SE 101B / MAE 130B Mechanics 1I: Dynamics Dr.

Van Den Einde

List of Equations
Fundamental Concepts

Particle Kinematics
Rectilinear Motion
!s = s'"s Displacement
v
avg
=
!s
!t
Average Velocity
v =
ds
dt
Instantaneous Velocity
v
sp ( )
avg
=
s
T
!t
Average Speed
a
avg
=
!v
!t
Average Acceleration
a =
dv
dt
=
d
2
s
dt
2
Instantaneous Acceleration
ads = vdv Eliminating Time Differential

Constant Acceleration

Erratic Motion
ds
dt
= v !
slope of
s-t graph
= velocity
dv
dt
= a !
slope of
v-t graph
= acceleration
"v = adt
#
!
change in
velocity
=
area under
a-t graph
"s = vdt
#
! displacement =
area under
v-t graph
1
2
v
1
2
$v
0
2
( )
= ads
s
0
s
1
#
=
area under
a-s graph
a = v
dv
ds
%
&
'
(
)
* ! acceleration =
velocity times
slope of
v-s graph

Curvilinear Motion

Rectangular Coordinates

Projectile Motion:

Normal-Tangential Components:

Polar/Cylindrical Components:


Relative Motion:

Kinetics: Force and Acceleration Methods


!
!
r = r
x

i + r
y

j
r
x
= rcos" and r
y
= rsin"
!
r #
!
$ = r$cos"
!
r %
!
$ = r$sin"
Length of
!
r =
!
r = r
x
2
+ r
y
2
Direction of
!
r =" = tan
&1
r
y
r
x
'
(
)
*
+
,
!
v = v
0
+ a
c
t
s = s
0
+v
0
t +
1
2
a
c
t
2
v
2
= v
0
2
+2a
c
s "s
0
( )

!
"
!
r =
!
r ' #
!
r Displacement vector
v
avg
=
"
!
r
"t
Average Velocity
!
v =
d
!
r
dt
=
!

r Instantaneous Velocity
v =
ds
dt
Speed
a
avg
=
"
!
v
"t
Average Acceleration
!
a =
d
!
v
dt
=
d
2
!
r
dt
2
=
!

v =
!

r Acceleration vector

!
!
r = x

i + y

j + z

k Position vector
!
v = x

i + y

j + z

k = v
x

i +v
y

j +v
z

k Velocity vector
v = v
x
2
+v
y
2
+v
z
2
Magnitude of velocity
!
a = x

i + y

j + z

k = v
x

i + v
y

j + v
z

k
= a
x

i + a
y

j + a
z

k Acceleration vector
a = a
x
2
+ a
y
2
+ a
z
2
Magnitude of acceleration
!
a
x
= 0; a
y
= "g
x = x
0
+ v
0
( )
x
t Horizontal Motion
v
y
= v
0
( )
y
+ a
c
t Vertical Motion
y = y
0
+ v
0
( )
y
t +
1
2
a
c
t
2
Vertical Motion
v
y
2
= v
0
( )
y
2
+2a
c
y "y
0
( ) Vertical Motion

!
!
v = v u
t
where v = s Velocity in path
!
a = a
t
u
t
+a
n
u
n
= v u
t
+
v
2
"
u
n
Acceleration in path
a
t
ds = vdv
" =
1+ dy dx ( )
2
[ ]
3/ 2
d
2
y dx
2
Radius of curvature

!
!
r = r u
r
Position vector in polar
!
v = v
r
u
r
+v
"
u
"
= r u
r
+r

" u
"
Velocity vector in polar
!
a = a
r
u
r
+a
"
u
"
= r # r

"
2
( )
u
r
+ r

" +2 r

"
( )
u
"
Acceleration in polar
!
r
P
= r u
r
+z u
z
Position vector in cylindrical
!
v = r u
r
+r

