Part 1

Engineering Mechanics Statics Instructor: R. Ganesh Narayanan # 301; C-Block, Dept. of Mechanical Engg. IIT Guwahati ganu@iitg.ernet.
in
R. Ganesh Narayanan, Jan-Apr 2010
-These lecture slides were prepared and used by me to conduct lectures for 1st year B. Tech. students as part of ME 101 Engineering Mechanics course at IITG. - Theories, Figures, Problems, Concepts used in the slides to fulfill the course requirements are taken from the following textbooks - Kindly assume that the referencing of the following books have been done in this slide - I take responsibility for any mistakes in solving the problems. Readers are requested to rectify when using the same - I thank the following authors for making their books available for reference. The conditions are true for other parts of the slides (part2, part3) also
R. Ganesh Narayanan 1. Vector Mechanics for Engineers Statics & Dynamics, Beer & Johnston; 7th edition 2. Engineering Mechanics Statics & Dynamics, Shames; 4th edition 3. Engineering Mechanics Statics Vol. 1, Engineering Mechanics Dynamics Vol. 2, Meriam & Kraige; 5th edition 4. Schaums solved problems series Vol. 1: Statics; Vol. 2: Dynamics, Joseph F. Shelley
Two forces are applied as shown to a hook support. Using trigonometry and knowing that the magnitude of P is 600 N, determine (a) the required angle if the resultant R of the two forces applied to the support is to be vertical, (b) the corresponding magnitude of R.
P = 600 45
1. Find 2. Apply cosine law, find R 3. Apply sine law, find ,
900
Two structural members A and B are bolted to a bracket as shown. Knowing that both members are in compression and that the force is 30 kN in member A and 20 kN in member B, determine, using trigonometry, the magnitude and direction of the resultant of the forces applied to the bracket by members A and B.
45
Find Find R using cosine law Find using sine law
30 kN
Find 20 kN
A force acts at the origin of a coordinate system in a direction defined by the angles x= 43.2 and z=83.8. Knowing that the y component of the force is 50 N , determine (a) the angle y, (b) the other components and the magnitude of the force.
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.
F = F nAB = F (BA/BA)
Engineering mechanics - Deals with effect of forces on objects Mechanics principles used in vibration, spacecraft design, fluid flow, electrical, mechanical m/c design etc. Statics: deals with effect of force on bodies which are not moving Dynamics: deals with force effect on moving bodies We consider RIGID BODIES Non deformable
Scalar quantity: Only magnitude; time, volume, speed, density, mass Vector quantity: Both direction and magnitude; Force, displacement, velocity, acceleration etc. V = IvI n, where IvI = magnitude, n = unit vector n = V / IvI n - dimensionless and in direction of vector V
y j x z i k i, j, k unit vectors
In our course:
Dot product of vectors: A.B = AB cos ; A.B = B.A (commutative) A.(B+C) = A.B+A.C (distributive operation) A
B
i.i=1 A.B = (Axi+Ayj+Azk).(Bxi+Byj+Bzk) = AxBx+AyBy+AzBz i.j=0
Cross product of vectors: A x B = C; ICI = IAI IBI Sin ; AxB = -(BxA) C x (A+B) = C x A + C x B
j
i
k
j
i
j AY BY
k AZ BZ
k x j = -i; ixi=0
Ax BX
R. Ganesh Narayanan, Jan-Apr 2010 AxB = (Axi+Ayj+Azk)x(B xi+Byj+Bzk) = (AyBz- AzBy)i+( )j+( )k
Force: - action of one body on another - required force can move a body in the direction of action, otherwise no effect - some times plastic deformation, failure is possible - Magnitude, direction, point of application; Vector quantity
Force, P kN Direction of motion Body moves Body does not move P, kN
Force < P kN
bulging
Force system:
Magnitude, direction and point of application is important
WIRE
P Bracket
External effect: Forces applied (applied force); Forces exerted by bracket, bolts, foundation.. (reactive force) Internal effect: Deformation, strain pattern permanent strain; depends on material properties of bracket, bolts
Transmissibility principle: A force may be applied at any point on a line of action without changing the resultant effects of the force applied external to rigid body on which it acts Magnitude, direction and line of action is important; not point of application
Line of action P P
Concurrent force: Forces are said to be concurrent at a point if their lines of action intersect at that point
Parallelogram law of forces Polygon law of forces F1, F2 are concurrent forces
R A F1 F2
R will be on same plane R = F1+F2
Law of sines Law of cosines
Plane Use triangle law

