=

c
t +
0

=

c
t
2
2
+
0
t +
0


=
0
2
+ 2
c
(
0
)
Const. Angular Acceleration

v
B
= v
A
+ - rBA
:

v
B,x
= v
A,x
r
BA,y


v
B,y
= v
A,y
+r
BA,x
Relative Velocity

aB = aA + - rBA
2
rBA
:

a
B,x
= a
A,x
r
BA,y

2
r
BA,x
Relative


a
B,y
= a
A,y
+ r
BA,x

2
r
BA,y
Acceleration

Coriolis

a:

2 -vB,rel

Euler

a:

- rBA Centripetal

a:

2
rBA


vB = vA + vB,rel + - rBA


aB = aA + aB,rel + 2 - vB,rel + - rBA
2
rBA


v
B,x
= v
A,x
+ (v
B,rel ,x
cos v
B,rel,y
sin)
z
(x
B
sin + cos)
Coriolis

v
B,y
= v
A,y
+ (v
B,rel ,x
sin + v
B,rel,y
cos) +
z
(x
B
cos sin)
Motion

a
B,x
= (a
B,rel,e
x
cos) 2(v
B,rel,e
x
sin) r
BA,y

2
r
BA,x


a
B,y
= (a
B,rel,e
x
sin) + 2(v
B,rel ,e
x
cos) +r
BA,x

2
r
BA,y


I = I
G
+ md
2


I = mk
2
Moment of Inertia

I
G
= I md
2
(Composite body: hole not at

I
G
)

F
x
= m(a
G
)
x

F
y
= m(a
G
)
y

Planar Kinetic Equations

M
P
= (^
/
)
P

:

^
K
=Kinetic moments with of Motion

M
G
= I
G

ym(a
G
)
x
and

xm(a
G
)
y
about point P
*Must use proper sign orientation (ie. when drawing KD, if a or

is ve then use ve sign in formulae)
*If kinetic moments are present, sum the moments through that point in order to eliminate them

T =
1
2
mv
G
2
+
1
2
I
G

2
(Kinetic Energy) Work/Energy Theorems
Work of a constant force:

U
F
c
= (F
c
cos)ds
Work of a weight:

U
W
= WAy
Work of a Spring Force:

U
S
= (
1
2
ks
2
2

1
2
ks
1
2
) (Forces that act at IC do zero work)
Work of a couple:

U
M
= Md

T
1
+ U
12
= T
2

T
1
+ V
1
= T
2
+ V
2
Conservation of Energy
Gravitational Potential Energy:

V
G
= Wy
G
(y as positive upward from datum, can be negative if y is above in state 2)
Elastic Potential Energy:

V
e
=
1
2
ks
2
*Always Positive Conservation of Energy Cont
Total potential Energy:

V = V
g
+ V
e

Linear momentum:

L = mv
G
Momentum
Angular Momentum:

H
G
= I
G
;

H
O
= (mv
P
)r
O/ P

Translation:

H
G
= 0,

L = mv
G

Rotation about a fixed axis:

L = mv
G
,

H
G
= I
G


m(v
G,x
)
1
+ F
x
dt
t
1
t
2

= m(v
G,x
)
2
*Linear momenta must be applied at the bodies mass center Impulse

m(v
G,y
)
1
+ F
y
dt
t
1
t
2

= m(v
G,y
)
2
*Angular momenta are free vectors and can be applied anywheres on a body

I
G

1
+ M
G
dt
t
1
t
2

= I
G

2


x
6
= (
3
2
,
1
2
)


x
4
= (
2
2
,
2
2
)


x
3
= (
1
2
,
3
2
)


L
O

1
= L
O

2

Conservation

H
O

1
= H
O

2

of momentum

e =
(v
B
)
2
(v
A
)
2
(v
A
)
1
(v
B
)
1
Impact

F
y
= ma
y
= m y

M
O
= I
O

Vibrations-Eqns of Motion

y +
n
y = 0

y = Asin
n
t + Bcos
n
t

y = Csin(
n
t + o)

C = A
2
+ B
2


o = tan
1
B
A


t =
2x

n


f =
1
t


1
2
mx
y
2
+
1
2
kx
2
= const.

x (m x + kx) = 0

x +
n
2
x = 0 Vibrations-Energy
**Slip condition Rolling wheel: Must check if

F
f

s
N, if not then,

a
g
and

are independent of one another and

F
f
=
k
N
Center of Rod:

I =
1
12
ml
2 End of Rod:

I =
1
3
ml
2 Sphere:

I =
2
5
mr
2 Thin Circular Disk (center):

I =
1
2
mr
2
Thin circular disk (Outer edge):

I
P
=
3
2
mr
2 Box:

I =
1
3
mbh