Contents

Nomenclature

Introduction

1.1

What is the mechanics? . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.2

Mechanical behavior, constitutive laws . . . . . . . . . . . . . . . . . . . . . .

1.3

The geometry of motion and deformation, kinematics . . . . . . . . . . . . . .

1.4

Relation force-motion, the laws of mechanics, kinetics . . . . . . . . . . . . .

Scalars and Vectors

2.1

Adding vectors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.2

Relative position vectors . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.3

Multiplying a vector by a scalar using components . . . . . . . . . . . . . . .

2.3.1

Magnitude of a vector using components . . . . . . . . . . . . . . . .

2.3.2

Exercise 1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

The dot product of two vectors . . . . . . . . . . . . . . . . . . . . . . . . . .

2.4.1

Exercise 2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Cross product . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.4

2.5

CONTENTS

2.5.1

Direction of a Cartesian Vector . . . . . . . . . . . . . . . . . . . . . .

2.5.2

Exercise 3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

10

2.5.3

Exercise 4 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

10

2.5.4

Exercise 5 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

11

2.5.5

Exercise 6 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

11

2.5.6

Exercise 7 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

12

2.5.7

Exercise 8 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

12

2.5.8

Exercise 9 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

13

2.5.9

Exercise 10 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

13

2.5.10 Exercise 11 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

14

2.5.11 Exercise 12 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

14

2.5.12 Exercise 13 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

15

2.5.13 Exercise 14 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

15

2.5.14 Exercise 15 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

16

2.5.15 Exercise 16 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

16

2.5.16 Exercise 17 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

17

2.5.17 Exercise 18 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

17

2.5.18 Exercise 19 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

18

2.5.19 Exercise 20 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

18

2.5.20 Exercise 21 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

19

2.5.21 Exercise 22 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

19

2.5.22 Exercise 23 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

20

CONTENTS

2.5.23 Exercise 24 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

20

2.5.24 Exercise 25 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

21

Equilibrium

22

3.1

Equations of Statics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

22

3.2

Governing Equations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

23

3.3

Types of Supports . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

24

3.3.1

Exercise 1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

25

3.3.2

Exercise 2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

25

3.3.3

Exercise 3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

26

3.3.4

Exercise 4 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

26

3.3.5

Exercise 5 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

27

3.3.6

Exercise 6 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

27

3.3.7

Exercise 7 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

28

3.3.8

Exercise 8 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

28

3.3.9

Exercise 9 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

29

Structures . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

39

3.4.1

Plane Trusses . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

39

3.4.2

Truss Connections and Supports . . . . . . . . . . . . . . . . . . . . .

40

3.4.3

Method of Joints . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

41

3.4.4

Internal and External Redundancy . . . . . . . . . . . . . . . . . . . .

41

3.4.5

Method of Sections . . . . . . . . . . . . . . . . . . . . . . . . . . . .

47

3.4

List of Figures

2.1

Vector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.2

Adding vectors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.3

Relative position of points A, B, and C . . . . . . . . . . . . . . . . . . . . . .

2.4

Exercise1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.5

Ejercise1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.6

Direction of a Cartesian Vector . . . . . . . . . . . . . . . . . . . . . . . . . .

2.7

Exercise 4 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

10

2.8

Exercise 5 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

11

2.9

Exercise 6 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

11

2.10 Exercise 7 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

12

2.11 Exercise 8 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

12

2.12 Exercise 9 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

13

2.13 Exercise 9 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

13

2.14 Exercise 11 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

14

2.15 Exercise 12 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

14

2.16 Exercise 13 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

15

LIST OF FIGURES

2.17 Exercise 14 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

15

2.18 Exercise 14 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

16

2.19 Exercise 16 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

16

2.20 Exercise 17 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

17

2.21 Exercise 18 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

17

2.22 Exercise 19 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

18

2.23 Exercise 20 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

18

2.24 Exercise 21 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

19

2.25 Exercise 22 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

19

2.26 Exercise 23 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

20

2.27 Exercise 24 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

20

2.28 Exercise 2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

21

3.1

3-D positive axis system (Right-Hand) . . . . . . . . . . . . . . . . . . . . . .

