Lecture Mechanics

Scalar quantity: Only magnitude; time, volume, speed,
density, mass
Vector quantity: Both direction and magnitude; Force,
displacement, velocity, acceleration, moment
V = IvI n, where IvI = magnitude, n = unit vector
n = V / IvI
n - dimensionless and in direction of vector V
y j
In our course: x i i, j, k unit vectors
z k
R. Ganesh Narayanan 4
Dot product of vectors: A.B = AB cos ; A.B = B.A (commutative)
A A.(B+C) = A.B+A.C (distributive operation)

B
i.i=1
A.B = (Axi+Ayj+Azk).(Bxi+Byj+Bzk) = AxBx+AyBy+AzBz
i.j=0
Cross product of vectors: A x B = C; ICI = IAI IBI Sin ; AxB = -(BxA)

C x (A+B) = C x A + C x B
j
i j k
i j k k x j = -i; Ax AY AZ
ixi=0 BX BY BZ
k i
AxB = (Axi+Ayj+Azk)x(Bxi+B yj+Bzk) = (AyBz- AzBy)i+( )j+( )k
Force:
- action of one body on another
- required force can move a body in the direction of action,
otherwise no effect
- some times plastic deformation, failure is possible
- Magnitude, direction, point of application; VECTOR
Force, Direction of motion

P kN
Body moves
P, kN
Force Body does

< P kN not move
bulging
Force system:
Magnitude, direction and point of application

is important
P
Bracket WIRE
External effect: Forces applied (applied force); Forces exerted by

bracket, bolts, foundation.. (reactive force)
Internal effect: Deformation, strain pattern permanent strain;

depends on material properties of bracket, bolts
Transmissibility principle:
A force may be applied at any point on a line of action
without changing the resultant effects of the force
applied external to rigid body on which it acts
Magnitude, direction and line of action is important; not

point of application
Line of
action
P P
Concurrent force:
Forces are said to be concurrent at a point if their lines of
action intersect at that point
Parallelogram law of forces
Polygon law of forces
F2
F1, F2 are concurrent forces
R will be on same plane
R
A R = F1+F2
F1
Plane R does not
Use triangle law pass through A
F2
R = F1+F2 R = F1+F2
F2 R
F2
R A F1
A A
F1 F1 F1 F2
R. Ganesh Narayanan R 9
Two dimensional force system
Rectangular components:
j
Fy
F = Fx + Fy; both are vector components in x, y direction
F
Fx = fx i ; Fy = fy j; fx, fy are scalar quantities
Fx Therefore, F = fx i + fy j
i
+ ve Fx = F cos ; Fy = F sin
F= fx2 + fy2 ; = tan -1 (fy/fx)
+ ve
- ve
- ve R. Ganesh Narayanan 10
Two concurrent forces F1, F2 F1
F2
j
R
Rx = Fx; Ry = Fy
i
DERIVATION
Moment: Tendency to rotate; torque
O
Moment about a point: M = Fd

M
F
Magnitude of moment is
A r
proportional to the force F and d B
moment arm d i.e, perpendicular

distance from the axis of rotation
to the LOA of force
O
UNIT : N-m
Moment is perpendicular to plane about axis O-O
Counter CW = + ve; CWR.=Ganesh
-veNarayanan 12
Cross product:
M = r x F; where r is the position vector which runs from
the moment reference point A to any point on the
LOA of F

M = Fr sin ; M = Fd A r
d B
Sin = d / r
M = r x F = -(F x r): sense is important
Varignons theorem:
The moment of a force about any point is equal to the
sum of the moments of the components of the forces
about the same point
Concurrent forces P, Q
P R
B Mo = r x R = r x (P+Q) = r x P + r x Q
Q
o r
Moment of P
Moment of Q
Usefulness:
Resultant R moment arm d
Force P moment arm p; Force Q moment arm q
Mo= Rd = -pP + qQ R. Ganesh Narayanan 14
2
Pb:2/5 (Meriam / Kraige):
A
Calculate the magnitude of the moment 40 deg
about O of the force 600 N 4 r 600N
o
1) Mo = 600 cos 40 (4) + 600 sin 40 (2) in mm
= 2610 Nm (app.)
j
2) Mo = r x F = (2i + 4j) x (600cos40i-600sin40j)
i
= -771.34-1839 = 2609.85 Nm (CW);

mag = 2610 Nm
Couple: Moment produced by two equal, opposite and
non-collinear forces
M
o -F
=>-F and F produces rotation
a
+F
d =>Mo = F (a+d) Fa = Fd;
Perpendicular to plane
Independent of distance from o,
depends on d only
moment is same for all moment
centers
Vector algebra method
CCW CW
Couple Couple
o -F
rb
r M = ra x F + rb x (-F) = (ra-rb) x F = r x F
ra +F
Equivalent couples
Changing the F and d values does not change a given couple

as long as the product (Fd) remains same
Changing the plane will not alter couple as long as it is parallel
EXAMPLE
M M M
-F d +F
-F
-F +F d
d
+F
M
All four are equivalent couples
-2F
+2F d/2
Force-couple system
=>Effect of force is two fold 1) to push or pull, 2)
rotate the body about any axis
Dual effect can be represented by a force-couple
syatem
a force can be replaced by a force and couple
F B F
B B
F F
-F M = Fd
A A
EXAMPLE
80N 80N
9m
9
60deg 60 deg
o 80 N o 80 N o
80 N
Mo = Y N m
Mo = 80 (9 sin 60) = 624 N m; CCW
Resultants
To describe the resultant action of a group or system of forces

Resultant: simplest force combination which replace the original
forces without altering the external effect on the body to which
the forces are applied
R
R = F1+F2+F3+.. = F
Rx = Fx; Ry = Fy; R = ( Fx)2 + ( Fy)2
= tan -1 (Ry/Rx)
How to obtain resultant force ?
F1 F2 Mo= Fd
R= F
F1 F2
F3
F3 R
M1 = F1d1;
F1 D1; F2 D2; F3 D3 d
M2 = F2d2;
M3 = F3d3 Mo=Rd
NON-CONCURRENT FORCES
Principle of moments
Summarize the above process: R = F

Mo = M = (Fd)
Mo = Rd R
Mo= Fd
d
R= F
Mo=Rd
First two equations: reduce the system of forces to a force-couple

system at some point O
Third equation: distance d from point O to the line of action R
=> VARIGNONS THEOREM IS EXTENDED HERE FOR NON-

CONCURENT FORCES
Reference books
1. Vector Mechanics for Engineers Statics & Dynamics, Beer & Johnston; 7th edition
2. Engineering Mechanics Statics & Dynamics, Shames; 4th edition
3. Engineering Mechanics Statics Vol. 1, Engineering Mechanics Dynamics Vol. 2,
Meriam & Kraige; 5th edition
4. Schaums solved problems series Vol. 1: Statics; Vol. 2: Dynamics, Joseph F. Shelley
STATICS MID SEMESTER DYNAMICS
Tutorial: Monday 8 am to 8.55 am
ENGINEERING MECHANICS
TUTORIAL CLASS: Monday 8 AM TO 8.55 AM
Tutorial Groups Roll Numbers Class Room Tutors
From To
TG1 07010101 07010141 (41 Students) L2 Prof. R. Tiwari
TG2 07010142 07010149 (8 Students) 1G1 Dr. senthilvelan
07010201 07010233 (33 Students)
TG3 07010234 07010249 (16 Students) 1G2 R. Ganesh Narayanan
07010301 07010325 (25 Students)
TG4 07010326 07010353 (28 Students) 1202 Dr. M. Pandey
07010401 07010413 (13 Students)
TG5 07010414 07010449 (36 Students) 1205 Dr. Saravana Kumar
07010601 07010605 (5 Students)
LECTURE CLASSES: LT2 (one will be optional):

Monday 3 pm to 3.55 pm
Tuesday 2 pm to 2.55 pm
Thursday 5 pm to 5.55 pm
Friday 4 pm to 4.55 pm
Three dimensional force system
Rectangular components
Fx = F cos x; Fy = F cos y; Fz = F cos z
l, m, n are directional cosines of F

F = Fx i + Fy j + Fz k
= F (i cos x + j cos y + k cos z) = F (l i + m j + n k)
F = F nf
F
Fz k
y Fy j
z
o x
Fx i
Moment in 3D
Mo
r A - a plane in 3D structure
A
d Mo = F d (TEDIOUS to find d)
F or Mo = r x F = (F x r) (BETTER)
Evaluating the cross product

i j k
Described in determinant form:
rx rY rZ
FX FY FZ
Expanding
Mo = (ryFz - rzFy) i + (rzFx rxFz) j + (rxFy ryFx) k
Mx = ryFz rzFy; My = rzFx rxFz; Mz = rxFy ryFx
Moment about any arbitrary axis :

Magnitude of the moment M of F about
= Mo . n (scalar reprn.)
Mo n Similarly, M = (r x F.n) n (vector reprn.)
F
Scalar triple product

r
o rx ry rz
Fx FY FZ

R. Ganesh Narayanan
28
, , DCs of n
Varignons theorem in 3D
F2 Mo = rxF1 + rxF2 + rx F3 += (r x F)
F3
B = r x (F1+F2+F3+)
o r F1 = r x (F) = r x R
Couples in 3D M
d M = ra x F + rb x F = (ra-
+F
-F rb) x F = rxF
B r
A
ra
rb
2D force system; equ. Force-couple; principle of
Beer-Johnston; 2.3 moments
20
F2 = 80N F1 = 150N
30
Evaluate components of F1, F2, F3, F4
15 Rx = Fx; Ry = Fy
F4 = 100N R = Rx i + Ry j
F3 = 110N
= tan -1 (Ry/Rx)
Ry
R

