NAME: __________________________ BILKENT ID: _______________ EXAM ID: ________

USEFUL FORMULAE
Particle kinematics:
#
𝑣 = 𝑑𝑠/𝑑𝑡 ; a = 𝑑v/𝑑𝑡 ; 𝑣𝑑𝑣 = 𝑎𝑑𝑠 ; 𝑣 = 𝑣! + 𝑎𝑡 , 𝑣 " = 𝑣!" + 2𝑎(𝑠 − 𝑠! ) ; 𝑠 = 𝑠! + 𝑣! 𝑡 + 𝑎𝑡 "
"
Rectangular & normal/tangential coordinates:
𝒓 3⃗ = 3𝒓⃗̇ = 𝑥̇ 6̂ + 𝑦̇ 9̂ ; 𝒂
3⃗ = 𝑥6̂ + 𝑦9̂ ; 𝒗 3⃗ = 3𝒗⃗̇ = 3𝒓⃗̈ = 𝑥̈ 6̂ + 𝑦̈ 9̂ ; 3𝒗⃗ = 𝑣𝒆?$ = 𝑠̇ 𝒆?$ = 𝜌𝛽̇𝒆?$ ;
!
3⃗̇ = 𝑣̇ 𝑒̂$ + 𝑣𝒆?̇$ = 𝑣̇ 𝑒̂$ + 𝑣𝛽̇𝑒̂% ; 𝒂
& &
𝒆?̇$ = 𝛽̇ 𝑒̂% ; 𝒂
3⃗ = 𝒗 3⃗ = 𝑎$ 𝒆?$ + 𝑎% 𝒆?% ; 𝑎$ = 𝑣̇ = 𝑠̈ ; 𝑎% = 𝑣𝛽̇ = 𝑣 ' = '

Polar coordinates:
3𝒓⃗ = 𝑟𝒆?( ; 3𝒗⃗ = 𝑣( 𝒆?( + 𝑣) 𝒆?) ; 𝑣( = 𝑟̇ ; 𝑣) = 𝑟 𝜃̇ ; 3𝒂⃗ = 𝑎( 𝒆?( + 𝑎) 𝒆?) ; 𝑎( = 𝑟̈ − 𝑟𝜃̇ " ; 𝑎) = 𝑟𝜃̈ + 2𝑟̇ 𝜃̇

3D Motion – Cylindrical coordinates:

3𝑹 H ; 𝒗
3⃗ = 𝑟𝒆?( + 𝑧𝒌 3⃗̇ = 𝑟̇ 𝒆?( + 𝑟𝜃̇𝒆?) + 𝑧̇ 𝒌
3⃗ = 3𝑹 H ; 3𝒗⃗ = 𝑣( 𝒆?( + 𝑣) 𝒆?) + 𝑣* 𝒌
H ; 𝑣( = 𝑟̇ ; 𝑣) = 𝑟𝜃̇ ; 𝑣* = 𝑧̇ ;

𝒂 H ; 𝑎( = 𝒓̈ − 𝒓𝜽̇𝟐 ; 𝑎) = 𝒓𝜽̈ + 𝟐𝒓̇ 𝜽̇ ; 𝑎* = 𝑧̈

3⃗ = 𝑎( 𝒆?( + 𝑎) 𝒆?) + 𝑎* 𝒌

3D Motion – Spherical coordinates:

3𝑹 33⃗̇ = 𝑣, 𝒆?, + 𝑣) 𝒆?𝜽 + 𝑣∅ 𝒆?∅ ; 𝑣, = 𝑅̇ ; 𝑣) = 𝑅𝜃̇ 𝑐𝑜𝑠 ∅ ; 𝑣∅ = 𝑅∅̇ ;
3⃗ = 𝑅𝒆?, ; 3𝒗⃗ = 𝑹
/01 ∅ 2
𝐚 = 𝑎, 𝐞?, + 𝑎) 𝐞?𝜽 + 𝑎∅ 𝐞?∅ ; 𝑎, = 𝑅̈ − 𝑅∅̇" − 𝑅𝜃̇ " cos" ∅ ; 𝑎) = T𝑅" 𝜃̇U − 2𝑅𝜃̇∅̇ sin ∅ ;
, 2$

