Intro To Mech

Statics of Rigid Bodies
STATICS OF RIGID BODIES

Chapter 1: Introduction
DEFINITION
Mechanics the study of the relationship among forces and their effects on bodies. the science which describes and predicts the conditions for rest and motion of bodies under the action of forces. a physical science (for it deals with physical phenomena)
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MECHANICS
MECHANICS
RIGID BODIES
STATICS
bodies at rest
DYNAMICS bodies in motion
What is a FORCE?
represents the action of one body on another that tends to change the state or state of motion of a body. y may be exerted by actual contact or at a distance (e.g. gravitational and magnetic forces). characterized by its point of application, magnitude and direction. represented by a vector.
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DEFORMABLE BODIES
INCOMPRESSIBLE
FLUIDS
COMPRESSIBLE
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Effects of a FORCE
development of other forces (reactions or internal forces) deformation of the body acceleration of the body Applied Force
Development of other forces

Applied Force
p Development of force or forces at points of contact with other bodies (reactions).
Reaction
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Development of other forces

Applied Force
Deformation of the body

Applied Force
Development of forces within the body itself (internal forces)
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Acceleration of the body
Properties of a FORCE
A force represents the action of one body on another and is generally characterized by its point of application, its magnitude, and its direction. Forces acting on a given particle, however, have the same point of application.
Magnitude 10N Direction 30 degrees (upwards or downwards) Point of Application line of action (LOA) dashed line having an angle 30 degrees
10N
30o
Applied Force pp
10N
30o
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DEFINITION
Particles - in the context of this course, does not indicate smallness of size, rather, it means that the shape and size of the object does not significantly affect the solution of the problems under consideration. Rigid Bodies - the problems considered in this course are assumed to be non-deformable. Again, such assumption does not significantly affect the solution of the problems under consideration.
BASIC QUANTITIES & UNITS

Quantity Length Mass Time Force SI m (meter) kg (kilogram) s (seconds) kg*m/s^2 or N Newton ENGLISH ft (feet) slugs s (seconds) lbs (pounds)
Acceleration due to gravity g = 9.81 m/s^2 or g = 32.2 ft/s^2

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Moment of a Force
RESULTANT OF THE ORIGINAL FORCES

single equivalent force having the same effect as the original forces acting on the particle. particle
P
RESULTANT CAN BE OBTAINED THRU:

Parallelogram Law or Vector Addition Triangle Rule
A
Q
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PARALLELOGRAM LAW
The resultant of two forces is the diagonal of the parallelogram formed on the vectors of these forces drawn tail to tail. tail-to-tail.
P R A Q
TRIANGLE LAW
If two forces are represented by their free vectors placed head-to-tail, their resultant vector is the third side of the triangle triangle. P R A Q
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VECTORS
Vectors are defined as mathematical expressions possessing magnitude and direction, which add according to the parallelogram law.
Law of cosines,
ADDITION OF VECTORS
The addition of two vectors is commutative.
v v v v P+Q=Q+ P
P A Q
R 2 = P 2 + Q 2 2 PQ cos B r r r R = P+Q
P A Q
Q P+Q A
Q+P P
P+Q Law of sines,

sin A sin B sin C = = Q R P
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SUM OF VECTORS
If the vectors are coplanar, the resultant may be obtained by using the polygon rule for the addition of vectors arrange the given vectors in a tip-to-tail fashion and connect the tail of the first vector with the tip of the last one P A Q S
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VECTOR ADDITION
Vector addition is associative.
R = P+Q+S = P+S+Q
Q
P A R S
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R
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VECTOR ADDITION
Vector addition is associative.
PRODUCT OF A SCALAR & VECTOR

P
R = P+Q+S = P+S+Q
v v nP - have the same direction as P with magnitude nP
P + P = 2P
P Q A Q S
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1.5P
-2P
R
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Resultant of Several Concurrent Forces

Concurrent forces: set of forces which all pass through the same point. A set of concurrent forces applied to a particle may be replaced by a single resultant force which is the vector sum of the applied forces. Vector force components: two or more force vectors which, together, have the same effect as a single force vector.

