Equation Sheet for ES

Dynamics

Miscellaneous
If ax2 + bx + c = 0,

then

d
sin x = cos x,
dx

1
dx =
ax + b

x=

b2 4ac
2a

d
cos x = sin x
dx
1
ln(ax + b)
a

Rectilinear ( -D) Motion

Position: s(t), Velocity: v = s = ds/dt, Acceleration: a = v = s = d2 s/dt2 = vdv/ds. When
there is constant acceleration ac
v 2 = v02 + 2ac (s s0 )

v = v0 + ac t

1
s = s0 + v0 t + ac t2
2

For varying acceleration

t [

v(t) = v0 +

a(t)dt,

s(t) = s0 + v0 (t t0 ) +

t0

a(t)dt dt
t0

t0

ere are equivalent equations for constant angular acceleration .

Projectile Motion
1
x(t) = v0 t cos y(t) = v0 t sin gt2
2
D Motions Cartesian Coordinates
Position: r = x + y
Velocity: v = dr/dt = x
+ y
Acceleration: a = dv /dt = d2r/dt2 = x + y
D Motions Normal-Tangential (Path) Coordinates
v = v
ut

a = v
ut +

v2
un

D Motions Polar Coordinates

r = r
ur

u
v = r
ur + r

u
a = (
r r2 )
ur + (r + 2r )

D Motions Cylindrical Coordinates

r = r
ur + z uz

u + z uz
v = r
ur + r

u + zuz
a = (
r r2 )
ur + (r + 2r )

D Motions Spherical Coordinates

u + r sin
r = r
ur
v = r
ur + r
u
r r
2 sin cos )
a = (
r r 2 +r2 sin2 )
ur +(r+2
u +(r sin +2r sin +2r cos )
u
Relative Motion
rB = rA + rB/A

vB = vA + vB/A

aB = aA + aB/A

Newtons Second Law

F = ma,

Fx = max ,

Fy = may ,

Fn = man ,

Ft = mat ,

Fr = mar ,

F = ma

Work-Energy Principle

1
T = mv 2
2
1
Ve = k 2
2

F dr

U12 =
path

Vg = mgh

T1 + U12 = T2
T1 + V1 + (U12 )nc = T2 + V2

Linear Impulse-Momentum Principle

p = mv

F = p

t1

F dt = mv2

mv1 +
t2

Angular Impulse-Momentum Principle

h0 = rP /O mvP

O = h O
M

t2

hO1 +

O dt = hO2
M
t1

Impact of Smooth Particles

n indicates LOI direction, t indicates tangent direction
m1 (v1 )n +m2 (v2 )n

m1 (v1+ )n +m2 (v2+ )n ,

(v1 )t

(v1+ )t ,

(v2 )t

(v2+ )t ,

(v2+ )n (v1+ )n
e=
(v1 )n (v2 )n

System of Particles

F = maG

T1 + V1 + (U12 )nc = T2 + V2

1 2 1
2
T = mvG
+
mi vi/G
2
2
i=1

F = p

P = h G + rG/P maG
M
N

h = mvG

G = h G
M

P = (H
P )rel + rG/P maP
M

Mass Flows
F = m
f (vB vA )
Q = vS
F = ma + m
ovo m
ivi

m
f = A QA = B QB
P = m
M
f (rD/P vB rC/P vA )

Rigid Body Kinematics

vB = vA + vB/A
vB = vA +
rB/A

aB = aA + aB/A
aB = aA +
rB/A +
( rB/A )
aB = aA +
rB/A 2rB/A

Rotating Reference Frames

rP /A
vP = vA + vPrel +

(
)
vP +
rP /A +

rP /A
aP = aA + aPrel + 2
rel
Rolling Without Slip
=

v0
R

a0
R

Moments of Inertia
1
Disk IG = mr2
2
1
Plate IG = m(a2 + b2 )
12

1
ml2
12
2
Sphere IG = mr2
5
1
2
Ring IG = mr
Cylinder IG = mr2
2
2
2
Parallel Axis eorem: IA = IG + md , Radius of Gyration: IA = mkA
Rod

IG =

Angular Momentum and Equations of Motion for a Rigid Body

Angular Momentum
G = IG
H

Equations of Motion
Translation motion equations are given by

O = IG
H
+ rG/O mvG

F = maG

Rotational
motion
equation.
For
the
mass
center
G:
MG = IG and for the xed point O:

MO = IO In the case of an arbitrary point A,

P = IG
P = IP
A )F BD = (M
A )KD
M
+ rG/P maG
M
+ rG/P maP (M
Work-Energy for a Rigid Body
e work-energy principle is the same as the principle for particles.
body is
1
1 2
1
T = IO 2
T = mvG
+ IG 2
2
2
2

e kinetic energy of a rigid

Rigid Body Impact

linear portion where n indicates along LOI and t is tangent to LOI
m1 (v1 )n +m2 (v2 )n

m1 (v1+ )n +m2 (v2+ )n ,

(v1 )t

(v1+ )t ,

(v2 )t

(v2+ )t

(v2+ )n (v1+ )n
e=
(v1 )n (v2 )n

Angular portion, y is the distance from the center of mass to the impact point
e=

(v2+ )n + 2+ y2 (v1+ )n 1+ y1
,
(v1 )n + 1+ y1 (v2 )n 2+ y2

+
(h
O )1 = (hO )1

Constrained Impact

+
+
(h
O )1 + (hO )2 = (hO )1 + (hO )2

+
(h
O )2 = (hO )2