STATICS
What is Mechanics?
Science which describes and predicts the conditions of rest or
motion of bodies under the action of forces.
The purpose of mechanics is to explain and predict physical
phenomena and thus to lay the foundations for engineering
applications
Mechanics
Mechanics of
rigid bodies
Mechanics of
Deformable bodies
Theory of
elasticity
Statics
Theory of
plasticity
Dynamics
Kinematics
Kinetics
Mechanics of fluids
Statics
Velocity
Acceleration
Dynamics
Force/torque
Kinetics
Energy/momentum
Fundamental concepts
Space - associated with the representation of the position of a
point P given in terms of three coordinates measured from a
reference point or origin.
Principles of Mechanics
1. The Parallelogram Law for the Addition of
Forces.-This states that two forces acting on a particle
may be replaced by a single force, called their resultant,
obtained by drawing the diagonal of the parallelogram
which has sides equal to the given forces.
Principle of
Transmissibility
Prove
Principle of
Transmissibility
Prove
Principle of
Transmissibility
Prove
Principle of
Transmissibility
F ma
of this resultant force.
THIRD LAW. The forces of action and reaction between bodies in
contact have the same magnitude, same line of action, and opposite
sense.
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Mm
F G 2
r
GM
g 2
R
W mg
Summary of Principles
Newtons First Law: If the resultant force
on a particle is zero, the particle will remain at
rest or continue to move in a straight line.
F ma
Principle of
Transmissibility
Systems of Units
International System of units (SI Units)
Length meter (m)
Multiplication
Factor
Prefix
Symbol
1012
Tera
109
Giga
106
Mega
103
Kilo
10-3
Milli
10-6
Micro
10-9
Nano
10-12
Pico
Parameter
Notation
S I unit
Displacement
Meter,
Time
Second
Mass
Kg
Weight
W = m.g
Velocity
m/s
Acceleration
m/s2
Momentum
mv
Kg.m/s
Force
Kg.m/s2 or Newton
(N)
Torque or
moment of a force or
couple
N.m
Weight, Force
Method
of
Problem
Solution
Problem Statement:
Includes given data, specification of
what is to be determined, and a figure
showing all quantities involved.
Free-Body Diagrams:
Create separate diagrams for each of the
bodies involved with a clear indication of
all forces acting on each body.
Fundamental Principles:
The six fundamental principles are
applied to express the conditions of
rest or motion of each body. The
rules of algebra are applied to solve
the equations for the unknown
quantities.
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Forces in a plane
A force represents the action of one body on another and
is generally characterized by its point of application, its
magnitude, and its direction.
Characteristics of a force are its
1. Magnitude
2. Point of application
3. Direction
System of forces
Coplanar ( In Plane)/ 2-D
Concurrent
Non- concurrent
Non Coplanar(Space)-3-D
Concurrent
Non- concurrent
Parallel General
Parallel
General
Concurrent force system: acts on a particle or rigid body
Parallel and General force system: acts mainly on rigid bodies
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Vector classifications:
- Fixed or bound vectors have well defined points of
application that cannot be moved without modifying the
conditions of the problem.e.g. forces on particle.
- Free vectors may be freely moved in space without changing
their effect on an analysis.e.g. couple
Addition of Vectors
B
Addition of Vectors
Law of cosines,
R 2 P 2 Q 2 2PQ cos B
R PQ
Law of sines
Q
R
P
P Q Q P
Vector subtraction
Resolution of a force
means finding the
components of a given force
in two given directions.
Rsin
Rcos
Q
R
sin A sin B
Q
R
sin 155
60N
97.73N
A 15.04
20 A
35 .04
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Rectangular Components of a
Force:
May resolve
Unita force
Vectors
vector into perpendicular
components
so that
the resulting
Fx and Fy
parallelogram is a rectangle.
are
referred to as rectangular
vector components
F Fx F y
and
i and j
Define perpendicular unit vectors
which are parallel to the x and y axes.
Vector components may be expressed as
products of the unit vectors with the scalar
magnitudes of the
vector
components.
F Fx i Fy j
Rx i R y j Px i Py j Qx i Q y j S x i S y j
Px Qx S x i Py Q y S y j
The scalar components of the resultant are equal
to the sum of the corresponding scalar
components of the given forces.
R x Px Q x S x
R y Py Q y S y
Fx
Fy
To find the resultant magnitude and direction,
2
2
1 R y
R Rx R y
tan
Rx
SampleSOLUTION:
Problem 2.3
Resolve each force into rectangular
force mag
x comp
y comp
components.
