STANDARD FORMULAE

Statics
Statical Determinacy & Equilibrium
Statical determinacy of a truss: m + r = 2 j

Equations of Equilibrium:

= 0;

M = 0;

= 0;

Friction

F = N = (tan )N
Load, Shear Force and Bending Moment Function Relationships

w=

(or

dV
dx

V = wdx ;

V =

(or

dM
dx

M = Vdx ;

Axial Stress, Axial Deformation & Hookes Law

P
;
A

(Uniaxial Normal Stress)

(Uniaxial Hookes Law)

= E ;

(Uniaxial Normal Strain)

(Axial Deformation)

L
;
L0
PL
L =
;
EA

Shear Stress & Shear Strain

(Shear Stress)

V
;
A

(Shear Strain)

Poissons Ratio

T = T ;
=

L
;
L

= G ;

(Hookes law for shear)

Thermal Strain

( = coefficient of thermal expansion).

lateral strain
axial strain

General Strain Equations (Normal Strains three dimensional)

x =
z =

x
E

z
E

y
E

x
E

z
E

y
E

+ T ;
+ T ;

y =

y
E

x
E

z
E

+ T ;

Beam Forces Sign Convention

C1 C2

M1

M1

M2

V1

V1

M2

V2

V2

N1

N2

C1

C2

All vectors are shown in their positive directions

Properties of Area
Location of Centroid

x=

x.dA ;
dA

y=

Second Moment of Area

y.dA ;
dA

y=

y .A
A

I yy = x dA ;

rx =

Radius of Gyration

Parabolic
Semisegment

Elastic Section Modulus

Z xx =

I xx
y max

I xx
A

Right-Angled
Triangle

C.G.

I = I centroid + Ad 2 ;

x .A
A

Parallel Axis Theorem

I xx = y 2 dA ;

x=

C.G.

Dynamics
Velocity:

v=

ds
dt

Acceleration:

Kinematic equations (a constant):

v = r ;

Circular motion:

v = v0 + at ;

a=

dv
; ads = vdv
dt

an =

a 2 = an2 + at2 ;

a = xi + yj

Total acceleration: in x-y coordiantes:

1
s = v0 t + at 2
2

v 2 = v02 + 2as ;

v2
= r 2 ;
r

d
dt
2
v

a = u n + vut

a t = r ;

in n-t coordinates:

a A = aB + a A / B
v A = vB + v A / B ;
a
b
c
2
2
2
=
=
; cosine rule: c = a + b 2ab cos C
sin A sin B sin C

Relative motion:
sine rule:

A
c

Equations of motion for kinetics of particles:

Rectangular coordinate system:

n-t coordinate system:

Impulse and momentum:

t1

1 2
mv ;
2

= ma x ;

Fs = kx ;

B
a

= man

constant mass

1
m(v 22 v12 ) ;
2

ax 2 + bx + c = 0 ;

Quadratic equation:

= ma y

Fdt = m(v2 v1 ) ;

Vg = mgh ;

= mat ;

U 1 2 = T = T2 T1 =

Work and energy:

T=

t2

Ve =

x=

T1 + V1 = T2 + V2
1 2;
kx
2

V = Vg + Ve

b b 2 4ac
2a

Plane kinetics of rigid bodies:

F = maG ; M = I G ;

M
M

= I O ;

= I P = I G + md 2 = I G + maG d

I O = I G + md 2 ;

I G = mk 2 ;

Mass moments of inertia

Circular cylinder

r
G

IG =

Uniform slender rod/bar

mr 2
2
O

ml 2
;
12
ml 2
IO =
3
IG =

Fluid Mechanics
The hydrostatic pressure at a depth y in a fluid of density is given by

p = gy
For time-independent flow, mass-conservation applied to a control volume (CV) gives

0=

OUT

Mass flow rate leaving CV

IN
m
Mass flow rate entering CV

and the momentum equation in each of the horizontal (x) and vertical (y) directions gives

Sum of x-direction
forces
and

M x

OUT

Rate of xmomentum

Sum of y-direction
forces

M y

OUT

Rate of ymomentum

x
M
IN
Rate of x-momentum
entering CV

y
M
IN
Rate of y-momentum
entering CV

For uniform flow with speed U perpendicular to a control surface (of a CV) the mass and
momentum (in direction of U) rates through an area A of the control surface are
respectively given by

= UA
m

and

=m
U
M

and the relationship between mass flow rate and volumetric flow rate is

= Q
m
The Bernoulli equation can be written as

p+

1
U 2 + gz = Constant along a streamline
2

Units and Multipliers

Units:

Force
Pressure or Stress
Mass
Mass flow rate
Density
Weight
Displacement
Angular displacement
Speed
Angular speed
Velocity
Acceleration
Angular acceleration

Newtons
Force per unit area
Quantity of matter
Mass per unit time
Mass per unit volume
Force = m g local
Length
Angle
Displacement per unit time
Rotation per unit time
Speed + Direction
Rate of change of speed
Rate of change of angular speed

N
N/m2 = Pa
kg
kg/s
kg/m3
N
m
(radians)*
m/s
1/s (radians/s)
m/s2
1/s2 (radians/s2)

All vector quantities require magnitude and direction to be specified.

* The radian has units of length/length and so is dimensionless.
Strictly speaking finite rotations are not vectors as do not obey the
laws of vector addition.
Multipliers:

nano
micro
milli
centi
kilo
Mega
Giga

m
c
k
M
G

10-9
10-6
10-3
10-2 (non-preferred in engineering)
103
106
109