Estatica Enfoque Basico PDF

Engineering Mechanics
STATICS
Prof. Khalid Hussain Syed

FALL 2015-16/PROF. KHALID HUSSAIN/
What is Mechanics?
Science which describes and predicts the conditions of rest or
motion of bodies under the action of forces.
The purpose of mechanics is to explain and predict physical
phenomena and thus to lay the foundations for engineering
applications
Mechanics
Mechanics of Mechanics of
Mechanics of fluids
rigid bodies Deformable bodies
Theory of Theory of
elasticity plasticity
Statics Dynamics
Kinematics Kinetics
Statics Deals with bodies at rest.
Displacement
Kinematics Velocity
Acceleration
Dynamics
Force/torque
Kinetics
Energy/momentum

Fundamental concepts
Space - associated with the representation of the position of a
point P given in terms of three coordinates measured from a
reference point or origin.
Time definition of an event requires specification of the time
and position at which it occurred.
Mass used to characterize and compare bodies. Two bodies of
the same mass, for example, will be attracted by the earth in the
same manner;they will also offer the same resistance to a change
in translational motion.
Force represents the action of one body on another. A force is
characterized by its point of application, magnitude, and
direction, i.e., a force is a vector.

Principles of Mechanics
1. The Parallelogram Law for the Addition of
Forces.-This states that two forces acting on a particle
may be replaced by a single force, called their resultant,
obtained by drawing the diagonal of the parallelogram
which has sides equal to the given forces.

Six Fundamental Principles
2. The Principle of Transmissibility. This states
that the condition of equilibrium or of motion
of a rigid body will remain unchanged if a
force acting at a given point of the rigid body
is replaced by a force of the same magnitude
and same direction, but acting at a different
point, provided that the two forces have the
same line of action.

Principle of
Transmissibility

Principle of
Prove
Transmissibility

Principle of
Prove
Transmissibility
law of superposition, which

can be stated as the action of a
given system of forces on a rigid
body is not changed by adding
or subtracting another system of
forcesFALL
in equilibrium.
2015-16/PROF. KHALID HUSSAIN/
Principle of
Prove
Transmissibility
law of superposition, which

can be stated as the action of a
given system of forces on a rigid
body is not changed by adding
or subtracting another system of
forcesFALL
in equilibrium.
3. Newtons Three Fundamental Laws.
FIRST LAW. If the resultant force acting on aparticle is zero, the
particle will remain at rest(if originally at rest) or will move with
constant speed in a straight line(if originally in motion)
SECOND LAW. If the resultant force acting on a particle is not zero,

the particle will have an acceleration proportional to the magnitude
of the resultant and in the direction
of this resultant force. F ma
THIRD LAW. The forces of action and reaction between bodies in

contact have the same magnitude, same line of action, and opposite
sense.

Newtons THIRD LAW

Newtons THIRD LAW

Newtons THIRD LAW

Newtons THIRD LAW

Newtons Law of Gravitation. This states that two
particles of mass M and m are mutually attracted with equal
and opposite forces F and F of magnitude F given by the
formula.
Mm
F G 2
r
Where r = distance between the two particles
G = universal constant called the constant of gravitation
Application: The force F exerted by the earth on the particle
located on its surface, is defined as the weight W of the
particle.
GM
g 2 W mg
R
Summary of Principles
Newtons First Law: If the resultant force
on a particle is zero, the particle will remain at
rest or continue to move in a straight line.
Newtons Second Law: A particle will

have an acceleration proportional to a
resultant applied force.
Parallelogram Law
F ma
Newtons Third Law: The forces of action
and reaction between two particles have the
same magnitude and line of action with
opposite sense.
Newtons Law of Gravitation: Two
particles are attracted with equal and opposite
forces,
Mm GM
F G 2 W mg, g 2
r
R
Principle of
Transmissibility

Systems of Units
International System of units (SI Units)
Length meter (m) Multiplication Prefix Symbol
Factor
Mass kilogram (kg)
Time second (s) 1012 Tera T
Force Newton (N)
109 Giga G
106 Mega M
103 Kilo k
10-3 Milli m
10-6 Micro
10-9 Nano n
10-12 Pico p
Parameter Notation S I unit
Displacement X Meter,
Time t Second
Mass m Kg
Weight W = m.g N
Velocity V m/s
Acceleration A m/s2
Momentum mv Kg.m/s
Force F Kg.m/s2 or Newton
(N)
Torque or T N.m
moment of a force or
couple

Weight, Force

Method
Problem Statement:
of Problem Solution
Includes given data, specification of
what is to be determined, and a figure
showing all quantities involved.
Free-Body Diagrams:
Create separate diagrams for each of the
bodies involved with a clear indication of
all forces acting on each body.
Fundamental Principles:
The six fundamental principles are
applied to express the conditions of
rest or motion of each body. The
rules of algebra are applied to solve
the equations for the unknown
quantities.
Forces in a plane
A force represents the action of one body on another and
is generally characterized by its point of application, its
magnitude, and its direction.
Characteristics of a force are its
1. Magnitude
2. Point of application
3. Direction
Unit: Newton (N)
1 Newton is defined as the force which gives an acceleration of
1 m/s2 to a mass of 1 kg.

Concentrated force or a point force: it is the force acting
on a very small area.
Distributed force: force distributed over a length or an area or a
volume
Line of action of force: Direction along a straight line through
its point of application, in which the force tends to move a body to
which it is applied.
Graphical representation of force:

System of forces: when several forces of various magnitude and
direction act upon a body they are said to form system of forces.
Classification of system of forces: Classified as per
orientation of line of action of forces.
System of forces
Coplanar ( In Plane)/ 2-D Non Coplanar(Space)-3-D
Concurrent Non- concurrent Concurrent Non- concurrent
Parallel General Parallel General

Concurrent force system: acts on a particle or rigid body
Parallel and General force system: acts mainly on rigid bodies

Vector: parameters possessing magnitude and
direction which add according to the
parallelogram law. Examples: displacements,
velocities, accelerations.
Scalar: parameters possessing magnitude but not direction.

