FORMULAE

MECHANICS

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Contents
Articles
Classical Mechanics Formulae Gravitation Formulae Equations for Properties of Matter 1 10 14

References
Article Sources and Contributors 16

Article Licenses
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Classical Mechanics Formulae

Classical Mechanics Formulae

Lead Article: Tables of Physics Formulae This article is a summary of the laws, principles, defining quantities, and useful formulae in the analysis of Classical Mechanics.

Mass and Inertia

Mass can be considered to be inertial or gravitational. Inertial mass is the mass associated with the inertia of a body. By Newton's 3rd Law of Motion, the acceleration of a body is proportional to the force applied to it. Force divided by acceleration is the inertial mass. Gravitational mass is that mass associated with gravitational attraction. By Newton's Law of Gravity, the gravitational force exerted by or on a body is proportional to its gravitational mass. By Einstein's Principle of Equivalence, inertial and gravitational mass are always equal.

Often, masses occur in discrete or continuous distributions. "Discrete mass" and "continuum mass" are not different concepts, but the physical situation may demand the calculation either as summation (discrete) or integration (continuous). Centre of mass is not to be confused with centre of gravity (see Gravitation section). Note the convenient generalisation of mass density through an n-space, since mass density is simply the amount of mass per unit length, area or volume; there is only a change in dimension number between them.
Quantity (Common Name/s) Mass density of dimension n ( = n-space) (Common) Symbol/s Defining Equation SI Units Dimension

linear mass density surface mass density , volume mass density , no general symbol for any dimension

n-space mass density:

kg m-n

[M][L]-n

n = 1 for linear mass density, n = 2 for surface mass density, n = 3 for volume mass density, etc

special cases are:

Total descrete mass Total continuum mass n-space mass density

kg m kg

[M][L] [M]

special cases are:

Moment of Mass

(No common symbol)

kg m

[M][L]

Classical Mechanics Formulae

2
m [L]

Centre of Mass (Symbols can vary enourmously)

ith moment of mass Centre of mass for a descrete masses

Centre of a mass for a continuum of mass

Moment of Inertia (M.O.I.)

M.O.I. for Descrete Masses

kg m2 s-1

[M][L]2

M.O.I. for a Continuum of Mass

Mass Tensor

Components

kg

[M]

Contraction of the tensor with itself yeilds the more familiar scalar M.O.I. Tensor Components kg m2 s-1 [M][L]2

2nd-Order Tensor Matrix form

Contraction of the tensor with itself yeilds the more familiar scalar

Moment of Inertia Theorems

Often the calculations for the M.O.I. of a body are not easy; fortunatley there are theorems which can simplify the calculation.
Theorem Superposition Principle for M.O.I. about any chosen Axis Parallel Axis Theorem = Total mass of body = Perpendicular distance from an axis through the C.O.M. to another parallel axis = M.O.I. about the axis through the C.O.M. = M.O.I. about the parallel axis Perpendicular Axis Theorem i, j, k refer to M.O.I. about any three mutually perpendicular axes: the sum of M.O.I. about any two is the third. Nomenclature = Resultant M.O.I. Equation

Classical Mechanics Formulae

Galilean Transforms
The transformation law from one inertial frame (reference frame travelling at constant velocity - including zero) to another is the Galilean transform. It is only true for classical (Galilei-Newtonian) mechanics. Unprimed quantites refer to position, velocity and acceleration in one frame F; primed quantites refer to position, velocity and acceleration in another frame F' moving at velocity V relative to F. Conversely F moves at velocity (V) relative to F' .
Galilean Inertial Frames = Constant relative velocity between two frames F and F'. = Position, velocity, acceleration as measured in frame F . = Position, velocity, acceleration as measured in frame F' . Equivalent Accelerations Relative Velocity Relative Position

Laws of Classical Mechanics

The following general approaches to classical mechanics are summarized below in the order of establishment. They are equivalent formulations, Newton's is very commonly used due to simplicity, but Hamilton's and Lagrange's equations are more general, and their range can extend into other branches of physics with suitable modifications.

Newton's Formulation (1687)

Force, acceleration, and the momentum rate of change are all equated neatly in Newton's Laws .
1st Law: A zero resultant force acting ON a body BY an external agent causes zero change in momentum. The effect is a constant momentum vector and therefore velocity (including zero). 2nd Law: A resultant force acting ON a body BY an external agent causes change in momentum. 3rd Law: Two bodies i and j mutually exert forces ON each other BY each other, when in contact. The 1st law is a special case of the 2nd law. The laws summarized in two equations (rather than three where one is a corollary). One is an ordinary differential equation used to summarize the dynamics of the system, the other is an equivalance between any two agents in the system. Fij = force ON body i BY body j, Fij = force ON body j BY body i. In applications to a dynamical system of bodies the two equations (effectively) combine into one. pi = momentum of body i, and FE = resultant external force (due to any agent not part of system). Body i does not exert a force on itself.

