EGH413 Advanced Dynamics Equation Sheet

General
𝑑𝑟𝑃⁄𝑂 𝑑𝑣̅ 𝑃 𝜕𝐴
𝑣̅ 𝑃 = 𝑎̅𝑃 = 𝐴̇ ̅ = ̅ × 𝐴̅
+𝜔
𝑑𝑡 𝑑𝑡 𝜕𝑡
2
𝑛𝑐
𝑇2 + 𝑉2 = 𝑇1 + 𝑉1 + 𝑊1→2 𝑊1→2 = ∮ ∑𝐹̅ (𝑟̅ ) ⋅ 𝑑𝑟̅ 𝐻𝑂 = ∑(𝑟̅𝑖 × 𝑚𝑖 𝑣̅𝑖 )
1

Position, velocity, and acceleration of a point 𝑷

System 𝒓̅𝑷/𝑶 ̅𝑷
𝒗 ̅𝑷
𝒂

Cartesian 𝑥𝑖̂ + 𝑦𝑗̂ + 𝑧𝑘̂ 𝑥̇ 𝑖̂ + 𝑦̇ 𝑗̂ + 𝑧̇ 𝑘̂ 𝑥̈ 𝑖̂ + 𝑦̈ 𝑗̂ + 𝑧̈ 𝑘̂

Cylindrical 𝑅𝑒̅𝑅 + 𝑧𝑒̅𝑧 𝑅̇ 𝑒̅𝑅 + 𝑅𝜃̇𝑒̅𝜃 + 𝑧̇ 𝑒̅𝑧 (𝑅̈ − 𝑅𝜃̇ 2 )𝑒̅𝑅 + (𝑅𝜃̈ + 2𝑅̇ 𝜃̇)𝑒̅𝜃 + 𝑧̈ 𝑒̅𝑧

[𝑟̈ − 𝑟𝜙̇ 2 − 𝑟𝜃̇ 2 sin2 𝜙]𝑒̅𝑟

𝑟̇ 𝑒̅𝑟 + 𝑟𝜃̇ sin 𝜙 𝑒̅𝜃
Spherical 𝑟𝑒̅𝑟 +[𝑟𝜙̈ + 2𝑟̇ 𝜙̇ − 𝑟𝜃̇ 2 sin 𝜙 cos 𝜙]𝑒̅𝜙
+ 𝑟𝜙̇ 𝑒̅𝜙
+[𝑟𝜃̈ sin 𝜙 + 2𝑟̇ 𝜃̇ sin 𝜙 + 2𝑟𝜙̇𝜃̇ cos 𝜙]𝑒̅𝜃

Rotation Matrices

Rotation Type Rotation Matrix Visualization

1 0 0
𝑥-axis [𝑅𝑥 ] = [0 cos 𝜃𝑥 sin 𝜃𝑥 ]
0 − sin 𝜃𝑥 cos 𝜃𝑥

cos 𝜃𝑦 0 − sin 𝜃𝑦
𝑦-axis [𝑅𝑦 ] = [ 0 1 0 ]
sin 𝜃𝑦 0 cos 𝜃𝑦

cos 𝜃𝑧 sin 𝜃𝑧 0
𝑧-axis [𝑅𝑧 ] = [− sin 𝜃𝑧 cos 𝜃𝑧 0]
0 0 1

Sequence of Body
[𝑅] = [𝑅𝑛 ] … [𝑅2 ][𝑅1 ]
Fixed Rotations

Sequence of Space
[𝑅] = [𝑅1 ] … [𝑅𝑛−1 ][𝑅𝑛 ]
Fixed Rotations
Kinematics an intermediate reference
(𝑥𝑃 )𝑜
Δ𝑟̅𝑃 = Δ𝑟̅𝑂′ + [𝑅]𝑇𝑓 (Δ𝑟̅𝑃 )𝑥𝑦𝑧 + ([𝑅]𝑇𝑓 − [𝑅]𝑇𝑜 ) [(𝑦𝑃 )𝑜 ]
Displacement
(𝑧𝑃 )𝑜

