fTl3:

Conversion Factors

(Acceleration)

(Area)
X 4

(Density)
X 4

(Force)

(Length)

(Mass)

(Moment

of force)

(Moment (Moment

of inertia, area) of inertia, mass) linear) angular)

(Momentum, (Momentum, (Power)

(Pressure,

stress)

(Spring (Velocity)

constant)

(Volume)

(Work, Energy)

SI Units Used in Mechanics

Unit

:-'lass

W{ Pa

.1

(I.H52

km ih)

Al~o ~1)t'IIt'd

Selected Rules for Writing Metric Quantities SI Unit Prefixes

I {jOO 000 000 (/00 I 000 UUO O()() 100000U 100ll 10 0_1 0,01 0.001 0.000001 0.000 UOO Of) I 10 ,\ 10 {Rxamp/(':
lJ.;xu/1/jJ/e:
1,'1"<1

T M k h
d

102 10 10

j';.wmple:

\\

10
P

:1 :-Jumher woupm

r (Kxampll':
U';xample:

:321.04ti

Virginia Polytechnic Institute and State University

University of Rhode Island

JOHN

&

SONS,

INC.

ACQUISITIONS WITOR MARKETING MANAGER DEVELOPMENT EIlITOR SENIOR PRODUCTION EIJITOR SENIOR DESIGNER TEXT DESIG1-IER COVER DESIGNER ILLUSTRATION EDITOR ASSOCIATE PHOTO EIJITOR mONT COVER PHOTO BACK COVER PHOTO

Katherine

Hepburn

Christine Cervoni Dawn Stanley Nancy Field Sigmund Malinowski Lisa Gee Robert FrerckJOdyssey Productions of the Guggenheim Mu:;eum, Bilbao, Spain. Reproduced with permission.

Mechanics in Action:

ISBN 0--471-26607-8 PHOTO CREI>ITS

Dr. James Lathrop Meriam, internationally known author of engineering mechanics textbooks and distinguished professor of engineering, merous and significant contributions to the engineering profession, Dr. Meriam is regarded as one of the premier engineering educators of the twentieth century. Dr. Mcriam (known as Lath to his friends) received

experience came at Pratt and Whitney Aircraft and the General Electric

fornia-Berkeley for twenty-one years. During this period he served as Professor of Engineering Mechanics, Assistant Dean of Graduate Stud-

iting professor at the University of California-Santa Barbara and retired for a second time in 1990. Recognition of his superb teaching abilities followed him wherever

Educator Award from the Mechanics Division of the American Society

Dr. Meriam began his Engineering Mechanics textbook series in 1950. The Statics and Dynamics texts reshaped undergraduate mechan-

versions and have been translated into many foreign lanWlages. His books have been characterized by clear and rigorous presentation of the theory, instructive sample problems, and numerous and realistic homework exercises. From the outset, a high standard of illustration has distinguished the series. riod of more than three years, a 23foot wooden sailboat named Kai, which is Hawaiian for Song of the Sea. Over the next several years, he and his fortunate sailing companions spent many happy hours sailing off the coast of Santa Barbara. Dr. Meriam also designed and built four homes, including a vacation home on the island of KauaL In addition to his many professional accomplishments, Lath Medam will be long remembered for his open friendliness, gentlemanly demeanor, mature judgment and leadership, generosity, and absolute com

PREFACE

find

Preface

vii

engineering

science

Engineering

Mechanics En-

gineering

Alechanics

viii

Preface

Problems.
selves. The solutions to typical statics problems are presented in detail. In addition, to the main presentation. There are 963 homework exercises, of which approximately 50 percent are new Introductory Problems Representative Problems. The first section consists of simple, uncomplicated prob-

lems are generally arranged in order of increasing difficulty. More difficult exercises Representative Problems . Computer-Oriented Problems, marked with an asterisk, appear in a special secReview Problems

ductory areas in which U.S. units are mentioned for purposes of completeness

and

principles and procedures inherent in the design and analysis of engineering structures and mechanical systems.

Illustrations. to
important to note that color is used consistently quantities: red for forces and moments, green for velocity and acceleration arrows, orange dashes for selected trajectories of moving points. Subdued colors are used for those parts of an illustration which are not central to the problem at hand. \Vhenever possible, mechanisms or objects which commonly have certain color will be portrayed in that color. All of the fundamental elements of technical illustration which have been an essential part of this Engineering Mechanics series of textbooks have been retained. The author wishes to restate the conviction that a high standard of illustration is critical to any written work in the for the identification of certain

Features New to this Edition.

editions, we have incorporated these improvements: The theory portions were re\\Titten for clarity and readability, with a higher level of friendlinc8s and a more active voice. Sections have been shortened and more subheads added to make information easier to find.

