1 2
2 mr m(a +b )
2 2
1.5: Centre of Mass and Collision mr 2 1
2 mr
2 2
3 mr
2 2
5 mr
2 1
12 ml
2 mr 2
12
P R
Centre of mass: xcm = Pxi mi , xcm = R xdm b
mi dm a
ring disk shell sphere rod hollow solid rectangle
CM of few useful configurations:
m1 r m2
Ik Ic
1. m1 , m2 separated by r: C Theorem of Parallel Axes: Ik = Icm + md2 d
m2 r m1 r
m1 +m2 m1 +m2 cm
h z y
2. Triangle (CM ⌘ Centroid) yc = 3 h Theorem of Perp. Axes: Iz = Ix + Iy
C x
h
3
2r p
3. Semicircular ring: yc = ⇡
C
2r Radius of Gyration: k = I/m
r ⇡
~ = ~r ⇥ p~,
Angular Momentum: L ~ = I~
L !
4r
4. Semicircular disc: yc = 3⇡ C 4r
r 3⇡ y
~ P ✓ ~
Torque: ~⌧ = ~r ⇥ F~ , ~⌧ = dL
dt , ⌧ = I↵ F
r ~
r x
5. Hemispherical shell: yc = 2 C r O
r 2
~ ~⌧ext = 0 =) L
Conservation of L: ~ = const.
3r
6. Solid Hemisphere: yc = 8 C 3r
P~ P
r
F = ~0, ~⌧ = ~0
8
Equilibrium condition:
7. Cone: the height of CM from the base is h/4 for
Kinetic Energy: Krot = 12 I! 2
the solid cone and h/3 for the hollow cone.
P Dynamics:
Motion of the CM: M = mi
P ~⌧cm = Icm ↵
~, F~ext = m~acm , p~cm = m~vcm
mi~vi F~ext
~vcm = , p~cm = M~vcm , ~acm = 1 2 1 2
K = 2 mvcm + 2 Icm ! , L ~ = Icm !
~ + ~rcm ⇥ m~vcm
M M
R
Impulse: J~ = F~ dt = p~
1.7: Gravitation
Before collision After collision
Collision: m1 F F m2
m1 m2 m1 m2 Gravitational force: F = G mr1 m
2
2
v1 v2 v10 v20 r
Momentum conservation: m1 v1 +m2 v2 = m1 v10 +m2 v20 GM m
2
Elastic Collision: 12 m1 v1 2+ 12 m2 v2 2 = 12 m1 v10 + 12 m2 v20
2 Potential energy: U = r
Coefficient of restitution: GM
Gravitational acceleration: g = R2
⇢
(v10 v20 ) 1, completely elastic
e= = Variation of g with depth: ginside ⇡ g 1 2h
v1 v2 0, completely in-elastic R
h
Variation of g with height: goutside ⇡ g 1 R
If v2 = 0 and m1 ⌧ m2 then v10 = v1 .
If v2 = 0 and m1 m2 then v20 = 2v1 . E↵ect of non-spherical earth shape on g:
Elastic collision with m1 = m2 : v10 = v2 and v20 = v1 . gat pole > gat equator (* Re Rp ⇡ 21 km)
E↵ect of earth rotation on apparent weight:
1.6: Rigid Body Dynamics !
~
✓ d✓ m! 2 R cos ✓
Angular velocity: !av = t, != dt , ~ ⇥ ~r
~v = ! mg
mg✓0 = mg 2
m! R cos ✓ 2
! d! ✓
Angular Accel.: ↵av = t, ↵= dt , ~ ⇥ ~r
~a = ↵ R
Rotation about an axis with constant ↵:
! = !0 + ↵t, ✓ = !t + 12 ↵t2 , !2 !0 2 = 2↵✓ q
GM
Orbital velocity of satellite: vo = R
P R
Moment of Inertia: I = i mi r i 2 , I= r2 dm q
2GM
Escape velocity: ve = R
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vo
1.9: Properties of Matter
Kepler’s laws:
a F/A P F
Modulus of rigidity: Y = l/l , B= V V , ⌘= A✓
First: Elliptical orbit with sun at one of the focus.
~
Second: Areal velocity is constant. (* dL/dt = 0). Compressibility: K = 1
= 1 dV
B V dP
2 3 2 4⇡ 2 3
Third: T / a . In circular orbit T = GM a . D/D
lateral strain
Poisson’s ratio: = longitudinal strain = l/l
1
1.8: Simple Harmonic Motion Elastic energy: U = 2 stress ⇥ strain ⇥ volume
Hooke’s law: F = kx (for small elongation x.)
Surface tension: S = F/l
d2 x k
Acceleration: a = dt2 = mx = !2 x
pm Surface energy: U = SA
2⇡
Time period: T = ! = 2⇡ k
Excess pressure in bubble:
Displacement: x = A sin(!t + )
p pair = 2S/R, psoap = 4S/R
Velocity: v = A! cos(!t + ) = ±! A2 x2
2S cos ✓
Capillary rise: h = r⇢g
Potential energy: U = 12 kx2 U
x
A 0 A Hydrostatic pressure: p = ⇢gh
Buoyant force: FB = ⇢V g = Weight of displaced liquid
Kinetic energy K = 12 mv 2 K
x
A 0 A Equation of continuity: A1 v1 = A2 v2 v2
v1
Total energy: E = U + K = 12 m! 2 A2
Bernoulli’s equation: p + 12 ⇢v 2 + ⇢gh = constant
p
Torricelli’s theorem: ve✏ux = 2gh
q
l dv
Simple pendulum: T = 2⇡ g l Viscous force: F = ⌘A dx
F
q Stoke’s law: F = 6⇡⌘rv
I
Physical Pendulum: T = 2⇡ mgl
v
Volume flow ⇡pr 4 r
q Poiseuilli’s equation: time = 8⌘l
I l
Torsional Pendulum T = 2⇡ k
2r 2 (⇢ )g
Terminal velocity: vt = 9⌘
1 1 1
Springs in series: keq = k1 + k2
k1 k2
Springs in parallel: keq = k1 + k2 k2
k1
~
A
~2
A
Superposition of two SHM’s: ✏
~1
A
x1 = A1 sin !t, x2 = A2 sin(!t + )
x = x1 + x2 = A sin(!t + ✏)
q
A = A1 2 + A2 2 + 2A1 A2 cos
A2 sin
tan ✏ =
A1 + A2 cos
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