22

3.2

2-D positive axis system (Right-Hand) . . . . . . . . . . . . . . . . . . . . . .

23

3.3

Types of Supports

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

24

3.4

Exercise 1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

25

3.5

Exercise 2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

25

3.6

Exercise 3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

26

3.7

Exercise 4 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

26

3.8

Exercise 5 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

27

3.9

Exercise 6 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

27

LIST OF FIGURES

3.10 Exercise 7 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

28

3.11 Exercise 8 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

28

3.12 Exercise 9 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

29

3.13 Exercise 1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

30

3.14 Exercise 2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

30

3.15 Exercise 3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

31

3.16 Exercise 10 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

32

3.17 Exercise 11 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

32

3.18 Exercise 12 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

33

3.19 Exercise 13 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

33

3.20 Exercise 14 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

34

3.21 Exercise 15 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

34

3.22 Exercise 16 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

35

3.23 Exercise 17 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

36

3.24 Exercise 18 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

37

3.25 Exercise 19 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

38

3.26 Trusse . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

39

3.27 Trusses . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

40

3.28 Exercise 1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

42

3.29 Exercise 2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

42

3.30 Exercise 3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

43

3.31 Exercise 4 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

43

LIST OF FIGURES

3.32 Exercise 5 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

44

3.33 Exercise 6 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

44

3.34 Exercise 7 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

45

3.35 Exercise 8 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

45

3.36 Exercise 9 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

46

3.37 Exercise 9 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

46

3.38 Method of Section . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

47

3.39 Exercise 10 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

48

3.40 Exercise 11 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

48

3.41 Exercise 12 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

49

3.42 Exercise 13 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

49

List of Tables

Chapter 1
Introduction

1.1

What is the mechanics?

Mechanics can predict forces and motions by using the three pillars of the subject: I. models of
physical behavior, II. geometry,and III. the basic mechanics balance laws.
Mechanics is the study of force, deformation and motion, and the relations between them.
We care about forces because we want to know how hard to push something to make it move or
whether it will break when we push. We care about deformation and motion because we want
things to move or not move in certain ways.
For each special case of the general mechanics problem we need to identify the system(s)
of interest, idealize the system(s), use classical (high school, Euclidean) geometry to describe
the layout, deformation and motion, and finally use the laws of Newtonian mechanics. Those
who want to know how machines, structures, plants, animals and planets hold together and move
about need to know Newtonian mechanics.

1.2. MECHANICAL BEHAVIOR, CONSTITUTIVE LAWS

1.2

Mechanical behavior, constitutive laws

The Mechanical behavior of something is the description of how loads cause deformation (or
vice versa).
Definition of force. Force can be defined by the amount of spring stretch it causes.
Thus, most modern force measurement devices measure force indirectly by measuring the
deformation it causes in a calibrated spring of some kind.
Deformation is often hard to see. Distortion in the presence of forces is easy to see or
imagine in the flesh of squeezed fingertips, in chewing gum between teeth or when a piece
of paper bends. But pieces of rock or metal have deformation that is essentially invisible
and sometimes hard to imagine. Most structural materials deform less than one part per
thousand with working loads. These small deformations, even though essentially invisible,
are important because they are enough to break bones and collapse bridges.
Rigid-object mechanics. Mechanics calculations in which deformation has been neglected are called rigid-object (or rigid-body). The assumption of rigidity also simplifies
the introduction of more general mechanics concepts. Thus, for understanding the steering
dynamics of a car we might treat the car as a rigid object, whereas for crash analysis where
rigidity is clearly a poor approximation, we might treat a car as highly deformable.
Contact behavior. Most constitutive models describe the material inside an object. But
to solve a mechanics problem involving friction or collisions one also has to have a
constitutive model for the contact interactions. The standard friction model (or idealization)
is an example of a contact constitutive model.