Examples: mass, volume, or energy.
Vector classifications:
- Fixed or bound vectors have well defined points of
application that cannot be moved without modifying the
conditions of the problem.e.g. forces on particle.
- Free vectors may be freely moved in space without changing
their effect on an analysis.e.g. couple
. FALL 2015-16/PROF. KHALID HUSSAIN/

- Sliding vectors may be applied anywhere along their line of
action without affecting an analysis. e.g. forces on rigid bodies.
- Equal vectors have the same magnitude and direction.
- Negative vector of a given vector has the same magnitude and

the opposite direction.
P + (-P) = 0

Addition of Vectors
B
C
Parallelogram law for vector addition
Q
R
Triangle rule for vector addition-tip-
to-tail fashion

O A
P
If two forces acting at a point can be represented in magnitude and

direction by the two adjacent sides of a parallelogram, their resultant can
be represented in magnitude and direction by the diagonal of the
parallelogram passing through the point. Mathematically, resultant force,

Addition of Vectors
Law of cosines,
R 2 P 2 Q 2 2PQ cos B

R PQ
Law of sines
Q R P

SinA SinB SinC
Vector addition is commutative,

P Q Q P
Vector subtraction
Addition of three or more vectors
through repeated application of the
triangle rule
Vector addition is associative,

P Q S P Q S P Q S
The polygon rule for the addition of

three or more vectors.
Multiplication of a vector by a scalar

The no. of ways in which a given force F may be resolved into
two components is unlimited.
Y
Resolution of a force
B C
means finding the
components of a given force
Rsin
R
in two given directions.

A X
O Rcos
Components of R along X-axis = R cos .

Components of R along Y-axis = R sin .

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.
Sample Problem 2.1
SOLUTION:
Graphical solution - construct a
parallelogram with sides in the
same direction as P and Q and
lengths in proportion. Graphically
evaluate the resultant which is
The two forces act on a equivalent in direction and
bolt at A. Determine their proportional in magnitude to the
resultant. the diagonal.
Trigonometric solution - use the
triangle rule for vector addition in
conjunction with the law of
cosines and law of sines to find
FALL 2015-16/PROF.the resultant.
KHALID HUSSAIN/
Sample Problem 2.1
Graphical solution - A parallelogram
with sides equal to P and Q is drawn to
scale. The magnitude and direction of
the resultant or of the diagonal to the
parallelogram are measured,
R 98 N 35
Graphical solution - A triangle is drawn
with P and Q head-to-tail and to scale.
The magnitude and direction of the
resultant or of the third side of the
triangle are measured,
R 98 N 35

Sample Problem 2.1
Trigonometric solution - Apply the
triangle rule. From the law of cosines
R 2 P 2 Q 2 2PQ cos B
40N 2 60N 2 240N 60N cos155
R 97 .73 N
From the Law of Sines,

sin A sin B

Q R
Q
sin A sin B
R
60N
sin 155
97.73N
A 15.04
20 A
35 .04
Rectangular Components of a
Force: Unita force
May resolve Vectors
vector into perpendicular
components so that
the resulting
Fx and Fy
parallelogram is a rectangle. are
referred to as rectangular
vector components
F Fx F y
and

Define perpendicular unit vectors
i and j
which are parallel to the x and y axes.
Vector components may be expressed as

products of the unit vectors with the scalar
magnitudes of the
vector
components.
F Fx i Fy j

F
Fx and Fy are referred to as the scalar
components of HUSSAIN/
FALL 2015-16/PROF. KHALID
Addition of Forces by Summing Components
Wish to find the resultant of 3 or more
concurrent
forces,
R PQ S
Resolve each force into rectangular components

Rx i R y j Px i Py j Qx i Q y j S x i S y j

Px Qx S x i Py Q y S y j
The scalar components of the resultant are equal
to the sum of the corresponding scalar
components of the given forces.
R x Px Q x S x R y Py Q y S y
Fx Fy
To find the resultant magnitude and direction,
2 2 1 R y
R Rx R y tan
Rx
Sample Problem 2.3
SOLUTION:
Resolve each force into
rectangular components.
Determine the components of
the resultant by adding the
corresponding force
components.
Four forces act on bolt A as
shown. Determine the Calculate the magnitude and
resultant of the force on the direction of the resultant.
bolt.

Sample Problem 2.3

SampleSOLUTION:
Problem 2.3
Resolve each force into rectangular
components.
force mag

x comp y comp
F1

F2

F3

F4

SampleSOLUTION:
Problem 2.3
Resolve each force into rectangular components.
force mag x comp y comp

F1 150 129.9 75.0

F2 80 27.4 75.2

F3 110 0 110.0

F4 100 96.6 25.9
Rx 199.1 R y 14.3

SampleSOLUTION:
Problem 2.3

F1 150 129.9 75.0

F2 80 27.4 75.2

F3 110 0 110.0

F4 100 96.6 25.9
Rx 199.1 R y 14.3
Determine the components of the

resultant by adding the corresponding
force components.

SampleSOLUTION:
Problem 2.3

F1 150 129.9 75.0

F2 80 27.4 75.2

F3 110 0 110.0

F4 100 96.6 25.9
Rx 199.1 R y 14.3
Determine the components of the resultant by

adding the corresponding force components.
Calculate the magnitude and direction.

R 199.12 14.32 R 199.6N
14.3 N
tan 4 .1
199.1 N
Rectangular Components of a Force vector
Resolve a force vector into two perpendicular
components, so that the resulting parallelogram

is a rectangle. Fx and Fy are referred to as
rectangular components and

F Fx Fy
Define perpendicular unit vectors
which are parallel to the x and y axes.
Vector components may be expressed as
products of the unit vectors with the scalar
magnitudes of the vector components.

F Fx i Fy j
Fx and Fy are referred to as the scalar
components of
Addition of Forces by Summing Components
Wish to find the resultant of 3 or more
concurrent forces,

R PQ S
Resolve each force into rectangular
components

Rxi Ry j Pxi Py j Qxi Qy j Sxi Sy j

Px Qx Sx i Py Qy Sy j
The scalar components of the resultant

are equal to the sum of the corresponding
scalar components of the given forces.
Rx Px Qx S x Ry Py Q y S y
Fx Fy
To find the resultant magnitude
Ry
and direction, R R x2 R 2y tan 1
FALL 2015-16/PROF. KHALID HUSSAIN/ Rx
Problem 1
SOLUTION:
Graphical solution - A parallelogram
with sides equal to P and Q is drawn
to scale. The magnitude and direction
of the resultant or of the diagonal to
The two forces act on a the parallelogram are measured
bolt at A. Determine their
resultant.
R 98 N 35
- Answers

- Answers
8.09 kN , 98.5

Determine the resultant of the forces shown.

