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RIGID BODY Bodies which neither change in shape and size after the application of forces
FREE BODY DIAGRAM Sketch of the isolated body showing all the forces acting on it.
THREE MAJOR DIVISIONS OF MECHANICS
1. Mechanics of Rigid Bodies Engineering Mechanics
2. Mechanics of Deformable Bodies Strength of Materials
3. Mechanics of Fluids Hydraulics
SIMPLE STRESS TENSILE STRESS AND COMPRESSIVE STRESS
STRESS unit strength of the body
Where:
S Uniform internal stress
P Axial force
A Uniform cross-sectional
area
P
S=
A
Perpendicular
Passing through the centroid
P
Compressive stress
Tensile stress
BAR B
A=20mm2
A=50mm2
1000N
500N
1/37
C
70
35
2. Determine the required cross sectional areas of members BE, CD and CE of the given
truss shown, if the allowable stress in tension is 120MPa while in compression is
105MPa. A reduced allowable stress in compression is given to reduce the danger of
buckling.
D
C
G
4m
3m
B
A
3m
E
3m
3m
50KN
75KN
3m
F
3m
50KN
3. An bronze rod is rigidly attached between a aluminum rod and a steel rod as shown.
Axial loads are applied at the positions indicated. Find the maximum value of P that will
not exceed a stress in steel of 140MPa, in aluminum of 90MPa or in bronze of 100MPa.
Aluminum
A= 500mm2
3P
L alum= 3.5m
Bronze
Steel
A= 200mm2 A= 150mm2
P
2P
L br = 2m L st = 1.2m
2/37
9m area
3m
A
B
200mm
55
600mm
5m
C
9m
3m
8m
C
4m
3m
3m
B
6m
3/37
Where:
Ss Shearing stress
P Force acting parallel to the area
A Surface area
P
Ss =
A
Shearing area
parallel to the load
Width
of plate
130mm
2. DOUBLE SHEAR
BUTT JOINT
P/2
tSPLICE
t MAIN PLATE
P/2
tSPLICE
4/37
4. INDUCED SHEAR
SHEARED
AREA
P
SHEARED
AREA
BEARING STRESS
Contact pressure exerted by one body upon another body. Also know as end stress. The
force acts perpendicular to the area.
LAP JOINT
P
t
P
Width
of plate
130mm
LAP JOINT
P
t
P
5/37
Width
of plate
130mm
ENLARGEMENT OF THE
RIVET HOLES
DIAMETER
OF THE PLATE
t=25mm
130mm
10. Determine the maximum force P that the top chord can carry if the allow shearing stress
is 50MPa, bearing stress is 60MPa and tensile stress is 85MPa of the connection
shown
P
a
b
c
d
q
b
q
a
6/37
200mm
120mm
40mm
75mm
30
17mm
45
200lb
12in
B
36in
C
10
7/37
14. The figure shows a roof truss and the detail of the connection at joint B. Members BC
and BE are angle sections with thickness shown in the figure. The working stresses are
70MPa for shear in rivet and 140MPa for bearing stress due to the rivets. How many
19-mm diameter rivets are required to fasten the said members to the gusset plate
D
A
4m
6m
G
4m
4m
96KN
DETAIL OF JOINT B
200K
N
10mm
GUSSET PLATE
75X75X13
H
4m
96KN
75X75X6
P BE
P BC
LONGITUDINAL
JOINT
CIRCUMFERENTIAL
JOINT
SCIRCUMFERENTIAL =
r D
2t
SLONGITUDINAL =
r D
4t
8/37
17. A large pipe called a penstock in hydraulic work is 1.5m in diameter. Here it is
composed of wooden staves bound together by steel hoops, each 300mm2 in crosssectional area, and is used to conduct water from a reservoir to a power house. If the
maximum tensile stress permitted in the hoops is 130MPa, what is the spacing between
hoops under a head of water of 30m?
18. A spiral-riveted penstock 1.5m in diameter is made of steel plate 10mm thick. The pitch
of the spiral or helix is 3m. the spiral seam is a single-riveted lap joint consisting of 20mm diameter rivets. Using SS=70Mpa and Sb=140MPa, determine the spacing of the
rivets along the seam from a water pressure of 1.25MPa. Neglect end thrust. What is
the circumferential stress?
