Mechanical Engineer's Handbook

Mechanical Engineer’s Handbook

Dan B. Marghitu

Department of Mechanical Engineering, Auburn University, Auburn, Alabama

Table of Contents

Cover image

Title page

Academic Press Series in Engineering

Copyright

Preface

Contributors

Chapter 1: Statics

1 Vector Algebra

2 Centroids and Surface Properties

3 Moments and Couples

4 Equilibrium

5 Dry Friction

Chapter 2: Dynamics

1 Fundamentals

2 Kinematics of a Point

3 Dynamics of a Particle

4 Planar Kinematics of a Rigid Body

5 Dynamics of a Rigid Body

Chapter 3: Mechanics of Materials

1 Stress

2 Deflection and Stiffness

3 Fatigue

Chapter 4: Theory of Mechanisms

1 Fundamentals

2 Position Analysis

3 Velocity and Acceleration Analysis

4 Kinetostatics

Chapter 5: Machine Components

1 Screws

2 Gears

3 Springs

4 Rolling Bearings

5 Lubrication and Sliding Bearings

Chapter 6: Theory of Vibration

1 Introduction

2 Linear Systems with One Degree of Freedom

3 Linear Systems with Finite Numbers of Degrees of Freedom

4 Machine-Tool Vibrations

Chapter 7: Principles of Heat Transfer

1 Heat Transfer Thermodynamics

2 Conduction Heat Transfer

3 Convection Heat Transfer

3.4 Internal Natural Convection

Chapter 8: Fluid Dynamics

1 Fluids Fundamentals

2 Hydraulics

Chapter 9: Control

1 Introduction

2 Signals

3 Transfer Functions

4 Connection of Elements

5 Poles and Zeros

6 Steady-State Error

7 Time-Domain Performance

8 Frequency-Domain Performances

9 Stability of Linear Feedback Systems

10 Design of Closed-Loop Control Systems by Pole-Zero Methods

11 Design of Closed-Loop Control Systems by Frequential Methods

12 State Variable Models

13 Nonlinear Systems

14 Nonlinear Controllers by Feedback Linearization

15 Sliding Control

A Appendix

Appendix: Differential Equations and Systems of Differential Equations

Index

Academic Press Series in Engineering

Series Editor

J. David Irwin

Auburn University

This a series that will include handbooks, textbooks, and professional reference books on cutting-edge areas of engineering. Also included in this series will be single-authored professional books on state-of-the-art techniques and methods in engineering. Its objective is to meet the needs of academic, industrial, and governmental engineers, as well as provide instructional material for teaching at both the undergraduate and graduate level.

The series editor, J. David Irwin, is one of the best-known engineering educators in the world. Irwin has been chairman of the electrical engineering department at Auburn University for 27 years.

Published books in this series:

Control of Induction Motors

2001, A. M. Trzynadlowski

Embedded Microcontroller Interfacing for McoR Systems

2000, G. J. Lipovski

Soft Computing & Intelligent Systems

2000, N. K. Sinha, M. M. Gupta

Introduction to Microcontrollers

1999, G. J. Lipovski

Industrial Controls and Manufacturing

1999, E. Kamen

DSP Integrated Circuits

1999, L. Wanhammar

Time Domain Electromagnetics

1999, S. M. Rao

Single- and Multi-Chip Microcontroller Interfacing

1999, G. J. Lipovski

Control in Robotics and Automation

1999, B. K. Ghosh, N. Xi, and T. J. Tarn

Copyright

Copyright © 2001 by ACADEMIC PRESS

All rights reserved.

No part of this publication may be reproduced or transmitted in any form or by any means, electronic or mechanical, including photocopy, recording, or any information storage and retrieval system, without permission in writing from the publisher.

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01  02  03  04  05  06  CO  9  8  7  6  5  4  3  2  1

Preface

The purpose of this handbook is to present the reader with a teachable text that includes theory and examples. Useful analytical techniques provide the student and the practitioner with powerful tools for mechanical design. This book may also serve as a reference for the designer and as a source book for the researcher.

This handbook is comprehensive, convenient, detailed, and is a guide for the mechanical engineer. It covers a broad spectrum of critical engineering topics and helps the reader understand the fundamentals.

This handbook contains the fundamental laws and theories of science basic to mechanical engineering including controls and mathematics. It provides readers with a basic understanding of the subject, together with suggestions for more specific literature. The general approach of this book involves the presentation of a systematic explanation of the basic concepts of mechanical systems.

