Mechanics: Force System

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Mechanics
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Force System
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When a member of forces simultaneously acting on the body, it is known

as force system. A force system is a collection of forces acting at specified
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locations. Thus, the set of forces can be shown on any free body diagram
makes-up a force system.
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Truss
It is a rigid structure composed of number of straight members pin jointed
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to each other. It can sustain static or dynamic load without any relative
motion to each other.
pic
Types of Truss
1. Plane Truss It is defined as a truss in which members are essentially
lies in a single plane.
w.
2. Rigid Truss Rigid means there is no deformation take place due to

internal strain in members.
ww
3. Simple Truss This type of trusses built a basic triangle by adding

different members are known as simple truss.
Classification of a Truss (based on joints)

Truss can be classified on the basis of joints (j) and members (m) in the
structure. It can be easily understood with the help of following hierarchical
approach.
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1

2 Handbook Mechanical Engineering
Truss
Perfect Truss Imperfect Truss

m = 2j 3 (unstable truss) n 2j 3
Redundant Truss Deficient Truss

m > = 2j 3 m < = 2j 3
m
.co
m = 6, j = 4 m = 4, j = 4
6>243 4<243
6>5 4<5
Classification of truss
ing
where m = number of members and j = number of joints
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Key Points

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Analysis of a Framed Structure (Section Method)

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1. This method is used when the forces in the few members of a truss is
required to found out in a truss structure.
To find out force in AC, BC and BD
pic

First cut a section which passes through AC, BC and BD members.

Find out reaction at point A and B
w.
A C F
E
ww
B D
Framed structure using section method

Find out forces FCA, FCB and FDB in members CA, CB and DB respectively by
taking moment about A and B.

2

Mechanics 3
2. Analytical Method In this method, the free body diagram of each joint
is separately analysed to find magnitude of stresses in the truss
members.
Lamis Theorem
m
.co

Q R
ing
Three concurrent forces P, Q and R
= =
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b a g
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Friction Force
It is resistant force which acts in opposite direction R
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at the surface in body which tend to move or its

F
move.
Normal force R = mg R
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If m mg > F , the body will not move. mg

m mg = F the body will tend to move. Friction force on a body
m mg < F the body will move.
pic
Angle of Friction
w.
It is defined as the angle between normal reaction and resultant reaction

when the body is in condition of just sliding.
Resultant
m mg
ww
tan f = reaction
R
R
m mg F
= =m (Q R = mg ) F
mg mg
f = tan-1 m mg
m = coefficient of friction Angle of friction due to
resultant reaction

3

Angle of Repose ( a)
It is defined as angle of inclined plane with R R
horizontal at which body is in condition of just
sliding. w sin w cos
a=f
Angle of friction is equal to angle of repose. w
Angle of Repose (a )
m
Plane Motion
When all parts of the body move in a parallel planes then a rigid body said
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to perform plane motion.
Key Points
ing

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Straight Line Motion

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It defines the three equations with the relationship between velocity,

acceleration, time and distance travelled by the body. In straight line
motion, acceleration is constant.
pic
v = u + at
1
s = ut + at 2
w.
2
v 2 = u 2 + 2 as
ww
where, u = initial velocity

v = final velocity
a = acceleration of body
t = time
s = distance travelled by body
Distance travelled in nth second
1
sn = u + a (2 n - 1)
2

4

Mechanics 5
Projectile Motion
Projectile motion defines that motion in which velocity has two
components, one in horizontal direction and other one in vertical direction.
Horizontal component of velocity is constant during the flight of the body as
no acceleration in horizontal direction.
Let the block of mass is projected at angle q from horizontal direction
u 2 sin2 q u
m
Maximum height h max =
2g hmax

2 u sin q
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Time of flight T = R range
g
Projectile motion
u 2 sin 2q
Range R =
ing
g
where, u = initial velocity
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Key Points

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Rotational Motion with Uniform Acceleration

Uniform acceleration occurs when the speed of an object changes at a
constant rate. The acceleration is the same
pic
over time. So, the rotation motion with

uniform acceleration can be defined as the
motion of a body with the same acceleration
w.

over time. Let the rod of block rotated about
a point in horizontal plane with w angular
ww
Rotational motion
velocity.
dq
Angular velocity w = (change in angular displacement per unit time)
dt
dw d 2q
Angular acceleration a = a=
dt dt 2
where q = angle between displacement.

