KSE Statics

Engineering Mechanics: Statics
1
Outline
1. Introduction
2. Vector Operation
3. Equilibrium of a Particle
4. Equilibrium of Rigid Bodies
5. Trusses, Frames & Machines
6. Shear & Bending Moment Diagrams
7. Center of Gravity and Centroid
8. Moment of Inertia 2
1. Introduction
 Mechanics can be divided into 3

branches:
- Rigid-body Mechanics
- Deformable-body Mechanics
- Fluid Mechanics
 Rigid-body Mechanics deals with
- Statics
- Dynamics
3
1. Introduction
 Statics – Equilibrium of bodies

 At rest or move with constant velocity
 Dynamics – Accelerated motion of
bodies
4
1. Introduction
Basic Quantities
 Length
– Locate position and describe size of physical
system
– Define distance and geometric properties of a
body
 Mass
– Comparison of action of one body against
another
– Measure of resistance of matter to a change in
velocity
5
1. Introduction
Basic Quantities
 Time
– Conceive as succession of events
 Force
– “push” or “pull” exerted by one body on
another
6
1. Introduction
Newton’s Three Laws of Motion

 First Law
“A particle originally at rest, or moving in a
straight line with constant velocity, will
remain in this state provided that the particle
is not subjected to an unbalanced
force”
7
1. Introduction

 Second Law
“A particle acted upon by an unbalanced
force F experiences an acceleration a that
has the same direction as the force and a
magnitude that is directly proportional to the
force”
F  ma
8
1. Introduction

 Third Law
“The mutual forces of action and reaction
between two particles are equal and,
opposite and collinear”
9
1. Introduction
Name Length Time Mass Force
Internationa Meter Second Kilogram Newton

l Systems of (m) (s) (kg) (N)
Units (SI)
 kg .m 
 2 
 s 
10
1. Introduction
Exponential Prefix SI Symbol
Form
Multiple
1 000 000 000 109 Giga G
1 000 000 106 Mega M
1 000 103 Kilo k
Sub-Multiple
0.001 10-3 Milli m
0.000 001 10-6 Micro μ
0.000 000 001 10-9 nano n
11
1. Introduction
Example 1
Evaluate each of the following and express with
SI units having an approximate prefix:
45 MN3/900 Gg
Solution
First convert to base units, perform indicated
operations and choose an appropriate prefix
12
1. Introduction
45MN 3 / 900Gg


45 10 N6

3
 
900 10 6 kg
 0.0510 N / kg
12 3
 0.0510 N 
 1kN  1

12 3
 10 N  kg
3
 0.0510 kN / kg
3 3
 50kN 3 / kg
13
2. Vector Operation
 Scalars and Vectors

 Vector Operations
 Vector Addition of Forces
 Addition of a System of Coplanar
Forces
 Cartesian Vectors
14
2. Vector Operation
 Addition and Subtraction of

Cartesian Vectors
 Position Vectors
 Force Vector Directed along a Line
 Dot Product
15
2. Vector Operation
 Scalar
– A quantity characterized by a positive or
negative number
– Indicated by letters in italic such as A
Eg: Mass, volume and length
16
2. Vector Operation
 Vector
– A quantity that has both magnitude and
direction
Eg: Position, force and moment
– Represent
 by a letter with an arrow over it
such as A or A
17
2. Vector Operation
 Vector
– Represented graphically as an arrow
– Length of arrow = Magnitude of
Vector
– Angle between the reference axis
and arrow’s line of action = Direction of
Vector
– Arrowhead = Sense of Vector
18
2. Vector Operation
 Multiplication
and Division of a
Vector by a Scalar
- Negative of a vector is found by multiplying
the vector by ( -1 )
- Law of multiplication applies
Eg: A/a = ( 1/a ) A, a≠0
19
2. Vector Operation
 Vector Addition
20
2. Vector Operation
 Vector Subtraction
- Special case of addition
Eg: R’ = A – B = A + ( - B )
- Rules of Vector Addition Applies
21
2. Vector Operation
 Resolution of Vector
- Any vector can be resolved into two
components by the parallelogram law
- The two components A and B are drawn such
that they extend from the tail or R to points of
intersection
22
2.3 Vector Addition of Forces
Procedure for Analysis
 Trigonometry
- Magnitude of the two components can be
determined by the law of sines
2. Vector Operation
Example 2.1
The screw eye is subjected to two forces F1
and F2. Determine the
magnitude and direction
of the resultant force.
24
2. Vector Operation
Solution
Parallelogram Law
Unknown: magnitude of
FR and angle θ
25
2. Vector Operation
Solution
Trigonometry
Law of Cosines
FR  100 N 2  150 N 2  2100 N 150 N cos115
 10000  22500  30000 0.4226 
 212.6 N
 213 N
26
2. Vector Operation
Solution
Trigonometry
Law of Sines
150 N 212.6 N

sin  sin 115
sin  
150 N
0.9063
212.6 N
sin   39.8
27
2. Vector Operation
Solution
Trigonometry
Direction Φ of FR measured from the horizontal
  39.8  15
 

 54.8 

28
2. Vector Operation
For resultant of two or more forces:
 Find the components of the forces in the
specified axes
 Add them algebraically
 Form the resultant
In this subject, we resolve each force into
rectangular forces along the x and y axes.
F  Fx  Fy
29
2. Vector Operation
 Scalar Notation
- x and y axes are designated positive and
negative
- Components of forces expressed as algebraic
scalars
Eg: F  Fx  Fy
Sense of direction
along positive x and
y axes
30
2. Vector Operation
 Cartesian Vector Notation

F = Fxi + Fyj F’ = F’xi + F’y(-j)
F’ = F’xi – F’yj
31
2. Vector Operation
Example 2.2
The link is subjected to two forces F1 and
F2. Determine the magnitude and
orientation of the resultant force.
32
2. Vector Operation
Solution
Scalar Notation
FRx  Fx :
FRx  600 cos 30 N  400 sin 45 N
 236.8 N 
FRy  Fy :
FRy  600 sin 30 N  400 cos 45 N
 582.8 N 
33
2. Vector Operation
Solution
Resultant Force
FR  236.8N 2  582.8N 2
 629 N
From vector addition,
Direction angle θ is
 582.8 N 
  tan 
1