1.3

The geometry of motion and deformation, kinematics

In mechanics we use classical Greek (Euclidean) geometry to describe the layout, deformation
and large-motions of objects.
Deformation is defined by changes of lengths and angles between various pairs and triplets
of points. We often need to understand deformation of individual parts to predict when
they will break.
Motion is defined by the changes of the position of points in time.

1.4. RELATION FORCE-MOTION, THE LAWS OF MECHANICS, KINETICS

1.4

Relation force-motion, the laws of mechanics, kinetics

The same intuitive force that causes deformation also causes motion, or more precisely,
acceleration of mass. The relation between force and acceleration of mass makes up the third
pillar holding up mechanics. We loosely call this Newtons laws; synonyms include the laws
of mechanics, momentum and energy balance and kinetics. 2 Force is related to deformation
by material properties (elasticity, viscosity, etc.) and force is related to motion by the laws of
mechanics.
Kinetics and kinematics. It is easy to confuse these similar looking and sounding words.
Kinematics concerns geometry with no mention of force, and kinetics concerns the relation of
force to motion.

Chapter 2
Scalars and Vectors
All physical quantities in engineering mechanics are measured using either scalars or vectors.
Scalar. A scalar is any positive or negative physical quantity that can be completely specified
by its magnitude.
Vector. A vector is any physical quantity that requires both a magnitude and a direction.
B
Sense
Magnitude

Direction

Figure 2.1: Vector

2.1

Adding vectors

~ and B
~ is defined by the tail of A
~ to the tip of B.
~
Tip to tail rule. The sum of two vectors A
~ is drawn first, as shown in fig. 2.3b. Putting
Parallelogram rule. The same sum is achieved if B
~ and B
~ on the same picture draws a parallelogram as shown in fig. 2.2b.
both ways of adding A
Hence the tip to tail rule of vector addition is also called the parallelogram rule.

2.2. RELATIVE POSITION VECTORS

~
B

~
A
C~

~
B

~
A

~
A

~
B

C~
(a) Tip to tail rule

(b) Parallelogram rule

Figure 2.2: Adding vectors

2.2

Relative position vectors

The position of point B relative to point A is represented by the vector ~rB/A (pronounced r
of B relative to A).An alternate notation for the relative position vector ~rB/A is ~rB/A = ~rA/B
(pronounced r A B orr A to B).

~rB/A = ~rA/B +~rC/B or ~rCA = ~rBA +~rCB

(2.1)

~ = ~rB/A and ~rAB = ~rBA

rC/A

(2.2)

~rC/B

~rB/A

C
~rC/A
A
Figure 2.3: Relative position of points A, B, and C

2.3. MULTIPLYING A VECTOR BY A SCALAR USING COMPONENTS

2.3

Multiplying a vector by a scalar using components

~ is multiplied by c then so must be each of the component vectors.

If A

h
i
~ xyz = cA
~ x cA
~y c A
~z
c A

(2.3a)

Matrix multiplication is a binary operation that takes a pair of matrices, and produces another
matrix. The number of columns of the 1st matrix must equal the number of rows of the 2nd
matrix.

A x Bx C x
a aA x + bBx + cC x

M = Ay By Cy b = aAy + bBy + cCy

Az Bz Cz
c
aAz + bBz + cCz

2.3.1

(2.4)

Magnitude of a vector using components


 q
A
~ xyz  = A2x + A2y + A2z

(2.5a)

Exercise 1

2.3.2

Exercise 1

Finding a force vector given its magnitude and line of action: A string is pulled with a force
F = 100N as shown in fig. 2.4 Write F~ as a vector.

Figure 2.4: Exercise1

Figure 2.5: Ejercise1

2.4. THE DOT PRODUCT OF TWO VECTORS

2.4

The dot product of two vectors

The dot product is used to project a vector in a given direction, to reduce a vector to components,
to reduce vector equations to scalar equations, to define work and power, and to help solve
geometry problems.