Rx
R. Ganesh
R =Narayanan
199i + 14.3j; = 4.1 deg 30
F1
30 DEG
Boat
Find F1 and F2
15 DEG
45 DEG
F2 R =3000 N
R = F1 + F2
3000 (cos15i sin 15j) = F1 (cos 30i Sin 30j)+ F2 (cos45i sin 45j)
EQUATING THE COMPONENTS OF VECTOR,
F1 = 2690 N; F2 = 804 N
Meriam / kraige; 2/37
780 N A
10 10m
Find the moment Mo of 780 N 20 DEG
about the hinge point 10 B C
D o
OC FLAG POLE
T = -780 COS20 i 780 sin20 j
OAB LIGHT FRAME
= -732.9 i 266.8 j
D POWER WINCH
r = OA = 10 cos 60 i + 10 sin 60 j = 5 i + 8.6 j
Mo = r x F = 5014 k ; Mag = 5014 Nm
Meriam / kraige; 2/6 2
M
Replace couple 1 by eq. couple p, -p; find
P
40
100

-P
1 M = 100 (0.1) = 10 Nm (CCW)
100
2 M = 400 (0.04) cos 60
100 1
10 = 400 (0.04) cos 100N 100N
=> = 51.3 deg
60 N
Meriam / kraige; 2/8 2m 50 N
5m 140Nm
45
2m
80N
Find the resultant of four forces and one 2m
40 N o 30 deg
couple which act on the plate
1m
Rx = 40+80cos30-60cos45 = 66.9 N R = 148.3N

Ry = 50+80sin 30+60cos45 = 132.4 N 63.2 deg
237 Nm
o
R = 148.3 N; = tan-1 (132.4/66.9) = 63.2 deg
Mo = 140-50(5)+60cos45(4)-60sin45(7) = -237 Nm
R = 148.3N
63.2 deg
Final LOA of R: 148.3 d = 237; d = 1.6 m
o
LOA of R with x-axis:
(Xi + yj) x (66.9i+132.4j) = -237k
R = 148.3N
(132.4 x 66.9 y)k = -237k y
o x
132.4 x -66.9 y = -237
R. Ganesh Narayanan
b 34
Y = 0 => x = b = -1.792 m
Couples in 3D
M
d
+F
-F
B r M = ra x F + rb x F = (ra-
A
ra rb) x F = rxF
rb
Equivalent couples M = Fd
F F F
F
B A B r A
B
-F
How to find resultant ?
R = F = F1+F2+F3+
Mo = M = M1+M2+M3+ = (rxF)
M = Mx2 + My2 + Mz2; R = Fx2 + Fy2 + Fz2
Mx = ; My = ; Mz =
Equilibrium
Body in equilibrium - necessary & sufficient condition:
R = F = 0; M = M = 0
Equilibrium in 2D
Mechanical system: body or group of bodies which can be conceptually
isolated from all other bodies
System: single body, combination of bodies; rigid or non-rigid;
combination of fluids and solids
Free body diagram - FBD:
=> Body to be analyzed is isolated; Forces acting on the body are
represented action of one body on other, gravity attraction,
magnetic force etc.
=> After FBD, equilibrium equns. can be formed
Modeling the action of forces
Imp
Imp
Meriam/Kraige
FBD - Examples
Equilibrium equns. Can be

solved,
Some forces can be zero
Assumed sign can be
different
Meriam/Kraige
Types of 2D equilibrium
Concurrent at a point: Fx = 0; Fy = 0
x Collinear: Fx = 0 F1 F2
F3
Y
F2
X
F1
F3
F4
F1
F2 Y
F3 M
X
F4
Parallel: Fx = 0; Mz = 0
General: Fx = 0; Fy = 0; Mz = 0
General equilibrium conditions
Fx = 0; Fy = 0; Fz = 0
Mx = 0; My = 0; Mz = 0
These equations can be used to solve unknown forces,

reactions applied to rigid body
For a rigid body in equilibrium, the system of external forces will
impart no translational, rotational motion to the body
Necessary and sufficient equilibrium conditions
P Q R PY QY RY
D Px Qx Rx
C
D
C
AX A
A B B
Pin Roller
BY
AY
Written in three alternate ways,
Fx = 0; Fy = 0; MA = 0 I
MB = 0 => will not provide new information; used to check the
solution; To find only three unknowns
Fx = 0; MA = 0; MB = 0 II
Rigid body in equilibrium =>
Point B can not lie on the line that passes through point A
First two equ. indicate that the ext. forces reduced to a single vertical force at A
Third eqn. (MB = 0) says this force must be zero
MA = 0; MB = 0; Mc = 0; III
Body is statically indeterminate: more unknown reactions than

independent equilibrium equations
3D force system Y
A
Meriam / Kraige; 2/10 T = 10kN
15
x
Find the moment Mz of T about the z-axis passing O
thro the base O
9
12 m
B
z
F = T = ITI nAB = 10 [12i-15j+9k/21.21] = 10(0.566i-0.707j+0.424k) k N
Mo = rxF = 15j x 10(0.566i-0.707j+0.424k) = 150 (-0.566k+0.424i) k Nm
Mz = Mo.k= 150 (-0.566k+0.424i).k = -84.9 kN. m
Merial / Kraige; 2/117
Replace the 750N tensile force which the cable exerts on point B by a force-
couple system at point O
F = f , where is unit vector along BC
= (750) BC/IBCI = 750 (-1.6i+1.1j+0.5k/2.005)
F = -599i+412j+188.5k
rob = OB = 1.6i-0.4j+0.8k
Mo = rob x F
= (1.6i-0.4j+0.7k) x (-599i+412j+188.5k)
Mo = - 363i-720j+419.2k
2D equilibrium
Meriem / Kraige; 3/4
Find T and force at A; I-beam with mass of 95
kg/meter of length
95 kg/meter => 95(10-3)(5)(9.81) = 4.66kN
MA = (T cos 25) (0.25) + (T sin 25) (5-0.12)

10(5-1.5-0.12) 4.66 (2.5-0.12) = 0
T = 19.6 kN y T
Fx = Ax 19.6 cos 25 = 0 25 deg
Ax 0.5 m
Ax = 17.7 kN
Fy = Ay+19.61 sin 25-4.66-10 = 0 0.12 m
Ay 1.5m
4.66 kN
Ay = 6.37 kN
10 kN
A = Ax2 + Ay2 = 18.88kN

5m
B
Beer/Johnston; 4.5
mm, N
Find reactions at A, B if (a) a = 100 mm; (b) A

a=70 mm
60
60 a 80
a = 100 mm
40 50 30 10
Ma = 0 => (-40x60)+(-50x120)+(-30x220)+
By
(-10x300)+(-Byx120) = 0
Ay
By = 150 N Bx
Fy = 0 => By-Ay-40-50-30-10 = 0
= 150-Ay-130 = 0 => Ay = 20 N
40 50 30 10
a = 70 mm
By = 140 N Ay = 10 N
D
Beer/Johnston; 4.4 1.8
A B 2.25
Find the reaction at the fixed end C
E 3.75
20 20 20 20
DF = 7.5 m E F
Fx = Ex + 150 (4.5/7.5) = 0 => Ex = - 90 kN (sign change) 4.5

Fy = Ey 4(20)-150 (6/7.5) = 0 => Ey = 200 kN
D
ME= 20 (7.2) + 20 (5.4) + 20 (3.6) +20 (1.8) (6/7.5) (150) (4.5) +
ME= 0
A B
ME= +180 kN.m => ccw 2.25
C
3.75
20 20 20 20
E F
1.8 Ex
ME 4.5
R. Ganesh Narayanan Ey 50 kN
150
Instructions for TUTORIAL
Bring pen, pencil, tagged A4 sheets, calculator, text books

Submitted in same tutorial class
Solve div II tutorial problems also
Solve more problems as home work
Tutorial : 10 % contribution in grading
Do not miss any tutorial class
QUIZ 1 FEB, 11TH, 2008

3D equilibrium
3D equilibrium equns. can be written in scalar and vector form
F = 0 (or) FX = 0; FY = 0; FZ = 0
M = 0 (or) MX = 0; MY = 0; MZ = 0
F = 0 => Only if the coefficients of i, j, k are zero; FX = 0

M = 0 => Only if the coefficients of i, j, k are zero; MX = 0
Modeling forces in 3D
Types of 3D equilibrium
Meriem / Kraige z
B
7 = 22 + 62 + h2 => h = 3 m 7m
h
2m
rAG = -1i-3j+1.5k m; rAB = -2i-6j+3k m y
A
6m
x Bx
MA = 0 => rAB x (Bx+By) + rAG x W = 0 By 3.5
(-2i-6j+3k) x (Bx i + By j) + (-i-3j+1.5k) x (-1962k) = 0 G

3.5
(-3By+5886)i + (3Bx-1962)j + (-2By+6Bx)k = 0
Ay
W=mg=200 x 9.81
=> By = 1962 N; Bx = 654 N
W = 1962 N
F = 0 => (654-Ax) i + (1962-Ay) j + (-1962+Az)k = 0 Ax Az

=> Ax = 654 N; Ay = 1963 N; Az = 1962 N; find A
Meriem / Kraige; 3/64
I.H. Shames
Find forces at A, B, D. Pin connection at C; E has welded connection
F.B.D. - 1
F.B.D. - 2
F.B.D. - 2
Mc = 0 => (Dy) (15) 200 (15) (15/2)

(1/2)(15)(300)[2/3 (15)] = 0
Dy = 3000 N
F.B.D. - 1
MB = 0 => -Ay (13) +(3000) (21) 200

(34) (34/2-13) (300) (15) [6+2/3(15)]
=0
Ay = -15.4 N
Fy = 0 => Ay+By+3000-200(34)-
(1/2)(300)(15) = 0
Sub. Ay here,
=> By = 6065 N
2D, 3D force system Equilibrium equations
Rectangular components Fx = 0; Fy = 0; MA = 0
Moment
Fx = 0; MA = 0; MB = 0 2D
Varignons theorem
MA = 0; MB = 0; Mc = 0
Couple
Force-couple system F = 0 (or) FX = 0; FY = 0; FZ = 0
Resultant 3D
M = 0 (or) MX = 0; MY = 0; MZ = 0
Principle of moment
Structures
Truss: Framework composed of members joined at their ends to form a rigid
structures
Plane truss: Members of truss lie in same plane
Bridge truss
Roof trussR. Ganesh Narayanan 61

B
Three bars joined with pins at end
Rigid bars and non-collapsible
Deformation due to induced internal strains is negligible
A c
B D
Non rigid body can be made rigid by
B D
adding BC, DE, CE elements
E
A C A
C
Non-rigid rigid
Instructions for TUTORIAL
Bring pen, pencil, tagged A4 sheets, calculator, text books

