[Document title]

Kinematics: a y =−g
 Position: o Velocity:
^ y ( t ) ^j+ z ( t ) k^
r⃗ ( t ) ≡ x ( t ) i+ v 0 y =v 0 sin θ
r⃗ ( t )=∫ ⃗v ( t ) dt v y =v 0 sin θ−¿
 Velocity: o y – Position:
d r⃗ ( t ) dx ( t ) ^ dy (t ) ^ dz ( t ) ^ 1
⃗v ( t ) ≡ = i+ j+ k y=( v 0 sin θ ) t− g t 2
dt dt dt dt 2
v⃗ ( t )=∫ a⃗ ( t ) dt o Maximum Height:
 Acceleration: v20 sin2 θ
H=
d ⃗v ( t ) d v x ( t ) ^ d v y ( t ) ^ d v z ( t ) ^ 2g
⃗v ( t ) ≡ = i+ j+ k o Time to Reach the
dt dt dt dt
Maximum Height:
v 0 sin θ
d 2 ⃗x ( t ) t H=
⃗v ( t )= g
d t2
- Projectile Trajectory:
d x (t ) ^ d 2 y ( t ) ^ d 2 z ( t ) ^
2
i+ j+ k g
¿ y= ( tan θ ) x− 2 x2
dt2 dt2 d t2 2
2 v 0 cos θ
 Constant Acceleration Motion (  Uniform Circular Motion:
t 0=0 ):
- Centripetal Acceleration:
1
r =r 0 +v 0 t+ at 2 v2 4 π2 R
2 a rad = = 2
R T
v=v 0 + at
 Polar Coordinates:
v 2=v 20 +2 a(r −r 0 )
x=r cos θ
v +v 0
r −r 0= ( ) 2
t y=r sin θ

Free Fall: a=−g r⃗

r^ = =cos θ i^ +sin θ ^j
 Projectile Motion: r
- x – component: ^ d r⃗ =−sin θ i^ +cos θ ^j
θ=
o Acceleration: dθ
a x =0
o Velocity: ^
i=cos θ r^ −sin θ θ^
v x =v 0 x =v 0 cos θ ^j=sin θ r^ +cos θ θ^
o x – Position:
x=( v 0 cos θ ) t r˙^ =θ̇ θ^
o Range: ^˙
θ=− θ̇ r^
v 20 sin 2 θ 2 v 20 sin θ cos θ
R= = v⃗ =ṙ r^ +r θ̇ θ^
g g
a⃗ =( r̈ −r θ̇ 2 ) r^ + ( r θ̈+ 2 ṙ θ̇ ) θ^
o Time of Flight:
2 v 0 sinθ  Rotational Kinematics:
t flight = - Angular Velocity:
g
- y – component: dθ
ωz =
o Acceleration: dt
[Document title]

- Angular Acceleration: v2
d ωz d2 θ F net=m
αz= = 2 r
dt dt  Hooke’s Law (Restoring Force):
 Relations between Linear and F el=−kx
Rotational Motion:  Gravitational Force:
v=rω m1 m 2
dv dω F G=G 2 r^
⃗
a tan= =r =rα r
dt dt - Weight:
v2 2 m ME
a rad = =ω r W =mg=G
r ( RE+ h)
2

 Constant Angular Acceleration

- Gravitational Acceleration:
Motion: G ME
1 g=
θ=θ0 +ω 0 t + α t 2 2
2 ( R E +h )
ω=ω 0+ at h ≪ R E,
ω 2=ω 20+ 2α (θ−θ0 ) G ME
g≈
ω+ω 0 R 2E
θ−θ0= ( )2
t
- Escape Velocity (Speed in
Forces: Circular Orbit):
 Net Force: 2 GM
⃗F net=∑ ⃗ F √
v esc =
R
- Period in Circular Orbit:
 Newton’s Laws of Motion:
- Law of Inertia: 2 πr 2 π r 3 /2
T= =
Objects with no acceleration v √GM
(at rest of moving with  Drag Force:
constant speed along a - Stoke’s Law of Resistances:
straight line) F =−C ⃗v
⃗
F net=0
⃗ o Terminal Velocity:
- Law of Acceleration: mg
vT =
d ⃗v C
F net=m a⃗ =m
⃗
dt o Speed as a Function of
- Law of Action-Reaction: Time:
F A → B=− ⃗
⃗ FB→ A −C

