Basic Mechanical Engineering

Course Code ME-113 Course Teacher Engr. N.A. ANJUM Text Book: Engineering Mechanics Dynamics By Meriam, J.L., Kraige, L.G., John Wiley

Fundamental Principles
Basic concepts used in mechanics: space, time, mass, force, particle, rigid body

Chapter 1 Introduction to Mechanics

Give the meanings and qualitative explanation of the following specific terms, i.e. space, time, mass, and force. Space is the region occupied by the bodies. We set up an coordinate system to specify where the object is by the position and its posture by the orientation. Time is the measure of the succession of events. Often, we are more interested in the change of physical quantities with respect to time, e.g. v = dr/dt, instead of time variable itself. Mass is the measure of the inertia of a body. The inertia indicates the resistance to a change in motion. Force a fixed vector, is the measure of the attempt to move a body.

Fundamental Principles
Basic concepts used in mechanics:

Space, time, mass, force, particle, rigid body

coordinates - position of a point P (x, y, z) measured from a certain point of reference

Fundamental Principles
Basic concepts used in mechanics:

Space, time, mass, force, particle, rigid body

time of an event taking place, determination of velocity and acceleration mass of a body [kg, to] action of weight, behavior under the action of an external force

Fundamental Principles
Basic concepts used in mechanics:

Space, time, mass, force, particle, rigid body

mass of a body [kg, to] action of weight, behavior under the action of an external force

Fundamental Principles
Basic concepts used in mechanics:

Space, time, mass, force, particle, rigid body

magnitude, direction, point of application e.g. action on a rigid body, action of one body onto another

Fundamental Principles
Basic concepts used in mechanics:

Space, time, mass, force, particle, rigid body

infinitesimal small piece of a body, single point in space

Fundamental Principles
Basic concepts used in mechanics:

Space, time, mass, force, particle, rigid body

body consisting of a non-deformable displacement under the action of forces) material (no

Introduction to Mechanics
Give the meanings and qualitative explanation of the following specific terms, i.e. particle, rigid body, and nonrigid body. Particle is a body of which its dimension is negligible. The rotation effect is insignificant because it is just a point. Whether the body can be treated as the particle or not depends on the relative dimensions in the problem and how much detailed of the solution we are interested in. Rigid body is a body whose relative movement between its parts are negligible relative to the gross motion of the body. For example the motion of an ingot can be analyzed by assuming the object being rigid. Nonrigid body is a body whose relative movement between its parts are significant relative to the gross motion of the body. Knowledge of the mechanics of the deformable material must be used along with Dynamics in order to determine the absolute 10 motion of the rigid body.

Vectors and Scalars

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Scalars
Scalar quantities are those which are described solely by their magnitude Some examples are: Mass e.g. 14 [kg], 36 [lbs], Time e.g. 10 seconds, 40 minutes, Volume e.g. 1000 cm3, 4 litres, 12 gallons Temperature e.g 14 oF , 25 oC, Voltage e.g. 9 Volts, etc

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Vectors
Vector quantities are those which need to be described by BOTH magnitude and direction Some of the most common examples which we will encounter are: Velocity e.g. 100 [mi/hr] NORTH

Acceleration e.g. 10 [m/sec2] at 35o with respect to EAST Force Momentum e.g. 980 [Newtons] straight down (270o) .g. 200 [kg m/sec] at 90o.

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Graphical representation of a Vector

- line segment of certain length (magnitude) and orientation () - arrowhead indicating direction

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Symbolic representation of a Vector

- magnitude, length of vector: V, |V| or V, e.g. in scalar equations - vector quantities respecting the orientation: V, V e.g. mathematical vector operations

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Symbolic representation of a Vector

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Representation of Vectors
Algebraically a vector is represented by its components along the three dimensions.

