Formula Sheet

𝑣 = 𝑑𝑠⁄𝑑𝑡 ; 𝑎 = 𝑑𝑣⁄𝑑𝑡 ; 𝑣𝑑𝑣 = 𝑎𝑑𝑠 𝜔 = 𝑑𝜃⁄𝑑𝑡 ; 𝛼 = 𝑑𝜔⁄𝑑𝑡 ; 𝜔𝑑𝜔 = 𝛼𝑑𝜃

1 1
𝑠 = 𝑠0 + 𝑣0 𝑡 + 2 𝑎𝑡 2 𝜃 = 𝜃0 + 𝜔0 𝑡 + 2 𝛼𝑡 2
𝑣 = 𝑣0 + 𝑎𝑡 ; 𝑣 2 = 𝑣0 2 + 2𝑎(𝑠 − 𝑠0 ) 𝜔 = 𝜔0 + 𝛼𝑡 ; 𝜔2 = 𝜔0 2 + 2𝛼(𝜃 − 𝜃0 )
𝑣⃗ = 𝜔⃗⃗ × 𝑟⃗
𝑣⃗ = 𝑣𝑒̂𝑡 = 𝜌𝛽̇ 𝑒̂𝑡 𝑎⃗𝑛 = 𝜔 ⃗⃗ × (𝜔⃗⃗ × 𝑟⃗)
𝑣2 𝑣2
𝑎⃗ = 𝜌 𝑛
𝑒̂ + 𝑣̇ 𝑒̂𝑡 ; 𝜌
= 𝜌𝛽̇ 2 𝑎⃗𝑡 = 𝛼⃗ × 𝑟⃗
3/2
𝑑𝑦 2 ∑ 𝐹⃗ = 𝑚𝑎⃗𝐺
[1 + ( ) ]
𝑑𝑥
𝜌= ∑ 𝑀𝐺 = 𝐼𝐺 𝛼 ; ∑ 𝑀𝑂 = 𝐼𝑂 𝛼
𝑑2 𝑦
| 2|
𝑑𝑥 ∑ 𝑀𝑃 = 𝐼𝐺 𝛼 + 𝑚𝑎𝐺 𝑑

𝑟⃗ = 𝑟𝑒̂𝑟 ; 𝑣⃗ = 𝑟̇ 𝑒̂𝑟 + 𝑟𝜃̇ 𝑒̂𝜃 𝑇1 + 𝑉1 + 𝑈′1−2 = 𝑇2 + 𝑉2 with

𝑎⃗ = (𝑟̈ − 𝑟𝜃̇ 2 )𝑒̂𝑟 + (𝑟𝜃̈ + 2𝑟̇ 𝜃̇ )𝑒̂𝜃 𝑇 = 12 𝑚𝑣𝐺 2 or 𝑇 = 12 𝐼𝑂 𝜔2 or
1 1
𝑇 = 2 𝑚𝑣𝐺 2 + 2 𝐼𝐺 𝜔2
𝑅⃗⃗ = 𝑟𝑒̂𝑟 + 𝑧𝑒̂𝑧
𝑣⃗ = 𝑟̇ 𝑒̂𝑟 + 𝑟𝜃̇ 𝑒̂𝜃 + 𝑧̇ 𝑒̂𝑧 𝜃2 𝑟2
𝑈1−2 = ∫ 𝑀 𝑑𝜃 ; 𝑈1−2 = ∫ 𝐹𝑟𝑒𝑠 ∙ 𝑑𝑟
𝑎⃗ = (𝑟̈ − 𝑟𝜃̇ 2 )𝑒̂𝑟 + (𝑟𝜃̈ + 2𝑟̇ 𝜃̇)𝑒̂𝜃 + 𝑧̈ 𝑒̂𝑧 𝜃1 𝑟1

𝑃out
𝑃 =𝐹∙𝑣 ; 𝑃 = 𝑀𝜔 ; 𝜀=
𝑅⃗⃗ = 𝑅𝑒̂𝑟 𝑃in

𝑣⃗ = 𝑅̇ 𝑒̂𝑅 + 𝑅𝜃̇ cos(𝜙) 𝑒̂𝜃 + 𝑅𝜙̇𝑒̂𝜙 𝑡2

(𝑣 ) −(𝑣 )
𝑎⃗ = [𝑅̈ − 𝑅𝜃̇ 2 𝑐𝑜𝑠 2 (𝜙) − 𝑅𝜙̇ 2 ]𝑒̂𝑅 𝐺⃗1 + ∫ 𝐹⃗ 𝑑𝑡 = 𝐺⃗2 ; 𝑒 = (𝑣𝐵 )2−(𝑣𝐴)2
𝑡1 𝐴 1 𝐵 1
+[2𝑅̇𝜃̇ cos(𝜙) + 𝑅𝜃̈ 𝑐𝑜𝑠(𝜙) − 2𝑅𝜃̇ 𝜙̇𝑠𝑖𝑛(𝜙)]𝑒̂𝜃
+[2𝑅̇𝜙̇ + 𝑅𝜙̈ + 𝑅𝜃̇ 2 cos(𝜙)𝑠𝑖𝑛(𝜙)]𝑒̂𝜙 𝑡2
⃗⃗𝑜 ) + ∫ 𝑀
(𝐻 ⃗⃗⃗𝑜 𝑑𝑡 = (𝐻
⃗⃗𝑜 )
1 2
𝑡1
𝑣⃗𝐴 = 𝑣⃗𝐵 + 𝑣⃗𝐴/𝐵 ; 𝑎⃗𝐴 = 𝑎⃗𝐵 + 𝑎⃗𝐴/𝐵

𝐻𝐺 = 𝐼𝐺 𝜔 ; 𝐻𝑂 = 𝐼𝑂 𝜔 ; 𝐻𝑂 = 𝐼𝜔 + 𝑚𝑣𝐺 𝑑

𝐼
𝐼 = 𝐼𝐺 + 𝑚𝑑 2 ; 𝑘 = √𝑚