Engineering Mechanics: Module 1

ANANTHITHA DEPT. OF CIVIL ENGINEERING FISAT

Engineering Mechanics, Module 1

1/8/2013

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Dear Student, Please use this document only as an aid to supplement the lectures & the lecture notes. Please note that the format conversion has resulted in the removal of animations . Happy & Fun learning !!!

Basic Civil Engineering, Module 4

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Engineering Mechanics, Module 1

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Learning Objectives
4

Force systems in Space

Introduction

to Vector approach Elements of vector algebra Position Vector Moment of a force about a point & axis Resultant of forces Equilibrium of forces in space using vector approach

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Forces in Space
Y

Fx = Fcos x Fy = Fcos y Fz = Fcos z

O Z
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(OE)2
Y B

= (OD)2 + (DE)2

= (OA)2 + (OC)2+ (DE)2

A X D

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(OE)2
Y B

= (OD)2 + (DE)2

= (OA)2 + (OC)2+ (DE)2 = (Fx)2 + (Fz)2+ (Fy)2

A X D

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(OE)2
Y B

= (F)2

(F)2 = (Fx)2 + (Fz)2+ (Fy)2 Fx = Fcos x ; Fy = Fcos y; Fz = Fcos z

A X D

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A force of magnitude 5 kN makes 30o, 50o & 100o with X, Y & Z axes respectively. Find the magnitude of its components along X, Y & Z axes
x = 30o ,y = 50o ,z = 100o Fx = 4.33 kN, Fy = 3.21 kN, Fz = -0.868 kN

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Direction cosines
10

The cosines of x, y & z are known as

direction cosines of the force F Denoted by l, m & n l = cos x m = cos y n = cos z l2 + m2 + n2 =1

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A force acts at the origin in a direction defined by the angles y = 60o & z= 45o. Taking the component of the force along X direction as -800N, (1) find the value of x. (2) find the other components and the

value of the force

Fcos x = -800 N y = 60o & z= 45o l = cos x , m = cos y & n = cosz l2 + m2 +n2 =1 x =120 Fx = Fcos x F =1600 N Fy= 800 N, Fz = 1131.37 N
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F passes through the origin and the co-ordinates of a point along the line of action of F is known
Y B

dx
O

dy

X D

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d2 = (dx)2 + (dy)2+ (dz)2 Fx = (F X dx) /d ; Fy = (F X dy)/ d ; Fz= (F X dz)/d Y

B

dx
O

dy

X D

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Calculate the components of force 1000 N shown in figure along X, Y & Z co-ordinates.
Y

120 mm

40 mm

Z
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d = (dx) + (dy) + (dz) Fx = (F X dx) /d ; Fy = (F X dy)/ d ; Fz= (F X dz)/d Distance of A from the origin, d = sqrt ( 1202+ 402+ 502) = 136.01 mm Fx = 882.29 N, Fy = 294.1 N, Fz = 367.62 N
Y
120 mm

Co-ordinate of A is (120, 40,50) dx =120, dy =40, dz = 50 2 2 2 2

A
40 mm

Z
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When A & B are 2 points on the line of action of F, neither of which is at the origin
Y

B (xb,yb,zb)

A (xa,ya,za)

dx = (xb- xa) dy = (yb-ya) dz = (zb- za) d2 = dx2 + dy2 +dz2

X

Z
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A force has a line of action that goes through the coordinates (2,4,3) & (1, -5,2). If the magnitude of the force is 100 N, find the components of the force and its angles with the axes

dx = -1 , dy = -9 , dz = -1, d = 9.11 Fx = -10.976 N, Fy = -98.792 N, Fz = -10.976 N

x = 96.30, y = 171.085, z = 96.30

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Unit Vector
18

Unit Vector Vector having unit length

Unit Vector = (Force Vector)/ Magnitude of force vector

= F/ |F| Unit vectors along X, Y &Z i, j, k Vector F= Fxi + Fyj + Fzk

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A force has a line of action that goes through the coordinates (2,4,3) & (1, -5,2). If the magnitude of the force is 100 N, find the components of the force and its angles with the axes. Find the force vector. Fx = -10.976 N, Fy = -98.792 N, Fz = -10.976 N