This handbook’s special features include authoritative contributions, chapters on mechanical design, useful formulas, charts, tables, and illustrations. With this handbook the reader can study and compare the available methods of analysis. The reader can also become familiar with the methods of solution and with their implementation.

Dan B. Marghitu

Contributors

Numbers in parentheses indicate the pages on which the authors’ contributions begin.

Horatiu Barbulescu,     (715) Department of Mechanical Engineering, Auburn University, Auburn, Alabama 36849

Bogdan O. Ciocirlan,     (1, 51, 119, 559) Department of Mechanical Engineering, Auburn University, Auburn, Alabama 36849

Nicolae Craciunoiu,     (243, 559) Department of Mechanical Engineering, Auburn University, Auburn, Alabama 36849

Cristian I. Diaconescu,     (1, 51, 119, 243) Department of Mechanical Engineering, Auburn University, Auburn, Alabama 36849

Mircea Ivanescu,     (611) Department of Electrical Engineering, University of Craiova, Craiova 1100, Romania

Dan B. Marghitu,     (1, 51, 119, 189, 243, 339) Department of Mechanical Engineering, Auburn University, Auburn, Alabama 36849

Dumitru Mazilu,     (339) Department of Mechanical Engineering, Auburn University, Auburn, Alabama 36849

Alexandru Morega,     (445) Department of Electrical Engineering, Politehnica University of Bucharest, Bucharest 6-77206, Romania

P.K. Raju,     (339) Department of Mechanical Engineering, Auburn University, Auburn, Alabama 36849

1

Statics

DAN B. MARGHITU

CRISTIAN I. DIACONESCU

BOGDAN O. CIOCIRLAN,     Department of Mechanical Engineering, Auburn University, Auburn, Alabama 36849

Inside

1 Vector Algebra

1.1 Terminology and Notation

1.2 Equality

1.3 Product of a Vector and a Scalar

1.4 Zero Vectors

1.5 Unit Vectors

1.6 Vector Addition

1.7 Resolution of Vectors and Components

1.8 Angle between Two Vectors

1.9 Scalar (Dot) Product of Vectors

1.10 Vector (Cross) Product of Vectors

1.11 Scalar Triple Product of Three Vectors

1.12 Vector Triple Product of Three Vectors

1.13 Derivative of a Vector

2 Centroids and Surface Properties

2.1 Position Vector

2.2 First Moment

2.3 Centroid of a Set of Points

2.4 Centroid of a Curve, Surface, or Solid

2.5 Mass Center of a Set of Particles

2.6 Mass Center of a Curve, Surface, or Solid

2.7 First Moment of an Area

2.8 Theorems of Guldinus-Pappus

2.9 Second Moments and the Product of Area

2.10 Transfer Theorems or Parallel-Axis Theorems

2.11 Polar Moment of Area

2.12 Principal Axes

3 Moments and Couples

3.1 Moment of a Bound Vector about a Point

3.2 Moment of a Bound Vector about a Line

3.3 Moments of a System of Bound Vectors

3.4 Couples

3.5 Equivalence

3.6 Representing Systems by Equivalent Systems

4 Equilibrium

4.1 Equilibrium Equations

4.2 Supports

4.3 Free-Body Diagrams

5 Dry Friction

5.1 Static Coefficient of Friction

5.2 Kinetic Coefficient of Friction

5.3 Angles of Friction

References

1 Vector Algebra

1.1 Terminology and Notation

The characteristics of a vector are the magnitude, the orientation, and the sense. The magnitude of a vector is specified by a positive number and a unit having appropriate dimensions. No unit is stated if the dimensions are those of a pure number. The orientation of a vector is specified by the relationship between the vector and given reference lines and/or planes. The sense of a vector is specified by the order of two points on a line parallel to the vector. Orientation and sense together determine the direction of a vector. The line of action of a vector is a hypothetical infinite straight line collinear with the vector. Vectors are denoted by boldface letters, for example, a, b, A, B, CD. The symbol |v| represents the magnitude (or module, or absolute value) of the vector v. The vectors are depicted by either straight or curved arrows. A vector represented by a straight arrow has the direction indicated by the arrow. The direction of a vector represented by a curved arrow is the same as the direction in which a right-handed screw moves when the screw’s axis is normal to the plane in which the arrow is drawn and the screw is rotated as indicated by the arrow.

Figure 1.1 shows representations of vectors. Sometimes vectors are represented by means of a straight or curved arrow together with a measure number. In this case the vector is regarded as having the direction indicated by the arrow if the measure number is positive, and the opposite direction if it is negative.

