DYNAMICS FORMULAS

CH. 12: PARTICLE KINEMATICS (TRANSLATION)

𝑣𝑓 𝑡
𝑎= 𝑑𝑣
𝑑𝑡 𝑣
𝑑𝑣 = 𝑡 𝑓 𝑎(𝑡)𝑑𝑡 v = 𝑣𝑖 + 𝑎𝑡
𝑖 𝑖
𝑠𝑓 𝑡 1
𝑣= 𝑑𝑠
𝑑𝑡 𝑠𝑖
𝑑𝑠 = 𝑡 𝑓 𝑣(𝑡)𝑑𝑡 s = 𝑣𝑖 𝑡 + 2 𝑎𝑡 2
𝑖
𝑠𝑓 𝑣 2
𝑎𝑑𝑠 = 𝑣𝑑𝑣 𝑠𝑖
𝑎(𝑠)𝑑𝑠 = 𝑣 𝑓 𝑣 𝑑𝑣 𝑣𝑓 − 𝑣𝑖 2 = 2𝑎𝑠
𝑖
CH. 12: PROJECTILE MOTION ANALYSIS
1
𝑅 = 𝑥𝑓 − 𝑥𝑖 = 𝑣𝑥)𝑖 𝑡 𝑣𝑦)𝑓 = 𝑣𝑦)𝑖 − 𝑔𝑡 𝑦𝑓 − 𝑦𝑖 = 𝑣𝑦)𝑖 𝑡 − 2 𝑔𝑡 2
𝑣 2 𝑦)𝑓 − 𝑣 2 𝑦)𝑖 = −2𝑔(𝑦𝑓 − 𝑦𝑖 ) 𝑔 = 32.2 𝑓𝑡 𝑠2 = 9.8 𝑚 𝑠2
CH. 12: NORMAL AND TANGENTIAL COORDINATE SYSTEM
3
𝑑𝑦 2 2
1+
𝑑𝑣 𝑑𝑥
𝑎𝑡 = 𝑑𝑡 an = v2/r a= [(at)2 + (an)2]0.5 𝜌= 𝑑2 𝑦
𝑑𝑥2
CH. 12: RADIAL AND TRANSVERSE COORDINATE SYSTEM
𝑣 = 𝑟𝑒𝑟 + 𝑟𝜃 𝑒𝑛 𝑎 = 𝑟 − 𝑟𝜃 2 𝑒𝑟 + 𝑟𝜃 + 2𝑟𝜃 𝑒𝑛
CH. 12: RELATIVE MOTION ANALYSIS
𝑣𝐵/𝐴 = 𝑣𝐵 − 𝑣𝐴 𝑎𝐵/𝐴 = 𝑎𝐵 − 𝑎𝐴
CH. 13: PARTICLE KINETICS
𝑣2
𝐹 = 𝑚𝑎 𝐹𝑥 = 𝑚𝑎𝑥 𝐹𝑦 = 𝑚𝑎𝑦 𝐹𝑡 = 𝑚𝑎𝑡 𝐹𝑛 = 𝑚𝑎𝑛 = 𝑚 𝜌
𝑟 𝑑𝑦
𝐹𝑟 = 𝑚𝑎𝑟 = 𝑚(𝑟 − 𝑟𝜃 2 ) 𝐹𝜃 = 𝑚𝑎𝜃 = 𝑚(𝑟𝜃 + 2𝑟𝜃 ) 𝑡𝑎𝑛𝜑 = 𝑑𝑟 𝜃 = 𝑑𝑥
𝑑𝜃
CH. 14: ENERGY METHODS
1 1 1 1 𝑠2
𝑚𝑣𝑖 2 + 𝑚𝑔ℎ𝑖 + 2 𝑘𝑠𝑖 2 + 𝑊𝑛.𝑐.𝑓. = 2 𝑚𝑣𝑓 2 + 𝑚𝑔ℎ𝑓 + 2 𝑘𝑠𝑓 2 𝑤= 𝑠1
𝐹𝑑𝑠
2
𝑑𝑊 𝑃𝑜
𝑃𝑜 = 𝑑𝑡 = 𝐹. 𝑣 𝜀= 1 hp = 550 (ft · lb)/s = 746 W
𝑃𝑖
CH. 15: LINEAR IMPULSE AND MOMENTUM
𝑡
Linear Impulse and Momentum: 𝑚𝑣𝑖 + 𝑡 𝑓 𝐹𝑑𝑡 = 𝑚𝑣𝑓
𝑖
𝑣𝐿2 −𝑣𝐿1 𝑓
LOI: 𝑒= 𝑚1 𝑣𝐿1 + 𝑚2 𝑣𝐿2 𝑖 = 𝑚1 𝑣𝐿1 + 𝑚2 𝑣𝐿2 𝑓
𝑣𝐿1 −𝑣𝐿2 𝑖
POI: 𝑚1 𝑣𝑃1 𝑖 = 𝑚1 𝑣𝑃1 𝑓 𝑚2 𝑣𝑃2 𝑖 = 𝑚2 𝑣𝑃2 𝑓
Angular Impulse and Momentum
𝒕𝟐
𝒕
𝑴 𝒅𝒕 = 𝒓𝒇 × 𝒎𝒗𝒇 − 𝒓𝒊 × 𝒎𝒗𝒊
𝟏
CH. 16: RIGID BODY KINEMATICS
Fixed Reference
𝑑𝜔
𝛼 = 𝑑𝑡 𝜔 = 𝜔𝑖 + 𝛼𝑡
𝑑𝜃 1
𝜔 = 𝑑𝑡 𝜃 = 𝜔𝑖 𝑡 + 2 𝛼𝑡 2
𝛼𝑑𝜃 = 𝜔𝑑𝜔 𝜔2 − 𝜔𝑖 2 = 2𝛼 𝜃 − 𝜃𝑖
𝑣 = 𝑟𝜔 = 𝜔 × 𝑟 𝑎 = 𝑎𝑡 + 𝑎𝑛 = 𝑟𝛼 − 𝜔2 𝑟 = 𝛼 × 𝑟 − 𝜔2 𝑟
𝑣2 = 𝑣1 + 𝜔12 × 𝑟2/1 𝑎2 = 𝑎1 + 𝛼12 × 𝑟2/1 − 𝜔12 2 𝑟2/1
Accelerating (Rotating) Reference
𝒗𝑩 = 𝒗𝑨 + 𝛀 × 𝒓𝑩 + 𝒗𝑩
𝑨 𝑨 𝒙𝒚𝒛