F1
F2
F3
F4
SampleSOLUTION:
Problem 2.3
Resolve each force into rectangular components.
force mag
F1 150
F2
80
F3 110
F4 100
x comp
129.9
27.4
0
y comp
75.0
75.2
110.0
96.6
25.9
Rx 199.1 R y 14.3
SampleSOLUTION:
Problem 2.3
Resolve each force into rectangular components.
force mag
F1 150
F2
80
F3 110
F4 100
x comp
129.9
27.4
0
y comp
75.0
75.2
110.0
96.6
25.9
Rx 199.1 R y 14.3
SampleSOLUTION:
Problem 2.3
Resolve each force into rectangular components.
force mag
F1 150
F2
80
F3 110
F4 100
x comp
129.9
27.4
0
y comp
75.0
75.2
110.0
96.6
25.9
Rx 199.1 R y 14.3
R 199.6N
4 .1
is a rectangle. Fx and Fy
are referred to as
rectangular components and
F Fx Fy
Define
perpendicular
unit
vectors
which are parallel to the x and y axes.
Vector components may be expressed as
products of the unit vectors with the scalar
magnitudes of the vector components.
F Fx i Fy j
R PQ S
Resolve each force into rectangular
components
Rxi Ry j Pxi Py j Qxi Qy j Sxi Sy j
Px Qx Sx i Py Qy Sy j
Ry Py Q y S y
Fy
tan
Ry
Rx
Problem 1
SOLUTION:
R 98 N 35
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- Answers
- Answers
8.09 kN , 98.5
- Answers
- Answers
Equilibrium of a Particle
When the resultant of all forces acting on a particle is zero, the
particle is in equilibrium.
Particle acted upon by two
forces:
- equal magnitude
- same line of action
- opposite sense
F1 = 300 N
F2 = 173.2N
F4 = 400 N
F3 = 200 N
- algebraic solution
R F 0
Fx 0
Fy 0
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Free-Body Diagrams
Free body diagram is the sketch of the isolated body which shows
the external force on the body and the reactions on it by the removed
elements (supports).
General Procedure for construction of free body diagram
1. Draw the sketch of body without supporting surfaces.
2. Show all the external or applied forces on this sketch
3. Show all the reactive forces such as those caused by constraints
or supports
4. Show all relevant dimensions , angles and reference axes on the
sketch
WQ
RA
RC
WP
RA
WQ
RD
RB
RC
Free-Body Diagrams
TAB
TAC
500
300
736 N
Lamis Theorem
If the three forces acting at a point are in equilibrium, each force is
proportional to the sine of the angle between the other two forces.
F1
F2
F3
F1
F2
F3
- algebraic solution
R F 0
Fx 0
Fy 0
or
- Lamis Theorem
F1
F2
F3
- Answers
- Answers
- Answers
Forces in space
The vector
is
contained in the
plane OBAC.
Resolve
into
horizontal and
vertical
components.
Fy F cos y
F h F sin y
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Resolve
into
rectangular
components.
F x F h cos
F sin y cos
F z F h sin
F sin y sin
F Fx i F y j Fz k
is
a
unit
vector
along
the
line
of
action
of
F
y , and cos z are the direction cosines
and cos
x , cos
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for F
F FX FY FZ
Fx=Fcosx
Fy=Fcosy
Fz=Fcosz
cos 2 x cos 2 y cos 2 z 1
Force Defined by its Magnitude and Two Points on its line of action.
B (xB, yB, zB)
y
F
AB B - A
B x B i y B j z Bk
A x A i yA j zAk
AB
AB
F F
AB 40 m i 80 m j 30 m k
AB
40 m 2 80 m 2 30 m 2
94.3 m
40 80 30
i
j
k
94.3 94.3 94.3
Determine
the components of the force.
F F
x 115.1
y 32.0
z 71.5
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1.
Two cables BG and BH are attached to the frame ACD as shown. Knowing that the tension in
cable BG is 450 N, determine the components of the force exerted by cable BG on the frame at B.
( ANS: -200 N, +370 N, -160 N )
Two cables BG and BH are attached to the frame ACD as shown. Knowing that the tension in
cable BH is 600 N, determine the components of the force exerted by cable BH on the frame at B.