- Answers

Determine the resultant of the three forces shown
- Answers

Equilibrium of a Particle
When the resultant of all forces acting on a particle is zero, the
particle is in equilibrium.
Particle acted upon by two
forces:
- equal magnitude
- same line of action
- opposite sense
Newtons First Law: If the resultant force on a particle is zero, the

particle will remain at rest or will continue at constant speed in a
straight line.

Particle acted upon by three or more forces:
- graphical solution yields a closed
polygon
F1 = 300 N
A
F2 = 173.2N
F4 = 400 N
F3 = 200 N
- algebraic solution

R F 0
Fx 0 Fy 0
Free-Body Diagrams
Free body diagram is the sketch of the isolated body which shows
the external force on the body and the reactions on it by the removed
elements (supports).
General Procedure for construction of free body diagram
1. Draw the sketch of body without supporting surfaces.
2. Show all the external or applied forces on this sketch
3. Show all the reactive forces such as those caused by constraints

or supports
4. Show all relevant dimensions , angles and reference axes on the

sketch

Draw FDB for following system
WP
WQ
RA
RC
WP
RA
WQ RD
RB
RC

R D
Free-Body Diagrams
TAB
TAC
500 A 300
736 N
Free-Body Diagram: A sketch

Space Diagram: A sketch
showing only the forces on the
showing the physical
selected particle.
conditions of the problem.

Lamis Theorem
If the three forces acting at a point are in equilibrium, each force is
proportional to the sine of the angle between the other two forces.
F1
2 3
F1 F2 F3
O F2
Sin1 Sin 2 Sin 3
F3 1

- algebraic solution

R F 0
Fx 0 Fy 0
or
- Lamis Theorem
F1 F2 F3

Sin1 Sin 2 Sin3
- Answers

- Answers

- Answers

- Answers FALL 2015-16/PROF. KHALID HUSSAIN/
In a circus act, an aerialist performs a handstand on a wheel while being pulled
across a high wire ABC of length 8 m by another performer as shown. Knowing
that the tension in rope DE is 35 N when the aerialist is held in equilibrium at
a = 2.5 m, determine (a) the weight of the aerialist, (b) the tension in the wire

Forces in space

Rectangular Components of a force in Space
Resolve into
The vector is Resolve into rectangular
contained in the horizontal and components.
plane OBAC. vertical
components. F x F h cos
F sin y cos
Fy F cos y
F z F h sin
F h F sin y F sin y sin
With the angles between F and the axes,
Fx F cos x F y F cos y Fz F cos z

F Fx i F y j Fz k

F cos x i cos y j cos z k

F

cos x i cos y j cos z k

is a unit vector along the line of action of F
x , cos
and cos y , and cos z are the direction cosines
for F
2 2 2
F FX FY FZ
Fx=Fcosx
Fy=Fcosy
Fz=Fcosz
cos 2 x cos 2 y cos 2 z 1

Force Defined by its Magnitude and Two Points on its line of action.
B (xB, yB, zB)

y
AB B - A

F B x B i y B j z Bk

A x A i yA j zAk

AB

A (xA, yA, zA) AB

o x F F
z FALL 2015-16/PROF. KHALID HUSSAIN/

A tower guy wire is anchored by means of a bolt at A. The
tension in the wire is 2500 N. Determine (a) the components
Fx , Fy , Fz of the force acting on the bolt, (b) the angles x, y
and z defining the direction of the force.
Solution:
Based on the relative locations of the points A and

B, determine the unit vector pointing from A
towards B.
Apply the unit vector to determine the components
of the force acting on A.
Noting that the components of the unit vector are
the direction cosines for the vector, calculate the
corresponding angles.

SOLUTION:
Determine the unit vector pointing from
A towards B.
AB 40 m i 80 m j 30 m k
AB 40 m 2 80 m 2 30 m 2
94.3 m
40 80 30
i j k
94.3 94.3 94.3

0.424 i 0.848 j 0.318k
Determine the components of the force.

F F

2500 N 0.424 i 0.848 j 0.318k
1060 N i 2120 N j 795 N k
Noting that the components of the unit
vector are the direction cosines for the
vector, calculate the corresponding
angles.

cos x i cos y j cos z k

0.424 i 0.848 j 0.318k
x 115.1
y 32.0
z 71.5

1. A transmission tower is held by three guy wires anchored by bolts at B, C, and
D. If the tension in wire AB is 2100 N, determine the components of the force
exerted by the wire on the bolt at B.
2. A transmission tower is held by three guy wires anchored by bolts at B, C, and D.

If the tension in wire AD is 1260 N, determine the components of the force
exerted by the wire on the bolt at D. (Ans:+200 N, +1000 N, +740 N)

Two cables BG and BH are attached to the frame ACD as shown. Knowing that the tension in
cable BG is 450 N, determine the components of the force exerted by cable BG on the frame at B.
( ANS: -200 N, +370 N, -160 N )
Two cables BG and BH are attached to the frame ACD as shown. Knowing that the tension in
cable BH is 600 N, determine the components of the force exerted by cable BH on the frame at B.

The boom OA carries a load P and is supported by two cables as shown. Knowing that the tension is
510 N in cable AB and 765 N in cable AC, determine the magnitude and direction of the resultant of
the forces exerted at A by the two cables. ( ANS: 1122 N, 147.7, 61.6, 104.2)

For the boom shown below, knowing that = 0, the tension in cable AB is 600 N, and the resultant
of the load P and the forces exerted at A by the two cables is directed along OA, determine (a) the
tension in cable AC, (b) the magnitude of the load P. ( ANS: 360 N, 424 N )

EQUILIBRIUM OF A PARTICLE IN SPACE
The necessary and sufficient conditions for the equilibrium of a the
particle in space.They can be used to find not more than three
unknowns.

