CIVE 261 – Dynamics Equation Sheet Page 1

Trig Functions: Law of Sines Law of Cosines

𝑨 𝑩 𝑪
= = 𝑪 = √𝑨𝟐 + 𝑩𝟐 − 𝟐𝑨𝑩𝐜𝐨𝐬(𝜽𝑪 )
𝐬𝐢𝐧(𝜽𝑨 ) 𝐬𝐢𝐧(𝜽𝑩 ) 𝐬𝐢𝐧(𝜽𝑪 )
Unit Conversions: 1 mile = 5280 feet 1 hour = 3600 seconds 1 deg = 𝜋⁄180 rad 1 kip = 1000 pounds
Gravitational constant (g) = 9.81 m/s2 = 32.2 ft/s2
Springs Spring forces are based on Hook’s law is 𝐹 = ±𝑘𝛿 where δ is the displacement of the spring from neutral
Ch12: Particle Motion
General Motion Equations General Non-constant v or a Constant ao
𝑑𝑠 𝑡 1
Includes everything 𝑣 = 𝑠̇ = 𝑠 − 𝑠𝑜 = ∫𝑡 𝑣 𝑑𝑡 s – so = vo (t-to) + ao(t-to)2
𝑑𝑡 𝑜 2
𝑑𝑣 𝑡
Excludes position 𝑎 = 𝑣̇ = 𝑠̈ = 𝑣 − 𝑣𝑜 = ∫𝑡 𝑎 𝑑𝑡 v – vo = ao (t-to)
𝑑𝑡 𝑜
𝑑𝑣 1 𝑠
Excludes time 𝑎= 𝑣 (𝑣 2 − 𝑣𝑜2 ) = ∫𝑠 𝑎 𝑑𝑠 v2 – vo2 = 2ao(s-so)
𝑑𝑠 2 𝑜

Cartesian Coordinates (x,y)
𝑟⃑ = 𝑥𝑖̂ + 𝑦𝑗̂
̇
𝑣⃑ = 𝑟⃗ = 𝑥̇ 𝑖̂ + 𝑦̇ 𝑗̂
̇ ̈
𝑎⃗ = 𝑣⃗ = 𝑟⃗ = 𝑥̈ 𝑖̂ + 𝑦̈ 𝑗̂
Tangent Normal Coordinates (t,n)1 Cylindrical Coordinates (r,θ)1
𝑣⃗ = 𝑣 𝑡̂ = 𝜌𝛽̇ 𝑡̂ 𝑣⃗ = 𝑟̇ 𝑟̂ + 𝑟𝜃̇ 𝜃̂
𝑣 2 𝑣 2
𝑎⃗ = (𝑟̈ − 𝑟𝜃̇ 2 )𝑟̂ + (𝑟𝜃̈ + 2𝑟̇ 𝜃̇ )𝜃̂
𝑎⃗ = 𝑣̇ 𝑡̂ + 𝑛̂ ➔ note = 𝜌𝛽̇ 2 = 𝑣𝛽̇
𝜌 𝜌

Relative motion (A and B translating particles or on same body) 𝑣𝐴 = ⃗⃗⃗⃗⃗

⃗⃗⃗⃗⃗ 𝑣𝐵 + ⃗⃗⃗⃗⃗⃗⃗⃗⃗
𝑣𝐴/𝐵 & 𝑎𝐴 = ⃗⃗⃗⃗⃗
⃗⃗⃗⃗⃗ 𝑎𝐵 + ⃗⃗⃗⃗⃗⃗⃗⃗⃗
𝑎𝐴/𝐵
Constrained Motion - Use length equations or ICZV to relate position, velocity, and acceleration of constrained particles
1 𝑡̂ , 𝑛̂, 𝑟̂ , 𝑎𝑛𝑑 𝜃̂ are the unit vectors along the tangent (t), normal (n), radial (r), and theta (transverse) (θ) axes respectively

Ch 13: Newtonian Kinetics (Force and Acceleration)

