ME3302-001 Dynamics (Han) Spring 2011 Formula Sheet Chapter 12 Kinematics of a particle Rectilinear Motion ds dt dv dv =v dt ds

Fr Fθ Fz

˙2 = mar = m r − rθ ¨ = maθ = m r¨ + 2rθ θ ˙˙ = maz = m¨ z

v

=

a =

Fn Ft Fb

= man = mv 2 /ρ = mat = mv ˙ = mab = 0 for planar motion

a (s) ds = vdv v dv = ds a (v) a (t) dt = dv Constant acceleration, ao = vo + ao t 1 2 s = ao t + vo t + so 2 2 v2 = vo + 2ao s Curvilinear Motion: Cylinderical Coordinate = rˆr u ˙u = rˆr + rθˆθ ˙u 2 ˙ ˆ a = r − r θ ur + r ¨ + 2 r θ uθ ¨ θ ˙˙ ˆ Curvilinear Motion: TNB Coordinate v = vˆt u v2 un ˆ ρ r v v

Chapter 14 Work and Energy Work of a force
r2

U1→2
F

=
r1

F · dr

U1→2
k

U1→2
g

1 = − k s2 − s2 2 1 2 = −mg (h2 − h1 ) = −µk N · d

U1→2
f

Kinetic Energy of a point mass 1 T = mv2 2 Work and Energy Principle T2 − T1 = Potential Energy V Vg Vk Conservation of energy T1 + V1 = T2 + V2 Chapter 15 Impulse and Momentum Linear Impulse Momentum Principle −→ − L2 − L1 = Imp1→2 , −→ − where Imp1→2 is the impulse due to EXTERNAL forces. t2 It is often written as Fi dt, but you are not supposed t1 to integrate force. Central direct impact (prime notation is used for quanties immediately AFTER impact) LA+Bn = LA+Bn ⇒ mA vA + mB vB = mA vA + mB vB v − vA e= B vA − vB 1 = −U1→2 = mgh 1 2 = ks 2 U1→2

a = vˆt + ˙u If the path is circular

ρ = r ˙ v = rθ ¨ v = rθ ˙ Relative Motion rA/B vA/B aA/B = rA − rB = vA − vB = aA − aB

Chapter 13 Newton’s second law Fx Fy Fz = max = may = maz

Central oblique impact LAt = LAt ⇒ vAt = vAt LBt = LBt ⇒ T = = 1 1 mv2 + IG ω 2 2 G 2 1 Io ω 2 if o exists 2 vBt = vBt Potential energy and work . Moment balance (G is centroid. P is either G or O (and maybe B if vG × vB = 0). and B is any arbitrary point that may or may not be part of the body and may or may not be moving) ˆ Mo k ˆ MG k MB MB ˆ = Io ω k ˆ = IG ω k ˆ = IG ωk + rG/B × maG = d HB + vB × mvG dt Chapter 18 Rigid Body Kinetics: Energy Kinetic energy 2 .same as the ones given for LA+Bn = LA+Bn ⇒ a particle Chapter 19 Rigid Body Kinetics: Momentum mA vAn + mB vBn = mA vAn + mB vBn Linear and angular momentum for a particle v − vAn e = Bn vAn − vBn L = mv Contrained impact (cart+ball or pendulum+ball problem) HA = r × mv. and A is where the impulse is applied. Linear and angular momentum for a RIGID body Lsystem + + rA/P −→ − Imp = Lsystem −→ − × Imp = HP system Chapter 17 Rigid Body Kinetics: Geometry and Newton’s 2nd Law Parallel Axis Theorem IA = IG + md2 Force balance F = maG −→ − where Imp is due to forces external to the system. O is part of the rigid body where vo = 0. LBallt = LBallt ⇒ vBallt = vBallt L = mvG LA+Bx = LA+Bx ⇒ ˆ HG = IG ω k mA vAx + mB vBx = mA vAx + mB vBx ˆ Ho = Io ω k vBn − vAn e= Principle of Impulse and Momentum vAn − vBn Chapter 16 Rigid Body Kinematics vB aB = vA + ω AB × rB/A + {vB }AB = aA + ω AB × ω AB × rB/A + αAB × rB/A + {aB }AB + 2ω AB × {vB }AB Rigid Body HP system where r is the position vector to the particle from A.

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