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Surface force: It acts on each surface element of the body. The intensity
may vary along the surface (i.e. from one surface element to other surface
element) . E.g. pressure force, shear force etc
ii.
Body force: It acts on each body element of the body. Here also the
intensity may vary. E.g. Weight, magnetic, electrostatic forces, etc.
REVIEW OF VECTORS
Representation of vector:
Graphical representation
Algebraic representation
Graphical representation
Length of the arrow indicates the magnitude of vector
Direction of the arrow indicates the direction of vector
Equality of vector :
F1
F1
F2
F1 = F2
If length and direction of both arrows are same.
Note the line of actions are different
F3
F1 = F3
F2
(1)
F1
F1 = F2
F1 may cause only sliding while F2 may cause both sliding and toppling
(2)
F2
F1
In both configurations (1) and (2), F2 is same but acting at different point.
However the effects are same. Due to this force is called transmissibility vector.
Algebraic representation
Unit vectors are often denoted by
n or e .
It implies that n = e = 1
There are special name of the unit vector along x, y and z axis.
i = j = k = 1
j
y
Az
Ax
A = Ax + Ay + Az = Axi + Ay j + Az k
Ay
() ()
Ax = A cos cos
Ay = A cos ( ) sin ( )
Az = A sin ( )
A = Axi + Ay j + Az k
B = Bxi + B y j + Bz k
C = C xi + C y j + C z k
Addition of vectors:
) (
A + B + C = Ax + Bx + C x i + Ay + B y + C y j + Az + Bz + C z k
A B = A B cos
()
How to calculate the angle between two vectors using dot product?
Ax Bx + Ay By + Az Bz
1
= cos
2
Ax + Ay 2 + Az 2 Bx 2 + By 2 + Bz 2
)(
( ))
( )) j + Az k
( )
( )
= Ax i + Ay j + Az k
Equating all three components from both sides of the equation:
Ax = Ax cos ( ) Ay sin ( )
Ay = Ax sin ( ) + Ay cos ( )
Az = Az
Ax = Ax cos ( ) + Ay sin ( )
Ay = Ax sin ( ) + Ay cos ( )
Az = Az
Az
Coordinate system 2
Az
Ay
Ax
Ax
A
Ay
z z
Ax = Ax cos i + Ax sin j
Ay = Ay sin i + Ay cos j
Az = Az k
( )
( )
( )
( )
Cross/vector product : C = A B = A B sin ( ) n
n is the unit vector perpendicular to the plane containing the vectors A and B .
Using algebraic representation,
C = Ax
Ay
Bx
By
Az = Ay Bz Az B y i + ( Az Bx Ax Bz ) j + Ax B y Ay Bx k
Bz
What is the direction of C = A B ?
Examples: M = r F and v = r
Both moment and angular velocity are positive when anticlockwise/counterclockwise
F4
F1
F2
F3
2. Coplanar forces: Lines of action of all forces lie on a same plane
F4
F1
F3
F2
1. Rigid body:
i.e all particles inside a rigid body remain at fixed distance from each
other irrespective to the forces acting on the body
Moment of a force:
F
A
M O = d F = r F sin ( )
Moment as a vector:
M O = r F
Moment of a couple:
Couple is a force system consisting of a pair of equal, opposite
and parallel but non-collinear forces acting on same plane.
O
r2
r1
B
F2
rAB A
F1
M O = r1 F1 + r2 F2 = r1 r2 F1 = rAB F1
r1
rB
F1
r1 = r
M1 = M
Z
Y
O
M2
M1
r
A
F1
F1 = F
M2 M
It is the projection of M B on BC
or component along BC
BC, x
Fx
nBC, y
nBC, z
rAB, y
rAB, z
Fy
Fz
nBC, x
r
nnBC
r
BC rBC
BCFF == rBC, x
Fx
nBC, x
rBC, y
Fy
nBC, x
rBC, z = 0
Fz
W
N1
N2
2. FBD of the sphere when surfaces are frictionless
F1
N1
W
F2
N2
F
W
N1
N2
W
N1
F1
F2
N2
2
m
5
m
Y
50
N
45o
A
140
Nm
C
E
4
m
60 N
40 N
80
N
30o
X
R
=
?
Y
X
Dx
=
?
2
m
5
m
Y
50
N
45o
A
140
Nm
C
E
4
m
60 N
40 N
80
N
30o
X
Restrict vertical
motion
Rx = 0; M = 0
Roller support
Restrict vertical
and horizontal
motion
Restrict vertical,
horizontal motion
and rotation
M =0
Rx
Rx
Ry
Ry
Ry
Ry
Ry
Ry
Rx
Rx
M
Z
Y
Solution
Free body diagram of the rod AC
Rcx
Rcz
Rcy
TBE
B
Total five unknowns
TAD
MC = 0
F = 880 N
The direction of unknown cable tensions TBE and TAD are known
--------------------------- (2)
From geometry:
n AD =
C is the origin
rB|E
rB|E
rA|D
rA|D
=
=
rB rE
rB|E
rA rD
rA|D
= TBE
i
1.8
j
0
k
i
0 + TAD 2.4
j
0
2.4
1.2
2.7
2.7
k
i j
0 + 2.4 0
0.3
2.7
k
0
=0
0 880
2.4 0.3
2.4 1.2
1.8 0.6
1.8 0.9
TBE
TAD + 2.4 880 j +
TBE
TAD k = 0
2.1
2.7
2.7
2.1
--------------------------- (3)
Form the Eq. (3), we can write the following two linear simultaneous equations:
1.8 0.6
2.4 0.3
TBE
TAD + 2.4 880 = 0
2.1
2.7
1.8 0.9
2.4 1.2
TBE
TAD = 0
2.1
2.7
--------------------------- (4)
Fx = 0
Rcx
1.8
2.4
TBE
TAD = 0 Rcx = 4480 N
2.1
2.7
Fy = 0
Rc y +
0.9
1.2
TBE
TAD = 0 Rc y = 320 N
2.1
2.7
Fz = 0
Rcz +
0.6
0.3
TBE +
TAD 880 = 0 Rcz = 213.3N
2.1
2.7
by
Dr.
Abhijit
Chaudhuri
T
We can find out the force AD directly
Dept.
of
Applied
Mechanics
IIT
Madras,
Chennai,
India
MCE = 0
X T
BE intersecting the line CE
rE|C
rE|C
TAD 2.4
2.4
2.7
0.9 j + 0.6k
2
0.9 + 0.6
0.9 j + 0.6k
1.17
0.9
0.6
1.17
0
1.17
0 + 2.4
1.2
2.7
0.3
2.7
0.9
0.6
1.17
0
1.17
0 =0
To find TBE directly by take the moment about the line CD.
880
Draw the complete free body diagrams (i) Overall system (ii) Member ABC
(iii) Member DCE.