Figure 1.1

A bound vector is a vector associated with a particular point P in space (Fig. 1.2). The point P is the point of application of the vector, and the line passing through P and parallel to the vector is the line of action of the vector. The point of application may be represented as the tail, Fig. 1.2a, or the head of the vector arrow, Fig. 1.2b. A free vector is not associated with a particular point P in space. A transmissible vector is a vector that can be moved along its line of action without change of meaning.

Figure 1.2

To move the body in Fig. 1.3 the force vector F can be applied anywhere along the line Δ or may be applied at specific points A, B, C. The force vector F is a transmissible vector because the resulting motion is the same in all cases.

Figure 1.3

The force F applied at B will cause a different deformation of the body than the same force F applied at a different point C. The points B and C are on the body. If we are interested in the deformation of the body, the force F positioned at C is a bound vector.

The operations of vector analysis deal only with the characteristics of vectors and apply, therefore, to both bound and free vectors.

1.2 Equality

Two vectors a and b are said to be equal to each other when they have the same characteristics. One then writes

Equality does not imply physical equivalence. For instance, two forces represented by equal vectors do not necessarily cause identical motions of a body on which they act.

1.3 Product of a Vector and a Scalar

DEFINITION: The product of a vector v and a scalar s, sv or vs, is a vector having the following characteristics:

1. Magnitude.

where |s| denotes the absolute value (or magnitude, or module) of the scalar s.

2. Orientation. sv is parallel to v. If s = 0, no definite orientation is attributed to sv.

3. Sense. If s > 0, the sense of sv is the same as that of v. If s < 0, the sense of sv is opposite to that of v. If s = 0, no definite sense is attributed to sv

1.4 Zero Vectors

DEFINITION: A zero vector

1.5 Unit Vectors

DEFINITION: A unit vector

Given a vector v, a unit vector u having the same direction as v is obtained by forming the quotient of v and |v|:

1.6 Vector Addition

The sum of a vector v1 and a vector v2: v1 + v2 or v2 + v1 is a vector whose characteristics are found by either graphical or analytical processes. The vectors v1 and v2 add according to the parallelogram law: v1 + v2 is equal to the diagonal of a parallelogram formed by the graphical representation of the vectors (Fig. 1.4a). The vectors v1 + v2 is called the resultant of v1 and v2. The vectors can be added by moving them successively to parallel positions so that the head of one vector connects to the tail of the next vector. The resultant is the vector whose tail connects to the tail of the first vector, and whose head connects to the head of the last vector (Fig. 1.4b).

Figure 1.4

The sum v1 + (−v2) is called the difference of v1 and v2 and is denoted by v1 − v2 (Figs. 1.4c and 1.4d).

The sum of n vectors vi, i = 1, …, n,

is called the resultant of the vectors vi, i = 1, …, n.

The vector addition is:

1. Commutative, that is, the characteristics of the resultant are independent of the order in which the vectors are added (commutativity):

2. Associative, that is, the characteristics of the resultant are not affected by the manner in which the vectors are grouped (associativity):

3. Distributive, that is, the vector addition obeys the following laws of distributivity:

Here R is the set of real numbers.

Every vector can be regarded as the sum of n vectors (n = 2, 3, …) of which all but one can be selected arbitrarily.

1.7 Resolution of Vectors and Components

Let 11, 12, 13 be any three unit vectors not parallel to the same plane

For a given vector v (Fig. 1.5), there exists three unique scalars v1, v1, v3, such that v can be expressed as

The opposite action of addition of vectors is the resolution of vectors. Thus, for the given vector v the vectors v111, v212, and v313 sum to the original vector. The vector vk1k is called the 1kcomponent of v, and vk is called the 1k scalar component of v, where k = 1, 2, 3. A vector is often replaced by its components since the components are equivalent to the original vector.

Figure 1.5

Every vector equation V = 0, where V = v111 + v212 + v313, is equivalent to three scalar equations v1 = 0, v2 = 0, v3 = 0.

If the unit vectors 11, 12, 13 are mutually perpendicular they form a cartesian reference frame. For a cartesian reference frame the following notation is used (Fig. 1.6):

and

The symbol ⊥ denotes perpendicular.

Figure 1.6

When a vector V is expressed in the form V = vxi + vyj + vzk where i, j, k are mutually perpendicular unit vectors (cartesian reference frame or orthogonal reference frame), the magnitude of V is given by

The vectors vx = vxi, vy = vyj, and VZ = vyk are the orthogonal or rectangular component vectors of the vector V. The measures vx, vy, vz are the orthogonal or rectangular scalar components of the vector V.