 Acceleration due to a Constant v=v T (1−e ) m

t

Force: o Position as a Function

F
⃗ of Time:
a⃗ =
m −C

 Friction:
- Kinetic Friction:
[ C
y=v T t−
m
(
1−e m
t
)]
- Newton’s Law of Resistances:
f k =μk N
F =−α v 2 v^
⃗
- Static Friction:
f s ≤ μs N
 Centripetal Forces: o Terminal Velocity:
[Document title]

mg - Conditions for Conservative

vT =
√
α
o Speed as a Function of
Systems:
W T =∮ ⃗
F ∙ d l⃗ =0
Time: ∇×⃗ F =0
α vT g Momentum:
v=v T tanh ( )
m ( )
t =v T tanh t
v T ⃗p=m⃗v
o Position as a Function  Net Force:
d ⃗p
of Time: F net=
⃗
dt
m αg v2T g

Work and Energy:

y= lncosh
α √m
t= ln cosh
g vT
t  Impulse:
⃗J =∫ ⃗ F net dt
 Impulse-Momentum Theorem:
F ⋅d ⃗l =∫ F cos ϕ dl
W =∫ ⃗ ⃗J = Δ⃗p
 Kinetic Energy:  Conservation of Momentum:
1 If ⃗
F net=0 ,
K= mv 2
2 n
 Work-Energy Theorem: P=∑ ⃗p i
⃗
W =ΔK i=1
Moment of Inertia:
 Power: n
dW I =∑ mi r 2i
P=
dt i=1

 Gravitational Potential Energy: I =∫ r 2 dm=∭ r 2 ρ dV

m ME  Rotational Kinetic Energy:
U G =−G
r 1
K= I ω2
U G =mgy 2
 Elastic Potential Energy: Torque:
1 τ⃗ =⃗r × ⃗
F
U E= k x 2
2  Net Torque:
 Work and Potential Energy: ∑ τ z =I α z
W =−ΔU  Work Done by a Torque:
 Total Mechanical Energy: θf

E=K +U W =∫ τ z dθ
θ0
 Conservation of Mechanical
Angular Momentum:
Energy:
L=⃗r × ⃗p
⃗
K 1 +U 1=K 2+U 2
 Total Mechanical Energy with
Nonconservative Forces:
 Torque:
K 1 +U 1 +W nc =K 2 +U 2
d⃗
L
τ⃗ =
dt
 Rigid Body Rotating Around an
 Conservative Forces from Axis:
Potential Energy: L=I ⃗
⃗ ω
∂U ^ ∂ U ^ ∂U ^
F =−∇ U=−
⃗
(∂x
i+
∂y
j+
∂z
k ) d ⃗L
∑ ⃗τ = dt
[Document title]

Rotational Dynamics: g
 Kinetic Energy for Combined
Translation and Rotation: 
ω=
√L
Physical Pendulum:
1 1 mgd
K= M v 2cm + I cm ω 2
2 2
 Rolling Without Slipping: 
ω=
√ I
Damped Oscillations
v cm=Rω C k
 Total Work Done on a Rotating ẍ + ẋ + x=0
m m
Rigid Body: x= A e −(C / 2m )t
cos(ω D t+ϕ)
1 1
W tot = I ω2f − I ω20 - Total Mechanical Energy:
2 2 −C
t
 Power: E=E0 e m
P=τ z ω z - Amplitude:
Oscillations: −2C
m
t
 Frequency, Period, and Angular A=A 0 e
Frequency: -
Logarithmic Decrement:
1 1 C
f= T= α= T D
T f m
2π - Decay Time Constant:
ω=2 πf = m
T t 1/ e =
 Simple Harmonic Motion: C
- Position, Velocity, and - Quality Factor:
Acceleration: ω0
Q=
x= A cos ( ωt+ ϕ ) C /m
v x =−ωA sin ( ωt +ϕ ) - Damped Angular Frequency:
a x =−ω2 A cos ( ωt+ ϕ ) 2π k C2
- Angular Frequency:
k
ωD = =
TD √ −
m 4 m2
- Classification of Damped
ω=
√m
- Phase Angle:
Systems:
2 C2 2 k
γ= 2
ω=
−v 0 x 4m m
ϕ=arctan ( ) ω x0 o Overdamped:
- Amplitude: γ 2 >ω2
2 o Critically Damped:
2 v0 x

