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Fundamental Principles of
Mechanics
Mechanics of Solids 1
Mechanics
Mechanics of Solids 2
Mechanics
Study of Force & Motion
Gross/Overall Motion
(Dynamics)
KINETICS KINEMATICS
Mechanics of Solids 3
Mechanics
Motion
Mechanics of Solids 6
However, there is a difference in that a particle,
being a material, has mass while a point, being
only a geometrical concept, has none.
Mechanics of Solids 8
Vector Quantity: A quantity which is described by
its magnitude and also its direction is a vector.
Operations of vector algebra are applicable to
vectors. Examples are: Force, velocity, moment of
a force and displacement .
Mechanics of Solids 12
Force
Force: In physics, a net force acting on a body causes
that body to accelerate; that is, to change its velocity. The
concept appeared first in the second law of motion of
classical mechanics.
Mechanics of Solids 14
Compressive Force or Push
Mechanics of Solids 15
Shear Force
When equal and opposite forces act on the
parallel faces of a body, shear occurs on these
planes. This tends to cause an angular
deformation as shown.
Mechanics of Solids 16
• One Newton is force which gives an acceleration
of 1 m/s2 to a mass of 1 kg.
Mechanics of Solids 17
System of Forces
Coplanar Non-Coplanar
Collinear
Concurrent Concurrent
Parallel, Non-
concurrent Parallel
Non-concurrent &
Non-concurrent & Non-Parallel
Non-Parallel
Mechanics of Solids 18
System of Force
• Terms to be familiar with
– Concurrent Forces (a)
– Coplanar Forces
(c)
Mechanics of Solids 19
Forces
Mechanics of Solids 20
Resultant Force
If a force system acting on a body can be replaced
by a single force, with exactly the same effect on
the body, this single force is said to be the
'resultant' of the force system.
F1 F3
F2 R
Mechanics of Solids 21
Law of parallelogram of forces:
If two forces acting at a point are represented in
magnitude and direction by the adjacent sides of
a parallelogram, then their resultant is
represented by the diagonal passing through the
point of intersection of the two sides representing
the forces.
F1
P F2
Mechanics of Solids 22
Lami’s Theorem
γ
P Q
O
β α P Q R
R = =
sin α sin β sin γ
= + +
F1 F3 F1 F3
Mechanics of Solids 24
The moment of force
Mechanics of Solids 25
Mechanics of Solids 26
Moment = r×F
The moment itself is a vector quantity.
Its direction is perpendicular to the
plane determined by OP and F.
The sense is fixed by the right hand rule
From calculus the magnitude of the
cross product r×F = F r sinφ, Where r sinφ
is the perpendicular distance between
point O and vector F.
Mechanics of Solids 27
Moment M = F X x
F
Mechanics of Solids 28
Ex. 1 on Moment
15 kN
30o
4m
Mechanics of Solids 29
Solution for Ex. 1 on Moment
15 sin 30 kN
15 kN
30o
4m
10 kN
4m
Mechanics of Solids 31
Solution for Ex. 2 on Moment
10 kN
4m
Mo = 10 kN X 2 m = 20 kN-m (CW)
Mechanics of Solids 32
Ex. 3 on Moment
10 kN
2m O
4m
Mechanics of Solids 33
Solution for Ex. 3 on Moment
10 kN
2m O
4m
Mo = 10 kN X 2 m = 20 kN-m (CW)
Mechanics of Solids 34
Ex. 4 on Moment
y
F
z
d
Mz = F kN X d m = Fd kN-m
Mechanics of Solids 35
Ex. 5 on Moment
y
z
d
My = F kN X d m = Fd kN-m
Mechanics of Solids 36
Ex. 6 on Moment
y
F1
F2
z
d
400 sin 60
Mechanics of Solids 38
Couple
A special case of moments is a couple. A couple consists
of two parallel forces that are equal in magnitude, opposite
in direction. It does not produce any translation, only
rotation. The resultant force of a couple is zero. BUT, the
resultant of a couple is not zero; it is a pure moment.