   
~
~
~   B
~  . cos(AB)
A . B =  A

2.4.1

(2.6a)

Exercise 2

Finding angle between two vectors using dot product:

~ = 2i + 3 j
A

2.5

~ = 2i j
B

(2.7a)

Cross product

The cross product ab of two linearly independent vectors a and b is a vector that is perpendicular
to both and therefore normal to the plane containing them.


    
A
~xB
~  =  A
~   B
~  . sin(AB)

(2.8a)

Direction of a Cartesian Vector

#
"
#
"
#
i
j k "
A1 A3
A1 A2

A2 A3
A x B = A1 A2 A3 =
i
j+
k
B1 B3
B1 B2

B2 B3
B1 B2 B3

2.5.1

(2.9)

Direction of a Cartesian Vector

cos () =

Ax
A

cos () =

Ay
A

cos () =

cos2 () +cos2 () + cos2 () = 1

Figure 2.6: Direction of a Cartesian Vector

Az
A

(2.10a)

(2.11a)

Exercise 3

2.5.2

10

Exercise 3

Finding a vector normal to two given vectors:

~ = i2j+k
A

2.5.3

~ = 3 j + 2k
B

(2.12a)

Exercise 4

A force F~ = 1i + 20 j[N] acts at point A of an object pinned at O as shown in the figure. The
distance OA = 2m. Find the moment of the force about the pin at point O.

Figure 2.7: Exercise 4

Exercise 5

2.5.4

11

Exercise 5

A 2m x 2m square plate hangs from one of its corners as shown in the figure. At the diagonally
opposite end, a force of 50N is applied by pulling on the string AB. Find the moment of the
applied force about the center C of the plate using

Figure 2.8: Exercise 5

2.5.5

Exercise 6

A string connects a particle A at (1m, 2m) to a support B at (3m, 5m). The tension in the string is
10N. There are other strings also holding the particle in place. What is the force of string AB on
the particle?

Figure 2.9: Exercise 6

Exercise 7

2.5.6

12

Exercise 7

A frictionless ramp connects A at (3m, 5m) to B at (12m, 17m). The ramp pushes a block with a
force of 50N normal to the ramp surface. Express the force from the ramp as a vector F~ (ignore
the other forces that also act on the block holding it in place).

Figure 2.10: Exercise 7

2.5.7

Exercise 8

During a slam-dunk, a basketball player pulls on the hoop with a 250 lbf at point C of the ring as
shown in the figure. Find the moment of the force about
The point of the ring attachment to the board (point B), and
the root of the pole, point O.

Figure 2.11: Exercise 8

Exercise 9

2.5.8

13

Exercise 9

The screw eye in fig is subjected to two forces F1 and F2 . Determine the magnitude and direction
of the resultant force.

Figure 2.12: Exercise 9

2.5.9

Exercise 10

The force F = 450lb acts on the frame. Resolve this force into components acting along members
AB and AC, and determine the magnitude of each component.

Figure 2.13: Exercise 9

Exercise 11

2.5.10

14

Exercise 11

The device is used for surgical replacement of the knee joint. If the force acting along the leg is
360 N. Determine its components along the x and y axes.

Figure 2.14: Exercise 11

2.5.11

Exercise 12

The contact point between the femur and tibia bones of the leg is at A. If a vrtical force of 175lb
is applied at this point. Determine the components along the x and y component represents the
normal force on the load-bearing region of the bones. Both the x and y components of this force
cause synovial fluid to be squeeze out of the bearing space.

Figure 2.15: Exercise 12

Exercise 13

2.5.12

15

Exercise 13

The top of an L-shaped bar, shown in the figure, is to be tied by strings AD and BD to the points
A and B in the yz plane. Find the length of the strings AD and BD using vectors ~rAD and ~rBD

Figure 2.16: Exercise 13

2.5.13

Exercise 14

Determine the magnitude and direction of the resultant force acting on the pipe assembly

Figure 2.17: Exercise 14

Exercise 15

2.5.14

16

Exercise 15

Calcular el momento de ua fuerza de 250N, aplicada en el punto de la llave de grifo.

