CH 1 - 3

Ch.
1 General Principles
Physical science concerned with the state of rest or motion of bodies that are subject to forces
Equilibrium of Bodies
Mechanics of Materials
At rest or moving with constant velocity
Dr. Ali Keshavarz
Strength of Materials - Lec. 1 - Ch. 1-3
Fundamental Concepts
Basic Quantities
LENGTH
Position, geometry
Some Idealizations
Particle
Has a mass Size neglected
TIME
Succession of events
MASS
Property of matter Amount of matter
Rigid-Body
Not deforming
Concentrated Force
Acting at a point
FORCE
Push or pull effect
Dr. Ali Keshavarz
Newtons Laws of Motion

First Law. A particle originally at rest or moving in a straight line with constant velocity, will remain in this state provided that the particle is not subjected to an unbalanced force. Second Law. A particle acted upon by an unbalanced force F experiences an acceleration, a that has the same direction as the force and a magnitude that is proportional to the force.
F = ma
Third Law. The mutual forces of action and reaction between two particles are equal, opposite, and collinear.
Dr. Ali Keshavarz
Newtons Law of Gravitational Attraction

m1 m 2 F =G r2
F : Force of gravitation between two particles m1 and m 2 : Mass of each particle r : Distance between two particles G : Universal constant of gravitation G = 66.73 10 12 m 3 / kg s 2
Dr. Ali Keshavarz Strength of Materials - Lec. 1 - Ch. 1-3 4
Concept of Weight
Force of gravitation between the earth and a particle with a mass = Weight.
mM e W =G 2 r
W : Force of gravitation M e : Mass of the earth ( = 6 10 24 kg) m : M ass of the particle r : Distance between the earth's center and the particle r = 6.39 10 6 m (Radius of the earth at sea level with 45 lattitude )
STANDARD LOCATION
W = mg
GM e (Gravitational acceleration) r2 g = 9.81 m/s 2 g=
Dr. Ali Keshavarz
Units of Measurement
SI Units
LENGTH meter (m) TIME second (s) MASS kilogram (kg) FORCE Newton (N)
US Customary Units
LENGTH foot (ft) TIME second (s) FORCE pound (lb) MASS slug (slug)
kg m N= s2
lb s 2 slug = ft
g = 32.2 ft/s 2
6
g = 9.81 m/s 2
Dr. Ali Keshavarz Strength of Materials - Lec. 1 - Ch. 1-3
Conversion of Units
Quantity FORCE MASS LENGTH US Customary 1 lb 1 slug 1 ft = = = SI System 4.4482 N 14.5938 kg 0.3048 m
Dr. Ali Keshavarz
Useful Information on Units

Some Conversions
1 ft = 12 in. (inch) 5280 ft = 1 mi (mile) 1000 lb = 1 kip (kilo-pound) 2000 lb = 1 ton
Prefixes
MULTIPLE
109 giga (G) 106 mega (M) 103 kilo (k)
Time Conversions
1 min. = 60 s 1 h = 3600 s 1 s = 1000 ms 1 s = 1000000 s
SUBMULTIPLE
10-3 milli (m) 10-6 micro () 10-9 nano (n)
= 3.141592= 3.14 Conversion for Angles