SIMPLE STRAIN
STRESS- STRAIN DIAGRAM
Ultimate Strength
Rupture Strength
Yield Point
Elastic limit
Proportional limit
STRAIN
9/37
The strength of the material is not only the criterion that must be considered in
designing a structure. The stiffness of a material is frequently of equal importance.
Hookes Law states that up to the proportional limit, the stress is proportional to strain.
The constant of proportionality based from experiment is the modulus of elasticity.
STRESS a d STRAIN
S=
P
A
S a d
d AXIAL =
e=
d
L
PL
AE
19. During a stress-strain test, the unit deformation at a stress of 35MPa was
observed to be 167x10-6 m/m and at a stress of 140MPa it was 667x10-6. If the
proportional limit was 200MPa, what is the modulus of elasticity? Would these
results be valid if the proportional limit were 150MPa? Explain.
20. The compound bar containing steel bronze and aluminum segments carries the
axial loads shown in the figure. The properties of the segments and the working
stresses are listed in the table. Determine the maximum allowable value of P if
the change in length of the entire bar is limited to 0.08in and the working stresses
are not to be exceeded.
A (in2)
Steel
0.75
Bronze
1.00
Aluminm 0.50
E (psi)
30 x 106
12 x 106
10 x 106
S (psi)
20000
18000
12000
Aluminum
6
E=10x10 psi
L=3ft
2
A= 0.75 in
B
2ft
3m
Bronze
6
E=12x10 psi
L=4ft
2
A= 0.25 in
D
10/37
2ft
2ft
P
L=5m
q=30
B
L=4m
P= 30KN
d=
4P L
p E Dd
23. A round bar of length L tapers uniformly from a diameter D at one end to a
smaller diameter d at the other end. Determine the elongation caused by an
axial tensile load P if E is its modulus of elasticity.
24. The rigid bars shown are separated by a roller at C and pinned at A and D. A
steel rod at B helps support the load of 50KN. Compute the vertical displacement
of the roller at C. Answer: 2.82mm
STEEL
E=200x10 6 N/m2
L=3m
A= 300 mm2
A
P= 30KN
D
B
C
11/37
2P
25. The rigid bars AB and CD are supported by pins at A and D. The vertical rods
are made of aluminum and bronze. Determine the vertical displacement of the
point where the force P=10kips is applied. Neglect the weights of the member.
Answer: 0.115 in
Aluminum
L=3ft
2
A=0.75in
6
E=10x10 psi
2 ft
3ft
Bronze
L=4ft
2
A=0.25in
6
E=12x10 psi
2ft
2ft
12/37
Area (in )
E (psi)
S (ksi)
COPPER
2
6
17x10
20
ALUMINUM
3
6
10x10
10
0.005
10 in
alum
copper
13/37
Copper
160mm
Steel
240mm
Copper
160mm
400KN
0.1mm
steel
aluminum steel
30. The composite bar is firmly attached to unyielding supports. Compute the stress
in each material caused by the application of the axial load P=50kips. b) If the
maximum allowable stress in each material is Salum=22psi and Ssteel=40psi, find
the maximum P that the structure can support.
Aluminum
A=3.25 in2
E=10x106psi
Steel
A=5.5 in2
E= 29x106psi
P
12in
25in
31. The rigid beam is supported by the two bars shown in a horizontal position before
the load P is applied. If P=200KN, determine the stress in each rod after its
application. B) Find the vertical movement of P. c) If the allowable stress in
aluminum is 80MPa and steel is 120MPa, find the maximum load P that the
system can carry
L=6 m
aluminum
3m
steel
A in mm
E in GPa
L=4.5 m
3m
Aluminum
600
70
Steel
800
200
3m
14/37
THERMAL STRESS
It is well known that changes in temperature cause dimensional changes in a
body. An increase in temperature results in expansion, whereas a temperature
decrease produces contraction.
The thermal deformation is:
d = a L DT
TS = a E DT
34. Two identical steel bars 500mm long support the rigid beam shown. An
aluminum bar is placed exactly in between them, that is 0.1mm shorter. a) If the
rigid beam is weightless determine the change in temperature for the middle bar
to just touch the beam. b) If the beam weighs 300KN, find the stress in each bar.
c) If the beam weighs 250KN, determine the stress in each bar when the
temperature raises 35C d) If the beam weighs 320KN, determine the stress in
each bar when the temperature drops 25C.
