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ECOR1048 - Dyn - Formula Sheet

Engineering Dynamics (Carleton University)

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Fundamental Equations of Dynamics

KINEMATICS Equations of Motion
Particle Rectilinear Motion Particle F = ma
Variable a Constant a = ac Rigid Body Fx = m(aG)x
dv (Plane Motion) Fy = m(aG)y
a= v = v0 + act
dt MG = IGa or MP = (mk)P
ds s = s0 + v0t + 12 act 2 Principle of Work and Energy
v =
dt T 1 + U1 - 2 = T 2
a ds = v dv v2 = v20 + 2ac(s - s0) Kinetic Energy
Particle Curvilinear Motion Particle T = 21mv2
x, y, z Coordinates r, u, z Coordinates Rigid Body (Plane Motion) T = 1mvG2 + 1IG v2
2 2
# ## # ## #
vx = x ax = x vr = r ar = r - r u 2 Work

L
# ## # ## # # Variable force UF = F cos u ds
vy = y ay = y vu = r u au = r u + 2r u
# ## # ##
vz = z az = z vz = z az = z Constant force UF = (Fc cos u)  s
n, t, b Coordinates Weight UW = - W y
Spring Us = - 1 21 ks 22 - 21 ks 21 2
# # dv
v = s at = v = v Couple moment UM = Mu
ds
Power and Efficiency
v2 [1 + (dy >dx)2]3>2 dU Pout Uout
an =
r
r =
0 d2y >dx 2 0 P= = F#v e = =
dt Pin Uin
Relative Motion Conservation of Energy Theorem
vB = vA + vB/A aB = aA + aB/A T1 + V 1 = T2 + V 2
Rigid Body Motion About a Fixed Axis Potential Energy
Variable a Constant a = ac V = V g + V e, where V g = {W y, V e = + 21 ks 2
dv Principle of Linear Impulse and Momentum
a = v = v0 + act
L
dt Particle mv1 +  F dt = mv2
du
v = u = u0 + v0t + 21act 2

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dt
Rigid Body m(vG)1 + 
F dt = m(vG)2
v dv = a du v2 = v20 + 2ac(u - u0)
For Point P Conservation of Linear Momentum
s = ur v = vr at = ar an = v2r (syst. mv)1 = (syst. mv)2
(vB)2 - (vA)2
Relative General Plane Motion—Translating Axes Coefficient of Restitution e =
(vA)1 - (vB)1
vB = vA + vB>A (pin) aB = aA + aB>A (pin) Principle of Angular Impulse and Momentum

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Relative General Plane Motion—Trans. and Rot. Axis
vB = vA +  * rB>A + (vB>A )xyz Particle (HO)1 +  MO dt = (HO)2
# where HO = (d)(mv)
aB = aA +  * rB>A +  * ( * rB>A ) +

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2 * (vB>A )xyz + (aB>A )xyz (HG)1 +  MG dt = (HG)2
KINETICS Rigid Body where HG = IGv

L L
2 (Plane motion)
Mass Moment of Inertia I = r dm (HO)1 + 
MO dt = (HO)2
Parallel-Axis Theorem I = IG + md2 where HO = IOv
Conservation of Angular Momentum
Am
I
Radius of Gyration k = (syst. H)1 = (syst. H)2
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SI Prefixes

Multiple Exponential Form Prefix SI Symbol

1 000 000 000 109 giga G
1 000 000 106 mega M
1 000 103 kilo k

Submultiple
0.001 10−3 milli m
0.000 001 10−6 micro μ
0.000 000 001 10−9 nano n

Conversion Factors (FPS) to (SI)

Unit of Unit of
Quantity Measurement (FPS) Equals Measurement (SI)
Force lb 4.448 N
Mass slug 14.59 kg
Length ft 0.3048 m

Conversion Factors (FPS)

1 ft = 12 in. (inches)
1 mi. (mile) = 5280 ft
1 kip (kilopound) = 1000 lb
1 ton = 2000 lb

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Geometric Properties of Line and Area Elements

Centroid Location Centroid Location Area Moment of Inertia

y y
L  2ur A  ur 2
r r
u u 1 4 1
x x Ix = r (u – sin 2u)
C C 4 2
u u
1 4 1
r sin u 2 r sin u Iy = r (u + sin 2u)
3 4 2
u u
Circular arc segment Circular sector area
y

A  14 pr 2
1 4
4r Ix = πr
L  p–2 r L  pr r —
3p 16
C
x 1 4
r 2r C r Iy = πr
C —
p 4r
— 16
3p

Quarter and semicircle arcs Quarter circle area

a A  –12 h (a  b) y
r 2
A  p—–
2 1 4
h C Ix = πr
x 4r
— 8
3p
r
–1 2 a  b h C 1
b 3 a b x Iy = πr4
8
Trapezoidal area Semicircular area
y
b A 23– ab A  pr2
1
a C 3–
r Ix = πr4
5a x 4
C 1
Iy = πr4
3– 4
8b

Semiparabolic area Circular area

1
A — ab y A  bh
3 1 3
b Ix = bh
C 3
— b h x 12
10 C
–3 a 1
4
a b Iy = hb3
12
Exparabolic area Rectangular area
a

b
C A  –12 bh
1 3
4 ab Ix = bh
A= —
3
h C 36
x
1–
3h
2
5 a b
—

Parabolic area Triangular area

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Center of Gravity and Mass Moment of Inertia of Homogeneous Solids

z z

r
V  πr 2h
V 4–3 π r 3 r h
–
G G 2

y h
– y
2
x
x
Cylinder
Sphere
1 1
2 Ixx = Iyy = m(3r2 + h2) Izz = mr2
Ixx = Iyy = Izz = mr2 12 2
5
z
z

1
V  –π r 2 h h
3 –
G 4 h
V  –23 pr 3
G y
r y r
x
x 3– r Cone
8
3 3
Hemisphere Ixx = Iyy = m(4r2 + h2) Izz = mr2
80 10
2
Ixx = Iyy = 0.259 mr2 Izz = mr2 z
5

z
z'

G
G
a y
r
y b
x
x Thin plate
Thin Circular disk 1 1 1
Ixx = mb2 Iyy = ma2 Izz = m(a2 + b2)
1 1 3 12 12 12
Ixx = Iyy = mr2 Izz = mr2 Iz¿z¿ = mr2 z
4 2 2
z
l
2
G
r
G l y
x
y 2

x y¿
x¿
Thin ring
Slender Rod
1
Ixx = Iyy = mr2 Izz = mr2 1 1
2 Ixx = Iyy = ml 2 Ix¿x¿ = Iy¿y¿ = ml 2 Iz¿z¿ = 0
12 3

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