MP2001/AE2008 MECHANICS OF MATERIALS

Dr Chou Siaw Meng

Associate Professor
Tel: 67904958 | Office: N3.2-02-71 |
Email: msmchou@ntu.edu.sg
School of Mechanical and Aerospace Engineering School of Mechanical and Aerospace Engineering
Nanyang Technological University
Textbook: MECHANICS OF MATERIALS (5
th
edition, SI units, 2009)
A th B J h t D W lf d M k Authors: Beer, Johnston, DeWolf and Mazurek
Publisher: McGraw-Hill
Chapter 1- Introduction-Concept of Stress
1
The Straits Times
4 August 2007
Chapter 1- Introduction-Concept of Stress
2
The Straits Times: Thu 16 Aug 2007
Chapter 1- Introduction-Concept of Stress
3
SOME ANSWERS ARE
INTENTIONALLY LEFT OUT
TO BE FILLED DURING LECTURE TO BE FILLED DURING LECTURE
Chapter 1- Introduction-Concept of Stress
4
REFERENCE
1. Engineering Mechanics of Solids, E.P. Popov, 1. Engineering Mechanics of Solids, E.P. Popov,
Prentice Hall.
2. Mechanics of Materials, R.C. Hibbler, Pearson-
P i H ll Prentice Hall.
Chapter 1- Introduction-Concept of Stress
5
I t d ti Introduction
The main objective of the study of mechanics of
materials is to provide the future engineer with the
means of analyzing and designing various
machines and load bearing structures.
Both the analysis and design of a given structure Both the analysis and design of a given structure
involve the determination of stresses,
deformations and appropriate dimensions of a deformations and appropriate dimensions of a
particular material.
Chapter 1- Introduction-Concept of Stress
6
Conditions for Equilibrium
in a free-body diagram (FBD)
0 F
i
=

i
forces in one direction = forces in the opposite
direction
(i di ti )
i
(in any direction)
0 M =

sum of clockwise moments = sum of anticlockwise

0 M
i
=

i
moments
(about any point)
Chapter 1- Introduction-Concept of Stress
7
What is a moment (M) / torque (T)? What is a moment (M) / torque (T)?
M = Fd
M = (10N)(2m)
M = 20 Nm
axis
d = 2m
F = 10N
M = Fd (the product of force and the ( p
perpendicular distance from the forces line
of action to the axis of rotation)
Chapter 1- Introduction-Concept of Stress
8
of action to the axis of rotation)
Revision
mg = 50 N g
d = 3 cm
L = 35 cm
?
?
mg
?
d
d
mg
d
L
L
0 M
O
=

L . d . F
O
=

mg
Chapter 1- Introduction-Concept of Stress
9
N 583 F =
FBD must include: FBD must include:
1. Body weight
2. External loads
3 All forces across boundary of FBD 3. All forces across boundary of FBD
Chapter 1- Introduction-Concept of Stress
10
Revision
T i 53
R
y
Tsin53
R
x
Tcos53
R
2m
4m
?
0 M =

) 4 )( 200 ( ) 2 )( 600 ( ) 8 )( (Tsin53

0 M
o
R
+ =
=

2m
N 313 T
) )( ( ) )( ( ) )( (
=
Weight of man = 600 N
Chapter 1- Introduction-Concept of Stress
11
g
Weight of beam = 200 N
Chapter 1
Introduction-
Concept of Stress p
Resultant Force versus Equilibrium Force
vector
F
1
+ F
2
= F
3
F
3
F
1
Resultant Force
F
1
F
2
F
3
F
2
F
2
F
1
Equilibrium Force
F
2
F
4
F
4
is required
for equilibrium
Chapter 1- Introduction-Concept of Stress
13
Review of Statics
Strut (two-force member) Beam Strut (two force member) Beam
Pin-ended members Multiple internal forces
Two-force member =
no transverse load
Pin-ended or fix-ended
Bending produces
between pinned ends
Axial load (no bending)
bending stresses and
shearing stresses
produces axial stresses
Assume weightless
May or may not be
weightless
Chapter 1- Introduction-Concept of Stress
14
Examples: strut (two-force member)
spaceframes
Chapter 1- Introduction-Concept of Stress
15
spaceframes
Introduction
St t (t f b ) Strut (two-force member)
Chapter 1- Introduction-Concept of Stress
16
Introduction
St t (t f b ) Strut (two-force member)
Chapter 1- Introduction-Concept of Stress
17
Review of Statics (struts)
The structure consists of
( )
The structure consists of
a boom and rod joined by
pins (zero moment pins (zero moment
connections) at the
junctions and supports junctions and supports
Determine the internal Determine the internal
force in each structural
member and the reaction member and the reaction
forces at the supports
Chapter 1- Introduction-Concept of Stress
18
Structure Free-Body Diagram - Method I
: 0 =
C
M
W i htl t l d
Conditions for static equilibrium:
( ) ( )( ) m 8 . 0 kN 30 m 6 . 0
: 0
=

