Dynamics Summary

1
1.1

1.5

v as independent variable

If v is an independent variable, the following integrals can be derived from the basic equations:

One-Dimensional Motion
Denitions

s(v) =
v0 v

v d + s0 v a() v 1 d + t0 v a() v

(1.9) (1.10)

t = Time (s) s = Distance traveled (m) v = Velocity (m/s) a = Acceleration (m/s2 ) Fres = Resultant force (N ) x0 = The value of any variable x at t = 0 1.2 Basic Equations

t(v) =
v0

2
2.1

Circular Motion
Denitions

These are the basic equations which should be known by heart: ds (1.1) v= dt a= dv d2 s = 2 dt dt a ds = v dv Fres = ma 1.3 t as independent variable (1.2) (1.3) (1.4)

r = Radius - Distance from origin (s) = Counterclockwise angle from x-axis (rad) er = Unit vector in radial direction e = Unit vector in tangential direction v = Velocity (m/s) a = Acceleration (m/s2 ) x = Time-derivative of any variable x 2.2 Unit Vector Derivatives

The unit vectors change as follows due to a change in r or : der = e d de = er d 2.3 der =0 dr de =0 dr (2.1) (2.2)

If t is an independent variable, the following integrals can be derived from the basic equations:
t

v(t) =
t0 t

a(t) dt + v0 v(t) dt + s0
t0

(1.5)

Polar Coordinate Equations

s(t) = 1.4

(1.6)

s as independent variable

If s is an independent variable, the following integrals can be derived from the basic equations:
s

The following equations are the basic equations for polar coordinates and should also be known by heart: r = rer (2.3) v = rer + re (2.4) a = r r2 er + 2r + r e (2.5)

v(s) =

2
s0 s

2 a() d + v0 s s

(1.7)

3
(1.8) 3.1

Motion Equations
Denitions

t(s) =
s0

1 d + t0 s v() s

fx = Force in x-direction (N ) fy = Force in y-direction (N ) fr = Force in radial direction (N ) f = Force in angular direction (N ) ft = Force in tangential direction (N ) fn = Force in normal direction (N ) = Radius of curvature (m) 1

3.2

General / Linear Motion

4.3

A Particle About To Move

For general motion, the following equations often come in handy: fx = m x (3.1) fy = m y 3.3 (Near-)Circular Motion (3.2)

If a particle is standing still on a surface, then the magnitude of the frictional force satises the following equation: Fw s N (4.2)

For (near-)circular motion, the following equations can often be easily solved: fr = m( r2 ) r f = m(2r + r) 3.4 Path Known in Advance (3.3) (3.4)

Where the force is directed in such a way that the resultant force is zero. Equality holds if the particle is about to move.

5
5.1

Energy
Denitions

If the path a particle travels is known in advance, the following equations often provide a solution: ft = m dv dt v2 (3.5) (3.6)

fn = m 3.5

T = Kinetic energy (J) U = Work done by a force (J) V g = Potential gravitational energy (J) Fs = Spring force (N ) k = Spring constant (N/m) r0 = Position at which spring is not stretched (m) V e = Potential spring energy (J) U1,2 = Work by external forces between 1 and 2 5.2 Basic Energy Equations

Relative Velocity / Acceleration

If vA/C is the velocity of particle A with respect to any particle C, vB/C is the velocity of particle B with respect to the same particle C and vA/B is the velocity of particle A with respect to particle B, then the following equation applies: vA/B = vA/C vB/C = vB/A Identically for the acceleration: aA/B = aA/C aB/C = aB/A (3.8) (3.7)

The following equations apply: U= T = F ds (5.1) (5.2) (5.3)

1 mv 2 2 V g = mgh

5.3

Springs

The force caused by a spring is:

4
4.1

Friction
Denitions

Fs = k(r r0 ) The energy of a spring in a position r is:

(5.4)

N = Normal force (N ) Fw = Friction force (N ) k = Coecient of kinematic friction s = Coecient of static friction 4.2 A Moving Particle

Ve = 5.4

1 k(r r0 )2 2

(5.5)