The boom OA carries a load P and is supported by two cables as shown. Knowing that the tension is
510 N in cable AB and 765 N in cable AC, determine the magnitude and direction of the resultant of
the forces exerted at A by the two cables. ( ANS: 1122 N, 147.7, 61.6, 104.2)
For the boom shown below, knowing that = 0, the tension in cable AB is 600 N, and the resultant
of the load P and the forces exerted at A by the two cables is directed along OA, determine (a) the
tension in cable AC, (b) the magnitude of the load P. ( ANS: 360 N, 424 N )
R 0
R xi R y j R zk 0
R x Fx 0
R y Fy 0
R z Fz 0
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P = 55.9 N
Vector products:
Q P P Q
- are not commutative,
- are distributive,
P Q1 Q2 P Q1 P Q2
- are not associative FALL 2015-16/PROF.
P QKHALID
SHUSSAIN/
P Q S
i i 0
ijk
i k j
j i k k i j
j j 0
k j i
jk i
k k 0
V Px i Py j Pz k Q x i Q y j Qz k
PyQz Pz Qy i PxQz Pz Qx j
Px Qy PyQx k
Px
Py
Pz
Qx
Qy
Qz
MO r F
S.I Unit : N. m
Although the moment Mo of force about a point depends upon a
magnitude, the line of action, and the sense of the force, it does not
depends upon the actual position of the point of application of the
force along its line of action.
Conversely, the moment Mo of the force F does not characterize the
point of application of force F
Any force F that has the same magnitude and direction as F, is
equivalent if it also has the same line of action and therefore,
produces the same moment.
If the force tends to rotate the structure clockwise, the sense of the
moment vector is into the plane of the structure and the magnitude
of the moment is negative.
Varignons Theorem
The moment about a given point O of the resultant of several
concurrent forces is equal to the sum of the moments of the various
forces about the same point O.
r F1 F2 r F1 r F2
r xi yj zk
F Fx i Fy j Fz k
MO r F,
M O M xi M y j M zk
i
x
Fx
j
y
Fy
k
z
Fz
M B rA / B F
rA / B rA rB
x A x B i y A y B j z A z B k
F Fx i Fy j Fz k
M B x A x B
Fx
y A y B z A z B
Fy
Fz
M O xFy yFx k
MO MZ
xF y yFx
MB MZ
x A xB Fy y A y B Fx
Sample Problem
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M A 7.68 N m i 28.8 N m j 28.8 N m k
Solution:
M A rC A F
rC A rC rA 0.3 m i 0.08 m k
rD C
F F 200 N
rD C
120 N i 96 N j 128 N k
M A 0.3
j
0
k
0.08
120 96 128
It is known that the connecting rod AB exerts on the crank BC a 2.5-kN force directed
down and to the left along the centerline of AB. Determine the moment of that force
about C.
A sign is suspended from two chains AE and BF. Knowing that the tension in BF is 200 N, determine
(a) the moment about A of the force exerted by the chain at B, (b) the smallest force applied at C
which creates the same moment about A, (c) the smallest force applied at B which creates the same
moment about A
Before a telephone cable is strung, rope BAC is tied to a stake at B and is passed over a
pulley at A. Knowing that portion AC of the rope lies in a plane parallel to the xy plane
and that the magnitude of the tension T in the rope is 62 N, determine the moment
about O of the resultant force exerted on the pulley by the rope.
A precast concrete wall section is temporarily held by two cables as shown. Knowing that
the tensions in cables BD and FE are 900 N and 675 N, respectively, determine the
moment about point O of the force exerted by (a) cable BD, (b) cable FE.
Scalar products:
- are commutative,
- are distributive,
- are not associative,
scalar result
P Q Q P
P Q1 Q2 P Q1 P Q2
P Q S undefined
P Q Px i Py j Pz k Qx i Q y j Qz k
i i 1 j j 1 k k 1 i j 0 j k 0 k i 0
P Q Px Qx Py Q y Pz Qz
P P FALL
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Py2 KHALID
Pz2 HUSSAIN/
P2
Px Qx Py Q y Pz Qz
PQ
S P Q P Q S Q S P
S Q P P S Q Q P S
Sy
Sz
Px
Qx
Py
Qy
Pz
Qz
MO r F
M x yFz zF y
M y zFx xFz
M z xFy yFx
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M BL
rA B
MB
rA B F
rA rB
Ans. =63.6
Principle of Transmissibility
The Principle of Transmissibility states that the conditions of
equilibrium or motion of rigid body will remain unchanged if a force
F acting at a given point of rigid body is replaced by a force F of the
same magnitude and same direction, but acting at different point,
provided that the two forces have the same line of action.