" u
"
+ z u
z
Velocity vector in cylindrical
!
a = r # r

"
2
( )
u
r
+ r

" +2 r

"
( )
u
"
+ z u
z
Acceleration in cylindrical

!
!
r
B
=
!
r
A
+
!
r
B / A
!
v
B
=
!
v
A
+
!
v
B / A
!
a
B
=
!
a
A
+
!
a
B / A

!
F = G
m
1
m
2
r
2
Newton' s Law of Gravitational Attraction
!
F = m
!
a Newton' s 2nd Law Motion
W = mg N ( ); g = 9.81 m/ s
2
SI System
m =
W
g
slugs ( ); g = 32.2 ft / s
2
US System
!
F " = m
i
!
a
i
= " m
!
a
G
System of Particles (motion of mass center)
Path Coordinates Polar Coordinates
SE 101B / MAE 130B Mechanics 1I: Dynamics Dr. Van Den Einde
List of Equations
Equations of Motion: Rectangular Coordinates
!
F
x
= ma
x
, " F
y
= ma
y
, " F
z
= ma
z
"
F #
s
N Friction; No Slip
F =
s
N Friction; Impending Motion
F =
k
N Friction; Slip
F
S
= ks = k l $ l
0
( ) Linear Elastic Springs

Equations of Motion: Normal-Tangential Coordinates

Equations of Motion: Polar/Cyl Coordinates (2D/3D)
!
F
r
= ma
r
, " F
#
= ma
#
, F
z
= ma
z
" "
a
r
= r $ r

#
2
, a
#
= r

# +2 r

# , a
z
= z

Work-Energy Principle for a Particle

!
U
1"2
=U
F
=
!
F # d
!
r
!
r
1
!
r
2
$
= Fcos% ds Work of a variable force
s
1
s
2
$
U
1"2
=U
F
c
= F
c
cos% s
2
" s
1
( ) Work of constant force in straight line
U
1"2
=U
W
= "W&y = "mg y
2
" y
1
( ) Work of a Weight
U
1"2
=U
s
= "
1
2
ks
2
2
"
1
2
ks
1
2
'
(
)
*
+
, Work of a Spring

Principle for Work and Energy for a Particle
!
T
1
+ U
1"2
# = T
2
T =
1
2
mv
2
Kinetic Energy of Particle
T
1
# + U
1"2
# = T
2
# Work - Energy for System of Particles

Power and Efficiency

!
P =
dU
dt
=
!
F "
!
v Power
#=
Power Output
Power Input
=
Energy Output
Energy Input
Efficiency
1W =1N" 1m/s =1J/s; 1hp = 550ft" lb/s

Conservative Forces and Potential Energy
!
V
g
=Wy = mgy Gravitational Potential Energy
V
e
= +
1
2
ks
2
Elastic Potential Energy
V =V
g
+V
e
Potential Function

Conservation of Energy
!
T
1
+V
1
= T
2
+V
2
Conservation of Mechanical Energy
T
1
" + V
1
" = T
2
" + V
2
" For System of Particles

Impulse & Momentum

!
m
!
v
1
+
!
F dt
t
1
t
2
"
= m
!
v
2
# Principle of Linear Impluse and Momentum
m v
x
( )
1
+ F
x
dt
t
1
t
2
"
= m v
x
( )
2
#
m v
y ( )
1
+ F
y
dt
t
1
t
2
"
= m v
y ( )
2
#
m v
z
( )
1
+ F
z
dt
t
1
t
2
"
= m v
z
( )
2
#
$
%
&
&
&
'
&
&
&
Scalar linear impluse - momentum

m
i
!
v
i
( )
1
!
+
!
F
i
dt
t
1
t
2
"
= m
i
!
v
i
( )
2
! !
For system of particles
m
i
!
v
i
( )
1
!
= m
i
!
v
i
( )
2
!
Conservation of Lin. Momentum for System