Submitted in same tutorial class
Solve div II tutorial problems also
Solve more problems as home work
Tutorial : 10 % contribution in grading
Do not miss any tutorial class
QUIZ 1 FEB, 11TH, 2008

Structures
Truss: Framework composed of members joined at their ends to form a rigid
structures
Plane truss: Members of truss lie in same plane
Bridge truss
Roof trussR. Ganesh Narayanan 64

B
Three bars joined with pins at end
Rigid bars and non-collapsible
Deformation due to induced internal strains is negligible
A c
B D
Non rigid body can be made rigid by
B D
adding BC, DE, CE elements
E
A C A
C
Non-rigid rigid
Simple truss: structures built from basic triangle

More members are present to prevent collapsing => statically indeterminate truss;
they can not be analyzed by equilibrium equations
Additional members not necessaryR.for maintaining
Ganesh Narayanan equilibrium - redundant 65
In designing simples truss or truss => assumptions are followed
1. Two force members equilibrium only in two forces; either tension or compression
2. Each member is a straight link joining two points of application of force
3. Two forces are applied at the end; they are equal, opposite and collinear for
equilibrium
4. Newtons third law is followed for each joint
5. Weight can be included; effect of bending is not accepted
6. External forces are applied only in pin connections
7. Roller or rocker is also provided at joints to allow expansion and contraction due to
temperature changes and deformation for applied loads
T c
T c weight
TWOR.FORCE MEMBERS
Ganesh Narayanan 66
Two methods to analyze force in simple truss
Method of joints
This method consists of satisfying the conditions of equilibrium for the

forces acting on the connecting pin of each joint
This method deals with equilibrium of concurrent forces and only two
independent equilibrium equations are solved
Newtons third law is followed
Example
F E
A D Fy = 0; Fx = 0
B
C
Finally sign can be changed if

not applied correctly
Internal and external redundancy
external redundancy: If a plane truss has more supports than are necessary to
ensure a stable equilibrium, the extra supports constitute external redundancy
Internal redundancy: More internal members than are necessary to prevent collapse,
the extra members constitute internal redundancy
Condition for statically determinate truss: m + 3 = 2j

- Equilibrium of each joint can be specified by two scalar force equations, then 2j
equations are present for a truss with j joints
-The entire truss composed of m two force members and having the maximum of
three unknown support reactions, there are (m + 3) unknowns
j no. of joints; m no. of members
m + 3 > 2 j =>more members than independent equations; statically

indeterminate
m + 3 < 2 j => deficiency of internal members; truss is unstable
I. H. Shames
B D
Determine the force transmitted by each member;
A, F = 1000 N 10
Pin A A
FAB 10 F
1000 C 10 10
FAB E
FAC
A FAC 1000 1000
Fx = 0 =>FAC 0.707FAB = 0
Fy = 0 => -0.707FAB+1000 = 0
1000 FAB = 1414 N; FAC = 1000 N
Pin B
Fx = 0 => -FBD + 1414COS45 = 0 => FBD = 1000 N
B
FBD Fy = 0 => -FBC+1414 COS45 = 0 => FBC = 1000 N
1414 FBD
FBC
1414
FBC
Pin C
FCE
1000 FDC
FDC
B
FCE 1000 1000
1000
1000
1000
Fx = 0 => -1000 + FCE + FDC COS 45 = 0 => FCE = 1000 N
Fy = 0 => -1000+1000+ FDC COS 45 = 0 => FDC = 0
SIMILARLY D, E, F pins are solved
Meriem / Kraige (similar pbm. 6.1 in Beer/Johnston)
Find the force in each member of the loaded

B 5 D
cantilever truss by method of joints
5 5 5 5
A 5 5
C E
30 20
kN, m
FBD of entire truss
ME = 0 => 5T-20(5)-30 (10) = 0; T = 80 kN

Fx = 0 => 80 cos 30 Ex = 0; Ex = 69.28 kN
Fy = 0 => Ey +80sin30-20-30 = 0 => Ey = 10kN
FBD of joints
Fx = 0; Fy = 0
Fx = 0; Fy = 0
Find AB, AC forces
Find BC, BD forces
Fx = 0; Fy = 0 Fy = 0
Find CD, CE forces Find DE forces
Fx = 0 can be checked
Q = 100 N; smooth surfaces; Find Q
reactions at A, B, C Q roller
100
100 roller c
A
B 30
Rc
F = 0 => (-RA cos 60 - RB cos 60 + Rc) i + (-2 x 100 + RB

RA
sin 60 + RA sin 60) j = 0
RB
RC = (RA + RB)/2
RC = 115.5 N
RB + RA = 230.94
100
RAB
F = 0 => (-RAB cos 30 - RB cos 60 + Rc) i + (RB Sin 60 100 - RAB
30
Rc sin 30) j = 0
0.866 RAB + 0.5 RB = 115.5; -0.5 RAB + 0.866 RB = 100
RAB = 50 N (app.); RB = 144.4 N; RA = 230.94-144.4 = 86.5 N
RB
Two methods to analyze force in plane truss
Method of joints Method of sections
This method consists of satisfying the conditions of equilibrium for the

forces acting on the connecting pin of each joint
This method deals with equilibrium of concurrent forces and only two
independent equilibrium equations are solved
Newtons third law is followed
Methodology for method of joints
F E
A D Fy = 0; Fx = 0
B
C
Finally sign can be changed if

not applied correctly
B 5 D
5 5 5 5
A 5 5
C E
30 20
kN, m
Method of sections
In method of joints, we need only two equilibrium equations, as we
deal with concurrent force system
In method of sections, we will consider three equilibrium
equations, including one moment equilibrium eqn.
force in almost any desired member can be obtained directly from
an analysis of a section which has cut the member
Not necessary to proceed from joint to joint
Not more than three members whose forces are unknown should
be cut. Only three independent equilibrium eqns. are present
Efficiently find limited information
Methodology for method of sections
F A E
F E
A D
A D B
B C
C
R1 L A
L R2
The external forces are obtained initially from method of joints, by
considering truss as a whole
Assume we need to find force in BE, then entire truss has to be
sectioned across FE, BE, BC as shown in figure; we have only 3
equilibrium equns.
AA section across FE, BE, BC; Forces in these members are
initially unknown R. Ganesh Narayanan 79
Section 1 Section 2
Now each section will apply opposite forces on each other

The LHS is in equilibrium with R1, L, three forces exerted on the cut
members (EF, BE, BC) by the RHS which has been removed
IN this method the initial direction of forces is decided by moment about
any point where known forces are present
For eg., take moment about point B for the LHS, this will give BE, BC to
be zero; Then moment by EF should be opposite to moment by R1;
Hence EF should be towards left hand side - compressive
Now take moment about F => BE should be opposite to R1
moment; Hence BE must be up and to the right; So BE is tensile
Now depending on the magnitudes of known forces, BC direction
has to be decided, which in this case is outwards i.e., tensile
MB = 0 => FORCE IN EF; BE, BC = 0

Fy = 0 => FORCE IN BE; BC, EF = 0
Section 1 Section 2
ME = 0 => FORCE IN BC; EF, BE = 0
Section AA and BB are
possible
convenient
Important points
IN method of sections, an entire portion of the truss is considered a
single body in equilibrium
Force in members internal to the section are not involved in the
analysis of the section as a whole
The cutting section is preferably passed through members and not
through joints
Either portion of the truss can be used, but the one with smaller
number of forces will yield a simpler solution
Method sections and method of joints can be combined
Moment center can be selected through which many unknown forces
pass through
Positive force value will sense the initial assumption of force direction
Meriem/Kraige
Find the forces included in members KL,

CL, CB by the 20 ton load on the cantilever
truss
y
L
KL
K
CL
G
P C CB x
20 T
Section 1 Section 2
Moment abt. L => CB is compressive => creates CW moment

Moment abt. C => KL is tensile => creates CW moment
CL is assumed to be compressive
y
L
KL
K
CL
x
G
P C CB Section 1 Section 2
20 T BL = 16 + (26-16)/2 = 12 ft
= tan -1 (5/12) => cos = 12/13
ML = 0 => 20 (5) (12)- CB (21) = 0 => CB = 57.1 t (C)

Mc = 0 => 20 (4)(12) 12/13 (KL) (16) = 0; KL = 65 t (T)
Mp = 0 => find PC distance and find CL; CL = 5.76 t (C)
Meriem/Kraige
Find the force in member DJ of the truss
shown. Neglect the horizontal force in
supports
Consider FBD for whole truss and find

reaction at A
MG = -Ay (24) +(10) (20) + 10(16) + 10
(8) = 0
Ay = 18. 3 kN => creates CW moment
Section 2 cuts four members, but we have only

3 equi. Equns
Hence consider section 1 which cuts only 3
members CD, CJ, KJ
Force direction
Moment abt. A => CD, JK Eliminated; CJ will be upwards creating CCW moment
Moment abt. C => JK must be towards right creating CCW moment
ASSUME CD TO HAVE TENSILE FORCE
From section 1 FBD
MA = 0 => CJ (12) (0.707) 10 (4) -10( 8) =0; CJ = 14.14 Kn

MJ = 0 => 0.894 (CD) (6) +18.33 (12)-10(4)-10(8) = 0; CD = -18.7 kN
CD direction is changed
From section 2 FBD
MG = 0 => 12 DJ +10(16)+10(20)-18.3 (24)-

