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 CONTENTS

Units�������������������������������������������������������������������������������������������������������� 1
Conversion Factors���������������������������������������������������������������������������������� 2
Ethics������������������������������������������������������������������������������������������������������� 3
Safety������������������������������������������������������������������������������������������������������� 5
Mathematics������������������������������������������������������������������������������������������� 18
Engineering Probability and Statistics��������������������������������������������������� 33
Chemistry����������������������������������������������������������������������������������������������� 50
Materials Science/Structure of Matter��������������������������������������������������� 56
Statics����������������������������������������������������������������������������������������������������� 63
Dynamics����������������������������������������������������������������������������������������������� 68
Mechanics of Materials������������������������������������������������������������������������� 76
Thermodynamics����������������������������������������������������������������������������������� 83
Fluid Mechanics������������������������������������������������������������������������������������ 99
Heat Transfer����������������������������������������������������������������������������������������113
Instrumentation, Measurement, and Controls���������������������������������������120
Engineering Economics������������������������������������������������������������������������127
Chemical Engineering��������������������������������������������������������������������������134
Civil Engineering����������������������������������������������������������������������������������142
Environmental Engineering������������������������������������������������������������������174
Electrical and Computer Engineering���������������������������������������������������195
Industrial Engineering��������������������������������������������������������������������������215
Mechanical Engineering�����������������������������������������������������������������������224

Index�����������������������������������������������������������������������������������������������������237
Appendix: FE Exam Specifications������������������������������������������������������261
 DYNAMICS
COMMON NOMENCLATURE Unit vectors eθ and er are, respectively, normal to and collinear
t = time with the position vector r. Thus:
s = position r = rer
v = velocity
a = acceleration v = roer + rio ei
an = normal acceleration a = _rp - rio 2 i er + ^rip + 2roio hei, where
at = tangential acceleration r = the radial distance
θ = angle
i = the angle between the x axis and er
ω = angular velocity
α = angular acceleration ro = dr/dt, etc., rp = d2 r/dt2, etc.
Ω = angular velocity of x,y,z reference axis ♦ Particle Rectilinear Motion
:
X = angular acceleration of reference axis Variable a Constant a = ac
rA/B = relative position of "A" with respect to "B"
dv
vA/B = relative velocity of "A" with respect to "B" a = dt v = v0 + act
aA/B = relative acceleration of "A" with respect to "B" ds 1
v = dt s = s0 + v0t + 2 act2
PARTICLE KINEMATICS a ds = v dv v2 = v02 + 2ac _ s - s0 i
Kinematics is the study of motion without consideration of
the mass of, or the forces acting on, the system. For particle ♦ Particle Curvilinear Motion
motion, let r(t) be the position vector of the particle in an x, y, z Coordinates r, i, z Coordinates
inertial reference frame. The velocity and acceleration of the vx = xo ax = xp vr = ro ar = rp - rio 2
particle are defined, respectively, as vy = yo ay = yp vi = rio ai = rip + 2roio
v = dr/dt vz = zo az = zp
vz = zo az = zp
a = dv/dt, where
v = the instantaneous velocity n, t, b Coordinates
a = the instantaneous acceleration dv
v = s at = v =
t = time ds
1+ ( dy/dx )2  3 / 2
v2
Cartesian Coordinates an = ρ=  
r = xi + yj + zk ρ d 2y
dx 2
v = xo i + yo j + zo k
a = xp i + yp j + zp k, where ♦ Relative Motion
xo = dx/dt = vx, etc. vB = vA + vB/A aB = aA + aB/A
xp = d 2x/dt 2 = ax, etc. Relative Motion
The equations for the relative position, velocity, and
Radial and Transverse Components for Planar Motion acceleration may be written as
y Translating Axis
y A
Y
eθ
er rA/B

B x
r rB
θ
x
PATH X
rA = rB + rA/B
vA = vB + ω × rA/B = vB +vA/B
aA = aB + α × rA/B + ω × (ω × rA/B) = aB + aA/B

where ω and α are, respectively, the angular velocity and

angular acceleration of the relative position vector rA/B.

♦ Adapted from Hibbeler, R.C., Engineering Mechanics, 10th ed., Prentice Hall, 2003.