SOLUTION: Trigonometric solution - use the triangle rule for vector addition in conjunction with the law of cosines and law of sines to find the resultant.
The two forces act on a bolt at A. Determine their resultant.
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From the Law of Sines,
sin A sin B = Q R sin A = sin B Q R 60 N 97.73N
Trigonometric solution - Apply the triangle rule. From the Law of Cosines,
R 2 = P 2 + Q 2 2 PQ cos B = (40 N )2 + (60 N )2 2(40 N )(60 N ) cos 155 R = 97.73N
= sin 155
= 20 + A = 35.04
A = 15.04
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Example 2
Determine graphically, the magnitude and direction of the resultant of the two forces using (a) Parallelogram law and (b) the triangle rule.
600 N 900 N
45o 30o
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Graphical Solution
A parallelogram with sides equal to 900 N and 600 N is drawn to scale as shown. R 600 N 900 N R 1400 N 46o From the scaled drawing of the forces, the resultant is
Trigonometric Solution
R 600 N For the magnitude of R, using the cosine law:
135o
900 N
R 2 = 900 2 + 600 2 2(900 )(600 ) cos135 o
R = 1390.6 = 1391 N
For angle , using sine law:
30o
45o 30o
Note: The triangle rule may also be used. Join the forces in a tip to tail fashion and measure the magnitude and direction of the resultant.
29 30
R 600 = sin 135 O sin
= sin 1
600 sin 135O 1391
= 17.8 O
The angle of the resultant:
= 30O + 17.8O
Example 3
50 N
25O
O
Solution (a)
sin sin 25 sin = = R 50 35
(a) Determining &
Two forces are applied as shown to a hook support. Knowing that the magnitude of P is 35 N, determine by trigonometry (a) the required angle if the resultant of the two forces applied to the hook support is to be horizontal, (b) the corresponding magnitude of R.
50 N
25O
= sin 1
50 sin 25 O O = 37.14 35
= 180 O 25 O
= 117.86 O
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Solution (b)
sin sin 25 sin = = R 50 35
O
Resolution of Forces
50 N
25O
(b) Determining R
R=
50 sin sin
R = 73.22 N
It has been shown that the resultant of forces acting at the same point (concurrent forces) can be found. In the same way, a given force, F can be resolved into components. There are two major cases.
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Resolution of Forces: Case 1

(a) When one of the two components, P is known: The second component Q is obtained using the triangle rule. Join the tail of P to the tail of R. The magnitude and direction of Q are d t f determined graphically or b i d hi ll by trigonometry.
P Q i.e. R = P + Q R
Resolution of Forces: Case 2

(b) When the line of action of each component is known: The force R can be resolved into two components having lines of actions along a and b using the parallelogram law. From the head of R, extend a line parallel to a until it intersects b. Likewise, a line pa a e to b is drawn from the head o e se, e parallel o b s d a o e ead of F to the point of intersection with a. The two components P and Q are then drawn such that they extend from the tail of F to points of intersections.
a Q R
P
35 36
Example 4
a a
Example 4
95O
FB
40O
FA
P
45.0
Given P is 800 N, determine the components of the force in a and b axes.
15.0O 25.0O
45O
P=800N
45.0 45.0
40.0 15.0
40.0 15.0
sin 95 O sin 45 O sin 40 O = = 800 FB FA

b
= 180 45 40
= 95
FB = 567.85 N
FA = 516.19 N
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Rectangular Components of a Force & Unit Vector

y
Example 5
i and - unit vectors of j magnitude 1 directed along the positive x and y axes, respectively.
F
Fy = Fy j
F = 800 N
F x F y - vector components of F
Fx , Fy scalar components of F
Fy
FX = -655.3 N i
0
= 35 0
Fx
= 145
FY = 458.9 N j
x i F x = F xi
Fy = F sin
- may be positive or negative depending upon the sense of F x and F y - the absolute values are equal to the magnitude of the component forces F x and F y
40
Fx = F cos
39
Given Rectangular Components

y tan =
Example 6
Determine the resultant of the three forces below.
Fy Fx
2 2
F Fy
F=
Fx + Fy
y
y 800 N 600 N 45o
Fx
Rx = Fx
Ry = Fy
41
tan R =
Ry Rx
Ry
350 N x
60o
25o
Rx
x
42
Solution
y 800 N 600 N 45o 60o 25o x
350 N
Forces in Space
The resultant of forces in 3-D space can p be determined using parallelogram law/triangle law. Rectangular components can also be used to get resultant.
RX = F x = 350 cos 25O + 800 cos 70O -600 cos 60O RX = 317.2 + 273.6 300 = 290.8 N RY = F y = 350 sin 25 + 800 sin 70O +600 sin 60O RY = 147.9 + 751 + 519.6 = 1419.3 N
F= 290.8 N i +1419.3 N j Resultant, F

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F = 290.8 2 +1419.3 2 = 1449 N

F = 1449 N 78.4O
1419.3 = tan 1 = 78.4 O 290.8
Forces in Space
z
Force Polygon
z From the force polygon, the resultant can be drawn from the tail of the first force to the head of the last force. The magnitude and direction of the resultant can be computed using successive use of the triangle law. o
F1 F2
o
y
F3
x
The resultant of concurrent forces acting on a particle in space will also act at the same particle. Only the magnitude and direction are to be determined.
F2 F1
F3 R
y
y
x
x
Note: In this illustration, the magnitude and direction of all of the forces are given.
Note: The sine and cosine laws are hard to implement because usually the given angles are absolute.
Rectangular Components of a Force

The rectangular components of a force can be determined easily depending on the given characteristics of the force.

