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Applied Mechanics 1
Introduction to Statics
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Edmund. S .Maputi
esmaputi@gmail.com, esmaputi@hit.ac.zw
I.M.E 2015
Applied Mechanics 1
Introduction to Statics
Vectors
1
Throughout these notes, we will show vectors bold and underlined (e.g. u ).
Components
A vector may be represented by its components, which we write in a
column. For example,
2
3 is a vector in two dimensions.
In this case the first component is 2 and this tells us to move 2 units in the
x-direction. The second component tells us to move 3 units in the ydirection. So if the vector starts at the origin, it will look like:
y
3
O
2
Edmund. S .Maputi
esmaputi@gmail.com, esmaputi@hit.ac.zw
I.M.E 2015
Applied Mechanics 1
Introduction to Statics
(1,2 )
( 1,1)
z
A set of 3D axes can be drawn on a page as
shown to the right.
x
For example,
4
3
1
O
4
1 3
Zero Vectors
Any vector with all its components zero is called a zero vector and can be
0
written as 0 , e.g. 0 = 0 .
0
Edmund. S .Maputi
esmaputi@gmail.com, esmaputi@hit.ac.zw
I.M.E 2015
Applied Mechanics 1
Introduction to Statics
Magnitude
The magnitude (or length) of a vector u is written as u . It can be
calculated as follows.
a
If PQ = b then
a
If PQ = b then
c
PQ = a 2 + b 2 .
PQ = a 2 + b 2 + c 2 .
EXAMPLES
5
1. Given u = 12 , find u .
u = 52 + ( 12 )2
= 169
= 13 units.
5
2. Find the length of a = 6 .
3
a =
( 5 )
+ 6 2 + 32
= 50
= 5 2 units.
Unit Vectors
Any vector with a magnitude of one is called a unit vector. For example:
if u =
1
2
( )
0 then u = 12
3
2
= 44
( )
3
+0 + 2
= 1 unit.
So u is a unit vector.
Edmund. S .Maputi
esmaputi@gmail.com, esmaputi@hit.ac.zw
I.M.E 2015
Applied Mechanics 1
Introduction to Statics
The distance between the points A and B is d AB = AB units.
1
So given AB = 2 , we find d AB = ( 1)2 + 2 2 + 52 = 30 .
5
( x2 x1 )2 + ( y2 y1 )2 + ( z2 z1 )2
d=
units.
EXAMPLE
The distance is
=
( x2 x1 )
+ ( y2 y1 ) + ( z2 z1 )
( 0 ( 1) )2 + (5 4 )2 + ( 7 1)2
= 12 + 12 + ( 8 )2
= 1 + 1 + 64
= 66 units.
Equal Vectors
Vectors with the same magnitude and direction are said to be equal.
For example, all the vectors shown to
the right are equal.
If vectors are equal to each other, then
all of their components are equal, i.e.
a d
if b = e
c f
s
t
then a = d , b = e and c = f .
Conversely, two vectors are only equal if all of their components are equal.
Edmund. S .Maputi
esmaputi@gmail.com, esmaputi@hit.ac.zw
I.M.E 2015
Applied Mechanics 1
Introduction to Statics
Addition
We can construct a + b as follows:
a + b means a followed by b.
a +b
a
a +b +c
a + b + c means a followed by b
followed by c .
To add vectors, we position them nose-to-tail. Then the sum of the vectors
is the vector between the first tail and the last nose.
Subtraction
Now consider a b . This can be written as a + ( b ) , so if we first find b
we can use vector addition to obtain a b .
a b
Edmund. S .Maputi
a b means a followed by b.
esmaputi@gmail.com, esmaputi@hit.ac.zw
I.M.E 2015
Applied Mechanics 1
Introduction to Statics
Using Components
If we have the components of vectors, then things become much simpler.
The following rules can be used for addition and subtraction.
a d
b + e
c f
a + d
=b+e
c + f
a d
b e
c f
a d
= b e
c f
EXAMPLES
1
1
1 1
u v = 5 2
2 0
0
= 7
2
2
= 3 .
