Engineering Dynamics

Formula sheet

Rectilinear motion
𝑑𝑠 𝑑𝑣
=𝑣 =𝑎 𝑎𝑑𝑠 = 𝑣𝑑𝑣
𝑑𝑡 𝑑𝑡

Constant acceleration:
𝑣 = 𝑣0 + 𝑎𝑐 𝑡
𝑡2
𝑠 = 𝑠0 + 𝑣0 𝑡 + 𝑎𝑐
2
𝑣 2 = 𝑣02 + 2𝑎𝑐 [𝑠 − 𝑠0 ]
Acceleration as a function of time:
𝑡
𝑣 = 𝑣0 + ∫ 𝑓(𝑡) 𝑑𝑡
0
𝑡 𝑡
𝑠 = 𝑠0 + ∫ [𝑣0 + ∫ 𝑓(𝑡) 𝑑𝑡] 𝑑𝑡
0 0
Acceleration as a function of velocity:
𝑣 𝑡
𝑑𝑣
∫ = ∫ 𝑑𝑡
𝑣0 𝑓(𝑣) 𝑡0
𝑣
𝑣 𝑑𝑣
𝑠 = 𝑠0 + ∫
𝑣0 𝑓(𝑣)

Acceleration as a function of position:

𝑠 𝑡
𝑑𝑠
∫ = ∫ 𝑑𝑡
𝑠0 𝑔(𝑠) 𝑡0
𝑠
2
𝑣 = 𝑣02 + 2 ∫ 𝑓(𝑠) 𝑑𝑠
𝑠0
Projectile motion

Projectile launched from 𝑦0 = 0 with angle 0

𝑣02 𝑠𝑖𝑛2 (0 )

𝑦𝑚𝑎𝑥 =
2𝑔
2𝑣0 sin(0 )
𝑡=
𝑔
𝑣02
𝑅𝑚𝑎𝑥 = sin(20 )
𝑔
𝑣0𝑥 = 𝑣⃗0 cos 0

𝑣0𝑦 = 𝑣⃗0 sin 0

Projectile launched from height 𝑦0 with angle 0

𝑣02 sin2 (0 )
𝑦𝑚𝑎𝑥 = + 𝑦0
2𝑔

𝑣0 sin(0 ) (𝑣0 sin 0 )2 2𝑦0

𝑡𝑡𝑜𝑡𝑎𝑙 = +√ +
𝑔 𝑔2 𝑔

𝑣0 sin(0 ) (𝑣0 sin 0 )2 2𝑦0

𝑅𝑚𝑎𝑥 = (𝑣0 cos 0 ) ( +√ + )
𝑔 𝑔2 𝑔

𝑔𝑡𝑡𝑜𝑡𝑎𝑙 𝑦0 1 𝑔𝑡𝑡𝑜𝑡𝑎𝑙 𝑦0
𝑣0 = ( − ) =( − ) csc 0
2 𝑡𝑡𝑜𝑡𝑎𝑙 sin 0 2 𝑡𝑡𝑜𝑡𝑎𝑙

Projectile launched up an inclined plane with angle 0

2𝑣0 sin(0 )
𝑡=
𝑔 cos 0
 2𝑣0 2 (cos 0 + 0 )(sin 0 )
𝑥′ =
𝑔 cos 0
2𝑣0 2 (cos 0 + 0 )(sin 0 )
𝑅=
𝑔 cos 2 0
2𝑣0 2 (cos 0 + 0 )(sin 0 )(sin 0 )
𝑦′ =
𝑔 cos 2 0
(𝑣0 sin 0 )2
y𝑚𝑎𝑥 =
2𝑔 cos 0
90+0
Angle for maximum range: 0 = − 0
2

Projectile launched down an inclined plane with angle 0

2𝑣0 sin 0 + 0
𝑡=
𝑔 cos 0
2𝑣0 2 (cos 0 )(sin 0 + 0 )
𝑥′ =
𝑔 cos 0
2𝑣0 2 (cos 0 )(sin 0 + 0 )
𝑅=
𝑔 cos 2 0
2𝑣0 2 (cos 0 )(sin 0 + 0 )(sin 0 )
𝑦′ =
𝑔 cos 2 0
2
(𝑣0 sin 0 + 0 )
y𝑚𝑎𝑥 =
2𝑔 cos 0

