01Introduction to Work: Work Done by a Constant Force
Introduction to Work and Energy
Work and energy give a second way to analyse motion. Newton's laws describe motion completely using vectors, but for complex systems the vector equations become lengthy. This chapter introduces an equivalent approach based on the scalar quantities work and energy. With it we track energy as it is transferred and transformed.
A simple comparison is money. Money can be transferred or change form, but the total amount in a closed system stays fixed. The transfer of energy by mechanical means is called work. Positive work done on a system adds energy to it, like income. Negative work done on a system removes energy from it, like an expense. Power is the rate of this transfer. It measures how quickly energy moves.
Definition of Work
In physics, Work has a very specific and quantitative definition. It is the mechanical transfer of energy to or from a system by a force. It requires both a force and a displacement. When a force acts on an object and causes it to move, work is said to be done by that force. We start with the simplest case: the work done by a constant force acting on an object that undergoes a straight-line displacement . The work done () is the scalar product (dot product) of the force and displacement vectors:
Where:
- is the magnitude of the constant force.
- is the magnitude of the displacement.
- is the angle between the force vector and the displacement vector .
Work is a scalar quantity, meaning it has magnitude but no direction. The sign of work (positive, negative, or zero) is significant. It tells us whether energy is transferred to or from the object by the force.
The SI Unit of Work
The SI unit of work is the Joule (J). One joule is the work done when a force of one newton (N) causes a displacement of one meter (m) along its own direction:
Sign of Work
The value and sign of work depend on the angle between the force and displacement vectors:
- Positive Work (): The force has a component in the direction of displacement. It transfers energy to the object and often increases its speed.
- Zero Work (): The force is perpendicular to the displacement. No energy is transferred. Example: Carrying a bag horizontally (lifting force is vertical, displacement is horizontal).
- Negative Work (): The force has a component opposite to the direction of displacement. It removes energy from the object and often decreases its speed. Example: Kinetic friction.
Two different ways of getting zero
Zero work arises in two separate ways, and only one of them is about the body standing still. Students often collapse both into the single rule "nothing moved, so no work". That rule leaves them stuck the first time they meet a satellite.
The second case is the one that matters later. A force at right angles to the motion does no work, no matter how far the body goes. That single fact has a useful consequence. The normal force, and the tension in a swinging string, can usually be left out of an energy calculation altogether.
There is a third case that feels like work and is not. It is holding something heavy still. Holding is exhausting, yet the physics answer is zero, because nothing the force acts on moves.
The tiredness is real. It is energy your body spends cycling muscle fibres on and off. None of it reaches the box, and the definition tracks only what reaches the box.
If you push with a 10 N force against a solid, unmoving brick wall, how much work have you done on the wall?
A satellite travels once around a perfectly circular orbit. How much work does the Earth's gravitational pull do on it over that complete lap?
Worked Examples
Illustrative Example 1: Horizontal Pull
A box is pulled horizontally along a smooth floor by a constant horizontal force of 20 N. Calculate the work done by the force if the box moves a distance of 5 m.
Solution:
Given: N, m.
The force and displacement are both horizontal and in the same direction. Consequently, the angle .
The work done by the applied force is 100 J.
Illustrative Example 2: Lifting a Book
A person slowly lifts a 1 kg book vertically upwards by 1 m at a constant velocity. Calculate the work done by the lifting force applied by the person, and the work done by the gravitational force during this displacement. (Use ).
Solution:
Given: kg, m (upwards), constant velocity ().
Work done by lifting force ():
Since the book is lifted at constant velocity, the net force is zero. The upward lifting force must balance the downward gravitational force (weight).
The lifting force acts upwards. The displacement is upwards, so .
Work done by gravitational force ():
The gravitational force N acts downwards. The displacement m is upwards. The angle between force and displacement is .
The lifting force does +9.8 J of work. It transfers energy to the book, increasing its potential energy. Gravity does -9.8 J of work, removing energy from the book relative to its motion.
(Note: The net work done is . For constant velocity motion the change in kinetic energy is zero, so this agrees with the Work-Energy Theorem discussed later).
In Example 2, is the work done by the gravitational force positive or negative?
Illustrative Example 3: Angled Pull
A block is dragged across a horizontal floor by a constant force of 50 N. The force acts via a rope angled at 30 degrees above the horizontal. Calculate the work done by the applied force if the block moves a distance of 10 m along the floor.