180 = rad
Dr. Ali Keshavarz
More on Prefixes of SI Units

Gm 1 Gm = 10+9 m GN 1 GN = 10+9 N Gg 1 Gg = 10+6 kg Mm 1 Mm = 10+6 m h 1 h = 3600 s MN 1 MN = 10+6 N Mg 1 Mg = 10+3 kg km 1 km = 10+3 m min 1 min = 60 s kN 1 kN = 10+3 N kg 1 kg = 1 kg m 1m=1m s 1s=1s N 1N=1N g 1 g = 10-3 kg mm 1 mm = 10-3 m ms 1 ms = 10-3 s mN 1 mN = 10-3 N mg 1 mg = 10-6 kg m 1 m = 10-6 m s 1 s = 10-6 s N 1 N = 10-6 N g 1 g = 10-9 kg nm 1 nm = 10-9 m ns 1 ns = 10-9 s nN 1 nN = 10-9 N ng 1 nm = 10-9 kg
Dr. Ali Keshavarz
Significant Figures
Accuracy of a number is specified by the number of significant figures it contains. A significant figure is any digit, including a zero, provided it is not used to specify the location of the decimal point for the number, i.e., 0.5 has only one significant digit. Example 57 098 and 44.893 (Both numbers have 5 significant digits) When numbers begin or end with zeros, it gets little confusing. Consider 400. In this kind of situations, express the number in engineering notation (exponent is used in multiples of 3). Then, 400 = 0.4x103. Only 1 Significant digit. 2500 for example can be written as 2.5x103 with 2 significant digits or can be written as 2.50x103 with 3 significant digits. This is done to specify more accuracy. 0.00546 can be written as 5.46x10-3 with 3 significant digits. Rounding Off Numbers
Rule: Use of 3 significant digits is usually enough in final answers. In intermediate calculations keep a higher number of significant digits.
Dr. Ali Keshavarz
10
Improper Application of Statics
Dr. Ali Keshavarz
11
Problem Solving Strategy

Interpret
Read carefully and determine what is given and what is to be found/delivered. Ask, if not clear. If necessary, make assumptions and indicate them.
Plan
Think about major steps (or a road map) that you will take to solve a given problem. Think of alternative/creative solutions and choose the best one.
Execute
Carry out your steps (symbolically as much as possible). Use appropriate diagrams and equations. Estimate your answers. Avoid simple calculation mistakes. Reflect on/revise your work.
Dr. Ali Keshavarz
12
Ch 2. Force Vectors
Scalar. A quantity characterized by a positive or negative number such as mass, volume, length. Vector. A quantity that has
A magnitude (how big is your vectors length compared to a given reference) A direction (on a line you can have 2 direction choices) A line of action
Examples: Position, velocity, force When specifying direction: Always know your reference, i.e., CW from an axis.
Dr. Ali Keshavarz
13
Vector Math
Multiplication and division of a vector with a scalar
Changes the magnitude only (aA or A/a or -A)
Vector addition (Commutative Law: A + B = B + A)

Parallelogram law or triangular construction
Vector subtraction: (A B = A + (-B))

Same as addition concept Just multiply the vector being subtracted and add two
Dr. Ali Keshavarz
14
Vector Resolution
Resolution of a vector Resolve into 2 components on 2 known line of actions 2 known line of actions are not necessarily perpendicular WHY? We may need to resolve due to geometry
Dr. Ali Keshavarz
15
Resolution due to Geometry
Dr. Ali Keshavarz
16
Trigonometric Laws and Force Notation

Sine Law and Cosine Law Trigonometric relations Geometric relations Force Notation
F = 500 N and F or F
Scalar and Vector
Vector Addition of 3 or More Forces

Application of successive parallelogram law will lead to the result. This can get involved and can be error prone in terms of geometry and trigonometry.
Dr. Ali Keshavarz
18
Addition of A System of Coplanar Forces

Using a rectangular coordinate system is the common method such as x-y axes. Scalar Notation
We can find components of a vector (force) along specified axes. Then we can add components on the same axis algebraically (scalar). We have to be careful with signs (directions)
F = Fx + F y
F = Fx + F y
Dr. Ali Keshavarz
19
Adding Coplanar Forces: Cartesian Vector Notation

F = Fx i + F y j
i , j : unit vectors magnitude = 1 (unity) direction: +/- sign
Dr. Ali Keshavarz
20
Resultant of Coplanar Forces
F1 = F1 x i + F1 y j F2 = F2 x i + F2 y j F3 = F3 x i F3 y j
The Resultant
FRx = F1 x F2 x + F3 x FRy = F1 y + F2 y F3 y
FRx = Fx FRy = Fy
FR = F1 + F2 + F3
FR = FRx i + FRy j
Dr. Ali Keshavarz
FR =
FRx + FRy
2 1
= tan
FRy FRx
22
Angle Specification for the Resultant Vector