14.14 (0.707)(12) = 0
DJ = 16.7 kN
I.H. Shames FBD - 1
FBD - 2
From FBD-2
MB = 0 => -(10)(500)+30 (789)- FAC Sin 30 (30) = 0
FAC = 1244.67 N
From FBD -1
Fx = 0 => FDA Cos 30 (1244.67) cos 30 1000 sin 30 = 0 ;
FDA = 1822 N
Fy = 0 => (1822)Sin 30 + (1244.67)R.sin 30 +F
Ganesh AB 1000 Cos 30 = 0; FAB = -667 N
Narayanan 88
Frames and machines
Multi force members: Members on which three or more forces acting
on it (or) one with two or more forces and one or more couples acting
on it
Frame or machine: At least one of its member is multi force member
Frame: Structures which are designed to support applied loads and
are fixed in position
Machine: Structure which contain moving parts and are designed to
transmit input forces or couples to output forces or couples
Frames and machines contain multi force members, the forces in

these members will not be in directions of members
Method of joints and sections are not applicable
Inter-connected rigid bodies with multi force members
Previously we have seen equilibrium of single rigid bodies
Now we have equilibrium of inter-connected members which
involves multi force members
Isolate members with FBD and applying the equilibrium equations
Principle of action and reaction should be remembered
Statically determinate structures will be studied
Force representation and FBD
Representing force by rectangular components
Calculation of moment arms will be simplified
Proper sense of force is necessary; Some times arbitrary assignment
is done; Final force answer will yield correct force direction
Force direction should be consistently followed
Frames and machines
Multi force members: Members on which three or more forces acting
on it (or) one with two or more forces and one or more couples acting
on it
Frame or machine: At least one of its member is multi force member
Frame: Structures which are designed to support applied loads and
are fixed in position
Machine: Structure which contain moving parts and are designed to
transmit input forces or couples to output forces or couples
Frames and machines contain multi force members, the forces in

these members will not be in directions of members
Method of joints and sections are not applicable
Inter-connected rigid bodies with multi force members
Previously we have seen equilibrium of single rigid bodies
Now we have equilibrium of inter-connected members which
involves multi force members
Isolate members with FBD and applying the equilibrium equations
Principle of action and reaction should be remembered
Statically determinate structures will be studied
Force representation and FBD
Representing force by rectangular components
Calculation of moment arms will be simplified
Proper sense of force is necessary; Some times arbitrary assignment
is done; Final force answer will yield correct force direction
Force direction should be consistently followed
Full truss
K, J are un-necessary
here
AE AF
BD
Meriem/Kraige
B
30 lb
20 ft 12
Find the forces in all the frames; F D
neglect weight of each member 12 50 lb
20 ft E
A C
30 ft
FBD of full frame 30 lb
Mc = 0 => 50 (12) +30(40)-30 (Ay) = 0; Ay = 60 lb

Fy = 0 => Cy 50 (4/5) 60 = 0 => Cy = 100 lb
50 lb
Cx
R. Ganesh Narayanan Ax 96
Cy
Ay
FBD of individual members
EF: Two force member; E, F are
compressive
ED:
MD = 0 => 50(12)-12E = 0 => E = 50 lb
F = 0 => D-50-50 = 0 => D= 100 lb
(components will be eliminated)
EF: F = 50 lb (opposite and equal to E)
AB:
MA = 0 => 50(3/5)(20)-Bx (40) = 0 => Bx = 15 lb
D
Fx = 0 => Ax+15-50(3/5) = 0 => Ax = 15 lb
E
Fy = 0 => 50 (4/5)-60-By = 0 =>By = -20 lb
Fx = -50 (cos 53.1)+15+15 = -30+15+15 = 0 Fx

53.1 deg
BC: Fx = 0 => 30 +100 (3/5)-15-Cx = 0 => Cx = 75 lb

Fy F
Find the force in link DE and components of A
forces exerted at C on member BCD
160
B 480 N
FBD of full frame 60 D

C
Ay 80
E
A Ax 60
100 150
160
480 N
B
Bx Fy = 0 => Ay-480 = 0 =>Ay = 480 N
C D
MA = 0 => Bx (160)-480 (100) = 0 => Bx = 300 N
80
Fx = 0 => 300+Ax = 0 => Ax = -300 N
E
100 150
=R.tan
Ganesh Narayanan
-1 (80/150) = 28.07 deg 98
DE: Two force member
FBD of BCD
FDE
FBD of AE 480 N
Cy
Ay B D
300 Cx
A D
Ax C
FBD of DE
FDE
FDE E
Cx D
FDE
Cy
E FDE
Mc = 0 => -FDE sin 28.07 (250) 300(80)-480 (100) = 0; FDE = -561 N

Fx = 0 => Cx (-561) cos 28.07 +300 = 0 => Cx = -795 N
Fy = 0 => Cy (-561) sin 28.07 480 = 0 => Cy = 216 N
Meriem/Kraige 3m
2m
A
Find the horizontal and vertical
components of all the forces; neglect 1.5m
weight of each member R =0.5 m
0.5m
B F
E
FBD of full frame 1.5m
Ay C
Ax
1.5m
D
400 kg
0.4 x 9.81 = 3.92
MA = 0 => 5.5 (-0.4) (9.81) + 5Dx = 0 => Dx = 4.32 kN

Dx
Fx = 0 => -Ax + 4.32 = 0 => Ax = 4.32 kN
Fy = 0 => Ay 3.92 = 0 => Ay = 3.92 kN

FBD of individual members
3.92 3.92
3.92 F
4.32 A
3.92 Bx B E
3.92 3.92
Ex Ey
By
Bx 3.92
3.92 By
Cy
Cx Ey Ex
E
4.32 3m
2m
D
Cx A
C
1.5m
Cy
R =0.5 m
0.5m
B F
E
Apply equilibrium equn. And solve for 1.5m
forces
C
1.5m
R. Ganesh Narayanan D 101
400 kg
Machines
Machines are structures designed to transmit and modify forces. Their main purpose
is to transform input forces into output forces.
Given the magnitude of P, determine the

magnitude of Q.
Taking moments about A,

a
M A = 0 = aP bQ Q=
R. b
P
Ganesh Narayanan 102
Center of mass & center of gravity
A B B
C
BODY
B
A
C
C G
G G G
A
W W W
Body of mass m
Body at equilibrium w.r.t. forces in the cord and resultant of gravitational
forces at all particles W
W is collinear with point A
Changing the point of hanging to B, C Same effect
All practical purposes, LOA coincides with G; G center of gravity
z Y
Moment abt. Y axis = dw (x)
Sum of moments for small regions through out the
dw body: x dw
G Moment of w force with Y axis = w x

r
r w
x dw = w x
X
Sum of moments Moment of the sum
X = ( x dw) / w Y = ( y dw) / w Z = ( z dw) / w

1
W = mg
X = ( x dm) / m Y = ( y dm) / m Z = ( z dm) / m
2
In vector form, r = ( r dm) / m 3
= m/V; dm = dv
X = ( x dv) / dv
= not constant through out
4
Y = ( y dv) / dv body
Z = ( z dv) / dv
Equns 2, 3, 4 are independent of g; They depend only on mass distribution;
This define a co-ordinate point center of mass

This is same as center of gravity as long as gravitational field is uniform and parallel
Centroids of lines, areas, volumes
Suppose if density is constant, then the expression define a purely

geometrical property of the body; It is called as centroid
Centroid of volume
X = ( xc dv) / v Y = ( yc dv) / v Z = ( zc dv) / v
Centroid of area
X = ( x dA) / A Y = ( y dA) / A Z = ( z dA) / A
Centroid of line
X = ( x dL) / L Y = ( y dL) / L Z = ( z dL) / L

Find the y-coordinate of centroid of the triangular area y
h
X / (h-y) = b/h dy
y x
AY = y dA
x
b
h h
b h (y) = y (x dy) = y [b (h-y) / h] dy = b h2 / 6
0 0
Y=h/3

Beams
Structural members which offer resistance to bending due to
applied loads
Reactions at beam supports are determinate if they involve only three

unknowns. Otherwise, they are statically indeterminate
External effects in beams
Reaction due to supports, distributed load, concentrated loads
Internal effects in beams
Shear, bending, torsion of beams

v
M M
v R. Ganesh Narayanan 109
SHEAR BENDING TORSION
compression
Tension
D D
Cx
T T
D J V
J V J
E F Cy M
C M
FBE
F F
B
SECTION - J
W AX
A
G A A
AY
V SHEAR FORCE
Internal forces in beam F AXIAL FORCE
M BENDING MOMENT AT J
Shear force and bending moment in beam
To determine bending moment and shearing

force at any point in a beam subjected to
concentrated and distributed loads.
FINDING REACTION FORCES AT A AND B
1. Determine reactions at supports by

treating whole beam as free-body

DIRECTION OF V AND M
2. SECTION beam at C and draw free-body

diagrams for AC and CB. By definition,
positive sense for internal force-couple
systems are as shown.
M M
+ VE SHEAR FORCE
+VE BENDING MOMENT
V V
SECTION C

SECTION C SECTION C
EVALUATING V AND M
Apply vertical force equilibrium eqn. to AC, shear force at C, i.e.,

V can be determined
Apply moment equilibrium eqn. at C, bending moment at C, i.e.,

M can be determined; Couple if any should be included
+ ve value of V => assigned shear force direction is correct

+ ve value of M => assigned bending
R. Ganesh moment is correct
Narayanan 113
Beer/Johnston
Evaluate the Variation of shear and bending

moment along beam
MB= 0 =>RA (-L)+P (L/2) = 0; RA= +P/2

RB = +P/2
SECTION AT C SECTION AT E
Between A & D Between D & B

SECTION AT C; C is at x distance from A
Member AC: Fy = 0 => P/2-V = 0; V = +P/2

Mc = 0 => (- P/2) (X) + M = 0; M = +PX/2
Any section between A and D will

yield same result
V = +P/2 is valid from A to D
V = +P/2 yields straight line from A
to D (or beam length : 0 to L/2)
M = +PX/2 yield a linear straight line
fit for beam length from 0 to L/2

SECTION AT E; E is at x distance from A
CONSIDER AE:
Fy = 0 => P/2-P-V = 0; V = -P/2
ME = 0 => (- P/2) (X) +P(X-L/2)+ M = 0; M = +P(L-X)/2
EB CAN ALSO BE CONSIDERED

V = V0 + (NEGATIVE OF THE AREA UNDER THE LOADING
CURVE FROM X0 TO X) = V0 - w dx c1
M = M0 + (AREA UNDER SHEAR DIAGRAM FROM X0 TO X) = M0