Figure 2.18: Exercise 14

2.5.15

Exercise 16

Calcular el momento en el punto en el cual esta sometida una fuerza de 160KN.

Figure 2.19: Exercise 16

Exercise 17

2.5.16

17

Exercise 17

Determine the n and t components of the force F which is exerted by the rod AB on the crank OA.
Evaluate your general expression for F = 100N and 1) = 30 = 10 and 2) = 15 = 25

Figure 2.20: Exercise 17

2.5.17

Exercise 18

The guy cables AB and AC are attached to the top of the transmission tower. The tension in
cable AB is 8 kN. Determine the required tension T in cable AC such that the net effect of the
two cable tensions is a downward force at point A. Determine the magnitude R of this downward
force.

Figure 2.21: Exercise 18

Exercise 19

2.5.18

18

Exercise 19

In the design of the robot to insert the small cylindrical part into a close-fitting circular hole,
the robot arm must exert a 90-N force P on the part parallel to the axis of the hole as shown.
Determine the components of the force which the part exerts on the robot along axes (a) parallel
and perpendicular to the arm AB, and (b) parallel and perpendicular to the arm BC.

Figure 2.22: Exercise 19

2.5.19

Exercise 20

Compute the moment of the 0.4-lb force about the pivot O of the wall-switch toggle.

Figure 2.23: Exercise 20

Exercise 21

2.5.20

19

Exercise 21

The lower lumbar region A of the spine is the part of the spinal column most susceptible to abuse
while resisting excessive bending caused by the moment about A of a force F. For given values
of and F, b, and h, determine the angle which causes the most severe bending strain.

Figure 2.24: Exercise 21

2.5.21

Exercise 22

Determine the combined moment about O due to the weight of the mailbox and the cross member
AB. The mailbox weighs 4 lb and the uniform cross member weighs 10 lb. Both weights act at
the geometric centers of the respective items.

Figure 2.25: Exercise 22

Exercise 23

2.5.22

20

Exercise 23

Elements of the lower arm are shown in the figure. The weight of the forearm is 5 lb with mass
center at G. Determine the combined moment about the elbow pivot O of the weights of the
forearm and the sphere. What must the biceps tension force be so that the overall moment about
O is zero?

Figure 2.26: Exercise 23

2.5.23

Exercise 24

The directions of the two thrust vectors of an experimental aircraft can be independently changed
from the conventional forward direction within limits. For the thrust configuration shown,
determine the equivalent forcecouple system at point O. Then replace this forcecouple system
by a single force and specify the point on the x-axis through which the line of action of this
resultant passes. These results are vital to assessing design performance.

Figure 2.27: Exercise 24

Exercise 25

2.5.24

21

Exercise 25

The pedalchainwheel unit of a bicycle is shown in the figure. The left foot of the rider exerts
the 40-lb force, while the use of toe clips allows the right foot to exert the nearly upward 20-lb
force. Determine the equivalent forcecouple system at point O.

Figure 2.28: Exercise 2

Chapter 3
Equilibrium

3.1

Equations of Statics

For a 3-D body at rest the coordinate system used is the x-y-z Cartesian system, in which the
definition of positive moments is given by the right hand rule that states that moments are positive
is their sense is counterclockwise as shown in Fig. 1.1.

Figure 3.1: 3-D positive axis system (Right-Hand)

3.2. GOVERNING EQUATIONS

23

Figure 3.2: 2-D positive axis system (Right-Hand)

3.2

Governing Equations

Force equilibrium equation is given as:

Fx = 0

Fy = 0

Fz = 0

Mx = 0

My = 0

Mz = 0

(3.1)

(3.2)

3.3. TYPES OF SUPPORTS

3.3

24

Types of Supports

There are 6 commonly used types of supports which prevent a structure, or part of it, from
accelerating when acted upon by external forces. In general, supports are there to keep a structure
in equilibrium.

Figure 3.3: Types of Supports

Exercise 1

3.3.1

25

Exercise 1

The weight of the bicycle is 29 lb with center of gravity at G. Determine the normal forces at A
and B when the bicycle is in equilibrium.