Preface

ix

ORGANIZATION

Preface

representative.

Soll/Ing Mechanics Problems with ....

computational software in the solution of mechanics problems. Developed by Brian

Wiley Website (www.wlley.com/college/merlam).

Electronic figures electronically for use in creating lectures. Electronic transparencies for over 40 solved problems, similar to those in the text, are available for use in lecture or in self-study by students. Online problem solving, problems in mechanics for students to solve, featuring step-by-step

Extension sample problems build on sample problems from the text and show how computational tools can be used to investigate a variety of "what if" Brian Harper at Ohio State University.

Island merits special acknowledgment for his excellent and careful review of the entire text. Professor Palm has inspected the structure of every sentence and, where necessary, has made modifications so that the presentation is clear, direct, concise, text more easily readable, and reorganized the Chapter Review sections so that the student can efficiently survey \\-'hat has been presented. Professor Palm has worked under a number of constraints and has done so in a friendly and timely manner. Special recognition is again due Dr. A. L. Hale, formerly of Bell Telephone Laboratories, for his continuing contribution in the form of invaluable suggestions and accurate checking of the manuscript. Dr. Hale has rendered similar service for all previous versions of this entire series of mechanics books, dating back to the figures. Dr. Hale carries out an independent solution to each new homework exercise and provides the author with suggestions and needed corrections to the solutions which appear in the Instructor's Manual. Dr. Hale is well known for being a great asset which aids every user of this textbook. equilibrium problems in the area of biomechanics. These new problems serve to

Preface

xi

University

of Kentucky Kettering University Ohlahoma State University University of Alaine University of Central Florida Ohio State University California State Polytechnic University, Colorado State Universi(v Oakland University Auburn University University of Wyoming Youngstown State University Rochester Institute of Technology University of Wyoming Oklahoma State University

Pomona

CONTENTS

CHAPTER CHAPTER CHAPTER CHAPTER CHAPTER CHAPTER CHAPTER

1 2 3 4 5 6 7

INTRODUCTION FORCE SYSTEMS

TO

STATICS

3 23 lD3 165

EQUILIBRIUM STRUCTURES DISTRIBUTED FRICTION VIRTUAL WORK FORCES

225 327 385

APPENDICES A B C D AREA MASS MOMENTS MOMENTS TOPICS TABLES OF OF OF INERTIA INERTIA MATHEMATICS

463

SELECTED USEFUL

INDEX

CONTENTS

Chaeter

1
TO STATICS

INTRODUCTION

Mechanics Basic Concepts Scalars and Vectors Conventions for Equations and Diagrams Newton's Units Laws

Unit Cunversions Law of Gravitation 1/7 Accuracy, Limits,

11

and Approximations

Problem

Solving

in Statics

15

Formulating

Problems and Obt.aining Solutions Symbols 17 17

16

Numerical Values Solution Methods Chapter Review

2
FORCE SYSTEMS

SECTION

A.

TWO-DIMENSIONAL

FORCE

SYSTEMS

27

SECTION

B.

THREE-DIMENSIONAL

FORCE

SYSTEMS

64

QUI LI B R I U M

101

SECTION

A.

EQUILIBRIUM

IN TWO

DIMENSIONS

104

3/2

System

ISDlatiDn

and

the Free-BDdy

Diagram

3/3

Equilibrium

CDnditiDns

115

SECTION 3/4

B.

EQUILIBRIUM CDnditiDns

IN THREE DIMENSIONS

13B 13B

Equilibrium

Chapter

Review

156

Chapter
STR U CTU RES 4/1 4/2 IntrDductiDn Plane Trusses 165 165 167

4/3

MethDd

Df JDints

168

4/4

MethDd

Df SectiDns

179

4/5

Space

Trusses

188

4/6

Frames

and Machines

195

Chapter

Review

215

Chapter
DISTRIBUTED 5/1 IntrDductiDn A. CENTERS OF MASS AND CENTROIDS FORCES 225 225 227

SECTION

Hydrostatic Pressure on Submerged

Hydrostatic Pressure on Flat Surfaces

FRICTION

Factors Affecting Friction

348

Contents

xvii

6/4 6/5

Wedges Screws

6/6 Journal Bearings 6/7 Thrust Bearings; Disk Friction 6/8 Flexible Belts 6/9 Rolling Resistance Chapter Review

359
360

369 376

Chapter

7/1 7/2

Introduction Work

7/3

Equilibrium

7/4

Potential

Energy

and Stability

405

Chapter

Review

Appendices

A/I Introduction A/2 Definitions

A/3 Composite

Areas

xviii

Contents

ENGINEERING

MECHANICS

STATICS
SI
VERSION

Structures which support large forces must be designed with the principles of mechanics foremost in mind. In this view of Sydney Harbor, one can see several examples of such structures.

