One approach is the Hamiltonian approach. We define the Hamiltonian (which for simple systems of the sort we are going to talk about can be thought of as the total energy) in terms of momentum and position.
This is typically found in advanced college textbooks, but the math is really easy.
So for a free particle, we'd write:
<br />
H(p,q) = \sqrt{p^2 + m^2} <br />
where p is the (generalized) momentum and q is the position coordinate. v, velocity would be dq/dt.
Note that this is just the well-known relationship E^2 -p^2 = m^2.
If we wanted to consider a particle in a potential well, we'd add a potential term V(q) that was a function of position to the hamiltonian. But we don't really need it for what we're going to do.
Then we get the equation of motion from Hamilton's equations:
http://en.wikipedia.org/wiki/Hamiltonian_mechanics
<br />
\frac{dp}{dt} = -\frac{\partial H}{\partial q} \quad<br />
v = \frac{dq}{dt} = \frac{\partial H}{\partial p}<br />
The first equation just says dp/dt = 0, that momentum is constant.
The second equation just says force * velocity = rate of work
force = dp/dt
rate of work = dH/dt
(dp/dt) v = dH/dt
multiply both sides by dt, then you get
dp v = dH
Substituting, we get:
v =\frac{p}{\sqrt{p^2+m^2}}
We can invert this to find the possibly more familiar p(v), and E(v), for a free particle
p =\frac{mv}{\sqrt{1-v^2}} \quad E = H = \frac{m}{\sqrt{1-v^2}}
So we get energy and momentum as a function of velocity. And we're done. If we want the motion of the particle in a conservative force field, we just add V(q) to the energy.