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CHAPTER 1

INTRODUCTION

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Definition
What is Design?
Design is the transformation of concepts and ideas into useful machinery. A machine is a combination of mechanism and other component that transforms, transmits, or uses energy, load, or motion for specific purpose. (hamrock) Fundamental decisions regarding loading(=force), kinematics and the choice of materials must be made during the design of a machine.

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Definition
What is Mechanics?
Mechanics is the branch of physical science that deals with the response of bodies to the action of forces.

Three areas of mechanics:

1> The mechanics of rigid bodies - statics (equilibrium of bodies) - dynamics (accelerated motion of bodies) 2> The mechanics of deformable bodies (Mechanics of Material) 3> The mechanics of fluids

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The Mechanics of Rigid Bodies

What is a rigid-body? A rigid-body is a solid which does not deform when force are applied (idealisation).

Statics is concern with bodies that are acted on

balanced force and hence are at rest or have uniform motions. equilibrium bodies

Dynamics is concern with accelerated motion of

bodies

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Mechanics of deformable bodies

Is the branch of mechanics that deals with internal force distribution and the deformations developed in actual engineering structure and machine components when they are subjected to systems of force.

Mechanics of Materials
Strength of Material

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Fluid Mechanics
Fluid mechanics is the branch of mechanics that deals with liquids and gases at rest or in motion. Fluid - Compressible - Incompressible

Out of this subject

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Example of Application

..

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Review: Force System

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Force System
Forces and Their Characteristics
The characteristics of a force are as follows: Its magnitude The amount or size of the force Its direction (orientation) Orientation of the line segment used to represent the force Its point of application The point of contact between the two bodies. A straight line extending through the point of application in the direction of the force is called its line of action.

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Principle of Transmissibility
The external effect of a force on a rigid body is the same for all points of application of the force along its line of action.

PUSH

PULL

Rigid Ring :

Deformable Ring :

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Classification of Forces
With respect to the area over which they act : 1. Distributed force 2. Concentrated force

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Force system
Any number of forces treated as a group constitute a force system. a. Concurrent forces The action lines of all forces intersect at common point F2 F3

F1

b. Coplanar forces All forces lie in the same plane

F3

F2

F1

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Force system
c. Parallel forces The action lines of the forces are parallel, but the orientation of the forces do not have to be same.

d. Collinear The forces of a system have a common line of action. F

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Force system
Graphical method

F1 R R F2

F2 O

F2 F1 O

R F1

The parallelogram law

The Triangle law

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Force system
Basic of analytical method
c

The cosine law c2 = a2 + b2 - 2 ab cos

The sine law

a b c = = sin sin sin

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Force system
Analytical method
F2 R

F1

Magnitude of Resultant:
R = F1 + F2 + 2F1F2 cos
2 2

Direction of Resultant
sin = F2 sin R

F sin = sin1 2 R
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Force system
Example :
Determine the magnitude of the resultant R and the angle between the horisontal axis and the line of action of Resultant

F2=500 N
450 300

F1=800 N

R = F1 + F2 + 2F1F2 cos R = 800 2 + 500 2 + 2.800.500 cos 45 0 R = 1206 .5

o F sin 1 500 sin 45 = sin1 2 = sin 1206 .5 R

F2=500 N R
450 300

= 17.04

F1=800 N
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= 30 + 17.04o = 47.04o

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Review: Moment System

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Moment System

Moment and their characteristics The moment of a force about a point or axis is a measure of the tendency of the force to rotate a body about that point or axis. A moment has both magnitude and a direction vector quantity The magnitude of moment M as defined as the product of the magnitude of a force and the perpendicular distance d from the line of action of the force to the axis. MO = MO= Fd Point O = the moment center.
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Principle of Moment : Varignon's Theorem

The moment M of the resultant R of a system of force with respect to any axis or point is equal to the vector sum of the moment of the individual forces of the system with respect to the same axis or point. R = F1 + F2 + + Fn MO = RdR = F1d1 + F2d2 + + Fndn

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Application of Varignon's theorem

y O d b h a

MR = R.d = R(h cos ) MA = A.a = A(h cos ) MB = B.b = B(h cos ) R cos = A cos + B cos MR = MA + MB

R B
A cos

B cos

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Vector Representation of a moment

MO = r x F MO = r x F = rFsin e (0 180o)
r3

r F

d r2 3

r1 2 1

r1sin 1 = r2sin 2 = r3sin 3 = d

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Position vector

rA = xA i + yA j + zA k rB = xB i + yB j + zB k rA = rB + rA/B rA/B = rA - rB
x

rA rB

rA/B

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Moment of a force about a point

If force F and r are expressed in Cartesian vector form: F = Fx i + Fy j + Fz k r = rx i + ry j + rz k So the moment Mo about the origin of coordinate O : MO =rxF = (rx i + ry j + rz k) x (Fx i + Fy j + Fz k) = (ry Fz - rz Fy )i + (rz Fx - rx Fz )j + (rx Fy - ry Fx ) k = Mx i + My j + Mz k

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Moment of a force about a point

z
z MO x

>>

F r

O x y

The moment Mo about the origin of coordinate O can also be expressed in determinant form as : i j k r r r What is about two-dimensional case ? MO = r x F = x z y
Fx Fy Fz
2 +M 2 +M 2 Mo = M x y z
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Moment of a force about a point

Alternatively, Mo can be written as MO = MO e Where e = cos x i + cos y j + cos z k

Mx Mo
My Mo cos z = Mz Mo

cos x =

cos y =

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Moment of a force about a line (axis)

z

MOJ= M = (MO . en) en = [(r x F) . en] en = MOJ en

x

MO J en

F r

O y

MOJ= MO . en = (r x F) .

i r en = x Fx

j ry Fy

k rz Fz

. en

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Moment of a force about a line (axis)

Or alternatively as : enx eny enz MOJ= MO . en = (r x F) . en = r ry rz x

Fx Fy Fz
z

MO J en

F r

O x y

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COUPLES

A couple is a system force whose resultant force is zero but whose resultant moment about a point is not zero z MA = F1d = F2d MA = rA/B x F1 = F1d en
x The characteristics of couples 1. The magnitude 2. The sense (direction of rotation) 3. The orientation (axis about which rotation is induced)
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n en

F2

rA

F1

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COUPLES

F d

F d

0.5F

2d

0.5F

F d F M = Fd

Several transformation of a couple can be made without changing any of external effect of the couple on the body
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COUPLES

Resolution of a force into a force and a couple

F O d p F
M = Fd

O r p

p
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Moment system
Example :

A parcel is lifted by a fork lift truck. Determine the moment of the weight with respect to the point A at the two border positions!

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