Chapter

Mechanics Basic Concepts Scalars and Vectors 1/4 Newton's Laws Units Law of Gravitation Accuracy, Limits, and Approximations Problem Solving in Statics Chapter Review

MECHANICS

forces on objects. No other subject plays a greater role in engineering analysis than mechanics. Although the principles of mechanics are few, they have wide application in engineering. The principles of mechanics are central to research and development in the fields of vibrations, staspacecraft design, automatic control, engine performance, fluid flow, electrical machines and apparatus, and molecular, atomic, and subatomic behavior. A thorough understanding of this subject is an essential

of this subject is synonymous with the very beginnings of engineering. The earliest recorded writings in mechanics are those of Archimedes

mulated most of the principles of statics. The first investigation

of a

with falling stones. The accurate formulation of the laws of motion, as

also conceived the idea of the infinitesimal in mathematical analysis. Substantial contributions to the development of mechanics were also others. principles of mechanics and their application. The principles of mechanics as a science are rigorously expressed by mathematics, and thus mathematics plays an important role in the application of these principles to

which concerns the equilibrium of bodies under the action of forces, and dynamics, which concerns the motion of bodies. Engineering Mechanics

Vol.
BASIC CONCEPTS

Statics

Vol.

Dynamics.

is the geometric region occupied by bodies whose positions are described by linear and angular measurements relative to a coordinate system. For problems, three independent coordinates are needed. For problems, only two coordinates are required. is the measure of the succession of events and is a basic quantity in dynamics. Time is not directly involved in the analysis of statics

Mass is a measure of the inertia of a body, which is its resistance

force between it and other bodies. This force appears in many applications in statics. is the action of one body on another. A force tends to move a body in the direction of its action. The action of a force is characterized by its magnitude, by the direction of its action, and by its point of application. Thus force is a vector quantity, and its pl"Opertiesare discussed

sense, a particle is a body whose dimensions are considered to be near zero so that we may analyze it as a mass concentrated at a point. We a body as a particle when its dimensions are irrelevant to the description of its position or the action of forces applied to it.

internal deformations in the structural members of the boom. For the purpose, then, of determining the external forces which act on the boom, lation of external forces which act on rigid bodies in equilibrium. Deter-

Article

1/3

Scalars

and Vectors

Scalar quantities mass. Vector quantities,

free

Conventions for Equations and Diagrams

V.

principle

oftmn

.. i!';sibility. m

Chapter

Introduction

to Statics

Figure

Working with Vedors

V, 1/2b.

V vector sum,

vector

scalar
2

+
V2 + VI'

Figure 1/3

vedaI' subtraction. components 1/4a rectangular compoy-components,

nents.

1/4b

Article

1/3

Scalars

and Vectors

V'01
VI Ib)

Figure 1/4

x'

I I

x-, y-,

x-,

'"
Figure 1/5

vy

mV

l'2

+ m 2 + n2

Law I. {orm velocity

uni-

Law II.

Law III. collinear

vector

isolate on

Principia

(1687)

Article

1/5

Unit.

In mechanics we use four fundamental quantities called dimensions. are length, ma.ss, force, and time. The units used to measure these quantities cannot all be chosen independently because they must be coo-

in science and technology will be used in this text. The four fundamental

QUA:\TITY
Length Time Force

DIMENSIONAL SYl\IBOL
ase

SI UNITS Ul\'IT SYMBOL

kg second

U.S. CUSTO:\IARY UNITS UNIT

slug second pound see lb

SYMBOL

umts

unt

51 Units

throughout the world, and is a modern version of the metric system. By

weight
IV(NI U.S. Customary Units (kg) X

g W(lb) g
2)

kilopound ton, absolute

gravitational

exclusively non English-speaking

mass-never

Primary Standards

Mass.

