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

see also