68 DYNAMICS
Rotating Axis Normal and Tangential Components
A y
Y y rA/B x et
en
B
rB
r

X
x
rA = rB + rA/B PATH
vA = vB + ω × rA/B + vA/B Unit vectors et and en are, respectively, tangent and normal to
aA = aB + α × rA/B + ω × (ω × rA/B) + 2ω × vA/B + aA/B the path with en pointing to the center of curvature. Thus

where ω and α are, respectively, the total angular velocity and v = v ^t h et

acceleration of the relative position vector rA/B. a = a ^t h et + ` vt2/tj en, where
t = instantaneous radius of curvature
Plane Circular Motion
A special case of transverse and radial components is for Constant Acceleration
constant radius rotation about the origin, or plane circular The equations for the velocity and displacement when
motion. acceleration is a constant are given as
a(t) = a0
y
v(t) = a0 (t – t0) + v0
et s(t) = a0 (t – t0)2/2 + v0 (t – t0) + s0, where
s = distance along the line of travel
er s0 = displacement at time t0
r v = velocity along the direction of travel
θ s
v0 = velocity at time t0
x a0 = constant acceleration
t = time
t0 = some initial time
Here the vector quantities are defined as
r = rer For a free-falling body, a0 = -g (downward).
v = r~et An additional equation for velocity as a function of position
may be written as
a = _- r~2 i er + raet, where
v 2 = v02 + 2a0 _ s - s0i
r = the radius of the circle
i = the angle between the x and er axes For constant angular acceleration, the equations for angular
The magnitudes of the angular velocity and acceleration, velocity and displacement are
respectively, are defined as a ^t h = a0
~ = io ~ ^t h = a0 _t - t0i + ~0
a = ~o = ip i ^t h = a0 _t - t0i /2 + ~0 _t - t0i + i0, where
2

Arc length, tangential velocity, and tangential acceleration, θ = angular displacement

respectively, are θ0 = angular displacement at time t0
s = ri ω = angular velocity
vt = r~ ω0 = angular velocity at time t0
at = ra
α0 = constant angular acceleration
The normal acceleration is given by t = time
an =- r~2 (towards the center of the circle) t0 = some initial time
An additional equation for angular velocity as a function of
angular position may be written as
~ 2 = ~02 + 2a0 _i - i0i

69 DYNAMICS
Projectile Motion ax = Fx /m, where
y Fx = the resultant of the applied forces, which in general can
v0
depend on t, x, and vx.

θ If Fx only depends on t, then

x ax ^ t h = Fx ^ t h /m

vx ^ t h = # ax ^x h dx + vxt0
t
The equations for common projectile motion may be obtained
from the constant acceleration equations as t0

x ^ t h = # vx ^x h dx + xt0
t
ax = 0
t0
vx = v0 cos(θ)
If the force is constant (i.e., independent of time,
x = v0 cos(θ)t + x0 displacement, and velocity) then
ay = –g ax = Fx /m
vy = –gt + v0 sin(θ) vx = ax _t - t0 i + vxt0
= –gt2/2 + v0 sin(θ)t + y0
x = ax _t - t0 i /2 + vxt0 _t - t0 i + xt0
y 2

Non-constant Acceleration
When non-constant acceleration, a(t), is considered, the Normal and Tangential Kinetics for Planar Problems
equations for the velocity and displacement may be obtained When working with normal and tangential directions, the
from scalar equations may be written as
t RFt = mat = mdvt /dt and
v ^t h = # a ^xh dx + vt0
t0 RFn = man = m ` vt2/tj
t
s ^t h = # v ^xh dx + st0 ♦ Principle of Work and Energy
t0 T1 + U1-2 = T2

For variable angular acceleration ♦ Kinetic Energy

t 1 2
~ ^t h = # a ^xh dx + ~t0 Particle T= mv
t0
2
t Rigid Body
i ^t h = # ~ ^xh dx + it0
1 2 1
( Plane Motion) T= mvG + I G ω 2
t0 2 2

