tion forces f1 and f2 and is ex-
pressed as:
fM = f1 + f2 =
= mgμ1 + (M + m)gμ2
Problem 03

From the free body diagram we

can derive the equilibrium equa-
tions in the x-direction on both
masses m and M:
ΣFx,m = T1 − mgμ1 = 0 (1)
ΣFx,M = F − f1 − f2 = Ma (2)

𝑭 − 𝒇𝟏 − 𝒇𝟐
𝒂=
𝑴

𝑭 − 𝒎𝒈𝝁𝟏 − 𝑴 + 𝒎 𝒈𝝁𝟐
𝒂=
𝑴
Problem 03

The magnitude of the maximum

force F that can be applied to
mass M without sliding is:
F ≤ mgμ1 + (M + m)gμ2

So, from (1) T1 can be found:

T1 = mgμ1
Problem 03a

A block of mass m is pushed up a

wall by a force F at an angle θ.
The coefficient of friction is μk.

What is the magnitude of the

acceleration of the block?
Problem 03a

ΣFx = N – Fcosθ = max = 0

 N = Fcosθ

ΣFy = Fsinθ – mg – Ff = may

= Fsinθ – mg – μkN = may

F sin 𝜃 − 𝑚𝑔 − 𝜇k (F cos 𝜃)
𝑎𝑦 =
𝑚

𝐅
𝒂𝒚 = (𝒔𝒊𝒏 𝜽 − 𝝁𝒌 𝒄𝒐𝒔 𝜽) − 𝒈
𝒎
Problem 04

Find the acceleration of the system of

masses neglecting the mass of the string
and the rotational inertia of the pulley.
Problem 04

The kinetic friction force is equal to:

f = μkN = μkMg

From the free body diagram on mass m

and M and assuming that the accelera-
tion is downward we get:
ΣFx,M = T − Mgμk = Ma (1)
ΣFy,m = mg − T = ma (2)

Eliminating T from both yields:

mg − Mgμk + Ma = −ma
Problem 04

Solving for the acceleration:

𝒎 − 𝑴𝝁𝒌
𝒂=𝒈
𝑴+𝒎

Mass M will accelerate when

m > μsM

The system of masses are at rest when

m ≤ μsM
Problem 04a

Mass m1 and m2 are at rest when a force F

is applied at an angle of θ.

Find the maximum force F at which the

system will remain at rest and the accele-
ration of the system.
Problem 04a
The friction force acting upon m1 is:
f = Nμ = μ(m1g + Fsinθ)
To determine the possible direction of
motion we must check the forces acting on
mass m1 without the friction force.
if Fcosθ > m2g m1 moves to the left
if Fcosθ < m2g m1 moves to the right

After determining the direction of motion,

the correct direction of the friction force is
also determined. One may then check
whether there is motion at all with friction.
Problem 04a

Assume m1’s acceleration is to the left:

ΣFx,m1 = Fcosθ − f – T = m1a
ΣFy,m2 = T – m2g = m2a

from which we obtain:

𝐅(𝐜𝐨𝐬 𝜽 − 𝝁 𝐬𝐢𝐧 𝜽) − 𝒈(𝝁𝒎𝟏 + 𝒎𝟐 )

𝒂=
𝒎𝟏 + 𝒎𝟐

𝐅 𝐜𝐨𝐬 𝜽 − 𝝁 𝐬𝐢𝐧 𝜽 − (𝝁 − 𝟏)𝒎𝟏 𝒈

𝐓 = 𝒎𝟐
𝒎𝟏 + 𝒎𝟐
Problem 04a

Assume m1’s acceleration is to the right:

ΣFx,m1 = T – Fcosθ − f = m1a
ΣFy,m2 = m2g – T = m2a

from which we obtain:

𝒈(𝒎𝟐 − 𝝁𝒎𝟏 ) − 𝐅(𝐜𝐨𝐬 𝜽 + 𝝁 𝐬𝐢𝐧 𝜽)

𝒂=
𝒎𝟏 + 𝒎𝟐

𝝁 + 𝟏 𝒎𝟏 𝒈 + 𝐅 𝐜𝐨𝐬 𝜽 + 𝝁 𝐬𝐢𝐧 𝜽
𝐓 = 𝒎𝟐
𝒎𝟏 + 𝒎𝟐
Problem 04a

Note: if a negative acceleration is obtained

in both directions, motion is not possible.
The conditions for motion are:
If Fcosθ – f > m2g m1 moves to the left
If Fcosθ + f < m2g m1 moves to the right

For the system to be at rest, F is equal to

the friction force in both directions:

𝒈(𝒎𝟐 − 𝝁𝒎𝟏 ) 𝒈(𝒎𝟐 + 𝝁𝒎𝟏 )

< 𝑭 <
𝐜𝐨𝐬 𝜽 + 𝝁 𝐬𝐢𝐧 𝜽 𝒄𝒐𝒔 𝜽 − 𝝁 𝒔𝒊𝒏 𝜽
Problem 05

Find the acceleration of the system of

masses.

The masses of the rope and the pul-

ley’s rotational inertia are negligible.