Figure 3.4: Exercise 1

3.3.2

Exercise 2

A 120-lb crate rests on the 60-lb pickup tailgate. Calculate the tension T in each of the two
restraining cables, one of which is shown. The centers of gravity are at G1 and G2. The crate is
located midway between the two cables.

Figure 3.5: Exercise 2

Exercise 3

3.3.3

26

Exercise 3

Determine the force magnitude P required to lift one end of the 250-kg crate with the lever dolly
as shown. State any assumptions.

Figure 3.6: Exercise 3

3.3.4

Exercise 4

Three cables are joined at the junction ring C. Determine the tensions in cables AC and BC
caused by the weight of the 30-kg cylinder.

Figure 3.7: Exercise 4

Exercise 5

3.3.5

27

Exercise 5

A woodcutter wishes to cause the tree trunk to fall uphill, even though the trunk is leaning
downhill. With the aid of the winch W, what tension T in the cable will be required? The 1200-lb
trunk has a center of gravity at G. The felling notch at O is sufficiently large so that the resisting
moment there is negligible.

Figure 3.8: Exercise 5

3.3.6

Exercise 6

A pipe P is being bent by the pipe bender as shown. If the hydraulic cylinder applies a force of
magnitude kN to the pipe at C, determine the magnitude of the roller reactions at A and B.

Figure 3.9: Exercise 6

Exercise 7

3.3.7

28

Exercise 7

The asymmetric simple truss is loaded as shown. Determine the reactions at A and D. Neglect
the weight of the structure compared with the applied loads. Is knowledge of the size of the
structure necessary?

Figure 3.10: Exercise 7

3.3.8

Exercise 8

In a procedure to evaluate the strength of the triceps muscle, a person pushes down on a load cell
with the palm of his hand as indicated in the figure. If the load-cell reading is 160 N, determine
the vertical tensile force F generated by the triceps muscle. The mass of the lower arm is 1.5 kg
with mass center at G. State any assumptions.

Figure 3.11: Exercise 8

Exercise 9

3.3.9

29

Exercise 9

The portable floor crane in the automotive shop is lifting a 420-lb engine. For the position shown
compute the magnitude of the force supported by the pin at C and the oil pressure p against the
3.20-in.-diameter piston of the hydraulic-cylinder unit AB.

Figure 3.12: Exercise 9

Exercise 9

30

EVALUACION VECTORES
MECANICA RACIONAL I

30 de Octubre 2015

El sistema ODA esta atado a la tension del cable AB igual a 2.4kN. Determine la tension T
como fuerza que actua en el miembro AD y AC (a lo largo de su lnea de accion).

Figure 3.13: Exercise 1

Un barril esta montado en el gancho del sistema con un peso de 100N. Al mismo tiempo
actua un hidraulico en la direccion de B a C. Determine la fuerza que ejerce el hidraulico. El
a ngulo es = 40

Figure 3.14: Exercise 2

Exercise 9

31

El ensamble esta soportado por 3 cables como se muestra en la figura. El cable CD esta
tensionado con una fuerza de 1.2KN. Exprese esa Fuerza de forma vectorial en coordenadas x,y,
z and ademas en coordenadas x,y,z

Figure 3.15: Exercise 3

Exercise 9

32

Encuentre las reacciones en cada uno de los elementos

Figure 3.16: Exercise 10

Encuentre las reacciones en cada uno de los elementos

Figure 3.17: Exercise 11

Exercise 9

33

The uniform I-beam has a mass of 60 kg per meter of its length. Determine the tension in the
two supporting cables and the reaction at D.

Figure 3.18: Exercise 12

The light right-angle boom which supports the 400- kg cylinder is supported by three cables
and a balland- socket joint at O attached to the vertical x-y surface. Determine the reactions at O
and the cable tensions.

Figure 3.19: Exercise 13

Exercise 9

34

The square steel plate has a mass of 1800 kg with mass center at its center G. Calculate the
tension in each of the three cables with which the plate is lifted while remaining horizontal.

