Figure 1: Normal Force

Kinematic Equations

1
x = at2 + v0 t
2 Figure 2: Atwood’s Machine

v = at

(v)2 - (v0 )2 = 2a( x)

Figure 3: Draw a banked curve diagram

v0 + v
x= ⇥t
2
Pulled Weights

Free Body Diagrams F-f

a=
⌃m
N Normal Force
f Frictional Force
T = ma
T Tension
mg Weight Elevator

F = ma Normal force acts upward, weight acts down-

ward.

In a particular direction: • Accelerating upward: N = |ma| + |mg|

• Constant velocity: N = |mg|
⌃F = (⌃m)a
• Accelerating downward: N = |mg| - |ma|

Atwood’s Machine2
Banked Curve

|(m2 - m1 )|g Friction can act up the ramp (minimum velocity

a=
m1 + m2 when friction is maximum) or down the ramp
(maximum velocity when friction is maximum).
p
2 Pulley and string are assumed to be massless. videal = rg tan ✓

3
 Range
s
rg(tan ✓ - µ) ✓ represents the smaller angle from the x-axis to
vmin =
µ tan ✓ + 1 the direction of the projectile’s initial motion.
Starting from a height of x = 0:
s
rg(tan ✓ + µ) (v0 )2 sin 2✓
vmax = xmax =
1 - µ tan ✓ g

Projectile Motion Circular Motion

Position Centripetal (radial)

Centripetal acceleration and force is directed to-

x = vx t
wards the center. It refers to a change in direc-
tion.
1
y = - gt2 + (vy )0 t v2
2 ac =
r
Velocity
mv2
✓ represents the smaller angle from the x-axis to Fc = mac =
r
the direction of the projectile’s initial motion.

Tangential
(vx )0 = v0 cos ✓
Tangential acceleration is tangent to the object’s
motion. It refers to a change in speed.
(vy )0 = v0 sin ✓
d|v|
at =
dt
vx = 0
Combined
vy = -gt
q
atotal = (ac )2 + (at )2
Height

✓ represents the smaller angle from the x-axis to Vertical loop

the direction of the projectile’s initial motion.
In a vertical loop, the centripetal acceleration is
Starting from a height of x = 0: caused by a normal force and gravity (weight).

(v0 sin ✓)2

ymax =
2g

4
Top Elastic

Kinetic energy is conserved.

F = ma
v2
N + mg = m ⇥ m1 v1 + m2 v2 = m1 v10 + m2 v20
r
mv2
N = - mg
r
-(v20 - v10 ) = v2 - v1
Bottom
Inelastic

F = ma Kinetic energy is not conserved.

v2
N - mg = m ⇥
r
mv 2 m1 v1 + m2 v2 = (m1 + m2 )v0
N = + mg
r

Center of Mass
Friction
Z Z
⌃mr 1 1
Friction converts mechanical energy into heat. rcm = = rdm = x dx
Static friction (at rest) is generally greater than ⌃m ⌃m ⌃m
kinematic friction (in motion).
dm M
= =
fmax = µN dx L

Z Z
Momentum-Impulse ⌃m = dm = dx

p = mv
(⌃m)vCM = ⌃mv = ⌃p

dp
F=
dt Fnet = (⌃m)aCM

Z
I= Fdt = F t = p = m v Energy

Work
Collisions
Z
Total momentum is always conserved when there W= Fdx = K
are no external forces (F = dp
dt = 0).