Force Vector is F = Fxi + Fyj + Fzk F = -10.976 i 98.792 j -10.976k

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A force has a line of action that goes through the coordinates (2,4,3) & (1, -5,2). If the magnitude of the force is 100 N, find the components of the force and its angles with the axes. Find the force

vector in terms of unit vectors

The vector joining the points = (1-2)i + (-5-4)j + (2-3)k

Unit vector along this vector = (-i -9j-k)/ 9.11 Unit vector = F/|F| Hence F = Unit Vector X |F| = ((-i -9j-k)/ 9.11 ) X 100 = -10.976i 98.79j 10.976k
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A force has a line of action that goes through points A(4,2,5) & point B(12,4,6). If the magnitude of the force in the direction of AB is 100N, find the force vector in terms of unit vector
Practice Problem

Vector joining A & B = 8i + 2 j + k Unit vector along AB = 8i + 2 j + k/ 8.30 Force vector = unit vector X magnitude of the force = (8i + 2 j + k/ 8.30) X 100 =96.38i + 24.096j + 12.04k
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A force P acts as shown in fig. Express the force P as a vector. Magnitude of force P is 100N. Length of the side of the cube is 2 cm.
(0, 2, 2) A
(2, 0,0) B

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Express the force P as a vector. Magnitude of force P is 100N. Length of the side of the cube is 2 cm.

Vector joining A&B is 2i-2j-2k, |AB| = 3.46 Unit vector along AB = 0.577i -0.577j-0.577k
(0, 2, 2) A
(2, 0,0) B

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Express the force P as a vector. Magnitude of force P is 100N. Length of the side of the cube is 2 cm.

Force Vector = 57.7i -57.7j 57.7k

(0, 2, 2) A
(2, 0,0) B

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A vertical post guy wire is anchored by means of a bolt at A as shown in fig. The tension in the wire is 2000N. Determine, (1) the components of the force acting on the bolt (2) the angles defining the direction of the force and (3) the force vector
Y B

Coordinates of A (40, 0, -30) Coordinates of B (0,80,0) Vector joining A&B is -40i+80j+30k |AB| = 94.33
Unit vector in the direction of AB = -.424i + 0.848 j +0.318 k

80 m

40 m

X
Z
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The force in the bolt is the same as the tension in the wire

80 m

40 m

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Hence the Force vector is -848i + 1696j +636k Direction of force x = 115.09o y = 32o z = 71.46o
40 m

80 m

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Vector addition
The sum of the vectors can be obtained by adding the

respective components of the vectors If A= Axi + Ayj+ Azk & B = Bxi + Byj+ Bzk, then, A+B = B+A = (Ax+Bx)i + (Ay+By)j + (Az+Bz)k

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Find the unit vector in the direction of the resultant of vectors A = (2i-j+k), B= (i+j+2k) , C= (2i+2j+4k)
Resultant R = A+B+C

= 5i + 2j + 7k Unit Vector = R/|R| = 0.57i + 0.23j + 0.79k

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Resultant of forces in space

The horizontal component of R= Rx =

Fx

Ry = Fy Rz= Fz R = sqrt ( Rx2+ Ry2 + Rz2)

Cos x = Rx/ R Cos y = Ry/R Cos z = Rz/R

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4 forces act on a particle as shown in fig. Determine the resultant of the forces in vector form R= (140 cos 30-100cos70+100cos15)i +
(140sin30+100sin70-120-100sin15)j =183.63i +18.09j 100 N
70o 30o

140 N

120 N

100 N

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4 forces 30 kN, 20 kN, 25 kN & 100kN are respectively directed through the points whose coordinates are A(2,1,5), B(3,-1,4) C(-3,-2,1) & D(4,1,-2). If these forces are concurrent at the origin, calculate the resultant of the forces in vector form
Practice Problem