5

In case of angular velocity, the various equations with the relationships

between velocity, displacement and acceleration are as follows.
q = wt
a=0
w = w0 + at
1
q = w0t + a t 2
2
w2 = w20 + 2aq
m
where w0 = initial angular velocity
w = final angular velocity
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a = angular acceleration
q = angular displacement
Angular displacement in nth second
ing
1
q n = w0 + a (2 n - 1)
2
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Relation between Linear and Angular Quantities

There are following relations between linear and
Y
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angular quantities in rotational motion. er

et
|e r | = |et | = 1
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e r and et are radial and tangential unit vector.

Linear velocity v = rw et O X
Linear acceleration (Net)

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dv
a = - w2r e r + et Position of radial and
dt tangential vectors
dv
pic
Tangential acceleration at = (rate of change of speed)

dt
v2
Centripetal acceleration ar = w2r = (Q v = r w)
w.
r
Net acceleration a = ar2 + at2
ww
2 2
v2 d v
= +
r dt
where ar = centripetal acceleration
at = tangential acceleration

6

Mechanics 7
Centre of Mass of Continuous Body

Centre of mass of continuous body can be defined as
Centre of mass about x, x CM =

x dm = x dm
dm M
Centre of mass about y, yCM =

y dm = y dm
dm M
m
Centre of mass about z, z CM =
z dm = z dm
.co
dm M
CM of uniform rectangular, square or circular plate lies at its centre.

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CM of semicircular ring
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R 2R

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CM of semicircular disc
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CM 4R
R
3
O

CM of hemispherical shell
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CM R
R
2
pic
O

CM of solid hemisphere
CM
w.
R 3R
8
O
ww
Law of Conservation of Linear Momentum

The product of mass and velocity of a particle is defined as its linear
momentum ( p).
p = mv
p = 2 Km

7

dp
F=
dt
where, K = kinetic energy of the particle
F = net external force applied to body
P = momentum
Rocket Propulsion
Let m0 be the mass of the rocket at time t = 0, m its mass at any time t and
m
v its velocity at that moment. Initially, let us suppose that the velocity of the
rocket is u.
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u u
At
ing At
t =0 t= t
v =u m =m
m =m0 v =v
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exhaust velocity
= vr
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Rocket propulsion
dm
Thrust force on the rocket Ft = v r -
dt
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dm
where, - = rate at which mass is ejecting
dt
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v r = relative velocity of ejecting mass (exhaust velocity)

Weight of the rocket w = mg
- dm
pic

Net force on the rocket Fnet = Ft - w = v r - mg
dt

Net acceleration of the rocket
w.
F
a=
m
ww
d v v r - dm
= -g
dt m dt
m0
v = u - gt + v r ln
m
where, m0 = mass of rocket at time t = 0
m = mass of rocket at time t

8

Mechanics 9
Impulse
The product of constant force F and time t for which it acts is called the
impulse (J) of the force and this is equal to the change in linear momentum
which it produces.
Impulse J = F t
Dp = pf - pi
where, F = constant force
m
P = linear momentum
Instantaneous Impulse e.g., bat and ball contact
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J= F dt Dp = pf - pi
Key Points
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= -
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= = = = =

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Collision
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A Collision is an isolated event in which two or more moving bodies exert

forces on each other for a relatively short time.
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Collision between two bodies may be classified in two ways

Head-on collision

Oblique collision.
pic
Head-on Collision
Let the two balls of masses m1 and m2 collide directly with each other with
w.
velocities v 1 and v 2 in direction as shown in figure. After collision the

velocity become v 1 and v 2 along the same line.
ww
m2 v2 m1 v1 m2 m1
v2 v1
Before collision After collision
m - em2 m + em2
v 1 = 1 v1 + 2 v2
m1 + m2 m1 + m2