0.1mm
500mm
steel
aluminum
steel
A in mm
6
a in x 10- /C
E in GPa
15/37
Aluminum
2400
23
70
Steel
1200
11.7
200
Aluminum
A=3.25 in2
E=10x106psi
a= 12.8x10-6/F
Steel
A=5.5 in2
E= 29x106psi
a= 12.8x10-6/F
P
12in
25in
36. The rigid beam is supported by the two bars shown in a horizontal position before
the load P is applied. If P=200KN, determine the stress in each rod after an
increase in temperature of 40C B) drop of 65C.
L=6 m
aluminum
3m
A in mm
6
a in x 10- /C
E in GPa
steel
L=4.5 m
3m
Aluminum
600
23
70
Steel
800
11.7
200
3m
16/37
BEAMS
It is a structure usually horizontal acted upon by transverse loads (forces that acts
perpendicular to the plane containing the longitudinal axis of the beam)
axis beam
N/m
N/m
I. Statically Determinate
Beams supported such that the number of reacting forces equals the number of available
equations static equilibrium conditions,
P
a. Simply Supported
b. Cantilever Beams
17/37
N/m
N/m
a. Propped Beam
N/m
b. Continuous Beams
P
c. Restrained Beams
N/m
N/m
18/37
N/m
TYPES OF LOADS
1. Concentrated Loads
2. Distributed Loads
a. Uniformly Distributed
N/m
b. Uniformly Varying
Triangular
Trapezoidal
W1
N/m
W2
N/m
c. Parabolic Loads
N/m
N/m
d. Moving Loads
19/37
V =
( F )
y left
and
M = ( M left ) = ( M right )
in which upward acting forces or loads cause positive effects. The shearing force V should be
computed only in terms of the forces to the left of the section being considered: the bending
moment M may be computed in terms of the forces to either the left or the right of the section
depending on which requires less arithmetical work.
Relations between load, shear moment are given by:
w=
dv
dx
v=
dM
dx
These relations are amplified to provide a semi graphical method of computing shear and
moment which supplements the equations
V =
( F )
y left
and
M = ( M left ) = ( M right )
V2 = V1 + Aload - diagram
M 2 = M 1 + AShear - daigram
A summary of the principles presented suggests the following procedure for the construction of
shear and moment diagrams
1. Compute the reactions
2. Compute the values of shear at the change of load points using V2 = V1 + Aload - diagram
3. Sketch the shear diagram, drawing the correct shape and concavity of the shear diagram.
4. Locate the points of zero shear.
5. Compute values of bending moment at the change of load points and the points of zero
shear using M 2 = M 1 + AShear - daigram
6. Sketch the moment diagram
20/37
Negatively
increasing load
Negatively
decreasing load
Positively
increasing load
21/37
1.
2m
80 KN
40KN/m
1m
20 KN/m
3m
7m
2.
60 KN
120KN-m
40 KN/m
1m
3.
3m
1m
1m
40 KN/m
3m
w1 KN/m
2m
w2 KN/m
5m
40 KN
80 KN
20 KN/m
4.
2m
2m
1m
20 kN
2m
5.
2m
1m
20 KN/m
w KN/m
1m
10kN/m
1m
2m
25 kN
6.
3m
2m
1m
Hinge
22/37
2m
80 KN
Hinge
40 KN/m
7.
4m
R1
20 KN/m
1m
1m
50KN-m
20 KN/m
8.
1m
R3
6m
R2
1m
2m
3m
120KN-m
10KN/m
9.
2m
2m
1m
10. Determine P so that the moment at each support is equal to the moment at midspan.
P KN
P KN
10 KN/m
1m
1m
6m
23/37
4m
9m
1m
w KN/m
80KN/m
2.
MAX M=80KN-m
40 KN/m
2m
3.
2m
1m
3m
60KN/m
40 KN
3m
1m
2m
40KN
120KN/m
4.
40 KN/m
3m
2m
20 KN/m
MAX M=160KN-m
2m
80KN/m
5.
MAX M=137.5KN-m
1m
3m
24/37
1m
6.
120KN/m
120KN/m
3m
7.