First, assume the acceleration of M is

upward. Then, assume the accelera-
tion is downward.
Problem 05

The friction force is equal to:

f = μN = μMgcosθ

From the forces diagram on mass m

and M and assuming the acceleration
is up the incline (see figure) we get:
ΣFx,M = T − Mgsinθ − f = Ma (1)
ΣFy,m = mg − T = ma (2)

So that:
𝒎−𝑴 𝐬𝐢𝐧 𝜽+𝝁 𝐜𝐨𝐬 𝜽
𝒂= 𝒈 (3)
𝑴+𝒎
Problem 05

Solving the case with the acceleration

is assumed downward (see figure):
ΣFx,M = Mgsinθ − T − f = Ma (4)
Σfy,m = T − mg = ma (5)

So that:
𝑴 𝐬𝐢𝐧 𝜽−𝝁 𝐜𝐨𝐬 𝜽 −𝒎
𝒂= 𝒈 (6)
𝑴+𝒎
Problem 05

Note 1: From (3) and (6) and by com-

paring the acceleration to zero, we can
derive the range of mass m for which
the system will stay at rest:
M(sinθ − μcosθ) < m
and
m < M(sinθ + μcosθ)

The maximum m for no sliding:

m = Mμs(sinθ − μscosθ)
Problem 05
Note 2: To determine the direction of
motion we can solve the equilibrium
equation by eliminating friction. Once
we have the direction of motion, we
can set the correct direction of the
friction force (always opposite to the
motion) and solve the equilibrium
equations.
Nota Bene: if we determine motion in
any direction without friction, the
friction force can reduce the motion
acceleration or even stop the motion.
Problem 05a
A block of mass m is
pulled, via a pulley, at
constant velocity along
a surface inclined at
angle θ. The coefficient
of kinetic friction bet-
ween the block and sur-
face is μk.

Determine the magni-

tude of the pulling
force, F.

∥F∥ = mgμkcosθ + mgsinθ

Problem 05a

ΣFy,m = N – mgcosθ = 0 F N
N = mgcosθ

ΣFx,m = f + mgcosθ − F = ma θ

= μkmgcosθ + mgsinθ − F = 0
f
mg
Therefore:
∥F∥ = mgμkcosθ + mgsinθ
Problem 06

Find the acceleration of the system of masses neglecting

the mass of the rope and the rotational inertia of the
pulley. (The coefficients of friction and slopes are given.)
Also, find the tension in the rope.
Problem 06

To determine the possible direction of the motion

we will first solve the force equations by neglecting
friction. The results are the following conditions:

m sinβ > M sinα motion can be to the right (a)

m sinβ < M sinα motion can be to the left (b)
m sinβ = M sinα motion not possible (c)

These conditions are not sufficient to verify whether

the system will move. For the system to slip the mas-
ses must overcome static friction.
Problem 06

So, the conditions for motions are:

Motion to the right:
m(sinβ − μ2scosβ) > M(sinα + μ1scosα) (d)
Motion to the left:
M(sinα − μ1scosα) > m(sinβ − μ2scosβ) (e)

From the FBD and assuming motion is to the right:

ΣFx,M = T − Mgsinα − Mgμ1kcosα = Ma (1)
ΣFx,m = mgsinβ − T − mgμ2kcosβ = ma (2)
Problem 06

Solving for the acceleration:

𝒎(𝐬𝐢𝐧 𝜷 − 𝝁𝟐𝒌 𝐜𝐨𝐬 𝜷) − 𝑴(𝐬𝐢𝐧 𝜶 + 𝝁𝟏𝒌 𝐜𝐨𝐬 𝜶)

𝒂=𝒈
𝒎+𝑴
Problem 06

When the system is at rest (static equilibrium), a = 0:

m(sinβ − μ2scosβ) − M(sinα + μ1scosα) = 0

sin 𝜶+sin 𝜷+𝝁𝟐𝒌 cos 𝜶−𝝁𝟏𝒌 cos 𝜷

So: 𝑻 = 𝒎𝑴𝒈
𝒎+𝑴
Problem 06

To obtain positive tension in the rope we require that at least

one of the following equations will be true:
μ1s < tanα or μ2s < tanβ
Problem 06

Motion equations for the case with motion to the left are:
ΣFx,M = Mgsinα − T − Mgμ1kcosα = Ma (3)
ΣFx,m = T − mgsinβ − mgμ2kcosβ = ma (4)
Problem 06

So, the acceleration for motion to the left is:

𝑴(𝐬𝐢𝐧 𝜶 − 𝝁𝟏𝒌 𝐜𝐨𝐬 𝜶) − 𝒎(𝐬𝐢𝐧 𝜷 + 𝝁𝟐𝒌 𝐜𝐨𝐬 𝜷)

𝒂=𝒈
𝒎+𝑴
Problem 06

And, tension for motion to the left is:

sin 𝜶 + sin 𝜷 − 𝝁𝟏𝒌 cos 𝜶 + 𝝁𝟐𝒌 cos 𝜷

𝑻 = 𝒎𝑴𝒈
𝒎+𝑴
Problem 07

Determine the acceleration and the tension in the rope of

the pulley-mass (M > m, given) system. Neglect the string’s
mass and the pulley’s inertia. The coefficients of kinetic fric-
tion, μ1 and μ2 and the slope angle θ, are also given.
Problem 07
Problem 07