Classical Mechanics Formulae

Euler-Lagrange Formulation (1750s)

The generalized coordinates and generalized momenta of any classical dynamical system satisfy the Euler-Lagrange Equation, which is a set of (partial) differential equations describing the minimization of the system.

Written as a single equation:

Hamilton's Formulation (1833)

The generalized coordinates and generalized momenta of any classical dynamical system also satisfy Hamilton's equations , which are a set of (partial) differential equations describing the time development of the system.

The Hamiltonian as a function of generalized coordinates and momenta has the general form:

The value of the Hamiltonian H is the total energy of the dynamical system. For an isolated system, it generally equals the total kinetic T and potential energy V. Hamiltonians can be used to analyze energy changes of many classical systems; as diverse as the simplist one-body motion to complex many-body systems. They also apply in non-relativistic quantum mechanics; in the relativistic formulation the hamiltonian can be modified to be relativistic like many other quantities.

Derived Kinematic Quantities

For rotation the vectors are axial vectors (also known as pseudovectors), the direction is perpendicular to the plane of the position vector and tangential direction of rotation, and the sense of rotation is determined by a right hand screw system. For the inclusion of the scalar angle of rotational position , it is nessercary to include a normal vector to the plane containing and defined by the position vector and tangential direction of rotation, so that the vector equations to hold. Using the basis vectors for polar coordinates, which are , the unit normal is .

Classical Mechanics Formulae

Quantity (Common Name/s) (Common) Symbol/s Velocity Acceleration

Defining Equation

SI Units Dimension m s-1 m s-2 m s-3 rad s-1 rad s-2 [L][T]-1 [L][T]-2 [L][T]-3 [T]-1 [T]-2

Jerk

Angular Velocity Angular Acceleration

By vector geometry it can be found that:

and hence the corollary using the above definitions:

Derived Dynamic Quantities

Quantity (Common Name/s) (Common) Symbol/s Momentum Force Impulse Defining Equation SI Units kg m s-1 N = kg m s-2 kg m s-1 Dimension [M][L][T]-1 [M][L][T]-2 [M][L][T]-1

Angular Momentum about a position point Total, Spin and Orbital Angular Momentum Moment of a Force about a position point Torque Angular Impulse No common symbol Coefficeint of Restitution ,

kg m2 s-1

[M][L]2[T]-1

kg m2 s-1

[M][L]2[T]-1

N m = kg m2 s-2 [M][L]2[T]-2

kg m2 s-1

[M][L]2[T]-1

Dimensionless

Dimensionless

usually but it is possible that

Classical Mechanics Formulae

Translational Collisions
For conservation of mass and momentum see Conservation and Continuity Equations.
Description Completley Inelastic Collision Inelastic Collision Nomenclature Equation

Elastic Collision Superelastic/Explosive Collision

General Planar Motion

The plane of motion is considered in a the cartesian x-y plane using basis vectors (i, j), or alternativley the polar plane containing the (r, ) coordinates using the basis vectors For any object moving in any path
[1]

in a plane, the following are general kinematic and dynamic results

:
Quantity Position Nomenclature = radial position component = angular position component = instantaneous radius of curvature at on the curve Equation

= unit vector directed to centre of circle of curvature Velocity = Instantaneous angular velocity

Acceleration

= Instantaneous angular acceleration

Centripetal Force

= instananeous mass moment

They can be readily derived by vector geometry and using kinematic/dynamic definitions, and prove to be very useful. Corollaries of momentum, angular momentum etc can immediatley follow by applying the definitions. Common special cases are: the angular components are constant, so these represent equations of motion in a streight line the radial components i.e. is constant, representing circular motion, so these represent equations of motion in a rotating path (not neccersarily a circle, osscilations on an arc of a circle are possible) , representing uniform circular motion a streight line and and are both constant, and

is constant, representing uniform acceleration in

Classical Mechanics Formulae

Mechanical Energy
General Definitions
Quantity (Common Name/s) (Common) Symbol/s Mechanical Work due to a Resultant Force Work done ON mechanical system, Work done BY Potential Energy Mechanical Power Lagrangian Action J = N m = kg m2 s-2 [M][L]2[T]-2 W = J s-1 J Js [M][L]2[T]-3 [M][L]2[T]-2 [M][L]2[T]-1 J = N m = kg m2 s-2 [M][L]2[T]-2 Defining Equation SI Units Dimension

J = N m = kg m2 s-2 [M][L]2[T]-2

Energy Theorems and Principles

Work-Energy Equations The change in translational and/or kinetic energy of a body is equal to the work done by a resultant force and/or torque acting on the body. The force/torque is exerted across a path C, this type of integration is a typical example of a line integral. For formulae on energy conservation see Conservation and Continuity Equations.
Theorem/Principle Work-Energy Theorem for Translation (Common) Equation