x
C
A
M
Weightless wrt load
0 : 0
kN 40
= + =
=

x
A C F
A FBD
kN 40
0 : 0
=
+

x
x x x
C
A C F
(actual direction )
kN 30
: 0
= +
=
y
C A
F
(actual direction )
kN 30 = +
y y
C A
A
y
and C
y
cannot be determined
30kN
Chapter 1- Introduction-Concept of Stress
19
from these equations
Component Free-Body Diagram
Consider a free-body diagram for the
boom: boom:
( ) 0 m 8 . 0 : 0 = =
y B
A M
FBD
x
0 =
y
A
substitute into the structure equilibrium
x
kN 30 = C
substitute into the structure equilibrium
equation (previous slide)
B d B t
Results:
kN 30 =
y
C
= kN 40
x
A
B
x
and B
y
represent
forces from rod BC
|
=
kN 30
kN 40
x
x
C
C
Chapter 1- Introduction-Concept of Stress
20
| = kN 30
y
C
C C F
2
y
2
x BC
+ =
F
2500
30 40
2 2
+ =
BC
F
50 kN
2500 =
30 kN
C
F'
40 kN
BC
F
40 kN
50 kN
AB
F AB
F'
40 kN
40 kN
30 kN
A
B
40 kN 40 kN
30 kN
40 kN
Chapter 1- Introduction-Concept of Stress
21
Method of Joints - Method II
k
Direction of F
BC
unknown
direction
and F
AB
can be
determine
through the force
polygon unknown
direction

= 0
B
F

known
direction
Need to assume
two-force
Chapter 1- Introduction-Concept of Stress
22
member
BC
F
Method of Joints
BC
F
Joints must satisfy the conditions for
static equilibrium which may be
d i th f f f t i l
BC
F'
expressed in the form of a force triangle:
0 =
B
F

600
mm
kN 30
0
= =

BC AB
B
F F
AB
F
AB
F'
kN 50 kN 40
3 5 4
= =
BC AB
F F
800 mm
A
x
=
Chapter 1- Introduction-Concept of Stress
23
from geometry of structure
Axial Loading: Normal Stress Axial Loading: Normal Stress
The resultant of the internal forces The resultant of the internal forces
for an axially loaded member is
normal to a section cut normal to a section cut
perpendicular to the member axis.
The force intensity on that section
is defined as the normal stress.
P F
=
A
= o o lim
A A
ave
A
=
A
=
A
o o
0
lim
Chapter 1- Introduction-Concept of Stress
24
Axial Loading: Normal Stress Axial Loading: Normal Stress
The normal stress at a particular point The normal stress at a particular point
may not be equal to the average
stress but the resultant of the stress
assumed
constant
stress but the resultant of the stress
distribution must satisfy
(actual stress distribution may not be
constant
(actual stress distribution may not be
constant)
} }
= = =
ave
dA dF A P o o
A
Chapter 1- Introduction-Concept of Stress
25
Stress Analysis
d= 20 mm
600 mm
C
Can the structure support 30 kN load?
MPa 165 :
all
= o Given
600 mm
A B F
AB
= 40 kN (compression)
From previous analysis
30x50 mm
800 mm
30kN
AB
( p )
F
BC
= 50 kN (tension)
30x50 mm
A = 314 mm
2
800 mm
30kN
d
BC
= 20 mm
At any section through member
BC, the internal force is 50 kN with
BC
F
A
BC
F
= o
a force intensity or stress of
MP 159
N 10 50
3
P
MPa 159
mm 314
N 0 50
2
= = =
A
BC
o
or N/mm
2
l t ( t f )
Chapter 1- Introduction-Concept of Stress
26
o = normal stress ( to surface)
Stress Analysis
d= 20 mm
y
C
600 mm
The allowable stress of steel is
MPa 165 o ) ( o << MPa 165
all
= o
) (
) (
lti t
yield
o
o
<<
<<
A B
800 mm
30kN
Conclusion: the strength of
) (
ultimate
o <<
g
member BC is adequate
BC
F
A
BC
F
= o
Note: o
AB
+ than o
BC
Chapter 1- Introduction-Concept of Stress
27
1 4 Design 1.4 Design
d= ? mm
Design of new structures
requires selection of
d ? mm
600 mm
requires selection of
appropriate materials and
component dimensions to
F
BC
= 50 kN
component dimensions to
meet performance
requirements
800
requirements
o
all
= 100 MPa
800 mm
30kN
all
Chapter 1- Introduction-Concept of Stress
28
Design g
Based on several reasons, the choice is made to
construct the rod from aluminum (o = 100 MPa) construct the rod from aluminum (o
all
= 100 MPa).
What is the rod diameter?
P
3
= o
A
P
all
mm 500
MPa 100
N 10 50
2
3
=