If v1 = v1xi + v1yj + v1zk and V2 = v2xi + v2yj + v2zk, then the sum of the vectors is

1.8 Angle between Two Vectors

Let us consider any two vectors a and b. One can move either vector parallel to itself (leaving its sense unaltered) until their initial points (tails) coincide. The angle between a and b is the angle 6 in Figs. 1.7a and 1.7b. The angle between a and b is denoted by the symbols (a, b) or (b, a). Figure 1.7c represents the case (a, b) = 0, and Fig. 1.7d represents the case (a, b) = 180°.

Figure 1.7

The direction of a vector V = vxi + vyj + vzk and relative to a cartesian reference, i, j, k, is given by the cosines of the angles formed by the vector and the representative unit vectors. These are called direction cosines and are denoted as (Fig. 1.8)

Figure 1.8

The following relations exist:

1.9 Scalar (Dot) Product of Vectors

DEFINITION: The scalar (dot) product of a vector a and a vector b is

For any two vectors a and b and any scalar s

If

and

where i, j, k are mutually perpendicular unit vectors, then

The following relationships exist:

Every vector v can be expressed in the form

The vector v can always be expressed as

Dot multiply both sides by i:

But,

Hence,

Similarly,

1.10 Vector (Cross) Product of Vectors

DEFINITION: The vector (cross) product of a vector a and a vector b is the vector (Fig. 1.9)

Figure 1.9

where n is a unit vector whose direction is the same as the direction of advance of a right-handed screw rotated from a toward b, through the angle (a, b), when the axis of the screw is perpendicular to both a and b

The magnitude of a × b is given by

If a is parallel to b, a||b, then a × b = 0. The symbol || denotes parallel. The relation a × b = 0 implies only that the product |a||b| sin(a, b) is equal to zero, and this is the case whenever |a| = 0, or |b| = 0, or sin(a, b) = 0. For any two vectors a and b and any real scalar s,

The sense of the unit vector n that appears in the definition of a × b depends on the order of the factors a and b in such a way that

Vector multiplication obeys the following law of distributivity (Varignon theorem):

A set of mutually perpendicular unit vectors i, j, k is called right-handed if i × j = k. A set of mutually perpendicular unit vectors i, j, k is called left-handed if i × j = − k.

If

and

where i, j, k are mutually perpendicular unit vectors, then a × b can be expressed in the following determinant form:

The determinant can be expanded by minors of the elements of the first row:

1.11 Scalar Triple Product of Three Vectors

DEFINITION: The scalar triple product of three vectors a, b, c is

It does not matter whether the dot is placed between a and b, and the cross between b and c, or vice versa, that is,

A change in the order of the factor appearing in a scalar triple product at most changes the sign of the product, that is,

and

If a, b, c are parallel to the same plane, or if any two of the vectors a, b, c are parallel to each other, then [a, b, c] = 0.

The scalar triple product [a, b, c] can be expressed in the following determinant form:

1.12 Vector Triple Product of Three Vectors

DEFINITION: The vector triple product of three vectors a, b, c is the vector a ×(b × c

The parentheses are essential because a ×(b × c) is not, in general, equal to (a × b) × c.

For any three vectors a, b, and c,

1.13 Derivative of a Vector

The derivative of a vector is defined in exactly the same way as is the derivative of a scalar function. The derivative of a vector has some of the properties of the derivative of a scalar function.

The derivative of the sum of two vector functions a and b is

The time derivative of the product of a scalar function f and a vector function u is

2 Centroids and Surface Properties

2.1 Position Vector

The position vector of a point P relative to a point O is a vector rOP = OP having the following characteristics:

 Magnitude the length of line OP

 Orientation parallel to line OP

 Sense OP (from point O to point P)

The vector rOP is shown as an arrow connecting O to P (Fig. 2.1). The position of a point P relative to P is a zero vector.

Figure 2.1

Let i, J, k be mutually perpendicular unit vectors (cartesian reference frame) with the origin at O (Fig. 2.2). The axes of the cartesian reference frame are x, y, z. The unit vectors i, J, k are parallel to x, y, z, and they have the senses of the positive x, y, z axes. The coordinates of the origin O are x = y = z = 0, that is, O(0, 0, 0). The coordinates of a point P are x = xP, y = yP, z = zP, that is, P(xP, yP, zP). The position vector of P relative to the origin O is

Figure 2.2

The position vector of the point P relative to a point M, M ≠ O, of coordinates (xM, yM, zM) is

The distance d between P and M is given by

2.2 First Moment

The position vector of a point P relative to a point O is rP and a scalar associated with P is s, for example, the mass m of a particle situated at P. The first moment of a point P with respect to a point O is the vector M = srP. The scalar s is called the strength of P.