The rectangular platform is hinged at A and B and is supported by a cable that passes
over a frictionless hook at E. Knowing that the tension in the cable is 1349 N, determine
the moment about each of the coordinate axes of the force exerted by the cable at C.
The frame ACD is hinged at A and D and is supported by a cable that passes
through a ring at B and is attached to hooks at G and H. Knowing that the
tension in the cable is 1125 N, determine the moment about the diagonal AD of
the force exerted on the frame by portion (a) BH (b) BG of the cable.
Couple
Two forces F and -F
having the same
magnitude, parallel lines of action, and opposite
sense are said to form a couple.
M rA F rB F
rA rB F
rF
M rF sin Fd
Example of a couple
F1d1 F2 d 2
the two couples lie in parallel planes, and
the two couples have the same sense or the tendency to cause
rotation in the same direction.
Addition of Couples
Consider two intersecting planes P1 and P2 with each containing
a couple
M 1 r F1 in plane P1
M 2 r F2 in plane P2
Resultants of the vectors also form a couple
M r R r F1 F2
By Varigons theorem
M r F1 r F2
M1 M 2
M O' r F
M O ' r 'F r s F r F s F
MO s F
R
R F
M O r F
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R
R
M O' M O s R
An Example of Equivalent
Force-Couple System
An Example of a Wrench
Couple in Plane
The effect of couple is a moment, and this moment is same about any
point O. So the couple can be
1.
2.
3.
4.
Answers
Answers
Four forces and a couple are applied to a rectangular plate as shown in Fig.
Determine the magnitude and the direction of resultant of force-couple system.
Also determine the distance from O along x-axis where the resultant intersects.
Determine the resultant of the four forces tangent to the circle of radius 1.5 m
as shown in Figure below.Also determine its location with respect to O
F 0 M O r F 0
Fx 0 Fy 0 Fz 0
Mx 0 M y 0 Mz 0
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Mx My 0
M z MO
Fx 0
Fy 0
MA 0
x KHALID HUSSAIN/A
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Types of Beams
Determine the reactions at supports A,B,C & D, for the beam shown in figure
(Answer: HA= 15kN,VA = 22.7 kN, VB = 11.852 kN, VC = 8.571 kN, VD =
11.429 kN, HD= 0 )
Friction
Introduction
It is assumed that surfaces in contact were either frictionless
(surfaces could move freely with respect to each other) or rough
(tangential forces prevent relative motion between surfaces).
Actually, no perfectly frictionless surface exists. For two surfaces
in contact, tangential forces, called friction forces, will develop if
one attempts to move one relative to the other.
However, the friction forces are limited in magnitude and will not
prevent motion if sufficiently large forces are applied.
The distinction between frictionless and rough is, therefore, a
matter of degree.
There are two types of friction: dry or Coulomb friction and fluid
friction. Fluid friction applies to lubricated mechanisms. The
present discussion is limited to dry friction between nonlubricated
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surfaces.
Fm s N
Fk k N
k = coefficient of kinetic or dynamic friction
k 0.75
s
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KHALID HUSSAIN/
No friction,
(Px = 0)
No motion,
(Px < Fm)
Motion impending,
(Px = Fm)
Motion,
(Px > Fm)
No friction
Motion impending
Motion
Fk
N
k
N
N
k
tan k
tan k
Angles of Friction
Consider block of weight W resting on board with variable inclination
angle .
No friction
Motion
impending
No motion
Motion
Case II
Motion is impending
Determine value of
Determine whether body
coefficient of static
will remain at rest or
friction.
slide
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Case III
Coefficient of static
friction is known
Motion is impending
Determine magnitude
or direction of one of
the applied forces
WEDGES
Determine the horizontal force P required for wedge B to raise the block A
of weight 4500 N, if the coefficient of friction on all contact surfaces is 0.2
15 deg.
B
P = 3468.63 N
Introduction
The earth exerts a gravitational force on each of the particles
forming a body. These forces can be replace by a single equivalent
force equal to the weight of the body and applied at the center of
gravity for the body
The centroid of an area is analogous to the center of gravity of a
body. The concept of the first moment of an area is used to locate
the centroid.
My
x W x W
x dW
M y
y W y W
y dW
x W x dW
x At x t dA
x A x dA Q y
first moment wit h respect to y
yA
y dA Q x
QUIZ-II
Date : 23.09.2011,Day:Friday,Slot:E1
Batch Reg.Nos.
no.
