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I. CONSTANTS
2
• Acceleration of earth gravitational field: g = 9.8m/s .
~ = (Ax , Ay ):
• Magnitude of vector A
q
~ =
A = |A| A2x + A2y .
• Integrals
xn+1
Z
xn dx =
n+1
• radian: 1 rad = 180◦ /π
• Velocity
∆x dx
vav,x = vx = .
∆t dt
• Acceleration
∆vx dvx d2 x
aav,x = ax = = 2.
∆t dt dt
• Constant acceleration:
General Free fall (axis pointing upwards)
vx = v0x + ax t vy = v0y − gt
ax t2 gt2
x = x0 + v0x t + y = y0 + v0y t −
2 2
vx2 = v0x
2
+ 2ax (x − x0 ) vy2 = v0y
2
− 2g(y − y0 )
2
• Acceleration
∆~v d~v d2~r
~aav = ~ax = = 2
∆t dt dt
gt2 gt2
x = x0 + v0x t = x0 + v0 cos αt y = y0 + v0y t − = y0 + v0 sin αt −
2 2
vx = v0x = v0 cos α vy = v0y − gt = v0 sin α − gt
gx2
y = tan α x −
2v02 cos2 α
v2 2πR
arad = v=
R T
F~tot =
P~
• Newton’s first law (object in equilibrium) F =0
F~tot = F~ = m~a
P
• Newton’s second law
• Work
• Kinetic energy K = 12 mv 2
• Work-kinetic energy theorem Wtot = K2 − K1
3
• Power P = dW
dt = F~ · ~v
• Conservation of mechanical energy (“other” are non-conservative forces) Wother + K1 + U1 = K2 + U2
• Gravitational potential energy Ug = mgy
• Spring elastic potential energy Usp = 21 kx2
• Momentum p~ = m~v
• Impuls
• Momentum-impuls theorem J~ = ∆~
p
dθ vT
• Angular velocity ω= dt = R
dω aT
• Angular acceleration α= dt = R
• Radial acceleration aR = Rω 2
• Motion with constant angular acceleration:
t2
θ = θ0 + ω0 t + α
2
ω = ω0 + αt
ω 2 = ω02 + 2α(θ − θ0 )
I = i mi ri2
P
• Moment of inertia
• Parallel axis theorem (d distance between axes) IP = Icm + M d2
• Useful moments of inertia
1 2
– Slender rod with length L (axis through center) I= 12 M L
– Solid cylinder with radius R (axis through central point along cylinder) I = 12 M R2
2
– Hoop with radius R (axis through central point perpendicular to hoop) I = MR
– Solid sphere with radius R (any axis through central point) I = 25 M R2
4
• Torque ~τ = ~r × F~
• Magnitude torque (lever arm l) τ = F r sin φ = F l = Ftan r
• Newton’s second law for rotational motion τ = Iα
• Translation and rotation K = 12 M vCM
2
+ 12 ICM ω 2
• Rolling without slipping vCM = Rω
• Work done by constant torque W = τz ∆θ
• Work - Kinetic energy theorem W = 12 Iω22 − 12 Iω12
• Power P = τz ωz
• Angular momentum ~ = ~r × p~ = I~
L ω
~
dL
• Instantaneous torque ~τ = dt