 236.8 N 
 67.9
34
2. Vector Operation
Solution
Cartesian Vector Notation
F1 = { 600cos30°i + 600sin30°j } N
F2 = { -400sin45°i + 400cos45°j } N
Thus,
FR = F1 + F2
= (600cos30°N - 400sin45°N)i +
(600sin30°N + 400cos45°N)j
= {236.8i + 582.8j}N
35
2. Cartesian Vectors
 Rectangular Components of a Vector
- A vector A may have one, two or three
rectangular components along the x, y and z
axes, depending on orientation
- By two successive application of the
parallelogram law
A = A’ + Az
A’ = Ax + Ay
- Combing the equations, A can be
expressed as
A = Ax + Ay + Az
36
 Unit Vector
- Direction of A can be specified using a unit
vector
- Unit vector has a magnitude of 1
- If A is a vector having a magnitude of A ≠ 0,
unit vector having the same direction as A is
expressed by
uA = A / A
So that
A = A uA
37
 Unit Vector
- Since A is of a certain type, like force
vector, a proper set of units are used for the
description
- Magnitude A has the same sets of units,
hence unit vector is dimensionless
- A ( a positive scalar)
defines magnitude of A
- uA defines the direction
and sense of A
38
 Cartesian Unit Vectors

- Cartesian unit vectors, i, j and k are used
to designate the directions of z, y and z axes
- Sense (or arrowhead) of these
vectors are described by a plus
or minus sign (depending on
pointing towards the positive
or negative axes)
39
 Cartesian Vector Representations

- Three components of A act in the positive i,
j and k directions
A = Axi + Ayj + AZk
*Note the magnitude and

direction of each components
are separated, easing vector
algebraic operations.
40
 Magnitude of a Cartesian Vector

- From the colored triangle,
A  A'2  Az2
- From the shaded triangle,
A'  Ax2  Ay2
- Combining the equations gives
magnitude of A
A  Ax2  Ay2  Az2
41
 Direction of a Cartesian Vector
- Orientation of A is defined as the
coordinate direction angles α, β and γ
measured between the tail of A and the
positive x, y and z axes
- 0° ≤ α, β and γ ≤ 180 °
42

- For angles α, β and γ (blue colored
triangles), we calculate the direction
cosines of A
Ax
cos  
A
43

cosines of A
Ay
cos  
A
44

cosines of A
Az
cos  
A
45
- Angles α, β and γ can be determined by the
inverse cosines
- Given
A = Axi + Ayj + AZk
- then,
uA = A /A
= (Ax/A)i + (Ay/A)j + (AZ/A)k
where A  Ax2  Ay2  Az2

46
- uA can also be expressed as
uA = cosαi + cosβj + cosγk
- Since A  Ax2  Ay2  Az2 and magnitude of uA
= 1,
cos 2   cos 2   cos 2   1
- A as expressed in Cartesian vector form
A = AuA
= Acosαi + Acosβj + Acosγk
= Axi + Ayj + AZk 47
2.6 Addition and Subtraction
of Cartesian Vectors
Example
Given: A = Axi + Ayj + AZk
and B = Bxi + Byj + BZk
Vector Addition
Resultant R = A + B
= (Ax + Bx)i + (Ay + By )j + (AZ + BZ) k
Vector Substraction
Resultant R = A - B
= (Ax - Bx)i + (Ay - By )j + (AZ - BZ) k
48
2.6 Addition and Subtraction of
Cartesian Vectors
Example 2.9
Determine the magnitude and coordinate
direction angles of resultant force acting on
the ring
49
Solution
Resultant force
FR = ∑F
= F1 + F2
= {60j + 80k}kN
+ {50i - 100j + 100k}kN
= {50i -40j + 180k}kN
Magnitude of FR is found by
FR  502   402  1802
 191.0  191kN 50
Solution
Unit vector acting in the direction of FR
uFR = FR /FR
= (50/191.0)i + (40/191.0)j +
(180/191.0)k
= 0.1617i - 0.2094j + 0.9422k
So that
cosα = 0.2617 α = 74.8°
cos β = -0.2094 β = 102°
cosγ = 0.9422 γ = 19.6°
*Note β > 90° since j component of uFR is negative
51
2.7 Position Vectors
 Position Vector
- Position vector maybe directed from point A to
point B
- Designated by r or rAB
Solving
r = rB – rA = (xB – xA)i + (yB – yA)j + (zB –zA)k
or r = (xB – xA)i + (yB – yA)j + (zB –zA)k
52
Example 2.12
An elastic rubber band is
attached to points A and B.
Determine its length and
its
direction measured from A
towards B.
53
Solution
Position vector
r = [-2m – 1m]i + [2m – 0]j + [3m – (-3m)]k
= {-3i + 2j + 6k}m
Magnitude = length of the rubber band
r  32  22  62  7m
Unit vector in the director of r
u = r /r
= -3/7i + 2/7j + 6/7k
54
Solution
α = cos-1(-3/7) = 115°
β = cos-1(2/7) = 73.4°
γ = cos-1(6/7) = 31.0°
55
2.9 Dot Product
 Dot product of vectors A and B is written
as A·B (Read A dot B)
 Define the magnitudes of A and B and the
angle between their tails
A·B = AB cosθ where 0°≤ θ ≤180°
 Referred to as scalar
product of vectors as
result is a scalar
56
2.9 Dot Product
 Laws of Operation
1. Commutative law
A·B = B·A
2. Multiplication by a scalar
a(A·B) = (aA)·B = A·(aB) = (A·B)a
3. Distribution law
A·(B + D) = (A·B) + (A·D)
57
2.9 Dot Product
 Cartesian Vector Formulation