Work-Energy Theorem for Rotation

General Work-Energy Theorem

Principle of Least Action

Various minimized quantity formulations are:

A system always minimizes the action associated with all parts of the system. Maupertuis' Formulation

Euler's Formulation

Lagrangian Formulation

Classical Mechanics Formulae

Potential Energy and Work

Every conservative force has an associated potential energy (often incorrectly termed as "potential", which is related to energy but not exactly the same quantity):

By following two principles a non-relative value to U can be consistently assigned: Wherever the force is zero, its potential energy is defined to be zero as well. Whenever the force does positive work, potential energy decreases (becomes more negative), and vice versa.

Useful Derived Equations

Description Kinetic Energy (Common) Symbols General Vector/Scalar Equation

Angular Kinetic Energy

Total Kinetic Energy Sum of translational and rotational kinetic energy Mechanical Work due to a Resultant Torque Total work done due to resultant forces and torques Sum of work due to translational and rotational motion Elastic Potential Energy Power transfer by a resultant force

Power transfer by a resultant torque

Total power transfer due to resultant forces and torques Sum of power transfer due to translational and rotational motion

Transport Mechanics
Here is a unit vector normal to the cross-section surface at the cross section considered.

Classical Mechanics Formulae

Quantity (Common Name/s) (Common) Symbol/s Flow Velocity Vector Field Mass Current Mass Current Density

Defining Equation

SI Units m s-1 kg s-1

Dimension [L][T]-1 [M][T]-1

kg m-2 s-1 [M][L]-2[T]-1 kg m s-2 kg m s-2 [M][L][T]-2 [M][L][T]-2

Momentum Current Momentum Current Density

Damping Parameters, Forces and Torques

Quantity (Common Name/s) Spring Constant (Hooke's Law) Damping Coefficient N s m-1 N [L][T]-1 [M][L][T]-2 (Common) Symbol/s Defining Equation SI Units N m-1 Dimension [M][T]-2

Damping Force Damping Ratio

dimensionless dimensionless

Logarithmic decrement is any amplitude, is the

dimensionless dimensionless

amplitude n successive peaks later from Torsion Constant Damping Torque Rotational Damping Coefficient , where N m rad-1 Nm N m s rad-1 [M][L]2[T]-2 [M][L]2[T]-2 [M][L]2[T]-1

References
[1] 3000 Solved Problems in Physics, Schaum Series, A. Halpern, Mc Graw Hill, 1988, ISBN 9-780070-257344

Gravitation Formulae

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Gravitation Formulae
Lead Article: Tables of Physics Formulae This article is a summary of the laws, principles, defining quantities, and useful formulae in the analysis of Gravitation.

Gravitational Field Definitions

A common misconseption occurs between centre of mass and centre of gravity. They are defined in simalar ways but are not exactly the same quantity. Centre of mass is the mathematical descrition of placing all the mass in the region considered to one position, centre of gravity is a real physical quantity, the point of a body where the gravitational force acts. They are only equal if and only if the external gravitational field is uniform. Contrary to the strong analogy between (classical) gravitation and electrostatics, there are no "centre of charge" or "centre of electrostatic attraction" analogues.
Quantity Name Centre of Gravity (Symbols can vary enourmously) (Common) Symbol/s Defining Equation ith moment of mass Centre of gravity for a descrete masses SI Units m Dimension [L]

Centre of a gravity for a continuum of mass

Standard Gravitation Parameter of a Mass Gravitational Field, Field Strength, Potential Gradient, Acceleration Gravitational Flux

N m2 kg-1

[L]3 [T]-2

N kg-1 = m s-2

[L][T]-2

m3 s-2 J kg-1 J kg-1 J Hz = s-1

[L]3[T]-2 [L]2[T]-2 [L]2[T]-2 [M][L]2[T]-2 [T]-1

Absolute Gravitational Potential

Gravitational Potential Differance Gravitational Potential Energy Gravitational Torsion Field

Gravitational Torsion Flux

N m s kg-1 = m2 [M]2 [T]-1 s-1

Gravitation Formulae

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Gravitomagnetic Field Gravitomagnetic Flux

Hz = s-1

[T]-1

N m s kg-1 = m2 [M]2 [T]-1 s-1 m s-1 [M] [T]-1

Gravitomagnetic Vector [1] Potential

Gravitational Potential Gradient and Field

Laws of Gravitation
Modern Laws
Gravitomagnetism (GEM) Equations: In an relativley flat spacetime due to weak gravitational fields (by General Relativity), the following gravitational analogues of Maxwell's equations can be found, to describe an analogous Gravitomagnetic Field. They are well established by the theory, but have yet to be verified by experiment [2].
Einstein Tensor Field (ETF) Equations where G is the Einstien tensor:

