University of Balamand Formula Sheet MECH 221 Dynamics

Faculty of Engineering

Chapter 12: Kinematics

Vector form Algebraic scalar form
Rectilinear motion

 


 
 
Instantaneous
velocity

 



  
 
 
Average
velocity
  
 2 


 
 
 2   
 
Instantaneous

   
acceleration


   

 
Average speed

1
     
  
2
Constant
Position s(t)
acceleration

   
 
Constant
Velocity v(t)
acceleration
2  0 2  2
   0 
Constant
Velocity v(s)
acceleration


Cartesian (x,y,z)

 


    ! "  # $   % !  !% #  #%

Instantaneous

  %   &
velocity



 

  
! " 
# 
$
!  % !  !&
Instantaneous
acceleration 
#  % #  #&
Normal & tangential (n,t)



 '
(   %

Instantaneous
velocity
 

  %  
 
 '
 
 
) '
)
2
Instantaneous

) 
*
acceleration

41
 
+  '
' ( , '
- !1
Binormal /1  0 2 3
(  '
' - , '
+
*
axis b Radius of curvature

  !1
use right- ρ
'
-  '
. , '
( 5   5
hand rule

Cylindrical (r,θ,z)
Position   6'
 6  #'
#

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University of Balamand Formula Sheet MECH 221 Dynamics

6  6%
Faculty of Engineering



 

6  

7  

#  6 '
6  7 '
7  # '
8 7  67%
Instantaneous
#  #%
velocity

6  6&  67%
2

 
6 
7 
# 
6 '
6 
7 '
7 
# '
8
7  67&  26% 7%
Instantaneous

#  #&
acceleration

Projectile
  0       9 
Horizontal
Horizontal motion
1
motion
!  0 !   !  !   :    
2
Vertical
Vertical motion
motion
! 2  0 ! 2  2!  !0 
Vertical
motion
Relative motion
Position ;  
 <  
;⁄<
Instantaneous 

;  

<  

;⁄<
velocity
; 
< 
;⁄<
Instantaneous
acceleration

@A @ B  @ C
Chapter 13: Force & acceleration

>?
6   9.81 @1 
Newton’s
Mass & weight
gravitational law

G 
H  @
 G >  @

Equation of motion
Equation of motion
(x,y,z)

Equation of motion G >  @

 Equation of motion G >6  @
6
(n,t) G >)  @
) (r,θ,z) G >7  @
7


) I  KJ
Angle between extended radial line & tangent to J
1KL
measured positive c.c.w
the curve.

Chapter 14: Work & energy

Vector form Algebraic scalar form
Work of a force . 
M  H  M  >  N 7
62 2
Work of a M12  O 
H . 
 M12  O >  N 7
variable force 61 PQ

M12  > cos 7  2  1 

Work of a constant force
moving along a straight line

M12  B !  B!2  !1   B!1  !2 

Work of a
weight

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University of Balamand Formula Sheet MECH 221 Dynamics

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M12  U 22  U 21
2 2
Work of a
spring force
1
 @  1  G M12  2
2
Principle of
work & energy
M
V  H. 
 V
Power 
VNXY6 N6 Y)Y6! NZZ
W
VNXY6 N6 Y)Y6! [)Z
Efficiency

Gravitational potential energy \  B!

1
\Y  U 2
2
Elastic potential energy

Potential function \  \]  \^

Conservation of energy G 1  G \1  G 2  G \2

Chapter 15: Impulse & momentum

2
G @[ a[  b1  G O >[  
2
[ `  G O H
G @ [ _
[ 
Principle of linear
1 1
1
 G @[ a[  b2
impulse &
[ `
 G @ [ _

momentum
2

G @[ _

[ `  G @[ _

[ `
Conservation of
linear momentum 1 2

c   d 
Y
d A  c A
Impact coefficient
of restitution

N  
e 
 , @
fN #  @
Angular
momentum
Moment of a force & angular momentum Gg %N
N  e %
  h
GH
2 2
Angular impulse O 
iN  O _ ` 
 , H
1 1
jk
@9 A  G O >9   @9 
jk
A  G O H   @


jQ
@

jQ jk
2
@: A  G O >:   @: 
Impulse &
_
eN `  G O 
iN 
momentum
1 1 jQ

 _
principles
eN ` 2
2
fN 1  G O gN   fN 2
1

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University of Balamand Formula Sheet MECH 221 Dynamics
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G _
eN `  G _
eN `
Conservation of
1 2
angular
momentum

Chapter 16: Planar kinematics of a rigid body

7 l   7
l  m   m7  ll

Rotation about
fixed axis  
1
l  l 0  m  7  7  l   m   l2  l20  2m 7  70 
Constant
2
angular
acceleration
Vector form Algebraic scalar form
Velocity 

n  , 
   l6

Acceleration  
 
)  o
 , 
  l2 

  m6
)  l 2 6

Relative motion

Position ;  
 <  
;⁄<

Velocity ; 


< 

;⁄< 

<  n
 , 
;⁄<

; 
<  
;⁄<   
;⁄<  
<  o
 , 
;⁄<  l2 
;⁄<
 )
Acceleration

Vector cross product p  <

 , ; 
  q: rs  qs r: t  qs r9  q9 rs u  q9 r:  q: r9 $

Relative motion 

c  

<  

c/d   
w, c/d
Rotating axes 9:s

c 
<  
c/d   , w
w  ,   , 

c/d   2w c/d   
w% , 
c/d
Relative motion
Rotating axes 9:s 9:s

Chapter 17: Planar kinetics of a rigid body

x  O 6  @ x  O 6  *\
Moment of inertia
y z
about z axis

x
x  x{  @  x  @U  N6 U  |
Parallel axis
@
Radius of gyration
theorem

G g~  Gg ~
G H  @ } G g{  x{ m
Equation of
Equation of
translational
rotational motion
motion
G H€  @ } € G H-  @ } -

G H  @ }  G H(  @ } (
Equation of Equation of motion:
motion: rectilinear curvilinear

G g{  0 G g{  0
translation translation

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University of Balamand Formula Sheet MECH 221 Dynamics
Faculty of Engineering

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