Rectilinear (x,y) Tangent Normal (t,n) Cylindrical Coordinates (r, θ)2 Radius (ρ) of a y=f(x) line
3
Σ𝐹𝑥 = 𝑚𝑎𝑥 Σ𝐹𝑡 = 𝑚𝑎𝑡 Σ𝐹𝑟 = 𝑚𝑎𝑟 𝑑𝑦 2 2
Σ𝐹𝑦 = 𝑚𝑎𝑦 Σ𝐹𝑛 = 𝑚𝑎𝑛 Σ𝐹𝜃 = 𝑚𝑎𝜃 [1 + ( ) ]
𝑑𝑥
2 If both (t,n) and (r,θ) forces in problem with a non-circular track need to use ψ = tan−1 r/(dr/dθ) where 𝜌= 2
𝑑 𝑦
ψ is measured from the radial axis (r) to the ± tangent axis (t) (-90° < ψ < 90°) | 2|
𝑑𝑥
Ch 14: Particle Kinetics: Work and Energy
1 1 1 1
Conservation of Energy (External W’1-2=0) 𝑚𝑣12 + 𝑘𝛿12 + 𝑚𝑔ℎ1 = 𝑚𝑣22 + 𝑘𝛿22 + 𝑚𝑔ℎ2
2 2 2 2
1 1 1 1
Work (W)-Energy (Including external W’1-2) 𝑚𝑣12 + 𝑘𝛿12 + 𝑚𝑔ℎ1 + 𝑾′𝟏−𝟐 = 𝑚𝑣22 + 𝑘𝛿22 + 𝑚𝑔ℎ2
2 2 2 2
𝑑𝑊 𝑝𝑜𝑤𝑒𝑟 𝑜𝑢𝑡𝑝𝑢𝑡 𝑒𝑛𝑒𝑟𝑔𝑦 𝑜𝑢𝑡𝑝𝑢𝑡
Power and Efficiency 𝑃= = 𝐹⃗ ∙ 𝑣⃗ Efficiency 𝑒 = =
𝑑𝑡 𝑝𝑜𝑤𝑒𝑟 𝑖𝑛𝑝𝑢𝑡 𝑒𝑛𝑒𝑟𝑔𝑦 𝑖𝑛𝑝𝑢𝑡

Ch 15: Particle Kinetics: Impulse and Momentum

Linear Impulse/Momentum (G)
Impact
In t direction (along line of
contact): Momentum of each
particle is conserved
𝑡
∑𝑚𝑣⃗1 + Σ ∫𝑡 2 ∑𝐹⃗ 𝑑𝑡 = ∑𝑚𝑣⃗2 If forces conservative Σ𝑚𝑖 (𝑣𝑖 )1 = Σ𝑚𝑖 (𝑣𝑖 )2
1
In n direction (along line of impact): System In n direction (along line of impact):
momentum conserved Coefficient of restitution (e) applies
𝑚𝐴 (𝑣𝐴1 )𝑛 + 𝑚𝐵 (𝑣𝐵1 )𝑛 = 𝑚𝐴 (𝑣𝐴2 )𝑛 + 𝑚𝐵 (𝑣𝐵2 )𝑛 (𝑣
𝑒 = (𝑣𝐵2)𝑛
) −(𝑣𝐴2 )𝑛
=
𝑟𝑒𝑙𝑎𝑡𝑖𝑣𝑒 𝑑𝑒𝑝𝑎𝑟𝑡𝑢𝑟𝑒 𝑣𝑒𝑙.

𝑚𝐴 (𝑣𝐴1 )𝑡 = 𝑚𝐴 (𝑣𝐴2 )𝑡 𝐴1 𝑛 −(𝑣𝐵1 )𝑛 𝑟𝑒𝑙𝑎𝑡𝑖𝑣𝑒 𝑎𝑝𝑝𝑟𝑜𝑎𝑐ℎ 𝑣𝑒𝑙.