90+0
Angle for maximum range: 0 = 2
Normal – tangential co-ordinates
𝑣2 2
 = ̇ 𝑡 𝑠 = 𝑟 𝑣 = 𝑟̇ 𝑎𝑡 = 𝑟̈ 𝑎𝑛 = = ̇ 𝑟
𝑟
𝑡 2
2
𝑎 = √𝑎𝑛 + 𝑎𝑡 2 ̇ = ̇ 0 + ̈ 𝑡  = 0 + ̇ 0 t + ̈ 2
2 2
̇ = ̇ 0 + 2̈ [ − 0 ]

3
2 2
𝑑𝑦
(1 + ( ) )
𝑑𝑥
=
𝑑2𝑦
𝑑𝑥 2

Polar co-ordinates
𝒓 = 𝑟𝑢𝑟 𝑣 = 𝑟̇ 𝑢𝑟 + 𝑟̇ 𝑢 𝑣𝑟 = 𝑟̇ 𝑣 = 𝑟̇
2 2
𝑎 = (𝑟̈ − 𝑟̇ ) 𝑢𝑟 + (2̇ 𝑟̇ + 𝑟̈ )𝑢 𝑎𝑟 = 𝑟̈ − 𝑟̇ 𝑎 = 2̇ 𝑟̇ + 𝑟̈
1𝑑 2
𝑎 = (𝑟 ̇ )
𝑟 𝑑𝑡
𝑣 = √𝑣𝑟 2 + 𝑣 2 𝑎 = √𝑎𝑟 2 + 𝑎 2

Cylindircal co-ordinates
𝒓𝒑 = 𝑟𝑢𝑟 + 𝑧𝑢𝑧
𝑣 = 𝑟̇ 𝑢𝑟 + 𝑟̇ 𝑢 +𝑧̇ 𝑢𝑧 𝑣𝑟 = 𝑟̇ 𝑣 = 𝑟̇ 𝑣𝑧 = 𝑧̇
2
𝑎 = (𝑟̈ − 𝑟̇ ) 𝑢𝑟 + (2̇ 𝑟̇ + 𝑟̈ )𝑢 + (𝑧̈ )𝑢𝑧
2
𝑎𝑟 = 𝑟̈ − 𝑟̇ 𝑎 = 2̇ 𝑟̇ + 𝑟̈ 𝑎𝑧 = 𝑧̈
𝑣 = √𝑣𝑟 2 + 𝑣 2 + 𝑣𝑧 2 𝑎 = √𝑎𝑟 2 + 𝑎 2 + 𝑎𝑧 2
Spherical co-ordinates
𝑅̇ = 𝑅̇𝑢𝑅 + 𝑅Φ̇𝑢𝛷 + 𝑅̇ sin Φ 𝑢
𝑣𝑅 = 𝑅̇ 𝑣𝛷 = 𝑅Φ̇ 𝑣 = 𝑅̇ sin Φ
2 2
𝑅̈ = (𝑅̈ − 𝑅Φ̇ 2 − 𝑅̇ sin2 Φ) 𝑢𝑅 + (2𝑅̇ Φ̇ + 𝑅Φ̈ − 𝑅̇ sin Φ cos Φ ) 𝑢𝛷 + (2𝑅̇ ̇ sin Φ + 2𝑅Φ̇̇ cos Φ + 𝑅̈ sin Φ)𝑢