Impact

m
A
v
A
( )
1
+m
B
v
B
( )
1
= m
A
v
A
( )
2
+m
B
v
B
( )
2
Impulse-Momentum to both
particles along LOI (x-axis)
e =
Separation Velocity
Approach Velocity
=
v
B
( )
2
! v
A
( )
2
v
A
( )
1
! v
B
( )
1
Coefficient of Restitution
Oblique Impact:
v
Ay ( )
1
= v
Ay ( )
2
Momentum of A conserved along y-axis
v
By ( )
1
= v
By ( )
2
Momentum of B conserved along y-axis

Angular Momentum
H
O
( )
z
= d
( )
mv
( )
Scalar Magnitude of Angular Momentum
!
H
O
=
!
r !m
!
v =

k
r
x
r
y
r
z
mv
x
mv
y
mv
z
Angular Momentum about O
!
M
O
=
"
!
"
H
O
Resultant moment=rate of change of ang. momentum
!
F =
"
!
"
L Resultant force=rate of change of lin. momentum
where
!
"
L = m
!
"
v

Principle of Angular Impulse & Momentum

!
!
M
O
dt
t
1
t
2
"
=
!
r #
!
F
( )
dt
t
1
t
2
"
Angular Impulse
m
!
v
1
+
!
F dt
t
1
t
2
" $ = m
!
v
2
!
H
O ( )
1
+
!
M
O
dt
t
1
t
2
" $ =
!
H
O ( )
2
%
&
'
'
(
'
'
Vector Formulation
m v
x
( )
1
+ F
x
dt
t
1
t
2
" $ = m v
x
( )
2
m v
y ( )
1
+ F
y
dt
t
1
t
2
" $ = m v
y ( )
2
H
O
( )
1
+ M
O
dt
t
1
t
2
" $ = H
O
( )
2
%
&
'
'
'
(
'
'
'
Scalar Formulation
Linear impulse - mom in x & y dir
Angular impulse - mom about z axis

Conservation of Angular Momentum

!
!
H
O ( )
1
=
!
H
O ( )
2
!
H
O ( )
1
" =
!
H
O ( )
2
" System of Particles


Rigid Body Kinematics
Translation

!
!
r
B
=
!
r
A
+
!
r
B / A
Position
!
v
B
=
!
v
A
Velocity
!
a
B
=
!
a
A
Acceleration

Rotation about a Fixed Axis
!
" =
d#
dt
Angular Velocity (rad/s)
$ =
d"
dt
Angular Acceleration (rad/s
2
)
$ d# =" d" Differntial Relationship; CCW +

!
F
n
= ma
n
, " F
t
= ma
t
, F
b
= ma
b
" "
a
n
=
v
2
#
, a
t
= v , a
b
= 0
SE 101B / MAE 130B Mechanics 1I: Dynamics Dr. Van Den Einde
List of Equations
Constant Angular Acceleration
!
" ="
0
+#
c
t
$ =$
0
+"
0
t +
1
2
#
c
t
2
"
2
="
0
2
+2#
c
$ %$
0
( )

Angular Motion

!
v ="r Scalar Form
a
t
= #r Time Rate of Change of Velocity's Magnitude
a
n
="
2
r Time Rate of Change of Velocity's Direction
!
v =
!
" $
!
r
P
=
!
" $
!
r Vector Form
!
a
t
=
!
# $
!
r
P
=
!
# $
!
r
!
a
n
=
!
" $
!
" $
!
r
P
( ) = %"
2
!
r
!
a =
!
a
t
+
!
a
n
=
!
# $
!
r %"
2
!
r

Absolute Motion
!
s
G
= r", v
G
= r#, a
G
= r$ For constant r

Relative-Motion Analysis

!
!
r
B
=
!
r
A
+
!
r
B / A
Relative Position
!
v
B
=
!
v
A
+
!
v
B / A
=
!
v
A
+
!
" #
!
r
B / A
Relative Velocity
!
a
B
=
!
a
A
+
!
a
B / A
( )
t
+
!
a
B / A
( )
n
=
!
a
A
+
!
$ #
!
r
B / A
+
!
" #
!
" #
!
r
B / A
( )
=
!
a
A
+
!
$ #
!
r
B / A
%"
2
!
r
B / A
Relative Acceleration