𝑚𝐵 (𝑣𝐵1 )𝑡 = 𝑚𝐵 (𝑣𝐵2 )𝑡
𝑡2
Angular Impulse/Momentum (𝑯 ⃗⃗⃗⃗⃗⃗𝒐 ) ∑(𝑟⃗⃗⃗⃗1 × 𝑚𝑣
⃗⃗⃗⃗⃗) ⃗⃗⃗
1 + Σ ∫𝑡 ∑(𝑀 )𝑑𝑡 = ∑(𝑟⃗⃗⃗⃗2 × 𝑚𝑣
⃗⃗⃗⃗⃗)
2
1
Ch 16: Rigid Body Motion
Translation (linear or curvilinear) = same relationships as chapter 12 (Particle Motion)
Fixed Axis Rotation General Non-constant ω or α Constant 𝜶𝒄
𝑡
𝑑𝜃 1
includes everything 𝜔 = 𝜃̇ = 𝜃 − 𝜃𝑜 = ∫ 𝜔 𝑑𝑡 𝜃 − 𝜃𝑜 = 𝜔𝑜 𝑡 + 𝛼𝑐 𝑡 2
𝑑𝑡 𝑡𝑜 2
𝑡
𝑑𝜔
excludes position 𝛼 = 𝜃̈ = 𝜔 − 𝜔𝑜 = ∫ 𝛼 𝑑𝑡 𝜔 − 𝜔𝑜 = 𝛼𝑐 𝑡
𝑑𝑡 𝑡𝑜
𝜃
𝑑𝜔 1 2
excludes time 𝛼= 𝜔 (𝜔 − 𝜔𝑜2 ) = ∫ 𝛼 𝑑𝜃 𝜔2 − 𝜔𝑜2 = 2𝛼𝑐 (𝜃 − 𝜃𝑜 )
𝑑𝜃 2 𝜃𝑜

Linear motion ➔ angular motion

When two fixed-axis two gears (A & B) touch:
Velocity v=ωr 𝑣⃗ = 𝜔⃗⃗ × 𝑟⃗
𝑣 = 𝜔𝐴 𝑟𝐴 = 𝜔𝐵 𝑟𝐵
Tangential Acceleration at = α r 𝑎𝑡 = 𝛼⃗ × 𝑟⃗
⃗⃗⃗⃗
𝑎𝑡 = 𝛼𝐴 𝑟𝐴 = 𝛼𝐵 𝑟𝐵
Normal Acceleration an = ω 2 r 𝑎𝑛 = 𝜔
⃗⃗⃗⃗⃗ ⃗⃗ × 𝑟⃗) = −𝜔2 𝑟⃗
⃗⃗ × (𝜔
CIVE 261 – Dynamics Equation Sheet Page 2
GPM: Relative Motion using Translating Axes 𝑣
⃗⃗⃗⃗⃗
𝐵 = ⃗⃗⃗⃗⃗
𝑣𝐴 + 𝜔⃗⃗ × 𝑟⃗𝐵/𝐴 and ⃗⃗⃗⃗⃗⃗
𝑎𝐵𝑡 + ⃗⃗⃗⃗⃗⃗⃗⃗
𝑎𝐵 𝑛 = ⃗⃗⃗⃗⃗⃗ 𝑎𝐴𝑛 + 𝛼⃗ × 𝑟⃗𝐵/𝐴 + −𝜔2 𝑟⃗𝐵/𝐴
𝑎𝐴𝑡 + ⃗⃗⃗⃗⃗⃗⃗
both points A and B on the same body
Instantaneous centers of zero velocity (ICZV) can simplify relative velocity calculations (3 rules) 𝑣⃗ always ┴ to 𝑟⃗
GPM: Relative Motion using Relative Coordinate System (RCS) – A & P on same body, B is moving relative to P
𝑣𝐵 = ⃗⃗⃗⃗⃗
⃗⃗⃗⃗⃗ 𝑣𝐴 + (Ω ⃗⃗⃗ × ⃗⃗⃗⃗⃗⃗⃗⃗)
𝑟𝑃/𝐴 + ⃗⃗⃗⃗⃗⃗⃗⃗⃗
𝑣𝐵/𝑃 where Ω ≡ ∑𝜔′ 𝑠 𝑜𝑢𝑡 𝑡𝑜 𝑝𝑜𝑖𝑛𝑡 𝑃 (in both 𝑣⃗ 𝑎𝑛𝑑 𝑎⃗ equations)
𝑎𝐵𝑡 + ⃗⃗⃗⃗⃗⃗⃗⃗
⃗⃗⃗⃗⃗⃗ 𝑎𝐵 𝑛 = ⃗⃗⃗⃗⃗⃗
𝑎𝐴𝑡 + ⃗⃗⃗⃗⃗⃗⃗ 𝑟𝑃/𝐴 + Ω2 (−𝑟⃗⃗⃗⃗⃗⃗⃗⃗)
𝑎𝐴𝑛 + (𝛼 × ⃗⃗⃗⃗⃗⃗⃗⃗) ⃗⃗⃗ 𝑣𝐵/𝑃 + ⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗
𝑃/𝐴 + (2Ω × ⃗⃗⃗⃗⃗⃗⃗⃗⃗) 𝑎𝐵/𝑃𝑡 + ⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗
𝑎𝐵/𝑃𝑛
Mass Moments of Inertia (I or MOI about point o)
Parallel Axis Theorem 𝐼𝑜 = 𝐼 ̅ + 𝑚𝑑 2 where d ≡ distance from new axis to centroidal axis of body
Radius of gyration (k) 𝑘𝑜 = √𝐼𝑜 ⁄𝑚 varies by location with 𝐼𝑜