Notice the two masses are moving in opposite direc-

tions, so the friction forces are:
on mass M: f1 = (M + m)gμ1cosθ
on mass m: f2 = mgμ2cosθ

Using the FBDs, mass M accelerates “downward” and is

equal in magnitude to the “upward” acceleration of
mass m. Applying Newton’s 2nd Law:
ΣFx,m = T − f2 − mgsinθ = ma (1)
ΣFx,M = Mgsinθ − f1 − f2 − T = Ma (2)
Problem 07

Substitute f1 and f2 (from above) into equations (1) and

(2) and eliminate T from both to obtain:
𝒔𝒊𝒏 𝜽 𝑴 − 𝒎 − 𝟐𝒎𝝁𝟐 𝒄𝒐𝒔 𝜽
𝒂=𝒈 − 𝝁𝟏 𝒄𝒐𝒔 𝜽
𝑴+𝒎

𝟐𝑴 𝐬𝐢𝐧 𝜽 + 𝝁𝟐 𝐜𝐨𝐬 𝜽 𝑴 + 𝒎 − 𝝁𝟏 𝐜𝐨𝐬 𝜽 (𝑴 + 𝒎)

𝑻 = 𝒎𝒈
(𝑴 + 𝒎)
Problem 07b

A block of mass m is raised up

an incline at constant velocity
via two pulleys as shown. (Ig-
nore the mass of the ropes
and rotational inertias of the
pulleys.)

Determine the magnitude of

the pulling force, F.
Problem 07b

Apply the condition of static

equilibrium to the block:

ΣF = ma
2F − mgsinθ − mgμkcosθ = 0

The term 2F comes from a force

analysis in which we see that
there are two segments of rope 2F N
pulling equally on the block. We
then solve this equation for F.
θ
F = (½)mg(sinθ + μkcosθ)
f
mg
Problem 08a

Find the acceleration of the system of

masses neglecting the mass of the rope
and the rotational inertia of the pulley.
Problem 08a

Use the FBD and assume the acceleration

is downward for M. Applying the 2nd Law:
ΣFy,M = Mg − T = Ma (1)
ΣFy,m = T − mg = ma (2)
Solving for the acceleration and tension:
𝑴−𝒎
𝒂= 𝒈
𝑴+𝒎
𝒎𝑴
𝑻= 𝟐𝒈
𝑴+𝒎
𝒎𝑴
𝑻𝟏 = 𝟐𝑻 = 𝟒𝒈
𝒎+𝒎
Problem 08b

A block of mass m is lifted at con-

stant velocity, via two pulleys as
shown. Determine the pulling
force, F. Ignore the mass and ro-
tational intertia of the pulleys.
Problem 08b

Apply the condition of static

equilibrium to the block.
ΣF = ma
2F−mg = 0

The term 2F comes from a force

analysis in which we see there
are two segments of rope pulling
equally on the block. Therefore:
F = mg/2
Problem 08c

A block of mass M is lifted at con-

stant velocity, via an arrangement
of pulleys as shown. Determine the
pulling force, F. Ignore the mass and
rotational inertia of the pulleys.
Problem 08c

Upon close inspection we see the bottom two

pulleys are held up by four segments of rope.
The tension in the rope is assumed equal
throughout its length (a good assumption for
ropes in general since they weigh little).

Three of the four rope segments are vertical

while the remaining rope segment is at a
small angle with the vertical. But for ease of
calculation we can treat it as being exactly
vertical.
Problem 08c

Since we are ignoring the mass of the

pulleys, the tension in the four rope
segments must equal the weight of the
mass, in order to satisfy the condition
of static equilibrium (no acceleration).
ΣF = ma
4F − Mg = 0

Therefore,
F = Mg/4
Problem 08d

For the system of pulleys shown,

determine the ratio of W to P to
maintain equilibrium. Neglect
axle friction and pulley masses.
Problem 08d

From the lowermost pulley:

ΣFy =0
W = 9P
W/P = 9
Problem 09

Find the acceleration of the system of masses neglecting the

mass of the rope and the rotational inertia of the pulley.
Problem 09
Assume mass m moves down.
The acceleration of mass M is
twice the acceleration of m (as
M moves x, m moves x/2).

Force balances:
ΣFx,M = T − Mgμ = Ma1 (1)
ΣFy,m = mg − T1 = ma2 (2)

Constraints:
a1 = 2a2 (3)
T1 = 2T (4)

Note: four equations and four unknowns: T, T1, a1, a2.