90.01i +10.01j + 6.68 k

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2 cables AB & AC are attached at A as shown in fig. Determine the resultant of the forces exerted at A by the 2 cables, if the tension is 2000 N in cable AB & 1500 N in the cable AC. Also calculate the angles that this resultant makes with the X, Y & Z axes

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Y C

62 B 50

O 52

Z
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Co-ordinates of A (52,0,0) Coordinates of B (0, 50,40) Co-ordinates of C (0, 62,-50) Y C

62 B 50

O 52

Z
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Unit vector along AB = -0.63i + 0.606j + 0.485k FAB = -1260i + 1212 j +970k Unit vector along AC = -0.546i +0.6518j -0.5256k FAC= -819i +977.7j -788.4k R = -2079i +2189.7j +181.6k |R| = 3024.39 x = 133.42o y = 43.61o z = 86.56o

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A post is held in vertical position by 3 cables AB, AC &AD as shown the fig. If the tension in the cable AB is 40 N, calculate the required tension in AC& AD so that the resultant of the 3 forces applied at A is vertical

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Y
Z

X D
C

B Z

Y
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Y
Z

X D
C

B Z

Y
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 A (0,48, 0) B(16,0,12)

C(16,0,-24)
Vector along AB = 16i-48j+12k Unit Vector along AB = 0.307i-0.923j+0.23k

Vector along AC = 16i-48j-24k Unit Vector along AC = 0.2857i-0.857j-0.4257k

Vector along AD = -14i-48j Unit Vector along AD= -0.28i-0.96j

FAB = 12.28i -36.92j +9.2k

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 Given , Rx = 0 & Rz= 0 Rx=0 12.28 +0.287 FAC 0.28 FAD = 0 Rz= 0 9.2- 0.42587 FAC= 0

FAC = 21.47N FAD = 65.86 N

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Equilibrium of forces in space

42

For equilibrium, the components Rx, Ry & Rz must

be zero Fx= Rx = 0, Fy = Ry= 0 & Fz= Rz= 0

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A horizontal force P normal to the wall holds the cylinder in the position shown in fig. Determine the magnitude of P and the tensions in the cables AB & AC

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Z
1m

B
14 m

2m Mass -250 kg

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C (0,14,-12)

Z
1m

A (1,2,0)

B (0,14,9)
14 m

Mass =250 kg 2m

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 Unit vector along AB= -0.06i +0.798j +0.5988k

Unit vector along AC = -0.0588i+ 0.705j-0.705k

Since the cylinder is in equilibrium, Fx= 0, Fy=0 &

Fz = 0 Fy=0 0.798 FAB + 0.705 FAC -250X9.81= 0 Fz=0 0.598 FAB - 0.705 FAC = 0 Fx=0 P- 0.06 FAB - 0.058 FAC = 0 P = 193.02 N, FAB = 1755.47 N, FAC=1491.48 N

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A tripod supports a load of 2 kN as shown in fig. A, B & C are in XZ plane. Find the forces in the 3 legs of the tripod
Y D 1.8 m Z C

1m

1.2 m B
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A (1.2, 0,0) ; B (0, 0,1.2) ; C(-1, 0, -0.8); D(0,1.8,0)

Y D 1.8 m Z C

1m

1.2 m B
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A (1.2, 0,0) ; B (0, 0,1.2) ; C(-1, 0, -0.8); D(0,1.8,0) FAD= FAD( -0.55i + 0.833j) FBD= FBD(+0.833j 0.55k) FCD = FCD(+0.452i + 0.815j + 0.362k) Fx= 0 , Fy= 0 & Fz= 0 -0.556 FAD + 0 FBD + 0.453 FCD = 0 0.333 FAD + 0.833 FBD + 0.815 FCD = 0 0 FAD 0.556 FBD + 0.362 FCD = 0 FAD = 0.801 kN FBD = 0.641 kN

FCD = 0.983 kN
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Dot Product
50

