Mechanics: Force System

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Mechanics
Force System
When a member of forces simultaneously acting on the body, it is known
as force system. A force system is a collection of forces acting at specified
locations. Thus, the set of forces can be shown on any free body diagram
makes-up a force system.
Truss
It is a rigid structure composed of number of straight members pin jointed
to each other. It can sustain static or dynamic load without any relative
motion to each other.
Types of Truss
1. Plane Truss It is defined as a truss in which members are essentially
lies in a single plane.
2. Rigid Truss Rigid means there is no deformation take place due to
internal strain in members.
3. Simple Truss This type of trusses built a basic triangle by adding
different members are known as simple truss.
Classification of a Truss (based on joints)

Truss can be classified on the basis of joints (j) and members (m) in the
structure. It can be easily understood with the help of following hierarchical
approach.
D:\Book Final\G512 Handbook Mechanical Engineering\Mechanical Engineering\Chap_01\Chap_ 1.vp

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1

Handbook Mechanical Engineering
Truss
Perfect Truss
m = 2j 3
Imperfect Truss
(unstable truss) n 2j 3
Redundant Truss
m > = 2j 3
Deficient Truss
m < = 2j 3
m = 6, j = 4
m = 4, j = 4
6>243
4<243
6>5
4<5
Classification of truss
where m = number of members and j = number of joints
Key Points
Analysis of a Framed Structure (Section Method)

1. This method is used when the forces in the few members of a truss is
required to found out in a truss structure.
To find out force in AC, BC and BD
First cut a section which passes through AC, BC and BD members.
Find out reaction at point A and B

A
F
E
B
D
Framed structure using section method
Find out forces FCA, FCB and FDB in members CA, CB and DB respectively by
taking moment about A and B.

2

Mechanics
2. Analytical Method In this method, the free body diagram of each joint
is separately analysed to find magnitude of stresses in the truss
members.
Lamis Theorem
Three concurrent forces P, Q and R

b
Friction Force
It is resistant force which acts in opposite direction
at the surface in body which tend to move or its
move.
Normal force R = mg
If m mg > F , the body will not move.
m mg = F the body will tend to move.
m mg < F the body will move.
R
F
R
mg
Friction force on a body
Angle of Friction
It is defined as the angle between normal reaction and resultant reaction
when the body is in condition of just sliding.
Resultant
m mg
reaction
tan f =
R
R
F
m mg
(Q R = mg )
=m
=
F
mg
mg
f = tan-1 m
m = coefficient of friction
mg
Angle of friction due to

resultant reaction

3

Angle of Repose ( a)
It is defined as angle of inclined plane with
horizontal at which body is in condition of just
sliding.
a=f
Angle of friction is equal to angle of repose.
R
w sin
w cos
w
Angle of Repose (a )
Plane Motion
When all parts of the body move in a parallel planes then a rigid body said
to perform plane motion.
Key Points
Straight Line Motion

It defines the three equations with the relationship between velocity,
acceleration, time and distance travelled by the body. In straight line
motion, acceleration is constant.
v = u + at
1
s = ut + at 2
2
v 2 = u 2 + 2 as
where, u = initial velocity
v = final velocity
a = acceleration of body
t = time
s = distance travelled by body
Distance travelled in nth second
1
sn = u + a (2 n - 1)
2

4

Mechanics
Projectile Motion
Projectile motion defines that motion in which velocity has two
components, one in horizontal direction and other one in vertical direction.
Horizontal component of velocity is constant during the flight of the body as
no acceleration in horizontal direction.
Let the block of mass is projected at angle q from horizontal direction
Maximum height h max =
u 2 sin2 q
2g
2 u sin q
Time of flight T =
g
Range R =
hmax
R range
Projectile motion
u 2 sin 2q
g
where, u = initial velocity
Key Points
Rotational Motion with Uniform Acceleration

Uniform acceleration occurs when the speed of an object changes at a
constant rate. The acceleration is the same
over time. So, the rotation motion with
uniform acceleration can be defined as the
motion of a body with the same acceleration
over time. Let the rod of block rotated about

a point in horizontal plane with w angular
Rotational motion
velocity.
dq
(change in angular displacement per unit time)
Angular velocity w =
dt
Angular acceleration a =
dw
dt
a=
d 2q
dt 2
where q = angle between displacement.