Problem 09

The four equations are:

T – Ma1 = μMg
–T1 –ma2 = –mg
a1 –2a2 = 0
–2T +T1 = 0

In matrix form:
1 0 −𝑀 0 T 𝜇𝑀𝑔
0 −1 0 −𝑚 T1 −𝑚𝑔
=
0 0 1 −2 𝑎1 0
−2 1 0 0 𝑎2 0
Problem 09

Solving these equations using Cramer’s rule and matrix

manipulation:

𝒎−𝟐𝝁𝑴 𝒎−𝟐𝝁𝑴
𝒂𝟐 = 𝒈 𝒂𝟏 = 𝟐𝒈
𝒎+𝟒𝑴 𝒎+𝟒𝑴

𝒎𝑴𝒈(𝟐+𝝁) 𝟐𝒎𝑴𝒈(𝟐+𝝁)
𝐓=𝒈 𝐓𝟏 = 𝒈
𝒎+𝟒𝑴 𝒎+𝟒𝑴
Problem 10

Find the acceleration of the system of

masses neglecting the mass of the
rope and pulleys’ rotational inertia.
Problem 10

While m moves a distance x, M moves a

distance x/2.

Newton’s 2nd Law applied to FBDs:

Pulley 1: ΣFy = 2T − Mg = Ma1 (1)
Mass m: ΣFy = mg − T = ma2 (2)
Constraint: a2 = 2a1 (3)

Three equations, three unknowns: T, a1, a2

2 −𝑀 0 T 𝑀𝑔
−1 0 −𝑚 𝑎1 = −𝑚𝑔
0 −2 1 𝑎2 0
Problem 10

The solutions are:

𝟐𝒎−𝑴 𝟐𝒎−𝑴
𝒂𝟏 = 𝒈 𝒂𝟐 = 𝟐𝒈
𝟒𝒎+𝑴 𝟒𝒎+𝑴

𝟑𝒎𝑴𝒈
𝑻=
𝟒𝒎+𝑴

Since the tension T is uniform along

the cable, the value of T1 = 2T.

Note: if you apply a force F down on

mass m, a mass of 2F could be lifted:
this system multiplies the force by 2.
Problem 10a

The heights of the two blocks in the

diagram below differ by x. When re-
leased from rest, m1 falls while m2
rises. The mass of one of the masses is
three times that of the other. The pul-
leys are massless and frictionless; the
string doesn’t stretch.
1. Which is the heavier block? Why?
2. Find the distance m2 rises when
the two blocks are aligned.
3. Find the time it takes for the two
blocks to be aligned.
Problem 10a

a. The tension exerted by the string

threaded through the pulleys is the
same everywhere, so there is three
times as much tension force acting up
on the lower block as there is up on
the higher one. If the lower block was
three times heavier than the higher
block, then the system would be
balanced, and neither mass could be
accelerating.
Given the system is accelerating, it
must be the higher block with the
greater mass.
Problem 10a

b. As the m1 pulls the string down on

one side of the large pulley, the same
amount of string that is gained on the
left side of the pulley is lost from the
right side. The string on the right side
of the large pulley is divided between
the three segments holding up m2.
Therefore, m2 moves up one third as
far as m1 moves down.
If m2 rises a distance y, m1 drops 3y.
Since they reach the same height, the
sum of those changes is x, implying
m2 rises y = x/4.
Problem 10a

c. To find the the time for the masses

to align, we need to use their accele-
rations. We know their relative accele-
rations already: m2 accelerates at 1/3
the rate of m1. Let m1’s acceleration
equal 3a, so m2’s acceleration is a.

But, Newton’s Laws are now required.

Consider, then, the FBDs.
Problem 10a

m1 is three times the mass of m2, so we will

replace m2 with m and m1 with 3m. Then,
using Newton’s 2nd Law:
𝐅𝒏𝒆𝒕,𝟏 −𝐓+𝟑𝒎𝒈
𝒂𝟏 = ⟹ 𝟑𝒂 =
𝒎𝟏 𝟑𝒎
𝟐
𝒂= 𝒈
𝒕
𝑭𝒏𝒆𝒕,𝟐 𝟑𝐓−𝒎𝒈
𝒂𝟏 = ⟹𝒂=
𝒎𝟐 𝒎

𝟏 𝟕𝒚
⟹ 𝒚 = 𝒗𝟎 𝒕 + 𝒂𝒕𝟐 ⟹ 𝒕=
𝟐 𝒈
Problem 11

Find the acceleration of the system of

masses neglecting the mass of the string
and the mass of the pulley.
Problem 11

Assume three accelerations (a1, a2, a3)

are downward (to be corrected later).
Using Newton’s 2nd Law:
ΣFy,m1 = m1g − T1 = m1a1 (1)
ΣFy,m2 = m2g − T2 = m2a2 (2)
ΣFy,m3 = m3g − T2 = m3a3 (3)
ΣFy,b = T1 − 2T2 = 0 (4)

There are four equations with five un-

knowns: T1, T2, a1, a2, a3.
Problem 11

a1 is equal to the acceleration of pulley B

which is half the acceleration of a2 and
a3 but negative in sign because while a1
is going down pulley B is going up.