2
1
4
3
2. Given p = 2 and q = 3 , calculate p q and q + p .
6
3
5
4 1
p q = 32 3
6
3 5
1 4
q + p = 3 + 32
6 3
5
5
3
= 2
21
5
3
9
= 2 .
9
5
Edmund. S .Maputi
esmaputi@gmail.com, esmaputi@hit.ac.zw
I.M.E 2015
Applied Mechanics 1
Introduction to Statics
Multiplication by a Scalar
A vector u which is multiplied by a scalar k > 0 will give the result ku .
This vector will be k times as long, i.e. its magnitude will be k u .
Note that if k < 0 this means that the vector ku will be in the opposite
direction to u .
For example:
3u
If
a
u = b
c
2u
then
1u
2
ka
k u = kb .
kc
1
1. Given v = 5 , find 3v .
3
1 3
3v = 3 5 = 15 .
3 9
6
2. Given r = 3 , find 4 r .
1
6 24
4r = 4 3 = 12 .
1 4
Edmund. S .Maputi
esmaputi@gmail.com, esmaputi@hit.ac.zw
I.M.E 2015
Applied Mechanics 1
Introduction to Statics
Negative Vectors
The negative of a vector is the vector multiplied by 1 .
If we write a vector as a directed line segment AB , then AB = BA :
B
B
AB
AB = BA
A
Position Vectors
OA is called the position vector of point A relative to the origin O, and is
written as a .
OB is called the position vector of point B, written b .
z
y
Given P ( x , y , z ) , the position vector OP or p
P
x
O
has components y .
z
x
y
a
B
b
O
= a + b
= b a.
For the vector joining any two points P and Q, PQ = q p .
Edmund. S .Maputi
esmaputi@gmail.com, esmaputi@hit.ac.zw
I.M.E 2015
Applied Mechanics 1
Introduction to Statics
10
EXAMPLE
R is the point ( 2, 2, 3 ) and S is the point ( 4, 6, 1) . Find RS .
2
4
From the coordinates, r = 2 and s = 6 .
3
1
RS = s r
Note
You dont need to write
this line down in the
exam.
4 2
= 6 2
1 3
2
= 8 .
4
Basis Vectors
A vector may also be defined in terms of the basis vectors i , j and k .
These are three mutually perpendicular unit vectors (i.e. they are
perpendicular to each other).
j
i
0
1
0
i = 0 , j = 1 and k = 0 .
0
0
1
Any vector can be written in basis form using i , j and k . For example:
2
1 0
0
v = 3 = 2 0 3 1 + 6 0 = 2i 3 j + 6 k .
6
0 0
1
There is no need for the working above if the following is used:
a
ai + b j + c k = b .
c
Edmund. S .Maputi
esmaputi@gmail.com, esmaputi@hit.ac.zw
I.M.E 2015
Applied Mechanics 1
Introduction to Statics
11
Collinearity
In Straight Lines (Unit 1 Outcome 1), we learned that points are collinear if
they lie on the same straight line.
The points A, B and C in 3D space are collinear if AB is parallel to BC ,
with B a common point.
Note that we cannot find gradients in three dimensions instead we use the
following.
Non-zero vectors are parallel if they are scalar multiples of the same vector.
For example:
2
u = 1 ,
4
2
6
v = 3 = 3 1 = 3u.
12
4
So u and v are parallel.
15
5
p = 9 = 3 3 ,
6
2
20
5
q = 12 = 4 3 .
8
2
So p and q are parallel.
EXAMPLE
8 1
= 5 2
9 5
22 8
= 11 5
17 9
7
7
14
= 6 = 2 3 .
= 3
4
4
8
BC = 2AB , so AB and BC are parallel, and since B is a common point,
A, B and C are collinear.
Edmund. S .Maputi
esmaputi@gmail.com, esmaputi@hit.ac.zw
I.M.E 2015
Applied Mechanics 1
Introduction to Statics
12
Step 1
Make a sketch of the line, showing the
ratio in which the point divides the line
segment.
Step 4
Rearrange to give the position vector of
the unknown point.
Step 2
Using the sketch, equate the ratio of the
two line segments with the given ratio.
