AMME2500 Formula Sheet 2007 Page 1 of 3

SOME USEFUL FORMULAE

1. Two Dimensional Kinematics
Non-rotation reference attached to B for 2 points A and B in a rigid body
Equation of velocity: v A = vB + v A/ B
Equation of acceleration: a A = a B + a A / B or
(a A )n + (a A )t = (a B )n + (a B )t + (a A / B )n + (a A / B )t
where: (a ) n = ω × (ω × r ) and (a ) t = α × r are the normal and tangential accelerations.
Rotation reference attached to B for 2 points A and B in a rigid body
Equation of velocity: v A = v B + ω × r + v rel
Equation of acceleration: a A = a B + α × r + ω × (ω × r ) + 2ω × v rel + a rel
where v rel and a rel are relative velocity and relative acceleration respectively

2. Two Dimensional Kinetics

Equation of motion (G – centre of mass): ∑ Fx = ma x ∑ F y = ma y ∑ M G = Iα
Work Energy principle: U 1−2 = ∆T + ∆V g + ∆Ve
Work done by external force U = ∫ F ⋅ dr and by external couple U = ∫ M ⋅ dθ ,
1 1 1
T= mv 2 + I ω 2 kinetic energy, Vg = mgh gravitational P.E., Ve = kx 2 elastic P.E.
2 2 2
Impulse-Momentum principle:
 x : t2 F dt = mv − mv
t2  ∫t1 ∑ x x2 x1
Linear: ∫t1 ∑ F dt = G 2 - G1 = mv 2 − mv 2  t2
t1 ∑ y
y :
 ∫ F dt = mv y2 − mv y1
t2
Angular: ∫t ∑ M G dt = H G
1
2
− H G1 = Iω 2 − I ω1

3. Steady Mass Flow and Variable Mass

Steady Mass Flow:
Resultant force: ∑ F = G& = m' (v 2 − v1 )
Resultant moment about O: ∑ M O = H& O = m' (d 2 × v 2 − d1 × v1 )
where m' is mass flow rate, v1 entering velocity and v2 leaving velocity.
Variable Mass: ∑ F = mv& ± m& u
where m is mass of system at time t, v is velocity of system, u is velocity of the rejected mass,
F the external force acting on the system.

4. Euler’s First Law

mR&& = F
G
where RG is the position vector of mass center and F is the external force acting on the body

5. Euler’s Second Law

H& = M
where H is angular momentum and M = ∑i ri × Fi is the external moment acting on the body
AMME2500 Formula Sheet 2007 Page 2 of 3

6. Angular Momentum
 I xx − I xy − I xz  ω x 
  
H = I • ω = − I xy I yy − I yx  ω y 
 − I xz − I yx
 I zz  ω z 
where

( ) ⇒ ∫ (y )
n n
I xx = ∑ mi yi2 + z i2 2 2
+ z dm I xy = ∑ mi xi yi ⇒ ∫ xydm
i =1 B i =1 B

( ) ( )
n n
I yy = ∑ mi xi2 + zi2 ⇒ ∫ x 2 + z 2 dm I xz = ∑ mi xi zi ⇒ ∫ xzdm
i =1 B i =1 B

( ) ( )
n n
I zz = ∑ mi xi2 + yi2 ⇒ ∫ x 2 + y 2 dm I yz = ∑ mi yi z i ⇒ ∫ yzdm
i =1 B i =1 B

7. Parallel Axis Theorem

2
I XX = md Xx + I xx
where d Xx is the distance between the these two axes (XX and xx)

8. Parallel Plane Theorem

I XY = mX G YG + I xy
where XG, YG, ZG are the coordinate of the center of mass.

9. Kinetic Energy of A Rigid Body

1 1
T = mVG • VG + ω • H G T
2 2
where VG is the velocity of the center of mass, ω is the angular velocity of the body, HG is
angular momentum of the body about the center of mass.

10. Lagrange’s Equations

d  ∂T  ∂T ∂V
  − + = Qk( NC ) k = 1, L , r
dt  ∂qk  ∂qk ∂qk
&
where T is the kinetic energy, V the potential energy, q k the generalized coordinates and
Qk( NC ) the non-conservative generalized forces.

11. Integration
dt 1
∫ a − bt = − b ln(a − bt ) + C1
1
∫ ln(1 − at )dt = − a (1 − at )ln(1 − at ) − t + C2
where C1 and C2 are constant of integration
AMME2500 Formula Sheet 2007 Page 3 of 3

12. Mass Moment of Inertia

Geometry Mass moment of inertia
z R 2
I xx = I yy = I zz = mR 2
Sphere G 5
y
I xy = I yz = I zx = 0
x
z
R
I xx = I yy =
1
12
(
m 3R 2 + h 2 )
1
Cylinder h G
y I zz = mR 2
2
x I xy = I yz = I zx = 0

z 1 1
I xx = I yy = mR 2 , I zz = mR 2
R 4 2
Disk G
y I xy = I yz = I zx = 0
x
z’
1
l/2 I xx = I yy = ml 2
Slender G y 12
l
1
bar
l/2 I x' x' = I y' y' = ml 2
x 3
y’ I xy = I yz = I zx = I zz = 0
x’
z
I xx = I yy =
3
80
(
m 4R 2 + h 2 )
Cone h 3
I zz = mR 2
G y 10
R
h/4 I xy = I yz = I zx = 0
x
z
I xx =
1
12
( ) 1
m b 2 + c 2 , I yy = m a 2 + c 2
12
( )
Block
c
G y 1
I zz = m a 2 + b 2
12
( )
a I xy = I yz = I zx = 0
x b
1 1
z I xx = mb 2 , I yy = ma 2
c 12 12
Plate G
a
y 1
(
I zz = m a 2 + b 2
12
)
x b
I xy = I yz = I zx = 0