Sum of the accelerations:

a1 = −(a2 + a3)/2 (5)
a3 = − 2a1 − a2

The minus arises because a1 is opposite

in direction to a2 and a3. (Note we chose
the accelerations downward.)
Problem 11

Substitute the value of T1 from equation

(4) and a3 from equation (5) into equa-
tions (2) and (3) to get the matrix form:

𝑚1 0 2 𝑎1 𝑚1 𝑔
0 𝑚2 1 𝑎2 = 𝑚2 𝑔
−2𝑚3 −𝑚3 1 𝑇2 𝑚3 𝑔

Using Cramer’s rule we first obtain the

determinate:
D = 2(m2m3 + m2m3) + m1(m3 + m2)
= m1m2 + m1m3 + 4m2m3
Problem 11

𝑚1 𝑔 0 2
𝑔 𝑚2 𝑔 𝑚2 1
𝑚3 𝑔 −𝑚3 1
𝑎1 =
𝐷
𝒎𝟏 𝒎𝟐 + 𝒎𝟏 𝒎𝟑 − 𝟒𝒎𝟐 𝒎𝟑
𝒂𝟏 = 𝒈
𝟒𝒎𝟐 𝒎𝟑 + 𝒎𝟏 𝒎𝟐 + 𝒎𝟏 𝒎𝟑

𝑚1 𝑚1 𝑔 2
𝑔 0 𝑚2 𝑔 1
−2𝑚3 𝑚3 𝑔 1
𝑎2 =
𝐷
𝒎𝟏 𝒎𝟐 − 𝟑𝒎𝟏 𝒎𝟑 + 𝟒𝒎𝟐 𝒎𝟑
𝒂𝟐 = 𝒈
𝟒𝒎𝟐 𝒎𝟑 + 𝒎𝟏 𝒎𝟐 + 𝒎𝟏 𝒎𝟑
Problem 11
𝒎𝟏 𝒎𝟐 − 𝟑𝒎𝟏 𝒎𝟑 + 𝟒𝒎𝟐 𝒎𝟑
𝒂𝟑 = −2𝑎1 − 𝑎2 = 𝒈
𝟒𝒎𝟐 𝒎𝟑 + 𝒎𝟏 𝒎𝟐 + 𝒎𝟏 𝒎𝟑

𝑚1 0 𝑚1 𝑔
𝑔 0 𝑚2 𝑚2 𝑔
−2𝑚3 −𝑚3 𝑚3 𝑔
𝑇2 =
𝐷
4𝑔𝑚1 𝑚2 𝑚3 𝟒𝒈
𝑻𝟐 = =
4𝑚2 𝑚3 + 𝑚1 𝑚2 + 𝑚1 𝑚3 𝟒 𝟏 𝟏
+ +
𝒎𝟏 𝒎𝟐 𝒎𝟑

If all masses are equal (=M)

a1 = – g/3 a2 = g/3 a3 = g/3 T2 = 2gM/3
Problem 12

Find the acceleration of the masses

of masses m2 and m3 and tension in
the string connecting them. Neglect
the mass of the string and the inertia
of the pulley.
Problem 12

Using the free body dia-

grams we can write the
equilibrium equations
from Newton’s 2nd Law:
ΣF = ma

ΣFx,m1 = T1 − f1 = 0
T1 = f1 = m1gμ1 (1)
ΣFx,m2 = T2 − f1 − f2 = m2a
= T2 – m1gμ1 – (m1 + m2)μ2g = m2a (2)

ΣFy,m3 = m3g − T2 = m3a (3)

Problem 12

Solving for a and T2:

𝒎𝟑 − 𝒎𝟏 𝝁𝟏 + 𝝁𝟐 − 𝒎𝟐 𝝁𝟐
𝒂=𝒈
𝒎𝟐 + 𝒎𝟑

𝒎𝟑 𝒈
𝐓𝟐 = 𝒎𝒆 𝒈 − 𝒂 = 𝒎𝟏 𝝁𝟏 + 𝝁𝟐 + 𝒎𝟐 (𝟏 + 𝝁𝟐 )
𝒎𝟐 + 𝒎𝟑
Problem 13

Three masses are hanging on

frictionless pulleys. Find the
acceleration of the masses.
Problem 13

Assume m1 and m3 move down, and

m2 moves up. Newton’s 2nd Law:
ΣFy,m1 = T − m1g = m1a1 (1)
ΣFy,m2 = m2g − 2T = m2a2 (2)
ΣFy,m3 = T − m3g = m3a3 (3)

Constraint:
a2 = (a1 + a3)/2 (4)

The constraint arises from the fact that when m1 and m3 each
move x1 upward they contribute equally to the motion of m2
downward.
Problem 13

Four equations and four unknowns:

T – m1a1 +0 + 0 = m1g
2T + 0 +m2a2 + 0 = m2g
T +0 +0 – m3a3 = m3g
0 + a1 –2a2 + a3 = 0
From which,
D = –m2m3 – 4m1m3 – m1m2
= –(m2m3 + 4m1m3 + m1m2)
𝒎𝟏 𝒈 −𝒎𝟏 𝟎 𝟎
𝒎𝟐 𝒈 𝟎 𝒎𝟐 𝟎
𝒎𝟑 𝒈 𝟎 𝟎 −𝒎𝟑
𝟎 𝟏 −𝟐 𝟏 𝟒𝒎𝟏 𝒎𝟐 𝒎𝟑
𝐓= =𝒈
𝑫 𝒎𝟏 𝒎𝟐 +𝒎𝟐 𝒎𝟑 +𝟒𝒎𝟏 𝒎𝟑
Problem 13

