Equation Sheet for

Engineering Mechanics 12Dynamics

Note: vectors are indicated by boldface type.
Miscellaneous

If ax2 + bx + c = 0, then x = b

b2 4ac

2a.

Rectilinear (1-D) Motion

Position: s(t); Velocity: v = s = ds/dt; Acceleration: a = s = dv/dt = d2 s/dt2 = vdv/dx. For
constant acceleration ac :
v 2 = v02 + 2ac (s s0 )

s = s0 + v0 t + 12 ac t2

v = v0 + ac t

2D MotionsCartesian Coordinates
Position: r = x + y; Velocity: v = dr/dt = x
+ y
; Acceleration: a = dv/dt = d2 r/dt2 = x
+ y
2D MotionsNormal-Tangential (Path) Coordinates
v =

v = v
et

a = at
et + an
en

an = 2 = v 2 /

at = v

2D MotionsPolar Coordinates
r = r
er

v = vr
er + v
e
2
ar = r r

a = ar
er + a
e

v = r

vr = r
a = r + 2r

Newtons Second Law

P

F = ma;

Fx = max ;

Fy = may ;

Fn = man ;

Ft = mat ;

Fr = mar ;

F = ma

Work-Energy Principle
Z

U12 =

F dr

Vg = W y

T = 12 mv 2

T1 +

U12 = T2

Ve = 12 k 2

T1 + V1 + (U12 )nc = T2 + V2

Linear Impulse-Momentum Principle

p = mv

dp
F=
dt

L12 =

t2

t1

F dt = mv2 mv1

Impact of Smooth Particles

For a coefficient of restitution e, in the direction
along to the line of impact (LOI) or n direction:
vseparate
vB vA2
e=
= 2
vapproach
vA1 vB1

Total linear momentum is conserved in the n direction: (mA vA1 + mB vB1 = mA vA2 + mB vB2 )n .
Velocity of each particle is conserved perpendicular to the LOI (t direction):(vA1 = vA2 )t and
(vB1 = vB2 )t .

Angular Impulse-Momentum Principle

hO = mr2

MA = h A + vA mvG

hA = rP/A mv
Z

(AA )12 =

t2

t1

r F dt =

t2

t1

MA dt = h2 h1

Rigid Body Kinematics

vB = vA + vB/A

aB = aA + aB/A

vB = vA + rB/A

aB = aA + rB/A + ( rB/A )

vB = vA + rB/A + (vB/A )xyz

where xyz refers to the rotating frame (B)
rB/A + ( rB/A ) + (aB/A )xyz + 2 (vB/A )xyz
aB = aA +
Moments of Inertia
(IG )disk = 12 mr2

(IG )rod =

2
1
12 ml

(IG )plate =

2
1
12 m(a

+ b2 )

(IG )sphere = 25 mr2

2
Parallel Axis Theorem: IA = IG + md2 ; Radius of Gyration: IA = mkA

Angular Momentum and Equations of Motion for a Rigid Body

Angular Momentum
hA = IG + rG/A mvG

hA = IA + rG/A mvA

Equations of Motion
P
P
MG = IG and for a fixed point O:
MO = IO . For an arbitrary point A:
For the mass center G:
X

MA = IG + rG/A maG

MA = IA + rG/A maA

(MA )FBD = (MA )MAD

Work-Energy for a Rigid Body

The work-energy principle is the same as that for particles. The kinetic energy of a rigid body is:
2
+ 12 IA 2 m(
y vAx x
vAy )
T = 12 mvA

Vibrations
Undamped free vibration:
Equation of mop
tion: x
+ p2 x = 0, p = k/m, x(t) = x0 cos pt +
(v0 /p) sin pt. Period: = 2/p. Frequency:
f = 1/ = p/2.
Damped free vibration: Equation of motion:
m
x + cx + kx = 0, = c/ccr = c/(2mp),

2
2
x(t) = A1 e(+ 1)pt + A2 e( 1)pt ,
t + ), where
and for < 1: x(t) = Eept sin(dp
E and are constants and d = p 1 2 .

Harmonic Forcing: Equation of motion:

x
+ p2 x = P0 sin t with solution:
P0 /k
x(t) = E sin(pt + ) +
sin t
1 (/p)2
Damped Forced Vibration: Equation of
motion: m
x + cx + kx = P0 sin t with solution:
x(t) = X sin(t + ), where
P0 /k
X=p
[1 (/p)2 ]2 + (2/p)2

2/p
1
= tan
1 (/p)2