Fundamental Equations of Two Dimensional Dynamics MAAE 2101 - Equation Sheet

Particle Rectilinear Motion - Variable a Equations of Motion :

a=
dv
dt
v=
ds
dt
vdv = ads Particle : ∑ F = ma Rigid Body : ∑ F = ma G

Particle Rectilinear Motion - Constant a ∑M G

= IGα

v = vo + at s = so + vo t + 1 at 2 v 2 = vo2 + 2a (s − so )
2
Particle Curvilinear Motion - x, y Coordinates Other Moment Equations : ∑ M = I α + ma d or
p G G

v x = x& a x = &x& v y = y& a y = &y&

Particle Curvilinear Motion - r,θ Coordinates
∑ M = I α + r × ma
p G G/P G

vr = r& a r = &r& − rθ& 2 vθ = rθ& aθ = rθ&& + 2r&θ& Kinetic Energy :

Particle Curvilinear Motion - n.t Coordinates
Particle : T = 1 mv 2 Rigid Body : T = 1 mv G2 + 1 I G ω 2
[1 + (dy dx) ]
2 2 2
⎡ 2 32 ⎤
dv v2
v = s& at = v& = &s& = v an = ρ=⎢ ⎥
ds ρ ⎢ 2
d y dx 2
⎥ Work :
⎣ ⎦
s2 s2
Relative Motion
v A = v B + v A/ B a A = a B + a A/ B
Force : U 1→ 2 =
∫
s1
F ⋅ ds =
∫ F ds
s1
t

Rigid Body Rotation about a Fixed Axis - Variable α

Linear Sping Force : (
U 1→ 2 = − 1 k δ 22 − δ 12
2
)
dω dθ
α= ω= ω dω = α dθ θ2

∫ M dθ
dt dt
Couple, Moment : U 1→ 2 =
Rigid Body Rotation about a Fixed Axis - Constant α
θ1
ω = ω o + αt θ = θ o + ωo t + 1 2 αt 2 ω 2 = ωo2 + 2α (θ − θ o ) Potential Energy :
Motion of a Point in a Fixed Axis Rotation V = Vg + Ve , where V g = ±Wh and V e = 1 kδ 2 + 1 kθ θ 2
2 2
s = rθ v = ωr at = rα an = rω 2

Motion Relative to a Rotating Axis Principle of Work and Energy :

v B = v A + Ω × r B / A + v Brel T1 + U 1→ 2 = T2
( )
a B = a A + α × r B / A + Ω × Ω × r B / A + 2Ω × v Brel + a Brel T1 + V g1 + Ve1 + U 1→ 2 = T2 + V g 2 + Ve 2

where : v Brel a Brel velocity/acceleration of point B rel to or U 1→ 2 = ∆T + ∆V g + ∆Ve

rotating frame
Conservati on of Energy :
vA aA absolute velocity/acceleration of A
U 1→ 2 = 0 ∴ ∆T + ∆V = 0 or T1 + V1 = T2 + V2
OR
vB = vP + vB/P
Power and Efficiency :
where v P = v A + Ω × r B / A and v Brel = v B / P dU
P= = F ⋅ v + M ⋅ω
dt

∫
P U
Mass Moment of Inertia I = r 2 dm η mech = out = out
Pin U in
Parallel Axis Theorem I O = I G + md 2 = mkO2
Principle of Impulse - Momentum :
Radius of Gyration k =I
2 (Momentum) 1 + (Impulse) 1→ 2 = (Momentum) 2
m

2
Uniform Bar I G = ml about G
12
2
I = ml about one end
3

2
Disc I = mr about diametral axis
4
2
I = mr about polar axis
2

2
Sphere I = 2mr
5
Linear Impulse and Momentum
FPS Units
1 inch = 2.54 cm
Particle : m v1 +∑ ∫ F dt = m v 2
12 inches = 1 foot = 0.3048 metres
m (v ) + ∑ F dt = m (v )
Rigid Body : G 1
∫ G 2 3 feet = 1 yard
5280 feet = 1 mile = 1.6093 kilometres
6076 feet = 1 nautical mile = 1.852 kilometres
Conservation of Linear Momentum
1 knot = 1.852 km / hr
∑ (m v) = ∑ (m v)
1 2 g = 32.2 ft/s 2 = 9.81 m/s 2

Coefficient of Restitution 1 slug weighs 32.2 pounds

v − v A2 1 kg weighs 9.81 Newtons
e = B2
v A1 − v B1 1 lb = 4.4482 N
=−
normal component of velocity after impact 1 slug = 14.5938 kg
normal component of velocity before impact

Angular Impulse and Momentum

(H ) + ∑ ∫ M
O 1 O ( )
dt = H O 2

for a particle H O = (m v )(d ) = r P / O × (m v )

for a rigid body
H O = I G ω + (m v G )(d ) = I G ω + r G / O × m v G ( )
Rigid Body about G :
(H ) + ∑ ∫ M
G 1 G ( )
dt = H G 2

where H G = I G ω

Conservation of Angular Momentum

∑ (H O or G ) = ∑ (H
1
O or G ) 2

Law of Cosines
a 2 = b 2 + c 2 − 2bc cos A

* from Bedford, A and Fowler, W., "Dynamics", 3rd Edition

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