𝒂𝑩 = 𝒂𝑨 + 𝛀 × 𝒓𝑩 + 𝛀 × 𝛀 × 𝒓𝑩 + 𝟐𝛀 × 𝒗𝑩 + 𝒂𝑩
𝑨 𝑨 𝑨 𝒙𝒚𝒛 𝑨 𝒙𝒚𝒛
CH. 17: RIGID BODY KINETICS
Parallel axis theorem: 𝐼1 = 𝐼2 + 𝑚 𝑟12 2 I=𝑚 𝑘 2
1 2 1
𝐼𝐺−𝑟𝑜𝑑 = 12 𝑚𝑙 2 𝐼𝐺−𝑠𝑝ℎ𝑒𝑟𝑒 = 5 𝑚𝑟 2 𝐼𝐺−𝑑𝑖𝑠𝑘 = 2 𝑚𝑟 2
𝑀𝐴 = 𝐼𝐴 𝛼 𝐹𝑥 = 𝑚𝑎𝑥 𝐹𝑦 = 𝑚𝑎𝑦 𝐹𝑡 = 𝑚𝑎𝑡 = 𝑚𝑟𝛼 𝐹𝑛 = 𝑚𝑎𝑛 = 𝑚𝜔2 𝑟
CH. 18: ENERGY METHODS
1 1 1 1 1 1
𝑚𝑣𝑖 2 + 2 𝐼𝐺 𝜔𝑖 2 + 2 𝑘𝑠𝑖 2 + 𝑚𝑔ℎ𝑖 + 𝑊𝑛.𝑐.𝑓. = 𝑚𝑣𝑓 2 + 2 𝐼𝐺 𝜔𝑓 2 + 2 𝑘𝑠𝑓 2 + 𝑚𝑔ℎ𝑓
2 2
𝜃2
w= 𝜃1
𝑀𝑑𝜃
CH. 19: ANGULAR IMPULSE AND MOMENTUM
𝑡
Conservation of Momentum: 𝐼𝐺 𝜔𝑖 + 𝑡 𝑓 𝑀𝑑𝑡 = 𝐼𝐺 𝜔𝑓 𝐼𝐺 𝜔 + 𝑚𝑣 𝑟 𝑖 = 𝐼𝐺 𝜔 + 𝑚𝑣 𝑟 𝑓
𝑖
[𝑚1 𝑣1 ]𝑟1 + 𝐼𝐺)1 𝜔1 + [𝑚2 𝑣2 ]𝑟2 + 𝐼𝐺)2 𝜔2 = [𝑚1 𝑣1 ]𝑟1 + 𝐼𝐺)1 𝜔1 + [𝑚2 𝑣2 ]𝑟2 + 𝐼𝐺)2 𝜔2
𝑖 𝑓