2
𝑎𝑅 = 𝑅̈ − 𝑅Φ̇2 − 𝑅 ̇ sin2 Φ
1 𝑑 2
𝑎𝛷 = ( (𝑅 2 Φ̇)) − 𝑅 ̇ 𝑠𝑖𝑛 Φ 𝑐𝑜𝑠 Φ
𝑅 𝑑𝑡

𝑠𝑖𝑛 Φ 𝑑
𝑎 = ( (𝑅 2 ̇ )) + 2𝑅Φ̇̇ 𝑐𝑜𝑠 Φ
𝑅 𝑑𝑡

Relative motion
𝑟𝐵 = 𝑟𝐴 + 𝑟𝐵/𝐴
𝑥2 𝑖 + 𝑦2 𝑗 = (𝑥1 𝑖 + 𝑦1 𝑗) + (𝑥′𝑖 + 𝑦′𝑗)
𝑉𝐵 = 𝑉𝐴 + 𝑉𝐵/𝐴
𝑣𝐵 𝑖 + 𝑣𝐵 𝑗 = (𝑣𝐴 𝑖 + 𝑣𝐴 𝑗) + (𝑣𝐵/𝐴 𝑖 + 𝑣𝐵/𝐴 𝑗)
𝑎𝐵 = 𝑎𝐴 + 𝑎𝐵/𝐴
𝑎𝐵 𝑖 + 𝑎𝐵 𝑗 = (𝑎𝐴 𝑖 + 𝑎𝐴 𝑗) + (𝑎𝐵/𝐴 𝑖 + 𝑎𝐵/𝐴 𝑗)

Newtons second law

∑ 𝐹⃗𝑥 𝑖 + ∑ 𝐹⃗𝑦 𝑗 + ∑ 𝐹⃗𝑧 𝑘 = 𝑚(𝑎⃗𝑥 𝑖 + 𝑎⃗𝑦 𝑗 + 𝑎⃗𝑧 𝑘)

∑ 𝐹⃗ = (∑ 𝐹⃗𝑥 𝑖) + (∑ 𝐹⃗𝑦 𝑗) + (∑ 𝐹⃗𝑧 𝑘)

 2 2 2
|∑ 𝐹⃗ | = √(∑ 𝐹⃗𝑥 𝑖) + (∑ 𝐹⃗𝑦 𝑗) + (∑ 𝐹⃗𝑧 𝑘)

𝑎⃗ = 𝑎⃗𝑥 𝑖 + 𝑎⃗𝑦 𝑗 + 𝑎⃗𝑧 𝑘

2
|𝑎⃗| = √(𝑎⃗𝑥 𝑖)2 + (𝑎⃗𝑦 𝑗) + (𝑎⃗𝑧 𝑘)2

|∑ 𝐹⃗ | = 𝑚|𝑎⃗|

Trigonometric identities
O H
sin θ = H csc θ = O

A H
cos θ = H sec θ = A

O A
tan θ = A cot θ = O

sin2 () − cos 2 () = 1

sin θ
tan θ =
cos θ

sin( ± ) = cos() cos() ± sin() sin()

sin(2) = 2 sin() cos()

cos(2) = cos 2 () − sin2 ()

1 − cos(2)
sin() = ±√
2

1 + cos(2)
cos() = ±√
2
1 + tan2 () = sec 2 ()

1 + cot 2 () = csc 2 ()

Derivatives
𝑑 𝑛 𝑛−1
𝑥 = 𝑛𝑥
𝑑𝑥

𝑑 𝑑𝑣 𝑑𝑢
(𝑢𝑣 ) = 𝑢 + 𝑣 Product rule
𝑑𝑥 𝑑𝑥 𝑑𝑥

𝑑𝑢 𝑑𝑣
𝑑 𝑢 𝑣 −𝑢
𝑑𝑥 𝑑𝑥
𝑑𝑥 𝑣
( )= 𝑣 2 Quotient rule

𝑑 𝑑
(sin 𝑥 ) = cos 𝑥 (csc 𝑥 ) = − csc 𝑥 cot 𝑥
𝑑𝑥 𝑑𝑥
𝑑 𝑑
(cos 𝑥 ) = −sin 𝑥 (sec 𝑥 ) = tan 𝑥 sec 𝑥
𝑑𝑥 𝑑𝑥
𝑑 𝑑
(tan 𝑥 ) = sec 2 𝑥 (cot 𝑥 ) = −csc 2 𝑥
𝑑𝑥 𝑑𝑥
𝑑 𝑑
(sinh 𝑥 ) = cosh 𝑥 (cosh 𝑥 ) = sinh 𝑥
𝑑𝑥 𝑑𝑥
Chain rule (where 𝑢 is a function of 𝑥):
𝑑 𝑛 𝑛−1 𝑑𝑢
𝑢 = 𝑛𝑢
𝑑𝑥 𝑑𝑥