5

In case of angular velocity, the various equations with the relationships

between velocity, displacement and acceleration are as follows.
q = wt
a=0
w = w0 + at
1
q = w0t + a t 2
2
w2 = w20 + 2aq
where w0 = initial angular velocity
w = final angular velocity
a = angular acceleration
q = angular displacement
Angular displacement in nth second
q n = w0 +
1
a (2 n - 1)
2
Relation between Linear and Angular Quantities

There are following relations between linear and
angular quantities in rotational motion.
Y
et
er
|e r | = |et | = 1
e r and et are radial and tangential unit vector.
O
X
Linear velocity v = rw et
Linear acceleration (Net)
dv
Position of radial and
et
a = - w2r e r +
dt
tangential vectors
dv
Tangential acceleration at =
(rate of change of speed)
dt
Centripetal acceleration ar = w2r =

Net acceleration
v2
r
(Q v = r w)
a = ar2 + at2
2
v2
d v
= +
dt
r
where ar = centripetal acceleration

at = tangential acceleration

6

Mechanics
Centre of Mass of Continuous Body

Centre of mass of continuous body can be defined as
x dm = x dm
Centre of mass about x, x CM =

M
dm
y dm = y dm
M
dm
z dm = z dm
Centre of mass about z, z CM =
M
dm
Centre of mass about y, yCM =
CM of uniform rectangular, square or circular plate lies at its centre.

CM of semicircular ring
2R
CM of semicircular disc
R
CM
4R
3
CM
R
2
CM
3R
8
CM of hemispherical shell
R
O
CM of solid hemisphere
R
O
Law of Conservation of Linear Momentum

The product of mass and velocity of a particle is defined as its linear
momentum ( p).
p = mv
p = 2 Km

7

F=
dp
dt
where, K = kinetic energy of the particle

F = net external force applied to body
P = momentum
Rocket Propulsion
Let m0 be the mass of the rocket at time t = 0, m its mass at any time t and
v its velocity at that moment. Initially, let us suppose that the velocity of the
rocket is u.
u
At
t =0
v =u
m =m0
At
t= t
m =m
v =v
exhaust velocity
= vr
Rocket propulsion
Thrust force on the rocket
dm
Ft = v r
dt
dm
= rate at which mass is ejecting
dt
v r = relative velocity of ejecting mass (exhaust velocity)
Weight of the rocket
w = mg
- dm
Net force on the rocket
Fnet = Ft - w = v r
- mg
dt
where, -
Net acceleration of the rocket

F
m
d v v r - dm
=
-g
dt
m dt
a=
v = u - gt + v r ln
m0
m
where, m0 = mass of rocket at time t = 0

m = mass of rocket at time t

8

Mechanics
Impulse
The product of constant force F and time t for which it acts is called the
impulse (J) of the force and this is equal to the change in linear momentum
which it produces.
Impulse J = F t
Dp = pf - pi
where, F = constant force

P = linear momentum
Instantaneous Impulse e.g., bat and ball contact
J=
F dt
Dp = pf - pi
Key Points
=
=
Collision
A Collision is an isolated event in which two or more moving bodies exert
forces on each other for a relatively short time.
Collision between two bodies may be classified in two ways
Head-on collision
Oblique collision.
Head-on Collision
Let the two balls of masses m1 and m2 collide directly with each other with
velocities v 1 and v 2 in direction as shown in figure. After collision the
velocity become v 1 and v 2 along the same line.
m2
v2
m1
Before collision
v1
v2
m2
m1
v1
After collision
m - em2
m + em2
v 1 = 1
v1 + 2
v2
m1 + m2
m1 + m2