Step 3
Cross multiply, then change directed
line segments to position vectors.
PT 2
=
TR 3
3PT = 2TR
3 t p = 2 (r t )
3t 3 p = 2r 2t
3t + 2t = 2r + 3 p
8 2
5t = 2 1 + 3 4
19 1
16 6
5t = 2 + 12
38 3
10
5t = 10
35
2
t = 2
7
Step 5
From the position vector, state the
coordinates of the unknown point.
Edmund. S .Maputi
So T is the point ( 2, 2, 7 ) .
esmaputi@gmail.com, esmaputi@hit.ac.zw
I.M.E 2015
Applied Mechanics 1
Introduction to Statics
13
p=
n a + mb
,
n+m
= 5 ( 3 ( 4 ) + 2 ( 1) )
1 ( 3 ( 1) + 2 (19 ) )
5
2
= 2 .
7
Note
If you are confident with
arithmetic, this step can
be done mentally.
So T is the point ( 2, 2, 7 ) .
Edmund. S .Maputi
esmaputi@gmail.com, esmaputi@hit.ac.zw
I.M.E 2015
Applied Mechanics 1
Introduction to Statics
14
Further Examples
EXAMPLES
h = a + c + 54 g c
Note
BH 4
= , so BH = 45 BF.
BF 5
= a + c + 54 g 54 c
= a + 15 c + 54 g
0
8
8
1
4
= 0 + 5 0 + 5 12
5
0
0
8
.
= 48
5
5
So H has coordinates 8, 48
5 ,5 .
8 6 = k (9 8)
k = 2.
Therefore PQ = 2QR so Q divides PR in the ratio 2 :1.
Edmund. S .Maputi
esmaputi@gmail.com, esmaputi@hit.ac.zw
Note
The ratio is 2 : 1 since
PQ 2
= .
QR 1
I.M.E 2015
Applied Mechanics 1
Introduction to Statics
15
Note
A sketch may help you
to see this:
2
C
3
B
A
b a = 35 ( c a )
b a = 35 c 35 a
3c =b 2a
5
5
c = 53 b 23 a
13
= 53 5 32 4
4
7
17
= 11 .
9
Edmund. S .Maputi
esmaputi@gmail.com, esmaputi@hit.ac.zw
I.M.E 2015
Applied Mechanics 1
Introduction to Statics
16
The definition above assumes that the vectors a and b are positioned so
that they both point away from the angle, or both point into the angle.
a
However, if one vector is pointing away from the angle, while the other
points into the angle,
a
a.b = a b cos
= 7 3 cos 60
= 21 12
= 21
2.
Remember
When one vector points
in and one points out,
u.v =| u || v |cos .
= 3k 2 .
Edmund. S .Maputi
esmaputi@gmail.com, esmaputi@hit.ac.zw
I.M.E 2015
Applied Mechanics 1
Introduction to Statics
17
b1
a1
where a = a2 and b = b2 .
b
a
3
3
1
2
C ( 1, 3, 6 )
B (1, 4, 2 )
1 2
= 4 3
2 9
1
= 1
11
A ( 2, 3, 9 )
1 2
= 3 3
6 9
3
= 0 .
15
AB.AC = ( ( 1) ( 3 ) ) + (1 0 ) + ( ( 11) ( 15 ) )
= 3 + 0 + 165
= 168.
Edmund. S .Maputi
esmaputi@gmail.com, esmaputi@hit.ac.zw
I.M.E 2015
Applied Mechanics 1
Introduction to Statics
18
a .b
a b
or
cos =
Look back to the formulae for finding the scalar product, given on the
previous pages. Notice that the first equation is simply a rearranged form of
the one which can be used to find the scalar product. Also notice that the
second simply substitutes a .b for the component form of the scalar
product.
These formulae are not given in the exam but can both be easily derived
from the formulae on the previous pages (which are given in the exam).
EXAMPLES
4
3
p = 4 and q = 1
3
2
cos =
=
( 3 4 ) + ( 4 1) + ( ( 2 ) 3 )
32 + 4 2 + ( 2 )2 42 + 12 + 32
10
=
29 26
10
= cos 1
29 26
= 68.6 (to 1 d.p.)