Rigid Body Kinetics: Newtonian (𝑭 ⃗⃗ = 𝒎𝒂 ⃗⃗) (Ch 17)

∑𝐹⃗ = ∑1(𝑚𝑎⃗ ) (Σ1 on inertial term refers to systems with interconnected bodies)
⃗⃗⃗⃗⃗⃗
∑𝑀 𝐺 =𝐼𝛼
̅̅̅̅̅ ≡ Centroidal]
̅ ⃗ [𝑏𝑎𝑟 OR ⃗⃗⃗⃗⃗⃗
∑𝑀 ̅ ⃗ + ∑𝑚(𝑟⃗⃗⃗⃗⃗⃗⃗⃗
𝑃 =𝐼𝛼 𝐺/𝑃 × 𝑎̅⃗)
Rigid Body Kinetics: Work and Energy (Ch 18)
1 1
Kinetic Energy (KE or T) 𝐾𝐸 = 𝑚𝑣̅ 2 + 𝐼 𝜔̅ 2 (note: 𝑣 and 𝐼 must be of/about the same point)
2 2
Work (U) Force Weight Spring Couple Moment
1 𝜃
⃗
𝑊𝐹 = ∫ 𝐹 ∙ 𝑑𝑟⃗ 𝑊𝑊 = 𝑊Δ𝑦 2
𝑊𝑆 = 𝑘(𝑥2 − 𝑥1 2)
𝑊𝑀 = ∫𝜃 2 𝑀 𝑑𝜃
2 1
Work and Energy ∑ 𝐾𝐸1 + ∑𝑊1−2 = ∑𝐾𝐸2
Conservation of Energy Gravitational PE Elastic PE When ∑𝑊1−2 = 0
1
Potential ≡ (PE or V) 𝑃𝐸𝑔 = 𝑊𝑦𝐺 𝑃𝐸𝐸 = 𝑘𝑥 2 𝐾𝐸1 + 𝑃𝐸1 = 𝐾𝐸2 + 𝑃𝐸2
2
Rigid Body Kinetics: Impulse and Momentum (Ch 19) (G = linear, H = angular, 1 = initial, 2= final)
General form: ∑ Momentum1 + ∑ Impulse = ∑ Momentum2
𝑡 𝑡
Linear: ∑𝑚(𝑣̅𝑥 )1 + ∑(∫𝑡 2 ∑𝐹𝑥 𝑑𝑡) = ∑𝑚(𝑣̅𝑥 )2 and ∑𝑚(𝑣̅𝑦 )1 + ∑(∫𝑡 2 ∑𝐹𝑦 𝑑𝑡) = ∑𝑚(𝑣̅𝑦 )2
1 1
𝑡
Angular: ∑𝐼 ̅ 𝜔 ⃗⃗⃗𝐺 𝑑𝑡) = ∑𝐼 ̅ 𝜔
⃗⃗1 + ∑(∫𝑡 2 𝑀 ⃗⃗2 (about center of gravity G) OR
1
𝑡2
∑[𝐼 ̅ 𝜔 ⃗⃗⃗ ̅ ⃗⃗2 + ∑𝑚(𝑟⃗⃗⃗⃗⃗⃗⃗⃗
𝐺/𝑃 × 𝑣̅⃗1 )] + ∑(∫𝑡 𝑀𝑃 𝑑𝑡) = ∑[𝐼 𝜔
⃗⃗1 + ∑𝑚(𝑟⃗⃗⃗⃗⃗⃗⃗⃗ ⃗2 )]
𝐺/𝑃 × 𝑣̅
1

Center of Gravity and Mass Moment of Inertia of Homogenous Solids (table from back cover of text)