𝟏 𝒎𝟏 𝒈 𝟎 𝟎
𝟐 𝒎 𝟏 𝒈 𝒎𝟐 𝟎
𝟏 𝒎𝟏 𝒈 𝟎 −𝒎𝟑
𝒂𝟏 = 𝟎 𝟎 −𝟐 𝟏 = 𝒈 𝟑𝒎𝟐 𝒎𝟑 − 𝒎𝟏 𝒎𝟐 − 𝟒𝒎𝟏 𝒎𝟑
𝑫 𝒎𝟏 𝒎𝟐 + 𝒎𝟐 𝒎𝟑 + 𝟒𝒎𝟏 𝒎𝟑

𝟏 −𝒎𝟏 𝟎 𝒎𝟏 𝒈
𝟐 𝟎 𝒎𝟐 𝒎𝟐 𝒈
𝟏 𝟎 𝟎 𝒎𝟑 𝒈
𝒂𝟑 = 𝟎 𝟏 −𝟐 𝟎 = 𝒈 𝟑𝒎𝟏 𝒎𝟐 − 𝒎𝟐 𝒎𝟑 − 𝟒𝒎𝟏 𝒎𝟑
𝑫 𝒎𝟏 𝒎𝟐 + 𝒎𝟐 𝒎𝟑 + 𝟒𝒎𝟏 𝒎𝟑
Problem 13

𝟏 −𝒎𝟏 𝒎𝟏 𝒈 𝟎
𝟐 𝟎 𝒎𝟐 𝒈 𝟎
𝟏 𝟎 𝒎𝟑 𝒈 −𝒎𝟑
𝒂𝟐 = 𝟎 𝟏 𝟎 𝟏 = 𝒈 𝒎𝟏 𝒎𝟐 + 𝒎𝟐 𝒎𝟑 − 𝟒𝒎𝟏 𝒎𝟑
𝑫 𝒎𝟏 𝒎𝟐 + 𝒎𝟐 𝒎𝟑 + 𝟒𝒎𝟏 𝒎𝟑

In the case when m1 = m2 = m3 = m:

T = 2mg/3 a1 = –g/3 a2 = +g/3 a3 = –g/3

In the case when m1 = m3 = m and m2 = 2m, then

a=0 T = mg
Problem 14

Three masses are connected by a

massless rope. A force F is applied
to mass m3, and there is friction
Between m1 and the surface of the
incline.

(1) Find the magnitude of F that

will maintain the system at rest.

(2) If the force F is removed, find

the acceleration of the system.
Problem 14

To determine the direction of the

motion we must analyze the rela-
tionship of these scenarios:
m3 down: m3 > m2 + m1 sinθ
m3 up:: m3 < m2 + m1 sinθ
no motion: m3 = m2 + m1 sinθ
Problem 14
Problem 14

Case of m3 motion downward:

ΣFx,m1  T1 − μm1gcos θ − m1gsinθ
= m1a (1)
ΣFy,m2  T2 − m2g − T1 = m2a (2)
ΣFy,m3  m3g + F − T2 = m3a (3)

Case of m3 motion upward:

ΣFx,m1  m1gsinθ − T1 − μm1gcosθ
= m1a (4)
ΣFy,m2  m2g + T1 − T2 = m2a (5)
ΣFy,m3 T2 − m3g − F = m3a (6)
Problem 14

m3 downward: solving equations (1), (2), (3) for a, T1, T2

F
𝑚3 − 𝑚1 sin 𝜃 − 𝑚2 − 𝑚1 𝜇 cos 𝜃 + ( )
𝑔
𝑎=𝑔
𝑚1 + 𝑚2 + 𝑚3

F
𝑚3 − 𝑚2 + 𝑚2 + 𝑚3 (sin 𝜃 + 𝜇 cos 𝜃) + ( )
𝑔
T1 = 𝑚1 𝑔
𝑚1 + 𝑚2 + 𝑚3

F
2𝑚2 𝑚3 + 𝑚1 𝑚3 (1 + sin 𝜃 + 𝜇 cos 𝜃) + ( ) 𝑚2 + 𝑚1
𝑔
T2 = 𝑚1 𝑔
𝑚1 + 𝑚2 + 𝑚3
Problem 14

m3 upward: solving equations (4), (5), (6) for a, T1, T2

F
𝑚1 sin 𝜃 + 𝑚2 − 𝑚3 − 𝑚1 𝜇 cos 𝜃 − ( )
𝑔
𝑎=𝑔
𝑚1 + 𝑚2 + 𝑚3

F
𝑚3 − 𝑚2 [ 1 − sin 𝜃 + 𝜇 cos 𝜃] + ( )
𝑔
T1 = 𝑚1 𝑔
𝑚1 + 𝑚2 + 𝑚3

F
𝑚1 1 + sin 𝜃 − 𝜇 cos 𝜃 + 2𝑚2 + ( ) 𝑚1 + 𝑚2
𝑔𝑚3
T2 = 𝑚3 𝑔
𝑚1 + 𝑚2 + 𝑚3
Problem 15

Three masses are

connected to each
other by ropes of
zero mass. A force
F is applied to mass m3. There is friction between the bot-
tom surfaces of all the masses and the supporting surface.