Solution:
Given: N, m (horizontal), angle between force and horizontal displacement .
Use the formula :
The work done by the applied force is J, or approximately 433 J. Only the horizontal component of the force () contributes to the work done over the horizontal displacement.
How big is a joule?
The unit is small, and knowing roughly how small is the cheapest error check there is. If a calculation says that lifting a person up a flight of stairs takes four joules, the arithmetic is wrong. No amount of rechecking the formula will show it.
Answers in the hundreds or thousands of joules are ordinary for everyday mechanics. Answers of a few joules belong to apples and heartbeats.
The same 50 N rope pull is applied at 30 degrees above the horizontal, and then at 60 degrees. In both cases the block slides 10 m along the floor. Which pull does more work on the block?
02Work Done by a Variable Force
Variable Forces and Integration
The definition applies only when the force is constant in both magnitude and direction. The displacement must also be along a straight line. If the force changes as the object moves, or the object moves along a curved path, this formula no longer applies. In these more general cases we use calculus to find the work done.
Consider the simpler case first. The motion is along a straight line (say, the x-axis), but the force along that line varies with position . We divide the total displacement from an initial position to a final position into many small, infinitesimal displacements . Over each tiny displacement , the force can be considered approximately constant. The small amount of work done by the force during this small displacement is:
To find the total work done over the entire displacement from to , we sum up (integrate) these infinitesimal amounts of work:
For 1D motion with variable force :
This integral represents the work done by the force as the object moves from to .
A force on a block grows steadily from 0 N to 12 N as the block moves 4 m. What work does it do?
Graphical Interpretation of Work
This integral definition has a simple graphical interpretation. The work done by a force is equal to the area under the force-versus-position graph between the initial and final positions.
When calculating this area:
- Area above the position axis corresponds to positive work.
- Area below the position axis corresponds to negative work.
- The net work done is the algebraic sum of these areas.
This graphical method is useful for problems where the force is given not by a formula but by a graph.
Working an area out in pieces
Most graphs you are handed are made of straight segments, and then no integration is needed at all. Cut the region into rectangles, triangles and trapezia. Work out each area, and add the areas with their signs.
The four pieces here come to . The last one is subtracted because the force had reversed by then. The graph shows that as area on the far side of the axis.
Area on the wrong side of the axis
A force that reverses partway through the motion produces a graph with area on both sides of the position axis. The integral counts the two with opposite signs. That is the graph saying what says. On that stretch the force was taking energy out rather than putting it in.
So the net work can be small, or zero, even when the force was large throughout. The two contributions have simply cancelled.
General Definition of Work (Line Integral)
Consider motion in three dimensions along a curved path from point A to point B. The force may vary with position . The concept is similar, but the work is now a line integral. We consider an infinitesimal displacement vector along the path. The small work done during this displacement is . The total work is the integral of this dot product along the path C from A to B:
Calculating line integrals can be complex and often requires parameterizing the path. For introductory physics, we focus mainly on the 1D case. We also treat situations where the 3D integral simplifies, such as for conservative forces.
Worked Examples
Illustrative Example 1: Work from Force Function
A force acting on a particle moving along the x-axis varies with position as N, where is in meters. Calculate the work done by this force as the particle moves from m to m.
Solution:
Use the integral definition for work done by a variable force in 1D:
Evaluate the definite integral:
The work done by the force is 26 J.
Illustrative Example 2: Work Done Stretching a Spring
An ideal spring obeys Hooke's Law. The force exerted by the spring is , where is the displacement from its natural length. Calculate the work done by an external agent in stretching the spring slowly from its natural length () by a distance .
Solution:
To stretch the spring slowly, the external agent must balance the spring force at each point. The applied force is equal in magnitude and opposite in direction: .
The work done by the agent () as the spring is stretched from to is:
This positive work is the energy transferred by the agent to the spring. It is stored as potential energy in the spring (discussed later).
(Note: The work done by the spring during this same process would be . It is negative, showing the spring does negative work as it is stretched).
A spring is stretched slowly from its natural length to an extension . What is the work done by the spring itself over that stretch?
Two graphs, one stretch
The hand and the spring pull on each other with equal and opposite forces throughout. Their force-extension graphs are therefore mirror images. The two areas are equal in size and opposite in sign.
That is why a slow stretch leaves the block with no kinetic energy. The two works cancel exactly. What survives is stored in the spring, and the next chapter gives that store a name.
