Work

W = F d = Fdcos(θ) Unit: J

Power W
P= Unit: J/s = W
∆t
Kinetic energy
1 2
K = mv Unit: J
2

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Gravitational potential energy

U = mgy Unit: J

Elastic potential energy

1 2
U= kx Unit: J
2
Conservation of mechanical energy

Emec = K + U K1 + U1 = K2 + U2
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Work done on a system (no friction involved)
W = ∆Emec = ∆K + ∆U Unit: J

Work done on a system (friction involved)

W = ∆Emec + ∆Ethermal Unit: J

Work done by friction

Wfriction = ∆Ethermal = −∆Emec Unit: J
Wfriction = F d
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Center of mass
m1x1 + m2x2 + ⋯ + mnxn A1 x1 + A2 x2
xcom = = Unit: m
m1 + m2 + … + mn A1 + A2
m = ρ x thickness x area
Linear momentum

p=mv Unit: kg m/s

Conservation of linear momentum p = p′

m1v1 + m2v2 = m1v1′ + m2v2′
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Impulse
J = Favg x ∆t = ∆p ∆p = J Unit: N.s
Collision
- Elastic collision: p and K conserved
- Inelastic collision: only p conserved
+ Perfectly inelastic collision
+ Non-perfectly inelastic collision
→ Elastic or inelastic? Ki = Kf → elastic
Ki ≠ Kf → inelastic
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Angular position: θ Unit: rad (1 rev = 2π rad)
Angular velocity: ω Unit: rad/s
Angular acceleration: α Unit: rad/s2
2π
Period of revolution: T = Unit: s
ω
Tangential acceleration: at = α r Unit: m/s2
v2
Radial acceleration: ar = = ω2 r Unit: m/s2
r
Rotational inertia: I Unit: kg.m2
Torque: τ = F r Unit: N.m
Angular momentum: l = p r Unit: kg m2 s-1
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 Translation Rotation
x θ
v ω
a α
F=ma τ= Fr=Iα
m I
p=mv l= pr=Iω
W=Fd W=τφ
1 2
1 2
K = mv K = Iω
2 2
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ω = ωo + αt
1 2
θ = θo + ωot + αt
2
2 2
ω − ωo = 2α(θ − θo)

τ= Fr=Iα l= pr= Iω

Rotational inertia (I)

- For a point mass: I = mr 2
- For a rigid body: depends on the shape

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Conservation of angular momentum: Iiωi = If ωf

Rotational work
1 1
W = ∆K = Iωf 2 − Iωi2 = τ𝜑
2 2

Rolling motion: Translational + Rotational

1 2 1 2
v= ωR a= αR K = Iω + mv
2 2
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Rolling on horizontal surface

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Rolling on an incline

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The yo-yo

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The pulley

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