CONCEPT OF WEIGHT ♦ Work

W = mg, where
Variable force U F = ∫ F cos θ ds
W = weight, N (lbf)
Constant force U F = Fc cos θ ∆ s
m = mass, kg (lbf-sec2/ft)
Weight UW = − W ∆ y
g = local acceleration of gravity, m/s2 (ft/sec2)
1 
Spring U s = −  ks22 − ks12 
PARTICLE KINETICS 2 
Newton's second law for a particle is Couple moment U M = M
ΣF = d(mv)/dt, where
♦ Power and Efficiency
ΣF = the sum of the applied forces acting on the particle
dU Pout U
m = the mass of the particle P= = F• v ε= = out
dt Pin U in
v = the velocity of the particle
For constant mass, ♦ Conservation of Energy Theorem
T1 + V1 = T2 + V2
ΣF = m dv/dt = ma

One-Dimensional Motion of a Particle (Constant Mass) ♦ Adapted from Hibbeler, R.C., Engineering Mechanics, 10th ed., Prentice Hall, 2003.
When motion exists only in a single dimension then, without
loss of generality, it may be assumed to be in the x direction,
and
70 DYNAMICS
♦ Potential Energy
V = Vg + Ve , where Vg = ± Wy , Ve = + 1/2 ks2
Work and Energy
Work W is defined as
W = ∫F • dr
Kinetic Energy
The kinetic energy of a particle is the work done by an
external agent in accelerating the particle from rest to a
velocity v. Thus
T = mv2/2
In changing the velocity from v1 to v2, the change in kinetic
energy is
T2 - T1 = m ` v22 - v12j /2
Potential Energy
The work done by an external agent in the presence of a
conservative field is termed the change in potential energy.
Potential Energy in Gravity Field
U = mgh, where
h = the elevation above some specified datum.
Elastic Potential Energy
For a linear elastic spring with modulus, stiffness, or spring
constant, the force in the spring is
Fs = k x, where
x = the change in length of the spring from the undeformed
length of the spring.
The potential energy stored in the spring when compressed or
extended by an amount x is
U = k x2/2
In changing the deformation in the spring from position x1 to
x2, the change in the potential energy stored in the spring is
U2 - U1 = k ` x22 - x12j /2
Principle of Work and Energy
If Ti and Ui are, respectively, the kinetic and potential energy
of a particle at state i, then for conservative systems (no
energy dissipation or gain), the law of conservation of energy
is
T2 +U2 = T1 +U1
If nonconservative forces are present, then the work done by
these forces must be accounted for. Hence
T2 +U2 = T1 +U1 +W1→2 , where
W1→2 = the work done by the nonconservative forces in
moving between state 1 and state 2. Care must be exercised
during computations to correctly compute the algebraic sign of
the work term. If the forces serve to increase the energy of the
system, W1→2 is positive. If the forces, such as friction, serve
to dissipate energy, W1→2 is negative.
71
Impulse and Momentum
Linear
Assuming constant mass, the equation of motion of a particle
may be written as
mdv/dt = F
mdv =Fdt
For a system of particles, by integrating and summing over the
number of particles, this may be expanded to
t2
Rmi ^viht 2 = Rmi ^viht1 + R # Fi dt
t1
The term on the left side of the equation is the linear
momentum of a system of particles at time t2. The first term
on the right side of the equation is the linear momentum of
a system of particles at time t1. The second term on the right
side of the equation is the impulse of the force F from time
t1 to t2. It should be noted that the above equation is a vector
equation. Component scalar equations may be obtained by
considering the momentum and force in a set of orthogonal
directions.
Angular Momentum or Moment of Momentum
The angular momentum or the moment of momentum about
point 0 for a particle is defined as
H0 = r # mv, or
H0 = I0 ~
Taking the time derivative of the above, the equation of
motion may be written as
Ho 0 = d _ I0 ~i /dt = M, where
M is the moment applied to the particle. Now by integrating
and summing over a system of any number of particles, this
may be expanded to
t2
R ^H0iht 2 = R ^H0iht 1 + R # M0idt
t1
The term on the left side of the equation is the angular
momentum of a system of particles at time t2. The first term
on the right side of the equation is the angular momentum of
a system of particles at time t1. The second term on the right
side of the equation is the angular impulse of the moment M
from time t1 to t2.
♦ Adapted from Hibbeler, R.C., Engineering Mechanics, 10th ed., Prentice Hall, 2003.
DYNAMICS
Impact PLANE MOTION OF A RIGID BODY
During an impact, momentum is conserved while energy may Kinematics of a Rigid Body
or may not be conserved. For direct central impact with no Rigid Body Rotation
external forces For rigid body rotation θ
m1v 1 + m2v 2 = m1v l1 + m2v l2, where ω = dθ/dt
m1, m2 = the masses of the two bodies α = dω/dt
αdθ = ωdω
v1, v2 = the velocities of the bodies just before impact
Instantaneous Center of Rotation (Instant Centers)
v l1, v l2 = the velocities of the bodies just after impact An instantaneous center of rotation (instant center) is a point,
For impacts, the relative velocity expression is common to two bodies, at which each has the same velocity
^v l2hn - ^v l1hn
(magnitude and direction) at a given instant. It is also a point
e= , where in space about which a body rotates, instantaneously.
^v1hn - ^v2hn A
e = coefficient of restitution 2 3 B
(vi)n = the velocity normal to the plane of impact just before O2 θ2
4
impact
_ v li in = the velocity normal to the plane of impact just after
1 GROUND