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Representation of Vectors

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Representation of Vectors

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Representation of Vectors

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Representation of Vectors

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Classification of Vectors
Free vector is a vector whose action is not confined with a unique line in space. That is, only its magnitude and direction do matter. Some examples are the displacement vector of a pure translational rigid object, or the couple vector of a rigid body. Free vector is free to slide and translate as long as its direction and magnitude are maintained. In other words, its line of action and point of application do not matter. Sliding vector is a vector whose line of action must be specified in addition to its magnitude and direction. External force or moment acting on the rigid body falls under this category. Therefore sliding vector has a freedom to slide along the fixed line of action. Fixed vector is a vector whose magnitude, direction, line of action, and point of application are all important in the analysis. External force or moment acting onto the nonrigid body must be dealt with as the fixed vector due to the deformable effect of the object. 22

Classification of Vectors
1. Free Vector
action in space not associated with a unique line e.g. uniform displacement of a body

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Classification of Vectors
2. Sliding Vector
action in space described by a unique line e.g. action of force on rigid body

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Classification of Vectors
3. Fixed Vector
action in space described by a unique point e.g. action of force on non rigid body

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Vector A vector has a length A and a direction (unit vector)

v A = AeA

eA
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2-D Rectangular Coordinate Systems

1. Show the relationships between the planar force vector, its components, and its direction. If a 2-D rectangular coordinate system has been specified, a planar force vector, F, can be written as the addition of its component vectors along the coordinate axes. F = Fx + Fy = Fxi + Fyj The components are the orthogonal projection of the vector onto the respective axes which is determined by the dot product of the vector and the unit vector along the axes. Fx = F i = F cos Fy = F j = F sin The magnitude and direction of the force vector F follow immediately as F = Fx2 + Fy2 27 = arctan2 (Fy, Fx)

2-D Moment and Couple

Moment is the measure of the attempt to rotate a body, which is usually induced by force. The moment is always associated with a specific point, meaning that we must specify the point in determining the moment about that point. In 2-D problems, the moment vectors direction is always perpendicular to the plane established by the point and the line of action of the force. In this course, the moment can be treated as a sliding vector so the problems can make use of the principle of transmissibility.

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2D Cartesian coordination system

v A = Ae A = A(cos x + sin y ) = Ax x + Ay y v 2 2 Pythagoras theorem A = A = Ax + Ay
y

(one form of presentation)

AY

v A

AX

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3-D Cartesian coordination system

= Ax x + Ay y + Az z
z

v A = A e A = Ax cos x + Ay cos y + Az cos z

v AA

e
y

A
y
2 2 2 2

Ax

r2 Note : Ax + Ay + Az = A = A

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Addition of vectors
v A = Ax x + Ay y v B = Bx x + B y y v v A + B = ( Ax + Bx ) x + ( Ay + By ) y

v B Y v A Y

v v A+B
v A
v A X

v B
v Bx
x

Subtraction of vectors

v v A - B = (A x B x ) x + (A y B y ) y
O

v A

v B

v B

v v A B
x
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Dot (scalar) product of two vectors

v v Definition: B AB cos (a scale)
x

v A
B

Note: AB cos = AB cos (B - A) A = AB(cos B cos A +sin B sin A) = (Acos A)(Bcos B) + (Asin A) (Bsin B) In 2-D Cartesian coordination system
v v A B = Ax Bx + Ay B y

v B
y

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In 3-D Cartesian system:

y

v v A+B
v A
O

v B

From cosine law: v v2 v2 v2 v v A + B = A + B 2 A B cos(180 )

( Ax + Bx ) 2 + ( Ay + B y ) 2 + ( Az + Bz ) 2 = ( Ax + Ay + Az ) + ( Bx + B y + Bz ) + 2 AB cos v v Ax B x + A y B y + Az B z = A B
2 2 2 2 2 2

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Time
In physics, we are most often less interested in absolute time than changes in time, or a time interval. seconds [sec] minutes [min] hours [hr] Time can be expressed in several units as well: days years etc Example 1: How much time does it take for the earth to make one revolution? Example 2: How long did it take for you to drive to the store today? We usually refer to a time interval as : t
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Velocity
Velocity is a measure of the rate of change of the distance with respect to time. v = d / t It will usually be measured in [m/sec]. What does 5 [m/sec] mean? It means if an object passes by us at 5 [m/sec], it will advance its position by 5 [m] every second. So after 2 [sec], it will have advanced 10 [m], and 20 [m] in 4 [sec] and so on. If a train moves at 50 [meters/sec], how far will it go in 50 seconds ? a) 100 miles b) 2.5 [km] c) 250 [m] d) 2500 miles
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Acceleration (I)
Acceleration is the rate of change of velocity with respect to time

a = v / t

[a] = [m/sec] / [sec] = [m/sec2]

What does a = 5 [m/sec2] mean? If an object starts at rest, its velocity increases by 5 [m/sec] every second. Time (sec) 0 1 2 3 4 Acceleration 5 m/sec2 5 m/sec2 5 m/sec2 5 m/sec2 5 m/sec2 Velocity 0 m/sec 5 m/sec 10 m/sec 15 m/sec 20 m/sec

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Acceleration (II)
Acceleration can be negative also! We call this deceleration. If the acceleration is in the same direction as the velocity, the object has positive acceleration (it speeds up). If the acceleration is in the opposite direction as the velocity, the object has negative acceleration or deceleration (it slows down).