2.3 Centroid of a Set of Points

The set of n points Pi, i = 1, 2, …, n, is {S} (Fig. 2.3a)

Figure 2.3

The strengths of the points Pi are si, i = 1, 2, …, n, that is, n scalars, all having the same dimensions, and each associated with one of the points of {S}. The centroid of the set {S} is the point C with respect to which the sum of the first moments of the points of {S} is equal to zero.

The position vector of C relative to an arbitrarily selected reference point O is rc (Fig. 2.3b). The position vector of Pi relative to O is ri. The position vector of Pi relative to C is ri − rc. The sum of the first moments of the points Pi with respect to C . If C is to be the centroid of {S}, this sum is equal to zero:

The position vector rc of the centroid C, relative to an arbitrarily selected reference point O, is given by

= 0 the centroid is not defined.

The centroid C of a set of points of given strength is a unique point, its location being independent of the choice of reference point O.

The cartesian coordinates of the centroid C(xC, yC, zC) of a set of points Pi, i = 1, …, n, of strengths si, i = 1, …, n, are given by the expressions

The plane of symmetry of a set is the plane where the centroid of the set lies, the points of the set being arranged in such a way that corresponding to every point on one side of the plane of symmetry there exists a point of equal strength on the other side, the two points being equidistant from the plane.

A set {S′} of points is called a subset of a set {S} if every point of {S′} is a point of {S}. The centroid of a set {S} may be located using the method of decomposition:

 Divide the system {S} into subsets

 Find the centroid of each subset

 Assign to each centroid of a subset a strength proportional to the sum of the strengths of the points of the corresponding subset

 Determine the centroid of this set of centroids

2.4 Centroid of a Curve, Surface, or Solid

The position vector of the centroid C of a curve, surface, or solid relative to a point O is

where D is a curve, surface, or solid; r denotes the position vector of a typical point of D, relative to O; and dτ is the length, area, or volume of a differential element of D. Each of the two limits in this expression is called an "integral over the domain D (curve, surface, or solid)."

The integral ∫Ddτ gives the total length, area, or volume of D, that is,

The position vector of the centroid is

Let i, j, k be mutually perpendicular unit vectors (cartesian reference frame) with the origin at O. The coordinates of C are xC, yC, zC and

It results that

2.5 Mass Center of a Set of Particles

The mass center of a set of particles {S} = {P1, P2, …, Pn} = {Pi}i = 1,2, …,n is the centroid of the set of points at which the particles are situated with the strength of each point being taken equal to the mass of the corresponding particle, si = mi, i = 1, 2, …, n. For the system of n particles in Fig. 2.4, one can say

Figure 2.4

Therefore, the mass center position vector is

(2.1)

where M is the total mass of the system.

2.6 Mass Center of a Curve, Surface, or Solid

The position vector of the mass center C of a continuous body D, curve, surface, or solid, relative to a point O is

or using the orthogonal cartesian coordinates

where ρ is the mass density of the body: mass per unit of length if D is a curve, mass per unit area if D is a surface, and mass per unit of volume if D is a solid; r is the position vector of a typical point of D, relative to O; dx is the length, area, or volume of a differential element of Dis the total mass of the body; and xC, yC, zC are the coordinates of C.

If the mass density ρ of a body is the same at all points of the body, ρ constant, the density, as well as the body, are said to be uniform. The mass center of a uniform body coincides with the centroid of the figure occupied by the body.

The method of decomposition may be used to locate the mass center of a continuous body B:

 Divide the body B into a number of bodies, which may be particles, curves, surfaces, or solids

 locate the mass center of each body

 assign to each mass center a strength proportional to the mass of the corresponding body (e.g., the weight of the body)

 locate the centroid of this set of mass centers

2.7 First Moment of an Area

A planar surface of area A and a reference frame xOy in the plane of the surface are shown in Fig. 2.5. The first moment of area A about the x axis is

(2.2)

and the first moment about the y axis is

(2.3)

The first moment of area gives information of the shape, size, and orientation of the area.

Figure 2.5

The entire area A can be concentrated at a position C(xC, yC), the centroid (Fig. 2.6). The coordinates xC and yC are the centroidal coordinates. To compute the centroidal coordinates one can equate the moments of the distributed area with that of the concentrated area about both axes:

(2.4)

(2.5)

The location of the centroid of an area is independent of the reference axes employed, that is, the centroid is a property only of the area itself.