5
Power

W Fx
Pavg = =
t t

dW
Pinstant = = Fv
dt

Kinetic Energy

1 Linear Angular
K = mv2
2 dx x d✓ ✓
v= dt = t != dt = t

Potential Energy a= dv
dt = v
t ↵= d!
dt = !
t

x = 12 at2 + v0 t ✓ = 12 ↵t2 + !0 t
dU
F=- v = at ! = ↵t
dx
(v)2 - (v0 )2 = 2a( x) (!)2 - (!0 )2 = 2↵( !)
Z xf
U=- FC dx = -WC v0 + v !0 + !
xi
x= ⇥t ✓= ⇥t
2 2
F = ma ⌧ = I↵
Z Z
1 Rx R✓
UHooke = - FHooke dx = - -kxdx = kx2 W = x0 Fdx Wrot = ✓0 ⌧d✓
2
W = 12 mv2 - 12 m(v0 )2 Wrot = 12 m!2 - 12 m(!0 )2
Ug = mgh P = Fv Prot = ⌧!
equilibrium point F = - du
dx = 0 (extrema) p = mv L = I!
stable equilibrium U is a minimum dp dL
F= dt ⌧= dt
unstable equilibrium U is a maximum
Figure 4: Rotational Motion
Total

E = K+U

Ei + WNC = Ef

WNC represents non-conservative work that con-

verts mechanical energy into other forms of en-
ergy. For example, friction converts mechanical
energy into heat.

6
 Torque

⌧ = r ⇥ F = rF sin ✓

⌧ = I↵

Moment of Inertia
Z
2
I = ⌃mr = r2 dm
Figure 5: Arc Length

I = Icm + Mh2

(h represents the distance from the center)

Values

rod (center) 1
12 ml
2
Figure 6: Angular Velocity
rod (end) 1
3 ml
2

Rotational Motion hollow hoop/cylinder mr2

solid disk/cylinder
1
2 mr
2

The same equations for linear motion can be mod- hollow sphere 2 mr2
3
ified for use with rotational motion (Figure 4 on
the previous page). solid sphere 5 mr2
2

Angular Motion Atwood’s Machine

s |(m2 - m1 )|g
✓= a=
r m1 + m2 + 12 M

v
!=
r
Angular Momentum

at
↵= L = I!
r
p
at = r ↵ 2 + !4 L = r ⇥ p = rp sin ✓ = rmv sin ✓

dL
ac = !2 r ⌧=
dt
1 1 Total angular momentum is always conserved
Krolling = I!2 + mv2
2 2 when there are no external torques (⌧ = dL
dt = 0).

7
 ! = 2⇡f
r ⇣ v ⌘2
0
A= (x0 )2 +
!
✓ ◆
-v0
= arctan
!x0

1
E = kA2
2

Figure 7: Simple Harmonic Motion Spring

Simple Harmonic Motion Fs = -kx

r
m
Simple harmonic motion is the projection of uni- Ts = 2⇡
form circular notion on to a diameter. Likewise, k
uniform circular motion is the combination of r
simple harmonic motions along the x-axis and k
!s =
y-axis that differ by a phase of 90 . m
amplitude (A) maximum magnitude of displace-
ment from equilibrium Pendulum
cycle one complete vibration Simple
period (T ) time for one cycle
s
frequency (f) cycles per time L
T = 2⇡
angular frequency (!) radians per time g

r
x = Acos(!t + ) g
!=
L

v = -!A sin(!t + ) Compound

A cable with a moment of inertia swings back

and forth. d represents the distance from the
a = -!2 A cos(!t + ) = -!2 x
pendulum’s pivot to its center of mass.
s
2⇡ 1 I
T= = T = 2⇡
! f mgd

r
mgd
1 ! !=
f= = I
T 2⇡

8
 frictionless pivot Energy

amplitude θ -Gm1 m2
U=
massless rod R

-GMm
E=
2r

bob's
trajectory massive bob 2⇡R
equilibrium v=
position T

Figure 8: Simple Pendulum r

2GM
vescape =
re
Torsional
For orbits around the earth, re represents the ra-
A horizontal mass with a moment of inertia is dius of the earth.
suspended from a cable and swings back and
forth.
r
I
T = 2⇡
k

k
!=
I

Gravity

-Gm1 m2
F=
R2

Nm2
G ⇡ 6.67 ⇥ 10-11
kg2

Kepler’s Laws

1. All orbits are elliptical.

2. Law of Equal Areas.
2
3. T 2 = GM
4⇡
R3 = Ks R3 , where Ks is a uniform
constant for all satellites/planets orbiting
a specific body