11

Time.

for
tf

In

m/s"

Unit Conversions

SI

In

;j2.2Ihl'
(~.~O 11>11 11,1:1.2 Nl

~IASS

I kg (2.20 Ibm)

10.454 kgl

(0.:30;)

LENGTH

Figure 1/6

12

Chapter

Introduction

to Statics

between selected quantities in the two systems appear inside the back cover for convenient reference. Although these charts are useful for obtaining a feel for the relative size of SI and U.S. units, in time enbTineers verting from U.S. units. ]n statics we are primarily concerned with the units of length and force, with mass needed only when we compute gravitational force, as explained previously. systems of units, to aid in visualizing their relative magnitudes. lAW OF GRAVITATION

In statics as well as dynamics we often need to compute the weight of a body, which is the gravitational force acting on it. This computation

law of gravitation.
ton. The law of gravitation is expressed by the equation

where F = the mutual force of attraction between two particles a universal constant known as the constant of gravitation

= the masses of the t\"Y'0articles p

the distance between the centers of the particles The mutual forces F obey the law of action and reaction, since they are equal and opposite and are directed along the line joining the centers of

Gravitational Attradlon of the Earth

Gravitational forces exist between every pair of bodies. On the surface of the earth the only gravitational force of appreciable magnitude is the force due to the attraction of the carth. For example, each of two iron spheres 100 mm in diameter is attracted to the earth with a gravforce of mutual attraction between the spheres if they are just touching

of the earth is the only gravitational force we need to consider for most engineering applications on the earth's surface.

Figure 1/7

Article

1/7

Accuracy.

Limits.

and Approximations

13

m
\V.

W g m

1/7

ACCURACY,

LIMITS,

AND

ApPROXIMATIONS

shown

Differentials
The order of differential quantities frequently causes misunder standing in the derivation of equations. Higher-order differentials may mathematical limit is approached. For example, the element of volume :, V h r to be a circular slice a distance x from the vertex and of thickness .lx. The expression for the volume of the element is

V :'x dx, (:.x)2 (:.x)3

dV

which gives an exact expression when integrated.

Small-Angle Approximations
1/8
8
CD S

smO

lxO=8

and sin are very nearly the same. Also cos () is close to unity. Furthermore, sin () and tan () have almost the same values. Thus, for small angles we may write
0 '"

provided that the angles are expressed in radians. These approximations may be obtained by retaining only the first terms in the series expan sions for these three functions. As an example of these approximations, for an angle of 1

a more accurate approximation be retained, and they are

(J",

is desired, the first two terms may

(J",

where the angles must be expressed in radians. (To convert degrees to 1T/180'.)

Article

1/8

Problem

Solving

in Statics

15

de

Making Appropriate Assumptions

model,

Using Graphics

16

Chapter

Introduction

to Statics

with its physical interpretation, three-dimensional problems.

especially when we must visualize

than with a direct mathematical solution. Graphical solutions are both a practical way to obtain results, and an aid in our thought processes. Because graphics represents the physical situation and its mathematical expression simultaneously, graphics helps us make the transition between the two. 3. Charts or graphs are valuable aids for representing results in a form which is easy to understand.

Formulating Problems and Obtaining Solutions

In statics, as in all engineering problems, we need to use a precise

following sequence of steps.

(b)

State your assumptions

and approximations.

(b)

(d)

Ensure that your calculations

are consistent

with the accuracy

(e)

calculations. Ensure that your answers are reasonable tudes, directions, common sense, etc. Draw conclusions. in terms of magni-

which seem complicated at first often become clear when you approach

The Free-Body Diagram

The subject of statics is based on surprisingly few fundamental concepts and involves mainly the application of these basic relations to a variety of situations. In this application the method of analysis is all-

17

Numerical Values versus Symbols

Solution Methods

18

Chapter

Introduction

to Statics

method of solution is an important aspect of the experience to be gained from the problem work. There are a number in Vol. 1 Statics which are designated as Computer-Oriented Problems. These problems

advantage.

CHAPTER

REVIEW

This chapter has introduced the concepts, definitions, and units used in statics, and has given an overview of the procedure used to formulate and solve problems in statics. Now that you have finished this chapter,

1. Express vectors in terms of unit vectors and perpendicular components, and perform vector addition and subtraction. 2. State Newton's laws of motion. accuracy.

approximations. 6. Describe the methodology used to formulate and solve statics

Chapter

Review

19

m =

Determine the weight in newtons of a car whose mass is 1400 kg'. Convert the mass of the car to slugs and then determine its weight in pounds.

Solution.

From relationship

1/3. we have

mg

1400(9.81)

13730 N we

From the table of conversion factors inside the front cover of the textbook, see that 1 slug is equal to 14.594 kg. Thus, the mass of the car in slugs is 1400 k 14.594 kg Finally, its weight in pounds is W 95.9

Ans.