Edmund. S .Maputi
esmaputi@gmail.com, esmaputi@hit.ac.zw
I.M.E 2015
Applied Mechanics 1
Introduction to Statics
19
.
2. K is the point (1, 7, 2 ) , L ( 3, 3, 4 ) and M ( 2, 5,1) . Find KLM
L ( 3, 3, 4 )
M ( 2, 5,1)
K (1, 7, 2 )
Now find the vectors pointing away from the angle:
1 3 4
LK = k l = 7 3 = 10 ,
2 4 2
2 3 5
LM = m l = 5 3 = 2 .
1 4 3
Use the scalar product to find the angle:
LK.LM
=
cos KLM
LK LM
( 4 5) + ( 10 2 ) + ( 2 ( 3 ) )
4 2 + ( 10 )2 + ( 2 )2 52 + 22 + ( 3 )2
6
=
120 38
6
= cos 1
KLM
120 38
Edmund. S .Maputi
esmaputi@gmail.com, esmaputi@hit.ac.zw
I.M.E 2015
Applied Mechanics 1
Introduction to Statics
20
z
S
V
P
O
R
0 4 4
(b) RT = t r = 4 0 = 4 ,
4 0 4
4 4 0
RU = u r = 4 0 = 4 .
4 0 4
RT.RU
=
(c) cos TRU
RT RU
=
( 4 0 ) + ( 4 4 ) + ( 4 4 )
( 4 )2 + 42 + 42 02 + 42 + 42
32
3 16 2 16
2
=
6
= cos 1 2
TRU
6
= 35.3 (to 1 d.p.)
=
Edmund. S .Maputi
esmaputi@gmail.com, esmaputi@hit.ac.zw
I.M.E 2015
Applied Mechanics 1
Introduction to Statics
21
13 Perpendicular Vectors
If a and b are perpendicular then a.b = 0 .
( = 90 since perpendicular)
=0
4
2
2. PQ = a and RS = 3 where a is a constant.
7
a
Given that PQ and RS are perpendicular, find the value of a.
Since PQ and RS are perpendicular,
PQ .RS = 0
4 2 + ( 3 a ) + 7 a = 0
8 3a + 7 a = 0
8 + 4a = 0
a = 2.
Edmund. S .Maputi
esmaputi@gmail.com, esmaputi@hit.ac.zw
I.M.E 2015
Applied Mechanics 1
Introduction to Statics
22
a.b = b.a
a. ( b + c ) = a.b + a.c
(Expanding brackets)
a.a = a .
Note that these are not given in the exam, so you need to remember them.
EXAMPLES
Calculate p. q + r .
45
15 q
p. ( q + r ) = p.q + p.r
= p q cos 1 + p r cos 2
= 3 2 cos 60 + 3 4 cos 45
= 6 12 + 12 1
= 3 + 6 2.
2. In the diagram below, a = c = 2 and b = 2 3 .
a
30
Calculate a. ( a + b + c ) .
30
a. ( a + b + c )
= a + a b cos 1 a c cos 2
= 22 + 2 2 3 cos30 2 2 cos120
= 4 + 4 3 23 + 4 12
Remember
a. c = a c cos 2
since a points into 2
and c points away.
=4+6+2
= 12.
Edmund. S .Maputi
esmaputi@gmail.com, esmaputi@hit.ac.zw
I.M.E 2015
Applied Mechanics 1
Introduction to Statics
23
Mechanics
15.1
The four fundamental concepts used in mechanics are space, time, mass and force1. It is
not easy to define what these concepts are. Rather, one knows what they are, and they
take on precise meaning when they appear in the principles and equations of mechanics
discussed further below.
The concept of space is associated with the idea of the position of a point, which is
described using coordinates (x, y, z) relative to an origin o as illustrated in Fig. 14.1.
y
particle p
The time at which events occur must be recorded if a material is in motion. The concept
of mass enters Newtons laws (see below) and in that way is used to characterize the
relationship between the acceleration of a body and the forces acting on that body.
Finally, a force is something that causes matter to accelerate; it represents the action of
one body on another.