Given the Magnitude and Two Angles
z
Fz

Fz
z
z xy
F xy
F
y
Fz = F cos z
z
o
z o
Fy
F
Fz
y
o
z xy
F xy
F
y
Fx F xy
x
xy
Fxy = F sin z
Fx = Fxy sin xy = F sin z sin xy

Fy = Fxy cos xy = F sin z cos xy
Fxy = F sin z

z

Given the Magnitude and Three Absolute Angles
Fz
Fz = F cos z
Fx = Fxy sin xy = F sin z sin xy y y y Fy = Fxy cos xy = F sin z cos xy
o
Fy
z x
Fx F xy
x
xy
In vector form,
Fx = Fcos x Fy = F cos y Fz = Fcos z where cos x, cos y and cos z are direction cosines F = Fxi + Fyj + Fzk
F = Fxi + Fy + Fzk j F = Fx 2 + Fy 2 + Fz 2
x
Example 7
z A force of 500N forms angles of 600, 450 and 1200, respectively, with the x,y and z axes. Find the components Fx, Fy and Fz of the force. Find also the vector representation of the force. Fx F = F cos = (500N) x (500N)cos 600 Fx = +250N Fy = F cos y = (500N) cos 450 Fy = +354N Fz = F cos z = (500N) cos 1200 Fz = -250N x z z z
Example 7
Fy
y y Note: The angle a force F forms with an axis should be measured from the positive side of the axis and will always be between 0 and 1800.
Fx
x
o x
Fz F
Fx
o x y
Fy
y
Fz F
F = 250N i + 354N j 250N k
F = 250N i + 354N j 250N k
Direction Cosines
F = F cos xi + cos y + cos zk j
let = cos x i + cos y j+ cos z k = unit vector x= cos x y= cos y z= cos z
Direction Cosines
cos x = Fx / F cos y = Fy / F x = cos-1 (Fx / F) y = cos-1 (Fy / F) z = cos-1 (Fz / F)
x2 + y2 + z2 = 1 it follows that, cos2 x + cos2 y + cos2 z = 1
cos z = Fz / F
F = Fx2 + Fy2 + Fz2
F=F
The force vector is equal to the product of the magnitude of the force and the unit vector.
Example 8
A force has the components Fx = 20N, Fy = -30N, Fz = 60N. Determine its magnitude F and the angles x, y, z it forms with the coordinate axes. z x = 73.40
Example 8
F = 70 N x = cos-1 (Fx / F) = cos-1 (20/70) z
F Fy Fx
x
Fz
o y
y = cos-1 (Fy / F) = cos-1 (-30/70) ( 30/70)
Fz Fy Fx
x o y
F = Fx 2 + Fy 2 + Fx 2
F = (20 N ) + ( 30 N ) + (60 N )
2 2 2
y = 115.40 z = cos-1 (Fz / F) = cos-1 (60/70) y = 31.00
F = 4900 N = 70 N

Given the Magnitude and Two Points where Force Passes

z
E (xe , y e , z e )
F
d x = xe x o d y = ye yo d z = ze zo
o
E (xe , y e , z e )
F
Fz
Fx
F = Fxi + Fy + Fzk j
y
Fy
O( xe , y e , z e )
O (x o , y o , z o )
d = dx 2 + dy 2 + dz 2
Fy = dy F d
Fz = dz F d
x
Fx =
x
dx F d
cos x =
dx d
cos y =
dy d
cos z =
dz d
F = Fxi + Fy + Fzk j
Example 9
Determine the vector representation of the given force. z
2.4m
Example 9
2.4m
O(1.2, 1.5, 0.0) E(0.0, 2.4, 1.5) y dx = 0.0 -1.2 = -1.2 dy = 2.4 -1.5 = +0.9 dz = 1.5 - 0.0 = +1.5
1.5m 1.5m F=1.6kN 1.2m F=1.6kN
1.2m
O O
1.5m 1.5m
d=
( 1.2)2 + (0.9)2 + (1.5)2
x d = 2.12m
10
Example 9
Example
Sample Problem 2.10 : (2.89) A frame ABC is supported in part by cable DBE which passes through a frictionless ring at B. Knowing that the tension in the cable is 385 N, determine the components of the force exerted by the cable on the support D.
280mm
Fx =
Fy =
1. 2 (1.6kN ) = 0.905kN 2.12
+ 0 .9 (1.6kN ) = 0.679 kN 2.12
Fz
Fx
O
210mm E
y
510mm
400mm
Fz =
+ 1. 5 (1.6kN ) = 1.131kN 2.12

x
Fy
A
F = 0.905kN i + 0.679 kN + 1.131kN k j
C B
600mm
z
480mm
Example
280mm
O(0, 510, 280)