1 𝑑 "
𝑎∅ = T𝑅 ∅̇U + 𝑅𝜃̇ " sin ∅ cos ∅
𝑅 𝑑𝑡
Kinetics of particles and systems of particles:
∑ 𝐅⃗ = 𝑚𝐚3⃗ ; ∑ 𝐹3 = 𝑚𝑎3 ; ∑ 𝐹4 = 𝑚𝑎4 ; ∑ 𝐹% = 𝑚𝑎% ; ∑ 𝐹$ = 𝑚𝑎$ ; ∑ 𝐹( = 𝑚𝑎( ; ∑ 𝐹𝜽 = 𝑚𝑎𝜽 ;
# #
3⃗. 𝐯3⃗
𝑈′#5" = ∆𝑇+∆𝑉6 + ∆𝑉7 ; 𝑉6 = 𝑚𝑔ℎ ; 𝑉7 = 𝑘𝑥 " ; 𝑇 = 𝑚𝑣 " ; 𝑃𝑜𝑤𝑒𝑟 = 𝑭
" "
$! $!
∫$" ∑ 𝐅⃗ 𝑑𝑡 3⃗" − 𝐆
=𝐆 3⃗# = ∆𝐆
3⃗ ; 𝐆
3⃗ = 𝑚𝐯3⃗ ; 333⃗8
∫$" ∑ 𝐌 33⃗8 )" − (𝐇
𝑑𝑡 = (𝐇 33⃗8 )# = ∆𝐇
33⃗8 ; 3𝐇
3⃗𝑶 = 𝐫⃗ × 𝒎𝐯3⃗ ; 𝐻8 = 𝑚𝑣𝑑 ;

∑ <# >𝒓⃗# "

; 𝑚 = ∑ 𝑚@ ; ∑ 𝐅⃗@ = 𝑚𝐫⃗:̈ = 𝑚𝐚3⃗: ; ∑ 𝑚@ 𝐫⃗@ = 𝑚𝐫⃗: ; 𝑇 = 𝑚𝑣:" + ∑ 𝑚@ s𝛒
3⃗̇@ s ;
# #
3𝒓⃗: = 𝒓r =
< " "

3𝐇
3⃗8 = ∑ 𝐫⃗@ × 𝑚@ 𝐯3⃗@ ; 3𝐇
3⃗: = ∑ 3𝛒⃗@ × 𝑚@ 𝐯3⃗@ ; 𝐇
33⃗A = ∑ 𝝆
3⃗B@ × 𝑚@ 𝐯3⃗@ = 3𝑯
33⃗: + 𝝆
w × 𝑚𝒗 33⃗̇8 = ∑ 𝐌
3⃗: ; 𝐇 3⃗̇: = ∑ 3𝐌
333⃗8 ; 3𝐇 33⃗: ;

3⃗̇A = ∑ 𝐌
3𝐇 333⃗A + 𝛒
ẇ × 𝑚𝐯3⃗:

Plane kinematics of rigid bodies:

∆𝐫⃗C = ∆𝐫⃗D + ∆𝐫⃗C/D ; 𝐯3⃗C = 𝐯3⃗D + 𝐯3⃗C/D ; 𝐯3⃗C/D = 𝛚
333⃗ × 𝐫⃗ ; 𝐚
3⃗C = 𝐚3⃗D + (𝐚3⃗C/D )% + (𝐚3⃗C/D )$ ;

T𝑣C/D " U|
(𝐚3⃗C/D )% = 𝝎 × T𝝎 × 𝐫⃗C/D U = −𝜔𝟐 𝐫⃗C/D ; (𝐚3⃗C/D )$ = T𝜶 × 𝐫⃗C/D U ; T𝑎C/D U% = "
𝑟 = 𝑟𝜔 ;
T𝑎C/D U$ = 𝑣C/D
̇ = 𝑟𝛼 ; 𝐯3⃗C = 𝐯3⃗D + 3𝛚
33⃗ × 𝐫⃗C/D + 𝐯3⃗(7F ; 𝐯3⃗(7F = 𝑥̇ ~̂ + 𝑦̇ •̂ ;

𝐚
3⃗C = 𝐚 333⃗̇ × 𝐫⃗C/D + 3𝛚
3⃗D + 𝛚 33⃗ × (𝛚
333⃗ × 𝐫⃗C/D ) + 2𝛚
333⃗ × 𝐯3⃗(7F + 𝐚
3⃗(7F ; 𝐚
3⃗(7F = 𝑥̈ ~̂ + 𝑦̈ •̂

Mass moment of inertia:

G
𝐼 = ∫ r2dm ; 𝐼 = ∑ 𝑟@" 𝑚@ ; Radius of gyration: 𝑘 = •< ; 𝐼 = 𝑚𝑘 " ; For a ring: 𝐼 = mr2 (about its mass center) ;