Figure 2.6

If the axes xy have their origin at the centroid, O ≡ C, then these axes are called centroidal axes. The first moments about centroidal axes are zero. All axes going through the centroid of an area are called centroidal axes for that area, and the first moments of an area about any of its centroidal axes are zero. The perpendicular distance from the centroid to the centroidal axis must be zero.

In Fig. 2.7 is shown a plane area with the axis of symmetry collinear with the axis y. The area A can be considered as composed of area elements in symmetric pairs such as that shown in Fig. 2.7. The first moment of such a pair about the axis of symmetry y is zero. The entire area can be considered as composed of such symmetric pairs and the coordinate xC is zero:

Thus, the centroid of an area with one axis of symmetry must lie along the axis of symmetry. The axis of symmetry then is a centroidal axis, which is another indication that the first moment of area must be zero about the axis of symmetry. With two orthogonal axes of symmetry, the centroid must lie at the intersection of these axes. For such areas as circles and rectangles, the centroid is easily determined by inspection.

Figure 2.7

In many problems, the area of interest can be considered formed by the addition or subtraction of simple areas. For simple areas the centroids are known by inspection. The areas made up of such simple areas are composite areas. For composite areas,

where xCi and yCi (with proper signs) are the centroidal coordinates to simple area Ai, and where A is the total area.

The centroid concept can be used to determine the simplest resultant of a distributed loading. In Fig. 2.8 the distributed load w(x) is considered. The resultant force FR of the distributed load w(x) loading is given as

(2.6)

From this equation, the resultant force equals the area under the loading curve. , of the simplest resultant load can be calculated from the relation

(2.7)

is actually the centroid coordinate of the loading curve area. Thus, the simplest resultant force of a distributed load acts at the centroid of the area under the loading curve.

Figure 2.8

Example 1: For the triangular load shown in Fig. 2.9, one can replace the distributed loading by a force F

Figure 2.9

Example 2: For the curved line shown in Fig. 2.10 the centroidal position is

(2.8)

where L is the length of the line. Note that the centroid C will not generally lie along the line. Next one can consider a curve made up of simple curves. For each simple curve the centroid is known. Figure 2.11 represents a curve made up of straight lines. The line segment L1 has the centroid C1 with coordinates xC1, yC1, as shown in the diagram. For the entire curve

2.8 Theorems of Guldinus-Pappus

The theorems of Guldinus-Pappus are concerned with the relation of a surface of revolution to its generating curve, and the relation of a volume of revolution to its generating area.

Figure 2.10

Figure 2.11

THEOREM: Consider a coplanar generating curve and an axis of revolution in the plane of this curve (Fig. 2.12). The surface of revolution A developed by rotating the generating curve about the axis of revolution equals the product of the length of the generating L curve times the circumference of the circle formed by the centroid of the generating curve yC in the process of generating a surface of revolution

Figure 2.12

Proof: An element dl of the generating curve is considered in Fig. 2.12. For a single revolution of the generating curve about the x axis, the line segment dl traces an area

For the entire curve this area, dA, becomes the surface of revolution, A, given as

(2.9)

where L is the length of the curve and yC is the centroidal coordinate of the curve. The circumferential length of the circle formed by having the centroid of the curve rotate about the x axis is 2πyC

The surface of revolution A is equal to 2π times the first moment of the generating curve about the axis of revolution.

If the generating curve is composed of simple curves, Li, whose centroids are known (Fig. 2.11), the surface of revolution developed by revolving the composed generating curve about the axis of revolution x is

(2.10)

where yCi is the centroidal coordinate to the ith line segment Li.

THEOREM: Consider a generating plane surface A and an axis of revolution coplanar with the surface (Fig. 2.13). The volume of revolution V developed by rotating the generating plane surface about the axis of revolution equals the product of the area of the surface times the circumference of the circle formed by the centroid of the surface yC in the process of generating the body of revolution

Figure 2.13

Proof: The plane surface A is shown in Fig. 2.13. The volume generated by rotating an element dA of this surface about the x axis is

The volume of the body of revolution formed from A is then

(2.11)

Thus, the volume V equals the area of the generating surface A times the circumferential length of the circle of radius yC

The volume V equals 2π times the first moment of the generating area A about the axis of revolution.

2.9 Second Moments and the Product of Area

The second moments of the area A about x and y axes (Fig. 2.14), denoted as Ixx and Iyy, respectively, are

(2.12)

(2.13)

The second moment of area cannot be negative.