impact
The value of e is such that
0 ≤ e ≤ 1, with limiting values
e = 1, perfectly elastic (energy conserved)
e = 0, perfectly plastic (no rebound)
Knowing the value of e, the velocities after the impact are
given as
m2 ^v2hn ^1 + eh + ^m1 - em2h ^v1hn
^v l1hn = m1 + m2
m1 ^v1hn ^1 + eh - ^em1 - m2h ^v2hn
^v l2hn = m1 + m2
Friction
The Laws of Friction are
1. The total friction force F that can be developed is
independent of the magnitude of the area of contact.
2. The total friction force F that can be developed is
proportional to the normal force N.
3. For low velocities of sliding, the total frictional force
that can be developed is practically independent of
the velocity, although experiments show that the
force F necessary to initiate slip is greater than that
necessary to maintain the motion.
The formula expressing the Laws of Friction is
F ≤ µN, where
µ = the coefficient of friction.
In general
F < µs N, no slip occurring
F = µs N, at the point of impending slip
F = µk N, when slip is occurring
Here,
µs = the coefficient of static friction
µk = the coefficient of kinetic friction
The coefficient of kinetic friction is often approximated as
75% of the coefficient of static friction.
72
I 14 ∞
I 23
I12 I 34
The figure shows a fourbar slider-crank. Link 2 (the crank)
rotates about the fixed center, O2. Link 3 couples the crank to
the slider (link 4), which slides against ground (link 1). Using
the definition of an instant center (IC), we see that the pins at
O2, A, and B are ICs that are designated I12, I23, and I34. The
easily observable IC is I14, which is located at infinity with its
direction perpendicular to the interface between links 1 and 4
(the direction of sliding). To locate the remaining two ICs (for
a fourbar) we must make use of Kennedy's rule.
Kennedy's Rule: When three bodies move relative to one
another they have three instantaneous centers, all of which lie
on the same straight line.
To apply this rule to the slider-crank mechanism, consider
links 1, 2, and 3 whose ICs are I12, I23, and I13, all of which
lie on a straight line. Consider also links 1, 3, and 4 whose
ICs are I13, I34, and I14, all of which lie on a straight line.
Extending the line through I12 and I23 and the line through I34
and I14 to their intersection locates I13, which is common to the
two groups of links that were considered.
I14 ∞
I13
I14 ∞
I24
I23
2 3 I34
I12
4
1 GROUND
DYNAMICS
Similarly, if body groups 1, 2, 4 and 2, 3, 4 are considered, a Parallel-Axis Theorem
line drawn through known ICs I12 and I14 to the intersection of The mass moments of inertia may be calculated about
a line drawn through known ICs I23 and I34 locates I24. any axis through the application of the above definitions.
However, once the moments of inertia have been determined
The number of ICs, c, for a given mechanism is related to the about an axis passing through a body's mass center, it may
number of links, n, by be transformed to another parallel axis. The transformation
^ h equation is
c= n n- 1
2 Inew = Ic + md 2 , where