+ V dx

Slide 117
c1 cclab9, 1/24/2008
Beer/Johnston Taking entire beam as free-body, calculate
reactions at A and B.
Determine equivalent internal force-couple

systems at sections cut within segments AC,
CD, and DB.
M A = 0:
B y (32 cm ) (480 N )(6 cm ) (400 N )(22 cm ) = 0
B y = 365 N
MB = 0:
(480 N )(26 cm ) + (400 N )(10 cm ) A(32 cm ) = 0
A = 515 N
Fx = 0 : Bx = 0
The 400 N load at E may be replaced by a 400 N force and 1600 N-cm couple at
D.
From A to C:
F y = 0 : 515 40 x V = 0
V = 515 40 x
M1 = 0 : ( )
515 x 40 x 12 x + M = 0
M = 515 x 20 x 2
x
V = 515 + (-40 X) = 515-40X = 515 - 40 dx
0
x
M = 515-40x dx = 515x-20 x2
0
From C to D:
Fy = 0 : 515 480 V = 0
V = 35 N
M 2 = 0 : 515 x + 480 ( x 6 ) + M = 0
M = (2880 + 35 x ) N cm
Evaluate equivalent internal force-couple systems
at sections cut within segments AC, CD, and DB.
From D to B:
Fy = 0 : 515 480 400 V = 0
V = 365 N
M2 = 0:
515 x + 480 ( x 6 ) 1600 + 400 ( x 18 ) + M = 0
M = (11,680 365 x ) N cm

Shear force & Bending moment plot
AREA UNDER SHEAR FORCE DIAGRAM GIVES BM DIAGRAM
AC: (35X12) + (1/2 x 12 x 480) = 3300

0 to 3300
CD: 3300 +(35X6) = 3510
3300 to 3510
DB: 365 x 14 = 5110
5110 R.toGanesh
0 Narayanan 121
100 lb/ft 300 lb
Find the shear force and
bending moment for the
loaded beam
4 ft 4 2 2

Machine

Friction
Earlier we assumed action and reaction forces at contacting surfaces
are normal
Seen as smooth surface not practically true
Normal & tangential forces are important
Tangential forces generated near contacting surfaces are
FRICTIONAL FORCES
Sliding of one contact surface to other friction occurs and it is
opposite to the applied force
Reduce friction in bearings, power screws, gears, aircraft propulsion,
missiles through the atmosphere, fluid flow etc.
Maximize friction in brakes, clutches, belt drives etc.
Friction dissipated as heatR.Ganesh
loss Narayanan
of energy, wear of parts etc. 125
Friction
Dry friction Fluid friction
(coulomb friction)
Occurs when the adjacent layers in a
fluid (liquid, gas) are moving at different
Occurs when un-lubricated surfaces are velocities
in contact during sliding
This motion causes friction between
friction force always oppose the sliding fluid elements
motion
Depends on the relative velocity
between layers
No relative velocity no fluid friction
depends on the viscosity of fluid
measure of resistance to shearing action
between the fluid layers
Dry friction: Laws of dry friction
W
W weight; N Reaction of the surface

A Only vertical component
N
W
P
P applied load
A
F static friction force : resultant of many forces acting over
F the entire contact area
Because of irregularities in surface & molecular attraction
N

W F
Equilibrium Fm Motion
P A B Fk
F p
N
Less irregularities
More irregularities interaction
interaction
P is increased; F is also increased and continue to oppose P

This happens till maximum Fm is reached Body tend to move till Fm is reached
After this point, block is in motion
Block in motion: Fm reduced to Fk lower value kinetic friction force and it
remains same related to irregularities interaction
N reaches B from A Then tipping occurs abt. B
EXPERIMENTAL EVIDENCE:
Fm proportional to N
Fm = s N; s static friction co-efficient
Similarly, Fk = k N; k kinetic friction co-efficient
k = 0.75 s
s and k depends on the nature of

surface; not on contact area of
surface

Four situations can occur when a rigid body is in contact with a
horizontal surface:
We have horizontal and vertical force equilibrium equns. and
F=N F
Fk
p
No motion,
(Px < Fm)
It is sometimes convenient to replace normal force N and friction force
F by their resultant R:
No friction No motion Motion impending Motion
s angle of static
Fm s N Fk k N friction maximum angle
tan s = = tank = = (like Fm)
N N N N
tan s = s tank = k k angle of kinetic
R. Ganesh Narayanan
friction; k < s 131
Consider block of weight W resting on board with variable inclination
angle .
ANGLE OF INCLINATION IS INCREASING
Angle of inclination = R Not vertical

angle of repose; = s
Three categories of problems
First category: to know a body slips or not
All applied forces are given, co-effts. of friction are known

Find whether the body will remain at rest or slide
Friction force F required to maintain equilibrium is unknown
(magnitude not equal to s N)
Solution
Determine F required for equilibrium, by solving equilibrium equns; Also find
N
Compare F obtained with maximum value Fm i.e., from Fm = s N
F is smaller or equal to Fm, then body is at rest
Otherwise body starts moving
Actual friction force magnitude =R. FGanesh Narayanan
k = k N
133
Beer/Johnston
A 100 N force acts as shown on a 300 N block

placed on an inclined plane. The coefficients of
friction between the block and plane are s = 0.25
and k = 0.20. Determine whether the block is in
equilibrium and find the value of the friction force.
= 36.9 DEG
Fx = 0 : 100 N - 53 (300 N ) F = 0
F = 80 N
Fy = 0 : N - 54 (300 N ) = 0
= 36.9
DEG
N = 240 N
Fm = s N = 0.25 (240) = 60 N
Fm < F
R. Ganesh
The Narayanan
block will slide down the plane. 134
If maximum friction force is less than friction force
required for equilibrium, block will slide. Calculate
kinetic-friction force.
Factual = Fk = k N
= 0 .20 (240 N )
Factual = 48 N
F
Fk
p

Meriam/Kraige; 6/8
Cylinder weight: 30 kg; Dia: 400 mm
Static friction co-efft: 0.30 between cylinder and surface
Calculate the applied CW couple M which cause the cylinder M
to slip
30
Fx = 0 = -NA+0.3NB Cos 30-NB Sin 30 = 0
Fy = 0 =>-294.3+0.3NA+NBCos 30-0.3NB Sin 30 = 0 30 x 9.81
Find NA & NB by solving these two equns.

M NA
FB = 0.3 NB C
MC = 0 = > 0.3 NA (0.2)+0.3 NB (0.2) - M = 0
Put NA & NB; Find M NB FA = 0.3 NA
NA = 237 N & NB R.=Ganesh

312 Narayanan
N; M = 33 Nm 136
Second category: Impending relative motion when two or Paint
three bodies in contact with each other

Wooden
block
Meriam/Kraige; 6/5 4
Wooden block: 1.2 kg; Paint: 9 kg 12

Roof
Determine the magnitude and direction of (1) the friction surface
force exerted by roof surface on the wooden block, (2)
total force exerted by roof surface on the wooden block
10.2x 9.81
= tan-1 (4/12) = 18.43 Y
(2) Total force = 10.2 x 9.81 = 100.06 N UP

X
F
(1) Fx = 0 => -F+100.06 sin 18.43 => F = 31.6 N N
Fy = 0 => N = 95 N
Beer/Johnston
For 20 kg block (a) For 30 kg block

20 x 9.81 = 196.2 N
30 x 9.81 = 294.3 N
F1 N1
T P
F1
F2
N1 N2

(B)
490.5 N

Beer/Johnston
B
A 6.5-m ladder AB of mass 10 kg leans against a wall as shown.
Assuming that the coefficient of static friction on s is the same at
both surfaces of contact, determine the smallest value of s for which
equilibrium can be maintained. 6m
Slip impends at both A and B, FA= sNA, FB= sNB A

2.5 m
Fx=0=> FANB=0, NB=FA=sNA
FB
Fy=0=> NAW+FB=0, NA+FB=W B
NB
NA+sNB=W; W = NA(1+s2)
W
Mo = 0 => (6) NB - (2.5) (NA) +(W) (1.25) = 0
6sNA - 2.5 NA + NA(1+s2) 1.25 = 0 A FA O
NA
s = -2.4 2.6 = > Min s = 0.2
R. Ganesh Narayanan 1.25 1.25 140
Wedges
Wedges - simple machines used to raise heavy

loads like wooden block, stone etc.
Loads can be raised by applying force P to
wedge
Force required to lift block is significantly less
than block weight
Friction at AC & CD prevents wedge from sliding
A wooden block out
C, D Wedges Want to find minimum force P to raise block

FBD of block FBD of wedge
F3
6
Fx = 0 : Fx = 0 :
6
N1 + s N 2 = 0 s N 2 N 3 ( s cos 6 sin 6 ) N3
+P=0
Fy = 0 :
Fy = 0 :
W s N1 + N 2 = 0 N 2 + N 3 (cos 6 s sin 6 ) = 0
Beer/Johnston
Two 8 wedges of negligible weight are used to move

and position a 530-N block. Knowing that the
coefficient of static friction is 0.40 at all surfaces of
contact, determine the magnitude of the force P for
which motion of the block is impending
s = tan1 s = tan1 (0.4) = 21.801

slip impends at wedge/block
FBD of block wedge/wedge and block/incline
530
R2
530 41.8 R1 Using sine law,
21.8 R1 91.8 46.4 (R2/Sin 41.8) = (530/sin 46.4)
20 21.8 R2
R2 = 487.84 N
P = 440.6 N

Beer/Johnston
A 6 steel wedge is driven into the end of an ax handle

to lock the handle to the ax head. The coefficient of
static friction between the wedge and the handle is
0.35. Knowing that a force P of magnitude 60 N was
required to insert the wedge to the equilibrium position
shown, determine the magnitude of the forces exerted
on the handle by the wedge after force P is removed.
P = 60 N s = tan 1 s= tan 1 (0.35 ) = 19.29
By symmetry R1= R2; in EQUILIBRIUM

3 3
6
19.29
R2 R1 19.29 Fy = 0: 2R1 sin 22.29 60 N =0
R1 = R2 = 79.094 N
R. Ganesh
WHAT WILL HAPPEN IFNarayanan
P IS REMOVED ? 145
Vertical component of R1, R2 will be eliminated
Hence, H1 = H2 = 79.094 N cos22.29 = 73.184 N
Final force = 73.184 N
Since included angle is 3(< s) from the normal, the

wedge is self-locking and will remain in place.
R. Ganesh Narayanan
No motion 146
Screws
Used for fastening, transmitting power or motion, lifting body
Square threaded jack - screw jack V-thread is also

possible
W- AXIAL LOAD
Upward
motion
M APPLIED MOMENT ABOUT AXIS OF SCREW
M M=PXr
L LEAD DISTANCE Advancement per revolution
HELIX ANGLE