F2 F2 R A F1 A F1 F1
R does not pass through A R = F1+F2

F2 F2 R A F1
R = F1+F2
R
Two dimensional force system Rectangular components:

j
Fy F Fx i
F = Fx + Fy; both are vector components in x, y direction Fx = fx i ; Fy = fy j; fx, fy are scalar quantities
Therefore, F
= fx i + fy j
Sign convention
+ ve
Fx = F cos ; Fy = F sin F=
+ ve
fx2 + fy2
= tan -1 (fy/fx)
- ve - ve
Two concurrent forces F1, F2 at O; F2 shifted as shown in fig. to tip of F1 R = F1 + F2 = (f1x i + f1y j) + (f2x i + f2y j) R = Rx i + Ry j = (f1x + f2x)i + (f1y + f2y)j Rx = f1x + f2x = Fx; Ry = f1y + f2y = Fy
y j
R F1 F2
x o
f1x Rx f2x
Moment: Tendency to rotate; torque (moment by a couple)

O
Moment about a point: M = Fd

M F
Magnitude of moment is A r proportional to the force F and d B moment arm d i.e, perpendicular distance from the axis of rotation to the LOA of force O UNIT : N-m Moment is perpendicular to plane about axis O-O Counter CW = + ve; R. CW = -ve Ganesh Narayanan, Jan-Apr 2010
Cross product: M = r x F; where r is the position vector which runs from the moment reference point A to any point on the LOA of F
F
M = Fr sin ; M = Fd
A d
r B
M = r x F = -(F x r): sense is important
Sin = d / r
Varignons theorem: The moment of a force about any point is equal to the sum of the moments of the components of the forces about the same point
P B o r Q R
Concurrent forces P, Q Mo = r x R = r x (P+Q) = r x P + r x Q

Moment of P Moment of Q
Usefulness:
measure]
Assume for resultant R, moment about O is (Rd) [d difficult to Force P moment arm p; Force Q moment arm q Mo= Rd = -pP + qQ
Pb:2/5 (Meriam / Kraige): Calculate the magnitude of the moment about O of the force 600 N 1) Mo = 600 cos 40 (4) + 600 sin 40 (2) = 2610 Nm (app.) 2) Mo = r x F = (2i + 4j) x (600cos40i-600sin40j)
2 A
40 deg
4 o
600N
in mm
j i
= -771.34-1839 = 2609.85 Nm (CW); mag = 2610 Nm
Couple: Moment produced by two equal, opposite and non-collinear forces

M o a d -F +F
=>-F and F produces rotation =>Mo = F (a+d) Fa = Fd; Perpendicular to plane Independent of distance from o, depends on d only moment is same for all moment centers
Vector algebra method

CCW Couple o rb ra -F r +F CW Couple
M = ra x F + rb x (-F) = (ra-rb) x F = r x F
Equivalent couples Changing the F and d values does not change a given couple as long as the product (Fd) remains same Changing the plane will not alter couple as long as it is parallel
EXAMPLE M -F d +F M M
-F -F d +F +F M d
All four are equivalent couples
+2F
d/2
-2F
Force-couple system =>Effect of force is two fold 1) to push or pull, 2) rotate the body about any axis Dual effect can be represented by a force-couple syatem a force can be replaced by a force and couple
B F A -F A B F F B F M = Fd
EXAMPLE 80N
9m 60deg
80N 9
60 deg
80 N
80 N
80 N
o Mo = Y N m
Mo = 80 (9 sin 60) = 624 N m; CCW
Resultants To describe the resultant action of a group or system of forces Resultant: simplest force combination which replace the original forces without altering the external effect on the body to which the forces are applied
R
R = F1+F2+F3+.. = F Rx = Fx; Ry = Fy; R = ( Fx)2 + ( Fy)2

-1 (Ry/Rx) R. Ganesh Narayanan, Jan-Apr 2010 = tan
How to obtain resultant force ?

F1
F2
Mo= Fd
F1
R= F
F2 F3
F3 M1 = F1d1; F1 D1; F2 D2; F3 D3 M2 = F2d2; M3 = F3d3

d
Mo=Rd
NON-CONCURRENT FORCES
Principle of moments Summarize the above process:

Mo= Fd
R d
R = F Mo = M = (Fd) Mo = Rd
R= F
Mo=Rd
First two equations: reduce the system of forces to a force-couple system at some point O Third equation: specifies distance d from point O to the line of action R => VARIGNONS THEOREM IS EXTENDED HERE FOR NON-CONCURENT FORCES R. Ganesh Narayanan, Jan-Apr 2010
Famous Authors for Engg. Mechanics 1. Meriam, Kraige 2. J. F. Shelley Schaums series 3. Shames 4. Beer, Johnston 5. Boresi, Schmidt
Quiz 1
Quiz 2
STATICS MID SEMESTER EXAM DYNAMICS END SEMESTER EXAM
Instructions for TUTORIAL