Kinetics of a Rigid Body
In general, Newton's second law for a rigid body, with
constant mass and mass moment of inertia, in plane motion
may be written in vector form as
RF = mac
RMc = Ic a
RMp = Ic a + t pc # mac, where
F are forces and ac is the acceleration of the body's mass
center both in the plane of motion, Mc are moments and α is
the angular acceleration both about an axis normal to the plane
of motion, Ic is the mass moment of inertia about the normal
axis through the mass center, and ρpc is a vector from point p
to point c.
♦ Mass Moment of Inertia I = ∫ r dm
2 written as
Inew = the mass moment of inertia about any specified axis
Ic = the mass moment of inertia about an axis that is parallel
to the above specified axis but passes through the body's
mass center
m = the mass of the body
d = the normal distance from the body's mass center to the
above-specified axis
Mass Radius of Gyration
The mass radius of gyration is defined as
rm = I m
Without loss of generality, the body may be assumed to be
in the x-y plane. The scalar equations of motion may then be

Parallel-Axis Theorem I = IG + md 2 RFx = maxc

RFy = mayc
I
Radius of Gyration k = RMzc = Izc a, where
m
zc indicates the z axis passing through the body's mass center,
♦ Equations of Motion axc and ayc are the acceleration of the body's mass center
Rigid Body ΣFx = m aG in the x and y directions, respectively, and α is the angular
x
acceleration of the body about the z axis.
Plane Motion ΣFy = m ( aG y
Rotation about an Arbitrary Fixed Axis
Σ MG = I G α r ΣM P = Σ ( M k )P
♦ Rigid Body Motion About a Fixed Axis
Variable a Constant a = ac
d~ ~ = ~0 + act
Mass Moment of Inertia a = dt
The definitions for the mass moments of inertia are di
~ = dt i = i0 + ~0t + 1 act2
2
Ix = # ` y2 + z2 j dm ~ d~ = a d i ~2 = ~20 + 2ac _i - i0 i
Iy = # _ x2 + z2 i dm For rotation about some arbitrary fixed axis q
Iz = # ` x2 + y2 j dm RMq = Iq a
A table listing moment of inertia formulas for some standard If the applied moment acting about the fixed axis is constant
shapes is at the end of this section. then integrating with respect to time, from t = 0 yields
α = Mq /Iq
ω = ω0 + α t
θ = θ0 + ω0 t + α t2/2

where ω0 and θ0 are the values of angular velocity and angular

displacement at time t = 0 , respectively.

♦ Adapted from Hibbeler, R.C., Engineering Mechanics, 10th ed., Prentice Hall, 2003.

73 DYNAMICS
The change in kinetic energy is the work done in accelerating where ωn = k m is the undamped natural circular frequency
the rigid body from ω0 to ω and C1 and C2 are constants of integration whose values are
i determined from the initial conditions.
Iq ~ 2/2 = Iq ~02 /2 + # Mqdi
i0 If the initial conditions are denoted as x(0) = x0 and
xo ^0h = v0, then
Principles of Work Energy
In general the kinetic energy for a rigid body may be written x ^t h = x0 cos _~nt i + _ v0 /~ni sin _~nt i
as
It may also be shown that the undamped natural frequency
T = mv 2/2 + Ic ~ 2/2
may be expressed in terms of the static deflection of the
For motion in the xy plane this reduces to system as

T = m ` vcx
2 2
+ vcy j /2 + Ic ~ 2z /2 ~n = g/dst
The undamped natural period of vibration may now be written
For motion about an instant center, as
T = IICω2/2 2r 2r
xn = 2r/~n = = g
k
♦ Principle of Angular Impulse and Momentum m dst
Rigid Body (HG )1 + ∑ ∫ M G dt = (HG )2 Torsional Vibration
( Plane Motion) where HG = I G ω
(HO )1 + ∑ ∫ MO dt = ( HO )2
where HO = I O ω kt