Our 1:) 7::4 N. Cf>ing the ('ut1t-fi,l,>1.U'('display llACd in hook. we l't)und thl' written tour t;iglliticant fi!.l'tJ.n'~, ur Had I.hp numh!'r bCl,'l1n other th.m

rc~ult of or
h'xt~

rl',mlt to ]3730 N. with an,v

mg

(95.9)(32.2)

3090 Ib

Ans.
good prdctict' with unit {;()IlYI'rsion ,-a ue

As another route to the last result, we can convert the table inside the front cover, we have

from kg to Ibm. Again using

l4,fj!) { kg

m ~ 1400 kg[

1 Ibm k ] 0.45359 g.

3090 Ibm

The weight in pounds associated with the mass of 3090 lbm is 3090 lb, as calculated above. We recall that Ilbm is the amount of mass which under standard conditions has a weight of 1 Ib of force .. We rarely refer to the U.S. mass unit Ibm in this textbook series, but rather use the slug for mass. The sole use of slug, rather than the unnecessary use of two units for mass, will prove to be powerful and simple-especially in dynamics, :-.J'otuthat

and tlw de(quivuh'nt. J\lnkt th.lt cfl\lcpHdllon of the unit" leave" tilt unil!'; dc"ired; here the unitt; of kg cHncf'L leaving df'sired unit..;;;

the

me cdkul.ll.t'd re"ult (9,;.~) slng:-~, ml18t SlIl'l' tlUlt when a calculutNl number is ~llb:>equ('nt calnilarinn:>. rctnineo the it~ (9.).9:'Wg3 .. Ilt'l'ded. Thi~ it in a ] initial ano recalling We must not punch 9.i,9 into Ollr l'.:dcu!.uor nnd to mllltipl:~ :l~ .. practlc' ,\111 result in lo~:-. nUffierlcnl H{;('t!lT\ey. Some indi, idual,; Iikt' to pla<:e a :::;mallllldieatltll1 of tht' :-.toragl' thl' right maq,rill the \~ork direed.v bt.'s\do number

70 kg Use Newton's law of universal gravitation to calculate the weight of a 70~kg person standing on the surface of the earth. Then repeat the calculation by using and compare your two results. Use Table D/2 as needed.

Solution.

The two results are (6.673 10-")(5.976 [6371 . 10 IV 10'4)(70) 688 N m,

mg

70(9.81)

687 N

The discrepancy is due to the fact that Newton's universal gravitational law does not take into account the rotation of the earth, On the other hand, the value g 9.81 m/g:! used in the second equation does account for the earth's rotation. Note that had we used the more accurate valueg 9.80665 m/52 (which likewise accounts for the earth's rotation) in the second equation, the discrepancy would have been larger (686 N would have been the result).

cli5tdncl' het\'it'I.m mass conteI''' (If two volved I::; ~he rndius of the earth.

in

y
I
2 I (b) (c)

=4

V =

Solution
=
2 ~ 2

2 -

CDS

(b)

V 105 + 300)

+ 13.76

Sri

+j
+

5.43i + 1.328j

@ Then

Ans.

VI - V2

4(i

CDS

45

45) - 3(i

CDS

30 - j

30)

win

0.230i + 4.33j
b

+ (prinCiple;;,

Problems

21

by the direction of V.
AnN. Ox ~

112.6,

-0.385i

+ 0.923j

Determine the weight in newtons of a woman whose weight in pounds is Also, find her ma.ss in slugs and in kiloJ..,'Tams. Determine your own weight in newtons. An". W 578 N 4.04 slul-,TS, 58.9 kg Suppose that two nondimensional quantities are briven as A 8.69 and B Using the rules for sib'l1ificant figures as stated in this chapter, determine the four quantities IA IA and
1/9

fix.

solutions.

V = 14 uu

nits

= 18 units

60

Compute the mab'l1itude Fofthe force which the earth exerts on the moon. Perform the calculation first in newtons and then convert your result to pounds. Refer to Table D/2 for necessary physical quantities. Ans. F ~ 1.984110 N, F ~ 4.46110"1) Ib

mine the mat-,'l1itude of the vector difference V' V2 - VI and the angle which V' makes with the posib'Tllphical

21.4 force is by Calculate the angles made z-axes.

176.5

F with the

and What is the percent error in replacing the sine of 20 by the value of the angle in radians? Repeat for the tangent of 20, and explain the qualitative ditTerence in the two error percentages.

What is the weight in both newtons and pounds of a 75-kg beam'? 736 N, 165.4 Ib From the gravitational law calculate the weight W (gravitational force with respect to the earth) of an 80kg man in a spacl->craft traveling in a circular orbit 250 km above the earth's surface. l<;xpress W in both newtons and pounds.

The properties of force systems must be thoroughly understood by the engineers who design systems such as this construction crane. Try to visualize the forces present in the various parts of the crane.