- Dot product of Cartesian unit vectors
Eg: i·i = (1)(1)cos0° = 1 and
i·j = (1)(1)cos90° = 0
- Similarly
i·i = 1 j·j = 1 k·k = 1
i·j = 0 i·k = 0 j·k = 0
58
2.9 Dot Product
 Applications
- The angle formed between two vectors or
intersecting lines
θ = cos-1 [(A·B)/(AB)] 0°≤ θ ≤180°
Note: if A·B = 0, cos-10= 90°, A is
perpendicular to B
59
2.9 Dot Product
 Applications
- The components of a vector parallel and
perpendicular to a line
- Component of A parallel or collinear with line aa’ is
defined by A║ (projection of A onto the line)
A║ = A cos θ
- If direction of line is specified by unit vector u (u =
1),
A║ = A cos θ = A·u
60
3. Particle Equilibrium
 Condition for the Equilibrium of a

Particle
 The Free-Body Diagram
 Coplanar Systems
 Three-Dimensional Force Systems
61
3.1 Condition for the
Equilibrium of a Particle
 Particle at equilibrium if
- At rest
- Moving at constant a constant velocity
 Newton’s first law of motion
∑F = 0
where ∑F is the vector sum of all the
forces acting on the particle
62
3.2 The Free-Body Diagram
 Best representation of all the unknown
forces (∑F) which acts on a body
 A sketch showing the particle “free” from
the surroundings with all the forces acting
on it
 Consider two common connections in this
subject – Spring
– Cables and Pulleys
63
 Spring
- Linear elastic spring: change in length is
directly proportional to the force acting on it
- spring constant or stiffness k:
defines the elasticity of
the spring
- Magnitude of force when spring
is elongated or compressed
F = ks
64
 Cables and Pulley

- Cables (or cords) are assumed to have
negligible weight and they cannot stretch
- A cable only support tension or pulling force
- Tension always acts in the
direction of the cable
- Tension force in a continuous
cable must have a constant
magnitude for equilibrium
65
3.3 Coplanar Systems
 Procedure for Analysis

1. Free-Body Diagram
- Establish the x, y axes in any suitable
orientation
- Label all the unknown and known
forces magnitudes and directions
- Sense of the unknown force can be
assumed
66
2) Equations of Equilibrium
- Given two unknown with a spring, apply
F = ks
to find spring force using deformation of
spring
- If the solution yields a negative result,
the sense of force is the reserve of that
shown in the free-body diagram
67

2) Equations of Equilibrium
- Apply the equations of equilibrium
∑Fx = 0 ∑Fy = 0
- Components are positive if they are
directed along the positive negative axis
and negative, if directed along the
negative axis
68
Example 3.2
Determine the tension in
cables AB and AD for
equilibrium of the 250kg
engine.
69
Solution
FBD at Point A
- Initially, two forces acting, forces
of cables AB and AD
- Engine Weight
= (250kg)(9.81m/s2)
= 2.452kN supported by cable CA
- Finally, three forces acting, forces
TB and TD and engine weight
on cable CA
70
Solution
+→ ∑Fx = 0; TBcos30° - TD = 0
+↑ ∑Fy = 0; TBsin30° - 2.452kN = 0
Solving,
TB = 4.90kN
TD = 4.25kN
*Note: Neglect the weights of the cables since they

are small compared to the weight of the engine
71
3.4 Three-Dimensional
Force Systems
Example 3.5
A 90N load is suspended from the hook. The
load is supported by two cables and a spring
having a stiffness k = 500N/m.
Determine the force in the
cables and the stretch of the
spring for equilibrium. Cable
AD lies in the x-y plane and
cable AC lies in the x-z plane.
72
Force Systems
Solution
FBD at Point A
- Point A chosen as the forces are
concurrent at this point
73
Force Systems
Solution
Equations of Equilibrium,
∑Fx = 0; FDsin30° - (4/5)FC = 0
∑Fy = 0; -FDcos30° + FB = 0
∑Fz = 0; (3/5)FC – 90N = 0
Solving,
FC = 150N
FD = 240N
FB = 208N
74
Force Systems
Solution
For the stretch of the spring,
FB = ksAB
208N = 500N/m(sAB)
sAB = 0.416m
75
4. Force System Resultant
 Moment of a Force – Scalar Formation

 Cross Product
 Moment of Force – Vector Formulation
 Principle of Moments
 Moment of a Force about a Specified Axis
76
4.1 Moment of a Force
– Scalar Formation
In General
 Consider the force F and the point O which lies in
the shaded plane
 The moment MO about point O,
or about an axis passing
through O and perpendicular
to the plane, is a vector quantity
 Moment MO has its specified
magnitude and direction
77
Magnitude
 For magnitude of MO,
MO = Fd
where d = moment arm or perpendicular
distance from the axis at point O to its line
of action of the force
 Units for moment is N.m

78
Direction
 Direction of MO is specified by
using “right hand rule”
- fingers of the right hand are
curled to follow the sense of
rotation when force rotates about
point O
79
Direction
- Thumb points along the
moment axis to give the
direction and sense of the
moment vector
- Moment vector is upwards and
perpendicular to the shaded
plane
80
Direction
MO is shown by a vector arrow
with a curl to distinguish it from
force vector
Example (Fig b)
 MO is represented by the
counterclockwise curl, which
indicates the action of F
81
Example 4.1
For each case, determine the moment of the
force about point O
82
Solution
 Line of action is extended as a dashed line to
establish moment arm d
 Tendency to rotate is indicated and the orbit is
shown as a colored curl
(a) M o  (100 N )( 2m)  200 N .m(CW )
(b) M o  (50 N )(0.75m)  37.5 N .m(CW )
83
Solution
(c) M o  (40 N )( 4m  2 cos 30 m)  229 N .m(CW )
(d ) M o  (60 N )(1sin 45 m)  42.4 N .m(CCW )
(e) M o  (7kN )( 4m  1m)  21.0kN.m(CCW )
84
4.2 Cross Product
 Cross product of two vectors A and B yields

