Professional Documents
Culture Documents
FOrmula AMME2500
FOrmula AMME2500
y y
a m F =
I M
G
=
Work Energy principle:
e g
V V T U + + =
2 1
Work done by external force
,
2 2
2
1
2
1
I v m T + = kinetic energy, h mg V
g
= gravitational P.E.,
2
2
1
kx V
e
= elastic P.E.
Impulse-Momentum principle:
Linear:
2 2 1 2
2
1
v v G - G F m m dt
t
t
= =
=
=
1 2
2
1
1 2
2
1
:
:
y y
t
t
y
x x
t
t
x
v m v m dt F y
v m v m dt F x
Angular:
1 2 G G
1 2
2
1
I I H H dt M
t
t
G
= =
3. Steady Mass Flow and Variable Mass
Steady Mass Flow:
Resultant force: ( )
1 2
v v G F = =
' m
&
Resultant moment about O: ( )
1 1 2 2
v d v d H M = =
' m
O O
&
where ' m is mass flow rate, v
1
entering velocity and v
2
leaving velocity.
Variable Mass: u v F m m & & =
where m is mass of system at time t, v is velocity of system, u is velocity of the rejected mass,
F the external force acting on the system.
4. Eulers First Law
F R =
G
m
& &
where R
G
is the position vector of mass center and F is the external force acting on the body
5. Eulers Second Law
M H =
&
where H is angular momentum and
=
i
i i
F r M is the external moment acting on the body
AMME2500 Formula Sheet 2012 Page 2 of 3
6. Angular Momentum
|
|
|
\
|
(
(
(
= =
z
y
x
zz yx xz
yx yy xy
xz xy xx
I I I
I I I
I I I
I H
where
( ) ( )
+ + =
=
B
n
i
i i i xx
dm z y z y m I
2 2
1
2 2
=
=
B
n
i
i i i xy
xydm y x m I
1
( ) ( )
+ + =
=
B
n
i
i i i yy
dm z x z x m I
2 2
1
2 2
=
=
B
n
i
i i i xz
xzdm z x m I
1
( ) ( )
+ + =
=
B
n
i
i i i zz
dm y x y x m I
2 2
1
2 2
=
=
B
n
i
i i i yz
yzdm z y m I
1
7. Parallel Axis Theorem
xx Xx XX
I md I + =
2
where
Xx
d is the distance between the these two axes (XX and xx)
8. Parallel Plane Theorem
xy G G XY
I Y mX I + =
where X
G
, Y
G
, Z
G
are the coordinate of the center of mass.
9. Kinetic Energy of A Rigid Body
G G G
m T H V V + =
2
1
2
1
T
where V
G
is the velocity of the center of mass, is the angular velocity of the body, H
G
is
angular momentum of the body about the center of mass.
10. Lagranges Equations
( ) NC
k
k k k
Q
q
V
q
T
q
T
dt
d
=
|
|
\
|
&
r , , k L 1 =
where T is the kinetic energy, V the potential energy, q
k
the generalized coordinates and
( ) NC
k
Q the non-conservative generalized forces.
11. Integration
( )
1
1
C bt a ln
b bt a
dt
+ =
( ) ( ) ( )
2
1 1
1
1 C t at ln at
a
dt at ln + =
where C
1
and C2 are constant of integration
AMME2500 Formula Sheet 2012 Page 3 of 3
12. Mass Moment of Inertia
Geometry Mass moment of inertia
x
y
z
R
Sphere
G
2
5
2
mR I I I
zz yy xx
= = =
0 = = =
zx yz xy
I I I
x
y
z
x
y
z
h
R
Cylinder
G
( )
2 2
3
12
1
h R m I I
yy xx
+ = =
2
2
1
mR I
zz
=
0 = = =
zx yz xy
I I I
x
y
z
x
y
z
R
Disk G
2
4
1
mR I I
yy xx
= = ,
2
2
1
mR I
zz
=
0 = = =
zx yz xy
I I I
x
y
z
x
y
l
G
l/2
l/2
Slender
bar
2
12
1
ml I I
yy xx
= =
2
3
1
ml I I
' y ' y ' x ' x
= =
0 = = = =
zz zx yz xy
I I I I
x
y
z
R
h
h/4
Cone
G
( )
2 2
4
80
3
h R m I I
yy xx
+ = =
2
10
3
mR I
zz
=
0 = = =
zx yz xy
I I I
x
y
z
a
b
c
Block
G
( )
2 2
12
1
c b m I
xx
+ = , ( )
2 2
12
1
c a m I
yy
+ =
( )
2 2
12
1
b a m I
zz
+ =
0 = = =
zx yz xy
I I I
a
b
c
Plate
x
y
z
G
2
12
1
mb I
xx
= ,
2
12
1
ma I
yy
=
( )
2 2
12
1
b a m I
zz
+ =
0 = = =
zx yz xy
I I I