R
Dr. Ali Keshavarz
23
Cartesian Vectors in 3D
Using Cartesian vector notation greatly simplifies solving problems in 3 dimensional space. Right-handed coordinate system
Thumb +z (Zenith direction, height, altitude) Out between fingers +x Toward arm +y
In 2D space, +z in always outward and perpendicular to the page.
Dr. Ali Keshavarz
24
Rectangular 3D Components of A Vector
Unit Vector is used to specify direction
A = Ax + Ay + Az A = Ax i + A y j + Az k
Dr. Ali Keshavarz
A or A = Au A uA = A A0
25
Magnitude and Direction

Ax cos = A Ay cos = A Az cos = A
A = Ax + Ay + Az
2 2
Dr. Ali Keshavarz
Coordinate direction angles (direction cosines) are measured between tail of A and + x, y, z axes
26
Revisit the Unit Vector

Ay A Ax Az uA = = i+ j+ k A A A A u A = cos i + cos j + cos k
A uA = or A = Au A cos 2 + cos 2 + cos 2 = 1 A A = Au A A0 = A cos i + A cos j + A cos k
= Ax i + Ay j + Az k
Addition and Subtraction of Cartesian Vectors

A = Ax i + Ay j + Az k B = Bx i + By j + Bz k
R = A+B = ( Ax + Bx )i + ( Ay + By ) j + ( Az + Bx )k
Concurrent Force Systems: FR = F = Fx i + Fy j + Fz k

3D Force Vector Example
Dr. Ali Keshavarz
29
Position Vectors
r = xi + yj + zk
Position Vectors Generalized

rA = x Ai + y A j + z Ak rB = xB i + yB j + z B k
rA + r = rB r = rB rA rAB = rAB
r = rAB = ( xB x A )i + ( yB y A ) j + ( z B z A )k rAB = ( xB x A ) + ( yB y A ) + ( z B z A )
2 2
1
u AB
( xB x A ) 1 ( y B y A ) 1 ( z B z A ) = cos = cos = cos rAB rAB rAB

Force Vector Directed Along A Line

r F = Fu = F r rAB = F rAB
F = Fu AB
Dr. Ali Keshavarz
32
Real Applications
Dr. Ali Keshavarz
33
Dot Product
How do we find angle between two lines? Dot Product = Scalar Product (result is scalar) Commutative Law:
AB = BA
A B = AB cos (0 180 )
i i = j j = k k = 1 i j = i k = k j = 0
Multiply by a Scalar:
a(AB) = (aA)B = A(aB) =(AB)a
Distributive Law:
A(B+D) = (AB) + (AD)
A B = Ax Bx + Ay By + Az Bz
34
Dr. Ali Keshavarz
Applications of Dot Product

The angle formed between 2 vectors
AB = cos AB
1
0 180
Components of a vector parallel/perpendicular to a line
A|| = A cos A|| = A cos u = ( A u)u

Real Applications
Dr. Ali Keshavarz
36
Ch 3. Force System Resultants

Moment of a Force
Moment: A measure of the tendency of the force to cause a body to rotate about a point or axis
Dr. Ali Keshavarz
37
Moment of a Force
Scalar Formulation Magnitude:
M O = Fd
Direction:
Right-Hand Rule
Dr. Ali Keshavarz
38
Resultant Moment of a System of Coplanar Forces

All forces are in the same plane (x-y) Resultant Moment:
Algebraic sum of each moment created by each force CCW = +z CW = -z
+ M RO = Fd
Real Example
Dr. Ali Keshavarz
40
Cross Product
The result is a vector The order of multiplication does matter Magnitude:
C = AB sin
Direction:
C = A B = ( AB sin )uC
Cross Product Laws of Operation

Not Commutative
AB B A A B = B A
Multiplication by a scalar
a( A B) = (aA) B = A (aB) = ( A B)a

Distributive Law:
A (B + D) = ( A B) + ( A D)
Cross Product Cartesian Vector Formulation

i i = j j = k k = 0 i j = k jk = i k i = j j i = k k j = i i k = j
i A B = Ax Bx
Dr. Ali Keshavarz
j Ay By
k Az = ( Ay Bz Az By )i ( Ax Bz Az Bx ) j + ( Ax By Ay Bx )k Bz MINUS SIGN
Important!
Strength of Materials - Lec. 1 - Ch. 1-3 43
Moment of a Force Vector Formulation