Instantaneous Center of Zero Velocity













Relative-Motion Analysis Using Rotating Axes
!
r
B
=
!
r
A
+
!
r
B/A
Relative Position
Relative Velocity
!
v
B
=
!
v
A
+
!
!"
!
r
B/A
+
!
v
B/A
( )
xyz
!
v
B
= velocity of B, measured from the X, Y, Z reference
!
v
A
= velocity of origin A of the x, y, z reference, measured
from the X, Y, Z reference
!
v
B/A
( )
xyz
= velocity of "B with respect to A" as measured by
an observer attached to the rotating x, y, z reference
!
!= angular velocity of the x, y, z reference, measured
from the X, Y, Z reference
!
r
B/A
= position of B with respect to A
Relative Acceleration
!
a
B
=
!
a
A
+
!
"
!"
!
r
B/A
+
!
!"
!
!"
!
r
B/A ( )
+2
!
!"
!
v
B/A
( )
xyz
+
!
a
B/A
( )
xyz
!
a
B
= acceleration of B, measured from the X, Y, Z reference
!
a
A
= acceleration of origin A of the x, y, z reference, measured
from the X, Y, Z reference
!
a
B/A
( )
xyz
,
!
v
B/A
( )
xyz
= acceleration and velocity of "B with respect
to A" as measured by an observer attached to the rotating
x, y, z reference
!
"
!,
!
!= angular acceleration and velocity of the x, y, z reference,
measured from the X, Y, Z reference
!
r
B/A
= position of B with respect to A

Mass Moment of Inertia
!
I = r
2
dm = " r
2
dV
V
#
Moment of Inertia
m
#
I = I
G
+ md
2
Parallel Axis Theorem
I = mk
2
or k =
I
m
Radius of Gyration
Planar Kinetics of Rigid Body
Equations of Motion
M
P
= M
k
( )
P
! !
external moments = kinetic moments
!
F
!
= m
!
a
G
Translational Equation of Motion
F
x
=
!
m a
G
( )
x
F
y
=
!
m a
G
( )
y
"
#
$
%
$
Scalar Equations
M
G
=
!
I
G
! Rotational Equation of Motion
EOM: Rectilinear Translation
F
x
=
!
m a
G
( )
x
F
y
=
!
m a
G
( )
y
M
G
=
!
0
a
G
= dv
G
/ dt a
G
ds
G
= v
G
dv
G
v
G
= ds
G
/ dt Variable Acceleration
v
G
= v
G
( )
0
+a
G
t
v
G
2
= v
G
( )
0
2
++a
G
s
G
& s
G
( )
0
'
(
)
*
s
G
= s
G
( )
0
+ v
G
( )
0
t +
1
2
a
G
t
2
"
#
$
$
%
$
$
Constant Acceleration


SE 101B / MAE 130B Mechanics 1I: Dynamics Dr. Van Den Einde
List of Equations
EOM: Curvilinear Translation
F
n
=
!
m a
G
( )
n
F
t
=
!
m a
G
( )
t
M
G
=
!
0
a
G
( )
n
= v
G
2
/ ! ="
2
!
a
G
( )
t
= dv
G
/ dt a
G
( )
t
ds
G
= v
G
dv
G
a
G
( )
t
=!"
EOM: Rotation About a Fixed Axis
F
n
=
!
m a
G
( )
n
= m!
2
r
G
F
t
=
!
m a
G
( )
t
= m!r
G
M
G
=
!
I
G
! Moments summed about body's mass center, G
M
O
=
!
I
O
! Moments summed about fixed axis of rotation
passing through O
EOM: General Plane Motion
F
x
=
!
m a
G
( )
x
F
y
=
!
m a
G
( )
y
M
G
=
!
I
G
! Moments summed about body's mass center, G
M
P
=
!
M
k
( )
P
!
Moments summed about a point P
M
IC
=
!
I
IC
! Moments summed about IC

