AMME2500 Formula Sheet 2012 P age 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:
B / A B A
v v v + =
Equation of acceleration:
B / A B A
a a a + = or

( ) ( ) ( ) ( ) ( ) ( )
t
B / A
n
B / A
t
B
n
B
t
A
n
A
a a a a a a + + + = +

where: ( ) r a =
n
) ( and r a =
t
) ( are the normal and tangential accelerations.
Rotation reference attached to B for 2 points A and B in a rigid body
Equation of velocity:
rel B A
v r v v + + =

Equation of acceleration:
( )
rel rel B A
a v r r a a + + + + = 2

where
rel
v and
rel
a are relative velocity and relative acceleration respectively

2. Two Dimensional Kinetics
Equation of motion (G centre of mass):
x x
a m F =

y y
a m F =

I M
G
=

Work Energy principle:
e g
V V T U + + =
2 1

Work done by external force

= r F d U and by external couple d M U =

,
2 2
2
1
2
1
I v m T + = kinetic energy, h mg V
g
= gravitational P.E.,
2
2
1
kx V
e
= elastic P.E.
Impulse-Momentum principle:
Linear:
2 2 1 2
2
1
v v G - G F m m dt
t
t
= =

=
=

1 2
2
1
1 2
2
1
:
:
y y
t
t
y
x x
t
t
x
v m v m dt F y
v m v m dt F x

Angular:
1 2 G G
1 2
2
1
I I H H dt M
t
t
G
= =

3. Steady Mass Flow and Variable Mass
Steady Mass Flow:
Resultant force: ( )
1 2
v v G F = =

' m
&

Resultant moment about O: ( )
1 1 2 2
v d v d H M = =

' m
O O
&

where ' m is mass flow rate, v
1
entering velocity and v
2
leaving velocity.
Variable Mass: u v F m m & & =

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. Eulers First Law
F R =
G
m
& &

where R
G
is the position vector of mass center and F is the external force acting on the body

5. Eulers Second Law
M H =
&

where H is angular momentum and

=
i
i i
F r M is the external moment acting on the body
AMME2500 Formula Sheet 2012 Page 2 of 3

6. Angular Momentum

|
|
|

\
|
(
(
(

= =
z
y
x
zz yx xz
yx yy xy
xz xy xx
I I I
I I I
I I I

I H
where
( ) ( )

+ + =
=
B
n
i
i i i xx
dm z y z y m I
2 2
1
2 2

=
=
B
n
i
i i i xy
xydm y x m I
1

( ) ( )

+ + =
=
B
n
i
i i i yy
dm z x z x m I
2 2
1
2 2

=
=
B
n
i
i i i xz
xzdm z x m I
1

( ) ( )

+ + =
=
B
n
i
i i i zz
dm y x y x m I
2 2
1
2 2

=
=
B
n
i
i i i yz
yzdm z y m I
1


7. Parallel Axis Theorem
xx Xx XX
I md I + =
2

where
Xx
d is the distance between the these two axes (XX and xx)

8. Parallel Plane Theorem

xy G G XY
I Y mX I + =
where X
G
, Y
G
, Z
G
are the coordinate of the center of mass.

9. Kinetic Energy of A Rigid Body

G G G
m T H V V + =
2
1
2
1
T
where V
G
is the velocity of the center of mass, is the angular velocity of the body, H
G
is
angular momentum of the body about the center of mass.

10. Lagranges Equations

( ) NC
k
k k k
Q
q
V
q
T
q
T
dt
d
=

|
|

\
|

&
r , , k L 1 =
where T is the kinetic energy, V the potential energy, q
k
the generalized coordinates and
( ) NC
k
Q the non-conservative generalized forces.

11. Integration
( )
1
1
C bt a ln
b bt a
dt
+ =

( ) ( ) ( )
2
1 1
1
1 C t at ln at
a
dt at ln + =

where C
1
and C2 are constant of integration


AMME2500 Formula Sheet 2012 Page 3 of 3
12. Mass Moment of Inertia

Geometry Mass moment of inertia
x
y
z
R
Sphere
G

2
5
2
mR I I I
zz yy xx
= = =
0 = = =
zx yz xy
I I I
x
y
z
x
y
z
h
R
Cylinder
G

( )
2 2
3
12
1
h R m I I
yy xx
+ = =
2
2
1
mR I
zz
=
0 = = =
zx yz xy
I I I
x
y
z
x
y
z
R
Disk G

2
4
1
mR I I
yy xx
= = ,
2
2
1
mR I
zz
=
0 = = =
zx yz xy
I I I
x
y
z
x
y
l
G
l/2
l/2
Slender
bar

2
12
1
ml I I
yy xx
= =
2
3
1
ml I I
' y ' y ' x ' x
= =
0 = = = =
zz zx yz xy
I I I I
x
y
z
R
h
h/4
Cone
G

( )
2 2
4
80
3
h R m I I
yy xx
+ = =
2
10
3
mR I
zz
=
0 = = =
zx yz xy
I I I
x
y
z
a
b
c
Block
G

( )
2 2
12
1
c b m I
xx
+ = , ( )
2 2
12
1
c a m I
yy
+ =
( )
2 2
12
1
b a m I
zz
+ =
0 = = =
zx yz xy
I I I
a
b
c
Plate
x
y
z
G

2
12
1
mb I
xx
= ,
2
12
1
ma I
yy
=
( )
2 2
12
1
b a m I
zz
+ =
0 = = =
zx yz xy
I I I