C, which is written as
C=AXB
 Read as “C equals A cross B”
85
4.2 Cross Product
Magnitude
 Magnitude of C is defined as the product of
the magnitudes of A and B and the sine of
the angle θ between their tails
 For angle θ, 0° ≤ θ ≤ 180°
 Therefore,
C = AB sinθ
86
4.2 Cross Product
Direction
 Vector C has a direction that is perpendicular
to the plane containing A and B such that C is
specified by the right hand rule
- Curling the fingers of the right
hand form vector A (cross) to
vector B
- Thumb points in the direction of
vector C
87
4.2 Cross Product
 Expressing vector C when magnitude and

direction are known
C = A X B = (AB sinθ)uC
where scalar AB sinθ defines the magnitude
of vector C unit vector uC defines the
direction of vector C
88
4.2 Cross Product
Laws of Operations
1. Commutative law is not valid
AXB≠BXA
Rather,
AXB=-BXA
 Shown by the right hand rule
 Cross product A X B yields a vector opposite in
direction to C
B X A = -C
89
4.2 Cross Product
Laws of Operations
2. Multiplication by a Scalar
a( A X B ) = (aA) X B = A X (aB) = ( A X B )a
3. Distributive Law
AX(B+D)=(AXB)+(AXD)
 Proper order of the cross product must be
maintained since they are not commutative
90
4.2 Cross Product
Cartesian Vector Formulation

 Use C = AB sinθ on pair of Cartesian
unit vectors
Example
For i X j, (i)(j)(sin90°)
= (1)(1)(1) = 1
91
4.2 Cross Product
Laws of Operations
 In a similar manner,
i X j = k i X k = -j i X i = 0
j X k = i j X i = -k j X j = 0
k X i = j k X j = -i k X k = 0
 Use the circle for the results.
Crossing CCW yield positive
and CW yields negative results
92
4.2 Cross Product
Laws of Operations
 Consider cross product of vector A and B
A X B = (Axi + Ayj + Azk) X (Bxi + Byj + Bzk)
= AxBx (i X i) + AxBy (i X j) + AxBz (i X k)

+ AyBx (j X i) + AyBy (j X j) + AyBz (j X k)
+ AzBx (k X i) +AzBy (k X j) +AzBz (k X k)
= (AyBz – AzBy)i – (AxBz - AzBx)j + (AxBy – AyBx)k
93
4.2 Cross Product
Laws of Operations
 In determinant form,
  
i j k
 
AXB  Ax Ay Az
Bx By Bz
94
4.3 Moment of Force
- Vector Formulation
 Moment of force F about point O can
be expressed using cross product
MO = r X F
where r represents position
vector from O to any point
lying on the line of action
of F
95
4.3 Moment of Force
Magnitude
 For magnitude of cross product,
MO = rF sinθ
where θ is the angle measured
between tails of r and F
 Treat r as a sliding vector. Since d = r

sinθ,
MO = rF sinθ = F (rsinθ) = Fd 96
4.3 Moment of Force
Direction
 Direction and sense of MO are determined by
right-hand rule
- Extend r to the dashed position
- Curl fingers from r towards F
- Direction of MO is the same
as the direction of the thumb
97
4.3 Moment of Force
Direction
*Note:
- “curl” of the fingers indicates the sense of
rotation
- Maintain proper order of r
and F since cross product
is not commutative
98
4.3 Moment of Force
Cartesian Vector Formulation
 For force expressed in Cartesian
form,   
i j k
  
M O  r XF  rx ry rz
Fx Fy Fz
where rx, ry, rz represent the x, y, z

components of the position vector
and Fx, Fy, Fz represent that of the
force vector 99
4.3 Moment of Force
Example 4.4
The pole is subjected to a 60N force that is
directed from C to B. Determine the magnitude
of the moment created by this force about the
support at A.
100
4.3 Moment of Force
Solution
 Either one of the two position vectors can be
used for the solution, since MA = rB x F or MA
= rC x F
 Position vectors are represented as
rB = {1i + 3j + 2k} m and
rC = {3i + 4j} m
 Force F has magnitude 60N
and is directed from C to B
101
4.3 Moment of Force
Solution
 
F  (60 N )u F
  
 (1  3)i  93  4) j  92  0)k 
 (60 N )  
 (2)  (1)  (2)
2 2 2

 
  
  40i  20 j  40k N
Substitute into
 determinant
 formulation
i j k
  
M A  rB XF  1 3 2
 40  20 40
 
  
 [3(40)  2(20)]i  [1(40)  2(40)] j  [1(20)  3(40)]k
102
4.3 Moment of Force
Solution   
i j k
Or   
M A  rC XF  3 4 0
 40  20 40
 
  
 [4(40)  0(20)]i  [3(40)  0(40)] j  [3(20)  4(40)]k
Substitute into determinant formulation
 
  

M A  160i  120 j  100k N .m
For magnitude,

M A  (160) 2  (120) 2  (100) 2
 224 N .m 103
5. Rigid Body Equilibrium
 Conditions for Rigid Body Equilibrium
 Free-Body Diagrams
 Equations of Equilibrium
 Two and Three-Force Members
 Equilibrium in Three Dimensions
 Equations of Equilibrium
 Constraints for a Rigid Body
104
5.1 Conditions for Rigid-Body
Equilibrium
 Equations of Equilibrium for Rigid Body
∑F = 0
∑MO = 0
 A rigid body will remain in equilibrium
provided the sum of all the external forces
acting on the body = 0 and sum of moments
of the external forces about a point = 0
 For proof of the equation of equilibrium,
- Assume body in equilibrium
105
5.2 Free-Body Diagrams
 FBD is the best method to represent all the