To raise load One full thread
of screw R
w +
W
M
P
P = M/r L F tan (+) = P/W = M/rW

R
=> M = rW tan (+)
2r = tan-1 (L/2r)
angle of friction
To lower load unwinding condition
W
Screw will remain in place
< self locking
P = M/r
Moment required to
lower the screw => M = rW tan (-)

R
= In verge of un-winding
W > Screw will unwind itself
R
Moment required to
prevent unwinding => M = rW tan (-)

P = M/r


Beer/Johnston A clamp is used to hold two pieces of wood together
as shown. The clamp has a double square thread of
mean diameter equal to 10 mm with a pitch of 2 mm.
The coefficient of friction between threads is s =
0.30.
If a maximum torque of 40 Nm is applied in
tightening the clamp, determine (a) the force exerted
on the pieces of wood, and (b) the torque required to
loosen the clamp.
Lead distance = 2 x pitch = 2 x 2 = 4 mm (double square thread)
r = 5 mm
L 2 (2 mm )
tan = = = 0 .1273 = 7 .3
2 r 10 mm
tan s = s = 0 .30 s = 16 .7
a) Forces exerted on the wooded pieces
M/r tan (+) = W

W = 40 / (0.005) tan (24) = 17.96 kN
b) the torque required to loosen the clamp
M = rW tan (-) = 0.005 (17.96) tan (9.4)

M = 14.87 Nm

Beer/Johnston
The position of the automobile jack shown is
controlled by a screw ABC that is single-
threaded at each end (right-handed thread at A,
left-handed thread at C). Each thread has a pitch
of 2 mm and a mean diameter of 7.5 mm. If the
coefficient of static friction is 0.15, determine the
magnitude of the couple M that must be applied
to raise the automobile.
FBD joint D:
By symmetry:
Fy = 0 => 2FADsin254 kN=0

4 kN
FAD = FCD = 4.73 kN
25 D 25
FAD FCD
FBD joint A:
4.73 kN
Fx = 0 => FAC2(4.73) cos25=0
25
A FAC FAC = 8.57 kN
25
FAE = 4.73
Joint A
W = FAC = 8.57
Here is used instead of used earlier
P = M/r L = Pitch = 2 mm
R

(7.5)
MA = rW tan (+) = (7.5/2) (8.57) tan (13.38) = 7.63 Nm
Similarly, at C, Mc = 7.63 Nm (by symmetry); Total moment = 7.63 (2) = 15.27 Nm

Journal & Thrust bearing
Journal bearings provide lateral support to rotating shafts

Thrust bearings provide axial support
bearing bearing
shaft shaft
Journal bearing - Axle friction Thrust bearing - Disc friction

Friction in full circular area Friction between two
- DISK FRICTION (Eg., Disc clutch) ring shaped areas
Consider Hollow shaft (R1, R2)

M Moment required for shaft
rotation at constant speed
P axial force which maintains
shaft in contact with bearing
Couple moment required to overcome friction
resistance, M
Equilibrium conditions and moment equations are

necessary to solve problems
Beer/Johnston
A .178 m-diameter buffer weighs 10.1 N. The
coefficient of kinetic friction between the buffing pad
and the surface being polished is 0.60. Assuming
that the normal force per unit area between the pad
and the surface is uniformly distributed, determine
the magnitude Q of the horizontal forces required to
prevent motion of the buffer.
Mo = 0 => (0.2) Q M = 0; Q = M / 0.2

M
O
M = 2/3 (0.6) (10.1) (0.178/2) = 0.36 Nm
Q = M / 0.2 = 0.36/0.2 = 1.8 N 0.2 m

Q -Q
Belt friction
Consider flat belt, cylindrical
drum Draw free-body diagram for PP element of belt

x
F = 0 : (T + T ) cos T cos s N = 0
2 2

y
F = 0 : N (T + T ) sin T sin =0
2 2
dT / T = S d
T2
angle of
dT / T = S d contact
T1 0
ln (T2/T1) = S ; T2/T1 = e S
ln (T2/T1) = S ; T2/T1 = e S
Applicable to belts passing over fixed drums; ropes wrapped around a post; belt
drives
T2 > T1
This formula can be used only if belt, rope are about to slip;
Angle of contact is radians; rope is wrapped n times - 2n rad
In belt drives, pulley with lesser value slips first, with S remaining same
V- Belt
T2/T1 = e S /sin (/2)


Beer/Johnston
A flat belt connects pulley A to pulley B. The
coefficients of friction are s = 0.25 and k = 0.20
between both pulleys and the belt.
Knowing that the maximum allowable tension in the
belt is 600 N, determine the largest torque which can
be exerted by the belt on pulley A.
Since angle of contact is smaller, slippage will occur on pulley B first. Determine
belt tensions based on pulley B; = 120 deg = 2/3 rad
= e 0 . 25 (2 3 ) = 1 . 688
T2 600 N
= e s

T1 T1
600 N
T1 = = 355 . 4 N
1.688 R. Ganesh Narayanan 160
M A = 0: M A + (8 c m )(355 .4 N 600 N ) = 0
M A = 1956 .8 N c m
Check for belt not sliping at pulley A:
ln (600/355.4) = x 4/3 => = 0.125 < 0.25

Beer/Johnston
A 120-kg block is supported by a rope which is

wrapped 1.5 - times around a horizontal rod. Knowing
that the coefficient of static friction between the rope
and the rod is 0.15, determine the range of values of P
for which equilibrium is maintained.
= 1.5 turns = 3 rad For impending motion of W up
P = W e s = (1177.2 N) e (0.15)3
= 4839.7 N
For impending motion of W down

P P = W es = (1177.2 N) e(0.15)3
W = 9.81 X 120 = = 286.3 N
1177.2 N
R. Ganesh286
For equilibrium: Narayanan
N P 4.84 kN 162
Beer/Johnston
In the pivoted motor mount shown, the weight W of the
175-N motor is used to maintain tension in the drive
belt. Knowing that the coefficient of static friction
between the flat belt and drums A and B is 0.40, and
neglecting the weight of platform CD, determine the
largest couple which can be transmitted to drum B when
the drive drum A is rotating clockwise.
For impending belt slip: CW rotation = radians
Obtain FBD of motor and mount; MD = 0 => find T1 and T2

T1 = 54.5 N, T2 = 191.5 N
Obtain FBD of drum at B; MB in CCW; MB = 0; Find MB
MB=10.27 N.m
Virtual work
We have analyzed equilibrium of a body by isolating it with a FBD

and equilibrium equations
Class of problems where interconnected members move relative to
each other; equilibrium equations are not the direct and
conventional method
Concept of work done by force is more direct => Method of virtual
work

Work of a force Work done U by the force F on the body during
displacement is the compt. Of force in the
displacement direction times the displacement
F
A A
S
U = +(F cos ) S (+ ve)
F
A A
S
U = +F (cos S)
Work is a scalar quantity as we get same result regardless

of direction in which we resolve vectors
F
A A
U = -(F cos ) S
S
R. Ganesh
U = 0 if S = 0 andNarayanan
= 90 deg 165
Work done by force F during
F A
A2 displacement dr is given by, dU = F.dr
A
A1 dr dU = (Fx i + Fy j + Fz k).(dx i + dy j + dz k)
= Fx dx + Fy dy + Fz dz
U = F.dr = Fx dx + Fy dy + Fz dz
We should know relation between the force and their coordinates
dU = M d
Work of a couple M
-F U = M d
Moment can be taken
instead of forces
F

Forces which do no work
ds = 0; cos = 0
reaction at a frictionless pin due to rotation of a body around the
pin
reaction at a frictionless surface due to motion of a body along the
surface
weight of a body with cg moving horizontally
friction force on a wheel moving without slipping
Only work done by applied forces, loads, friction forces need to

be considered

Sum of work done by several forces may be zero
bodies connected by a frictionless pin
=> W.D by F and F is opposite and will cancel
bodies connected by an inextensible cord
internal forces holding together particles of a rigid
body
Rigid body
A, B particles
F, -F are acting as shown
Though dr, dr are different, components of these
displacements along AB must be equal, otherwise
distance between the particles will change and this is
not a rigid body; so U done by F and F cancel each
other, i.e, U of internal forces = 0R. Ganesh Narayanan 168
Principle of virtual work
Imagine the small virtual displacement of particle which is
acted upon by several forces F1, F2, .. Fn
Imagine the small displacement A to A
This is possible displacement, but will not occur
AA ---- VIRTUAL DISPLACEMENT, r (not dr)
Work done by these forces F1, F2, .Fn during virtual
displacement r is called VIRTUAL WORK, U
U = F1. r + F2. r + ..+ Fn. r = R . r
Total virtual work of the Virtual work of

forces R. Ganesh Narayanan the resultant 169
Principle of virtual work for particle
Principle of virtual work for rigid body
Principle of virtual work for system of interconnected rigid bodies
Work of internal forces

R. Ganeshis zero (proved earlier)
Narayanan 170
Applications of Principle of virtual work
Mainly applicable to the solutions of problems involving machines or mechanisms
consisting of several interconnected rigid bodies
TOGGLE VISE
Wish to determine the force of the vice on the block for a given force
P assuming no friction
Virtual displacement is given; This results in xB and yc.
Here no work is done byR.Ax, AyNarayanan
Ganesh at A and N at B 171
UQ = -Q xB ; UP = -P yc
Output work = Input work
In this problem, we have eliminated all un-known reactions, while

MA = 0 would have eliminated only TWO unknowns
The same problem can be used to find for which the

linkage is in equilibrium under two forces P and Q
Real machines
For an ideal machine without friction, the output work is equal to the input
work; 2Ql cos = Pl sin
In real machine, output work < input work => because of presence of
friction forces
U = Q x B PyC Fx B = 0
Output work = Input work
friction force work 0 = 2 Ql cos + Pl sin Pl cos
Q = 1
2
P (tan )
Q = 0 if tan = => = , angle of friction
Mechanical efficiency
Mechanical efficiency of m/c, = Output work / Input work