R 0

R xi R y j R zk 0
R x Fx 0
R y Fy 0
R z Fz 0
The support assembly shown is bolted in place at B, C, and D and supports a
downward force P at A. Knowing that the forces in members AB, AC, and AD
are directed along the respective members and that the force in member AB is
29.2 N, determine the magnitude of P.
P = 55.9 N
Vector Product of Two Vectors
Concept of the moment of a force about a
point is more easily understood through
applications of the vector product or cross
product.
Vector product of two vectors P and Q is
defined as the vector V which satisfies
the following conditions:
1. Line of action of V is perpendicular
to plane containing P and Q.
2. Magnitude of V is PQSin
3. Direction of V is obtained from the
right-hand rule.
Vector products:
- are not commutative, Q P P Q
- are distributive, P Q1 Q2 P Q1 P Q2
- are not associative FALL 2015-16/PROF.
P QKHALID
SHUSSAIN/
P Q S
Vector Products: Rectangular Components
Vector products of Cartesian unit vectors,

i i 0 j i k k i j

ijk j j 0 k j i

i k j jk i k k 0

Vector products in terms of rectangular coordinates

V Px i Py j Pz k Q x i Q y j Qz k

PyQz Pz Qy i PxQz Pz Qx j

Px Qy PyQx k

i j k
Px Py Pz
Qx Qy Qz

Moment of a Force About a Point
A force vector is defined by its magnitude and direction. Its effect
on the rigid body also depends on its point of application.
The moment of F about O is defined as
MO r F
The moment vector MO is perpendicular to
the plane containing O and the force F.
Magnitude of MO measures the tendency of
the force to cause rotation of the body about
an axis along MO.
M O rF sin Fd
The sense of the moment may be
determined by the right-hand rule.

S.I Unit : N. m
Although the moment Mo of force about a point depends upon a
magnitude, the line of action, and the sense of the force, it does not
depends upon the actual position of the point of application of the
force along its line of action.
Conversely, the moment Mo of the force F does not characterize the

point of application of force F
Any force F that has the same magnitude and direction as F, is

equivalent if it also has the same line of action and therefore,
produces the same moment.

Moment of a Force About a Point
Two-dimensional structures have length and
breadth but negligible depth and are subjected
to forces contained in the plane of the
structure.
The plane of the structure contains the

point O and the force F. MO, the moment
of the force about O is perpendicular to the
plane.

If the force tends to rotate the structure counterclockwise, the sense
of the moment vector is out of the plane of the structure and the
magnitude of the moment is positive.
If the force tends to rotate the structure clockwise, the sense of the
moment vector is into the plane of the structure and the magnitude
of the moment is negative.

Varignons Theorem
The moment about a given point O of the resultant of several
concurrent forces is equal to the sum of the moments of the various
forces about the same point O.

r F1 F2 r F1 r F2
Varigons Theorem makes it possible to replace the direct

determination of the moment of a force F by the moments of two
or more component forces of F.

Rectangular Components of the Moment of a Force
The moment of F about O,

MO r F, r xi yj zk

F Fx i Fy j Fz k

M O M xi M y j M zk

i j k
x y z
Fx Fy Fz

yFz zF y i zFx xFz j xFy yFx k
The moment of F about B,

M B rA / B F

rA / B rA rB

x A x B i y A y B j z A z B k

F Fx i Fy j Fz k

i j k

M B x A x B y A y B z A z B
Fx Fy Fz

For two-dimensional structures,

M O xFy yFx k
MO MZ
xF y yFx
MB MZ
x A xB Fy y A y B Fx

Sample Problem
A 100 N vertical force is applied to the
end of a lever which is attached to a
shaft at O.
Determine:
a) moment about O,
b) horizontal force at A which creates the
same moment,
c) smallest force at A which produces the
same moment,
d) location for a 240 N vertical force to
produce the same moment,
e) whether any of the forces from b, c,
and d is equivalent to the original
FALLforce.
The rectangular plate is supported by the brackets at A and B and by a
wire CD. Knowing that the tension in the wire is 200 N, determine
the moment about A of the force exerted by the wire at C.
FALL
M A 7.68 N m i 28.8 N m j 28.8 N m k

Solution: M A rC A F

rC A rC rA 0.3 m i 0.08 m k

rD C
F F 200 N
rD C

0.3 m i 0.24 m j 0.32 mk
200 N
0.5 m

120 N i 96 N j 128 N k

i j k

M A 0.3 0 0.08
120 96 128

M A 7.68 N m i 28.8 N m j 28.8 N m k

It is known that the connecting rod AB exerts on the crank BC a 2.5-kN force directed
down and to the left along the centerline of AB. Determine the moment of that force
about C.

A sign is suspended from two chains AE and BF. Knowing that the tension in BF is 200 N, determine
(a) the moment about A of the force exerted by the chain at B, (b) the smallest force applied at C
which creates the same moment about A, (c) the smallest force applied at B which creates the same
moment about A

Before a telephone cable is strung, rope BAC is tied to a stake at B and is passed over a
pulley at A. Knowing that portion AC of the rope lies in a plane parallel to the xy plane
and that the magnitude of the tension T in the rope is 62 N, determine the moment
about O of the resultant force exerted on the pulley by the rope.

A precast concrete wall section is temporarily held by two cables as shown. Knowing that
the tensions in cables BD and FE are 900 N and 675 N, respectively, determine the
moment about point O of the force exerted by (a) cable BD, (b) cable FE.

Scalar Product of Two Vectors
The scalar product or dot product between
two vectors P and Q is defined as

P Q PQcos scalar result
Scalar products:

- are commutative, P Q Q P

- are distributive, P Q1 Q2 P Q1 P Q2

- are not associative, P Q S undefined
Scalar products with Cartesian unit components,

P Q Px i Py j Pz k Qx i Q y j Qz k

i i 1 j j 1 k k 1 i j 0 j k 0 k i 0

P Q Px Qx Py Q y Pz Qz

Px22015-16/PROF.
P P FALL Py2 KHALID
Pz2 HUSSAIN/
P2
Angle between two vectors:

P Q PQ cos Px Qx Py Q y Pz Qz
Px Qx Py Q y Pz Qz
cos
PQ
Projection of a vector on a given axis:
POL P cos projection of P along OL

P Q PQ cos

PQ
P cos POL
Q
For an axis defined by a unit vector:

POL P
Px cos x Py cos y Pz cos z

Mixed Triple Product of Three Vectors

S P Q scalar result
The six mixed triple products formed from

S, P, and Q have equal magnitudes but not
the same sign,

S P Q P Q S Q S P

S Q P P S Q Q P S
Evaluating the mixed triple product,

S P Q S x Py Qz Pz Q y S y Pz Qx Px Qz
S z Pxy Qz Py Qx
Sx Sy Sz
Px Py Pz
Qx Qy Qz
Moment of a Force About a Given Axis
Moment MO of a force F applied at the point A
about a point O,

MO r F
Scalar moment MOL about an axis OL is

the projection of the moment vector MO
onto the axis,

M OL M O r F
Moments of F about the coordinate axes,
M x yFz zF y
=
M y zFx xFz
M z xFy yFx
Moment of a force about an arbitrary axis

M BL MB

rA B F

rA B rA rB
The result is independent of the point B along the given axis.

