qQ pP Rd M

O
+ = =
(3) 0
(2) 0
(1) 0

=
=
=
o
y
x
M
F
F
Fd M =
BEng (Hons) Mechanical Engineering Network
formula sheet

Sine and Cosine Rules
SinB
SinA
b
a
=
C ab b a c cos 2
2 2 2
+ =
D ab b a c cos 2
2 2 2
+ + =


Moments

M
o
= r x F

Varignons theorem

M
o
= r x P + r x Q

Equilibrium




Stress Strain Relationships
A
F
= o
A
V
= t
o
L
o
c =
c
o
= E

t
= G ( ) v + = 1 2G E
z x
vc c =
z y
vc c =

A C
B
D
c
b
a
Area Moments and Centroids
}
= ydA i
x

}
= xdA i
y

A
i
x
y
=
A
i
y
x
=
Area Moments of Inertia (general)
}
= dA y I
x
2

}
= dA x I
y
2

Area Moments of Inertia (standard cases)
12
3
bd
I
x
= Rectangle dimensions b x d. Note: the x-axis passes though the centroid of the area and
is parallel to side b
64
4
d
I
x
t
= Solid circular shaft having a diameter, d. The x-axis is any diameter

( )
64
4 4
i o
x
d d
I

=
t
Hollow circular shaft having an outer diameter, d
o
and inner diameter d
i
.
The x-axis is any diameter
Bending of Beams
R
E
y I
M
= =
o


Torsion of Circular Sections
L
G
r J
T u t
= =
e
P
T =
Solid circular section having an outer radius, r. The z-axis is the longitudinal (polar) axis)
( )
2
4
r
J
z
t
=
Hollow circular section having an outer radius, r
o
and inner radius r
i
. The z-axis is the longitudinal
(polar) axis
( )
2
4 4
i o
z
r r
J

=
t


Constant acceleration equations
2
2 2
2
1
2
at ut s
as u v
at u v
+ =
+ =
+ =


Friction
Friction force (f)=N (where N = normal force, = coefficient of friction)

Motion in a circle
V = r
a
t
= r
a
r
= r
2
=
r
s

Centripetal force = m.r.
2
(where m = mass, r = radius, = angular velocity)
= t
ou e e
o e e
o e u
2
2
1
2 2
2
+ =
+ =
+ =
i f
i f
i
t
t t


Energy Equations
Potential Energy: mgh E P = . (for height h above a datum)

2
2
1
. kx E P = (for spring stiffness k)
Kinetic Energy:
2
2
1
. mv E K = (for translational motion)

2
2
1
. e I E K = (for rotational motion)

Equations of motion

) cos(
) sin(
) cos(
0
2
u e e
u e e
u e
e
=
=
=
=
= +
t A x
t A x
t A x
m
k
kx x M
n n
n n
n
n

A =
2
0
2
0
|
|
.
|

\
|
+
n
x
x
e

|
|
.
|

\
|
=

n
x
x
e
u
0
0 1
tan



n n
f t e 2 =

Torsional Systems
0 = + u u k I


I
k
n
= e
Effective spring stiffness
Parallel connections:
2 1
k k k
eff
+ =
Series connections:
2 1
1 1 1
k k k
eff
+ = or
2 1
2 1
k k
k k
k
eff
+
=


Displacement
Velocity
Acceleration
Amplitude