= =
o
P
A
all
( )
mm 2 . 25
mm 500 4 4
therefore ,
4
2 2
= = = = t
A
d
d
A
all
,
4 t t
An aluminum rod 26 mm or more in diameter is adequate
(o
all
, A , d )
Chapter 1- Introduction-Concept of Stress
29
An aluminum rod 26 mm or more in diameter is adequate
Centric (Concentric) Loading Centric (Concentric) Loading
A uniform distribution of stress in a
section infers that the line of action for
the resultant of the internal forces
passes through the centroid of the
section.
A uniform distribution of stress is only
possible if the concentrated loads on the
centroid
possible if the concentrated loads on the
end sections of two-force members are
applied at the section centroids This is applied at the section centroids. This is
referred to as centric (concentric)
loading
Chapter 1- Introduction-Concept of Stress
30
loading.
Eccentric Loadingg
If a two-force member is
eccentrically loaded then the eccentrically loaded, then the
resultant of the stress distribution
in a section must yield an axial in a section must yield an axial
force and a moment.
Th t di t ib ti i The stress distributions in
eccentrically loaded members
t b if t i cannot be uniform or symmetric.
Direction of M and P can be
found through equilibrium.
Chapter 1- Introduction-Concept of Stress
31
Shearing Stress Shearing Stress
Forces P and P are applied
transversely to the member AB.
The resultant of the internal shear The resultant of the internal shear
force distribution is defined as the
shear of the section and is equal to shear of the section and is equal to
the load P.
Th di h i The corresponding average shearing
stress is,
P
A
=
ave
t
(assume constant stress across the section.)
Chapter 1- Introduction-Concept of Stress
32
(assume constant stress across the section.)
Single Shear Double Shear
Chapter 1- Introduction-Concept of Stress
33
Shearing Stress Examples Shearing Stress Examples
Single Shear Double Shear
F = 2P or P = F/2
A
F
A
P
= =
ave
t
A
F
A
P
2
ave
= = t
Chapter 1- Introduction-Concept of Stress
34
A A
A A 2
Bearing Stress in Connections
Bolts, rivets, and pins
create stresses on the
points of contact or bearing
surfaces of the members
they connect.
Corresponding average
force intensity is called force intensity is called
the bearing stress,
P P
d t
P
A
P
= =
b
o
(Projected Area)
Chapter 1- Introduction-Concept of Stress
35
Stress Analysis & Design Example
Determine the stresses
in the members and
connections of the
structure
From analysis:
F
AB
= 40 kN (compression)
AB
( p )
F
BC
= 50 kN (tension)
Consider maximum
normal stresses in AB and
BC, and the shearing and
bearing stress at each
Chapter 1- Introduction-Concept of Stress
36
pinned connection
Chapter 1- Introduction-Concept of Stress
37
2 areas
Chapter 1- Introduction-Concept of Stress
38
Different critical areas for tension and compression
tension tension
Critical areas C t ca a eas
(higher stresses)
compression
Critical area
p
Critical area
(higher stresses)
Chapter 1- Introduction-Concept of Stress
39
Rod & Boom Normal Stresses (on BC)
20 mm
40
Critical
25 mm
40 mm
areas
A =
314 mm
2
MPa 159 = o
BC
50 kN
314 mm
2
The smallest cross-
ti l
( )( ) mm 300 mm 25 mm 40 mm 20
2
= = A
BC
sectional area occurs
at the pin centerline,
MPa 167
mm 300
10 50
2
3
,
=

= =
N
A
P
end BC
o
Chapter 1- Introduction-Concept of Stress
40
mm 300 A
Rod & Boom Normal Stresses (on AB)
The boom is in compression with
an axial force of 40 kN and
40kN
average normal stress is
MP 7 26
10 40
3

MPa 7 . 26
50 30
=

= o
The minimum area sections at the
b d (A d B) boom ends (A and B) are
unstressed since the boom is in
i
Chapter 1- Introduction-Concept of Stress
41
compression.
Pin Shearing Stresses (at C and A)
kN 50
The cross-sectional area for pins at A, B,
and C,
2
2
2
mm 491
mm 25
|
|

|
t tr A
d =25mm
mm 491
2
=
|
.