FALL 2015-16/PROF. KHALID HUSSAIN/ Ans. =63.6
Principle of Transmissibility
The Principle of Transmissibility states that the conditions of
equilibrium or motion of rigid body will remain unchanged if a force
F acting at a given point of rigid body is replaced by a force F of the
same magnitude and same direction, but acting at different point,
provided that the two forces have the same line of action.
F and F are equivalent forces.

Moving the point of application of the force F to the rear bumper
does not affect the motion or the other forces acting on the truck.
Principle of transmissibility may not always apply in determining

internal forces and deformations.

The rectangular platform is hinged at A and B and is supported by a cable that passes
over a frictionless hook at E. Knowing that the tension in the cable is 1349 N, determine
the moment about each of the coordinate axes of the force exerted by the cable at C.

The frame ACD is hinged at A and D and is supported by a cable that passes
through a ring at B and is attached to hooks at G and H. Knowing that the
tension in the cable is 1125 N, determine the moment about the diagonal AD of
the force exerted on the frame by portion (a) BH (b) BG of the cable.

Couple
Two forces F and -F having the same
magnitude, parallel lines of action, and opposite
sense are said to form a couple.
Moment of the couple

M rA F rB F

rA rB F

rF
M rF sin Fd
The moment vector of the couple is

independent of the choice of the origin of the
coordinate axes, i.e., it is a free vector that
can be applied at any point with the same
effect. FALL 2015-16/PROF. KHALID HUSSAIN/
Example of a couple

Two couples will have equal moments if
F1d1 F2 d 2
the two couples lie in parallel planes, and
the two couples have the same sense or the tendency to cause
rotation in the same direction.

Addition of Couples
Consider two intersecting planes P1 and P2 with each containing
a couple

M 1 r F1 in plane P1

M 2 r F2 in plane P2
Resultants of the vectors also form a couple

M r R r F1 F2
By Varigons theorem

M r F1 r F2

M1 M 2
Sum of two couples is also a couple that is equal

to the vector sum of the two couples
Couples Can Be Represented by Vectors
A couple can be represented by a vector with magnitude and

direction equal to the moment of the couple.
Couple vectors obey the law of addition of vectors.
Couple vectors are free vectors, i.e., the point of application is

not significant.
Couple vectors may be resolved into component
vectors.
Resolution of a Force Into a Force at O and a Couple
Force vector F can not be simply moved to O without modifying its

action on the body.
Attaching equal and opposite force vectors at O produces no net

effect on the body.
The three forces may be replaced by an equivalent force vector and

couple vector, i.e, a force-couple system.

Moving F from A to a different point O requires the addition of
a different couple vector MO

M O' r F
The moments of F about O and O are relate

M O ' r 'F r s F r F s F

MO s F
Moving the force-couple system from O to O requires the
addition of the moment of the force at O about O.

System of Forces: Reduction to a Force and Couple
A system of forces may be replaced by a collection of force-couple

systems acting at a given point O
The force and couple vectors may be
combined into a resultant force vector and a
resultant couple vector,
Equivalent force-couple system is
defined by
R
R F M O r F
The force-couple system at O may be moved to O with the
addition of the moment of R about O ,
R R
M O' M O s R

Equivalent Systems of Forces
Two systems of forces are equivalent if they can

be reduced to the same force-couple system.

Reduction of a System of Forces to a single force
If the resultant force and couple at O are mutually perpendicular, they can
be replaced by a single force acting along a new line of action.
The resultant force-couple system for a system of forces will be mutually
perpendicular if:
1) the forces are concurrent,
2) the forces are coplanar, or
3) the forces are parallel.

System can be reduced to a single force by moving the line of action of
until its moment about O becomes

In terms of rectangular coordinates,

An Example of Equivalent
Force-Couple System

An Example of a Wrench

Couple in Plane
The effect of couple is a moment, and this moment is same about any
point O. So the couple can be
1. Rotated through any angle

2. Shifted to any position i.e., a free vector
3. Replaced by another pair of forces whose rotational effect is same.
4. Added algebraically

Statics of Rigid Bodies in Plane
Equations of equilibrium of rigid body in plane
Types of Supports and reactions in Plane (
i.e.,Two Dimension)
Types of Beams and their free body diagram
Types of Loads
Types of Loads and Equivalent concentrated
loads

Answers

Answers

Four forces and a couple are applied to a rectangular plate as shown in Fig.
Determine the magnitude and the direction of resultant of force-couple system.
Also determine the distance from O along x-axis where the resultant intersects.
1285.496 kN, 13.5 in

third quadrant,
X -intercept = 3.867m
Y- intercept = 0.928m

Determine the resultant of the four forces tangent to the circle of radius 1.5 m
as shown in Figure below.Also determine its location with respect to O
(Answer: 19.886 kN , 50.36 in IV

quadrant, location along x & y axis =
FALL 2015-16/PROF. KHALID1.959m
HUSSAIN/ and 2.365m respectively)
Equilibrium of Rigid Bodies in place and space
For a rigid body in static equilibrium, the external forces and
moments are balanced and will impart no translational or rotational
motion to the body.
The necessary and sufficient condition for the static equilibrium of a

body are that the resultant force and couple from all external forces
form a system equivalent to zero,

F 0 M O r F 0
Resolving each force and moment into its rectangular components
leads to 6 scalar equations which also express the conditions for
static equilibrium,
Fx 0 Fy 0 Fz 0
Mx 0 M y 0 Mz 0
Reactions at Supports and Connections for a
Two-Dimensional Structure
Reactions equivalent to a force with known line of action.

