• Rotating Frame:

1. Introduction to Classical Mechanics • Coriolis Force: Fcor ​ = −2m(ω × vrel ) ​

• Newton's Laws of Motion: • Centrifugal Force: Fcent = −m[ω × (ω × r)] ​

1. Inertia.
2. F = ma. 8. Lagrangian and Hamiltonian Mechanics
3. Action-Reaction. • Lagrangian: L =T −U
• Galilean Transformation:
′
• Position: x = x − vt
• Euler-Lagrange Equation: dt
d
​ ( ∂∂L
q̇i )
− ​ ​
​
∂L
∂qi ​
​ =0
∂L
• Velocity: u′x = ux − v ​ ​ • Generalized Momentum: pi = (conserved if qi is cyclic) ​

∂ q̇i ​ ​
​ ​

′
• Acceleration: ax ​ = ax ​ • Hamiltonian: H = ∑i pi q̇i − L ​ ​ ​ ​

• Time: t′ = t Hamilton's Equations: q̇i = ∂H ∂H

• ∂pi , ṗi = − ∂qi ​ ​

​
​ ​ ​

​
​

• Inertial Frames: Frames where Newton's First Law holds. • Conservation of Energy: H is conserved if ∂H = 0.
∂t
​

2. Work, Energy, and Power 9. Central Force Motion

• Work Done: W = ∫ F ⋅ dr (W = F d cos θ for constant • Effective Potential: Ueff (r) = U (r) + L2
force) 2μr2
​ ​

1
• Kinetic Energy: K = 2 mv
2
​
• Kepler Orbits (Inverse Square Law): r(θ) = c
1+e cos θ
​

• Work-Energy Theorem: Wnet = ΔK ​

• e = 0: circle, 0 < e < 1: ellipse, e = 1: parabola, e > 1:
hyperbola.
• Potential Energy: U (for conservative forces)
• Gravitational: Ug = mgh ​
10. Rigid Body Dynamics
• Spring: Us = 12 kx2
​ ​

• Euler's Equations (Body Frame):

• Relationship: F = −∇U • I1 ω̇1 − (I2 − I3 )ω2 ω3 = τ1
​ ​ ​ ​ ​ ​ ​

• Conservative Forces: Work done is path-independent.

• (and cyclic permutations for τ2 , τ3 )
= K + U (conserved if only
​ ​

• Total Mechanical Energy: E

• Moments of Inertia Tensor: I (diagonal for principal axes)
conservative forces do work)
• Kinetic Energy of Rotation: Krot = 12 ω ⋅ (Iω )
• Power: P = dt = F ⋅ v
dW ​
​ ​

3. Momentum and Collisions 11. Special Relativity

• Postulates: Constancy of c, Relativity principle.
• Linear Momentum: p ​ = mv
dp • Lorentz Transformation: x′ = γ(x − vt), t′ = γ(t −
• Newton's Second Law: Fnet =
​

dt vx/c2 ) (γ = 1
)
​ ​

• Impulse: J = ∫ F dt = Δp ​
1−v 2 /c2 ​

• Conservation of Linear Momentum: ptotal is conserved if ​ ​

• Length Contraction: L = L0 /γ ​

Fnet = 0.​
• Time Dilation: Δt = γΔt0 ​

• Collisions: • Relativistic Momentum: p = γmv ​

• Elastic: K and p conserved. ​

• Relativistic Energy: E = γmc2 = K + mc2
2
• Inelastic: p conserved, K not.
​ • Rest Energy: E0 = mc ​

• Perfectly Inelastic: Objects stick, p conserved, K not. ​

• Energy-Moment
• Center of Mass:
∑ mi r i
• Position: RCM =
​ ​

∑ mi
​ ​

• Equation of motion: Fext,net ​ = Mtotal ACM ​ ​

4. Rotational Motion
• Angular Kinematics:
dθ dω
• ω= dt ,
​ α= dt ​

• Constant α: ω = ω0 + αt, θ = θ0 + ω0 t + 12 αt2 ​ ​ ​ ​

• Linear-Angular Relations:
• s = rθ , vt = rω , at = rα
​ ​

2
= vr = rω 2
• Centripetal acceleration: ac ​ ​

• Moment of Inertia: I = ∑ mi ri2 or ∫ r2 dm ​ ​

• Parallel-Axis Theorem: I = ICM + M d2 ​

• Torque: τ = r × F
• Newton's Second Law for Rotation: τnet = Iα ​

• Rotational Kinetic Energy: Krot = 12 Iω 2 ​

• Angular Momentum: L = r × p (or L = Iω for rigid body) ​

• Conservation of Angular Momentum: Ltotal is conserved if ​

τnet = 0.
​

5. Oscillations
• Simple Harmonic Motion (SHM):
• Restoring Force: F = −kx
d2 x
• Equation: dt2 ​ + ω 2 x = 0, with ω = k
m ​​

• Solution: x(t) = A cos(ωt + ϕ)

• Period: T = 2π m k
​​

• Total Energy: E = 12 kA2 ​

L
• Simple Pendulum: T = 2π g ​​ (small angles)
I
• Physical Pendulum: T = 2π mgd (small ​​ angles)
−(b/2m)t
• Damped Oscillations: x(t) = Ae cos(ω ′ t + ϕ)
• Driven Oscillations & Resonance: Max amplitude when
driving frequency ωd ≈ ω0 . ​ ​

6. Gravitation
• Newton's Law: F = G mr1 m
2
2
(G = 6.674 × 10−11 N ⋅ ​ ​

m2 /kg2 )
• Gravitational Potential Energy: U = −G m1rm2 ​ ​

2GM
• Escape Velocity: vesc ​
= R
​​

• Kepler's Laws:
1. Elliptical orbits.
2. Equal areas in equal times (L conserved).
2
4π
3. T 2 ∝ a3 (T 2 = ( GM )a3 ). ​

7. Non-Inertial Frames
• Linear Accelerating Frame: Ff ictitious ​ = −maf rame ​