Find the magnitude of the tension in each of the ropes and

the acceleration of the system of masses.
Problem 15

Applying Newton’s 2nd Law to each of the three masses:

Friction forces (f = μN): f1 = μm1g f2 = μm2g f3 = μm3g

ΣFx,m1  T1 − μm1g = m1a (1)
ΣFx,m2  T2 − T1 − μm2g = m2a (2)
ΣFx,m3  F − T2 − μm3g = m3a (3)

Three equations, three unknowns: a, T1, T2

Problem 15

1 0 −𝑚1 T1 𝑚1
1 −1 𝑚2 T2 = 𝜇𝑔 −𝑚2
0 1 𝑚3 𝑎 F − 𝑚3

Per Cramer’s Rule the determinant D = –(m1 + m2 + m3), so:

𝜇𝑚1 𝑔 0 −𝑚1
−𝜇𝑚2 𝑔 −1 𝑚2
F − 𝜇𝑚3 𝑔 1 𝑚3 𝒎𝟏 𝐅
𝐓𝟏 = =
−(𝑚1 + 𝑚2 + 𝑚3 ) 𝒎𝟏 + 𝒎𝟐 + 𝒎𝟑
Problem 15

1 𝜇𝑚1 𝑔 −𝑚1
1 −𝜇𝑚2 𝑔 𝑚2
0 F − 𝜇𝑚3 𝑔 𝑚3 𝐅(𝒎𝟏 + 𝒎𝟐 )
𝐓𝟏 = =
−(𝑚1 + 𝑚2 + 𝑚3 ) 𝒎𝟏 + 𝒎𝟐 + 𝒎𝟑
1 0 𝜇𝑚1 𝑔
1 −1 −𝜇𝑚2 𝑔
0 1 F − 𝜇𝑚3 𝑔 𝐅 − 𝝁𝒈(𝒎𝟏 + 𝒎𝟐 + 𝒎𝟑 )
𝒂= =
−(𝑚1 + 𝑚2 + 𝑚3 ) 𝒎𝟏 + 𝒎𝟐 + 𝒎𝟑
Problem 15

Another approach is to consider the

system of masses as one large mass,
M = m1 + m2 + m3. This is justified
because if the masses were accelera-
ting differently from one another,
the ropes would have unbalanced
internal forces changing their lengths.

From the FBD: ΣF = F – μMg = Ma

F−𝜇𝑔𝑀 𝐅−𝝁𝒈(𝒎𝟏 +𝒎𝟐 +𝒎𝟑 )
So that: 𝒂= = (same as above)
𝑀 𝑴

Then use equations (1) and (2) to find T1 and T2.

Problem 16

A rope is fastened to a mass, m, at

two locations and passes through a
system of two pulleys. The block rests
on a surface with μs between the two
surfaces. Both pulleys are massless
and frictionless, and the rope is also
massless.

The bigger pulley is pulled upward

with gradually increasing force. The m
smaller pulley is fastened to the floor
and the both pulleys are positioned
such that the rope is perpendicular to
the floor on one end and parallel to it
on the other.
Problem 16

When the upward pull force reaches a

certain magnitude, the block just
barely begins to slide to the right.

Determine the magnitude of this

upward pull force.

m
Problem 16

The FBD of the smaller pulley yields nothing useful. Note:

the tension on the side of the block comes from the same
rope as the tension on the top of the block, so they are equal.
Problem 16

The block is not accelerating (nor is the pulley), so

the sum of the forces in each of the x and y direc-
tions is zero.
FBD block (x-direction): T – f = 0
FBD block (y-direction): T + N – mg = 0
FBD pulley (y-direction): Fpull – 2T = 0
Problem 16

If we pull “just enough” to initiate block motion, the

horizontal pull balances the maximum static friction
force, hence the constraint equation: f = μsN.

Note: the block will start sliding before it rises be-

cause lifting requires the normal force to reduce to
zero. Yet, the block will slide when the static friction
force is small (but not zero). Solving simultaneously:
𝝁𝒔
𝐅𝒑𝒖𝒍𝒍 = 𝟐𝒎𝒈
𝟏 + 𝝁𝒔
Problem 17

Two masses m1 > m2 both resting on a floor and are con-

nected by a pulley above them. Find the acceleration of
the masses and the tension in the rope if a force of F is
applied upward on the pulley.
Problem 17

ΣFy,m1 = T − m1g = m1a1  a1 = (F/2m1) – g

ΣFy,m2 = T − m2g = m2a2  a2 = (F/2m2) – g
ΣFy,pulley = F = 2T

From the last equation: T = F/2

Problem 17

Because of the floor, accelerations a1 and a2 cannot be nega-

tive. Therefore, there are some unique cases:

Small m2: F/2m2 < g  F < 2m2g

Therefore, the force is not enough to raise both masses.

Greater m1: F/2m1 < g  2m2g < F < 2m1g

Therefore, force F will lift m1 but not both.

Great m1: F/2m1 > g  2m1g < F

Therefore, the force F will lift both masses.
Problem 18

Two masses m1 and m2 are connected by two pulleys as

shown. The friction between m1 and the surface is μ.