Work and Energy
Kinetic Energy & Work of a Force
T =
1
2
mv
G
2
Kinetic Energy:Translation
T =
1
2
mv
G
2
+
1
2
I
G
!
2
=
1
2
I
O
!
2
Kinetic Energy:Rotation about fixed axis
T =
1
2
mv
G
2
+
1
2
I
G
!
2
=
1
2
I
IC
!
2
Kinetic Energy:General Plane Motion
U
F
=
!
F! d
!
r
"
= Fcos! ds
S
"
Work of a Variable Force
U
F
c
= F
c
cos! ( ) s Work of constant force in straight line
U
W
= #W$y Work of a Weight
U
s
= #
1
2
ks
2
2
#
1
2
ks
1
2
%
&
'
(
)
* Work of a Spring
Work of a Couple Moment
U
M
= M d!
!
1
!
2
"
Work of a Couple Moment
U
M
= M !
2
#!
1
( ) Work of a Couple Moment with constant magnitude
Principle of Work and Energy
T
1
+ U
1#2 +
= T
2
Principle of Work and Energy for Rigid Body
V
g
=Wy
G
Gravitational Potential Energy
V
e
= +
1
2
ks
2
Elastic Potential Energy
V =V
g
+V
e
Potential Function
T
1
+V
1
= T
2
+V
2
Conservation of Mechanical Energy






Impulse and Momentum

!
!
L = m
!
v
G
Linear Momentum
H
G
= I
G
" Angular Momentum
Translation
L = mv
G

H
G
= 0
Rotation About a Fixed Axis
L = mv
G

H
G
= I
G
"
H
O
= I
O
"
General Plane Motion
L = mv
G

H
G
= I
G
"
H
IC
= I
IC
"

Principle of Impulse and Momentum

!
Principle of Linear Impluse & Momentum
!
F dt
t
1
t
2
" # = m
!
v
G
( )
2
- m
!
v
G
( )
1
Principle of Angular Impluse & Momentum
M
G
dt
t
1
t
2
" # = I
G
$
2
- I
G
$
1
General Plane Motion
M
O
dt
t
1
t
2
" # = I
O
$
2
- I
O
$
1
Rotation about Fixed Axis
Planar Motion for Body in Scalar Form
m v
Gx
( )
1
F
x
dt
t
1
t
2
" # = m v
Gx
( )
2
m v
Gy ( )
1
F
y
dt
t
1
t
2
" # = m v
Gy ( )
2
I
G
$
1
+ M
G
dt
t
1
t
2
" # = I
G
$
2

Planar Motion for a System of Bodies
!
syst. linear
momentum
"
#
$
%
&
'
(
x1
+
syst. linear
impulse
"
#
$
%
&
'
(
x 1)2 ( )
=
syst. linear
momentum
"
#
$
%
&
'
(
x2
syst. linear
momentum
"
#
$
%
&
'
(
y1
+
syst. linear
impulse
"
#
$
%
&
'
(
y 1)2 ( )
=
syst. linear
momentum
"
#
$
%
&
'
(
y2
syst. angular
momentum
"
#
$
%
&
'
(
O1
+
syst. angular
impulse
"
#
$
%
&
'
(
O 1)2 ( )
=
syst. angular
momentum
"
#
$
%
&
'
(
O2

Conservation of Momentum
!
Conservation of Linear Momentum
syst. linear
momentum
"
#
$
%
&
'
(
1
=
syst. linear
momentum
"
#
$
%
&
'
(
2
Conservation of Angular Momentum
syst. angular
momentum
"
#
$
%
&
'
(
O1
=
syst. angular
momentum
"
#
$
%
&
'
(
O2