d a
A B
F F
Sum of the moments of both the forces about B, we have total
moment
MB = F * (a+d) - (F) * a = Fd (CCW)
Mechanics of Solids 40
Mechanics of Solids 41
Types of Loading
Mechanics of Solids 42
Types of Loading
1. Concentrated Load / Point Load
F F
Mechanics of Solids 43
Types of Loading
2. Uniformly Distributed Load (UDL)
Mechanics of Solids 44
Types of Loading
3. Uniformly Varying Load (UVL)
Mechanics of Solids 45
Types of Loading
4. Uniformly Varying Load (UVL)
Mechanics of Solids 46
Types of Loading
5. Moment (Pure Bending Moment)
y
MB
Mechanics of Solids 47
Types of Loading
6. Moment
y
x z
MT
z
MT Twisting Moment
Mechanics of Solids 48
Support
&
Reaction at the Support
Mechanics of Solids 49
Types of Supports & Reactions
1. Simple Support
F
A B
RA RB
Mechanics of Solids 50
Types of Supports & Reactions
2. Simple Support with hinge at A & B
F
A B
HB
HA
RA RB
Mechanics of Solids 51
Types of Supports & Reactions
3. Roller Support
F
A B
RA RB
Mechanics of Solids 52
Types of Supports & Reactions
4. Roller support & Simple support
F
A B
RA RB
Mechanics of Solids 53
Types of Supports & Reactions
5. Fixed support & roller support
F
A B
(RA)H
(RA)V (RB)V
MA
Mechanics of Solids 54
Types of Supports & Reactions
6. Smooth/Frictionless Support
Mechanics of Solids 55
Types of Supports & Reactions
7. Frictional Support
FS = µN
Mechanics of Solids 56
Force Transmitting properties of some idealized mechanical elements
Mechanics of Solids 57
Mechanics of Solids 58
Mechanics of Solids 59
Mechanics of Solids 60
Equilibrium Conditions
Mechanics of Solids 61
Equilibrium
Dynamic Equilibrium
The body is said to be in equilibrium condition when the acceleration is zero
Static Equilibrium
The static body is in equilibrium condition if the resultant force acting on it is
zero
Mechanics of Solids 62
Necessary and sufficient
condition
for body to be in Equilibrium
Summation of all the FORCES should be
zero
ΣF=0
Summation of all the MOMENTS of all the
forces about any arbitrary point should be
zero
ΣM=0
Mechanics of Solids 63
Two Force Member
B
FB
Non-equilibrium condition Equilibrium Condition
Mechanics of Solids 64
Three Force Member
• Three forces can’t have random orientation
FB FA FB
FA
FC
FC
Mechanics of Solids 66
Statically Determinate System
• If it is possible to determine all the
forces involved by using only the
equilibrium requirements without regard
to deformations, such systems are called
statically determinate
determinate..
• Use of equilibrium conditions to solve for
unknown forces from known forces.
Mechanics of Solids 67
Statically Indeterminate Systems
Mechanics of Solids 68
Ex. 1.8 Crandal
Statically Indeterminate Situation
1 kN
3.0 m
A B
2.2 m
Mechanics of Solids 69
Engineering Application
Mechanics of Solids 70
Free –body diagram
The sketch of the isolated component
from a system / and all the external forces
acting on it is often called a free- body
diagram
Mechanics of Solids 71
B
B Y W RY
W A
X A RX
Z
RBA
RZ
W
RX
W RY
RAB
RZ
FBD for A
Mechanics of Solids FBD for B 72
B
W
A
Z W
X
Y 30o
RBA
W
RZ
W
RBA
RY
N RX
FBD for A
Mechanics of Solids FBD for B 73
Example
Mechanics of Solids 74
Determine the forces at B and C
Idealization
1. Neglect the friction at pin joints
2. Ignore the self weight of rods
Mechanics of Solids 75
Free body diagram of the frame
Mechanics of Solids 76
Free body diagrams of bar BD and CD
i.e. Isolation from the system
Mechanics of Solids 77
Σ Fy= 0
FB sin 45- 20 = 0
FB = 28.28 kN
Σ Fx= 0
FC - FB cos 45 = 0
FC = 20 kN
Mechanics of Solids 78
Trusses
Mechanics of Solids 79
Trusses
• Trusses are designed to support the loads
and are usually stationary, fully
constrained structures. All the members of
a truss are TWO FORCE members
Mechanics of Solids 80
Use of truss
1. Construction of roof
2. Bridges
Mechanics of Solids 81
3. Transmission line towers.
Mechanics of Solids 82
Relation between number of joints and member in
trusses
m = 2j - 3
Mechanics of Solids 83
Method of analysis of truss
Mechanics of Solids 84
Joint Equilibrium Method
In this method using FBD for each joint, equilibrium of the
joints of the truss is consider one at a time. At each joint it is
necessary to satisfy the static equilibrium equations. This
method is suitable, when it is asked to calculate forces in all
the members of the truss
Only two static equilibrium equations will be satisfied at a
time because Σ M = 0 will always be satisfied for concurrent
force system.
