MAPS Equation Sheet for 8.

011
Purpose: Physics is based on a few fundamental laws of nature. For example, Mechanics is based on two: the calculus
of motion and

F = d p/dt. In this document, we elect to treat Mechanics by grouping the concepts and formulae into four
major categories: Motion, Mechanical Energy, (Linear) Momentum, and Angular Momentum.
Model: Dynamics and Net Force
General 3-D Motion
Compatible Systems: Single point particle. Relevant Interactions: Net force.
Dierential Laws of Change: v(t) =
dr(t)
dt
, a(t) =
dv(t)
dt
=

Fi(t)
m
Integrated Laws of Change: v(t) = v(t
i
) +

t
ti
a(t) dt, r(t) = r(t
i
) +

t
ti
v(t) dt
Rotational Motion (2-D)
Restriction on Interactions: Net force constant in size and directed to center of circle.
*Uniform Circular Motion
Restriction on Interactions: Net force constant in magnitude and directed to center of circle.
Denitions: =
v
tan
R
angular velocity for circular motion with speed v
tan
radius R.
a
rad
=
v
2
tan
R
=
2
R radial acceleration.
1-D Motion
Laws of Change: as in 3-D case, except all vectors are restricted to apply only to the dimension of interest.
Diagrammatic Representations: Graphs of x(t), v(t), a(t); motion diagrams (strobe pictures).
Constant Acceleration (

F
x
= const)
Restriction on Interactions: Net force must be constant.
Integrated Laws of Change:
x(t) = x
i
+v
i
(t t
i
) +
1
2
a(t t
i
)
2
x
i
, v
i
are values at t = t
i
(Usually t
i
= 0)
v(t) = v
i
+a(t t
i
)
v
2
(x) = v
2
i
+ 2a(x x
i
) importantly, time does not appear in this equation.
Diagrammatic Representations: motion diagrams; graphs of kinematics quantities vs. time.
Zero Acceleration / Constant Velocity (

F
x
= 0)
x(t) = x
i
+v
x
(t t
i
)
*Harmonic Motion
Restriction on Interactions: Net force must be a linear restoring force.
Denition:
osc
=

k
m
angular frequency, T =
2

osc
period
Dierential Law of Change:
d
2
x
dt
2
=
F
net
(x)
m
= k(x x
e
) =
2
osc
(x x
e
), equivalently

=
osc

Integrated Law of Change: x(t) x

e
= Acos(
osc
t +) = x(0) cos(
osc
t) +
v(0)

osc
sin(
osc
t)
Mechanical Energy, External Work, and Internal Non-Conservative Work
*Mechanical Energy
Compatible Systems: Rigid bodies and particles.
Relevant Interactions: Non-conservative work done by internal forces and external forces.
Concept: Mechanical energy is the sum of the kinetic and potential energy of the system E K +U.
Denitions: W
NC
=

path

F
NC
(r) dr =

t
f
ti

F(t) v(t) dt, work & P =

dW
dt
, power
K =
1
2
mv
2
cm
+
1
2
I
cm

2
kinetic energy of translation and rotation, respectively.
Dierential Law of Change:
dE
dt
=

F
NC
v
Integrated Law of Change: E
f
= K
f
+U
f
= E
i
+W
NC
Work-Kinetic Energy Theorem: It is also possible to avoid using potential energy. If the work from all forces
(conservative and non-conservative) is found, then K
f
= K
i
+W
ALL
.
Momentum and External Force
*Momentum
Compatible Systems: Any number of point particles.
Relevant Interactions: Only external forces.
Denitions: For a single object p = mv
cm
.
Dierential Law of Change:
d p(t)
dt
=

F
external
(t) only external forces change the system momentum.
Integrated Law of Change: p(t
f
) = p(t
i
) +

t
f
ti

F
external
(t) dt = p(t
i
) +

J

J is impulse.
Angular Momentum and External Torque
3-D Angular Momentum
Compatible Systems: Any. Relevant Interactions: External torques.
Law of Change:
d