known and unknown forces in a system
 FBD is a sketch of the outlined shape of the
body, which represents it being isolated from
its surroundings
 Necessary to show all the forces and couple
moments that the surroundings exert on the
body so that these effects can be accounted
for when equations of equilibrium are applied
106
Support Reactions
 If the support prevents the translation of a body
in a given direction, then a force is developed on
the body in that direction
 If rotation is prevented, a couple moment is
exerted on the body
 Consider the three ways a horizontal member,
beam is supported at the end
- roller, cylinder
- pin
- fixed support
107
Support Reactions
Roller or cylinder
 Prevent the beam from
translating in the vertical
direction
 Roller can only exerts a
force on the beam in the
vertical direction
108
Support Reactions
Pin
 The pin passes through a hold in the beam
and two leaves that are fixed to the ground
 Prevents translation of the beam in any
direction Φ
 The pin exerts a force F on the beam in this
direction
109
Support Reactions
Fixed Support
 This support prevents both
translation and rotation of the beam
 A couple and moment must be
developed on the beam at its point of
connection
 Force is usually represented in x and
y components
110
5.3 Equations of Equilibrium

Free-Body Diagram
 The sense of a force or couple moment
having an unknown magnitude but
known line of action can be assumed
 Indicate the dimensions of the body
necessary for computing the moments
of forces
111

Equations of Equilibrium
 Apply the moment equation of equilibrium
∑MO = 0 about a point O that lies on the
intersection of the lines of action of the two
unknown forces
 The moments of these unknowns are zero
about O and a direct solution the third
unknown can be obtained
112

 When applying the force equilibrium ∑Fx = 0
and ∑Fy = 0, orient the x and y axes along
the lines that will provide the simplest
resolution of the forces into their x and y
components
 If the solution yields a negative result scalar,
the sense is opposite to that was assumed
on the FBD 113
Example 5.6
Determine the horizontal and vertical
components of reaction for the beam loaded.
Neglect the weight of the beam in the
calculations.
114
Solution
FBD
 600N force is represented by its x and y components
 200N force acts on the beam at B and is
independent of the
force components
Bx and By, which
represent the effect of
the pin on the beam
115
Solution
   FX  0;
600 cos 45 N  Bx  0
Bx  424 N
 A direct solution of Ay can be obtained by applying

∑MB = 0 about point B
 Forces 200N, Bx and By all create zero moment about
B
116
Solution
 M B  0;
100 N (2m)  (600 sin 45 N )(5m)  (600 cos 45 N )(0.2m)  Ay (7m)  0
Ay  319 N
   Fy  0;
319 N  600 sin 45 N  100 N  200 N  B y  0
By  405 N
117
5.5 Equilibrium in Three
Dimensions (FBD)
118
Dimensions (FBD)
119
Dimensions (FBD)
120
Dimensions (FBD)
121
Dimensions (FBD)
 Ball and socket joint
provides a
connection for the
housing of an earth
grader to its frame
 Journal bearing
supports the end of
the shaft
122
Dimensions (FBD)
 Thrust bearing is
used to support the
drive shaft on the
machine
 Pin is used to
support the end of
the strut used on a
tractor
123
5.7 Constraints for a Rigid Body
Example 5.17
Determine the tension in cables BC and BD
and the reactions at the ball and socket joint
A for the mast.
124
6. Trusses
 Simple Trusses
 The Method of Joints
 Zero-Force Members
 The Method of Sections
 Frames and Machines
125
6.1 Simple Trusses
 A truss is a structure composed
of slender members joined
together at their end points
 Joint connections are formed by
bolting or welding the ends of
the members to a common
plate, called a gusset plate, or
by simply passing a large bolt
or pin through each of the
members
126
6.1 Simple Trusses
Planar Trusses
 Planar trusses lie on a single plane and are used
to support roofs and bridges
 The truss ABCD shows a typical roof-supporting
truss
 Roof load is transmitted to
the truss at joints by
means of a series of
purlins, such as DD’
127
6.1 Simple Trusses
Planar Trusses
 The analysis of the forces developed in
the truss members is 2D
128
6.1 Simple Trusses
Assumptions for Design
1. “All loadings are applied at the joint”
 Assumption true for most applications of bridge
and roof trusses
 Weight of the members neglected since forces
supported by the members are large in
comparison
 If member’s weight is considered, apply it as a
vertical force, half of the magnitude applied at
each end of the member
129
6.1 Simple Trusses

2. “The members are joined together by
smooth pins”
 Assumption true when bolted or
welded joints are used, provided the
center lines of the joining members
are concurrent
130
6.1 Simple Trusses
 Each truss member acts as a
two force member, therefore
the forces at the ends must be
directed along the axis of the
member
 If the force tends to elongate
the member, it is a tensile
force
 If the force tends to shorten
the member, it is a
131
compressive force
6.1 Simple Trusses
 Important to state the nature
of the force in the actual
design of a truss – tensile or
compressive
 Compression members must
be made thicker than tensile
member to account for the
buckling or column effect
during compression
132
6.2 The Method of Joints
Method of Joints
 Draw FBD
 Line of action of each member force acting on
the joint is specified from the geometry of the
truss since the force in a member passes along
the axis of the member
Example
 Consider pin at joint B
 Three forces: 500N force and forces
exerted by members BA and BC
133
 FBA is “pulling” on the pin, meaning the

member BA is in tension
 FBC is “pushing” on the pin, meaning the
member BC is in compression
 The pushing and pulling indicates the effect of
the member being either in tension or
compression
134
Example 6.1
Determine the force in each member of the
truss and indicate whether the members are
in tension or compression.
135
Solution
 Two unknown member forces at joint B
 One unknown reaction force at joint C
 Two unknown member forces and two
unknown reaction forces at point A
136
Solution
Joint C
   Fx  0;
 FCA  707.1cos 45 N  0
FCA  500 N (T )
   Fy  0;
C y  707.1sin 45 N  0
C y  500 N
137
Solution
Joint A
   Fx  0;
500 N  Ax  0
Ax  500 N
   Fy  0;
500 N  Ay  0
Ay  500 N
138
Solution
 FBD of each pin shows the effect of all the
connected members and external forces
applied to the pin
 FBD of each member
shows only the effect
of the end pins on the
member
139
6.3 Zero-Force Members
 Method of joints is simplified when the
members which support no loading are
determined
 Zero-force members (support no loading )
are used to increase the stability of the
truss during construction
and to provide support
if the applied loading is
changed
140
6.3 Zero-Force Members
 The load on the truss shown in fig (a)