A spring is stretched from an extension of 2 cm to an extension of 4 cm. How does the work needed compare with the work needed for the first 2 cm?
03Work Done by Common Forces
Introduction
A few forces appear again and again in mechanics. This section works out the work done by each of them. These results are the building blocks for solving more complex energy problems.
Work Done by Gravitational Force
The gravitational force, , is constant in magnitude and direction near the Earth's surface. The work done by gravity depends only on the vertical displacement of the object, not on the path it takes. Let the vertical displacement be , where 'up' is the positive direction.
The work done by gravity is:
- If an object moves downwards (), is negative. The work done by gravity is positive.
- If an object moves upwards (), is positive, and the work done by gravity is negative.
- If an object moves horizontally, the vertical displacement is zero, and the work done by gravity is zero.
A 2 kg book is lifted 1.5 m upwards. What is the work done by the gravitational force? (Use g = 9.8 m/s²)
Work Done by Normal Force
The normal force () is a contact force acting perpendicular to the surface of contact. Often, the normal force does zero work.
- Zero Work: If an object slides along a fixed surface (horizontal or inclined), the normal force is always perpendicular () to the displacement. Therefore, . This is the most common scenario.
- Non-Zero Work: If the surface itself is moving, the normal force can do work. For example, consider an elevator accelerating upwards. The floor exerts a normal force on you and moves in the same direction, doing positive work.
For a system of two interacting bodies moving together, the net work done by the internal normal forces (action-reaction pair) is always zero.
You stand on the floor of a lift that is accelerating upwards. Does the normal force from the floor do work on you?
Work Done by Friction
Friction is a dissipative force that opposes motion or attempted motion. The work done by friction is almost always negative, as it removes mechanical energy from a system.
Kinetic Friction
The force of kinetic friction, , acts opposite to the direction of motion (). If an object slides a distance , the work done by kinetic friction is:
Static Friction
The force of static friction () prevents motion. If the point of application of the force does not move, the work done by static friction is zero. For example, for a block at rest on an incline, static friction does no work. However, static friction can do work. When you walk, the static friction from the ground on your shoes pushes you forward, doing positive work. When a car accelerates, static friction from the road on the tires does positive work on the car. This increases its kinetic energy.
A box is pulled 10 m across a rough horizontal floor (). The box has a mass of 20 kg. What is the work done by kinetic friction? (Use g = 9.8 m/s²)
A crate sits on the flat bed of a truck without slipping. The truck accelerates forwards. What work does the friction on the crate do?
Work Done by Tension
Tension () is a force transmitted through a string, rope, or cable. The work done by tension depends on the angle between the tension force and the displacement.
- If a block is pulled by a horizontal rope, tension does positive work.
- In an Atwood machine, tension does positive work on the rising mass and negative work on the falling mass.
Consider a system connected by an inextensible string. The net work done by the internal tension forces can be non-zero if the parts of the system move differently. For example, take an accelerating Atwood machine. The tension force is the same on both masses. They move the same distance in opposite directions, so the net work done by tension on the system is zero. However, the rope may pass over a massive, rotating pulley. Then the work done by tension on the pulley is non-zero, and the pulley gains rotational kinetic energy.
Worked Example
Illustrative Example: Net Work on a Pulled Block
A 5 kg block is pulled up a frictionless ramp inclined at 30° by a constant force of 40 N parallel to the ramp. The block moves a distance of 3 m along the ramp. Calculate the work done by each force and the net work done on the block.
Solution:
The forces acting on the block are: the applied force (), gravity (). The normal force ().
- Work done by Applied Force ():
The force is parallel to the displacement, so . - Work done by Normal Force ():
The normal force is perpendicular to the ramp, so it is perpendicular to the displacement. . - Work done by Gravity ():
Gravity acts vertically downwards. The vertical displacement is upwards. - Net Work Done ():
The net work is the sum of the work done by all forces.
The net work done on the block is 46.5 J. By the Work-Energy Theorem, this positive net work increases the block's kinetic energy.
04Work Done by Internal Forces
Understanding Internal Forces and Work
Internal forces always occur in equal and opposite action-reaction pairs, by Newton's Third Law. For a system of particles, the vector sum of all internal forces is therefore always zero (). It is tempting, but incorrect, to assume that the total work done by these internal forces must also be zero.
Work is defined by the dot product . The forces in an action-reaction pair are equal and opposite. The displacements of their points of application, however, are not necessarily the same. If the points where the two forces act undergo different displacements, the work done by them will not cancel out.
