Average & instantaneous velocity Kinematics under constant acceleration:

and acceleration:
~vf = ~vi + ~a [tf ti ] 2 2
vxf = vxi + 2 ax [xf xi ]
~r d~r
~vaverage = ~v = 2 ...and similarly for y and z components.
t dt ~rf = ~ri + ~vi [tf 1
ti ] + ~a [tf ti ]
2

~v d~v d 2 ~x ~rf = ~ri + 1

[~vf + ~vi ] (tf ti ) These formulae can be written in alternative notations, for
~aaverage = ~a = = 2 2
t dt dt example with t2 and t1 instead of tf and ti, (and v2 in place of
vf, etc.) or by writing Δt in place of tf - ti.

Vectors: ~·B
A ~ = AB cos ✓AB = Ax Bx + Ay By + Az Bz Forces: Fnet = ma

Fspring = k(s seq ) Fkinetic friction = µk n

~ ⇥ B|
|A ~ = AB sin ✓AB î ⇥ ĵ = k̂ ĵ ⇥ k̂ = î k̂ ⇥ î = ĵ
Fstatic friction  µs n
Fgravity = mg
A = |A| = A2x + A2y + A2z Ax = A cos Ay = A sin Frolling friction = µr n
GmM
Fgravity =
Where θ for components is measured counter-clockwise from the î direction. r2 The second gravity formula is the
force between two point masses.

Uniform circular motion:

Quadratic formula:
⇥
s = r✓ v 2 b± b2 4ac
acentripetal = ax + bx + c = 0
2
x=
r 2a
vt = !r

2 r s measures the length

T = along a circular arc, with
v θ measured in radians. rf
K = 12 mv 2 W = F · dr W = Kf Ki
Work and kinetic ri
Drag Force: energy (linear and
F~ = 1
C⇢Av 2
v̂ rotational):
2 f
K= 1
2I
2
W = ⇤⇥ · d⇤
(v with a hat on it is a unit vector i
in the direction of the velocity).
Angular velocity and acceleration: Angular motion at constant angular acceleration:
d d⇥ atangential = ↵ r !f = !i + ↵ [tf ti ] !f2 = !i2 + 2 ↵ [✓f ✓i ]
⇥= =
dt dt vtangential = ! r 1 2 Since these equations describe rotation around
✓f = ✓i + !i [tf ti ] + 2 ↵ [tf ti ] a fixed axis, they involve the components of θ, ω
Angular ↔ Linear analogies: and α along this axis.

x v a m I Torque and angular momentum:

⇤
dL
⇤⇥ = I ⇤ = = ⇤r F⇤ ⇥ = I ⇥ = ⇥r
L p⇥
F⇥ ⇥ p L 1
2 mv 2
$ 1
2 I! 2
dt

dU
Center of Mass, Momentum and Impulse: Potential Energy & Energy Conservation: F =
dx
Z xf Z ~
rf
1 1 ~ =
F~ · dr
R center of mass = mi ri = rdm U = Uf Ui = F dx = Wcons
Mtotal i
M xi ~
ri

p~ = m~v Z Ki + Ui + Wext = Kf + Uf + Ethermal

t2

d~
p J~ = p~2 p~1 = F~ (t)dt
~
Fnet = t1 GmM
dt Uspring = 1
2 k(s seq ) 2
Ugravity = mgy Ugravity =
r

m1 v1i + m2 v2i Power: P =F ·v

1D Collision, totally inelastic: vf = W dW
m1 + m2 Paverage = P =
t dt P =⇤ ·⇥
⇤

m1 m2 2m2 The formula for v2f is obtained by swapping 1↔2 in

1D Collision, elastic: v1f = v1i + v2i
m1 + m2 m1 + m2 the formula to the left.

2 2
ring or hollow cylinder (about center): mr2 solid sphere (about center): 5 mr
Moment I= mi ri2 = r2 dm
1 2 2 2
of inertia: i disc, solid cylinder (about center): 2 mr hollow sphere (about center): 3 mr
I = ICoM + M D2 thin rod (about center):
1
mL 2
thin rod (about end): 1
mL2
12 3
 d2 x
Equation of motion of mass-spring system: m 2 = kx
dt
k 1 2
General solution: x(t) = A cos(!t + 0) = T = =
m f ⇥

E = K + U = 12 kA2 g
Simple pendulum: =
L

r
bt/2m k b2
Solution for a damped oscillator: x(t) = A e cos(!t + 0) !=
m 4m2

Traveling simple harmonic wave: y(x, t) = A sin(kx !t + 0)

⇥
vwave = =
T k
2 1
Period: T = =
⇥ f

2⇥ Wave on string: vwave = Tstring

k=
µ

Some potentially useful mathematics:

1 sin(A ± B) = sin A cos B ± cos A sin B
sin 30 =
2
d
(a tn ) = an tn 1
p cos(A ± B) = cos A cos B ⌥ sin A sin B
dt
3
cos 30 =
Z 2
n a n+1 (sin ✓)2 + (cos ✓)2 = 1
at dt = t
n+1 sin ✓
tan ✓ =
cos ✓ sin(90 ✓) = cos ✓
 Gravitational Constant G : 6.67259 × 10-11 N m2/kg2 Force Length
1 N = 105 dyne 1 in. = 2.54 cm
Acceleration due to gravity (g) : 9.80 m/s2
1 N = 0.2248 lb 1 ft. = 12 in.
Average earth-moon distance : 3.84 × 108 m
Power 1 yd. = 3 ft.
Average earth-sun distance : 1.49 × 1011 m 1 hp = 550 ft lb/s 1 m = 39.37 in.

Average radius of the earth : 6.37 × 106 m 1 W = 1 J/s 1 mile = 1.609 km

Average radius of Mars : 3.37 × 106 m 1 W = 0.738 ft lb/s 1 Å = 10-10 m

Time 1 µm = 10-6 m
Mass of the earth : 5.97 × 1024 kg
60 s = 1 min. 1 lightyear = 9.461 × 1015 m
Mass of the moon : 7.36 × 1022 kg
60 min. = 1 hr. Angle
Mass of the sun : 1.99 × 1030 kg Mass 360° = 2π radians

Mass of Mars : 6.42 × 1023 kg 1000 kg = 1 metric ton Trigonometry

1000 g = 1 kg sin(30°) = 1/2

1 slug = 14.59 kg sin(45°) = √2/2

1 u = 1.66 × 10-27 kg sin(60°) = √3/2

Energy cos(30°) = √3/2

1 J = 107 erg cos(45°) = √2/2

1 J = 0.738 ft lb cos(60°) = 1/2

1 cal = 4.186 J tan(45°) = 1

1 Btu = 252 cal

1 eV = 1.6 × 10-19 J

1 kWh = 3.6 × 106 J

931.5 MeV = 1 u