ATTACHMENT MECHENG 222

Vibration of Particles
! −1
n n
1
Springs in ... series: k eq = ∑ ki parallel: k eq = ∑ ki
i =1 i =1
s
k eq p p
ωn = ωd = ωn 1 − ζ2 ω p = ωn 1 − 2ζ 2
meq

ceq ceq
 
1 xi 2πnζ
ζ= = p δ = ln δ= p
2meq ωn 2 meq k eq n xi +n 1 − ζ2

F0 kb
ẍ + 2ζωn ẋ + ωn2 x = sin (ωt) or ẍ + 2ζωn ẋ + ωn2 x = sin (ωt)
meq meq

x (t) = xc (t) + x p (t) where xc and x p are the complementary and particular solutions
respectively.

−ζωn t sin ( ω t + ψ ) 0 ≤ ζ < 1
Ce
 d
xc (t) = (C1 + tC2 ) e−ωn t ζ=1 x p (t) = X sin (ωt − ϕ)
C1 eλ1 t + C2 eλ2 t

ζ>1

 
ω
F0 /k eq −1 
2ζ ωn 
X = s ϕ = tan   2 
 2 2  2
1 − ω
1 − ωωn + 2ζ ωωn ωn

X 1 1
M= = s Mp = p
δst   2
2  2 2ζ 1 − ζ2
1− ω
ωn + 2ζ ωωn

Linear Impulse, Momentum, and Impact

Zt2
G = mv ∑ F = Ġ ∑ Fdt = G2 − G1 = ∆G
t1
′ ′
v2,n − v1,n
e=
v1,n − v2,n

Basic Kinematics
ds dv
v= a= vdv = ads v2 − v1 = a ( t2 − t1 )
dt dt
1
v22 − v21 = 2a (s2 − s1 ) s2 − s1 = a ( t2 − t1 )2 + v1 ( t2 − t1 )
2
ATTACHMENT MECHENG 222

Equations of Motion
∑ F = maG

Coordinate Systems
Cartesian
v = v x + vy + vz = ẋ i + ẏ j + ż k a = a x + ay + az = ẍ i + ÿ j + z̈ k
Cylindrical/polar
v = vr + vθ + vz = ṙ er + r θ̇ eθ + ż k ar + aθ + az
a=
= r̈ − r θ̇ 2 er + r θ̈ + 2ṙ θ̇ eθ + z̈ k

Normal-tangential
a = an + at = ρ β̇2 en + ρ β̈ + ρ̇ β̇ et


v = v et = ρ β̇ et
v2
= en + v̇ et
ρ

Relative Motion
r C / D = r C − r D = - (r D − r C ) = -r D / C
Translating axes
vC = vD + vC/D aC = aD + aC/D
Rotating and translating axes
v C = v D + ω × r C / D + vrel


a C = a D + ω̇ × r C / D + ω × ω × r C / D + 2ω × vrel + arel
Rigid body


vC = vD + ω × rC/D a C = a D + ω̇ × r C / D + ω × ω × r C / D

Other
p A
A cos ( x ) + B sin ( x ) = C sin ( x + ψ) where C= A2 + B2 and tan (ψ) =
B
a b c
= = a2 = b2 + c2 − 2bc cos ( A)
sin ( A) sin ( B) sin (C )