Formula sheet :









Radius of curvature:

Planar motion of particles:

Velocity in normal and tangential coordinates:








Acceleration in normal and tangential coordinates:

Velocity in cylindrical coordinates:

Acceleration in cylindrical coordinates:


















Principle of work and energy:










Conservation of energy:

Principle of impulse and momentum:











Conservation of linear momentum:

Coefficient of restitution:

Angular momentum:

Principle of angular impulse and momentum:













Planar motion of rigid bodies:

Kinematics of rotation:


;


; 



Relative velocity using translating axis:












Relative acceleration using translating axis:





















Parallel axis theorem:








Planar equations of motion:













The moment of the acceleration of G around P being





In rotation around O we can use:













Kinetic energy of a solid:












, rotation about a fixed axis:

Linear momentum of a solid:

Angular momentum of a solid about a point A:














Angular momentum about the center of gravity G:






Angular momentum while rotating about a fixed axis O: