Formulas
Formulas
) ( 2
) (
2
1
2
1
0
2
0
2
0 0
2
0 0
0
x x a v v
t v v r r
t a t v r r
t a v v
t
v
a
dt
v d
a
t
x
v
dt
x d
v
+ =
+ + =
+ + =
+ =
A
A
= =
A
A
= =
net
net
W U K E
K W
U K E
kx U
mgh U
kx F
= A + A = A
A =
+ =
=
=
=
2
2
1
r d F U
dt
dW
Power
mv K
r F W
a m F
B
A
AB
net
}
=
=
=
A =
=
2
2
1
z z y y x x
b a b a b a b a
or
ab b a
+ + =
=
| cos
| sin
) (
) (
) (
ab c
k a b b a j a b b a i a b b a c b a
y x y x x z x z z y z y
=
+ + = =
k b a b a j b a b a i b a b a
j b a i b a k b a j b a k b a i b a
b b b
a a a
k j i
b a
x y y x z x x z y z z y
z x y z x y x z y x z y
z y x
z y x
) (
) (
) ((
+ + =
+ + = =
=
=
+ =
=
=
=
= = =
=
=
=
=
=
= =
dm r I
r m I
I mv K
I K
r a
r s
rF F r I
dm r
M
R
r m
M
R
dt
R d
a
a M F
dt
p d
F
p p v m p
i
i
tot
rot
t
V
tot
COM
i
i i
tot
COM
COM
COM
COM ext
ext
f i
2
2
2 2
2
2
2
2
1
2
1
2
1
1
1
e
e
o
u
o t
f
i
rel i f
rel
sphere
ring
disk
r
COM
M
M
v v v
Ma Rv
mR I
mR I
mR I
r
r
v
a
Mh I I
ln
5
2
2
1
2
2
2
2
2
2
=
=
=
=
=
= =
+ =
e
2
2
2 2
0
2
0
2
2
0 0
0
2
1
2
1
) (
) (
) ( 2
5 . 0
mv K
kx x U
mgy y U
d f E
E U K E
U K E
U W
K W
U K E
R
mv
F
r
v
a
kx F
a m F
x x a v v
t a t v x x
t a v v
k th
th
net
net
mec
c c
s
=
=
=
= A
A + A + A = A
A + A = A
A =
A =
+ =
= =
=
=
+ =
+ + =
+ =
) ( 2
2
1
2 2
2
0
i f i f
i i f
t t
t
u u o e e
o e u u
o e e
=
+ + =
+ =