Mechanics of Solids 85
Step by step procedure of joint equilibrium method
1. Draw a FBD of an entire truss showing the external forces acting on
it. (i.e. applied forces/ loads and reactions)
2. Obtain the magnitude and direction of reactions by using the static
equilibrium equations.
3. Select a joint where only two unknown forces exit and draw its FBD
assuming all unknown forces tensile.
4. Apply the equilibrium equations to the joint, which will give the forces
in the members.
5. If the obtained value is –ve then our assumed direction is wrong.
Change the nature of force.
6. Apply the above steps to each joint and determine the forces.
7. At the end, redraw the truss and show the correct direction as well as
its magnitude of force in each member.
Mechanics of Solids 86
W W
F B F
C
A AX
CY
AY
Mechanics of Solids 87
B
FAB FBC
Compression
FAB FBC
A Tension C
FAC FAC
Mechanics of Solids 88
Calculate the force in each member of the loaded truss.
Mechanics of Solids 89
2 KN
CX
AY CY
Σ FX = 0 = CX – 2 CX = 2 KN
Σ MC = 0 = 2 x 3 – AY x 6 AY = 1 KN
Σ FY = 0 = AY - CY CY = 1 KN
Mechanics of Solids 90
FAE
FAB
A
AY
At Joint A
Σ FY = 0 = AY - FAE sin 45 --- FAE = 1.414 kN (C)
Σ FX = 0 = FAB – FAE cos 45 ---- FAB = 1 kN (T)
Mechanics of Solids 91
E FDE
FAE
FBE
FAB
A
AY
At Joint E
Σ FY = 0 = FAE cos 45 - FBE --- FBE = 1 kN (T)
Σ FX = 0 = FAE sin 45 - FDE ---- FDE = 1 kN (C)
Mechanics of Solids 92
E FDE
FAE
FBE FBD
FAB FBC
A
B
AY
At Joint B
FAE FCD
FBE FBD
CX
FAB FBC
A
B C CY
AY
At Joint C
Σ FY = 0 = FCD - CY --- FCD = 1 kN (T)
Mechanics of Solids 94
Sr. No. Member Force Nature of force
1 AE 1.414 kN Compressive
2 AB 1 kN Tensile
3 BE 1 kN Tensile
4 BC 2 kN Tensile
5 BD 1.414 kN Compressive
6 CD 1 kN Tensile
7 DE 1 kN Compressive
Mechanics of Solids 95
Section equilibrium method
This method is also based upon the conditions of static
equilibrium. This method is suitable when forces only in
few of the members of the truss, particularly away from
the supports are required.
Mechanics of Solids 96
Since we have only three equilibrium equation, only
maximum three unknown forces can be found at a time.
Therefore a care should be taken while taking a section
that section line does not cut more than three members in
which the forces are unknown.
Mechanics of Solids 97
Step by step procedure of section equilibrium method
Mechanics of Solids 98
Determine the forces in members BC, BF,
FJ
J F E
50 kN
A D
B C
100 kN 100 kN
9m
Mechanics of Solids 99
J F E
50 kN
AX
D
A B C
AY DY
100 kN 100 kN
Σ FX = 0 = 50 – AX ------------ AX = 50 kN
Σ FY = 0 = AY – 100 – 100 + DY ------- AY = 85.57 kN
FBF
AX FBC
D
A B C
AY DY
100 kN 100 kN
FBD of B
»FS= fS N, FK =fk N
A µ1
(1000 N)
B
µ2 P
(2000 N)
µ1
µ2
θ
µ2 A
W kN
30o
Problems List: 6, 9, 11, 12, 13, 15, 16, 17, 21, 31, 37, 43, 44, 45.