Reactions equivalent to a force of unknown direction and magnitude.

Reactions Equivalent To A Force And A Couple.
Fixed support/ Built-in support

Equilibrium of a Rigid Body in Two Dimensions
For all forces and moments acting on a
two-dimensional structure,
Fz 0 Mx My 0 M z MO
Equations of equilibrium become

Fx 0 Fy 0 MA 0
where A is any point in the plane of
the structure.
The 3 equations can be solved for no
more than 3 unknowns.
The 3 equations can not be augmented
with additional equations, but they
can be replaced
F 0 M 0 MB 0
x KHALID HUSSAIN/A
FALL 2015-16/PROF.
Types of Beams
Simply supported beam(SSB)

Overhang beam
-Single side
-Double side
Continuous beam
Cantilever beam
Fixed beam

Types Of Loads And Their Equivalent
Point load or concentrated load
Uniformly distributed load (UDL)
Uniformly varying load (UVL)

Find the reactions at A and B. See Figure shown below
(Answer: HA= 17.32kN(), VA= 10kN(), VB= 45 kN() )

Determine the reactions at supports A,B,C & D, for the beam shown in figure
(Answer: HA= 15kN,VA = 22.7 kN, VB = 11.852 kN, VC = 8.571 kN, VD =

11.429 kN, HD= 0 )

Friction

Introduction
It is assumed that surfaces in contact were either frictionless
(surfaces could move freely with respect to each other) or rough
(tangential forces prevent relative motion between surfaces).
Actually, no perfectly frictionless surface exists. For two surfaces

in contact, tangential forces, called friction forces, will develop if
one attempts to move one relative to the other.
However, the friction forces are limited in magnitude and will not
prevent motion if sufficiently large forces are applied.
The distinction between frictionless and rough is, therefore, a
matter of degree.
There are two types of friction: dry or Coulomb friction and fluid
friction. Fluid friction applies to lubricated mechanisms. The
present discussion is limited to dry friction between nonlubricated
surfaces. FALL 2015-16/PROF. KHALID HUSSAIN/
The Laws of Dry Friction.
Coefficients of Friction
Block of weight W placed on horizontal surface. Forces acting on
block are its weight and reaction of surface N.
Small horizontal force P applied to block. For block to remain

stationary, in equilibrium, a horizontal component F of the surface
reaction is required. F is a static-friction force.

As P increases, the static-friction force F increases as well until it
reaches a maximum value Fm.
Fm s N
s = coefficient of static friction
Further increase in P causes the block to begin to move as F drops

to a smaller kinetic-friction force Fk.
Fk k N
k = coefficient of kinetic or dynamic friction
k 0.75
FALL 2015-16/PROF.
s
KHALID HUSSAIN/
Maximum static-friction force and kinetic-friction force are:
- proportional to normal force
- dependent on type and condition of contact surfaces
- independent of contact area

Four situations can occur when a rigid body is in contact with a
horizontal surface:
No motion, Motion impending, Motion,

No friction,
(Px < Fm) (Px = Fm) (Px > Fm)
(Px = 0)

It is sometimes convenient to replace normal force N and friction
force F by their resultant R:
No friction
Motion impending Motion
Fk N
tan k k
N N
tan k k

Angles of Friction
Consider block of weight W resting on board with variable inclination
angle .
No friction No motion
Motion Motion
impending

Problems Involving Dry Friction : 3 cases
Case I Case II Case III
All applied forces known All applied forces known Coefficient of static
friction is known
Coefficient of static Motion is impending
friction is known Motion is impending
Determine value of
Determine whether body coefficient of static Determine magnitude
will remain at rest or friction. or direction of one of
slide FALL 2015-16/PROF. KHALID HUSSAIN/ the applied forces
What is the least value of Pto cause motion to impend?
Assume s = 0.2 ( Answer : = 1120' , P = 737.1 N )

Cube A having mass of 8 kg is 100 mm on a side. Angle = 15.
If the =1/4 , will the cube slide (or) tip as the force Pis gradually increased?
(Answer: Psliding = 39.2 N , Ptipping = 48 N)

A 6.5-m ladder AB of mass 10 kg leans against a wall as shown.
Assuming that the coefficient of static friction s is the same at
both surfaces of contact, determine the smallest value of s for which
equilibrium can be maintained.

WEDGES

Determine the horizontal force P required for wedge B to raise the block A
of weight 4500 N, if the coefficient of friction on all contact surfaces is 0.2
A
15 deg.
P
B

P = 3468.63 N

Centroids and Centers
of Gravity

Introduction
The earth exerts a gravitational force on each of the particles
forming a body. These forces can be replace by a single equivalent
force equal to the weight of the body and applied at the center of
gravity for the body
The centroid of an area is analogous to the center of gravity of a
body. The concept of the first moment of an area is used to locate
the centroid.

Difference between Centroid, Center of mass and Center
of gravity
There are two major differences between "center of gravity" and
"center of mass":
1) The term Center of gravity applies to the bodies with mass and
weight, while the term Centroid" applies to plan areas.
2) Center of gravity of a body is the point through which the resultant

gravitational force (weight) of the body acts for any orientation of the
body while centroid is the point in a plane area such that the moment
of the area, about any axis, through that point is zero.

Centroid" is a purely mathematical, geometric concept- the geometric
center of a body. It can be calculated as the center of mass of an
object with constant density. "Center of mass" and "center of
gravity" are the same- although the concepts are slightly different: the
concept "center of gravity" strictly speaking requires, a uniform
gravitational field while "center of mass" does not. But they are
exactly the same point on an object.

Center of Gravity of a 2D Body
Center of gravity of a plate
My x W x W
x dW
M y y W y W
y dW

Centroids and First Moments of Areas
Centroid of an area
x W x dW
x At x t dA
x A x dA Q y
first moment wit h respect to y
yA y dA Q x
first moment wit h respect to x
QUIZ-II
Date : 23.09.2011,Day:Friday,Slot:E1
Batch Reg.Nos. Time
no.
1 10BMA0060 to 8.00 am
10BME0237
2 10BME0253 to 8.15 am
10BME0382
3 10BME0390 to 8.30 am
10BME0479

QUIZ-II
Date : 23.09.2011,Day:Friday,Slot:E2
Batch Reg.Nos. Time
no.
1 10BMA0017 to 2.15 pm
10BME0150
2 10BME0158 to 2.30 pm
10BME0356
3 10BME0373 to 2.45 pm
10BME0484

QUIZ-II-QP Pattern
Answer ALL Three short questions ( 2+2+1)
Syllabus: Friction
Centroid of areas/composite areas
Theorems of Pappus and Guldinus

An area is symmetric with respect to an axis BB if for every point P there exists a point P
such that PP is perpendicular to BB and is divided into two equal parts by BB.
The first moment of an area with respect to a line of symmetry is zero.

