Basic of Mechanics

by Kevancea Ikea

Preliminary
These are just a summary from what i learn every single day. Hopefully these list of stuffs will be useful later.
Good Luck!

Basic Trigonometry

1. sin2 (α) + cos2 (α) = 1 15. 2 cos(α) cos(β) = cos(α + β) + cos(α − β)

2. sin(α + β) = sin(α) cos(β) + cos(α) sin(β) 16. 2 sin(α) sin(β) = cos(α − β) − cos(α + β)
3. sin(α − β) = sin(α) cos(β) − cos(α) sin(β) q
17. sin( 21 α) = 1−cos(α)
2
4. cos(α + β) = cos(α) cos(β) − sin(α) sin(β) q
1+cos(α)
5. cos(α − β) = cos(α) cos(β) + sin(α) sin(β) 18. cos( 12 α) = 2

tan(α)+tan(β) q
6. tan(α + β) = 1−tan(α) tan(β) 19. tan( 21 α) = 1−cos(α)
1+cos(α)
tan(α)−tan(β)
7. tan(α − β) = 1+tan(α) tan(β) 20. tan( 21 α) = sin α
1+cos(α)
8. sin(2α) = 2 sin(α) cos(α) 1−cos(α)
21. tan( 12 α) = sin(α)
2 2
9. cos(2α) = cos (α) − sin (α)    
α+β α−β
10. cos(2α) = 1 − 2 sin2 (α) 22. sin(α) + sin(β) = 2 sin 2 cos 2

11. cos(2α) = 2 cos2 (α) − 1

   
α+β α−β
23. sin(α) − sin(β) = 2 cos 2 sin 2
2 tan(α)
12. tan(2α) = 1−tan2 (α)    
α+β α−β
24. cos(α) + cos(β) = 2 cos 2 cos 2
13. 2 sin(α) cos(β) = sin(α + β) + sin(α − β)
   
α+β α−β
14. 2 cos(α) sin(β) = sin(α + β) − sin(α − β) 25. cos(α) − cos(β) = −2 sin 2 sin 2

Derivatives and Integrals

d n d
1. dx (ax ) = naxn−1 8. dx tan(x) = sec2 (x)
d d d axn+1
2. dx f (x) ± g(x) = dx f (x) ± dx g(x) axn dx =
R
9. n+1

3. d
dx f (x) · g(x) = f ′ (x)g(x) + f (x)g ′ (x) 10.
R
sin(x) dx = − cos(x) + C
′ ′ ′
d f (x) f (x)g (x)+f (x)g (x)
4. =
R
dx g(x) g 2 (x) 11. cos(x) dx = sin(x) + C
d
R
5. dx sin(x) = cos(x) 12. tan(x) dx = − ln | cos(x)| + C
d 1
R
6. dx cos(x) = − sin(x) 13. x dx = ln |x| + C
d 1
R R
7. dx ln |x| = x 14. u(x) dv = u(x)v(x) − v(x) du

Vector
1. ⃗u = î + ĵ + k̂ 3. |⃗u|2 = u · u
q
2. |⃗u| = u2i + u2j + u2k 4. ⃗u · ⃗v = |⃗u||⃗v | cos θ

1
 5. |⃗u||⃗v | sin θ = |⃗u × ⃗v | a·⃗b
⃗
7. |⃗u| = |⃗b|

⃗
u ⃗a·⃗b ⃗
6. û = |⃗
u|
8. ⃗u = |⃗b|2
b

Algebra
1. (a + b)2 = a2 + 2ab + b2 5. (a + b)3 = a3 + b3 + 3ab(a + b)

2. (a − b)2 = a2 − 2ab + b2 6. (a − b)3 = a3 − b3 + 3ab(a − b)

3. a2 − b2 = (a + b)(a − b) 7. a3 + b3 = (a + b)(a2 − ab + b2 )
4. (a + b + c)2 = a2 + b2 + c2 + 2ab + 2ac + 2bc 8. a3 − b3 = (a − b)(a2 + ab + b2 )

Basic Concepts
√
−b± b2 −4ac
1. Solutions for quadratic equationx = 2a

2. b2 − 4ac < 0 has no real solution

dy
3. dx = 0 is a constant, y = f (x)
dy
4. The function is max when dθ = 0, y = f (θ)
dS d2 S
5. Time derivative v = dt , a= dt2
dE
6. Energy is constant when =0 dt
P P
7. Equilibrium position when Fxy = 0 and τ =0
d2 θ d2 X
8. Equation for oscillation dt2 + ωθ = 0 or dt2 + ωx = 0

Kinematics
Free Motion
We all know that S = V × t but have you ever wondered what if the velocity is changing through time? Well lets try
when a isn’t 0
dV
=a
dt
Z Z
dV = a dt

V = at + C
C is the initial velocity (when t = 0)
dS
=V
dt
Z Z
dS = V0 + at dt

1
S = Vo t + at2 + C
2
C is the initial position (when t = 0) if the particle is free falling then a = g = 9.81m/s2
If we substitute the first equation to the second one we will get