For toggle vise, = 2Ql cos / Pl sin
Substituting Q = P (tan ) here
= 1 cot
In the absence of friction forces, = 0 and hence = 1 => Ideal m/c
For real m/c, < 1

Beer/Johnston
Determine the magnitude of the couple M
required to maintain the equilibrium of the
mechanism.
Virtual displacement = , xD, Work done by Ex,
Ey, A is zero
By virtual work principle,

U = UM + Up = 0
M + P xD = 0
xD = -3l sin can be obtained from
geometry
M = 3Pl sin

Beer/Johnston
A hydraulic lift table consisting of two identical
linkages and hydraulic cylinders is used to raise a
1000-kg crate. Members EDB and CG are each
of length 2a and member AD is pinned to the
midpoint of EDB.
Determine the force exerted by each cylinder in
raising the crate for = 60o, a = 0.70 m, and L =
3.20 m.
Work done is zero for Ex, Ey, Fcg;R.Work

Ganeshdone by W, FDH will be considered
Narayanan 176
1)
---- (1)
W, y are in opposite FDH, s are in same direction,

direction, (-)sign will come (+) sign will come
2) Express y, s in terms of
y = 2a cos ; s = (aL sin/s)
Substituting y & s in (1) gives,
-(1/2) W (2a cos ) + (FDH) (aL sin/s) = 0
FDH = W (s/L) cot
3) Apply numerical data
FDH = (1000 X 9.81) (2.91/3.2) cot R.

60Ganesh
= 5.15 kN
Narayanan 177
S is obtained from this triangle
Beer/Johnston
The mechanism shown is acted upon by the force P.

Derive an expression for the magnitude of the force Q
required for equilibrium.
W.D. by Ay, Bx, By will be zero
U = 0 => +Q (XA) - P (YF)

Ay By
Find XA and YF in terms of XA XA

Q Bx
(Check calculation of XA and YF)
U = Q(2l cos ) - P(3l sin ) = 0

YF
Yf
x
R. Ganesh Narayanan y P 178

Work of force using finite displacement
Work of force F corresponding to infinitesimal displacement,
dr = dU = F. dr
Work of F corresponding to a finite displacement of particle
from A1 to A2 and covering distances S1, S2,
A2 S2
U1-2 = F . dr or U1-2 = (F cos) ds = F (S2-S1)
A1 S1
S1, S2 distance along the path traveled by the particle

Area under curve = U1-2
Similarly, work of a couple of moment M, dU = M d
2
U1-2 = M d = M (2-1)
1

Work of a weight Work of a spring
F=kx
k spring
constant, N/m
dU = Wdy
y2
U 1 2 = Wdy dU = Fdx = (kx )dx
y1 x2
= Wy 1 Wy 2 U 1 2 = kx dx
x1
= W y U 1 2 = 12 ( F1 + F2 ) x
Work is equal to product of W and = 12 kx 12 12 kx 22
vertical displacement of CG of body;
Body moves upwards; Body moving +ve work done is expected if x2 < x1, i.e.,
downwards will have +ve work done when spring is returning to its un-deformed
position
Potential Energy
Work of a weight: U 1 2 = Wy 1 Wy 2
The work is independent of path and depends only on

positions (A1, A2) or Wy
Wy = V g = potential energy of the body with r

respect to the force of gravity W
( ) ( )
U 1 2 = V g V g
1 2
Vg1 < Vg2 => PE is increasing with displacement in this

case, work done is negative
Work is positive, if PE decreases
Unit of PE Joule (J)

Work of a spring
U 1 2 = 1 kx 2 12 kx 22
2 1
= (V e )1 (V e )2
V e = potential energy of the body with
r
respect to the elastic force F
Here PE increases, work done is (-ve)
Now in general, it is possible to find a function V, called potential energy, such

that, dU = -dV
U1-2 = V1 V2 => A force which satisfies this eqn. is conservative force

Work is independent of path & negative of change in PE for the
cases seen

Potential energy & equilibrium
(V/) = 0
Considering virtual displacement, U = -V = 0
=> (dV / d) = 0 => position of the variable defined by single independent
1variable,
In terms of potential energy, the virtual work principle states that if a system is in
equilibrium, the derivative of its total potential energy is zero
2 For equilibrium, U = (Ve + Vg)

Example:
Initial spring length = AD

Work is done only by W, F

Total potential energy of the system, V = Vg + Ve
For W For F
dv/d = 4kl2sin cos Wl sin = 0
= 0 and = cos-1 (W/4kl)

4bsin/2
Two uniform links of mass, m are connected as
Vg = 0
shown. As the angle increases with P applied in O P
C
the direction shown, the light rod connected at A, b b
passes thro pivoted collar B, compresses the B
A
spring (k). If the uncompressed position of the
k b
spring is at = 0, find the force which will b
produce equilibrium at the angle
Compression distance of spring, x = movement of A away from B; X = 2b sin /2
Ve = k x2; Vg = mgh
U = (Ve + Vg)
U = P (4b sin /2)
Find Ve, Ve; Vg, Vg; U (of P)
2Pb cos /2 = 2kb2sin /2 cos /2 + mgb sin /2

P = kb sin /2 + mg tan /2
Meriam/Kraige, 7/39 Vg = 0
For the device shown the spring would be un-stretched
in the position =0. Specify the stiffness k of the spring k
b b
which will establish an equilibrium position in the
vertical plane. The mass of links are negligible. y
b
Spring stretch distance, x = 2b-2b cos

Ve = k [(2b)(1-cos )]2 = 2kb2 (1-cos )2
Vg = -mgy = -mg (2bsin) = -2mgbsin
V = 2kb2 (1-cos )2 - 2mgbsin
For equilibrium, dv / d = 4kb2(1-cos ) sin - 2mgb cos = 0
=> K = (mg/2b) (cot /1-cos )

Stability of equilibrium (one DOF )
dV
=0
d
dV
=0
d
AB AB
Must examine higher

d2V / d2 > 0 d2V / d2 < 0 order derivatives and are
R. Ganesh Narayanan zero 187
Beer/Johnston
Knowing that the spring BC is un-stretched when = 0,
determine the position or positions of equilibrium and state
whether the equilibrium is stable, unstable, or neutral.
V = Ve + V g
= 1
2
ks 2 + mgy
= 1
2
k (a )2 + mg (b cos )
dV
= 0 = ka 2 mgb sin
d
sin =
ka 2
=
(4 kN m )(0 .08 m )2

mgb ( )
(10 kg ) 9 .81 m s (0 .3m )
2
= 0 .8699
= 0 R. Ganesh
=Narayanan
0 .902 rad = 51 .7 188
d 2V
= ka 2 mgb cos
d 2
( )
= (4 kN m )(0.08 m )2 (10 kg ) 9.81 m s 2 (0.3m )cos
= 25 .6 29 .43 cos
2
d V
at = 0:
2
= 3.83 < 0 unstable
d
at = 51.7o: d 2V stable
2
= + 7 .36 > 0
d

Beer/Johnston (10.81)
Spring AB of constant 2 kN/m is attached to two
identical drums as shown.
Knowing that the spring is un-stretched when =
0, determine (a) the range of values of the mass
m of the block for which a position of equilibrium
exists, (b) the range of values of for which the
equilibrium is stable.
A
B
A
B

(Sin varies from 0 to 1)
(Cos varies from 1 to 0)

Moments of inertia : The moment of inertia of an object about a given axis
describes how difficult it is to change its angular motion about that axis.
Centroid of volume:
XV = ( xc dv) YV = ( yc dv) ZV = ( zc dv)
First moment of volume

w.r.t. yz plane
Centroid of area:
XA = ( xc dA) YA = ( yc dA) ZA = ( zc dA)
Centroid of
volume
xc dv = 0
Symmetry plane
Consider a beam subjected to pure bending.
Internal forces vary linearly with distance from
the neutral axis which passes through the section
centroid.
X-axis => neutral axis => centroid of section
passes
F = k y A vary linearly with distance y
r
F = ky A
R = k y dA = 0 y dA = Q x = first moment
MX = y F = k y2 A; M = k y 2 dA 2
dA = second moment
y
Moment of inertia of beam

section w.r.t x-axis, IX (+VE)193
R. Ganesh Narayanan
Rectangular moment of inertia
Second moments or moments of inertia of an area with

respect to the x and y axes,
I x = y 2dA I y = x2dA
For a rectangular area,

h
I x = y 2 dA = y 2bdy = 13 bh3
0
b
IY = x2 dA = x2 h dx = 1/3 b3h
0

Polar moment of inertia
The polar moment of inertia is an important parameter in problems involving

torsion of cylindrical shafts and rotations of slabs.
J 0 = r 2 dA
The polar moment of inertia is related to the rectangular moments of

inertia,
J 0 = r 2 dA = ( x 2 + y 2 )dA = x 2 dA + y 2 dA
= Iy + Ix

Radius of gyration
Consider area A with moment of inertia Ix. Imagine that
the area is concentrated in a thin strip parallel to the x axis
with equivalent Ix.
Ix
Ix = k x2 A kx =
A
kx = radius of gyration with respect to the x axis
Iy
Iy = k y2 A ky =
A
JO
J O = k O2 A kO =
A
k O2 = k x2 + k y2
Determination of MI by area of integration
Determine the moment of inertia of a
Beer/Johnston
triangle with respect to its base.
dA = l dy
For similar triangles,
l h y h y h y
= l=b dA = b dy
b h h h
( )dy
h h
2 2 h y b 2 3
Ix = y dA = y b dy = hy y
0 h h 0
h
b y 3
y 4
= h bh 3
h 3 4 0 I x=
12

y Y
MI of rectangular area:
h dA = bdy
Ix = y2 dA = y2 bdy = 1/3 bh3; Iy = 1/3 hb3
0 h dy
X
About centroidal axis (X, Y): Ix = 1/12 bh3; Iy = 1/12 b3h y
b
x
MI - Ix and Iy for elemental strip:
y
dx
dIx = 1/3 dx (y3) = 1/3 y3 dx
X dIy = x2dA = x2y dx or 1/3 x3dy
Y dy
x
dA = Ydx From this, MI of whole area can be
calculated by integration
Beer/Johnston (9.1) y
Find MI w.r.t Y axis

a
b
y = k x5/2

Triangle: bh3/12 (about base)
Circular area: /4 r4 (about dia)
Rectangular area: bh3/3 (about base)

