ME3302-001 Dynamics (Han) Spring 2011 Formula Sheet Chapter 12 Kinematics of a particle Rectilinear Motion ds dt dv dv =v dt ds

Fr F Fz

2 = mar = m r r = ma = m r + 2r = maz = m z

a =

Fn Ft Fb

= man = mv 2 / = mat = mv = mab = 0 for planar motion

a (s) ds = vdv v dv = ds a (v) a (t) dt = dv Constant acceleration, ao = vo + ao t 1 2 s = ao t + vo t + so 2 2 v2 = vo + 2ao s Curvilinear Motion: Cylinderical Coordinate = rr u u = rr + r u 2 a = r r ur + r + 2 r u Curvilinear Motion: TNB Coordinate v = vt u v2 un r v v

Chapter 14 Work and Energy Work of a force

r2

U12
F

=
r1

F dr

U12
k

U12
g

1 = k s2 s2 2 1 2 = mg (h2 h1 ) = k N d

U12
f

Kinetic Energy of a point mass 1 T = mv2 2 Work and Energy Principle T2 T1 = Potential Energy V Vg Vk Conservation of energy T1 + V1 = T2 + V2 Chapter 15 Impulse and Momentum Linear Impulse Momentum Principle L2 L1 = Imp12 , where Imp12 is the impulse due to EXTERNAL forces. t2 It is often written as Fi dt, but you are not supposed t1 to integrate force. Central direct impact (prime notation is used for quanties immediately AFTER impact) LA+Bn = LA+Bn mA vA + mB vB = mA vA + mB vB v vA e= B vA vB 1 = U12 = mgh 1 2 = ks 2 U12

a = vt + u If the path is circular

= r v = r v = r Relative Motion rA/B vA/B aA/B = rA rB = vA vB = aA aB

Chapter 13 Newtons second law Fx Fy Fz = max = may = maz

Central oblique impact LAt = LAt vAt = vAt LBt = LBt T = = 1 1 mv2 + IG 2 2 G 2 1 Io 2 if o exists 2

vBt = vBt Potential energy and work - same as the ones given for LA+Bn = LA+Bn a particle Chapter 19 Rigid Body Kinetics: Momentum mA vAn + mB vBn = mA vAn + mB vBn Linear and angular momentum for a particle v vAn e = Bn vAn vBn L = mv Contrained impact (cart+ball or pendulum+ball problem) HA = r mv,

LBallt = LBallt vBallt = vBallt L = mvG LA+Bx = LA+Bx HG = IG k mA vAx + mB vBx = mA vAx + mB vBx Ho = Io k vBn vAn e= Principle of Impulse and Momentum vAn vBn Chapter 16 Rigid Body Kinematics vB aB = vA + AB rB/A + {vB }AB = aA + AB AB rB/A + AB rB/A + {aB }AB + 2 AB {vB }AB Rigid Body HP
system

where r is the position vector to the particle from A. Linear and angular momentum for a RIGID body

Lsystem + + rA/P

Imp = Lsystem Imp = HP system

Chapter 17 Rigid Body Kinetics: Geometry and Newtons 2nd Law Parallel Axis Theorem IA = IG + md2 Force balance F = maG

where Imp is due to forces external to the system, P is either G or O (and maybe B if vG vB = 0), and A is where the impulse is applied.

Moment balance (G is centroid, O is part of the rigid body where vo = 0, and B is any arbitrary point that may or may not be part of the body and may or may not be moving) Mo k MG k MB MB = Io k = IG k = IG k + rG/B maG = d HB + vB mvG dt

Chapter 18 Rigid Body Kinetics: Energy Kinetic energy 2