𝑑 𝑑𝑢 𝑑 𝑑𝑢
(sin 𝑢) = cos 𝑢 (csc 𝑢) = − csc 𝑢 cot 𝑢
𝑑𝑥 𝑑𝑥 𝑑𝑥 𝑑𝑥
𝑑 𝑑𝑢 𝑑 𝑑𝑢
(cos 𝑢) = −sin 𝑢 (sec 𝑢) = tan 𝑢 sec 𝑢
𝑑𝑥 𝑑𝑥 𝑑𝑥 𝑑𝑥
𝑑 𝑑𝑢 𝑑 𝑑𝑢
(tan 𝑢) = sec 2 𝑢 (cot 𝑢) = −csc 2 𝑢
𝑑𝑥 𝑑𝑥 𝑑𝑥 𝑑𝑥
𝑑 𝑑𝑢 𝑑 𝑑𝑢
(sinh 𝑢) = cosh 𝑢 (cosh 𝑢) = sinh 𝑢
𝑑𝑥 𝑑𝑥 𝑑𝑥 𝑑𝑥

Intergrals
𝑛
𝑥 𝑛+1
∫ 𝑥 𝑑𝑥 =
𝑛+1
1
∫ 𝑑𝑥 = ln 𝑥
𝑥

∫ sin 𝑥 𝑑𝑥 = −cos 𝑥

∫ cos 𝑥 𝑑𝑥 = sin 𝑥

1 1 + sin 𝑥
∫ sec 𝑥 𝑑𝑥 = ln
2 1 − sin 𝑥
𝑥 sin 2𝑥
∫ sin2 𝑥 𝑑𝑥 = −
2 4
𝑥 sin 2𝑥
∫ cos 2 𝑥 𝑑𝑥 = +
2 4
 sin2 𝑥
∫ sin 𝑥 cos 𝑥 𝑑𝑥 =
2

∫ sinh 𝑥 𝑑𝑥 = cosh 𝑥

∫ cosh 𝑥 𝑑𝑥 = sinh 𝑥

∫ tanh 𝑥 𝑑𝑥 = ln cosh 𝑥

∫ ln 𝑥 𝑑𝑥 = 𝑥 ln 𝑥 − 𝑥

∫ 𝑥 sin 𝑥 𝑑𝑥 = sin 𝑥 − 𝑥 cos 𝑥

∫ 𝑥 cos 𝑥 𝑑𝑥 = cos 𝑥 + 𝑥 sin 𝑥

∫ 𝑥 2 sin 𝑥 𝑑𝑥 = 2𝑥 sin 𝑥 − (𝑥 2 − 2) cos 𝑥

∫ 𝑥 2 cos 𝑥 𝑑𝑥 = 2𝑥 cos 𝑥 + (𝑥 2 − 2) sin 𝑥

𝑎𝑥
𝑒 𝑎𝑥
∫𝑒 𝑑𝑥 =
𝑎
𝑎𝑥
𝑒
∫ 𝑥 𝑒 𝑎𝑥 𝑑𝑥 = 2 (𝑎𝑥 − 1)
𝑎

𝑎𝑥
𝑒 𝑎𝑥 (𝑎 sin 𝑏𝑥 − 𝑏 cos 𝑏𝑥 )
∫𝑒 sin 𝑏𝑥 𝑑𝑥 =
𝑎2 + 𝑏2
𝑎𝑥 (
𝑎𝑥
𝑒 𝑎 cos 𝑏𝑥 + 𝑏 sin 𝑏𝑥 )
∫ 𝑒 cos 𝑏𝑥 𝑑𝑥 =
𝑎2 + 𝑏2
 𝑎𝑥 2
𝑒 𝑎𝑥 2
2
∫𝑒 sin 𝑥 𝑑𝑥 = (𝑎 sin 𝑥 − sin 2𝑥 + )
4 + 𝑎2 𝑎
𝑎𝑥
𝑒 2
∫ 𝑒 𝑎𝑥 cos 2 𝑥 𝑑𝑥 = (𝑎 cos 2
𝑥 + sin 2𝑥 + )
4 + 𝑎2 𝑎