Figure 3.20: Exercise 14

A 200-N force is applied to the handle of the hoist in the direction shown. The bearing A
supports the thrust (force in the direction of the shaft axis), while bearing B supports only radial
load (load normal to the shaft axis). Determine the mass m which can be supported and the
total radial force exerted on the shaft by each bearing. Assume neither bearing to be capable of
supporting a moment about a line normal to the shaft axis.

Figure 3.21: Exercise 15

Exercise 9

35

The pin A, which connects the 200-kg steel beam with center of gravity at G to the vertical
column, is welded both to the beam and to the column. To test the weld, the 80-kg man loads the
beam by exerting a 300-N force on the rope which passes through a hole in the beam as shown.
Calculate the torque (couple) M supported by the pin.

Figure 3.22: Exercise 16

Exercise 9

36

The portable reel is used to wind up and store an air hose. The tension in the hose is 100 N
and a vertical 200-N force is applied to the handle in order to steady the reel frame. Determine
the minimum force P which must be applied perpendicular to the handle DE and the vertical
components of the force reactions at the feet A, B, and C. The diameter of the coil of reeled hose
is 300 mm, and the weight of the loaded reel and its frame may be neglected. Note that force P
is perpendicular to OD. State any assumptions.

Figure 3.23: Exercise 17

Exercise 9

37

A vertical force P on the foot pedal of the bell crank is required to produce a tension T of
400 N in the vertical control rod. Determine the corresponding bearing reactions at A and B.

Figure 3.24: Exercise 18

Exercise 9

38

The basic features of a small backhoe are shown in the illustration. Member BE (complete
with hydraulic cylinder CD and bucket-control links DF and DE) weighs 500 lb with mass center
at G1 . The bucket and its load of clay weigh 350 lb with mass center at G2 . To disclose the
operational design characteristics of the backhoe, determine and plot the force T in the hydraulic
cylinder AB as a function of the angular position of member BE over the range0 < < 90 . For
what value of is the force T equal to zero? Member OH is fixed for this exercise; note that
its controlling hydraulic cylinder (hidden) extends from near point O to pin I. Similarly, the
bucket-control hydraulic cylinder CD is held at a fixed length. assumptions.

Figure 3.25: Exercise 19

3.4. STRUCTURES

3.4

39

Structures

We analyze the internal forces acting in several types of structuresnamely, trusses, frames, and
machines. In this treatment we consider only statically determinate structures, which do not have
more supporting constraints than are necessary to maintain an equilibrium configuration. Thus,
as we have already seen, the equations of equilibrium are adequate to determine all unknown
reactions.
The analysis of trusses, frames and machines, and beams under concentrated loads constitutes
a straightforward application of the material developed in the previous two chapters. The basic
procedure developed in Equilibrium for isolating a body by constucting a correct free-body
diagram is essential for the analysis of statically determinate structures.

Figure 3.26: Trusse

3.4.1

Plane Trusses

A framework composed of members joined at their ends to form a rigid structure is called a truss.
Bridges, roof supports, derricks, and other such structures are common examples of trusses.
Structural members commonly used are I-beams, channels, angles, bars, and special shapes
which are fastened together at their ends by welding, riveted connections, or large bolts or pins.
When the members of the truss lie essentially in a single plane, the truss is called a plane truss.

Truss Connections and Supports

40

Figure 3.27: Trusses

3.4.2

Truss Connections and Supports

When welded or riveted connections are used to join structural members, we may usually assume
that the connection is a pin joint if the centerlines of the members are concurrent at the joint as
in Fig. 4/5. We also assume in the analysis of simple trusses that all external forces are applied
at the pin connections. This condition is satisfied in most trusses. In bridge trusses the deck is
usually laid on cross beams which are supported at the joints.
For large trusses, a roller, rocker, or some kind of slip joint is used at one of the supports to
provide for expansion and contraction due to temperature changes and for deformation from
applied loads. Trusses and frames in which no such provision is made are statically indeterminate,
. Examples of such joints. Two methods for the force analysis of simple trusses will be given.
Each method will be explained for the simple truss The free-body diagram of the truss as a
whole. The external reactions are usually determined first, by applying the equilibrium equations
to the truss as a whole. Then the force analysis of the remainder of the truss is performed.

