Equation Sheet for E MCH 212 Dynamics

Miscellaneous
If ax2 + bx + c = 0, then x = b

.
b2 4ac 2a. Law of Cosines: C 2 = A2 + B 2 2AB cos .

For two planar orthogonal coordinate systems with unit vector pairs (
ua , u
b ) and (
uc , u
d ), the first system can
be written in terms of the second using:
u
a = (
ua u
c ) u
c + (
ua u
d ) u
d

and

u
b = (
ub u
c ) u
c + (
ub u
d ) u
d

Elementary (1-D) Motions

Position: q(t); Velocity: v = q = dq/dt; Acceleration: a = q = dv/dt = d2 q/dt2 = vdv/dq.

Z t
Z t Z t
Given a = a(t):
v(t) = v0 +
a(t) dt
q(t) = q0 + v0 (t t0 ) +
a(t) dt dt
t
t0
t0
Z 0v
Z v
1
v
Given a = a(v):
t(v) = t0 +
dv
q(v) = q0 +
dv
a(v)
a(v)
v0
v
Z q
Z q0
dq
Given a = a(q):
v 2 (q) = v02 + 2
a(q) dq
t(q) = t0 +
v(q)
q0
q0
Rectilinear (1-D) Motion
Position: s(t); Velocity: v = s = ds/dt; Acceleration: a = s = dv/dt = d2 s/dt2 = vdv/ds. For constant
acceleration ac (the second line are the corresponding rotation equations):
v 2 = v02 + 2ac (s s0 )

v = v0 + ac t

s = s0 + v0 t + 12 ac t2

2 = 02 + 2c ( 0 )

= 0 + c t

= 0 + 0 t + 12 c t2

General MotionsTime Derivative of a Vector

~ = Au
~ A|,
~ and letting
~
Given A
A , with u
A = A/|
~ A be the angular velocity of the vector A:
u
A =
~ u
A

~ = A u
~
A
A +
~ A

~ = A u
~+
~
A
A + 2~
A A u
A +
~ A A
~A
~A A

2D MotionsCartesian Coordinates/Components
Position: ~r = x + y ;

Velocity: ~v = d~r/dt = x + y ;

Acceleration: ~a = d~v /dt = d2~r/dt2 = x

+ y

2D MotionsNormal-Tangential Components
~v = v u
t

v = ||

~a = at u
t + an u
n

at = v

an = 2 = v 2 /

2D MotionsPolar Coordinates/Components
~rr = r u
r
~a = ar u
r + a u

~v = vr u
r + v u

ar = r r

vr = r

v = r

a = r + 2r

Newton-Euler Equations
F~ = m~a;

Fx = max ;

Fy = may ;

Fn = man ;

Ft = mat ;

Fr = mar ;

F = ma

Last modified: December 11, 2010

Balance of Work & Energy

Z
U1-2 =
F~ d~r

T = 21 mv 2

path

Vg = W y = mgy

T1 + U1-2 = T2
Ve = 21 k 2

T1 + V1 + (U1-2 )nc = T2 + V2

Balance of Impulse & Momentum

t2

d(m ~v )
F~ =
= p~
dt

F~ dt = m~v2 m~v1

t1

Impact of Smooth Particles

For a coefficient of restitution e, in the direction
along to the line of impact (LOI) or n direction:
+
v + vA
vseparate
e=
= B

vapproach
vA v B

Total linear momentum is conserved in the n direc+

+

tion: (mA vA
+mB vB
= mA vA
+mB vB
)n . Velocity of
each particle is conserved perpendicular to the LOI
+
+

(t direction): (vA
= vA
)t and (vB
= vB
)t .

Angular Impulse-Momentum Principle

~hP = ~rQ/P m~vQ

~ P = ~h P + ~vP m~vQ
M

t2

~r F~ dt =

t1

t2

~ P dt = ~hP 2 ~hP 1
M

t1

Rigid Body Kinematics

~vB = ~vA + ~vB/A = ~vA +
~ body ~rB/A
2
~aB = ~aA + ~aB/A = ~aA +
~ body ~rB/A +
~ body (~
body ~rB/A ) = ~aB = ~aA +
~ body ~rB/A body
~rB/A

Moments of Inertia
(IG )disk = 12 mr2

(IG )rod =

2
1
12 ml

(IG )plate =

2
1
12 m(a

+ b2 )

(IG )sphere = 52 mr2

2
Parallel Axis Theorem: IA = IG + md2 ; Radius of Gyration: IA = mkA

Equations of Motion for a Rigid Body

The general equations of motion for a rigid body are given by F~ = m~aC and by the following equations for
the moments about an arbitrary point P , which is on the rigid body:
~ P = IG
M
~ + ~rG/P m~aG

or

~ P = IP
M
~ + ~rG/P m~aP

~ G = IG
If you sum moments about the mass center G, then M
~.
Work-Energy for a Rigid Body
The work-energy principle is the same as that for particles. The kinetic energy of a rigid body is:
2
T = 12 mvG
+ 21 IG 2 (G is the mass center)
Unit Conversions and Miscellaneous
1 mi = 5280 ft;

g = 32.2 ft/s2 = 9.81 m/s2 ;

m (slugs) = [W (pounds)]/g

GmA mB
F~on A =
u
B/A
2
rAB

Last modified: December 11, 2010