9

m - em2 m + em1
v 2 = 2 v2 + 1 v1
m1 + m2 m1 + m2
where, m1 = mass of body 1
m2 = mass of body 2
v 1 = velocity of body 1
v 2 = velocity of body 2
v 1 = velocity of body 1 after collision
v 2 = velocity of body 2 after collision
m
where e = coefficient restitution
Separation speed
e=
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Approach speed
v 1 - v 2
e=
v2 - v1
ing
In case of head-on elastic collision
e =1
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In case of head-on inelastic collision

0<e <1
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In case of head-on perfectly inelastic collision

e=0
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If e is coefficient of restitution between ball and ground, Ou=0

then after nth collision with the floor, the speed of ball will
h
remain e nv 0 and it will go upto a height e 2n h.
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O
v n = e nv 0 = e n 2 gh
u0 = 2 gh
h0 = e 2 n h
pic
Collision of a ball
with floor
Oblique Collision
In case of oblique collision linear momentum of
w.
y
individual particle do change along the common v
normal direction. No component of impulse act
ww
along common tangent direction. So, linear

momentum or linear velocity remains unchanged
along tangential direction. Net momentum of both x
the particle remain conserved before and after Oblique collision
collision in any direction.

10

Mechanics 11
Moment of Inertia
Momentum of inertia can be defined as
r = distance of the body of mass, m from centre of axis.
I = S mi ri 2
i
r
2
I= dm
Very thin circular loop (ring)
m
I = MR 2 R A
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where, M = mass of the body
R = radius of the ring
I = moment of inertia ing A
R 2 + R22
Uniform circular loop I = M 1
2 Thin circular ring
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R1 A
oa
R2
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Uniform circular loop

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MR 2

Uniform solid cylinder I =
2
pic
A
R
w.
ww
A
Uniform solid cylinder

11

Uniform solid sphere

A
A
Uniform solid sphere
2
I= MR 2
m
5
Uniform thin rod
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(AA) moment of inertia about the centre and perpendicular axis to the rod
moment of inertia about the one corner point and perpendicular (BB) axis
to the rod.
ing
A
ch
l
oa
A
Uniform thin rod
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Ml 2 1 2
I= I= Ml
12 3
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Very thin spherical shell
A
pic
R
w.
A
Thin sperical shell
ww
2
I= MR 2 A
3
R

Thin circular sheet
MR 2
I=
4
A
Thin circular sheet

12

Mechanics 13
Thin rectangular sheet

a2 + b 2
I=M
12
A
a
b
m
A
Thin rectangular sheet
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Uniform right cone
R
ing
A A
ch
Uniform right cone
3
I= MR 2
oa
10

Uniform cone as a disc
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R
M
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O
pic
A part of uniform cone as a disc

1
Suppose the given section is th part of the disc, then mass of disc will
w.
n
be nM.
ww
Inertia of the disc,

1
Idisc = ( nM ) R 2
2
Inertia of the section,
1 1
Isection = Idisc = MR 2
n 2

13

Torque and Angular Acceleration of a Rigid Body

For a rigid body, net torque acting
t = Ia
where, a = angular acceleration of rigid body
I = moment of inertia about axis of rotation
Kinetic energy of a rigid body rotating about fixed axis
1
KE = Iw2 (w = angular velocity)
m
2
Angular moment of a particle about same point
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r p = mv
L=r p
L = m (r v) Angular moment
ing
where L = angular displacement
Angular moment of a rigid body rotating about a fixed axis. L = Iw
A
ch

oa
r
O
P
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B
Angular moment of a rigid body
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Angular moment of a rigid body in combined rotation and translation
L = LCM + M (r0 v0 )
pic
CM V0
w.