is therefore supported by only five
members as shown in fig (d)
141
6.4 The Method of Sections
 Used to determine the loadings
within a body
 If a body is in equilibrium, any part
of the body is in equilibrium
 To determine the forces within the
members, an imaginary section
indicated by the blue line, can be
used to cut each member into two
and expose each internal force as
external
142
 It can be seen that equilibrium
requires the member in tension (T) be
subjected to a pull and the member in
compression (C) be subjected to a
push
 Method of section can be used to cut
or section members of an entire truss
 Apply equations of equilibrium on that
part to determine the members
143
Example 6.5
Determine the force in members GE, GC,
and BC of the truss. Indicate whether the
members are in tension or compression.
144
Solution
 Choose section aa since it cuts through the
three members
 FBD of the entire truss
145
Solution
   Fx  0;400 N  Ax  0
Ax  400 N
 M A  0;
 1200 N (8m)  400 N (3m)  D y (12m)  0
D y  900 N
   Fy  0;
Ay  1200 N  900 N  0
Ay  300 N 146
Solution
FBD of the sectioned truss
147
Solution
 M G  0;
 300 N (4m)  400 N (3m)  FBC (3m)  0
FBC  800 N (T )
 M C  0;
 300 N (8m)  FGE (3m)  0
FGE  800 N (C )
   Fy  0;
3
300 N  FGC  0
5
FGC  500 N (T ) 148
7. Shear & Bending Moment
Diagrams
 InternalForces Developed in
Structural Members
 Shear and Moment Equations and
Diagrams
 Relations between Distributed
Load, Shear and Bending Moment
149
7.1 Internal Forces Developed in
Structural Members
 The design of any structural or
mechanical member requires the
material to be used to be able to resist
the loading acting on the member
 These internal loadings can be
determined by the method of sections
150
Structural Members
 Consider the “simply supported” beam
 To determine the internal loadings acting on the cross
section at C, an imaginary section is passed through
the beam, cutting it into two
 By doing so, the internal loadings become external on
the FBD
151
Structural Members
 Since both segments (AC and CB) were in
equilibrium before the sectioning, equilibrium of
the segment is maintained by rectangular force
components and a resultant couple moment
 Magnitude of the loadings is determined by the
equilibrium equations
152
Structural Members
 Force component N, acting normal to the
beam at the cut session and V, acting t
angent to the session are known as normal
or axial force
and the shear force
 Couple moment M is
referred as the bending
moment
153
Structural Members
 For 3D, a general internal force and couple
moment resultant will act at the section
 Ny is the normal force, and Vx and Vz are
the shear components
 My is the torisonal or
twisting moment, and
Mx and Mz are the
bending moment
components
154
7.2 Shear and Moment
Equations and Diagrams
Sign Convention
 To define a positive and negative shear
force and bending moment acting on the
beam
 Positive directions are denoted by an
internal shear force that causes clockwise
rotation of the member on which it acts
and by an internal moment that causes
compression or pushing on the upper part
of the member 155
7.2 Shear and Moment
Equations and Diagrams
Sign Convention
 A positive moment
would tend to bend the
member if it were
elastic, concave upwards
 Loadings opposite to the
above are considered
negative
156
7.3 Relations between Distributed
Load, Shear and Moment
Distributed Load
dV
  w( x)
dx
Slope of the = Negative of
shear diagram distributed load intensity
dM
V
dx
Slope of the = Shear
moment diagram
157
Distributed Load
VBC    w( x)dx
Change in = - Area under
shear load diagram
M BC   Vdx
Change in = Area under