\
t = t = r A
The force on the pin at C is equal to the
kN 50
b
F
The force on the pin at C is equal to the
force exerted by the rod BC,
N 10 50
3
P
kN 40
MPa 102
mm 491
N 10 50
2
,
=

= = t
A
P
ave C
Th i t A i i d bl h ith
d 25
The pin at A is in double shear with a
total force equal to the force exerted by
th b AB
kN 40
b
F
p
d =25mm
the boom AB,
MPa 7 . 40
491
kN ) 2 / 40 (
2
,
= = =
A
P
ave A
t
Chapter 1- Introduction-Concept of Stress
42
kN 40
b
F
p
mm 491
2
,
A
ave A
Pin Shearing Stresses (at B)
BC
F
50 kN
30
side view
BC
F'
50
40
50
AB
F AB
F'
40 kN
50
average shearing stress,
F

BC
=
ave B
t
(double shear) average shearing stress,
000 50
2A
,
=
ave B
(double shear)
MPa 9 . 50
2(491)
=
Chapter 1- Introduction-Concept of Stress
43
Pin Bearing Stresses (at A on boom and bracket)
To determine the bearing stress at A
in the boom AB, we have t = 30 mm
and d = 25 mm,
( )( )
MPa 3 . 53
mm 25 mm 30
N 40000
= = = o
td
P
b
( )( ) mm 25 mm 30 td
To determine the bearing stress at
A in the bracket, we have t = 2(25
mm) = 50 mm and d = 25 mm,
( )( )
MPa 0 . 32
mm 25 mm 50
N 40000
= = = o
td
P
b
Chapter 1- Introduction-Concept of Stress
44
( )( )
Stresses in Members
A i l f t f b Axial forces on a two-force member
result in only normal stresses on a
l t di l t th plane cut perpendicular to the
member axis.
f Transverse forces on bolts and
pins result in only shear stresses
h l di l b l on the plane perpendicular to bolt
or pin axis.
Either axial or transverse forces may
produce both normal and shear
stresses with respect to a plane other
than one cut perpendicular to the
Chapter 1- Introduction-Concept of Stress
45
member axis.
Stress on an Oblique Plane
A = A /cosu
A
u
A
u
= A
o
/cosu
u
u u sin cos P V P F = =
u
Chapter 1- Introduction-Concept of Stress
46
The average normal and shear The average normal and shear
stresses on the oblique plane are
u
u
o
u
cos
cos
2
0
0
A
P
A
P
A
F
= = =
u
u
u
sin
cos
0
0
P P V
A A
u u
u
u
t
u
cos sin
cos
sin
0
0
A
P
A
P
A
V
= = =
Chapter 1- Introduction-Concept of Stress
47
u cos
P' P
Maximum Stresses
Normal and shearing stresses Normal and shearing stresses
on an oblique plane
u u t u o cos sin cos
2
P P
0
A P
M
= o
u u t u o cos sin cos
0 0
A A
= =
The maximum normal stress
0
2 ' A P = o
occurs when the reference plane
is perpendicular to the member
P
0
2A P = t
axis,
0
0
m
=
'
= t o
A
P
0
2A P
m
= t
0
2A P = t
The maximum shear stress
occurs for a plane at + 45
o
with
0
2A P
m
t
2 ' A P o
respect to the axis,
2 2
45 cos 45 sin
m
o
o t = ' = = =
A
P
A
P
m
Chapter 1- Introduction-Concept of Stress
48
0
2A P = o
2 2
0 0
A A
m
initial
final
Chapter 1- Introduction-Concept of Stress
49
Factor of Safety
F t f f t id ti
Structural members or
machines must be
Factor of safety considerations:
uncertainty in material
ti
machines must be
designed such that the
working stresses are
properties
uncertainty of loadings
t i t f l
working stresses are
less than the ultimate
strength of the
uncertainty of analyses
number of loading cycles
t f f il
strength of the
material.
types of failure
maintenance requirements and
d t i ti ff t
stress ultimate
safety of Factor
u
= =
=
o
FS
FS
deterioration effects
importance of member to
t t i t it
stress allowable
all
= =
o
FS
structures integrity
risk to life and property
i fl hi f ti
Chapter 1- Introduction-Concept of Stress
50
influence on machine function
Chapter 1- Summary
For pin-ended structure (with no transverse load), only
axial force (two force members) exist axial force (two force members) exist
Axial stress due to axial force
P
A
P
= o
Offset load produces axial load plus bending moment
(use N and mm
2
)
sigma
Offset load produces axial load plus bending moment
Shear force produces shearing stress
A
P
= t
tau
Bolted joint - Shearing stress (single shear)
(double shear)
Chapter 1- Introduction-Concept of Stress
51
Bearing stress
Chapter 1- Summaryy
Axial force produces
Axial/normal stress (on surfaces to force)
Normal + shearing stresses (on surfaces not to force) Normal + shearing stresses (on surfaces not to force)
o
Factors of safety
all
u
o
o
= FS
Chapter 1- Introduction-Concept of Stress
52