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z k
i.i=1
A.B = (Axi+Ayj+Azk).(Bxi+Byj+Bzk) = AxBx+AyBy+AzBz
i.j=0
P, kN
P P
Fy
F = Fx + Fy; both are vector components in x, y direction
F θ
Fx = fx i ; Fy = fy j; fx, fy are scalar quantities
Fx Therefore, F = fx i + fy j
i
+ ve Fx = F cos θ; Fy = F sin θ
F= fx2 + fy2 ;θ = tan -1 (fy/fx)
+ ve
- ve
DERIVATION
r α
M = Fr sin α; M = Fd A
d B
Sin α = d / r
M = r x F = -(F x r): sense is important
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, IIT Guwahati 13
2
Pb:2/5 (Meriam / Kraige):
A
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
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
R.Ganesh Narayanan, IIT Guwahati 15
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
-F d +F
-F
-F +F d
d
+F
M
-2F
+2F d/2
F B F
B B
F F
-F M = Fd
A A
80N 80N
9m
9
60deg 60 deg
o 80 N o 80 N o
80 N
Mo = Y N m
R = F1+F2+F3+….. = Σ F
Rx = Σ Fx; Ry = Σ Fy; R = (Σ Fx)2 + (Σ Fy)2
-1 (Ry/Rx)
Θ = tanR.Ganesh Narayanan, IIT Guwahati 20
How to obtain resultant force ?
F1 F2 Mo= ΣFd
R= ΣF
F1 F2
F3
F3 R
M1 = F1d1;
F1 – D1; F2 – D2; F3 – D3 d
M2 = F2d2;
M3 = F3d3 Mo=Rd
NON-CONCURRENT FORCES
R.Ganesh Narayanan, IIT Guwahati 21
Principle of moments
d
R= ΣF
Mo=Rd
From To
Rectangular components
Fx = F cos θx; Fy = F cos θy; Fz = F cos θz
F
Fz k
θy Fy j
θz
o θx
Fx i
Moment in 3D
Mo
r A - a plane in 3D structure
A α
d Mo = F d (TEDIOUS to find d)
F or Mo = r x F = – (F x r) (BETTER)
B = r x (F1+F2+F3+…)
o r F1 = r x (ΣF) = 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
20
F2 = 80N F1 = 150N
30
• Evaluate components of F1, F2, F3, F4
15 • Rx = ΣFx; Ry = ΣFy
F4 = 100N • R = Rx i + Ry j
F3 = 110N
• α = tan -1 (Ry/Rx)
Ry
R
α
Rx
R.Ganesh Narayanan,
• R = 199iIIT+Guwahati
14.3j; α = 4.1 deg 29
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
10m
Find the moment Mo of 780 N 20 DEG 10
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
100 1
10 = 400 (0.04) cos θ 100N 100N
2m
80N
Find the resultant of four forces and one 2m
40 N o 30 deg
couple which act on the plate
1m
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
R.Ganesh Narayanan, IIT Guwahati 34
How to find resultant ?
R = ΣF = F1+F2+F3+…
Mo = ΣM = M1+M2+M3+… = Σ(rxF)
Mx = ; My = ; Mz =
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
R.Ganesh Narayanan, IIT Guwahati 36
Modeling the action of forces
Imp
Imp
x Collinear: ΣFx = 0 F1 F2
F3
Y
F2
X
F1
F3
F4
F1
F2 Y
F3 M
X
F4
D Px Qx Rx
C
D
C
AX A
A B B
Pin Roller
BY
AY
Written in three alternate ways,
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
Replace the 750N tensile force which the cable exerts on point B by a force-
couple system at point O
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
Ax 0.5 m
Ax = 17.7 kN
ΣFy = Ay+19.61 sin 25-4.66-10 = 0 0.12 m
Ay 1.5m
4.66 kN
Ay = 6.37 kN
10 kN
40 50 30 10
ΣMa = 0 => (-40x60)+(-50x120)+(-30x220)+
By
(-10x300)+(-Byx120) = 0
Ay
By = 150 N Bx
By = 140 N Ay = 10 N
R.Ganesh Narayanan, IIT Guwahati 48
D
Beer/Johnston; 4.4 1.8
A B
Find the reaction at the fixed end C
2.25
‘E’ 3.75
20 20 20 20
DF = 7.5 m E F
3.75
20 20 20 20
E F
1.8 Ex
ME 4.5
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
F.B.D. - 2
F.B.D. - 2
Roof R.Ganesh
truss Narayanan, IIT Guwahati 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
T c
T c weight
Method of joints
A D ΣFy = 0; ΣFx = 0
B
C
Pin A A
FAB 10 F
1000 C 10 10
FAB E
FAC
A FAC 1000 1000
ΣFx = 0 =>FAC – 0.707FAB = 0
ΣFy = 0 => -0.707FAB+1000 = 0
1000 FAB = 1414 N; FAC = 1000 N
Pin B
ΣFx = 0 => -FBD + 1414COS45 = 0 => FBD = 1000 N
B
FBD ΣFy = 0 => -FBC+1414 COS45 = 0 => FBC = 1000 N
1414 FBD
FBC
