Constant Linear Acceleration Motion

V = V0 + at 1 2 at 2 V 2 = V02 + 2aS S = S 0 +V0t +

1D Angular Motion
= d = dt = d = dt

Constant Angular Acceleration Motion

= 0 + t
1 = 0 + 0t + t 2 2 2 2 = 0 + 2

2D and 3D Motion in Polar and Cylindrical Coordinate System

Vr = r V = r Vz = z 2 ar = r r a = r + 2r az = z

Relative Motion Formulation

VS =VB +VS / B aS = a B + aS / B

Kinmatics of rolling motion

B C A VC AC

A C R B R R2 C

Work/Energy Formulation of particle Kinetics

KE: Change in kinetic energy of the particle

The change in kinetic energy of a particle is:

KE = 1 1 mV22 mV12 2 2

PE: Change in potential energy of the particle (due to gravitational and spring forces)

Gravitational potential energy

PE gravity = mg ( h2 h1 )

Elastic potential energy

PEElastic =

1 2 k (S 2 S12 ) 2

Where S is the difference in spring length and the free length of the spring (S0): S1=S1-S0 S2=S2-S0 Impulse/Momentum Formulation of particle Kinetics
Fdt = m(V
2

V1 )

Multiple Particle Kinetics

Force Acceleration Formulation
F
ext

=mt aG

Work/Energy Formulation of particle Kinetics

U
i

= KE + PE

Impulse/Momentum Formulation of particle systems Impulse-Momemtum formulation of kinetics also remains the same:
F
ext

dt = mi (Vi 2 Vi1 )

Coefficient of restitution Suppose two particles collide head on as shown below:

3

Before Collision 1 V1,b V2,b 2

V1,a

V2,a After Collision

e=

Re lative _ speed _ of _ departure Re lative _ speed _ of _ approach

Angular Impulse Angular momentum Formulation of particle system kinetics

R
ext ,i

Fext ,i dt = mi ( Ri 2 Vi 2 Ri1 Vi1 )

Kinetics of Fluid Flow

(Vout Vi ) R =m = !V m !i Vi = !outVout

Kinetics of Rigid Bodies

Force/Acceleration Formulation

ext

=mt aG

Moment Angular Acceleration Formulation

$
ext ,"

= # "
2

# o = Ro dm
$

ext ,G

= # G

# G = RG dm
2 $

Parallel-Axis theorem
# " = # G + md 2

Work and Kinetic Energy Formulation for Rigid Bodies

U
i ,1 2

= KE12 + PE12

Kinetic Energy of a Rigid Body

% = 1 1 2 mVG + # G2 2 2 1 % = # "2 2
PE gravity = mg ( h2 h1 )

Potential Energy
PEElastic =

1 2 k (S 2 S12 ) 2

Impulse-Momentum Formulation of Rigid Bodies

F
ext

dt =m(VG , f VG ,i )

ext ,"

dt = # " (f i)