D
210mm
O(0, 510, 280)

E
TDBX
TDBZ TDBY
510mm
E(480, 0, 600) dx = xE xO = 480-0=480

400mm
TDB = 385N
dy = yE yO = 0-510=-510 dz = zE zO = 600-280=320
C
A z B
480mm 600mm
d = 770 mm
TDBX =
TDBY =
dx 480 TDB = (385) = 240 N d 770

dy d TDB = 510 (385) = 255 N 770
E(480, 0, 600)
r TDB = TDBX i + TDBY + TDBZ k = 240i 255 + 160 k ( N ) j j
TDBZ =
dz 320 TDB = (385) = 160 N d 770
Solution:
Position vector of BH = 0.6 m i + 1.2 m j - 1.2 m k Magnitude, BH =
Addition of Concurrent Forces in Space

0.6 2 + 12 2 + 12 2 . . = 18 m .
BH =
TBH TBH
BH 1 = (0.6 m i + 12 m j 12 m k ) . . | BH| 18 . 750 N BH = 0.6 m i + 12 m j 12 m k . . 18m | BH| .

The resultant R of two or more forces in space will be determined by summing their rectangular components. Graphical or trigonometric methods are generally not practical in the case of forces in space.
= | TBH |. BH = | TBH |
R = F
Rx = Fx
Rxi + Ryi + Rzk = (Fxi + Fyj + Fz )
= (250 N ) + (500N ) j (500 N ) k i Fy = 500 N Fz = 500 N
= ( Fx)i + ( Fy ) j + ( Fz )k
Fx = 250 N
Ry = Fy
Rz = Fz
11
Addition of Concurrent Forces in Space

R = Rx 2 + Ry 2 + Rz 2
cos x =
Rx R
cos y =
Ry R
cos z =
Rz R
12

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Statics of Rigid Bodies

Statics of Rigid Bodies

STATICS OF RIGID BODIES

Department of Engineering Sciences

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Statics of Rigid Bodies

Statics of Rigid Bodies

Prev Department of Engineering Sciences

Statics of Rigid Bodies

Statics of Rigid Bodies

Development of other forces

p Development of force or forces at points of contact with other bodies (reactions).

Prev Department of Engineering Sciences

Prev Department of Engineering Sciences

Statics of Rigid Bodies

Statics of Rigid Bodies

Development of other forces

Deformation of the body

Development of forces within the body itself (internal forces)

Prev Department of Engineering Sciences

Prev Department of Engineering Sciences

Statics of Rigid Bodies

Statics of Rigid Bodies

Acceleration of the body

Prev Department of Engineering Sciences

Prev Department of Engineering Sciences

Statics of Rigid Bodies

Statics of Rigid Bodies

BASIC QUANTITIES & UNITS

Acceleration due to gravity g = 9.81 m/s^2 or g = 32.2 ft/s^2

Statics of Rigid Bodies

RESULTANT OF THE ORIGINAL FORCES

RESULTANT CAN BE OBTAINED THRU:

Department of Engineering Sciences

Department of Engineering Sciences

Statics of Rigid Bodies

Statics of Rigid Bodies

Department of Engineering Sciences

Department of Engineering Sciences

Statics of Rigid Bodies

Statics of Rigid Bodies

P+Q Law of sines,

Department of Engineering Sciences

Department of Engineering Sciences

Statics of Rigid Bodies

Statics of Rigid Bodies

Department of Engineering Sciences

Statics of Rigid Bodies

Statics of Rigid Bodies

PRODUCT OF A SCALAR & VECTOR

v v nP - have the same direction as P with magnitude nP

Department of Engineering Sciences

Statics of Rigid Bodies

Statics of Rigid Bodies

Resultant of Several Concurrent Forces

Resultant of Several Concurrent Forces

The two forces act on a bolt at A. Determine their resultant.

Department of Engineering Sciences

Department of Engineering Sciences

Statics of Rigid Bodies

Statics of Rigid Bodies

Resultant of Several Concurrent Forces