Check out this page for explanations of noun forms: http://www.turkishclass.com/turkish_lesson_66

It confuses subject and object form, but other than that it´s a good explanation.

abimi çok Özledim  [I missed my brother alot] ===> -i  özlemek

The verb "özlemek" takes nouns with accusative ending [ ı,i, u,ü ]

Decide which vowel to put according to  vowel harmony.

 a + b + i + m + i

Here, the last vowel is -i, so, you go with -i

Arabamı  özledim. ---> I missed my car.

Araba - car

Arabam - my car

a +r +a +b +a + m + ı

Above, the last vowel ıs -a , so we go with -ı

-------------------------------------------------

-herŞeyi biliyorum  [I know everything] ----> -i  bilmek  

The verb "bilmek" takes [definite] nouns with accusative ending [ ı,i, u,ü ]

-Şarkıyı biliyorum ---> I know the song.

**************************************

sola git  [ Go to the left] --> -a  gitmek

The verb "gitmek"   takes place or direction names with generally dative ending [ a,e]

Çok teŞekkÜrler 

but when do I use them?