moment shear diagram
158
Force
 FBD of a small segment of
the beam
   Fy  0; V  F
 Change in shear is negative
thus the shear will jump
downwards when F acts
downwards on the beam
159
Force
 FBD of a small segment of the
beam located at the couple
moment
 M  0; M  M O
 Change in moment is positive
or the moment diagram will
jump upwards MO is clockwise
160
Example 7.10
Draw the shear and moment diagrams for the
cantilevered beam.
161
Solution
Support Reactions
 FBD of the beam
162
Solution
 At the ends of the beams,
when x = 0, V = +1080
when x = 2, V = +600
 Uniform load is downwards and slope of
the shear diagram is constant
dV/dx = -w = - 400 for 0 ≤ x ≤ 1.2
 The above represents a change in shear
163
Solution
V    w( x)dx  400(1.2)  480
V x 1.2
V x 0
 (480)  1080  480  600
 Also, by Method of Sections, for equilibrium,
V  600
 Change in shear = area under the load
diagram at x = 1.2, V = +600
164
Solution
 Since the load between 1.2 ≤ x ≤ 2, w =
0, slope dV/dx = 0, at x = 2, V = +600
Shear Diagram
165
Solution
 At the ends of the beams,
when x = 0, M = -1588
when x = 2, M = -100
 Each value of shear gives the slope of the
moment diagram since dM/dx = V
at x = 0, dM/dx = +1080
at x = 1.2, dM/dx = +600
 For 0 ≤ x ≤ 1.2, values of the shear diagram are
positive but linearly increasing
166
Solution
 Moment diagram is parabolic with a linearly
decreasing positive slope
 Moment Diagram
167
Solution
 Magnitude of moment at x = 1.2 = -580
 Trapezoidal area under the shear diagram =
change in moment
M   Vdx
1
 600(1.2)  (1080  600)(1.2)  1008
2
M x 1.2  M x 0  1008
 1588  1008  580 168
9. Center of Gravity &
Centroid
 Center of Gravity and Center of Mass for a
System of Particles
 Center of Gravity and Center of Mass and
Centroid for a Body
 Composite Bodies
169
9.1 Center of Gravity and Center of
Mass for a System of Particles
Center of Gravity
 Locates the resultant weight of a system of
particles
 Consider system of n particles fixed within a
region of space
 The weights of the particles
comprise a system of parallel
forces which can be replaced
by a single (equivalent) resultant
weight having defined point G
of application
170
Mass for a System of Particles
Center of Gravity
 Although the weights do not
produce a moment about z axis, by
rotating the coordinate system 90°
about x or y axis with the particles
fixed in it and summing moments
about the x axis,
z WR  ~
z1W1  ~
z2W2  ...  ~
znWn
 Generally,
~
xm ~
ym ~
zm
x ;y  ,z  171
m m m
Mass and Centroid for a Body
Center Mass
 A rigid body is composed of an infinite
number of particles
 Consider arbitrary particle
having a weight of dW
x  ~x dW
;y   ~y dW
;z   ~z dW
 dW  dW  dW
172
Centroid
 Defines the geometric center of object
 Its location can be determined from
equations used to determine the body’s
center of gravity or center of mass
 If the material composing a body is uniform
or homogenous, the density or specific
weight will be constant throughout the body
 The following formulas are independent of
the body’s weight and depend on the body’s
geometry
173
Centroid
Volume
 Consider an object subdivided into volume
elements dV, for location of the centroid,
 ~x dV
 ~ydV
 ~z dV
x V ;y V ;z  V
 dV  dV  dV
V V V
174
Centroid
Area
 For centroid for surface area of an object,
such as plate and shell, subdivide the area
into differential elements dA
 ~x dA
 ~ydA
 ~z dA
xA ;y  A ;z  A
 dA  dA  dA
A A A
175
Centroid
Line
 If the geometry of the object such as a thin rod
or wire, takes the form of a line, the balance of
moments of differential elements dL about each
of the coordinate system yields
 ~x dL
 ~ydL
 ~z dL
xL ;y  L ;z  L
 dL  dL  dL
L L L 176
Differential Element
 Select an appropriate coordinate system, specify
the coordinate axes, and choose an differential
element for integration
 For lines, the element dL is represented as a
differential line segment
 For areas, the element dA is generally a
rectangular having a finite length and differential
width
177
Differential Element
 For volumes, the element dV is either a
circular disk having a finite radius and
differential thickness, or a shell having a
finite length and radius and a differential
thickness
 Locate the element at an arbitrary point (x,
y, z) on the curve that defines the shape
178
Size and Moment Arms
 Express the length dL, area dA or volume dV
of the element in terms of the curve used to
define the geometric shape
 Determine the coordinates or moment arms
for the centroid of the center of gravity of
the element
179
Integrations
 Substitute the formations and dL, dA and dV into
the appropriate equations and perform
integrations
 Express the function in the integrand and in
terms of the same variable as the differential
thickness of the element
 The limits of integrals are defined from the two
extreme locations of the element’s differential
thickness so that entire area is covered during
integration
180
Example 9.3
Determine the distance
from the x axis to the
centroid of the area
of the triangle
181
Solution
Differential element
 Consider a rectangular element having
thickness dy which intersects the boundary
at (x, y)
Length and Moment Arms
 For area of the element
b
dA  xdy  h  y dy
h
 Centroid is located y distance from the x
axis ~
yy 182
Solution
Integrations
 ydA
~ b
h  y  dy
h
 y
 h h
0
y A
A dA 0 b h  y  dy
h
1 2
bh
6 h
 
1
bh 3
2
183
9.3 Composite Bodies
 Consists of a series of connected “simpler”

shaped bodies, which may be rectangular,
triangular or semicircular
 A body can be sectioned or divided into its
composite parts
 Provided the weight and location of the center of
gravity of each of these parts are known, the
need for integration to determine the center of
gravity for the entire body can be neglected
184
 Accounting for finite number of weights

~
xW ~
yW ~
zW
x y z
W W W
 Where
x , y, z represent the coordinates of the center
of gravity G of the composite body
~
x, ~
y , ~z represent the coordinates of the center
of gravity at each composite part of the body
W represent the sum of the weights of all
the composite parts of the body or total weight
185
 When the body has a constant density or

specified weight, the center of gravity coincides
with the centroid of the body
 The centroid for composite lines, areas, and
volumes can be found using the equation
 ~x W  ~y W  ~z W
x y z
W W W
However, the W’s are replaced by L’s, A’s and V’s
respectively
186

Composite Parts
 Using a sketch, divide the body or object into
a finite number of composite parts that have
simpler shapes
 If a composite part has a hole, or a
geometric region having no material,
consider it without the hole and treat the
hole as an additional composite part having
negative weight or size
187

Moment Arms
 Establish the coordinate axes on the
sketch and determine the coordinates
of the center of gravity or centroid of
each part
188

Summations
 Determine the coordinates of the
center of gravity by applying the center
of gravity equations
 If an object is symmetrical about an
axis, the centroid of the objects lies on
the axis
189
Example 9.10
Locate the centroid of the plate area.
190
Solution
Composite Parts
 Plate divided into 3 segments
 Area of small rectangle considered “negative”
191
Solution
Moment Arm
 Location of the centroid for each piece is
determined and indicated in the diagram
192
Solution
Summations
~
xA  4
x   0.348mm
 A 11.5
~
y A 14
y   1.22mm
 A 11.5
193
10. Moment of Inertia
 Definitions of Moments of Inertia for Areas
 Parallel-Axis Theorem for an Area
 Radius of Gyration of an Area
 Moments of Inertia for an Area by
Integration
 Moments of Inertia for Composite Areas
194
10.1 Moments of Inertia
Definition of Moments of Inertia for Areas