Find the accelerations of the masses and the tensions in

the ropes.
Problem 18

To determine the direction of the motion, analyze the forces

on the pulley by neglecting friction, from which:
if m1sinθ > 2m2 m1 is moving down (a)
if m1sinθ < 2m2 m1 is moving up (b)
if m1sinθ = 2m2 no motion (c)
Problem 18

If m2 exceeds a certain maximum value, then m2 will start to

move down and the friction force direction (acting on m1) will
oppose that motion (see FBD above).

The friction force is: f = μN1 = μm1gcosθ

Problem 18

Assuming m2 accelerates down:

ΣFx,m1  T1 − f − m1gsinθ = m1a1 (1)
ΣFy,m2  m2g − T2 = m2a2 (2)
constraint: a2 = 2a1 (3)
tension: T1 = 2T2 (4)
Solving for a1 and T2 we obtain:
𝟐𝒎𝟐 − 𝒎𝟏 (𝝁 𝒄𝒐𝒔 𝜽 + 𝒔𝒊𝒏 𝜽)
𝒂𝟏 = 𝒈
𝒎𝟏 + 𝟒𝒎𝟐
𝟐𝒈𝒎𝟏 𝒎𝟐 𝟏
𝐓𝟐 = (𝝁 𝐜𝐨𝐬 𝜽 + 𝐬𝐢𝐧 𝜽 + )
𝒎𝟏 + 𝟒𝒎𝟐 𝟐
Problem 18

Assuming m1 accelerates down the incline:

ΣFx,m1  m1gsinθ − T1 − f = m1a1 (1)
ΣFy,m2  T2 − m2g = m2a2 (2)
constraint: a2 = 2a1 (3)
tension: T1 = 2T2 (4)
Solving for a1 and T2 we obtain:
𝒎𝟏 𝒔𝒊𝒏 𝜽 − 𝝁 𝒄𝒐𝒔 𝜽 − 𝟐𝒎𝟐
𝒂𝟏 = 𝒈
𝒎𝟏 + 𝟒𝒎𝟐
𝟐𝒈𝒎𝟏 𝒎𝟐 𝟏
𝐓𝟐 = (𝐬𝐢𝐧 𝜽 − 𝝁 𝐜𝐨𝐬 𝜽 + )
𝒎𝟏 + 𝟒𝒎𝟐 𝟐
Problem 18

The range of m2 for which the system will remain at rest is:
𝒎𝟏 𝒎𝟏
𝐬𝐢𝐧 𝜽 − 𝝁 𝐜𝐨𝐬 𝜽 < 𝒎𝟐 < 𝒔𝒊𝒏 𝜽 + 𝝁 𝒄𝒐𝒔 𝜽
𝟐 𝟐
Problem 19

The two blocks A and B have masses

mA and mB.

Neglect the mass of the cord and the

rotational inertia of the pulleys.

There is a kinetic coefficient of fric-

tion between the incline and block
A, μk.

 Determine the speed of block A

after it moves a distance ℓ down the
plane starting from rest.
Problem 19

Kinematics
The speed of blocks A and B are rela-
ted using position coordinates:
sA + (sA – sB) =ℓ
2sA – sB =ℓ  sB = 2sA – ℓ
2∆sA – ∆sB =o  ∆sB = 2∆sA
 2vA – vB = 0 (by taking derivative) (*)

Equation of Motion
ΣFy = may  N – mgcosθ = 0
∴ N = mgcosθ
Problem 19

Principle of Work and Energy

Consider the whole system: WA is po-
sitive because it acts in the direction of
the; WB and the friction force Ff = μkN
do negative work (act opposite dis-
placement).

Here, WA (= mAgsinθ) is displaced

vertically down by 3/5 ∆sA and WB (=
mBg) is displaced vertically up by ∆sB.

Since blocks A and B are initially at

rest, the initial kinetic energy, KE1 = 0.
Problem 19

KE1 = 0 (system initially at rest)

1 1
KE2 = 𝑚A 𝑣A2 + 𝑚A 𝑣A2
2 2
Ff = 𝜇k 𝑚𝑔 cos 𝜃 (friction force)
Wg,A = 𝑚A 𝑔 sin 𝜃 ∙ Δ𝑠A (movement of A)
Wg,B = 𝑚B 𝑔 ∙ Δ𝑠A (movement of B)

KE1 + Wg,A – Ff x – Wg,B = KE2

0 + 𝑚A 𝑔 sin 𝜃 ∙ Δ𝑠A − 𝜇k 𝑚𝑔 cos 𝜃 – 𝑚B 𝑔Δ𝑠A =

1 1
𝑚A 𝑣A2 + 𝑚A 𝑣A2 (**)
2 2

Using (*) and (**) we can solve for vA and vB.

Problem 20

Here’s a pulley problem that makes you think more deeply

about the pulley kinematics. It also makes you think more
deeply about whether a pulley problem is well posed or not.
Problem 20

(a) For the mass-pulley systems shown with m1 > m2,

which of the two systems are well-posed?
I.e., for which of the two systems does the rope
provide an adequate tension that keeps the pulleys
engaged and active in the dynamics of the system?
A rigorous justification must be provided.

(b) For the well-posed system you chose, derive an

equation for the rope tension in terms of m1, m2, g,
and t.