If an area possesses a line of symmetry, its centroid lies on that axis
If an area possesses two

lines of symmetry, its
centroid lies at their
intersection.

An area is symmetric with respect to a center O if for every
element dA at (x,y) there exists an area dA of equal area at (-x,-y).
The centroid of the area coincides with the center of symmetry.

Centroids of Common Shapes of Areas

Composite Area
x1 A1 x 2 A2 x 3 A3 .................
X
X A xA A1 A2 A3 ..............
Y A yA
y1 A1 y 2 A2 y 3 A3 .......... .......
Y
A1 A2 A3 .......... ....

Problem Locate the centroid of the plane area shown.
Several points should be emphasized

when solving these types of problems.
1. Decide how to construct the given area from common shapes.
2. It is strongly recommended that you construct a table

containing areas or length and the respective coordinates of
the centroids.
3. When possible, use symmetry to help locate the centroid.

Construct a table containing areas and respective
coordinates of the centroids.

Then X A = xA
X (1740) = 28,200
or X = 16.21 mm
and Y A = yA
Y (1740) = 55,440
or Y = 31.9 mm

For the plane area shown, determine the first moments with
respect to the x and y axes and the location of the centroid.

Composite Bodies
First moments of areas, like moments of

forces, can be positive or negative.
For example: an area whose centroid is

located to the left of Y axis will have a
negative first moment with respect to that
axis.
Also, the area of a hole should be
assigned a negative sign.
X A XA
A1 - + -
A2 + + +
A3
+ - -
Since the wire is homogeneous, its center of gravity (G) coincides
with the centroid (C) of the corresponding line .
With origin at A, we determine the centroid of each line segment and

compute the first moments with respect to the coordinate axes.

Segment L, cm X, cm Y, cm XL, cm 2 YL, cm 2
AB 24 12 0 288 0
BC 26 12 5 312 130
CA 10 0 5 0 50
L = 60 XL = YL =
600 180
XL = SXL: X (60 in) = 600 in2, . X = 10 cm

YL = SYL: Y (60 in) = 180 in2, ..Y = 3 cm

Determination of Centroids by Method of Integration
x A xdA x dxdy xel dA Double integration to find the first moment
may be avoided by defining dA as a thin
yA ydA y dxdy yel dA rectangle or strip.

Centroid of a Right-Angled Triangle

Centroid of Quadrant of a circle

Theorems of Pappus-Guldinus
Surface of revolution is generated by rotating a plane curve about a
fixed axis.
Theorem I: Area of a surface of revolution is equal to the length of

the generating curve times the distance traveled by the centroid
through the rotation.
A 2 yL

Body of revolution is generated by rotating a plane area about a
fixed axis.
Theorem II: Volume of a body of revolution is equal to the

generating area times the distance traveled by the centroid through
the rotation.
V 2 y A

Determine the volume and the surface area of the solid obtained
by rotating the area about (a) the y axis, (b) the line y = 40 mm.

a) V = 64.8 ft3 , A = 129.4 ft2
b) V = 45.1 ft3, A = 96.6 ft2

Moment of Inertia of an Area

Moment of Inertia of an Area by Integration
Second moments or moments of inertia of an area with respect to the

x and y axes,
I x y 2 dA I y x 2 dA
Evaluation of the integrals is simplified by choosing dA to be a

thin strip parallel to one of the coordinate axes.

For a rectangular area,
h
I x y 2 dA y 2bdy 13 bh3
0
Computing Ix and IY using the Same Elemental Strip

The formula for rectangular areas may also be
applied to strips parallel to the axes,

Polar Moment of Inertia
The polar moment of inertia is an important parameter in problems
involving torsion of cylindrical shafts and rotations of slabs.
J 0 r 2 dA

J 0 r 2 dA x 2 y 2 dA x 2 dA y 2 dA
Iy Ix
The polar moment of inertia is related to the rectangular moments of

inertia,

Radius of Gyration of an Area
Consider area A with moment of inertia Ix. Imagine that the area is
concentrated in a thin strip parallel to the x axis with equivalent Ix.
Ix
Ix k x2 A kx
A
kx = radius of gyration with respect to the x axis

Similarly,
2
Iy
Iy k A y ky
A
2 JO
J O k A kO O
A
2 2 2
kO kx ky

Determine the moment of inertia of a
triangle with respect to its base.

3
bh
I x
12

Parallel Axis Theorem
Consider moment of inertia I of an area A with respect to the axis AA
2
I y dA
The axis BB passes through the area centroid and is called a

centroidal axis.
I y 2 dA y d 2 dA
y 2 dA 2d y dA d 2 dA
I I Ad 2 parallel axis theorem

Moment of inertia IT of a circular area with respect to a tangent to the
circle,

IT I Ad 2 14 r 4 r 2 r 2
54 r 4
Moment of inertia of a triangle with respect to a centroidal axis,
I AA I BB Ad 2
I BB I AA Ad 2 12 2
1 bh 3 1 bh 1 h
2 3
1 bh 3
36

Moments of Inertia of Composite Areas

Determine the moment of inertia and the radius of
gyration of the shaded area with respect to the x axis.& y-axis

Determine the polar moment of inertia of the area
shown with respect to (a) point O, (b) the centroid of the area

Product of Inertia
Product of Inertia: I xy xy dA
When the x axis, the y axis, or both are an axis of

symmetry, the product of inertia is zero.

Product of Inertia
Parallel Axis Theorem
Parallel axis theorem for products of inertia:
I xy I x ' y ' x yA

Determine the product of inertia of the right triangle shown (a) with respect
to the x and y axes and (b) with respect to centroidal axes parallel to the x
and y axes.

