Single Particle

m
O
B
r
Om
f
v
r
OB
r
Bm
Figure 1: Point mass m under action of force f. Point O is
xed in inertial space, and point B is a general point, not
necessarily xed in inertial space.
Linear momentum: p = mv
Linear momentum principle: f =
dp
dt
Torque about point O:
O
= r
Om
f
Moment of momentum about O: h
O
= r
Om
p
Ang. mom. p. of particle about O:
O
=
d
dt
h
O
Tq. on particle about gen. pt. B:
B
=
O
r
OB
f
MoM of particle about gen. pt B: h
B
= h
O
r
OB
p
AMP of particle about gen. pt B:
B
=
d
dt
h
B
+ v
B
p
General System (System of Particles)
i
O
B
r
Oi
p
i
r
OB
r
Bi
Figure 2: General system which is made up of many
masses m
i
, with total mass M. There are forces f
i
act-
ing on the i particles. Point O is xed in inertial space,
and point B is a general point, not necessarily xed in
inertial space.
LMP for general system: F
ext
=
d
dt
P
H
O
= [I]
O

AMP of general system about O:

ext
O
=
d
dt
H
O
MOM of general system about B: H
B
= H
O
+ r
OB
P
AMP of system about gen. point B:
ext
B
=
d
dt
H
B
+ v
B
P
MOM of general system about point B: H
B
= H
A
+ r
BA
P
Kinematics of Rigid Bodies
P
O
G
r
OP
r
GP
r
OG
Figure 3: Rigid Body. Point O is xed in inertial space, and
point B is a general point, not necessarily xed in inertial
space.
v
P
= v
G
+ r
GP
H
B
= [I]
B

KE of rigid body rotating about CM: T =

1
2
Mv
2
G
+
1
2

I
x

2
x
+ I
y

2
y
+ I
z

2
z

(1)
To nd principle axes
I
principal
I = 0
Impulse
Take linear and angular momentum principle for a rigid
body
F
ext
=
d
dt
P

ext
B
=
d
dt
H
B
+ v
B
P
and separate them and integrate them over a short period
of time

t=0
+
t=0

F
ext
dt =

P(0
+
)
P(0

)
dP

t=0
+
t=0

ext
B
dt =

H
B
(0
+
)
H
B
(0

)
dH
B
+

t=0
+
t=0

v
B
Pdt
P =

t=0
+
t=0

F
ext
dt
Work and Energy Principles
m
i
O
G
r
Gi
r
OG

Figure 4: Rigid Body. Point O is xed in inertial space, and

point B is a general point, not necessarily xed in inertial
space.
The kinetic energy of this rigid body is
T =

i
1
2
m
i
v
i
v
i
In a rigid body v
i
is given by
v
i
= v
G
+ r
i
Substituting this in we get the following expression
T =
1
2

i
m
i

v
G
v
G
+ v
G

i
m
i
r
i

+
1
2

i
m
i
( r
i
) ( r
i
)
The middle term drops out if v
G
= 0 or if G is at the
center of mass of the body, allowing the kinetic energy to be written
as
KE of rigid body about CM: T =
1
2
M|v
G
|
2
+
1
2

i
m
i
( r
i
) ( r
i
)
(2)
KE of rigid body rotating about CM: T =
1
2
Mv
2
G
+
1
2

I
x

2
x
+ I
y

2
y
+ I
z

2
z

(3)
Finding Center of Mass and Moment of In-
ertia
Finding CM: x
cm
=

i
A
i
r
i

i
A
i
(4)
Finding CM: z
cm
=

m
zdm

m
dm
(5)
Finding CM: z
cm
=

V
zdV

V
dV
(6)
Parallel axis theorem: I
B
= I
0
+ Mh
2
(7)
I
x
=

m
(y
2
+ z
2
)dm
I
y
=

m
(x
2
+ z
2
)dm
I
z
=

m
(x
2
+ y
2
)dm
constant density
I
x
=

V
(y
2
+ z
2
)dV
I
y
=

V
(x
2
+ z
2
)dV
I
z
=

V
(x
2
+ y
2
)dV
Cylinder radius r: I
cylinder
=
1
2
mr
2
Sphere radius r: I
sphere
=
2
5
mr
2
Rod length L about end: I
rod,end
=
1
3
mL
2
Rod length L about center: I
rod,center
=
1
12
mL
2
(8)
(9)
(10)
(11)
(12)
Lagrange
Holonomic system: the number of independent coordi-
nates in the large is equal to the number of independent admissible
variations.
Non-holonomic system is not holonomic. Usually the
number of admissible variations are less than the number of gener-
alized coordinates.
Usually we can see nonholonomic systems by allowing
the system to undergo large motions. Remember example of coin
rolling without slipping on table.
1. choose generalized coordinates in the large
1
, . . . ,
n
A complete set of coordinates should be able to exactly
dene the orientation of the system without ambiguity
An independent set of coordinates should not have any
redundancy. In other words, none of the generalized co-
ordinates should be able to be written in terms of the
others. Should be the minimal amount of coordinates
that can describe the orientation of the system
2. consider displacement about each of these coordinates one at
a time, while holding all the others xed calculate the incre-
mental work W done by the external forces under the incre-
mental displacement
j
. Express this incremental work as
W =
j

j
to see what the generalized force is. Repeat this
for each of the generalized coordinates.
3. Find kinetic and potential energy T and V for the system.
4. Make lagrangian L = T V
5. Use the formula
d
dt

j
=
j
That gives us the equations of motion