♦ Conservation of Angular Momentum I

Σ(syst. H)1 = Σ(syst. H)2
θ
Free Vibration
The figure illustrates a single degree-of-freedom system. For torsional free vibrations it may be shown that the
differential equation of motion is
Position of Undeformed
Length of Spring ip + _ k I i i = 0, where
t
δst
m Position of Static θ = the angular displacement of the system
Equilibrium
kt = the torsional stiffness of the massless rod
x I = the mass moment of inertia of the end mass
k The solution may now be written in terms of the initial
conditions i ^0h = i0 and io ^0h = io 0 as
i ^t h = i cos _~ t i + _io /~ i sin _~ t i
0 n 0 n n
The equation of motion may be expressed as
where the undamped natural circular frequency is given by
mxp = mg - k _ x + dst i ~n = kt /I
The torsional stiffness of a solid round rod with associated
where m is mass of the system, k is the spring constant of the
polar moment-of-inertia J, length L, and shear modulus of
system, δst is the static deflection of the system, and x is the
elasticity G is given by
displacement of the system from static equilibrium.
kt = GJ/L
From statics it may be shown that Thus the undamped circular natural frequency for a system
with a solid round supporting rod may be written as
mg = kδst
~n = GJ/IL
thus the equation of motion may be written as Similar to the linear vibration problem, the undamped natural
mxp + kx = 0, or period may be written as
xp + ^ k/mh x = 0 xn = 2r/~n =
2r
=
2r
kt GJ
I IL
The solution of this differential equation is
x(t) = C1 cos(ωnt) + C2 sin(ωnt) ♦ Adapted from Hibbeler, R.C., Engineering Mechanics, 10th ed., Prentice Hall, 2003.
74 DYNAMICS
 Figure Mass & Centroid Mass Moment of Inertia (Radius of Gyration)2 Product of Inertia
y M = ρLA
xc= L/2 I x = I xc = 0 rx2 = rx2c = 0
yc=0 I xc yc , etc. = 0
z c I yc = I zc = ML2 12
zc=0 ry2c = rz2c = L2 12
I xy , etc. = 0
A = cross-sectional area of I y = I z = ML2 3
L x ry2 = rz2 =L 3 2
rod
ρ = mass/vol.
y M =
2πRρA
xc R = mean radius
= I xc = I yc = MR 2 2 rx2c = ry2c = R 2 2
I xc yc , etc. = 0
yc R = mean radius
= I zc = MR 2 r22c = R 2
cR zc 0= I zc zc = MR 2
2
A =
cross-sectional area of I x = I y = 3MR 2 rx2 = ry2 = 3R 2 2

z I xz = I yz = 0
ring I z = 3MR 2
rz2 = 3R 2
x
ρ = mass/vol.
y
πR2ρh
R M
xc
=
= 0
(
I xc = I zc = M 3R 2 + h 2 12 ) (
rx2c = rz2c = 3R 2 + h 2 12 ) I xc yc , etc. = 0
75

c yc = h/2 I yc = I y = MR 2 2 ry2c = ry2 = R 2 2

I xy , etc. = 0
DYNAMICS

h zc
ρ
=
=
0
mass/vol.
I x = I z = M 3R + 4h ( 2 2
) 12 rx2 = rz2 (
= 3R + 4h 2 2
) 12
z x
y
R2
(
M = π R12 − R22 ρ h ) I xc = I z c (
rx2c = rz2c = 3R12 + 3R22 + h 2 12 )
xc = 0 (
= M 3R12 + 3R22 + h 2 12 ) ry2c = ry2 = (R 2
)
+ R22 2
I xc yc , etc. = 0
R1 c
yc = h 2 I y c = I y = M R12 + R22 2( ) 1
I xy , etc. = 0
h zc = 0 Ix = Iz rx2 = rz2

z x
ρ = mass vol. (
= M 3R12 + 3R22 + 4h 2 12 ) (
= 3R12 + 3R22 + 4h 2 12 )
y 4 3
M = πR ρ
3 I xc = I x = 2 MR 2 5 rx2c = rx2 = 2 R 2 5
I xc yc, etc. = 0
R xc = 0
c I yc = I y = 2 MR 2 5 ry2c = ry2 = 2 R 2 5
yc = 0
z x zc = 0 I zc = I z = 2 MR 2 5 rz2c =r 2z = 2 R 2 5
ρ = mass/vol.
Housner, George W., and Donald E. Hudson, Applied Mechanics Dynamics, D. Van Nostrand Company, Inc., Princeton, NJ, 1959. Table reprinted by permission of G.W. Housner & D.E. Hudson.