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Linear Motion
Mechanical Formulae
Term Description Unit

d Diameter m m F
F Force N
g Acceleration due to gravity ms-2
J Total inertia kgm2
Fig. A
JL Load inertia kgm2
JM Motor inertia kgm2 Consider a body mass m acted upon by a single force F, Fig A.
The body accelerates in the direction in which the force is act-
m Mass kg ing, at a rate given by:
M Motor torque Nm
A = Fm
Ma Accelerating torque Nm
After a time t has elapsed, the body has achieved a velocity v,
ML Load torque Nm where:
n Rotational frequency rpm*
v = u + at
n1 - input rpm*
(u is the initial velocity, before the force F was applied. If the
n2 - output rpm* body was initially at rest, u is zero)

Symbols & Formulae

Change of rotational
n rpm* The distance, s, travelled by the body during time t is
frequency
p Pitch m s = ut + at22
P Motor power kW Distance and velocity are related by the following equation,
Pa Accelerating power kW derived from the two previous ones:
PL Load power absorbed kW v2 u2 = 2as
r Radius m The work done by the force in accelerating the body is the
s Distance m product of force and distance:

t Acceleration time s W = Fs
t Acceleration period s The kinetic energy of the body, ie the energy which it possesses
by virtue of its motion, is the product of its mass and the square
v Linear velocity m/min*
of its velocity:
v Change of linear velocity m/min*
Ek = mv2 2
V Traction capacity M3s-1
Furthermore, since energy is conserved, the work done by the
W Energy J ( Joule) force is equal to the change in the bodys kinetic energy (ne-
Efficiency - glecting losses):
Coefficient of friction - W = m(v2 u2) 2
Note: For practical convenience, some of the units in the Power is the rate at which work is done, therefore it is the prod-
formulae following are not S1 units; for example, rotational uct of force and velocity:
frequency is commonly measured in revolutions per minute, P = Fv
although the S1 unit is revolutions per second. In these Servo
Formulae, the terms used are as tabulated above.Those which
are in non-S1 units are marked *.

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Rotational or Angular Motion Angle and angular velocity are related by the following
M=Fr equation:
2 - o2 = 2
r Fig A.11
The work done in accelerating the body is the product of
The concept
torque and angle of rotation:
M of torque
W = M
A force acting perpendicular to a pivoted lever, Fig A.11, causes The kinetic energy of the body is the product of its moment
a turning effect or torque at the fulcrum.The torque is the of inertia and the square of its angular velocity:
product of the force and the radius at which it is applied. Ek = J2 2
M = Fr Since energy is conserved, the work done is equal to the
If a torque is applied to a body which is free to rotate, as in change in kinetic energy (neglecting losses):
Fig A.12, an acceleration results in a way which is analogous to W = J(2 - o2) 2
the example of linear motion above. Indeed a similarity will be Power is the product of torque and angular velocity, i.e. the
noticed between the equations of motion. rate at which work is being done:
Any body which is capable of rotating possesses a property P = M
known as Moment of Inertia which tends to resist acceleration
Symbols & Formulae

in the same way as does the mass of a body in linear motion. Relationship between linear and angular motion
The moment of inertia is related not only to the mass of the Consider a body of mass m moving in a circle of radius r with
body, but also to the distribution of that mass with respect an angular velocity , Fig A.13.
to radius.
When the body has rotated through an angle , it has covered
The moment of inertia of a solid cylinder of radius r is given by: a distance s along circumference of the circle, where:
J = mr 2 2
m
By comparison, the moment of inertia of a hollow cylinder, of v
inner and outer radii respectively, is as follows: s 
 r
J = m(ro - r i ) 2
2 2
Fig A.13
It can be seen that, for a given outer radius, the moment of Relationship
inertia of a hollow cylinder is greater than that of a solid between linear and
cylinder of the same mass. In Fig A.12, a body having a angular motion
moment of inertia J is acted upon by a torque M. Its angular
acceleration is:
 = M/J
Similarly, the tangential velocity or peripheral speed v, being the
Fig A.12 quotient of distance and time, is given by:
The Action of
v = s/t = r/t
torque on a body
J Angular velocity w is the quotient of angle and time;
M
w = /t
After a time t has elapsed, the angular velocity,  (rate of Therefore
change of angle) is given by: v = wr
 = o + t
Similarly, for acceleration:
(wo is the initial angular velocity, before the torque M was
a = v/t = wr/t
applied. If the body was initially at rest, o is zero)
=w
The angle, g, through which the body rotates in time t is:
 = ot + t2/2 Therefore
a = r
The moment of inertia is given by
J = mr2
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The Effect of Gearing INERTIA

When calculating the torque required to accelerate or Moment of
decelerate the moving parts of a machine, it is necessary
Body Axis
Inertia(J)
to take into account any gearing which introduces a ratio
between the speeds of different parts. It is unusual to
calculate the moment of inertia transferred to the motor shaft,
since this figure may be added arithmetically to the motor
Uniform rod
inertia to arrive at a figure for the total inertia of the system. (length I)
Fig A.14 illustrates a motor, having a moment of inertia J1,
driving a load with inertia J2, via a gearbox.

If the gearbox has a ratio k, then the relationship between

input and output angular velocities is as follows: Polar
1 = k 2
Neglecting losses, the input and output torques are related Uniform hoop
thus: (radius r,
diameter d) diameter
M1 = M2 /k

Symbols & Formulae

The load inertia reflected back through the gearbox to the
motor shaft is reduced by a factor equal to the square of the
gear ratio. Therefore the total inertia which the motor has to
overcome is given by:

J = J1 + J2 k2 Polar

MOTOR GEARBOX LOAD

M1 M2 Uniform
J1 J2 thin disk
(radius r, diameter
1 2 diameter d)

Fig A.14 The effect of gearing between motor and load

Rectangular
d
Plate centre

h
Triangular centre
Plate
h/3

b
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Moment of
Body Axis
Inertia(J) Gear Reduction
axis

Solid circular
cylinder Belt Drive
(radius r)

centre

axis
Screw Drive
Symbols & Formulae

Cylindical
shell
(no ends)

centre
Inertia
InertiaMatching
Matching
1. For extremely fast acceleration, use 1:1 inertia match.
1. For
2. Forminimum
fast acceleration, use use
peak power, 1:1 reflected
inertia match.
load inertia 2.5 times
motor inertia.
2. For minimum peak power, use reflected load inertia
diameter 3.
2.5The general
times rule
motor of thumb is to avoid inertia higher than 5
inertia.
times motor inertia, however Motion Made Easy space-state
Uniform control enables
3. Generally mismatches
avoid to 10higher
load inertia times motor
than 5inertia.
times
Solid Sphere motor inertia
(radius r)

diameter

Uniform
(radius r)

404
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Servo Formulae Area,Volume and Arc Length

MotorTorque Constant
Sphere:

Motor InputVolts

Circular Cone:
Motor Regulation
(h= vertical height,
DevelopedTorque I = slant height,
r = base radius & I2=h2+r 2)
RMSTorque, =

Linear Rotary Circular

Distance, Angle(m, rads) Cylinder:

Velocity,
(m/s, rads/second) Pyramid: x (base) x (perpendicular height)

Symbols & Formulae

Acceleration,
(m/s2, rads/s2)
Force (N) Circle:
Torque (Nm)

Power (W) Frustrum of

Cone:
Kinetic Energy (J)
Tr iangle:
Motion Equations

Velocity:

Distance: Eclipse:

Spherical cap:

405
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