Vt2 = V02 + 2aS

2
Motion of Parabola
We need to pro In the X direction, the velocity is constant meaning that there is no acceleration for Vx

X = V0 cos θt

Using the integral from the free motion equation we will get that
1
Y = V0 sin θt − gt2
2
negative sign represents direction of the gravity

X
To find Y for the function of X let t = Vo cos θ

   2
X 1 X
Y = V0 sin θ − g
Vo cos θ 2 Vo cos θ

gX 2
Y = V0 tan θX −
2V02 cos2 θ
for X to reach maximum we need to substitute Y = 0 to the X function
1
0 = V0 sin θt − gt2max
2
2V0 sin θ
tmax =
g
V 2 sin(2θ)
 
2V0 sin θ
Xmax = V0 cos θ = o
g g
To reach the maximum height of the trajectory use half of the tmax we will get

V02 sin2 θ
Ymax =
2g

Forces and Frictions

The sum of all forces are proportional to the mass times its acceleration.
X
F⃗ = m⃗a

Frictions are proportional to the normal force times coefficient of friciton and always the opposite direction of the
motion. When the particle is not moving, we will use µs (static friction) but if the particle is moving then we will use
µk (kinetic friction). µs > µk to find the normal force, we need to look at the Y coordinate. We need to make sure
that the particle isn’t moving in Y direction. X
Fy = 0
When the particle isn’t moving then
f = N µs
When the particle is moving then
f = N µk
Remember, friction doesn’t make the particle move or gives an acceleration. Friction slows down the acceleration!
Spring Force is proportional to the spring constant times its displacement

F = k∆x

Work and Energy

Scientists define energy as the ability to do work. Modern civilization is possible because people have learned how to
change energy from one form to another and then use it to do work. This means that energy is conserved (cannot be
created or destroyed)

W = F⃗ · S
⃗ = F S cos θ

3
 Z
W = F⃗ dS
⃗

Defining the Kinetic Energy

V 2 −V 2
let S = t 2a 0
Vt2 − V02
 
W = ma
2a
1 1
W = mVt2 − mV02
2 2
W = ∆KE
Defining the Gravitational Potential Energy
let a = g and S = ∆H
W = mg∆H
W = ∆P E
Defining the Spring Potential Energy
let F = kx and take x as a very small part dx
Z W Z x
dW = kx dx
C 0

1 2
W = kx
2
Because energy is conserved then
W =W
1 1
mVt2 − mV02 = mg∆H
2 2
1 1
mVt2 − mV02 = mgHt − mgH0
2 2
1 1
mV02 + mgH0 = mVt2 + mgHt
2 2
But if the system has friction, we cannot use the conservation of energy equation. We need to subtract the total
energy in the first state.
1 1
mV02 + mgH0 − f S = mVt2 + mgHt
2 2

Linear Momentum and Impulse

Momentum is the product of the mass and velocity of an object. It is a vector quantity, possessing a magnitude and
a direction.
P = mV
Impulse is a term that is used to describe or quantify the effect of force acting over time to change the momentum of
an object. F ∆t = I  
Vt − V0
F =m
∆t
F ∆t = mVt − mV0
I = ∆P
Momentum is conserved and the magnitude doesn’t change.

∆Pbc = ∆Pac
m1 (V1 − V1′ ) m2 (V2′ − V2 )
=
t t
m1 V1 + m2 V2 = m1 V1′ + m2 V2′
The coefficient of restitution, is the ratio of the final to initial relative speed between two objects after they collide.
It normally ranges from 0 to 1 where 1 would be a perfectly elastic collision. A perfectly inelastic collision has a
coefficient of 0, but a 0 value does not have to be perfectly inelastic. If the coefficient of restitution(e) = 1 meaning
the total Kinetic energy before = Kinetic energy after

m1 V1 + m2 V2 = m1 V1′ + m2 V2′

4
Let the initial velocity of mass 2 = 0
m1 V1 = m1 V1′ + m2 V2′
The kinetic energy is conserved
1 1 1
m1 (V1 )2 = m1 (V1′ )2 + m2 (V2′ )2
2 2 2
Substituting will gives us
V1′ − V2′
e=1=
V2 − V1

Torque and Dynamic Rotation

Torque is the rotational analogue of linear force. It is also referred to as the moment of force.

