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 θ.

For two planar orthogonal coordinate systems with unit vector pairs (ûa , ûb ) and (ûc , ûd ), the first system can
be written in terms of the second using:

ûa = (ûa · ûc ) ûc + (ûa · ûd ) ûd and ûb = (ûb · ûc ) ûc + (ûb · ûd ) ûd

Elementary (1-D) Motions

Position: q(t); Velocity: v = q̇ = dq/dt; Acceleration: a = q̈ = 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
v0 a(v) v a(v)
Z q Z q0
dq
Given a = a(q): v 2 (q) = v02 + 2 a(q) dq t(q) = t0 +
q0 q0 v(q)

Rectilinear (1-D) Motion

Position: s(t); Velocity: v = ṡ = ds/dt; Acceleration: a = s̈ = 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
ω 2 = ω02 + 2αc (θ − θ0 ) ω = ω0 + αc t θ = θ0 + ω0 t + 12 αc t2

General Motions—Time Derivative of a Vector

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

û˙ A = ω ~˙ = Ȧ ûA + ω ~ ~¨ = Ä ûA + 2~ ~˙ A × A

~+ω ~


~ × ûA A ~ ×A A ωA × Ȧ ûA + ω ~A × ω
~A × A

2D Motions—Cartesian Coordinates/Components

Position: ~r = x ı̂ + y ̂; Velocity: ~v = d~r/dt = ẋ ı̂ + ẏ ̂; Acceleration: ~a = d~v /dt = d2~r/dt2 = ẍ ı̂ + ÿ ̂

2D Motions—Normal-Tangential Components

~v = v ût v = ρ|θ̇| ~a = at ût + an ûn at = v̇ an = ρθ̇2 = v 2 /ρ

2D Motions—Polar Coordinates/Components

~rr = r ûr ~v = vr ûr + vθ ûθ vr = ṙ vθ = rθ̇

2
~a = ar ûr + aθ ûθ ar = r̈ − rθ̇ aθ = rθ̈ + 2ṙθ̇

Newton-Euler Equations

F~ = m~a; Fx = max ; Fy = may ; Fn = man ; Ft = mat ; Fr = mar ; Fθ = maθ

Last modified: December 11, 2010

Balance of Work & Energy
Z
U1-2 = F~ · d~r T = 21 mv 2 T1 + U1-2 = T2
path

Vg = W y = mgy T1 + V1 + (U1-2 )nc = T2 + V2 Ve = 21 kδ 2

Balance of Impulse & Momentum

Z t2
d(m ~v )
F~ = = p~˙ F~ dt = m~v2 − m~v1
dt t1

Impact of Smooth Particles

For a coefficient of restitution e, in the direction Total linear momentum is conserved in the n direc-
− − + +
along to the line of impact (LOI) or n direction: tion: (mA vA +mB vB = mA vA +mB vB )n . Velocity of
vseparate v + − vA
+
each particle is conserved perpendicular to the LOI
e= = B − −
−
(t direction): (vA +
= vA −
)t and (vB +
= vB )t .
vapproach vA − v B

Angular Impulse-Momentum Principle

Z t2 Z t2
~hP = ~rQ/P × m~vQ ~ P = ~h˙ P + ~vP × m~vQ
M ~r × F~ dt = ~ P dt = ~hP 2 − ~hP 1
M
t1 t1

Rigid Body Kinematics

~ body × ~rB/A
~vB = ~vA + ~vB/A = ~vA + ω
2
~ body × ~rB/A + ω
~aB = ~aA + ~aB/A = ~aA + α ~ body × (~
ωbody × ~rB/A ) = ~aB = ~aA + α
~ body × ~rB/A − ωbody ~rB/A

Moments of Inertia

(IG )disk = 12 mr2 (IG )rod = 1

12 ml
2
(IG )plate = 1
12 m(a
2
+ b2 ) (IG )sphere = 52 mr2

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

2

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 α
M ~ + ~rG/P × m~aG or ~ P = IP α
M ~ + ~rG/P × m~aP

~ G = IG α
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 ω 2 (G is the mass center)

Unit Conversions and Miscellaneous

GmA mB
1 mi = 5280 ft; g = 32.2 ft/s2 = 9.81 m/s2 ; m (slugs) = [W (pounds)]/g F~on A = 2 ûB/A
rAB

Last modified: December 11, 2010