Formula Sheet

Linear velocity and acceleration:

𝑑𝑟⃗(𝑡)
Relative velocity:
𝑣⃗ (𝑡) = 𝑣⃗𝐴|𝐶 = 𝑣⃗𝐴|𝐵 + 𝑣⃗𝐵|𝐶
𝑑𝑡
∆𝑟⃗
𝑣⃗𝑎𝑣𝑔 =
∆𝑡
𝑑𝑣⃗⃗(𝑡) Newton’s Laws:
𝑎⃗(𝑡) =
𝑑𝑡
∆𝑟⃗ Σ𝐹⃗ = 0 (object in equilibrium)
𝑎⃗𝑎𝑣𝑔 =
∆𝑡 𝑑𝑝⃗
Σ𝐹⃗ = 𝑚𝑎⃗ =
𝑑𝑡
If 𝑎⃗ is constant: 𝐹⃗𝐴|𝐵 = −𝐹⃗𝐵|𝐴
𝑣⃗ (𝑡) = 𝑣⃗0 + 𝑎⃗𝑡
1
𝑟⃗(𝑡) = 𝑟⃗0 + 𝑣⃗0 𝑡 + 𝑎⃗𝑡 2
2 Forces:
2 2
𝑣 = 𝑣0 + 2𝑎⃗(𝑟⃗ − 𝑟⃗0)
1 𝐹⃗𝑔𝑟𝑎𝑣𝑖𝑡𝑦 = 𝑤⃗⃗⃗ = 𝑚𝑔⃗
𝑟⃗ = 𝑟⃗0 + (𝑣⃗ + 𝑣⃗0 )𝑡
2
𝐹⃗𝑛𝑜𝑟𝑚𝑎𝑙 = 𝑛⃗⃗
Rotational velocity and acceleration: 𝐹⃗𝑓𝑟𝑖𝑐𝑡𝑖𝑜𝑛 = 𝑓⃗; 𝑓⃗𝑠𝑡𝑎𝑡𝑖𝑐 ≤ 𝜇𝑠 𝑛⃗⃗ ; 𝑓⃗𝑘𝑖𝑛𝑒𝑡𝑖𝑐 = 𝜇𝑘 𝑛⃗⃗
⃗⃗ (𝑡)
𝜔
⃗⃗ =
𝑑𝜃 𝐹⃗𝑠𝑝𝑟𝑖𝑛𝑔 = −𝑘𝑥⃗
𝑑𝑡
⃗⃗⃗⃗(𝑡)
𝑑𝜔
𝛼⃗ =
𝑑𝑡 Work and Energy:
𝑥2
If 𝛼⃗ is constant: 𝑊 = ∫ 𝐹⃗ (𝑥 ) ∙ 𝑑𝑥⃗
𝑥1
𝜔⃗⃗(𝑡) = 𝜔 ⃗⃗0 + 𝛼⃗𝑡 𝑊 = 𝐹⃗ ∙ 𝑥⃗ = 𝐹𝑥 cos 𝜃 (const. force)
1
𝜃⃗ (𝑡) = 𝜃⃗0 + 𝜔 ⃗⃗0𝑡 + 𝛼⃗𝑡 2 𝑊 = ∆𝐾
2
𝜔 = 𝜔0 + 2𝛼⃗(𝜃 − 𝜃⃗0)
2 2 ⃗ 𝑊 = −∆𝑈 (work done by a conservative force)
1
𝜃⃗ = 𝜃⃗0 + (𝜔 ⃗⃗ + 𝜔⃗⃗0)𝑡 𝐾=
𝑚𝑣 2
(linear motion)
2 2
𝐼𝜔2
Relating linear and rotational motion: 𝐾= (rotational motion)
2
𝑣2 𝑈𝑔𝑟𝑎𝑣𝑖𝑡𝑦 = 𝑚𝑔ℎ
𝑠 = 𝑅𝜃 𝑎⃗𝑟𝑎𝑑 = − 𝑡𝑎𝑛 𝑅̂
𝑅
𝑘𝑥 2
𝑣𝑡𝑎𝑛 = 𝑅𝜔 𝑎⃗𝑡𝑜𝑡 = 𝑎⃗𝑡𝑎𝑛 + 𝑎⃗𝑟𝑎𝑑 𝑈𝑠𝑝𝑟𝑖𝑛𝑔 =
2
2 2
𝑎𝑡𝑎𝑛 = 𝑅𝛼 𝑎𝑡𝑜𝑡 = √𝑎𝑡𝑎𝑛 + 𝑎𝑟𝑎𝑑 𝑊 = ∆𝐾 + ∆𝑈 (Conservation of M.E.)
𝑊 = ∆𝐾 + ∆𝑈 + ∆𝑈𝑖𝑛𝑡 (Conserv. of Energy)

Power:
𝑊 𝑑𝑊
𝑃𝑎𝑣𝑔 = ; 𝑃= ; 𝑃 = 𝐹⃗ ∙ 𝑣⃗ (constant force)
∆𝑡 𝑑𝑡
Impulse and Momentum:
𝑡2
𝐽⃗ = ∫𝑡1 𝐹⃗ (𝑡) ∙ 𝑑𝑡
𝑝⃗ = 𝑚𝑣⃗
𝐽⃗ = ∆𝑝⃗ (conservation of momentum)
𝑀 = ∑𝑖 𝑚𝑖
1
𝑟⃗𝑐𝑚 = ∑𝑖 𝑚𝑖 𝑟⃗𝑖
𝑀
1
𝑣⃗𝑐𝑚 = ∑𝑖 𝑚𝑖 𝑣⃗𝑖
𝑀
𝑝⃗𝑡𝑜𝑡 = 𝑝⃗𝑐𝑚 = 𝑀𝑣⃗𝑐𝑚

Elastic collisions of a moving object A, with a stationary object B:

𝑚 −𝑚
𝑣⃗𝐴𝑓 = 𝐴 𝐵 𝑣⃗𝐴𝑖
𝑚𝐴 +𝑚𝐵
2𝑚𝐴
𝑣⃗𝐵𝑓 = 𝑣⃗
𝑚𝐴 +𝑚𝐵 𝐴𝑖

Moment of inertia:
𝐼 = ∑𝑖 𝑚𝑖 𝑟𝑖2
1
𝐼𝑐𝑚 = 𝑀𝑅 2 (cylinder/disk, axis ⊥ to the face)
2
1
𝐼𝑐𝑚 = 𝑀𝐿2 (rod, axis ⊥ to the length)
12
2
𝐼𝑐𝑚 = 𝑀𝑅 2 (sphere, axis through the center)
5
𝐼 = 𝐼𝑐𝑚 + 𝑀𝑑 2 (parallel axis theorem)

Mathematical relations: Constants of Nature:

𝐴⃗ ∙ 𝐵
⃗⃗ = |𝐴⃗| |𝐵⃗⃗| cos 𝜃
𝑔 = 9.80 m/s2
𝐴⃗ ∙ 𝐵
⃗⃗ = 𝐴𝑥 𝐵𝑥 + 𝐴𝑦 𝐵𝑦 + 𝐴𝑧 𝐵𝑧
|𝐴⃗ × 𝐵 ⃗⃗| = |𝐴⃗| |𝐵⃗⃗| sin 𝜃

for: 𝑎𝑥 2 + 𝑏𝑥 + 𝑐 = 0,
−𝑏±√𝑏2 −4𝑎𝑐
𝑥=
2𝑎