MAX M=-450KN-m
3m
3m
3m
12KN/m
18KN/m
MAX M=49.5KN-m
3m
6m
8. The shear diagram is shown in the figure, determine the moment and load diagrams.
2m
2m
1m
1m
45KN
45KN
-15KN
105KN
9.
1m
20KN
-10KN
2m
2m
-30KN
-20KN
10.
-10KN
-2KN
3m
-8KN
1m
25/37
1m
2m
26/37
NA
yt
20mm
b
2. Compute the maximum tensile and compressive stresses developed in the beam that is
loaded and has the cross-sectional properties shown.
8KN
30mm
10KN/m
4m
1m
125mm
25mm
100mm
3. Determine the maximum safe value of W that can be carried by the beam shown if
the following allowable stresses fb(tension)=60MPa and fb(compression)=90MPa
6W KN
given
80mm
20mm
20mm
35mm
120mm
2m
8m
2m
27/37
VQ
;
Ib
fv =
Q=AB in which A is the partial area of the cross section above a line drawn through the point
at which the shearing stress is desired. Q=Ay is the static moment about the NA of this area
(or of the area below this line).
Maximum shearing stresses occur at the section of maximum V and usually at the NA.
For rectangular beams, the maximum shearing stress is
Max . f v =
3V
.
2bh
1. Draw the shearing stress distribution for a rectangular beam 75mmx200mm which is
simply supported on a 10m beam with a load of 20KN/m over the entire length.
2. Determine the maximum and minimum shearing stress in the web of the wide flange
section if V=120KN.
3. The distributed load shown is supported by a box beam shown. Determine the
maximum safe value of w that will not exceed a flexural stress of 10 MPa or a shearing
stress of 1MPa.
3m
1m
4. The distributed load shown is supported by a wide-flange section W 360x45 of the given
dimensions. Determine the maximum safe w that will not exceed a flexural stress of
140 MPa or a shearing stress of 75 MPa.
2m
4m
28/37
4000 N
P
2m
2m
2m
200mm
160mm
2. A simply supported beam L meters long carries a uniformly distributed load of 16KN/m
over its entire length and has the cross section shown . Find L to cause a maximum
flexural stress of 40MPa. What maximum shearing stress is then developed?
140mm
20mm
20mm
160mm
3. The wide flenage beam shown in the fig supports the concentrated load W and a total
uniformly distributed load 2W KN. Determine the maximum safe value of W if
fb(flexure)=10MPa and fv(shearing)=1.4MPa
200mm
W
2W
220mm
20mm
2m
1m
180mm
2m
29/37
DEFLECTION IN BEAMS
Frequently the design of a beam is determined by its rigidity rather than by its strength.
Several methods are available for determining beam deflections. Although based on the same
principles, they differ in technique and in their immediate objective. We consider first a
variation of the double-integration method that greatly broadens and simplifies its application.
Another method, the area-moment method, is thought to be the most direct of any, especially
when the deflection at a specific location is desired.
d2y
Moment Equation EI dx 2 = M
d2y
Slope Equation EI 2 =
dx
Deflection Equation
Mdx + C
d2y
EI 2 = Mdxdx + C1 x + C 2
dx
The constants of integration will become zero if the origin of axes is selected at a position
where the slope and deflection are known to be zero, as at a perfectly restrained end or at the
center of a symmetrically loaded beam.
1. Determine the midspan deflection of a simply supported beam carrying a
a) uniformly distributed load over the entire length of the beam.
b) central concentrated load.
2. Determine the free end deflection of a cantilever beam carrying a
a) uniformly distributed load over the entire length of the beam.
b) free end concentrated load.
3. Find the value of EIy at the position midway between the supports and at the overhanging
end for the beam shown and also determine the location of maximum deflection.
400N/m
1m
3m
600N
2m
2m
30/37
AREA-MOMENT METHOD
Theorem I: The change in slope between tangents drawn to the elastic curve at any two points
A and B is equal to the product of 1/EI multiplied by the area of the moment diagram between
these two points.
1
( AREA)AB
EI
q AB =
Theorem II: The deviation of any point B relative to a tangent drawn to the elastic curve at
any other point A, in a direction perpendicular to the original position of the beam, is equal to
the product of 1/EI multiplied by the moment of area about B of that part of the moment
diagram between points A and B.
tB / A =
1
( area ) BA x B
EI
The product EI is called flexural rigidity. In two theorems, (area)AB is the area of the moment
diagram between points A and B, and x B is the moment arm of this area measured from B.