1
2
3
Time
10BMA0060 to 8.00 am
10BME0237
10BME0253 to 8.15 am
10BME0382
10BME0390 to 8.30 am
10BME0479
QUIZ-II
Date : 23.09.2011,Day:Friday,Slot:E2
Batch Reg.Nos.
no.
1
2
3
Time
10BMA0017 to 2.15 pm
10BME0150
10BME0158 to 2.30 pm
10BME0356
10BME0373 to 2.45 pm
10BME0484
QUIZ-II-QP Pattern
Answer ALL Three short questions ( 2+2+1)
Syllabus: Friction
Centroid of areas/composite areas
Theorems of Pappus and Guldinus
An area is symmetric with respect to an axis BB if for every point P there exists a point P
such that PP is perpendicular to BB and is divided into two equal parts by BB.
Composite Area
A xA
Y A yA
X
x1 A1 x 2 A2 x 3 A3 .................
X
A1 A2 A3 ..............
y1 A1 y 2 A2 y 3 A3 .......... .......
Y
A1 A2 A3 .......... ....
Problem
Then
X A = xA
X (1740) = 28,200
or X = 16.21 mm
and
Y A = yA
Y (1740) = 55,440
or Y = 31.9 mm
For the plane area shown, determine the first moments with
respect to the x and y axes and the location of the centroid.
Composite Bodies
First moments of areas, like moments of
forces, can be positive or negative.
For example: an area whose centroid is
located to the left of Y axis will have a
negative first moment with respect to that
axis.
Also, the area of a hole should be
assigned a negative sign.
A1
A2
A3
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X
+
+
A XA
+
+ +
-
XL, cm 2 YL, cm 2
Segment
L, cm
X, cm
Y, cm
AB
24
12
288
BC
26
12
312
130
CA
10
50
XL =
600
YL =
180
L = 60
Theorems of Pappus-Guldinus
Surface of revolution is generated by rotating a plane curve about a
fixed axis.
A 2 yL
V 2 y A
Determine the volume and the surface area of the solid obtained
by rotating the area about (a) the y axis, (b) the line y = 40 mm.
I x y 2 dA
I y x 2 dA
I x y 2 dA y 2bdy 13 bh3
0
J 0 r 2 dA
J 0 r 2 dA x 2 y 2 dA x 2 dA y 2 dA
Iy Ix
Ix
k x2 A
kx
Ix
A
Similarly,
2
y
Iy k A
ky
2
O
J O k A kO
2
kO
2
kx
2
ky
Iy
A
JO
A
bh
I x
12
I y dA
I y 2 dA y d 2 dA
y 2 dA 2d y dA d 2 dA
I I Ad 2
IT I Ad 2 14 r 4 r 2 r 2
54 r 4
1 bh 3 1 bh 1 h
I BB I AA Ad 2 12
2
3
1 bh 3
36
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Product of Inertia
Product of Inertia: I xy xy dA
Product of Inertia
Parallel Axis Theorem
Parallel axis theorem for products of inertia:
I xy I x ' y ' x yA
Determine the product of inertia of the right triangle shown (a) with respect
to the x and y axes and (b) with respect to centroidal axes parallel to the x
and y axes.
(a) Determine the moment of inertia of the shaded area shown with
respec to each of the coordinate axes.
(b) Using the results of part a, determine the radius of
gyration of the shaded area with respect to each of the coordinate axes.
Determine the moment of inertia of the shaded area with respect to the x axis.
Ix Iy
2
Ix Iy
I x y
2
Ix Iy
2
Ix Iy
2
Ix Iy
2
cos 2 I xy sin 2
cos 2 I xy sin 2
sin 2 I xy cos 2
I
I k m
k
m
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2
I y r 2 dm z 2 x 2 dm
Similarly, for the moment of inertia with
respect to the x and z axes,
I z x 2 y 2 dm
2
I x y z dm
In SI units:
I r 2dm kg m 2
Parallel-Axis Theorem
I I md
I AA ,mass r 2 dm t r 2 dA
t I AA ,area
Similarly, for perpendicular axis BB which is also contained in the plate,
I BB,mass t I BB,area
For the axis CC which is perpendicular to the plate,
1 ab 3 1 mb 2
I BB t I BB,area t 12
12
1 ma 2 b 2
I CC I AA,mass I BB,mass 12
1 a 3b 1 ma 2
I AA t I AA,area t 12
12
I AA I BB t I AA,area t 14 r 4 14 mr 2
I CC I AA I BB 12 mr 2
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