9

10

m + em1
m - em2
v 2 = 2
v1
v2 + 1
m1 + m2
m1 + m2
where, m1 = mass of body 1

m2 = mass of body 2
v 1 = velocity of body 1
v 2 = velocity of body 2
v 1 = velocity of body 1 after collision
v 2 = velocity of body 2 after collision
where e = coefficient restitution
Separation speed
e=
Approach speed
e=
v 1 - v 2
v2 - v1
In case of head-on elastic collision

e =1
In case of head-on inelastic collision
0<e <1
In case of head-on perfectly inelastic collision
e=0
If e is coefficient of restitution between ball and ground,
then after nth collision with the floor, the speed of ball will
remain e nv 0 and it will go upto a height e 2n h.
h
O
v n = e nv 0 = e n 2 gh
u0 = 2 gh
Collision of a ball
with floor
h0 = e 2 n h
Oblique Collision
In case of oblique collision linear momentum of
individual particle do change along the common
normal direction. No component of impulse act
along common tangent direction. So, linear
momentum or linear velocity remains unchanged
along tangential direction. Net momentum of both
the particle remain conserved before and after
collision in any direction.
Ou=0
Oblique collision

10

11
Mechanics
Moment of Inertia
Momentum of inertia can be defined as
r = distance of the body of mass, m from centre of axis.
I = S mi ri 2
i
I=
dm
Very thin circular loop (ring)

I = MR 2
where, M = mass of the body

R = radius of the ring
I = moment of inertia
R 2 + R22
Uniform circular loop I = M 1

2
R1
Thin circular ring
R2
A
Uniform circular loop
Uniform solid cylinder I =
MR 2
2
A
R
A
Uniform solid cylinder

11

12
Uniform solid sphere

A
R
A
Uniform solid sphere
I=
2
MR 2
5
Uniform thin rod

(AA) moment of inertia about the centre and perpendicular axis to the rod
moment of inertia about the one corner point and perpendicular (BB) axis
to the rod.
A
l
Uniform thin rod
I=
Ml 2
12
I=
1 2
Ml
3
Very thin spherical shell

A
R
A
Thin sperical shell
I=
Thin circular sheet

I=
2
MR 2
3
A
R
MR 2
4
A
Thin circular sheet

12

13
Mechanics
Thin rectangular sheet

a2 + b 2
I=M
12
A
a
b
A
Thin rectangular sheet
Uniform right cone

R
A
Uniform right cone
I=
3
MR 2
10
Uniform cone as a disc

R
O
A part of uniform cone as a disc
1
Suppose the given section is th part of the disc, then mass of disc will
n
be nM.
Inertia of the disc,
1
Idisc = ( nM ) R 2
2
Inertia of the section,
1
1
Isection = Idisc = MR 2
2
n

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14
Torque and Angular Acceleration of a Rigid Body

For a rigid body, net torque acting
t = Ia
where, a = angular acceleration of rigid body
I = moment of inertia about axis of rotation
Kinetic energy of a rigid body rotating about fixed axis
1
(w = angular velocity)
KE = Iw2
2
Angular moment of a particle about same point
r
p = mv
L=r p
L = m (r v)
Angular moment
where L = angular displacement
Angular moment of a rigid body rotating about a fixed axis.

