Dynamics 1D:

Displacement : 𝛥x v
dx dv d 2 x
Distance : ∫δx v=
dt
a=
dt
= 2
dt a

Laws of Newton:

1 st Law 2 nd Law 3 rd Law

v F1

a F2
v, m = cte
∑F = 0 ∑ F = dp
dt F1 = - F2

Circular Motion:

𝜃, r Change with time

𝜃 r
r =rr
r d𝜃 d𝜃
𝜔z = ; 𝜔 = 𝜔z (r × 𝜃) ; v = r 𝜃
𝜃 dt dt
d𝜔 d 2 𝜃
𝛼z = = 2 ; 𝛼 = 𝛼z (r × 𝜃)
dt dt
2
2 2 2 d𝜃
2𝜋 a = ar + a𝜃 ; a rad = -r r ; a 𝜃 = r𝛼z 𝜃
T= = f -1 dt
𝜔 F𝜃
Newton for circular motions:
Fr
v2 2
Fr = mar = - mr𝜔 r = - m r F𝜃 = ma𝜃 = mr𝛼z 𝜃
r

Momentum and Impulse:

dp dv dm u ; Relative velocity of
p = mv F= =m +u
dt dt dt fuel losses
⏠⏣⏣
⏡⏣⏣
⏢
Ffrost

I = ∫F dt "Weird stuff who anyone uses"

Work, Power, Energy and Potencial

1
KE = mv 2 W(x) = ∫F ⋅ δ s W CV (x) = ∫F ⋅ δ s = - 𝛥U(x) = U(x0 ) - U(xf )
2
F(x, y, z) = - ∇U(x, y, z)

Work Energy Theorem:

1 1
W = 𝛥KE = mf vf2 - m0 v02 W NC = 0 → E = constant 𝛥E = 0
2 2
E = KE + U(x) ⇢ 𝛥KE + 𝛥U(x) = W NC

Dynamic Rotations:

Rigid Body Condition ; 𝜔 = constant Over all body

vcm
≬
Fext = mtot a cm 𝜏ext = I≬ 𝛼

𝜏 = r p,m × F + ∑ r cm, j × Fj ⋯ Where p is any point of reference

1
I≬ = ∑ 𝛿mj R≬,2 j = ∫R≬,2 j dmj
2
KE≬rot = I≬ 𝜔
2

Angular Momentum: Parallel Axis Theorem:

rot
v Lp = Ip 𝜔 Icm d I≬
m
Transt
m tot I≬ = Icm + m tot d 2
𝜃 Lp, m = r × p = r × mv
r
P | Lp, m | = mvr sin(𝜃)

Ltot = ∑ Li
dLtot
𝜏=
i dt
1 2
KE = Ip 𝜔
2

Angular Dynamics:
KE = KE rot + KE trans
𝜔
vcm 1 1
Pure Roll ; 𝜔R = vcm KE = Icm 𝜔 2 + Mvcm 2

vprest =0 2 2
Slliping ; 𝜔R < vcm
Skidding ; 𝜔R > vcm L = M r × vcm + Lcm
vprest = vp, cm + vcm
⏠⏣⏣⏣ ⏡⏣⏣⏣ ⏠⏣⏣
⏡⏣⏣⏢
⏢ Rotacional
Translational
𝜃f Momentum Momentum
𝛥U = -W𝜏 = - ∫ 𝜏d𝜃
𝜃i

Magical Lagrange

All you need is Kinetic Energy and Potential Energy T = Kinetic Energy
𝜋 = Generalize Momentum
Be q i a general coordinate of a system : Q = Generalize Force
P = q1 , q2 ⋯ qn L = Lagrangian Factor

q
∂T(qi , q␒ i , t) ∂U(qi , q␒ i , t) ∂ r (qj , q␒ j , t)
𝜋i = Qi = = ∑ Fk U = ∫Q i · d r
∂q␒i ∂qi ∂qj
ref

Formulation Euler-Lagrange:

L(qi , q␒ i , t) = T(qi , q␒ i , t) - U(qi , q␒ i , t)

d ∂L ∂L
- = W NC ⟶ Normally W NC = 0
dt ∂q␒ i ∂qi

Lagrange Constrains:
#Equations = N - m Let the free coords lagrangian as L
N = Free Coord and 𝜆 𝛼 a lagrange multiplier
m = #Constrains

Constrains(m equations):
C = f1 , f2 ⋯ fm
f𝛼 ({ qj }, t) = 0 ∨ f𝛼 ({ qj }, t) = cte
Examples:
y = 4x + 42 ⟶ f𝛼 = y - 4x - 42 = 0
ℓ= x 2 + y 2 = cte ⟶ f𝛼 = ℓ = x2 + y2

LC : Lagrange with constrains

LC = L + ∑ 𝜆𝛼 f𝛼 ({ qj }, t) H = ∑ pi q␒ i - L - ∑ 𝜆𝛼 f𝛼 ({ qj }, t)
𝛼 ⏠⏣⏣⏣ ⏡⏣⏣⏣ ⏢
𝛼 ⏠⏣⏣⏣ ⏡⏣⏣⏣ ⏢ =0
=0

Lagrange Equations with constrains Apply exactly as normal, but adding

f𝛼 as a equation on the equation set.
d ∂L ∂L d ∂L ∂L d ∂L ∂L
S: - =0 ; - =0 ⋯ - = 0 + f𝛼
dt ∂q␒ 1 ∂q1 dt ∂q␒ 2 ∂q2 dt ∂q␒ N ∂qN

∂f𝛼
Qjlig = ∑ 𝜆𝛼 ⋯ Generalize constrain force
𝛼 ∂qj
Hamiltoneana:

∂L ∂L
pi = ; p␒ i =
∂L ∂L
dL = ∑ p␒ i dqi + ∑ pi dq␒ i
dL = dqi + dqi ∂q␒ i ∂qi
∂qi ∂q␒ i

We define the Hamiltonean as:

H(qi , q␒ i , t) = ∑ pi q␒ i - L

dH = ∑ q␒ i dpi - ∑ p␒ i dqi
dH ∂L
=
dt ∂t
If L ≠ L(t) ⟶ H = const

H(qi , q␒ i ) = Energy = E(qi , q␒ i ) + U(qi , q␒ i )

The idea behind the Halmitonean is to let all
in terms of the moment p qj and the coord q j

Canonical-Hamiltonean Equations:

∂H ∂H
q␒ j = p␒ j = -
∂pj ∂qj