 Centroid for an area is determined by the
first moment of an area about an axis
 Second moment of an area is referred as the
moment of inertia
 Moment of inertia of an area originates
whenever one relates the normal stress σ or
force per unit area, acting on the transverse
cross-section of an elastic beam, to applied
external moment M, that causes bending of
the beam
195
Moment of Inertia
 Consider area A lying in the x-y plane
 Be definition, moments of inertia of the
differential plane area dA about the x and y
axes
dI x  y 2dA dI y  x 2 dA
 For entire area, moments of
inertia are given by
I x   y 2dA
A
I y   x 2dA
A 196
Moment of Inertia
 Formulate the second moment of dA about
the pole O or z axis
 This is known as the polar axis
dJO  r 2dA
where r is perpendicular from the pole (z
axis) to the element dA
 Polar moment of inertia for entire area,
J O   r 2dA  I x  I y
A
197
Moment of Inertia
 Relationship between JO, Ix and Iy is
possible since r2 = x2 + y2
 JO, Ix and Iy will always be positive since
they involve the product of the distance
squared and area
 Units of inertia involve length raised to the
fourth power eg m4, mm4
198
10.2 Parallel Axis Theorem for an
Area
 For moment of inertia of an area known about
an axis passing through its centroid, determine
the moment of inertia of area about a
corresponding parallel axis using the parallel axis
theorem
 Consider moment of inertia
of the shaded area
 A differential element dA is
located at an arbitrary distance
y’ from the centroidal x’ axis 199
Area
 The fixed distance between the parallel x and x’ axes is
defined as dy
 For moment of inertia of dA about x axis
dI x   y ' d y  dA
2
 For entire area

I x    y ' d y  dA
2
A
  y '2 dA  2d y  y ' dA  d y2  dA
A A A
 First integral represent the moment of inertia of the area

about the centroidal axis
200
Area
 Second integral = 0 since x’ passes through the
area’s centroid C
 y ' dA  y  dA  0; y0
 Third integral represents the total area A

I x  I x  Ad y2
 Similarly
I y  I y  Ad x2
 For polar moment of inertia about an axis
perpendicular to the x-y plane and passing through
pole O (z axis)
J O  J C  Ad 2
201
for an Area by Integration
Example 10.1
Determine the moment of
inertia for the rectangular area
with respect to (a) the
centroidal
x’ axis, (b) the axis xb passing
through the base of the
rectangular, and (c) the pole or
z’ axis perpendicular to the x’-y’
plane and passing through the
centroid C.
202
Solution
Part (a)
 Differential element chosen, distance y’ from
x’ axis
 Since dA = b dy’
h/2
I x   y ' dA  
2
y '2 dy
A h / 2
1 3
 bh
12
203
Solution
Part (b)
 Moment of inertia about an axis passing
through the base of the rectangle obtained
by applying parallel axis theorem
I xb  I x  Ad 2
2
1 3 h 1 3
 bh  bh   bh
12 2 3
204
Solution
Part (c)
 For polar moment of inertia about point C
1 3
I y '  hb
12
JC  I x  I y'
1
 bh(h 2  b 2 )
12
205
10.5 Moments of Inertia for
Composite Areas
 A composite area consist of a series of
connected simpler parts or shapes such as
semicircles, rectangles and triangles
 Provided the moment of inertia of each of
these parts is known or can be determined
about a common axis, moment of inertia of
the composite area = algebraic sum of the
moments of inertia of all its parts
206
Composite Areas
Example 10.5
Compute the moment of
inertia of the composite
area about the x axis.
207
Composite Areas
Solution
Composite Parts
 Composite area obtained
by subtracting the circle
form the rectangle
 Centroid of each area is
located in the figure
208
Composite Areas
Solution
Parallel Axis Theorem
 Circle
I x  I x '  Ad y2
4
4 2 2
 
  25   25 75  11.4 106 mm4
1
 Rectangle
I x  I x '  Ad y2

1
12
 
1001503  100150752  112.5 106 mm4
209
Composite Areas
Solution
Summation
 For moment of inertia for the composite
area,
I x  11.4106   112.5106 
 
 101 106 mm4
210

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Engineering Mechanics: Statics

 Mechanics can be divided into 3

 Statics – Equilibrium of bodies

Newton’s Three Laws of Motion

Newton’s Three Laws of Motion

Newton’s Three Laws of Motion

Name Length Time Mass Force

Internationa Meter Second Kilogram Newton

 Scalars and Vectors

 Addition and Subtraction of

 Cartesian Vector Notation

 Cartesian Unit Vectors

 Cartesian Vector Representations

*Note the magnitude and

 Magnitude of a Cartesian Vector

 Direction of a Cartesian Vector

 Direction of a Cartesian Vector

 Direction of a Cartesian Vector

where A  Ax2  Ay2  Az2

 Cartesian Vector Formulation

 Condition for the Equilibrium of a

 Cables and Pulley

 Procedure for Analysis

 Procedure for Analysis

*Note: Neglect the weights of the cables since they

 Moment of a Force – Scalar Formation

 Units for moment is N.m

 Cross product of two vectors A and B yields

 Expressing vector C when magnitude and

Cartesian Vector Formulation

= AxBx (i X i) + AxBy (i X j) + AxBz (i X k)

= (AyBz – AzBy)i – (AxBz - AzBx)j + (AxBy – AyBx)k

 Treat r as a sliding vector. Since d = r

where rx, ry, rz represent the x, y, z

 FBD is the best method to represent all the

Procedure for Analysis

Procedure for Analysis

Procedure for Analysis

 A direct solution of Ay can be obtained by applying

Assumptions for Design

 FBA is “pulling” on the pin, meaning the

 The load on the truss shown in fig (a)

Change in = Area under

 Consists of a series of connected “simpler”

 Accounting for finite number of weights

 When the body has a constant density or

Procedure for Analysis

Procedure for Analysis

Procedure for Analysis

Definition of Moments of Inertia for Areas

 For entire area

 First integral represent the moment of inertia of the area

 Third integral represents the total area A

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