common units | ||||
---|---|---|---|---|

linear | rotational | description | linear | rotational |

x | θ | position | m | rad |

v | ω | velocity | m/s | rad/s |

a | α | acceleration | m/s² | rad/s² |

m | I | linear inertia, rotational inertia | kg | kg·m² |

F = m a | τ = I α | Newton's 2nd law | N | N·m |

p = m v | L = I ω | momentum | kg·m/s N·s | N·m·s |

W = f d | W = τ θ | work | J | |

K = ½ m v² | K = ½ I ω² | kinetic energy | J | |

P = F v | P = τ ω | power | W |