Dynamics Formula Overview

General Equations:
v=

=
ds
dt

d s
dv
= 2
dt
dt
a ds = v dv

a=

F = ma

v = re
r + re



a = r r2 er + 2r + r e


(3)

v =r

(25)

(4)

a = r ( r)

(26)

9
(5)
(6)

2
IA = IG + m2A = mkA

(7)

Relative Velocity/Acceleration:
vA/B = vA vB = vB/A

(8)

aA/B = aA aB = aB/A

(9)

10

Fw = k N

(10)

Fw s N

(11)

(27)

1
ml2
12
1
= mr2
2

(28)
(29)

IGdisc

(30)

Kinetic Energy for Rotations

1
I0 2
2
1
1
2
T = mvG
+ IG 2
2
2

(31)
(32)

Angular Momentum Equations

Energy:
U=

F ds

1
mv 2
2
V g = mgh

T =

1
k(r r0 )2
2
= T + V g + V e

Ve =
0
U1,2

(12)
(13)
12

(14)

(16)

Momentum:
G = mv

(17)

= mv = ma = f
G

(18)

HA = IG + rAG mvG

(33)

A + vA mvG
MA = H

(34)

G + rAG maG
MA = H

(35)

Table of Useful Equations

F = ma
G = mv
= F
G
T = 21 mv 2

(15)

H = mr v
(19)

H = mr v = r (ma) = r f = M0 (20)
7

(24)

IGbar =

T =

Friction:

Moment of Inertia
Z
IG =
r2 dA

(23)

11
5

(22)

(2)

Polar Coordinate Systems:

r = rer

d
dt

d
d2
= 2
dt
dt
d = d

(1)
2

Rotations

Collisions

v10 v20
(21)
v1 v2
Plastic collision e = 0, elastic collision e = 1.
e=

M = I
H = I
= M
H
T = 12 I 2

(36)