Formula Sheet for Dynamics Exams (Fall, 2015)

1. Single particle dynamics

Principle of linear momentum for a single particle

Ṗ = ma = F (1)

Principle of angular momentum for a single particle w.r.t a point B

Ḣ B + v B × P = M B (2)

Work-energy principle for a single particle

W12 = T2 − T1 (3)

Definition of a potential force (conservative force)

∂V
F =− = −∇V (r) (4)
∂r
Work-energy principle for a conservative system
d
T1 + V1 = T2 + V2 , equivalently, [T (t) + V (t)] = 0 (5)
dt
Mass accretion equation

ṁv + mv̇ − ṁu = F , equivalently, mv̇ = F + ṁv rel (6)

General transformation to moving-rotating y-frame

x = Q(t)y + b(t) (7)

Linear momentum principle in planar, rotating frame

mÿ = F̃ + F centrif ugal + F Coriolis + F Euler (8)

F̃ . . . . . . . . . . . . active and constraint forces w.r.t. the rotating frame

F centrif ugal . . . mΩ2 y
F Coriolis . . . . . −2mΩ × ẏ
F Euler . . . . . . . −mΩ̇ × y

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 2. Multi-particle dynamics

Center of mass for a system of particles

n n
1 X X
rC = mi ri , where, M = mi (9)
M
i=1 i=1

Linear momentum principle for a system of particles

n
X
Ṗ = M aC = F ext
i = F ext (10)
i=1

Angular momentum principle for a system of particles w.r.t. a point B

Ḣ B + v B × P = M ext
B (11)

Collision of two particles: coefficient of restitution

relative normal velocity after impact un − un1
e=− = − 2n (12)
relative normal velocity before impact v2 − v1n

Velocity relation between velocities before and after impact

m1 − em2 n (1 + e)m2 n
un1 = v + v (13)
m1 + m2 1 m1 + m2 2
(1 + e)m1 n m2 − em1 n
un2 = v + v (14)
m1 + m2 1 m1 + m2 2
Work-energy principle for a system of particles

W12 = T2 − T1 (15)

Work-energy principle for a rigid system of particles

ext
W12 = T2 − T1 (16)

3. Rigid body dynamics

Velocity transfer formula for a rigid body

v B = v A + ω × rAB (17)

Center of mass of a rigid body B

Z Z
1 1
rC = r dm = r ρ dV (18)
M M
B B

Linear momentum principle for a rigid body B

Ṗ = M aC = F ext (19)

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The angular momentum of a rigid body B w.r.t. a fixed point B, belonging to
the body, or w.r.t. its center of mass B ≡ C
Z
H B = %B × (ω × %B ) dm = I B ω (20)
B

Mass moments of inertia of a rigid body B

I B is the moment of inertia tensor of the body B w.r.t. the point B. It is defined as
 
Ixx Ixy Ixz
I B := Ixy Iyy Iyz  , (21)
Ixz Iyz Izz

where,
Z Z Z
2 2
Ixx = (y + z ) dm , Ixy = − xy dm , Ixz = − xz dm ,
B B B
Z Z Z
Iyy = (x2 + z 2 ) dm , Iyz = − yz dm , Izz = (x2 + y 2 ) dm .
B B B

Angular momentum principle for a rigid body B with respect to an arbitrary

point B

Ḣ B + v B × P = M ext
B (22)

Angular momentum transfer formula for a rigid body B between two arbitrary
points A and B

H B = H A + P × rAB (23)

Parallel axis theorem (Steiner’s theorem)

b2 + c2
 
  −ab −ac
I O = I C + M |rCO |2 I − rCO rTCO = I C + M  −ab a2 + c2 −bc  (24)
−ac −bc a + b2
2

Parallel axis theorem (Steiner’s theorem) in 2D

IA = IC + M |rCA |2 (25)

Kinetic energy T of a rigid body B

1 1
T = M |v C |2 + ω T I C ω (26)
2 2
Work-energy principle for a rigid body
ext
W12 = T2 − T1 (27)

Differentiation of quantities in moving frames

u̇ = ů + Ω × u (28)

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Euler’s equations of motion for a spinning top

I1 ω̇1 + (I3 − I2 )ω3 ω2 = M1 ,

I2 ω̇2 + (I1 − I3 )ω1 ω3 = M2 , (29)
I3 ω̇3 + (I2 − I1 )ω2 ω1 = M3 .

TSP-rule
1 ext
ωϕ × ωψ ≈ M (30)
I3 O

Equation of motion of a damped, forced one degree of freedom oscillator

ẍ + 2δ ẋ + ω02 x = f (t) (31)

where
r
c k
δ= ; ω0 = ; (32)
2m m
General solution for free vibrations (one DOF) with distinct roots λ1 6= λ2
The solution in the time domain is

x(t) = A1 eλ1 t + A2 eλ2 t , (33)

while in the phase space is

x(t) = A1 s1 eλ1 t + A2 s2 eλ2 t , (34)

p
where λ1,2 = −δ ± δ 2 − ω02 and sj = (1, λj ).

General solution for free vibrations (one DOF) with repeated roots λ = λ1 = λ2
The solution in the time domain is

x(t) = A1 eλt + A2 teλt , (35)

and in the phase space, it is

x(t) = (A1 s1 + A2 s˜1 )eλ1 t + A2 s2 teλ2 t , (36)

where λ1,2 = −δ = −ω0 , sj = (1, λj ) and s˜1 = (0, 1).

Forced harmonic oscillator

ẍ + 2δ ẋ + ω02 x = f0 sin(ωt) (37)

the steady state solution is

xp (t) = A sin(ωt − ϕ) (38)

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where
 
f0 −1 2δω
A= p 2 ; ϕ = tan 2 (39)
(ω0 − ω 2 )2 + 4δ 2 ω 2 ω0 − ω 2

or in the form
f0
xp (t) = V (η, D) sin (ωt − ϕ(η, D)) (40)
ω02

where
 
1 −1 2Dη
V =p ; ϕ = tan (41)
(1 − η 2 )2 + (2Dη)2 1 − η2

and
ω δ
η= ; D= (42)
ω0 ω0
Equation for vibrations with n degrees of freedom

M ẍ + C ẋ + K x = F (t) (43)

Structural damping

C = aM + bK (44)

Generalized eigenvalue problem

(λ2 M + K )u = 0 (45)

Purely imaginary eigenvalue pairs, λ = ±iωj , ωj > 0, uj ∈ Rn

The solution in the time domain is

xj (t) = uj Aj sin(ωj t + ϕj ) (46)

Zero eigenvalue pairs, λ = 02 , u ∈ Rn

The solution in the time domain is

xj (t) = uj (Bj + Cj t) (47)

Modal decomposition of free, undamped vibrations

U T M U = diag m1 m2 . . . mn


(48)

U T K U = diag k1 k2 . . . kn


(49)

Modal equation of motion

mj ÿj + cj ẏj + kj yj = fj (t), j = 1, . . . , n cj = amj + bkj ≥ 0 (50)

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Forced response to harmonic forcing of a n degrees of freedom system (43)
For harmonic forcing

F (t) = F 0 sin(ωt), (51)

the steady-state solution of a generic modal amplitude [yP (t)]j is given by

[yP (t)]j = APj sin(ωt + ϕj ) , (52)

with
!
fj0 cj ω
APj = q ; ϕj = tan−1 2 ; fj0 = (U T F 0 )j . (53)
2 2 2 2
(ωj − ω ) + cj ω 2 ωj − ω 2