Worked Example
Illustrative Example: An Exploding Bomb
Consider a bomb of mass initially at rest. It explodes into two fragments, and . The forces of the explosion are internal to the bomb system. The force on fragment 1 by fragment 2 () is equal and opposite to the force on 2 by 1 ().
Although the forces are equal and opposite, the fragments move apart. Both forces therefore do positive work on their respective fragments. For instance, pushes to the right, and displaces to the right, so . Similarly, pushes to the left, and displaces to the left, so .
The total work done by internal forces is . This positive net work done by internal forces is responsible for the increase in the system's kinetic energy. The initial kinetic energy was zero, and the final kinetic energy is large and positive. This energy came from the chemical potential energy stored in the bomb's material. The work done by the explosive forces converted that store into the kinetic energy of the fragments. This shows that internal forces can do net work and change the kinetic energy of a system.
Where the kinetic energy came from
Positive internal work is not energy appearing from nowhere. The explosive carried a chemical store. The work done by the internal forces emptied that store into the motion of the fragments.
The total energy of the system never changed. What changed is which account it sits in. This chapter tracks only the mechanical accounts, kinetic and potential.
The same reasoning settles a question that looks paradoxical. When you jump, the floor is the only external force that can push you up. Yet it does no work on you at all.
The floor's push acts at your feet. While your feet are on the floor they do not move. The force is external and the work is internal. That is why the two questions have to be asked separately.
In the exploding bomb example, is the net work done by the internal forces on the system positive, negative, or zero?
Two identical blocks are pushed along a smooth floor together, in contact, by a single force on the back one. What is the total work done by the contact forces between the two blocks?
05Kinetic Energy and the Work-Energy Theorem
Kinetic Energy
Kinetic energy is the energy an object possesses due to its motion. So far we have discussed work as a measure of energy transfer. Kinetic energy is the form of energy that transfer most often changes. The term "kinetic" comes from the Greek word kinetos, meaning "motion". For a non-rotating, rigid object of mass moving with speed , the kinetic energy () is defined as:
Key points about kinetic energy:
- Scalar Quantity: Like work, kinetic energy is a scalar quantity. It has magnitude but no direction.
- Depends on Speed, Not Velocity: Since is always non-negative, kinetic energy is always positive or zero. An object has kinetic energy regardless of the direction of its motion.
- Units: The SI unit of kinetic energy is the Joule (J), the same as work. Checking the units: .
- Proportional to Mass and Speed Squared: Kinetic energy is directly proportional to the mass of the object and, more significantly, to the square of its speed. This means doubling the speed of an object quadruples its kinetic energy.
If a car's speed doubles, by what factor does its kinetic energy increase?
The Work-Energy Theorem
The relationship between work and kinetic energy is one of the most important principles in mechanics. The Work-Energy Theorem states that the net work done on an object by all forces is equal to the change in its kinetic energy.
The net work () is the algebraic sum of the work done by all individual forces acting on the object. Examples are applied forces, gravity, friction. The normal force.
Where:
- is the total work done on the object.
- is the change in kinetic energy.
- is the final kinetic energy (with final speed ).
- is the initial kinetic energy (with initial speed ).
The theorem tells us:
- If the net work done on an object is positive (), its kinetic energy increases (), and it speeds up.
- If the net work done on an object is negative (), its kinetic energy decreases (), and it slows down.
- If the net work done on an object is zero (), its kinetic energy remains constant (), and its speed does not change.
Derivation of the Work-Energy Theorem (for a constant net force in 1D)
Consider a particle of mass moving in a straight line (the x-axis) acted on by a constant net force directed along the line of motion. The particle accelerates from an initial speed to a final speed over a displacement .
1. From Newton's Second Law, the net force is , where is the constant acceleration.
2. The work done by this net force is .
3. From kinematics, we have the equation relating initial and final velocities, acceleration, and displacement: .
4. We can rearrange this equation to solve for the product : .
5. Now, substitute this expression for back into the equation for work:
This proves the theorem for a constant net force. A more general proof using integration can be used for variable forces.
The theorem needs the net work
The theorem is about the net work. The commonest way to misapply it is to use the work of whichever force the question mentions. Add the works of all of them. Include the ones that contribute zero, so that you have checked.
Two of the four forces here are perpendicular to the displacement and contribute nothing. That is worth writing down rather than assuming.
If the net work done on an object is negative, what happens to its speed?