Energy Equation

If a particle is moving on a surface and is acted on by a normal force N , then the friction force is directed opposite to the motion, and has magnitude: Fw = k N (4.1) 2

The total work done by all other external forces (which is often 0) is equal to the change in energy: U1,2 = T + V g + V e (5.6)

6
6.1

Impulse and Momentum

7.3

Collision Types

There are two special types of collisions: Plastic collision e = 0 v1 = v2 (7.3)

G = Linear Momentum (N s) H = Angular Momentum (N ms) M0 = Moment about a point (N m) 6.2 Linear Momentum

Elastic collision e = 1 v1 +v1 = v2 +v2 (7.4) In an elastic collision, kinetic energy is conserved.

The linear momentum is dened as: G = mv (6.1)

8
8.1

Systems of Particles
Denitions

The linear impulse (which doesnt have its own symbol) is: G = mv = ma = f (6.2)

Note that linear momentum (in a certain direction) is conserved if there are no external forces acting on the system (in that direction). 6.3 Angular Momentum

M = Total mass of the system (kg) rG = Position vector for the COG (m) vG = Velocity of the COG (m/s) aG = Acceleration of the COG (m/s) 8.2 Center of Gravity Properties M = Mi rG = mi ri mi ri = mi M (8.1) (8.2) (8.3) (8.4)

The angular momentum about a point is dened as: H = mr v (6.3) The angular impulse (which doesnt have its own symbol) is: H = mr v = r (ma) = r f = M0 (6.4) Note that angular momentum is conserved if there are no external moments acting on the system. 8.3

M vG = M rG = mi vi M aG = MG = mi ai = fiext r Total Linear Momentum G = Gi = mi vi = M vG fiext = Fres = G

(8.5) (8.6)

7
7.1

Linear Collisions
Denitions

9
9.1

Rotations
Denitions

e = Coecient of restitution (dimensionless) v1 = Initial velocity of particle 1 (m/s) v2 = Initial velocity of particle 2 (m/s) v1 = Final velocity of particle 1 (m/s) v2 = Final velocity of particle 2 (m/s) 7.2 Coecient of Restitution

= Angle with respect to a reference point (rad) = Angular velocity (rad/s) = Angular acceleration (rad/s2 ) 9.2 Basic Relations = (7.1) = d dt (9.1) (9.2) (9.3)

The coecient of restitution is dened as: Restitution impulse e= Deformation impulse

From this can be derived that: v1 v2 e= (7.2) v1 v2 The coecient of restitution is usually between 0 and 1. 3

d d2 = 2 dt dt d = d

9.3

Velocity and Acceleration v =r a = r ( r) (9.4) (9.5)

12
12.1

Angular Momentum About Points

These equations are often combined with equations from paragraph 3.5.

h = Distance between A and the COG perpendicular to the direction of motion (m) l = Distance between A and the COG perpendicular to the direction of acceleration (m) 12.2 Angular Momentum Equations HA = IG + rAG mvG HA = IG + mvG h 12.3 (12.1) (12.2)

10
10.1

Mass Moment of Inertia

I = Mass moment of inertia (kg m2 ) A = Distance between point A and the COG (m) k = Radius of gyration (m) m = Mass (kg) M = Moment (N m) 10.2 Basic Equations IG =
2 IA = IG + m2 = mkA A

Angular Momentum Derivative Equations MA = HA + vA mvG MA = HG + rAG maG (12.3) (12.4) (12.5)

r dA

(10.1) (10.2)

MA = IG + maG d

Moment of inertia for a slender bar with length l: 1 ml2 IG = 12 Moment of inertia for a disc with radius r: IG = 1 2 mr 2 (10.4) (10.3)

13

Table Of Useful Equations

These equations are often useful in solving problems. Notice the similarities between the left and the right column. F = ma G = mv G = F M = I H = I H = M T = 1 I 2 2 (13.1)

11
11.1

Kinetic Energy
Kinetic Energy Equations

1 T = 2 mv 2

Basic equation: T = 1 1 mv 2 + IG 2 2 G 2 (11.1)

For pure translation: T = 1 mv 2 2 (11.2)

For pure rotation about point O: T = 1 I0 2 2 (11.3)