# #
A uniform disk/cylinder: 𝐼 = " 𝑚𝑟 " (about its center) ; For a thin rod: 𝐼 = #" 𝑚𝐿" (about its mass center) and
#
𝐼 = H 𝑚𝐿" (about its end) ; 𝐼 = 𝐼: + 𝑚𝑑"

1
Plane kinetics of rigid bodies:
∑ 𝐅⃗ = 𝑚𝐚3⃗: ; ∑ 𝐹3 = 𝑚(𝑎: )3 ; ∑ 𝐹4 = 𝑚(𝑎: )4 ; 3𝐇
3⃗: = 𝐼: 𝝎 333⃗̇𝑮 = 𝐼: 𝝎
333⃗ ; 𝑯 333⃗̇ = 𝐼: 𝛂 333⃗𝑮 = 𝑰𝑮 3𝛂⃗ ;
3⃗ ; ∑ 𝐌
# # # #
∑ 𝑴𝑷 = 𝑰𝑮 𝜶 + 𝒎𝒂𝑮 𝒅 ; ∑ 𝑴𝑶 = 𝑰𝑶 𝜶 ; ∑ 𝑴𝑪 = 𝑰𝑪 𝜶 ; 𝑇 = 𝑚𝑣:" + 𝐼6 𝜔" ; 𝑇 = 𝐼8 𝜔" ; 𝑇 = 𝐼L 𝜔" ;
" " " "
$
𝑈< = ∫ 𝑀 𝑑𝜃 ; ∫$ ! ∑ 𝐅⃗ 𝑑𝑡 = 𝐆
3⃗" − 𝐆
3⃗# = ∆𝐆 3⃗ = 𝑚𝐯3⃗ ; ∫$! ∑ 𝐌
3⃗ ; 𝐆 333⃗: 𝑑𝑡 = ∆𝐇
33⃗: = 𝐼: (𝜔" − 𝜔# ) ;
" $"
$
∫$" ∑ 3𝐌
33⃗8 𝑑𝑡 = (𝐇
33⃗8 )" − (𝐇
33⃗8 )# = ∆𝐇
33⃗8 ; General fixed-point O: 𝐻8 = 𝐼: 𝜔 + 𝑚𝑣: 𝑑 ;
!

$
333⃗8 𝑑𝑡 = ∆𝐇
Fixed-axis rotation about O: ∫$ ! ∑ 𝐌 33⃗8 = 𝐼8 (𝜔" − 𝜔# )
"

For each generalized coordinate 𝑞M , the Euler-Lagrange Equation:

𝑑 𝜕𝐿 𝜕𝐿
# (− = 𝑄!"#"$%#"&'().
𝑑𝑡 𝜕𝑞!̇ 𝜕𝑞!
Q"#"$%#"&'().
! = 0 for conservative systems. Otherwise:

$%$'%$()*+. $%$'%$()*+.
2%*')( /%*01)(
𝜕𝑟,,,⃗
$ 𝜕𝜃⃗-
𝑄#$%$&'%$()*+. = * ,,,⃗
𝐹$ ∙ + * ,,,,,,⃗
𝑀- ∙
𝜕𝑞# 𝜕𝑞#
$ -

Equilibrium and Stability of 1 DOF mechanical systems (i.e. 2D dynamical systems)

Plug in 𝑞̈ = 𝑞̇ = 0 into the equation of motion to find the equilibrium points (i.e. fixed points).

𝜕𝑓 𝜕𝑓
𝜖̈ = 𝑓7𝑥)0 , 09 + : 𝜖+ : 𝜖̇ + 𝒪(𝜖 8 , 𝜖̇ 8 )
𝜕𝑥 (4!" ,6) 𝜕𝑥̇ (4!" ,6)
:; :;
Define: 𝛾9 = − :4> 𝛾8 = − :4̇ > , then 𝜖 = 𝜖6 𝑒 => with solutions
(4!" ,6) (4!" ,6)

−𝛾8 ± C𝛾88 − 4𝛾9

𝜆9,8 =
2
If at least one of the Real(𝜆9,8 ) is positive, the corresponding fixed point is unstable.

Equilibrium and Stability of 1D Dynamical Systems:

𝑥̇ = 𝑓(𝑥)

Plug in 𝑥̇ = 0 for equilibrium points (i.e. fixed points). For stability, either conduct a graphical analysis
or use the fact that slope at the fixed point 𝑥 ∗ will determine stability: 𝑓 " (𝑥 ∗ ) < 0 à stable .

At a bifurcation point rc the characteristics of the dynamical system (e.g. stability) changes.

2
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