Method of Joints

3.4.3

41

Method of Joints

This method for finding the forces in the members of a truss consists of satisfying the conditions
of equilibrium for the forces acting on the connecting pin of each joint. The method therefore
deals with the equilibrium of concurrent forces, and only two independent equilibrium equations
are involved.

3.4.4

Internal and External Redundancy

If a plane truss has more external supports than are necessary to ensure a stable equilibrium
configuration, the truss as a whole is statically indeterminate, and the extra supports constitute
external redundancy. If a truss has more internal members than are necessary to prevent collapse
when the truss is removed from its supports, then the extra members constitute internal redundancy and the truss is again statically indeterminate. For a truss which is statically determinate
externally, there is a definite relation between the number of its members and the number of its
joints necessary for internal stability without redundancy. Because we can specify the equilibrium of each joint by two scalar force equations, there are in all 2j such equations for a truss
with j joints. For the entire truss composed of m two-force members and having the maximum
of three unknown support reactions, there are in all m + 3 unknowns (m tension or compression
forces and three reactions). Thus, for any plane truss, the equationm + 3 = 2 j will be satisfied if
the truss is statically determinate internally.

Internal and External Redundancy

42

Determine the force in each member of the loaded truss. Explain why knowledge of the
lengths of the members is unnecessary.

Figure 3.28: Exercise 1

Determine the force in each member of the loaded truss. Identify any zero-force members by
inspection.

Figure 3.29: Exercise 2

Internal and External Redundancy

43

Determine the force in each member of the loaded truss.

Figure 3.30: Exercise 3

Determine the force in each member of the loaded truss.

Figure 3.31: Exercise 4

Internal and External Redundancy

44

Calculate the force in each member of the loaded truss. All triangles are isosceles..

Figure 3.32: Exercise 5

Determine the force in each member of the loaded truss. Make use of the symmetry of the
truss and of the loading.

Figure 3.33: Exercise 6

Internal and External Redundancy

45

Compute the force in each member of the loaded cantilever truss by the method of joints.

Figure 3.34: Exercise 7

Determine the forces in members BC and BG of the loaded truss.

Figure 3.35: Exercise 8

Internal and External Redundancy

46

The tower for a transmission line is modeled by the truss shown. For the loads of 1.8 kN
applied in the vertical plane, compute the forces induced in members AB, DB, and CD.

Figure 3.36: Exercise 9

Determine the forces in members AB, BC, and BD of the loaded truss.

Figure 3.37: Exercise 9

Method of Sections

3.4.5

47

Method of Sections

When analyzing plane trusses by the method of joints, we need only two of the three equilibrium
equations because the procedures involve concurrent forces at each joint. We can take advantage
of the third or moment equation of equilibrium by selecting an entire section of the truss for
the free body in equilibrium under the action of a nonconcurrent system of forces. This method
of sections has the basic advantage that the force in almost any desired member may be found
directly from an analysis of a section which has cut that member.

Figure 3.38: Method of Section

Method of Sections

48

Calculate the forces induced in members KL, CL, and CB by the 20-ton load on the cantilever
truss.

Figure 3.39: Exercise 10

Calculate the force in member DJ of the Howe roof truss illustrated. Neglect any horizontal
components of force at the supports.

Figure 3.40: Exercise 11

Method of Sections

49

The truss shown is composed of right triangles. The crossed members in the center two
panels are slender tie rods incapable of supporting compression. Retain the two rods which are
under tension and compute the magnitudes of their tensions. Also find the force in member MN.

Figure 3.41: Exercise 12

The hinged frames ACE and DFB are connected by two hinged bars, AB and CD, which
cross without being connected. Compute the force in AB.

Figure 3.42: Exercise 13