MAPS Equation Sheet for 8.

011
Purpose: Physics is based on a few fundamental laws of nature. For example, Mechanics is based on two: the calculus of motion and F = dp/dt. In this document, we elect to treat Mechanics by grouping the concepts and formulae into four major categories: Motion, Mechanical Energy, (Linear) Momentum, and Angular Momentum.

Model: Dynamics and Net Force

General 3-D Motion
Compatible Systems: Single point particle. v (t) = dr(t) , dt
t ti

Relevant Interactions: Net force. a(t) = a(t) dt, dv (t) = dt

i

Dierential Laws of Change: Integrated Laws of Change:

Fi (t) m t ti

v (t) = v (ti ) +

r(t) = r(ti ) +

v (t) dt

Rotational Motion (2-D)

Restriction on Interactions: Net force constant in size and directed to center of circle.

*Uniform Circular Motion

Restriction on Interactions: Denitions: = arad Net force constant in magnitude and directed to center of circle.

vtan angular velocity for circular motion with speed vtan radius R. R 2 v = tan = 2 R radial acceleration. R

1-D Motion
Laws of Change: as in 3-D case, except all vectors are restricted to apply only to the dimension of interest. Graphs of x(t), v (t), a(t); motion diagrams (strobe pictures). Diagrammatic Representations:

Constant Acceleration (
Restriction on Interactions: Integrated Laws of Change:

Fx = const)
Net force must be constant.

1 x(t) = xi + vi (t ti ) + a(t ti )2 2 v (t) = vi + a(t ti )

2 v 2 (x) = vi + 2a(x xi )

xi , vi are values at t = ti (Usually ti = 0)

importantly, time does not appear in this equation. motion diagrams; graphs of kinematics quantities vs. time.

Diagrammatic Representations:

Zero Acceleration / Constant Velocity (

x(t) = xi + vx (t ti )

Fx = 0)

*Harmonic Motion
Restriction on Interactions: Denition: osc = k m Net force must be a linear restoring force. angular frequency, T = d2 x = dt2
F net (x) m

2 period osc

Dierential Law of Change: Integrated Law of Change:

2 = osc = k (x xe ) = osc (x xe ), equivalently

x(t) xe = A cos(osc t + ) = x(0) cos(osc t) +

v (0) sin(osc t) osc

Mechanical Energy, External Work, and Internal Non-Conservative Work

*Mechanical Energy
Compatible Systems: Rigid bodies and particles. Relevant Interactions: Non-conservative work done by internal forces and external forces. Concept: Mechanical energy is the sum of the kinetic and potential energy of the system E K + U .
tf

Denitions:

W NC =
path

F N C (r) dr =
ti

F (t) v (t) dt, work & P =

dW dt

, power

1 2 2 +1 K=2 mvcm 2 Icm

kinetic energy of translation and rotation, respectively. F NC v

Dierential Law of Change: Integrated Law of Change:

dE = dt

Ef = Kf + Uf = Ei + W N C

Work-Kinetic Energy Theorem: It is also possible to avoid using potential energy. If the work from all forces (conservative and non-conservative) is found, then Kf = Ki + W ALL .

Momentum and External Force

*Momentum
Compatible Systems: Any number of point particles.

Relevant Interactions: Only external forces. Denitions: For a single object p = mvcm . dp(t) = dt F
external tf ti

Dierential Law of Change: Integrated Law of Change:

(t) F

only external forces change the system momentum.

external

p(tf ) = p(ti ) +

(t) dt = p(ti ) + J

J is impulse.

Angular Momentum and External Torque

3-D Angular Momentum
Compatible Systems: Law of Change: Any. cexternal Relevant Interactions: External torques. 3-D form used only for gyroscope. dLc = dt

*1-D Angular Momentum

Restriction on System and Interactions: Denitions: c = Rf c F Motion and Forces in a plane produce angular momentum & torque. The torque about c due to force applied at Rf c (in the z direction). dLc = dt
external c (t).

Dierential Law of Change: Integrated Law of Change:

Lc (tf )

Lc (ti ) +

tf ti

external c (t)

dt

Lc (ti ) + angular impulse.

Fixed Axis Rotation

Restriction on System: Law of Change: Single rigid body with xed axis of rotation a. = Ia .
external a

Rotation and Translation of a Rigid Body

Restriction on System: Denitions: Single rigid body. orbital and spin angular momentum of a rigid body about point c.
external cm = Icm

Lc = Rcm,c M vcm + Icm F external = M acm ,

Laws of Change:

Interactions
Force and Potential Energy
Denition: U (r ) =
rf ri

cons

(r) dr

denition of potential energy; implies F = U (r).

Common Interactions
Interaction Universal Gravity Local Gravity Hookes Law (Springs) Kinetic Friction Static Friction Force Law m2 r F12 = G m12 r12 12 F = mg z Fx = k (x xe ) Potential Energy 1 m2 U (r12 ) = G m r12 U (z ) = mgz
2 U (x) = 1 2 k ( x xe )

Constants G = 6.673 1011 m3 kg1 s2 g = 9.8 m/s (earth) k spring dependent force constant xe spring dependent equilibrium position k surface/object dependent parameter. s surface/object dependent parameter.
2

F = k N 0 F s N

Non-Conservative Non-Conservative

Unifying Concepts and Denitions

System
A key idea in science is to restrict attention to a specic system. A system is a collection of objects that can be described adequately for our purposes by a restricted set of state variables. For example, in mechanics a rigid body might be described by xcm (t), (t), m and Icm , but not by its shape, size, temperature or color (though some of these other quantities would be relevant if the same system were studied in thermodynamics or optics).

Parallel Axis Theorem

The Moment of Inertia, Kinetic Energy and Angular Momentum of a rigid bodymay be expressed by a term that describes motion of the center of mass and another that describes motion within the system.

Quantity Moment of Intertia Ic = Kinetic Energy K=

of center of mass Icm

1 2 M vcm 2

within system
2 + M Rcm ,c

I 2 + 1 2 cm + Icm

Angular Momentum Lc =

Rcm,c M vcm

Analog between 1-D Translation and 1-D Rotation TRANSLATION of cm

Name Position Velocity Acceleration (Total) Mass Force Dynamics Momentum Translational Kinetic Energy Work Symbol x v = dx dt a = dv dt M=
constituents

ROTATION about cm
Name Angular Position Angular Velocity Angular Acceleration m Moment of Inertia Torque Symbol = d dt = d dt Icm =
constituents

mr2

F F
ext

cm
ext cm = Icm

= M acm

Angular Dynamics Angular Momentum Rotational Kinetic Energy Work

p = M vcm
1 2 K trans = 2 M vcm

Lcm = Icm
2 K rot = 1 2 Icm

W =

path

F dx

W =

path

Common Moments of Inertia

Slender uniform rod of length l with axis through center and perpendicular to the rod. Slender uniform rod of length l with axis through one end and perpendicular to the rod. Thin-walled hollow cylinder of radius R, axis along axis of cylinder. Uniform solid cylinder of radius R, axis along axis of cylinder. Thin-walled hollow sphere of radius R, axis through center. Solid uniform sphere of radius R, axis through center.
1 ml2 12 1 ml2 3

mR2
1 mR2 2 2 mR2 3 2 mR2 5