1414Narayanan, IIT Guwahati
R.Ganesh 67
FBC
Pin C
FCE
1000 FDC
FDC
B
FCE 1000 1000
1000
1000
1000
ΣFx = 0 => -1000 + FCE + FDC COS 45 = 0 => FCE = 1000 N
ΣFy = 0 => -1000+1000+ FDC COS 45 = 0 => FDC = 0
5 5 5 5
A 5 5
C E
30 20
kN, m
FBD of joints
ΣFx = 0; ΣFy = 0
ΣFx = 0; ΣFy = 0
Find AB, AC forces
Find BC, BD forces
100
100 roller c
A
B 30°
Rc
100
RAB
ΣF = 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
A D ΣFy = 0; ΣFx = 0
B
C
5 5 5 5
A 5 5
C E
30 20
kN, m
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, IIT Guwahati 76
Section 1 Section 2
convenient
R.Ganesh Narayanan, IIT Guwahati 79
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
R.Ganesh Narayanan, IIT Guwahati 80
Meriem/Kraige
y
L
KL
K
CL
G
P C CB x
20 T
Section 1 Section 2
x
G
P C CB Section 1 Section 2
20 T BL = 16 + (26-16)/2 = 12 ft
Θ = tan -1 (5/12) => cos Θ = 12/13
FBD - 2
From FBD-2
ΣMB = 0 => -(10)(500)+30 (789)- FAC Sin 30 (30) = 0
FAC = 1244.67 N
From FBD -1
ΣFx = 0 => FDA Cos 30 – (1244.67) cos 30 – 1000 sin 30 = 0 ;
FDA = 1822 N
ΣFy = 0 => (1822)Sin 30 + (1244.67) sin
R.Ganesh 30 +FABIIT
Narayanan, 1000 Cos 30 = 0; FAB = -667 N
– Guwahati 85
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
AE AF
BD
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
Cx
R.Ganesh Narayanan, IIT Guwahati Ax 90
Cy
Ay
FBD of individual members
EF: Two force member; E, F are
compressive
ED:
ΣMD = 0 => 50(12)-12E = 0 => E = 50 lb
ΣF = 0 => D-50-50 = 0 => D= 100 lb
(components will be eliminated)
AB:
ΣMA = 0 => 50(3/5)(20)-Bx (40) = 0 => Bx = 15 lb
D
ΣFx = 0 => Ax+15-50(3/5) = 0 => Ax = 15 lb
E
ΣFy = 0 => 50 (4/5)-60-By = 0 =>By = -20 lb
E
A Ax 60
100 150
160
480 N
B
Bx Σ Fy = 0 => Ay-480 = 0 =>Ay = 480 N
C D
Σ MA = 0 => Bx (160)-480 (100) = 0 => Bx = 300 N
80
θ Σ Fx = 0 => 300+Ax = 0 => Ax = -300 N
E
100 150
R.Ganesh
Θ = tanNarayanan, IIT Guwahati
-1 (80/150) = 28.07 deg 92
DE: Two force member
FBD of BCD
FDE
FBD of AE 480 N
Cy
Ay B D
300 Cx
A D
Ax C θ
FBD of DE
FDE
FDE E
Cx D
FDE
Cy
E FDE
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
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, IIT Guwahati D 95
400 kg
Machines
• Machines are structures designed to transmit and modify forces. Their main purpose
is to transform input forces into output forces.
C
A B
BODY
B
A
C
C G
G G
A
G
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
R.Ganesh Narayanan, IIT Guwahati 97
z Y
Moment abt. Y axis = dw (x)
Sum of moments for small regions through out the
dw body: ∫ x dw
∫ x dw = w x
X
ρ = m/V; dm = ρ dv
X = (∫ x ρ dv) / ∫ ρ dv
ρ = not constant through out
4
Y = (∫ y ρ dv) / ∫ ρ dv body
Z = (∫ z ρ dv) / ∫ ρ dv
Centroid of volume
Centroid of area
Centroid of line
h
X / (h-y) = b/h dy
y x
AY = ∫ y dA
x
b
h h
½ b h (y) = ∫ y (x dy) = ∫ y [b (h-y) / h] dy = b h2 / 6
0 0
Y=h/3
M M
v R.Ganesh Narayanan, IIT Guwahati 103
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
R.Ganesh Narayanan, IIT Guwahati 104
M – BENDING MOMENT AT J
Shear force and bending moment in beam
M M
+ VE SHEAR FORCE
+VE BENDING MOMENT
V V
SECTION C
Apply vertical force equilibrium eqn. to AC, shear force at ‘C’, i.e.,
‘V’ can be determined
SECTION AT C SECTION AT E
CONSIDER AE:
ΣFy = 0 => P/2-P-V = 0; V = -P/2
ΣME = 0 => (- P/2) (X) +P(X-L/2)+ M = 0; M = +P(L-X)/2
c1 cclab9, 1/24/2008
Beer/Johnston • Taking entire beam as free-body, calculate
reactions at A and B.
∑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
R.Ganesh Narayanan, IIT Guwahati 112
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
R.Ganesh Narayanan, IIT Guwahati 113
• 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
4 ft 4 2 2