The moment of force F about point O The moment of force F about the moment axis passing through O and perpendicular to the plane containing O and F
MO = r F
r is the position vector from O to any point lying on the line of action of F Magnitude: Direction: Right-hand rule
M O = rF sin = F (r sin ) = Fd
Dr. Ali Keshavarz
44
Principle of Transmissibility
The force F applied at point A creates a moment about O
M O = rA F
r can extend from O to any point on the line of action of force F. Therefore, F can be applied at A, B, or C F is a sliding vector
M O = rA F = rB F = rC F
Moment of a Force Cartesian Vector Formulation

r = rx i + ry j + rz k F = Fx i + Fy j + Fz k
i M O = r F = rx Fx
( M O )x
j ry Fy
k rz Fz
(MO )y ( M O )z
= (ry Fz rz Fy ) i (rx Fz rz Fx ) j +(rx Fy ry Fx ) k = (M O ) x i + (M O ) y j + (M O ) z k

Resultant Moment of A System of Forces
M RO = (r F )
Dr. Ali Keshavarz
47
Real Applications
Dr. Ali Keshavarz
48
Principle of Moments
Varignons Theorem:
The moment of a force about a point is equal to the sum of the moments of the forces components about the point
F = F1 + F2 M O = r F1 + r F2 = r (F1 + F2 ) = rF
Why is this important?

Easier to find moments of components
Dr. Ali Keshavarz
49
Moment of a Force about a Specified Axis: Scalar Analysis

The moment vector and its axis is always perpendicular to the plane that contains the force and the moment arm It is sometimes important to find the component of this moment along a specified axis that passes through this point (Moment may be given or not) If the line of action of a force F is perpendicular to any specified axis aa, then the magnitude of the moment of F about the axis can be determined from the equation
M a = Fd a
Direction: Right-hand rule
Dr. Ali Keshavarz
50
Real Example
Dr. Ali Keshavarz
51
Moment of a Force about a Specified Axis: Vector Analysis

rA = (0.3i + 0.4 j) m F = 20k N M O = rA F = (0.3i + 0.4 j) (20k ) = 8i + 6 j Nm M y = MO u A = (8i + 6 j) j = 6 Nm
Dr. Ali Keshavarz
52
Moment about Specified Axis: Generalized Vector Analysis

M a = u a (r F ) = (r F) u a
i M a = (uax i + ua y j + uaz k ) rx Fx uax M a = u a (r F) = rx Fx ua y ry Fy j ry Fy uaz rz Fz k rz Fz
M a = M a u a = [u a (r F)]u a M a = [u a (r F )] = u a (r F)
Dr. Ali Keshavarz
Resultant moment about aa axis of series of forces

53
Couple Defined
A couple is defined as two parallel forces that have the same magnitude, have opposite directions, and are separated by a perpendicular distance d. Since the resultant force is zero, only effect of a couple is to produce a rotation (or tendency of rotation) in a specified direction
Dr. Ali Keshavarz
54
Moment of a Couple (Couple Moment)

M O = rA (F) + (rB F )
MA = rF M A = (rB rA ) F
r
O is any point
Free vector (can act at any point) Scalar Formulation: M = Vector Formulation:
Fd
r is crossed with the force F to which it is directed
M = rF
Equivalent Couples Resultant Couple Moment

Equivalent Couples. Two couples are said to be equivalent if they produce to same moment. Forces of equal couples lie either in the same plane on in planes that are parallel to one another Resultant Couple Moment
M R = M1 + M 2
M R = (r F )
Dr. Ali Keshavarz
56
Real Examples
Dr. Ali Keshavarz
57
Equivalent System: Point O is on the Line of Action of Force

Simply force F can be moved from point A to point O. Principle of transmissibility
External effects: Remain unchanged, i.e., support forces Internal effects: Higher intensity around A than O
We will study in Mechanics of Materials
Dr. Ali Keshavarz
58
Equivalent System: Point O is not on the Line of Action of Force

Force F can be moved from point A to point O. However, the couple introduced creates a moment. This is a free vector, couple moment, can act at any point of the body: P or O or A. Force F is now acting at point O with a couple moment created on the body.
Dr. Ali Keshavarz
59
Equivalent System Concepts Illustrated
Dr. Ali Keshavarz
60
Resultant of a Force and Couple System