Figure 2.14

The entire area may be concentrated at a single point (kx, ky) to give the same moment of area for a given reference. The distance kx and ky are called the radii of gyration. Thus,

(2.14)

This point (kx, ky) depends on the shape of the area and on the position of the reference. The centroid location is independent of the reference position.

DEFINITION: The product of area is defined as

(2.15)

If the area under consideration has an axis of symmetry, the product of area for this axis and any axis orthogonal to this axis is zero. Consider the area in Fig. 2.15, which is symmetrical about the vertical axis y. The planar cartesian frame is xOy. The centroid is located somewhere along the symmetrical axis y. Two elemental areas that are positioned as mirror images about the y axis are shown in Fig. 2.15. The contribution to the product of area of each elemental area is xy dA, but with opposite signs, and so the result is zero. The entire area is composed of such elemental area pairs, and the product of area is zero.

Figure 2.15

2.10 Transfer Theorems or Parallel-Axis Theorems

The x axis in Fig. 2.16 is parallel to an axis x′ and it is at a distance b from the axis x′. The axis x′ is going through the centroid C of the A area, and it is a centroidal axis. The second moment of area about the x axis is

where the distance y = y′ + b. Carrying out the operations,

The first term of the right-hand side is by definition Ix′x′,

The second term involves the first moment of area about the x′ axis, and it is zero because the x′ axis is a centroidal axis:

THEOREM: The second moment of the area A about any axis Ixx is equal to the second moment of the area A about a parallel axis at centroid Ix′x′ plus Ab², where b is the perpendicular distance between the axis for which the second moment is being computed and the parallel centroidal axis

Figure 2.16

With the transfer theorem, one can find second moments or products of area about any axis in terms of second moments or products of area about a parallel set of axes going through the centroid of the area in question.

In handbooks the areas and second moments about various centroidal axes are listed for many of the practical configurations, and using the parallel-axis theorem second moments can be calculated for axes not at the centroid.

In Fig. 2.17 are shown two references, one x′, y′ at the centroid and the other x, y arbitrary but positioned parallel relative to x′,y′. The coordinates of the centroid C(xC, yC) of area A measured from the reference x, y are c and b, xC = c, yC = b. The centroid coordinates must have the proper signs. The product of area about the noncentroidal axes xy is

Figure 2.17

or

The first term of the right-hand side is by definition Ix′y′,

The next two terms of the right-hand side are zero since x′ and y′ are centroidal axes:

Thus, the parallel-axis theorem for products of area is as follows.

THEOREM: The product of area for any set of axes Ixy is equal to the product of area for a parallel set of axes at centroid Ix′y′ plus Acb, where c and b are the coordinates of the centroid of area A,

With the transfer theorem, one can find second moments or products of area about any axis in terms of second moments or products of area about a parallel set of axes going through the centroid of the area.

2.11 Polar Moment of Area

In Fig. 2.18, there is a reference xy associated with the origin O. Summing Ixx and Iyy,

Figure 2.18

where r² = x² + y². The distance r² is independent of the orientation of the reference, and the sum Ixx + Iyy is independent of the orientation of the coordinate system. Therefore, the sum of second moments of area about orthogonal axes is a function only of the position of the origin O for the axes.

The polar moment of area about the origin O is

(2.16)

The polar moment of area is an invariant is also invariant under a rotation of axes.

2.12 Principal Axes

In Fig. 2.19, an area A is shown with a reference xy having its origin at O. Another reference x′y′ with the same origin O is rotated with angle α from xy (counterclockwise as positive). The relations between the coordinates of the area elements dA for the two references are

The second moment Ix′x′ can be expressed as

(2.17)

Using the trigonometric identities

Eq. (2.17) becomes

Figure 2.19

(2.18)

If we replace a with α + π/2 in Eq. (2.18) and use the trigonometric relations

the second moment Iy′y′ can be computed:

(2.19)

Next, the product of area Ix′y′ is computed in a similar manner:

(2.20)

If ixx, Iyy, and Ixy are known for a reference xy with an origin O, then the second moments and products of area for every set of axes at O can be computed.