r0
ww
O
Combined rotation and translation in a rigid body

Conservation of angular momentum
dL
t=
dt
dL
=r F + vp
dt

14

Mechanics 15
Kinetic energy of rigid body in combined translational and rotational

motion
1 2 1
K = mvCM + ICM w2
2 2
Uniform Pure Rolling

Pure rolling means no relative motion or no slipping at point of contact
between two bodies.
m
v
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CM P
v
R ing
Q
Uniform Pure Rolling
If v P = vQ no slipping
ch
v = Rw
if v p > vQ forward slipping
v > Rw
oa
if v P < vQ backward slipping

v < Rw
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v
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s = 2R
pic
Pure Rolling
No slipping s = 2pR
Forward slipping s > 2pR
w.
Backward slipping s < 2pR

ww
Accelerated Pure Rolling

A pure rolling is equivalent to pure translation and pure rotation. It follows a
uniform rolling and accelerated pure rolling can be defined as
F + f = Ma
( F - f ) R = Ia

15

C a
f
Accelerated pure rolling
F = force acting on a body, f = friction on that body
m
Angular Impulse
The angular impulse of a torque in a given time interval is defined as
.co
t2
t1 t dt
t2
ing
t1 t dt = L2 - L1
where, L2 and L1 are the angular momentum at time t 2 and t 1 respectively.

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Key Points

oa

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pic
w.
ww

16

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When a member of forces simultaneously acting on the body, it is known

2. Rigid Truss Rigid means there is no deformation take place due to

3. Simple Truss This type of trusses built a basic triangle by adding

Classification of a Truss (based on joints)

D:\Book Final\G512 Handbook Mechanical Engineering\Mechanical Engineering\Chap_01\Chap_ 1.vp

Color profile: Generic CMYK printer profile

2 Handbook Mechanical Engineering

Perfect Truss Imperfect Truss

Redundant Truss Deficient Truss

Analysis of a Framed Structure (Section Method)

D:\Book Final\G512 Handbook Mechanical Engineering\Mechanical Engineering\Chap_01\Chap_ 1.vp

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at the surface in body which tend to move or its

If m mg > F , the body will not move. mg

It is defined as the angle between normal reaction and resultant reaction

D:\Book Final\G512 Handbook Mechanical Engineering\Mechanical Engineering\Chap_01\Chap_ 1.vp

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4 Handbook Mechanical Engineering

Straight Line Motion

It defines the three equations with the relationship between velocity,

where, u = initial velocity

D:\Book Final\G512 Handbook Mechanical Engineering\Mechanical Engineering\Chap_01\Chap_ 1.vp

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Rotational Motion with Uniform Acceleration

over time. So, the rotation motion with

D:\Book Final\G512 Handbook Mechanical Engineering\Mechanical Engineering\Chap_01\Chap_ 1.vp

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6 Handbook Mechanical Engineering

In case of angular velocity, the various equations with the relationships

Relation between Linear and Angular Quantities

angular quantities in rotational motion. er

e r and et are radial and tangential unit vector.

Linear acceleration (Net)

Tangential acceleration at = (rate of change of speed)

D:\Book Final\G512 Handbook Mechanical Engineering\Mechanical Engineering\Chap_01\Chap_ 1.vp

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Centre of Mass of Continuous Body

Centre of mass about x, x CM =

Centre of mass about y, yCM =

CM of uniform rectangular, square or circular plate lies at its centre.

Law of Conservation of Linear Momentum

D:\Book Final\G512 Handbook Mechanical Engineering\Mechanical Engineering\Chap_01\Chap_ 1.vp

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8 Handbook Mechanical Engineering

v r = relative velocity of ejecting mass (exhaust velocity)

D:\Book Final\G512 Handbook Mechanical Engineering\Mechanical Engineering\Chap_01\Chap_ 1.vp

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A Collision is an isolated event in which two or more moving bodies exert

Collision between two bodies may be classified in two ways

velocities v 1 and v 2 in direction as shown in figure. After collision the

Before collision After collision

D:\Book Final\G512 Handbook Mechanical Engineering\Mechanical Engineering\Chap_01\Chap_ 1.vp

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10 Handbook Mechanical Engineering

In case of head-on inelastic collision

In case of head-on perfectly inelastic collision

If e is coefficient of restitution between ball and ground, Ou=0

along common tangent direction. So, linear

D:\Book Final\G512 Handbook Mechanical Engineering\Mechanical Engineering\Chap_01\Chap_ 1.vp

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Uniform circular loop