15.2
The fundamental laws of mechanics are Newtons three laws of motion. These are:
Newtons First Law:
if the resultant force acting on a particle is zero, the particle remains at rest (if originally
at rest) or will move with constant speed in a straight line (if originally in motion)
By resultant force, one means the sum of the individual forces which act; the resultant is
obtained by drawing the individual forces end-to-end, in what is known as the vector
1
Edmund. S .Maputi
esmaputi@gmail.com, esmaputi@hit.ac.zw
I.M.E 2015
Applied Mechanics 1
Introduction to Statics
24
polygon law; this is illustrated in Fig. 2.1.2, in which three forces F1 , F2 , F3 act on a
single particle, leading to a non-zero resultant force2 F.
F1
F1
F3
(a)
F2
F3
F1
F2
F2
F3
(b)
(c)
(d)
Figure 15.2: the resultant of a system of forces acting on a particle; (a) three
forces acting on a particle, (b) construction of the resultant F, (c) an alternative
construction, showing that the order in which the forces are drawn is
immaterial, (d) the resultant force acting on the particle
In Fig. 15.3 is shown a floating boat. It can be assumed that there are two forces acting on
the boat. The first is the boats weight Fg . There is also an upward buoyancy force
Fb exerted by the water on the boat. If these two forces are equal and opposite, the
resultant of these two forces will be zero, and therefore the boat will remain at rest (it will
not move up or down).
Fg
Fb
The resultant force acting on the particle of Fig. 15.2 is non-zero, and in that case one
applies Newtons second law:
2
the construction of the resultant force can be regarded also as a principle of mechanics, in that it is not
proved or derived, but is taken as given and is borne out by experiment
Edmund. S .Maputi
esmaputi@gmail.com, esmaputi@hit.ac.zw
I.M.E 2015
Applied Mechanics 1
Introduction to Statics
25
(15.1)
where3 F is the resultant force, a is the acceleration and m is the mass of the particle. The
units of the force are the Newton (N), the units of acceleration are metres per second
squared (m/s2), and those of mass are the kilogram (kg); a force of 1 N gives a mass of 1
kg an acceleration of 1 m/s2.
If the water were removed from beneath the boat of Fig. 15.3, a non-zero resultant force
would act, and the boat would accelerate downward4.
Fb
surface of water
(a)
(b)
Figure 15.4: Newtons third law; (a) the water exerts a force on the
boat, (b) the boat exerts an equal and opposite force on the water
Newtons laws are used in the analysis of the most basic problems and in the analysis of
the most advanced, complex, problems. They appear in many guises and sometimes they
appear hidden, but they are always there in a Mechanics problem.
3
vector quantities, that is, quantities which have both a magnitude and a direction associated with them, are
represented by bold letters, like F here; scalars are represented by italics, like m here. The magnitude and
direction of vectors are illustrated using arrows as in Fig. 14.2
4
if we set F to be zero in Newtons Second Law, we get a 0 , which seems to be saying the same thing as
Newtons First Law, and in fact it appears to imply that Newtons First Law is redundant. For this reason,
Newtons First Law is not actually used in analyzing problems (much); it is necessary only to deal with
different frames of reference. For example, if you stand in an accelerating lift (your frame of reference) with
glass walls, it appears to you that you are stationary and it is the outside (a different reference frame)
which is accelerating, even though there is no force acting on the outside, which appears to be a
contradiction of Newtons Second Law. Newtons First Law discounts this option: it says that when the
force is zero, the body remains at rest or at uniform velocity. Newtons First Law implies that Newtons
Laws only apply to Inertial Frames, i.e. frames of reference in which a body remains at rest or uniform
velocity unless acted upon by a force
Edmund. S .Maputi
esmaputi@gmail.com, esmaputi@hit.ac.zw
I.M.E 2015
References
1. www.HSN.uk.net
2.http://homepages.engineering.auckland.ac.nz/~pkel015/SolidMechanicsBooks/Part_I/BookS
M_Part_I/02_Statics_of_Rigid_Bodies/02_Statics_of_Rigid_Bodies_01_Concepts.pdf