Next, it is assumed that Ixx, Iyy, and Ixy are known for a reference xy (Fig. 2.20). The sum of the second moments of area is constant for any reference with origin at O. The minimum second moment of area corresponds to an axis at right angles to the axis having the maximum second moment. The second moments of area can be expressed as functions of the angle variable α. The maximum second moment may be determined by setting the partial derivative of Ix′y′ with respect to α equals to zero. Thus,

(2.21)

or

where α0 is the value of α that satisfies Eq. (2.21). Hence,

(2.22)

The angle α0 corresponds to an extreme value of Ix′x′ (i.e., to a maximum or minimum value). There are two possible values of 2α0, which are π radians apart, that will satisfy the equation just shown. Thus,

or

This means that there are two axes orthogonal to each other having extreme values for the second moment of area at 0. On one of the axes is the maximum second moment of area, and the minimum second moment of area is on the other axis. These axes are called the principal axes.

Figure 2.20

With α = α0, the product of area Ix′y′ becomes

(2.23)

By Eq. (2.22), the sine and cosine expressions are

Substituting these results into Eq. (2.23) gives

Thus,

The product of area corresponding to the principal axes is zero.

3 Moments and Couples

3.1 Moment of a Bound Vector about a Point

DEFINITION: The moment of a bound vector v about a point A is the vector

(3.1)

where rAB = AB is the position vector of B relative to A, and B is any point of line of action, Δ, of the vector v (

Figure 3.1

if the line of action of v passes through A or v = 0is

where θ is the angle between rAB and v when they are placed tail to tail. The perpendicular distance from A to the line of action of v is

is

is perpendicular to both rAB being perpendicular to rAB and v is perpendicular to the plane containing rAB and v.

is a free vector, that is, a vector associated neither with a definite line nor with a definite point. The moment given by Eq. (3.1) does not depend on the point B of the line of action of v, Δ, where rAB intersects Δ. Instead of using the point B, one could use the point B′ (Fig. 3.1). The vector rAB = rAB′ + rB′B where the vector rB′B is parallel to v, rB′B ||v. Therefore,

because rB′B × v = 0.

3.2 Moment of a Bound Vector about a Line

DEFINITION: of a bound vector v about a line Ω is the Ω resolute (Ω component) of the moment v about any point on Ω (

Figure 3.2

,

where n is a unit vector parallel to Ω, and r is the position vector of a point on the line of action v relative to the point on Ω.

is given by

The moment of a vector about a line is a free vector.

If a line Ω is parallel to the line of action Δ of a vector v, then [n, r, vJn .

If a line Ω intersects the line of action Δ of v, then r can be chosen in such a way that r = 0 .

If a line Ω is perpendicular to the line of action Δ of a vector v, and d is the shortest distance between these two lines, then

3.3 Moments of a System of Bound Vectors

DEFINITION: The moment of a system {S} of bound vectors vi, {S} = {v1, v2, …, vn} = {vi}i = 1,2,…,n about a point A is

DEFINITION: The moment of a system {S} of bound vectors vi, {S} = {v1, v2, …, vn} = {vi}i = 1,2,…,n about a line Ω is

The moments of a system of vectors about points and lines are free vectors.

of a system {S}, {S} = {vi,}i = 1,2, …,n, of bound vectors, vi, about two points A and P are related to each other as

(3.2)

where rAP is the position vector of P relative to A, and R is the resultant of {S

Proof: Let Bi be a point on the line of action of the vector vi, and let rABi and rPBi be the position vectors of Bi relative to A and P (Fig. 3.3). Thus,

If the resultant R of a system {S} of bound vectors is not equal to zero, R ≠ 0, the points about which {S} has a minimum moment Mmin lie on a line called the central axis, (CA), of {S}, which is parallel to R and passes through a point P whose position vector r relative to an arbitrarily selected reference point O is given by

Figure 3.3

The minimum moment Mmin is given by

3.4 Couples

DEFINITION: A couple is a system of bound vectors whose resultant is equal to zero and whose moment about some point is not equal to zero.

A system of vectors is not a vector; therefore, couples are not vectors.

A couple consisting of only two vectors is called a simple couple. The vectors of a simple couple have equal magnitudes, parallel lines of action, and opposite senses. Writers use the word couple to denote a simple couple.

The moment of a couple about a point is called the torque of the couple, M or T. The moment of a couple about one point is equal to the moment of the couple about any other point, that is, it is unnecessary to refer to a specific point.

The torques are vectors, and the magnitude of the torque of a simple couple is given by

where d is the distance between the lines of action of the two vectors comprising the couple, and v

Proof: In Fig. 3.4, the torque M is the sum of the moments of v and –v about any point. The moments about point A

Hence,

The direction of the torque of a simple couple can be determined by inspection: M is perpendicular to the plane determined by the lines of action of the two vectors comprising the couple, and the sense of M is the same as that of r × v.