| 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 | |