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What is a Force ?
Force is simply: A PUSH or A PULL

Forces have both magnitude Forces have both magnitude and direction and direction
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Force and Acceleration

Experimentally, we find that if we apply a force to an object, it accelerates. We also find that the acceleration (a) is directly proportional to the applied force (F) and inversely proportional to the mass (m) . That is:
Isaac Newton

a=F/m
This means: Increasing the force increases the acceleration; decreasing the force results in a lower acceleration. This is Newtons Law, and it is often written:

F = ma F = ma

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Force (I)
A force is generally a result of an interaction between two (or more) objects Can you think of some examples of forces?

Gravitational Electric Magnetic Friction Wind drag Van der Waals forces Hydrogen bonds Forces in a compressed or stretched spring +

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Forces (II)
Since two or more objects must be involved, a force intimately tied to the notion of an interaction. Interactions are now believed to occur through the exchange of force carriers. This is a very important point, and well come back to it later So far, we know only of four types of fundamental forces in nature: Gravity, Electromagnetic, Weak, and Strong We will come back to each of these All other forces in nature are understood to be the residual effects of these fundamental forces 41

Momentum (I)
What is momentum? Momentum is simply the product of the mass and the velocity. Denoting momentum as M, it is simply: m v

M = m*v

The units of momentum are [kg][m/sec] == [kg m/sec] Momentum is a very important subject in dynamics/physics because it is what we call a conserved quantity. What does this mean?
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Energy

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What is Energy
From Merriam Webster: Energy: The capacity for doing work (or to produce heat) What are some forms/types of energy? 1. Energy of motion (kinetic energy) 2. Heat 3. Electricity 4. Electromagnetic waves - like visible light, x-rays, UV rays, microwaves, etc 5. Mass
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Energy
What do you mean mass is a form of energy? The thing about energy is that it cannot be created or destroyed, it can only be transformed from one form into another Yes, like momentum it is a conserved quantity. We will learn that conserved quantities are a powerful tool in predicting the future!

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Summary I
In nature, there are two types of quantities, scalars and vectors In nature, there are two types of quantities, scalars and vectors Scalars have only magnitude, whereas vectors have both Scalars have only magnitude, whereas vectors have both magnitude and direction. magnitude and direction. The vectors we learned about are distance, velocity, acceleration, The vectors we learned about are distance, velocity, acceleration, force, and momentum force, and momentum The scalars we learned about are time, and Energy. The scalars we learned about are time, and Energy.
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Summary II
Forces are the result of interactions between two or more Forces are the result of interactions between two or more objects. objects. If the net force on an object is not zero, it will accelerate. That If the net force on an object is not zero, it will accelerate. That is it will either speed up, slow down, or change direction. is it will either speed up, slow down, or change direction. Energy and momentum are conserved quantities. This has Energy and momentum are conserved quantities. This has far-reaching consequences for predicting whether certain events far-reaching consequences for predicting whether certain events or processes can occur. or processes can occur. There are many forms of energy. The topic of energy will There are many forms of energy. The topic of energy will be discussed in greater detail in next lecture. be discussed in greater detail in next lecture.

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ASSIGNMENT # 1
1. Explain with examples fundamental and derived units with 1. Explain with examples fundamental and derived units with symbols, units, & Physical quantities in the form of tables. symbols, units, & Physical quantities in the form of tables. 2. Explain some common physical quantities with unit and unit 2. Explain some common physical quantities with unit and unit symbols symbols 3. Explain multiples and submultiples 3. Explain multiples and submultiples .. 4. Write down Properties of Water, Mercury, & Water. 4. Write down Properties of Water, Mercury, & Water. 5. Give some examples for interchanging between units 5. Give some examples for interchanging between units

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