Work is defined as force multiplied by displacement and can be calculated as either W = F × s or W = F × s cos θ. Energy exists in two main forms, potential energy which is calculated as Ep = mgh, and kinetic energy calculated as Ek = 1⁄2 mv^2. Power is the rate of doing work and can be calculated as either P = W/t or P = mgh/t, while efficiency compares output to input energy or power as a percentage.