√
A= x 0 + 2
ω
- Total Mechanical Energy:
γ =ω 2
2

γ <ω2
2
o Underdamped:
1 1 1
E= m v2x + k x2 = k A 2
2 2 2  Forced Oscillations:
- Angular SHM F0
C k
κ ẍ + ẋ + x= cos ( ω DF t )
ω=
√I
 Simple Pendulum:
m m m
- General Solution:
C k
ẍ + ẋ + x=0
m m
 [Document title]

- Particular Solution: ∂2 U
F 0 /m - If =0, the critical point is
x= cos (ω DF t−θ) ∂ x2
C 2 an inflection point.
√ 2
0
2 2
( ω −ω ) + m ω DF
DF (
- Amplitude:
) - If
∂2 U
∂ x2
>0 , the critical point is

F 0 /m a minimum.
A DF = ∂2 U
2
C
√ 2
( ω20−ω2DF ) + m ω DF
- Phase Angle:
( ) - If
∂ x2
<0 , the critical point is
a maximum.
 Two-Dimensional Stability:
C ω DF
tanθ= - If ∆ 2> 0 , ∆1 >0 ,the critical
m ω 2DF −ω 20
point is a minimum
 Resonance: - If ∆ 2> 0 , ∆1 <0 ,the critical
- Resonant Angular Frequency: point is a maximum
k C2 - If ∆ 2< 0, the critical point is a
ωD =

Center of Mass:
−
m 2 m2 √ saddle point.
 Three-Dimensional Stability:
n
- If ∆ 3> 0 , ∆2 >0 , ∆ 1>0 ,the
∑ mi r⃗i critical point is a minimum
r⃗ cm = i=1n - If ∆ 3< 0 , ∆2 >0 , ∆ 1<0 ,the
∑ mi critical point is a maximum
i=1
- If ∆ 3 ≠ 0 , and signs of ∆ 2 and
Equilibrium: ∆ 1 are different from case 1
∑⃗F =0 ∑ τ⃗ =0
and 2, the critical point is a
Stability:
saddle point.
 Critical Points (Equilibrium Lagrangian:
Points): L=K −U
∂U ∂U ∂ U
= = =0  Euler-Lagrange Equation:
∂x ∂ y ∂z
d ∂L ∂L
 Tests for Stability:
∆ 1=f xx
( )
dt ∂ q̇i ∂ qi
− =0

f f Hamiltonian:
∆ 2= xx xy
|
f yx f yy | H=K + U
 Generalized Momentum:
f xx f xy f xz ∂L

|
∆ 3= f yx f yy f yz
f zx f zy f zz | pq = i
∂ q̇i
 Hamiltonian Canonical Equation:
∂H
q̇=
∂p
−∂ H
ṗ=
∂q
∂ L −∂ H
=
 One-Dimensional Stability: ∂t ∂t
[Document title]

 Canonical Transformations:
- Test for Exactness:
n n

∑ pi d qi +∑ Pi d Qi
i=1 i=1
Mdx + Ndy
∂M ∂ N
=
∂ y ∂x
Relative Motion:
r⃗ f = ⃗
R + r⃗ m
 Moving Coordinate Systems:
m ⃗r¨ = ⃗F −m[ ⃗ R̈+2 ( ⃗
ω × ⃗v )+ ⃗
ω ×(⃗
ω × ⃗v ) + ⃗
ω̇ × ⃗r M ]
- Translational Force:
F trans=−m ⃗
⃗ R̈
- Coriolis Force:
F Cor=−2m ( ⃗
⃗ ω × ⃗v )
- Centrifugal Force:
F cent =−m ⃗
⃗ ω ×(⃗ ω × ⃗v )
- Transverse (Azimuthal) Force:
F Az=−m ⃗
⃗ ω̇ × r⃗ M
Fluid Mechanics
 Pressure:
d F⊥
p=
dA
- Fluid of Uniform Density:
p2− p1=−ρg( y 2− y 1 )
p= p 0+ ρgh
 Pascal’s Law:
F F
p= 1 = 2
A1 A 2
 Buoyancy:
F B=W disp
 Continuity Equation:
ρ1 A 1 v 1=ρ2 A 2 v 2
- Volume Flow Rate:
dV
= Av
dt
 Bernoulli’s Equation:
1 1
p1 + ρg y 1+ ρ v 21=p 2+ ρg y 2 + ρ v 22
2 2
[Document title]