GEM Equations

Gravitomagnetic Lorentz Force

Classical Laws
It can be found that Kepler's Laws, though originally discovered from planetary observations (also due to Tycho Brahe), are true for any central forces. For Kepler's 1st law, the equation is nothing physically fundamental; simply the polar equation of an ellipse where the pole (origin of polar coordinate system) is positioned at a focus of the ellipse, centred on the central star. e = elliptic eccentricity a = elliptic semi-major axes = planet aphelion b = elliptic semi-minor axes = planet perihelion

Gravitation Formulae

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Netown's Law of Gravitational Force

Gauss's Law for Gravitation

Kepler's 1st Law Planets move in an ellipse, with the star at a focus Kepler's 2nd Law Kepler's 3rd Law

Gravitational Fields
The general formula for calculating classical gravitational fields, due to any mass distribution, is found by using Newtons Law, definition of g, and application of calculus:

Uniform Mass Corolaries

For uniform mass distributions the table below summarizes common cases. For a massive rotating body (i.e. a planet/star etc), the equation is only true for much less massive bodies (i.e. objects at the surface) in physical contact with the rotating body. Since this is a classical equation, it is only approximatley true at any rate.
Superposition Principle for the Gravitational Field Gravitational Acceleration Gravitational Field for a Rotating (spinning about axis) body = azimuth angle relative to rotation axis = unit vector perpendicular to rotation axis, radial from it Uniform Gravitational Field, Parabolic Motion = Initail Position = Initail Velocity = Time of Flight Point Mass Use Constant Acc. Equations to obtain

At a point in a local array of Point Masses Line of Mass = Mass = Length of mass distribution Spherical Shell = Radius = Mass Outside/at Surface

Inside

Gravitation Formulae

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Spherical Mass Distribution = Radius

= Mass

Outside/at Surface

Inside

Gravitational Potential Energy of a Physical Pendulum in a Uniform Field

= seperation between pivot and centre of mass = length from pivot to centre of gravity = mass of pendulum = mass moment of pendulum

Gravitational Torque on a physical Pendulum in a Uniform Field

For non-uniform fields and mass-moments, applying differentials of the scalar and vector products then integrating gives the general gravitational torque and potential energy as:

Gravitational Potentials
Potential Energy from gravity

Escape Speed

Orbital Energy

External Links
Tables of Physics Formulae Gravitational Field Gravitational Induction Gravitomagnetism General Relativity

Gravitation Formulae

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References
[1] Gravitation and Inertia, I. Ciufolini and J.A. Wheeler, Princeton Physics Series, 1995, ISBN 0-691-03323-4 [2] Gravitation and Inertia, I. Ciufolini and J.A. Wheeler, Princeton Physics Series, 1995, ISBN 0-691-03323-4

Equations for Properties of Matter

Lead Article: Tables of Physics Formulae This article is a summary of the laws, principles, defining quantities, and useful formulae in the analysis of Equations for Properties of Matter.

Friction
Normal Force Static Friction, lies tangent to the surface Kinetic Friction, lies tangent to the surface Drag Force, tangent to the path Terminal Velocity

Energy dissipation due to Friction (sound, heat etc)

Stress and strain

Quantity (Common Name/s) (Common) Symbol/s General Stress F may be any force applied to area A General Strain D = dimension (length, area, volume) = change in dimension General Modulus of Elasticity Yield Strength/ Ultimate Strength Young's Modulus Shear Modulus Bulk Modulus Pa = N m-2 Pa = N m-2 Pa = N m-2 [M] [T] [L]-1 [M] [T] [L]-1 [M] [T] [L]-1 Pa = N m-2 [M] [T] [L]-1 dimensionless dimensionless Definining Equation SI Units Pa = N m-2 Dimension [M] [T] [L]-1

Equations for Properties of Matter

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Fluid Dynamics
density pressure pressure difference pressure at depth barometer versus manometer Pascal's principle Archimedes' Principle buoyant force gravitational force when floating apparent weight ideal fluid equation of continuity Bernoulli's Equation constant constant

Article Sources and Contributors

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Article Sources and Contributors

Classical Mechanics Formulae Source: http://en.wikiversity.org/w/index.php?oldid=767431 Contributors: Berek, Maschen, Poetlister Gravitation Formulae Source: http://en.wikiversity.org/w/index.php?oldid=747978 Contributors: Maschen Equations for Properties of Matter Source: http://en.wikiversity.org/w/index.php?oldid=745710 Contributors: Maschen

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License
Creative Commons Attribution-Share Alike 3.0 Unported //creativecommons.org/licenses/by-sa/3.0/