When the area of the moment diagram is composed of several parts, the expression (area)AB
includes the moment of the area of all such parts. The moment of the area is always taken
about an ordinate through the points at which the deviation is being computed.
One rule is very important: The deviation at any point is positive if the point lies above the
reference tangent from which the deviation is measured and negative if the point lies below the
reference tangent.
B
A
tB/A
tB/A
1m
3m
600N
2m
31/37
2m
Answer=EId=5000N-m3;
2
2. Compute the value of EId at midspan for the beam loaded as shown.
1.5m
300N/m 0.5m
4m
Answer: EId=657N-
3. Compute the value of EId at the right end of the beam loaded as shown.
400N/m
1m 1
4m
400
Answer: EId=195N-
4. Compute the value of EIy midway between the supports for the overhanging beam
shown.
4kN
2kN/m
2kN/m
2m
Answer: EId=-4.66kN-
32/37
TORSION
Torsion is a variable shearing stress experienced by solid or hollow circular shafts subjected to
moment or torque. This shearing stress varies directly with the radial distance from the center
of the cross section and is expressed by
~ Tr
. The radial distance r becomes r for maximum torsional shearing stress. For
T =
J
~ 16T
maximum torsional shearing stress in solid shafts of diameter d becomes T = 3
pd
TL
.
JG
pd 2
SRn .
T=PRn or T = PRn =
4
Occasionally a coupling has two concentric rows of bolt. Letting the subscript 1 refer to bolts
on the outer circle and subscript 2 refer to bolts on the inner circle, the torque capacity of the
coupling is T=P1R1n1+P2R2n2. The relation between P1 and P2 can be determined from the
fact that the comparatively rigid flanges cause shear deformations in the bolts which are
proportional to their radial distances from the shaft axis. Using Hookes Law for shear,
P1
P2
A1
A2
=
G1R1 G2 R21
33/37
TORSION PROBLEMS
1. What is the minimum diameter of a solid steel shaft that will not twist through more than
3 in a 6m length when subjected to a torque of 14KN-m? What maximum shearing
stress is developed? Use G=83Gpa.
2. A stepped steel shaft consists of a hollow shaft 2m long, with an outside diameter of
100 mm and an inside diameter of 70mm, rigidly attached to a solid shaft 1.5m long,
and 70mm in diameter. Determine the maximum torque that can be applied without
exceeding a shearing stress of 70MPa or a twist of 2.5 in a 3.5 m
length. Use G=83Gpa
3. A solid steel shaft is loaded as shown. Using G=83Gpa, determine the
required diameter of the shaft if the shearing stress is limited to 60MPa
and the angle of rotation at the free end is not to exceed 4.
4. A flanged bolt coupling consists of eight steel 20-mm bolts spaced evenly around a bolt
circle of300mm in diameter. Determine the torque capacity of the coupling if the
allowable shearing stress in the bolts is 40MPa.
5. A flange bolt coupling consists of 6-10mm diameter steel bolts on a bolt circle 300mm in
diameter and 4-10mm diameter steel on a concentric bolt circle 200mm in diameter.
What torque can be applied without exceeding a shearing stress of 60MPa in the bolts?
B) Determine the number of 10mm steel bolts that must be used on the 300mm bolt
circle of the coupling to increase the torque capacity to 8KN-m.
34/37
A
100
mm
c.g.
CCC
100
mm
80 mm
80 mm
80 mm
7. Determine the most and least heavily loaded 16mm diameter rivet in the connection shown.
Note that rivets B and C were not properly driven that they do not carry any load.
90 mm
90 mm
120 mm
P=50KN
120 mm
35/37
P
80 mm
80 mm
100 mm
9. In the gusset plate connection shown in the figure, if P = 60 kN, determine the
shearing stress in the most heavily loaded of the four 22-mm rivet.
100 mm
100 mm
200 mm
150 mm
36/37
80 mm
80 mm
90 mm
100 mm
3
60 kN
11. A gusset plate is riveted to a larger plate by four 22mm rivets arranged and
loaded as shown. Determine the minimum shear stress developed in the rivets.
80
mm
80 80
mm mm
100
mm
P=40KN
37/37