Del Operator: 1 ∂ 2 1 ∂ 1 ∂ Fϕ
∂ ^ ∂ ^ ∂ ^ ∇∙ ⃗
F= 2 ( r Fr ) + ( sin θ F θ ) +
∇= i+ j+ k r ∂r r sin θ ∂θ r sin θ ∂ ϕ
∂x ∂ y ∂z  Curl:
Gradient: ∂F
1 ∂ 1 1 ∂ Fr ∂
∇T=
∂T ^ ∂T ^ ∂T ^
i+
∂x ∂y
j+
∂z
k
∇×⃗ F=
r sin θ ∂θ [ ∂ϕ ] [
( sin θ Fϕ ) − θ r^ +
r sin θ ∂ ϕ ∂ r
− (r

Divergence:  Laplacian:
∂ F x ∂ F y ∂ Fz 1 ∂ 2 ∂T 1 ∂ ∂T 1 ∂
∇∙ ⃗
F=
∂x ∂y
+ +
∂z
2
∇ T= 2
r ∂r (r ) + 2
∂ r r sin θ ∂ θ ( sin θ ) + 2 2
∂θ r sin θ ∂
Curl: Cylindrical Coordinates:
x=r cos ϕ y=r sin ϕ z=z
i^ ^j k^
∇×⃗ F= ∂
| ∂
∂x ∂ y ∂ z
F x F y Fz
Laplacian:
∂
|  Infinitesimal Displacement:
d ⃗l =dr r^ +rdϕ ϕ^ +dz ^z
 Infinitesimal Surface Element:
d⃗ A r =r dϕ dz r^
d A ϕ =dr dz ϕ^
⃗
2 ∂2 T ∂2 T ∂2 T d⃗ A z=r dr dϕ ^z
∇ T= 2 + 2+ 2
∂ x ∂ y ∂z  Infinitesimal Volume Element:
∇ F =( ∇ 2 F x ) i+
2 ^ ( ∇ 2 F y ) ^j+( ∇2 F z ) k^
⃗ dV =rdrdϕdz
Green’s Theorem:  Gradient:
❑ ❑
∂T 1 ∂T ∂T
∫ (¿ ∇ ∙ ⃗F )dV =∮ ⃗F ∙ d ⃗A ¿ ∇T= r^ + ϕ^ + ^z
V S
∂r r ∂ϕ ∂z
Stoke’s Theorem:  Divergence:
❑ ❑
1 ∂ 1 ∂ Fϕ ∂ Fz
∫ (¿ ∇ × ⃗F )∙ d ⃗A =∮ ⃗F ∙ d ⃗l ¿ ∇∙ ⃗
F= ( r F r )+ +
S L
r ∂r r ∂ϕ ∂z
Spherical Coordinates:  Curl:
1 ∂ Fz ∂ Fϕ ^ ∂ Fr ∂ Fz ^ 1 ∂ ∂
x=r sin θ cos ϕ y=r sin θ sin ϕ
z=r cos θ
∇×⃗ F= (r ∂ϕ
−
∂z ) ( r+
∂z
−
∂r ) [θ+
r ∂r
( r F ϕ) −
∂
 Infinitesimal Displacement:  Laplacian:
^ sin θ dϕ ϕ^
d ⃗l=dr r^ +r dθ θ+r 1 ∂ ∂ T 1 ∂2 T ∂2 T
 Infinitesimal Surface Element:
2
∇ T= ( )
r +
r ∂ r ∂ r r 2 ∂ ϕ2 ∂ z 2
+
d⃗ A r =r 2 sinθ dθ dϕ r^
d⃗ A θ=r sin θ dϕ dr θ^
d⃗ A ϕ =r dr dθ ϕ^
 Infinitesimal Volume Element:
dV ¿ r 2 dr sinθ dθ dϕ
 Gradient:
∂T 1 ∂T ^ 1 ∂T
∇T= r^ + θ+ ϕ^
∂r r ∂θ r sin θ ∂ ϕ

 Divergence: