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# Fundamental Equations of Dynamics

## KINEMATICS Equations of Motion

Particle Rectilinear Motion Particle XF = ma
Variable a Constant a = ac Rigid Body ZEX = m(ac )x
dv (Plane Motion) 2Fy = /«(«(,-)>
+ act ZMG=IGa or XMP=2(Mk)P
dt
Principle of Work and Energy
ds i j
y = — s = Sq + vn t + 2a d r , + 2 1/,_2 = T 2
a ds = v dv v2 = vl + 2ac(s - so) Kinetic Energy
Particle T = \mv1
Particle Curvilinear Motion
Rigid Body
x. y, z Coordinates r. 0, z Coordinates
(Plane Motion) T = jm vc + { IG<*>2
vx = X ax - x Vr ar = r - rO Work r
vy = y ay = y Vq Variable force UF = / F cos 0 ds
v. = z az = z V- a. = z
Constant force Uf. = (Fccos0) As
n, t, b Coordinates Weight Uw = - W Ay
dv Spring u, = -(\$ ks\ - { ks\)
v =s at — v —
V ds Couple moment UM = M AO
v2 [1 + (dy/dx) 2-1\-2 Power and Efficiency
“n = — P= _ *UUt _ l~l<iul
P \d2y/dx21 P - du - F . v
dt £ 1Pin '-'in
U
Relative Motion Conservation of Energy Theorem
V/i + aB *li/A t { + v { = t 2 + v2
Rigid Body Motion About a Fixed Axis Potential Energy
V = Vg + K, where Vg = ±Wy, Ve =
Variable a Constant a = a.
dco Principle of Linear Impulse and Momentum
a = (o = a>(| + act
dt Particle mv, + 'l j1 F dt = mv2
d8
O) = — \$ = \$o + torf + 2acJ2
dt Rigid Body m(ya) i + 2 1F dt = m(va)z
2 _
u) da> = a dO Wo + 2ac(6 - 0O)
Conservation of Linear Momentum
For Point P 2(syst. mv)| = 2(syst. m \)2
s = \$r v = wr a{ = ar a„ = u)2r (Vit)2 ~
Coefficient of Restitution e = ---- r------- —
Relative General Plane Motion —Translating Axes (®a ) i - W i
— a# —a/A^ afi//1(pin) Principle of Angular Impulse and Momentum
Relative General Plane Motion—Trans, and Rot. Axis Particle (H0), + 2 / Mo d i = (H0),
\u = \A + n x
where H0 = (d)(mv)
a« = a/A+ fi x rB/A + ü x (H X r0/A) +
2H X ( vBjA)xyz + (a«//l) XVZ Rigid Body
(Hc )i + S 1MGdr = (H0),
KINETICS (Plane motion) where H(i = JGo)
Mass Moment of Inertia / = J r 2dm 1
(H0), + X Modi = (Ho),
Parallel-Axis Theorem I = JG + md2 where ll0 -
Conservation of Angular Momentum
Radius o f Gyration k -,i±
m X(sysi.H), = X(syst. H)2