When F is moved to O, moments M1 and M2 are created. Mc can be moved to O since it is a free vector. FR = F1 + F2 The resultant force and M RO = M C + M1 + M 2 moment: Generalized:
FR = F M RO = M C + M O
Dr. Ali Keshavarz
FRx = Fx FRy = Fy M RO = M C + M O
61
Resultant Force and Couple Moment Concept Illustrated
Dr. Ali Keshavarz
62
Further Reduction of a Force and Couple System: Single Resultant Force

Special Case Only: FR and MRO are perpendicular to each other
Dr. Ali Keshavarz
63
Concurrent Force Systems

Since all forces intersect at the point P, there is no resultant couple moment and only resultant force that is the sum of all forces
Dr. Ali Keshavarz
64
Coplanar Force Systems: 2D
FR = F M RO = M C + (r F )
d=
M RO FR
Dr. Ali Keshavarz
65
Parallel Force Systems
Couple moments are perpendicular to the forces.
FR = F M RO = M C + (r F )
d=
M RO FR
Dr. Ali Keshavarz
66
Parallel Force Systems Illustrated
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67
Reduction to a Wrench
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68

CH 1 - 3

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CH 1 - 3

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Ch.

At rest or moving with constant velocity

Dr. Ali Keshavarz

Strength of Materials - Lec. 1 - Ch. 1-3

Dr. Ali Keshavarz

Strength of Materials - Lec. 1 - Ch. 1-3

Newtons Laws of Motion

Dr. Ali Keshavarz

Strength of Materials - Lec. 1 - Ch. 1-3

Newtons Law of Gravitational Attraction

GM e (Gravitational acceleration) r2 g = 9.81 m/s 2 g=

Dr. Ali Keshavarz

Strength of Materials - Lec. 1 - Ch. 1-3

Dr. Ali Keshavarz

Strength of Materials - Lec. 1 - Ch. 1-3

Useful Information on Units

= 3.141592= 3.14 Conversion for Angles

Dr. Ali Keshavarz

Strength of Materials - Lec. 1 - Ch. 1-3

More on Prefixes of SI Units

Dr. Ali Keshavarz

Strength of Materials - Lec. 1 - Ch. 1-3

Dr. Ali Keshavarz

Strength of Materials - Lec. 1 - Ch. 1-3

Improper Application of Statics

Dr. Ali Keshavarz

Strength of Materials - Lec. 1 - Ch. 1-3

Problem Solving Strategy

Dr. Ali Keshavarz

Strength of Materials - Lec. 1 - Ch. 1-3

Dr. Ali Keshavarz

Strength of Materials - Lec. 1 - Ch. 1-3

Vector addition (Commutative Law: A + B = B + A)

Vector subtraction: (A B = A + (-B))

Dr. Ali Keshavarz

Strength of Materials - Lec. 1 - Ch. 1-3

Dr. Ali Keshavarz

Strength of Materials - Lec. 1 - Ch. 1-3

Resolution due to Geometry

Dr. Ali Keshavarz

Strength of Materials - Lec. 1 - Ch. 1-3

Trigonometric Laws and Force Notation

Vector Addition of 3 or More Forces

Dr. Ali Keshavarz

Strength of Materials - Lec. 1 - Ch. 1-3

Addition of A System of Coplanar Forces

Dr. Ali Keshavarz

Strength of Materials - Lec. 1 - Ch. 1-3

Adding Coplanar Forces: Cartesian Vector Notation

Dr. Ali Keshavarz

Strength of Materials - Lec. 1 - Ch. 1-3

Resultant of Coplanar Forces

Strength of Materials - Lec. 1 - Ch. 1-3

Angle Specification for the Resultant Vector

Dr. Ali Keshavarz

Strength of Materials - Lec. 1 - Ch. 1-3

In 2D space, +z in always outward and perpendicular to the page.

Dr. Ali Keshavarz

Strength of Materials - Lec. 1 - Ch. 1-3

Rectangular 3D Components of A Vector

Unit Vector is used to specify direction

Strength of Materials - Lec. 1 - Ch. 1-3