Fundamental Equations of Dynamics

Kinematics of Particles

1
1

U k x22 k x12
2
2

1
Kinetic Energy
T mv2
2
Principle of Work T1 U 1 2 T2
Spring:

Rectilinear Motion
ds
v
dt
dv d2 s
a

dt d t 2
dv
av
ds
Constant Acceleration
v v0 a (t t 0 )
1
s s0 v0 (t t 0 ) a (t t 0 ) 2
2
2
2
v v0 2 a ( s s 0 )
Curvilinear Motion (Cartesian Coordinates)

P x i y j z k

v x i y j z k

a xi y j z k
Curvilinear Motion (Normal and Tangential
Coordinates)

P Pref d s

v s et

a at a n

se s e
t

s
set

en

set 2 en

1 d y d x

2 3/ 2

d 2 y d x2

Conservation of Linear Momentum

m A v A1 mB v B1 m A v A 2 m B v B 2
Impact

v v A2

e B2
v v
A1 B1 n
vB 2 v B1 t

A2

v A1 t

Kinematics of Rigid Bodies

Variable Acceleration
d

dt
d d2
2

dt
dt
d

d
Constant Acceleration
0 (t t 0 )
1
2
2
2
0 2 ( 0 )
Relative Plane Motion

vB 2 v A2 vB 2 / A2

v A 2 2 PB 2 / A 2

a B 2 a A2 a Bt 2 / A 2 a Bn 2 / A2

a A 2 2 PB 2 / A2 2 2 PB 2 / A 2

0 0 (t t 0 ) (t t 0 ) 2

Relative Motion

PB PA PB / A

vB v A vB / A

aB a A aB / A
Kinetics of Particles
Equation of Motion

F
ma

Work
Variable Force:

U Ft d r

Constant Force:
Gravity:

Conservation of Energy
1
1
1
m v12 mg h1 k x12 U 1 2 m v 22
2
2
2
1
mg h2 k x 22
2
Principle of Linear Momentum and Impulse

mv1 F d t mv2

U Ft s ( F cos ) s
U mg ( y 2 y1 )

For Pure Rolling aC aCt r

aCn 0

v P1 v P 2

P
1

Conservation of Linear Momentum

syst. m vG 1 syst. m vG

Mass Moment of Inertia

I r2 dm
I I md 2

Parallel Axis Theorem

Power

I
m
For Thin Plates with Constant Mass Density
I x mass t I x area
k

Radius of Gyration

Iy

mass

t Iy

Iz

mass

Ix

mass

dU
dt
Translation
Rotation
P

area

Iy

mass

Kinetics of Rigid Bodies

Equation of Motion

In 2-D

F
m aG

M
O H O

M O I r m aG

HO r mv

F m a
F m a
M I m a d
x

Work
Variable Force:

U Ft d r

Variable Moment: U M d

Constant Force: U Ft s ( F cos ) s

Constant Moment: U M
U mg ( yG 2 yG1 )
Gravity:
1

1
U k x22 k x12
2
2

Kinetic Energy for Plane Motion

1
1
T m v G2 I 2
2
2
Principle of Work T1 U 1 2 T2

Spring:

Conservation of Energy
1
1 2
1
2
2
m vG1 I mg hG1 k x1 U 1 2
2
2
2

1
1 2
1
2
2
m vG 2 I mg hG 2 k x2
2
2
2

Principle of Linear Momentum and Impulse

mvG1 F d t mvG 2

P F v

P M