L
c
dt
=

external
c
3-D form used only for gyroscope.
*1-D Angular Momentum
Restriction on System and Interactions: Motion and Forces in a plane produce angular momentum & torque.
Denitions:
c
=

R
fc

F The torque about c due to force applied at

R
fc
(in the z direction).
Dierential Law of Change:
dL
c
dt
=

external
c
(t).
Integrated Law of Change: L
c
(t
f
) = L
c
(t
i
) +

t
f
ti

external
c
(t) dt = L
c
(t
i
) + angular impulse.
Fixed Axis Rotation
Restriction on System: Single rigid body with xed axis of rotation a.
Law of Change:

external
a
= I
a
.
Rotation and Translation of a Rigid Body
Restriction on System: Single rigid body.
Denitions: L
c
=

R
cm,c
Mv
cm
+I
cm
orbital and spin angular momentum of a rigid body about point c.
Laws of Change:

F
external
= Ma
cm
,

external
cm
= I
cm

Interactions
Force and Potential Energy
Denition: U(r) =

r
f
ri

F
cons
(r) dr denition of potential energy; implies

F =

U(r).
Common Interactions
Interaction Force Law Potential Energy Constants
Universal Gravity

F
12
= G
m
1
m
2
r
2
12
r
12 U(r
12
) = G
m
1
m
2
r
12
G = 6.673 10
11
m
3
kg
1
s
2
Local Gravity

F = mg z U(z) = mgz g = 9.8 m/s
2
(earth)
Hookes Law
F
x
= k(x x
e
) U(x) =
1
2
k(x x
e
)
2
k spring dependent force constant
(Springs) x
e
spring dependent equilibrium position
Kinetic Friction F =
k
N Non-Conservative
k
surface/object dependent parameter.
Static Friction 0 F
s
N Non-Conservative
s
surface/object dependent parameter.
Unifying Concepts and Denitions
System
A key idea in science is to restrict attention to a specic system. A system is a collection of objects that can be described
adequately for our purposes by a restricted set of state variables. For example, in mechanics a rigid body might be described
by x
cm
(t), (t), m and I
cm
, but not by its shape, size, temperature or color (though some of these other quantities would be
relevant if the same system were studied in thermodynamics or optics).
Parallel Axis Theorem
The Moment of Inertia, Kinetic Energy and Angular Momentum of a rigid bodymay be expressed by a term that describes
motion of the center of mass and another that describes motion within the system.
Quantity of center of mass within system
Moment of Intertia I
c
= I
cm
+ MR
2
cm,c
Kinetic Energy K =
1
2
Mv
2
cm
+
1
2
I
cm

2
Angular Momentum

L
c
=

R
cm,c
Mv
cm
+ I
cm

3
Analog between 1-D Translation and 1-D Rotation
TRANSLATION of cm ROTATION about cm
Name Symbol Name Symbol
Position x Angular Position
Velocity
v =
dx
dt Angular Velocity
=
d
dt
Acceleration
a =
dv
dt Angular Acceleration
=
d
dt
(Total) Mass
M =

constituents
m
Moment of Inertia
I
cm
=

constituents
mr
2
Force
F
Torque

cm
Dynamics

F
ext
= Ma
cm
Angular Dynamics

ext
cm
= I
cm

Momentum
p = Mv
cm
Angular Momentum
L
cm
= I
cm

Translational Kinetic Energy

K
trans
=
1
2
Mv
2
cm
Rotational Kinetic Energy
K
rot
=
1
2
I
cm

2
Work
W =

path
F dx
Work
W =

path
d
Common Moments of Inertia
Slender uniform rod of length l with axis through center and perpendicular to the rod.
1
12
ml
2
Slender uniform rod of length l with axis through one end and perpendicular to the rod.
1
3
ml
2
Thin-walled hollow cylinder of radius R, axis along axis of cylinder. mR
2
Uniform solid cylinder of radius R, axis along axis of cylinder.
1
2
mR
2
Thin-walled hollow sphere of radius R, axis through center.
2
3
mR
2
Solid uniform sphere of radius R, axis through center.
2
5
mR
2
4