Velocity 𝑣̅ 𝑃 = 𝑣̅ 𝑂′ + (𝑣̅ 𝑃 )𝑥𝑦𝑧 + 𝜔

̅ × 𝑟̅𝑃/𝑂′

Acceleration 𝑎̅𝑃 = 𝑎𝑂′ + (𝑎̅𝑃 )𝑥𝑦𝑧 + 𝛼̅ × 𝑟̅𝑃/𝑂′ + 𝜔

̅ × (𝜔 ̅ × (𝑣̅ 𝑃 )𝑥𝑦𝑧
̅ × 𝑟̅𝑃/𝑂′ ) + 2𝜔

Equations of Motion (and helpful equations)

Newton-Euler (when 𝐴 is 𝑑𝑃̅ 𝑑𝐻̅𝐴
an allowable point) ∑𝐹𝐺 = = 𝑚𝑎̅𝐺 ∑𝑀𝐴 =
𝑑𝑡 𝑑𝑡
̅𝐴 = (𝐼𝑥𝑥 𝜔𝑥 − 𝐼𝑥𝑦 𝜔𝑦 − 𝐼𝑥𝑧 𝜔𝑧 )𝑖̂ + (𝐼𝑦𝑦 𝜔𝑦 − 𝐼𝑦𝑥 𝜔𝑥 − 𝐼𝑦𝑧 𝜔𝑧 )𝑗̂
𝐻
Angular Momentum
+ (𝐼𝑧𝑧 𝜔𝑧 − 𝐼𝑧𝑥 𝜔𝑥 − 𝐼𝑧𝑦 𝜔𝑦 )𝑘̂
𝑑 𝜕ℒ 𝜕ℒ
Lagrange’s Equations ( )− = 𝑄𝑗 ℒ = 𝑇−𝑉
𝑑𝑡 𝜕𝑞̇ 𝑗 𝜕𝑞𝑗
𝑛
Virtual Work by non-
𝛿𝑊 𝑛𝑐
= ∑ 𝐹̅𝑖 ⋅ 𝛿𝑟̅𝑖 = ∑ 𝑄𝑗 𝛿𝑞𝑗
conservative forces
𝑖 𝑗
1 1
𝑇 = 𝑚𝑣̅ 𝐺 ⋅ 𝑣̅ 𝐺 + 𝜔 ̅𝐺
̅⋅𝐻 Centre of Mass
2 2
Kinetic Energy
1
𝑇= 𝜔 ̅𝑂
̅⋅𝐻 Pure rotation about point 𝑂
2

𝑉𝑔𝑟𝑎𝑣𝑖𝑡𝑦 = 𝑚𝑔𝑍 Gravity potential energy (𝑍 is

height above datum)
Potential Energy
1 Spring potential energy (Δℓ is
𝑉𝑠𝑝𝑟𝑖𝑛𝑔 = 𝑘𝛥ℓ2 change from free length)
2

Parallel Axis Transformation

𝐼𝑥 ′ 𝑥 ′ = 𝐼𝑥𝑥 + 𝑚(𝑦𝐵2 + 𝑧𝐵2 )

Moments of inertia 𝐼𝑦′ 𝑦′ = 𝐼𝑦𝑦 + 𝑚(𝑥𝐵2 + 𝑧𝐵2 )
𝐼𝑧 ′ 𝑧 ′ = 𝐼𝑧𝑧 + 𝑚(𝑥𝐵2 + 𝑦𝐵2 )

𝐼𝑥 ′ 𝑦′ = 𝐼𝑥𝑦 + 𝑚𝑥𝐵 𝑦𝐵
Products of inertia 𝐼𝑥 ′ 𝑧 ′ = 𝐼𝑥𝑧 + 𝑚𝑥𝐵 𝑧𝐵
𝐼𝑦′ 𝑧 ′ = 𝐼𝑦𝑧 + 𝑚𝑦𝐵 𝑧𝐵