A block is dragged at a perfectly constant speed across a rough floor by a horizontal rope. What is the net work done on the block?
Worked Example
Illustrative Example: Work to Stop a Car
A car of mass 1000 kg is traveling at a speed of 20 m/s. The driver applies the brakes, and the car skids to a stop. Calculate the work done by the friction force to bring the car to rest.
Solution:
We can use the Work-Energy Theorem. The only force doing work during the skid is the kinetic friction force from the road. Therefore, the net work is the work done by friction, .
Given:
- Mass, kg
- Initial speed, m/s
- Final speed, m/s (since the car comes to a stop)
1. Calculate the initial kinetic energy:
2. Calculate the final kinetic energy:
3. Apply the Work-Energy Theorem:
or -200 kJ.
The work done by friction is -200 kJ. The negative sign is expected. Friction is a non-conservative force that removes kinetic energy from the system (dissipating it as heat) to slow the car down.
06Power
Introduction to Power
Power () is the rate at which work is done or, equivalently, the rate at which energy is transferred or transformed. In physics it often matters not only how much work is done but also how quickly it is done. Power measures this rate.
Average Power
If an amount of work is done over a time interval , the average power () is given by:
Since work represents an energy transfer, power is also the rate of energy transfer. If an amount of energy is transferred in time , the average power is:
Instantaneous Power
To find the power at a specific moment in time, we consider an infinitesimally small time interval . The instantaneous power () is the limit of the average power as the time interval approaches zero. It is the time derivative of work:
The SI unit of power is the Watt (W), named after the Scottish engineer James Watt. One watt is equal to one joule per second:
Another common unit of power, especially in the context of engines, is horsepower (hp). The conversion is approximately .
If two people lift identical weights to the same height, but the first person does it in half the time, which person exerts more power?
Power in Terms of Force and Velocity
We can derive a useful expression for instantaneous power in terms of force and velocity. Consider a small amount of work done by a force over an infinitesimal displacement :
Now, divide by the time interval over which this displacement occurs:
Since the time derivative of displacement is the instantaneous velocity (), we get:
This means the instantaneous power delivered to an object is the scalar product of the force acting on it and the object's velocity. It can also be written as , where is the angle between the force and velocity vectors.
Why a hill costs more power
makes one comparison very easy. Hold the speed fixed, and the power is decided entirely by the force the engine has to supply.
On the level that force only has to beat the resistance. On a slope it also has to lift the car, so the same 20 m/s costs measurably more.
Cruising at a steady speed
A car holding a constant speed on a level road has no change in kinetic energy. Consequently, the net work on it is zero. That does not mean the engine is idle. It means the engine's output is exactly matching what drag and rolling resistance are taking out.
So the power needed to cruise is , the resistance times the speed. Because itself grows with speed, the power needed climbs far faster than the speed does.
Going back from power to work
If power is the derivative of work with respect to time, then work is the integral of power over time. On a graph that means the area, exactly as it did for force against position.
This is how an engine's output over a whole journey is worked out from a recording of its power. No force and no distance need be known.
A car cruises at a steady 20 m/s against a total resistance of 600 N. What power is the engine delivering?
A sprinter covers 100 m in 10 s. Their average power over the race is 400 W. What can you say about their power at the 2-second mark?
Worked Examples
Illustrative Example: Power of a Car Engine
A 1200 kg car accelerates from rest to a speed of 25 m/s in 8.0 s. Assuming constant acceleration, what is the average power delivered by the engine? (Ignore friction and air resistance).
Solution:
First, we find the work done by the engine using the Work-Energy Theorem. The net work is done by the engine's force.
1. Initial kinetic energy, .
2. Final kinetic energy, .
3. The work done by the engine is .
Now, we can calculate the average power using the time interval s.
The average power delivered by the engine is approximately 46.9 kW, or about 63 hp.
Illustrative Example: Power to Maintain Constant Velocity
A cyclist is riding at a constant velocity of 10 m/s. They are pushing against a total resistive force (air resistance and friction) of 80 N. What is the power output of the cyclist?
Solution:
Since the cyclist is moving at a constant velocity, their acceleration is zero. The net force on them is therefore zero. The forward force applied by the cyclist () must be equal in magnitude and opposite in direction to the total resistive force ().
The force applied by the cyclist is in the same direction as their velocity. We can use the formula .
The cyclist must maintain a power output of 800 Watts to overcome the resistive forces and maintain a constant speed.