. B = |A||B| cos , where is the angle between

the vectors Dot product Scalar quantity A = Axi + Ayj + Azk B = Bxi + Byj + Bzk
A

. B = AxBx + AyBy + AzBz

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Angle between A&B , cos = A.B/ (|A||B|)

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Dot Product
51

Application
Work done by a force F in causing a displacement s

is given by W = Fs cos
W=F

.s

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The point of application of a force F(5i+10j-15k) is displaced from point A(i+oj+3k) to the point (3i-j-6k). Find the work done by the force
W = F.s
s = 2i-j-9k W = 135 Nm

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Dot Product
53

Another Application to find the component or

projection of a force along a line F = Fxi+ Fyj +Fzk Projection of F along a line AB = F. Unit vector along AB

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A force F= 3i-4j+12k acts at a point A(1,-2,3). Compute the component of F along line AB if B has co-ordinates (2,1,2)
Vector along AB = i+3j-k
Unit vector along AB = 0.301i+0.904j-0.301k Component of F along AB = (3i-4j+12k) .

(.301i+0.904j-0.301k) = -6.325. To convert this in vector form, -6.325(0.301i+0.904j0.301k) = -1.895i-5.717j+1.903k

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Cross Product
55

A x B = |A| |B| sin

AxB=

i Ax Bx

j Ay By

k Az Bz

A x B = i(AyBz AzBy) j(AxBz AzBx) + k( AxBy AyBx)

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Moment of a force in space

56

Moment of a force F about a point is given by

M = r x F where r = xi + yj + zk; r is the position

vector

M=rxF=

i x Fx

j y Fy

k z Fz

M = i(yFz-zFy) j(xFz- zFx) + k (xFy- yFx) Mx = yFz-zFy ; My= -xFz+zFx ; Mz = xFy- yFx

Mx,My& Mz are the moments about the X,Y & Z axes

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Position Vector
57

Position Vector of a point passing through the origin

A (x, y, z) x y X

Z r = xi + yj + zk Magnitude of position vector r = sqrt (x2+ y2+z2)

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Position Vector of a point wrt another point

58

Position vector of point A, wrt point B

rAB is given by the line BA If A (xa,ya,za) & B(xb,yb,zb) then rAB is given by line BA (xa-xb)i + (ya-yb)j+ (za-zb)k

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A force F= 2i+ 3j-4k is applied at the point A(1, -1,2).Find the moment of the force about a point B(2,-1,3).

A(1, -1, 2)

B(2, -1,3)

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 M=rxF
r = Position vector of the point A wrt point B = (1-

2)i + (-1- -1)j + (2-3)k = -i + 0j k Moment of force at A about B = r x F M = 3i -6j -3k

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A force of magnitude 44 N acts through the point A(4,-1,7) in the direction of vector 9i+6j-2k. Find the moment of the force about the point O(1,-3,2)
Unit vector in the direction of 9i+6j-2k is 0.818i +

0.545j + 0.181k Force vector, F = 36i +24j -8k Position vector of A wrt point O is 3i+2j+5k M = -136i + 204j

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Moment of a force about an axis

Y

(1) Calculate the Moment of F

about O= Mo= r x F
L

O
(

2) Calculate the component (projection) of Mo on the line OL MOL = Mo .Unit vector along OL
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Engineering Mechanics, Module 1

Find the moment of a force F(20i+30j) kN acting at a point with position vector (6i+10j) about the line passing through the points B(6i+10j-4k) and C(-4i+5j-2k)
(1) Calculate the Moment of F about point B.
(2) Find the projection of this moment MB about the

line BC (1) Moment of F about B =Position vector of A wrt B x F = 4k x (20i+30j) = -120i +80j
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 (1) Moment of F about point B = -120i +80j

(2) Find the projection of this moment MB about the

line BC Vector along BC = -10i-5j+2k Unit vector along BC = -0.88i-0.44j+0.176k MBC = (-120i +80j). (-0.88i-0.44j+0.176k) = 70.4 kNm

Engineering Mechanics, Module 1

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