L = Iw
A
r
P
B
Angular moment of a rigid body
Angular moment of a rigid body in combined rotation and translation

L = LCM + M (r0 v0 )
CM
V0
r0
O
Combined rotation and translation in a rigid body
Conservation of angular momentum

dL
t=
dt
dL
=r F + vp
dt

14

15
Mechanics
Kinetic energy of rigid body in combined translational and rotational

motion
1
1
2
K = mvCM
+ ICM w2
2
2
Uniform Pure Rolling

Pure rolling means no relative motion or no slipping at point of contact
between two bodies.
v
CM
Uniform Pure Rolling
If
if
if
v P = vQ no slipping
v = Rw
v p > vQ forward slipping
v > Rw
v P < vQ backward slipping
v < Rw
v
s = 2R
Pure Rolling
No slipping s = 2pR
Forward slipping s > 2pR
Backward slipping s < 2pR
Accelerated Pure Rolling

A pure rolling is equivalent to pure translation and pure rotation. It follows a
uniform rolling and accelerated pure rolling can be defined as
F + f = Ma
( F - f ) R = Ia

15

16
F
C
f
Accelerated pure rolling
F = force acting on a body, f = friction on that body
Angular Impulse
The angular impulse of a torque in a given time interval is defined as
t2
t1
t2
t1
t dt
t dt = L2 - L1
where, L2 and L1 are the angular momentum at time t 2 and t 1 respectively.
Key Points

16

Mechanics: Force System

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Color profile: Generic CMYK printer profile

Composite Default screen

Classification of a Truss (based on joints)

D:\Book Final\G512 Handbook Mechanical Engineering\Mechanical Engineering\Chap_01\Chap_ 1.vp

Color profile: Generic CMYK printer profile

Handbook Mechanical Engineering

where m = number of members and j = number of joints

Analysis of a Framed Structure (Section Method)

First cut a section which passes through AC, BC and BD members.

Find out reaction at point A and B

D:\Book Final\G512 Handbook Mechanical Engineering\Mechanical Engineering\Chap_01\Chap_ 1.vp

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Three concurrent forces P, Q and R

Angle of friction due to

D:\Book Final\G512 Handbook Mechanical Engineering\Mechanical Engineering\Chap_01\Chap_ 1.vp

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Handbook Mechanical Engineering

Straight Line Motion

D:\Book Final\G512 Handbook Mechanical Engineering\Mechanical Engineering\Chap_01\Chap_ 1.vp

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where, u = initial velocity

Rotational Motion with Uniform Acceleration

over time. Let the rod of block rotated about

where q = angle between displacement.

D:\Book Final\G512 Handbook Mechanical Engineering\Mechanical Engineering\Chap_01\Chap_ 1.vp

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Handbook Mechanical Engineering

In case of angular velocity, the various equations with the relationships

Relation between Linear and Angular Quantities

Centripetal acceleration ar = w2r =

where ar = centripetal acceleration

D:\Book Final\G512 Handbook Mechanical Engineering\Mechanical Engineering\Chap_01\Chap_ 1.vp

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Centre of Mass of Continuous Body

Centre of mass about x, x CM =

CM of uniform rectangular, square or circular plate lies at its centre.

Law of Conservation of Linear Momentum

D:\Book Final\G512 Handbook Mechanical Engineering\Mechanical Engineering\Chap_01\Chap_ 1.vp

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Handbook Mechanical Engineering

where, K = kinetic energy of the particle

Thrust force on the rocket

Net acceleration of the rocket

where, m0 = mass of rocket at time t = 0

D:\Book Final\G512 Handbook Mechanical Engineering\Mechanical Engineering\Chap_01\Chap_ 1.vp

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where, F = constant force

D:\Book Final\G512 Handbook Mechanical Engineering\Mechanical Engineering\Chap_01\Chap_ 1.vp

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Handbook Mechanical Engineering

where, m1 = mass of body 1

In case of head-on elastic collision

D:\Book Final\G512 Handbook Mechanical Engineering\Mechanical Engineering\Chap_01\Chap_ 1.vp

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Very thin circular loop (ring)

where, M = mass of the body

Uniform circular loop I = M 1

Thin circular ring

Uniform circular loop

Uniform solid cylinder I =

D:\Book Final\G512 Handbook Mechanical Engineering\Mechanical Engineering\Chap_01\Chap_ 1.vp

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Handbook Mechanical Engineering