Parallel axis theorem
Consider moment of inertia I of an area A with respect

to the axis AA
dA
2 y
I = y dA B C B
y
d
The axis BB passes through the area centroid and
is called a centroidal axis.
A A
I = y 2 dA = ( y + d )2
dA C Centroid
BB Centroidal axis
= y 2 dA + 2 d y dA + d 2 dA
MI of area with First moment of
centroidal axis area Jo = Jc + Ad2
0
I = I + Ad R.2 Ganesh Narayanan

Parallel axis theorem 201
Moments of Inertia of Composite Areas
The moment of inertia of a composite area A about a given axis is

obtained by adding the moments of inertia of the component areas A1,
A2, A3, ... , with respect to the same axis.
y
It should be noted that the radius of gyration of a composite area is not

equal to sum of radii of gyration of the component areas

MI of some common geometric shapes

Application 1:
Moment of inertia IT of a circular area with respect to a
tangent to the circle T,
I T = I + Ad 2
= 1
4
r4 + r2 r2( )
= 5
4
r4
Application 2: Moment of inertia of a triangle with respect to a

centroidal axis,
2
I A A = I B B + Ad
I B B = I A A Ad 2
= 1
12
bh 3
1
2
bh ( h)
1
3
2
= 1
36
bh 3
IDD = IBB + adR.2Ganesh

= 1/36 bh3 + 1/2bh (2/3h)2 = bh3
Narayanan 204
shames Find the centroid of the area of the un-equal Z section. Find the
moment of inertia of area about the centroidal axes
1 1
Ai xi yi Aixi Aiyi
1 2x1=2 1 7.5 2 15
2 Xc, Yc
2 8x1=8 2.5 4 20 32 6
3 4x1=4 5 0.5 20 2
Ai = 14 Aixi = 42 Aiyi = 49 3 1
2 1 x
4
Xc = 42/14 = 3 in.; Yc = 49/14 = 3.5in
Ixcxc = [(1/12)(2)(13)+(2)(42)] + [(1/12)(1)(83)+(8)(1/2)2] +

[(1/12)(4)(13)+(4)(32)] = 113.16 in4
Similarly, Iycyc = 32.67 in4
Beer/Johnston:
Determine the moment of inertia of the shaded area

with respect to the x axis.
Rectangle:
3
I x = 13 bh3 = 13 (240)(120) = 138.2 106 mm4
Half-circle:
moment of inertia with respect to AA,
I AA = 18r4 = 18 (90)4 = 25.76106 mm4

moment of inertia with respect to x,
I x = I A A Aa 2
(
==25.76x10
25 . 76 6 10 6
)( )
10 3 2
12 . 723)(38.2)
(12.72x10
= 7 . 20 10 6 mm 4
4 r (4 )(90 )
a= = = 38 .2 mm moment of inertia with respect to x,
3 3
b = 120 - a = 81.8 mm ( )
I x = I x + Ab 2 = 7 .20 10 6 + 12 .72 10 3 (81 .8 )2
A = 12 r 2 = 12 (90 )2 = 92 .3 10 6 mm 4
= 12 .72 10 3 mm 2
Ix = 138 .2 10 6 mm 4 92 .3 10 6 mm 4
R. Ganesh Narayanan I x = 45 .9 10 6 mm207
4
Product of inertia, Ixy
I xy = xy dA
[Similar to Ixx (or Ix), Iyy (or Iy)]
When the x axis, the y axis, or both are an axis of symmetry,

the product of inertia is zero.
The contributions to Ixy of dA and dA will cancel out
Parallel axis theorem for products of inertia:
Centroid C is defined by x, y
I xy = I xy + x y A
Moment of inertia, Product of inertia about rotated axes
x, y rotated to x, y
Given I x = y 2 dA I y = x 2 dA
I xy = xy dA
we wish to determine moments and product of

inertia with respect to new axes x and y
The change of axes yields
Ix + Iy Ix Iy
I x = + cos 2 I xy sin 2
2 2
Ix+Iy = Ix+Iy
Ix + Iy Ix Iy
I y = cos 2 + I xy sin 2
2 2
Ix Iy
I x y = sin 2 + I R. cos 2Narayanan
xy Ganesh 209
2
Imin y
Principal axes & Principal MI Imax

a x
Assume Ixx, Iyy, Ixy are known for the reference axes x, y
At what angle of , we have maximum and minimum I
Minimum angle will be at right angles to maximum angle
These axes are called Principal axes & MI are Principal MI
Imax, min = (Ix+Iy/2) (Ix-Iy/2)2 + Ixy2
tan 2 = 2Ixy / (Iy-Ix)

For the section shown, the moments of inertia with
respect to the x and y axes are Ix = 10.38 cm4 and Iy =
6.97 cm4.
Determine (a) the orientation of the principal axes of the
section about O, and (b) the values of the principal
moments of inertia about O.
Apply the parallel axis theorem to each rectangle,

I xy = (I x y + x y A )
Note that the product of inertia with respect to centroidal axes parallel to the xy
axes is zero for each rectangle.
Rectangle Area, cm 2 x , cm y , cm x y A, cm 4
I 1 .5 1 .25 + 1 .75 3 .28
II 1 .5 0 0 0
III 1 .5 + 1 .25 1 .75 3 .28
x y A = 6 .56
2 I xy 2( 6.56 )
tan 2 m = = = +3.85
Ix Iy 10 .38 6.97
2 m = 75 .4 and 255.4
m = 37.7 and m = 127.7
2
Ix + Iy Ix I y
I max, min = + I xy
2
2 2
2
10 .38 + 6 .97 10 .38 6 .97
+ ( 6 .56 )
2
=
2 2
I a = I max = 15 .45 cm 4
I b = I min = 1 .897 cm 4

Lecture Mechanics

Încărcat de

Informații document

Drepturi de autor

Formate disponibile

Partajați acest document

Partajați sau inserați document

Opțiuni de partajare

Vi se pare util acest document?

Este necorespunzător acest conținut?

Drepturi de autor:

Formate disponibile

Lecture Mechanics

Încărcat de

Drepturi de autor:

Formate disponibile

Scalar quantity: Only magnitude; time, volume, speed,

Cross product of vectors: A x B = C; ICI = IAI IBI Sin ; AxB = -(BxA)

Force, Direction of motion

Force Body does

Magnitude, direction and point of application

External effect: Forces applied (applied force); Forces exerted by

Internal effect: Deformation, strain pattern permanent strain;

Magnitude, direction and line of action is important; not

Moment about a point: M = Fd

moment arm d i.e, perpendicular

Calculate the magnitude of the moment 40 deg

about O of the force 600 N 4 r 600N

= -771.34-1839 = 2609.85 Nm (CW);

Changing the F and d values does not change a given couple

All four are equivalent couples

Mo = 80 (9 sin 60) = 624 N m; CCW

To describe the resultant action of a group or system of forces

Summarize the above process: R = F

First two equations: reduce the system of forces to a force-couple

=> VARIGNONS THEOREM IS EXTENDED HERE FOR NON-

STATICS MID SEMESTER DYNAMICS

Tutorial: Monday 8 am to 8.55 am

Tutorial Groups Roll Numbers Class Room Tutors

TG1 07010101 07010141 (41 Students) L2 Prof. R. Tiwari

TG2 07010142 07010149 (8 Students) 1G1 Dr. senthilvelan

07010201 07010233 (33 Students)

TG3 07010234 07010249 (16 Students) 1G2 R. Ganesh Narayanan

07010301 07010325 (25 Students)

TG4 07010326 07010353 (28 Students) 1202 Dr. M. Pandey

07010401 07010413 (13 Students)

TG5 07010414 07010449 (36 Students) 1205 Dr. Saravana Kumar

07010601 07010605 (5 Students)

LECTURE CLASSES: LT2 (one will be optional):

l, m, n are directional cosines of F

Evaluating the cross product

Mx = ryFz rzFy; My = rzFx rxFz; Mz = rxFy ryFx

Moment about any arbitrary axis :

Scalar triple product

r = OA = 10 cos 60 i + 10 sin 60 j = 5 i + 8.6 j

Mo = r x F = 5014 k ; Mag = 5014 Nm

2 M = 400 (0.04) cos 60

=> = 51.3 deg

Rx = 40+80cos30-60cos45 = 66.9 N R = 148.3N

M = Mx2 + My2 + Mz2; R = Fx2 + Fy2 + Fz2

Equilibrium equns. Can be

These equations can be used to solve unknown forces,

Body is statically indeterminate: more unknown reactions than

95 kg/meter => 95(10-3)(5)(9.81) = 4.66kN

MA = (T cos 25) (0.25) + (T sin 25) (5-0.12)

Fx = Ax 19.6 cos 25 = 0 25 deg

A = Ax2 + Ay2 = 18.88kN

Find reactions at A, B if (a) a = 100 mm; (b) A

Fx = Ex + 150 (4.5/7.5) = 0 => Ex = - 90 kN (sign change) 4.5

Bring pen, pencil, tagged A4 sheets, calculator, text books

QUIZ 1 FEB, 11TH, 2008

3D equilibrium equns. can be written in scalar and vector form

F = 0 => Only if the coefficients of i, j, k are zero; FX = 0

MA = 0 => rAB x (Bx+By) + rAG x W = 0 By 3.5

(-2i-6j+3k) x (Bx i + By j) + (-i-3j+1.5k) x (-1962k) = 0 G

F = 0 => (654-Ax) i + (1962-Ay) j + (-1962+Az)k = 0 Ax Az

Find forces at A, B, D. Pin connection at C; E has welded connection

Mc = 0 => (Dy) (15) 200 (15) (15/2)

MB = 0 => -Ay (13) +(3000) (21) 200

Roof trussR. Ganesh Narayanan 61