⃗τ = F⃗ × R
⃗ = |F⃗ ||R|
⃗ sin θ
X
F · R = kmaR

In linear force, k = 1. But in dynamic rotation, k is not always = 1. kmR2 = I

X
τ = kmaR

because a = αR X
τ = kmR2 α
X
τ = Iα

Moment of inertia (MOI) is the mass of angular mass, second moment of mass, or most accurately, rotational inertia,
of a rigid body is a quantity that determines the torque.
Z
I0 = I + md2 = r2 dm

These are the list of MOI

1. Point mass with distance r I = mR2
 
m1m2 2
2. 2 point mass seperated with distance x I = m1+m2 x

1 2


3. Thin rod of length L. Perpendicular to the axis of rotation, rotating about its center. I = 12 mL

4. Thin rod of length L and mass m, perpendicular to the axis of rotation, rotating about one end. I = 13 mL2

5. Thin circular loop of radius r and mass m. I = 21 r12 + r22

6. Solid disk of radius r and mass m. I = 12 mR2

7. Hollow sphere of radius r and mass m. I = 32 mR2

8. Solid sphere of radius r and mass m. I = 25 mR2

Proofing
To proof the MOI of rigid bodies we need to use the general equation of MOI. Because the rigid body of a cylinder is
homogeneous then m = ρV
dm = ρdV
In order to obtain dm we have to calculate dv first. Let dA = the small area of the cylinder.

dV = dAL

Meanwhile, dA is the area of the big ring (radius: r + dr) minus the smaller ring (radius: r). Hence

dA = π(r + dr)2 –πr2

dA = π(r2 + 2rdr + (dr)2 )–πr2

5
Since (dr)2 = 0
dA = 2πrdr
Now, we substitute dA into dV and dV into dm and we will have

dm = 2πrdrLρ
Z Z r
dI = 2πrLρ dr
0

r4
 
I = 2πLρ
4
m
because ρ = V
m
ρ=
πr2 L
M
I = 2πL 2 [r4 /4]
πr L
1
I = mr2
2

Angular Motion
Angular motion is the body moving along the curved path moving at consistent angular velocity. Using the same
integral techniques to define linear motion, we will get:

ωt = ω0 + αt
1
θ = ω0 t + αt2
2
ωt2 = ω02 + 2αθ

Rotational Kinetic Energy

Rotational energy or angular kinetic energy is kinetic energy due to the rotation of an object and is part of its total
kinetic energy.
W = Iαθ
ωt2 − ω02
αθ =
2
Substitute αθ to W = Iαθ
ωt2 − ω02
 
W =I
2
1 2 1 2
W = ∆KErot = Iω − Iω0
2 t 2
So the total of Kinetic energy is
1 1
KEtran + KErot = mV 2 + Iω 2
2 2
V
because ω = r
2
 
1 2 2V
KE = mV + kmr
2 r2
1
KE = mV 2 (1 + k)
2

6
Angular momentum
Angular momentum is the rotational analog of linear momentum. It is an important physical quantity because it is a
conserved quantity. The total angular momentum of a closed system remains constant.

L = kmV r = Iω

Angular impulse refers to the force an object experiences over time, specifically from torque.
 
ωt − ω0
τ =m
∆t

τ ∆t = I(ωt − ω0 )
τ ∆t = ∆L
As we know that momentum is conserved, so
∆Lb = ∆La
plugin ∆L as I(ωt − ω0 )
I1 (ω1′ − ω1 ) = I2 (ω2′ − ω2 )
I2 ω1 + I2 ω2 = I1 ω1′ + I2 ω2′

Simple Harmonic Motions

Oscillation is the repetitive or periodic variation, typically in time, of some measure about a central value or between
two or more different states. Suppose a function of time has the form of a sine wave function.
 
2πt
y(t) = A sin
T

The sine function is periodic in time. This means that the value of the function at time t will be exactly the same at a
later time t’ = t + T , where T is the period. That the sine function satisfies the periodic condition can be seen from
     
2π 2πt 2πt
y(t + T ) = A sin (t + T ) = A sin + 2π = A sin = y(t)
T T T

Problems and Solutions

Kinematics
1. Selama suatu uji coba, mobil pada gambar bergerak sepanjang garis lurus sedemikian sehingga dalam selang
waktu yang singkat kecepatannya dapat dinyatakan oleh v = 0, 4(6t2 + 3t)m/s, dengan t dalam sekon. Tentukan
posisi dan percepatan mobil pada saat t = 3 s. Ambil x = 0 untuk t = 0!

Untuk posisi maka

dS 4
=V = (6t2 + 3t)
dt 10
Z S Z 3
4
dS = (6t2 + 3t)
0 0 10
 3
4 3
S= 2t3 + t2
10 2 0
S = 27 m
Untuk percepatan maka  
dV d 4
=a= (6t2 + 3t)
dt dt 10
4
a(t) = (12t + 3)
10
156
a(3) = m/s2
10

7
2. (OSK 2003) Suatu mobil bergerak dari keadaan diam dan dipercepat dengan percepatan α selama waktu ter-
tentu. Kemudian mobil diperlambat dengan percepatan β hingga berhenti. Jika waktu total adalah t, hitung
kecepatan maksimum yang dapat dicapai oleh mobil ini. Hitung juga jarak total yang ditempuh mobil ini!

berlaku T = t1 + t2
3. Suatu sistem katrol dengan tali bermassa m dengan massa persatuan panjang λ dipanjat oleh Kei dengan
kecepatan relatif terhadap tali dan bermassa M . Katrol memiliki radius R dan katrol dianggap licin. Tentukan
waktu yang dibutuhkan oleh Kei untuk bergerak turun relatif terhadap bumi.