Useful Formulae

1. Rectilinear Motion (1-D)

.

Position: s(t); velocity: v = s =

..
ds
d 2 s dv
dv
=v
; acceleration: a = s = 2 =
dt
dt
dx
dt

For constant acceleration

v = u + at
u +v
s=
t
2
s = ut + 1 at 2
2

v = u + 2as

2. Motions-Cartesian Coordinates (2-D)

Position:

r = x i+ y j ;
Velocity:
.

v=s=

ds
;
dt

Acceleration:

d 2 s dv
dv
a=s= 2 =
=v
dt
dx
dt
..

3. Motions-Normal and Tangential Coordinates (2-D)

Velocity;
.


v = vut ;

v = s =

Acceleration:




a = at u t + a n u n
at = v = at ds = vdv
an =

v2

a = at2 + an2
Radius of Curvature

[1 + (dy / dx) 2 ]3 / 2
d 2 y / dx 2

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4. Motions-Polar Coordinates (2-D)

Position:



r = ru r
Velocity:

 

v = r = rur + rur



v = vr ur + v u
vr = r
v = r

(r )2 + (r )2

v=

Acceleration:

a = a r u r + a u
a = r r 2

a = r + 2r

5. Relative motion (in non-rotating co-ordinates)

= r

A + r

= v

B/ A

A+ v

B/ A

= a

A+ a

B/ A

6. Kinetics of Particles (Force and Acceleration)

Newtons second law

F = m a ; Fx = ma x ; F y = ma y ; Fn = ma n ; Ft = mat ; Fr = ma r ; F = ma ;
Newtons law of Universal Gravitation

mm
F =G 1 2
r2

where G = 6.673 10 11 m 3 kg 1s 2

Centre force motion

angular momentum per mass = r 2 = constant

=2

dA
= twice aerial velocity
dt

7. Kinetics of Particles (Work-Energy)(some of the formula can

applicable to Rigid body)
Work of a force

U1 2 = rr2 F .dr = ss2 F cos ds

1
1
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Work of a Weight

U12 = Wy
Work of a Spring Force.

1
1

U1 2 = ks22 ks12
2
2

Kinetic Energy

T=

1 2
mv
2

Gravitational Potential Energy particle and rigid body

V g = mgh
Spring Energy (Elastic Potential Energy) particle and rigid body

1
Ve = + ks 2
2

Power and Efficiency

dU
= F.v
dt
Output workdone
Efficiency = =
Input workdone

Power =

Principle of Work and Energy

T1 + U1 2 = T2

Conservative of Energy
T1 + V1 + ( U1 2 ) noncons. = T2 + V2

8. Kinetics of Particles (Impulse and momentum)

Linear Impulse

I = F dt
Linear Momentum

p =mv

Principle of Linear Impulse and Momentum

m v 1 + tt 2 F dt = m v
1

Coefficient of Restitution

e=

v separate
v approach

( v B ) 2 (v A ) 2
(v A )1 (v B )1

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Angular Momentum

H O = rm v

Angular Impulse and Momentum Principles

t
(H O )1 + t 2 M O dt = (H O ) 2
1

Steady Fluid Streams

dm
(v B v A )
dt
dm
(d OB vB d OAv A )
MO =
dt

F =

dm
= Av A AA = B vB AB = AQ A = B QB
dt
Propulsion with Variable Mass

dme
dv
vD / e
dt
dt
dmi
dv
Fs = m + vD / i
dt
dt

Fs = m

9. Kinematics of rigid body

Position

= r

A+ r

A/ B

Velocity
Acceleration

= a

= a

+a

A/ B

A + r

= v

= v

A/ B

+ ( r

A/ B

Where XYZ is rotating frame

= v

= a

A + r

A + r

B/ A + ( v

B/ A

) xyz

B / A + ( r

B / A ) + 2 ( v

B / A ) xyz + ( a

B/ A

) xyz

10. Moment of Inertia

( I G ) disk =

1 2
mr ;
2

( I G ) rod =

1
ml 2 ;
12

( I G ) plate =

Page 4 of 7

1
m( a 2 + b 2 ) ;
12

A + v

A/ B

A + r

A/ B

( I G ) sphere =

5 2
mr
2

1
1
1
m l 2 for slender rod , for thin plate or panel =
m b 2 , for thin ring = m r 2
3
12
2

I x ' x, =

Parallel axis theorem: I A = I G + md 2 ;

2
Radius of Gyration; I A = mk A

11. Angular Momentum and Equation of Motion

Angular Momentum =

+ H

H G = I G

= IG + r

L = mv G for linear momentum

G/ A

(m v

Equation of Motion
For the mass centre G: M G = I G
For a fixed point O:

M O = I O

For an arbitrary point A:

= I

+ rG / A m a

or

= I

Relationship between Kinematic and Kinetic

( F ) FBD = ( F ) k

( M A ) FBD = ( M A ) k

12. Work-Energy for a Rigid Body

The work-energy principle is the same as that for particles. The kinetic energy of a rigid body
about centre of mass is defined as

T=

1 2 1
mvG + I G 2
2
2

For arbitrary point A, T =

_
_
1 2 1
2
mv A + I A m ( y v Ax x v A y )
2
2

Work done by motor= M d, work done by elevator = F * S

T=

1
1
mvG2 for translatio n, T = I o 2 for rotation about axis
2
2

13. Vibration
Undamped Free Vibration
Equation of motion
+

Fx = ma x ;

k x = mx

Simple Harmonic Motion

x + n2 x = 0

+ n2 = 0

Natural frequency

n =

k
m

Page 5 of 7

+ rG / A m a A

Period

Frequency (Hertz)

f =

= n =
2 2
1

k
m

General solution

x = A sin nt + B cos nt

x = C sin(nt + )

or

Undamped Forced Vibration

Equation of Motion (Periodic Force)
+

Fx = ma x ;

F0 sin t kx = mx

x +

F
k
x = 0 sin 0t
m
m

General solution

x = A sin nt + B cos nt +

F0 / k
1 ( / n ) 2

sin 0t

Damped Free Vibration

Equation of motion

Fx = ma x ;
mx + cx + kx = 0

kx cx = mx

Damping ratio

c
c
=
, and C c = 2 m n
c c 2 m n

General solution
Underdamped System- when Cases where c < cc
Critically Damped System when cases c = cc, then 1 = 2 = - cc/2m = n
Overdamped System

x = Ae 1t + Be 2t
Critically damped system
n t

x = ( A + B )e

Underdamped System

x = D e (c / 2m)t sin(d t + )

Where the value of is

Page 6 of 7

1 =

c
k
c
+

2m
m
2m

2 =

c
k
c


2m
m
2m

Damped natural frequency is given as:

d =

2
c
k c

= n 1
m 2m
cc

Viscous Damped Forced Vibration

Equation of Motion

Magnification factor

mx + cx + kx = F0 sin t

MF =

General solution (Particular solution)

x p = C sin(t )
Where C =

F0 / k

[1 ( / ) ] + [2(c / c )( / )]
n

22

2(c / c )( / )
c
n

2
1 ( / n )

= tan 1

Units Conversions

Page 7 of 7

C
=
F0 / k

[1 ( / n) ] + [2(c / c )( / )]
22