𝑎𝑥
𝑒 𝑎𝑥 𝑎
∫𝑒 sin 𝑥 cos 𝑥 𝑑𝑥 = ( sin 2𝑥 − cos 2𝑥)
4 + 𝑎2 2
2
∫ √𝑎 + 𝑏𝑥 𝑑𝑥 = √(𝑎 + 𝑏𝑥 )3
3𝑏

2
∫ 𝑥 √𝑎 + 𝑏𝑥 𝑑𝑥 = 2
(3𝑏𝑥 − 2𝑎)√(𝑎 + 𝑏𝑥 )3
15𝑏

2
∫ 𝑥 2 √𝑎 + 𝑏𝑥 𝑑𝑥 = 3
(8𝑎2 − 12𝑎𝑏𝑥 + 15𝑏 2 𝑥 2 )√(𝑎 + 𝑏𝑥 )3
105𝑏

𝑑𝑥 2√𝑎 + 𝑏𝑥
∫ =
√𝑎 + 𝑏𝑥 𝑏

𝑥 𝑑𝑥 1
∫ = 2 [𝑎 + 𝑏𝑥 − 𝑎 ln(𝑎 + 𝑏𝑥 )]
𝑎 + 𝑏𝑥 𝑏

𝑥 𝑑𝑥 (𝑎 + 𝑏𝑥 )1−𝑛 𝑎 + 𝑏𝑥 𝑎
∫ = [ − ]
(𝑎 + 𝑏𝑥 )𝑛 𝑏2 2−𝑛 1−𝑛

𝑑𝑥 1 −1
𝑥√𝑎𝑏
∫ = tan
𝑎 + 𝑏𝑥 2 √𝑎𝑏 𝑎

𝑥 𝑑𝑥 1
∫ 2
= ln(𝑎 + 𝑏𝑥 2 )
𝑎 + 𝑏𝑥 2𝑏

1
∫ √𝑥 2 ± 𝑎2 𝑑𝑥 = [𝑥√𝑥 2 ± 𝑎2 ± 𝑎2 ln (𝑥 + √𝑥 2 ± 𝑎2 )]
2

1 𝑥
∫ √𝑎2 − 𝑥 2 𝑑𝑥 = [𝑥√𝑎2 − 𝑥 2 + 𝑎2 sin−1 ]
2 𝑎

1
∫ 𝑥 √𝑎2 − 𝑥 2 𝑑𝑥 = − √(𝑎2 − 𝑥 2 )3
3
 2
𝑥 𝑎2 𝑥
∫𝑥 √𝑎 2 − 𝑥2 𝑑𝑥 = − √(𝑎 − 𝑥 ) + (𝑥 √𝑎2 − 𝑥 2 + 𝑎2 sin−1 )
2 2 3
4 8 𝑎

𝑑𝑥 1 𝑏
∫ =− ln (√𝑎 + 𝑏𝑥 + 𝑐𝑥 2 + 𝑥 √𝑐 + )
√𝑎 + 𝑏𝑥 + 𝑐𝑥 2 √𝑐 2√𝑐

𝑑𝑥
∫ = ln (𝑥 + √𝑥 2 ± 𝑎2 )
√𝑥 2 ± 𝑎2

𝑑𝑥 𝑥
∫ = sin−1
√𝑎2 − 𝑥 2 𝑎

𝑥 𝑑𝑥
∫ = √𝑥 2 − 𝑎 2
√𝑥 2 − 𝑎2
𝑥 𝑑𝑥
∫ = ±√𝑎2 ± 𝑥 2
√𝑎 2 ± 𝑥 2

1
∫ 𝑥 √𝑥 2 ± 𝑎2 𝑑𝑥 = √(𝑥 2 ± 𝑎2 )3
3

2
𝑥 𝑎2 𝑎4
∫𝑥 √𝑥 2 ± 𝑎2 𝑑𝑥 = √(𝑥 ± 𝑎 ) ± 𝑥 √(𝑥 ± 𝑎 ) − ln (𝑥 + √(𝑥 2 ± 𝑎2 ))
2 2 3 2 2
4 8 8