(a) Determine the moment of inertia of the shaded area shown with
respec to each of the coordinate axes.
(b) Using the results of part a, determine the radius of
gyration of the shaded area with respect to each of the coordinate axes.

Determine the moment of inertia of the shaded area with respect to the x axis.

Principal Axes and Principal Moments of Inertia
The rotation of axes yields

Ix Iy Ix Iy
I x cos 2 I xy sin 2
2 2
Ix Iy Ix Iy
I y cos 2 I xy sin 2
2 2
Ix Iy
I x y sin 2 I xy cos 2
2
The angle which makes Ix and Iy maximum or minimum may be determine by

setting the derivative of either Ix or Iy with respect to equal to 0

Principal Axes and Principal Moments of Inertia

Mohrs Circle for Moments and Products of Inertia
Mohrs circle may be used to graphically or analytically determine the moments and
product of inertia for any other rectangular axes including the principal axes and
principal moments and products of inertia.

Mohrs Circle for Moments and Products of Inertia
Mohrs circle may be used to graphically or analytically determine the moments and
product of inertia for any other rectangular axes including the principal axes and
principal moments and products of inertia.

Moment of Inertia of a Mass
The time required for the system to reach a given speed of
rotation is proportional to the mass m and to the square of the
diatance r.The product r2 m provides therefore a measure
of the inertia of the system
r2 m = moment of inertia of the mass m with respect to the axis AA
For a body of mass m the resistance to rotation about the axis AA is
I r12 m r22 m r32 m

r 2 dm mass moment of inertia
The radius of gyration for a concentrated
mass with equivalent mass moment of
inertia is
2 I
I k m k
m
Moment of inertia with respect to the y
coordinate axis is
I y r 2 dm z 2 x 2 dm
Similarly, for the moment of inertia with
respect to the x and z axes,

I x y z dm2
2 In SI units:
I z x 2 y 2 dm

I r 2dm kg m 2

Parallel-Axis Theorem
Generalizing for any axis AA and a parallel

centroidal axis,
2
I I md

Moments of Inertia of Thin Plates
For a thin plate of uniform thickness t and homogeneous material of
density , the mass moment of inertia with respect to axis AA
contained in the plate is
I AA ,mass r 2 dm t r 2 dA
t I AA ,area
Similarly, for perpendicular axis BB which is also contained in the plate,
I BB,mass t I BB,area
For the axis CC which is perpendicular to the plate,
I CC , mass t J C , area t I AA, area I BB, area

I AA,mass I BB,mass

For the principal centroidal axes on a rectangular plate,

1 a 3b 1 ma 2
I AA t I AA,area t 12 12
I BB t I BB,area t 12
1 ab 3 1 mb 2
12
I CC I AA,mass I BB,mass 12 1 ma 2 b 2
For centroidal axes on a circular plate,

I AA I BB t I AA,area t 14 r 4 14 mr 2
I CC I AA I BB 12 mr 2

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Engineering Mechanics

Prof. Khalid Hussain Syed

FALL 2015-16/PROF. KHALID HUSSAIN/

FALL 2015-16/PROF. KHALID HUSSAIN/

FALL 2015-16/PROF. KHALID HUSSAIN/

FALL 2015-16/PROF. KHALID HUSSAIN/

FALL 2015-16/PROF. KHALID HUSSAIN/

FALL 2015-16/PROF. KHALID HUSSAIN/

law of superposition, which

law of superposition, which

SECOND LAW. If the resultant force acting on a particle is not zero,

THIRD LAW. The forces of action and reaction between bodies in

FALL 2015-16/PROF. KHALID HUSSAIN/

FALL 2015-16/PROF. KHALID HUSSAIN/

FALL 2015-16/PROF. KHALID HUSSAIN/

FALL 2015-16/PROF. KHALID HUSSAIN/

FALL 2015-16/PROF. KHALID HUSSAIN/

Newtons Second Law: A particle will

FALL 2015-16/PROF. KHALID HUSSAIN/

FALL 2015-16/PROF. KHALID HUSSAIN/

FALL 2015-16/PROF. KHALID HUSSAIN/

FALL 2015-16/PROF. KHALID HUSSAIN/

FALL 2015-16/PROF. KHALID HUSSAIN/

Coplanar ( In Plane)/ 2-D Non Coplanar(Space)-3-D

Concurrent Non- concurrent Concurrent Non- concurrent

Parallel General Parallel General

Parallel and General force system: acts mainly on rigid bodies

Scalar: parameters possessing magnitude but not direction.

. FALL 2015-16/PROF. KHALID HUSSAIN/

- Equal vectors have the same magnitude and direction.

- Negative vector of a given vector has the same magnitude and

FALL 2015-16/PROF. KHALID HUSSAIN/

If two forces acting at a point can be represented in magnitude and

FALL 2015-16/PROF. KHALID HUSSAIN/

The polygon rule for the addition of

Multiplication of a vector by a scalar

FALL 2015-16/PROF. KHALID HUSSAIN/

Components of R along X-axis = R cos .

FALL 2015-16/PROF. KHALID HUSSAIN/

Vector force components: two or

FALL 2015-16/PROF. KHALID HUSSAIN/

From the Law of Sines,

Vector components may be expressed as

Resolve each force into rectangular components

FALL 2015-16/PROF. KHALID HUSSAIN/

FALL 2015-16/PROF. KHALID HUSSAIN/

FALL 2015-16/PROF. KHALID HUSSAIN/

FALL 2015-16/PROF. KHALID HUSSAIN/

Determine the components of the

FALL 2015-16/PROF. KHALID HUSSAIN/

Determine the components of the resultant by

Calculate the magnitude and direction.

The scalar components of the resultant

FALL 2015-16/PROF. KHALID HUSSAIN/

FALL 2015-16/PROF. KHALID HUSSAIN/

FALL 2015-16/PROF. KHALID HUSSAIN/

FALL 2015-16/PROF. KHALID HUSSAIN/

FALL 2015-16/PROF. KHALID HUSSAIN/

Newtons First Law: If the resultant force on a particle is zero, the

FALL 2015-16/PROF. KHALID HUSSAIN/

2. Show all the external or applied forces on this sketch

3. Show all the reactive forces such as those caused by constraints

4. Show all relevant dimensions , angles and reference axes on the