STATICS OF RIGID

BODIES FORMULA
SHEET

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 STATICS OF RIGID BODIES : CARTESIAN VECTOR FORMULAS

• Components formulas
|Fx|=|F|cos θ

|Fy|=|F|sin θ

• Finding magnitude

¿  𝐹∨¿ √ ¿ 𝐹 𝑥∨¿ 2+¿ 𝐹 𝑦∨¿2 +¿ 𝐹 𝑧 ∨¿2 ¿ ¿¿

• Finding orientation from horizontal axis
  𝜃= 𝐹𝑦
tan
𝐹𝑥
 • Position vector formula:

• Finding a unit vector:

 ⃗ ⃗𝐹
𝑢𝐹 ¿⃗ ¿
¿ 𝐹∨¿

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 STATICS OF RIGID BODIES : FORCE MOMENT

• Scalar calculation
⃗
¿  𝑀 𝑜∨¿= ( 𝑓𝑜𝑟𝑐𝑒 ) ∗( 𝑝𝑒𝑟𝑝𝑒𝑛𝑑𝑖𝑐𝑢𝑙𝑎𝑟 𝑑𝑖𝑠𝑡𝑎𝑛𝑐𝑒 )¿

• vector calculation

𝑀
⃗
  𝑜=⃗𝑟 𝑂𝐹 x ⃗
𝐹
⃗
¿  𝑀 𝑜∨¿= ( 𝑓𝑜𝑟𝑐𝑒 ) ∗( 𝑝𝑒𝑟𝑝𝑒𝑛𝑑𝑖𝑐𝑢𝑙𝑎𝑟 𝑑𝑖𝑠𝑡𝑎𝑛𝑐𝑒 )¿

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 STATICS OF RIGID BODIES : LOAD’S CENTER OF AREA: CENTROIDS

• For discrete regions: You can break discrete regions into simple shapes such
as triangles, rectangles, circles, and so on.

 
𝑥=
∑ 𝑥 𝑖 𝐴𝑖
∑ 𝐴𝑖
• For continuous regions: Continuous regions are usually defined by more
complex boundaries, so you must define them with mathematical
equations such as the one that follows:

 
𝑥=
∫ 𝑥 ∗ 𝑑𝐴
∫ 𝑑𝐴
• Centroid of a line:
1 1 1
xc 
L L
xdL, yc 
L L
ydL , z c 
L L
zdL

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 STATICS OF RIGID BODIES : EQUILIBRIUM

• Equilibrium for a particle:

F  0
• Equilibrium for a rigid body
 F  0

 M O  0

• Equivalent systems

- Two systems are equivalent if the resultant force for

the systems is equal and if the resultant moment for the
systems is equal

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 STATICS OF RIGID BODIES : CENTROID OF COMPOSITE BODIES

• Centroid of a line:

xc 
 Lx i i
, yc 
 Ly i i
, zc 
 Lz i i

L i L i L i
 

• Centroid of an area:

xc 
 Ax i i
, yc 
 Ay i i
, zc 
 Az i i

A i A i A i

• Centroid of a volume:

xc 
V xi i
, yc 
V y i i
, zc 
V z i i

V i V i V i

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 STATICS OF RIGID BODIES : SUPPORTS FOR RIGID BODIES SUBJECTED TO TWO –DIMENSIONAL FORCE SYSTEMS

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 STATICS OF RIGID BODIES : RECTANGULAR COMPONENTS IN SPACE

𝐹
  𝑋 =𝐹𝑐𝑜𝑠 𝜃 𝑥 𝐹
  𝑦 =𝐹𝑐𝑜𝑠 𝜃 𝑦 𝐹
  𝑧 =𝐹𝑐𝑜𝑠 𝜃 𝑧

𝐹=𝐹
  𝑥 𝑖+ 𝐹 𝑦 𝑗 + 𝐹 𝑧 𝑘

𝐹=𝐹𝑐𝑜𝑠
  𝜃 𝑥 𝑖+ 𝐹𝑐𝑜𝑠 𝜃 𝑦 𝑗 + 𝐹𝑐𝑜𝑠 𝜃 𝑧 𝑘
𝐹=𝐹
  (𝑐𝑜𝑠 𝜃 ¿ ¿ 𝑥 𝑖+ 𝑐𝑜𝑠 𝜃 𝑦 𝑗+ 𝑐𝑜𝑠 𝜃 𝑧 𝑘)¿
𝐹=𝐹
  𝜆
𝑤h𝑒𝑟𝑒
  𝜆=𝑐𝑜𝑠 𝜃 𝑥 𝑖+ 𝑐𝑜𝑠 𝜃 𝑦 𝑗 +𝑐𝑜𝑠 𝜃 𝑧 𝑘

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 STATICS OF RIGID BODIES : CENTROID OF TWO-DIMENSIONAL SHAPES

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 DYNAMICS OF RIGID
BODIES FORMULA
SHEET

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 DYNAMICS OF RIGID BODIES : PARTICLE RECTILINEAR MOTION

  𝑑𝑣
𝑎=
𝑑𝑡
𝑑𝑠
𝑣  =
𝑑𝑡

𝑎  𝑑𝑠=𝑣 𝑑𝑣
𝑣
  =𝑣 𝑜+ 𝑎𝑐 𝑡

  1 2
𝑠= 𝑠 𝑜 +𝑣 𝑜 𝑡 + 𝑎𝑐 𝑡
2
2 2
 𝑣 =𝑣 𝑜 +2 𝑎𝑐 ¿

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 DYNAMICS OF RIGID BODIES : PARTICLE CURVILINEAR MOTION

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 DYNAMICS OF RIGID BODIES : RIGID BODY MOTION ABOUT A FIXED AXIS

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 DYNAMICS OF RIGID BODIES : RELATIVE GENERAL PLANE MOTION

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 DYNAMICS OF RIGID BODIES : KINETICS

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 DYNAMICS OF RIGID BODIES : WORK , ENERGY AND POWER

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 DYNAMICS OF RIGID BODIES : IMPULSE AND MOMENTUM

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 DYNAMICS OF RIGID BODIES : CENTER OF MASS

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 DYNAMICS OF RIGID BODIES : ROTATIONAL INERTIA AND ENERGY

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 DYNAMICS OF RIGID BODIES : NEWTON’S LAWS / FRICTION / CIRCULAR MOTION

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