Bring pen, pencil, tagged A4 sheets, calculator, text books Submitted in same tutorial class Solve div II tutorial problems also Solve more problems as home work Tutorial : 10 % contribution in grading Do not miss any tutorial class Grading plan: Tutorial Quiz 1 Quiz 2 Mid semester
10 % 15% 20 % 25 % 30 %
End semester
T1: 09010101 (ABHINANDAN NATH) to 09010144 (ROVIN BHANDARI) T2: 09010145 (SAURABH SAXENA) to 09010229 (MANCHALA SATYA VARDHAN) T3: 09010230 (MANISH KUMAR) to 09010320 (HEMANT KUMAR AGRAWAL) T4: 09010321 (HEMANT VERMA) to 09010402 (ABHISHEK KUMAR) T5: 09010403 (ABHISHEK SINGH) to 09010446 (SARTHAK KANSAL) T6: 09010447 (SHASHANK JAKHU) to 09010610 (G RAJESH) 09010601 to 09010610 => Biotechnology: DIVISION 1 Tutorial class: Thursday, 8-8.55 am Tutorial group T1 (CSE) T2 (CSE+ECE) T3 (ECE+ME) T4 (ME+CE) T5 (CE) T6 (CE+BT) Venue L1 L2 L3 L4 1G1 1G1 Tutors Anoop K. Dass Arnab Kumar De Vinayak Kulkarni Chandramohan Somayaji/D. Chakraborty R. Ganesh Narayanan
R. Ganesh Narayanan, Jan-Apr 2010 R. Ganesh Narayanan
Three dimensional force system Rectangular components

Fx = F cos x; Fy = F cos y; Fz = F cos z F = Fx i + Fy j + Fz k = F (i cos x + j cos y + k cos z) = F (l i + m j + n k) F = F nf
Fz k z o x Fx i
l, m, n are directional cosines of F
F y Fy j
Moment in 3D
Mo F
r d
A - a plane in 3D structure Mo = F d (TEDIOUS to find d)

F
or Mo = r x F = (F x r) (BETTER)
Evaluating the cross product Described in determinant form:

i rx FX j rY FY k rZ FZ
Expanding Narayanan, Jan-Apr 2010 R. Ganesh
Mo = (ryFz - rzFy) i + (rzFx rxFz) j + (rxFy ryFx) k Mx = ryFz rzFy; My = rzFx rxFz; Mz = rxFy ryFx
Moment about any arbitrary axis :

Magnitude of the moment M of F about Mo M o r rx Fx ry FY rz FZ n F Scalar triple product = Mo . n (scalar reprn.) Similarly, M = (r x F.n) n (vector reprn.)
, , DCs of R. n Ganesh Narayanan, Jan-Apr 2010
Varignons theorem in 3D
F2 B o r F1
F3
Mo = rxF1 + rxF2 + rx F3 += (r x F) = r x (F1+F2+F3+) = r x (F) = r x R

M
Couples in 3D
-F
B
+F
M = ra x F + rb x F = (rarb) x F = rxF
A ra
rb
Beer-Johnston; 2.3
F2 = 80N
20 30 15
2D force system; equ. Force-couple; principle of moments

F1 = 150N
Evaluate components of F1, F2, F3, F4 Rx = Fx; Ry = Fy

F4 = 100N
R = Rx i + Ry j = tan -1 (Ry/Rx)
F3 = 110N
Ry Rx
R. Ganesh Narayanan, Jan-Apr 2010 R = 199i + 14.3j;
= 4.1 deg
In a ship-unloading operation, a 3500-N automobile is supported by a cable. A rope is tied to the cable and pulled to center the automobile over its intended position. What is the tension in the rope?
T TAB 3500 N = AC = sin 120 sin 2 sin 58

TAB = 3570 N
TAC = 144 N
It is desired to determine the drag force at a given speed on a prototype sailboat hull. A model is placed in a test channel and three cables are used to align its bow on the channel centerline. For a given speed, the tension is 40 N in cable AB and 60 N in cable AE. Determine the drag force exerted on the hull and the tension in cable AC.
tan = 7m = 1.75 4m = 60.25
tan = 1.5 m = 0.375 4m = 20.56
Express the condition for equilibrium for the hull by writing that the sum of all forces must be zero. r r r r r R = T AB + T AC + T AE + FD = 0
r r r TAB = (40 N )sin 60.26 i + (40 N )cos 60.26 j r r = (34.73 N )i + (19.84 N ) j r r r TAC = T AC sin 20.56 i + T AC cos 20.56 j r r = 0.3512 T AC i + 0.9363 TAC j r r ( ) = T 60 N j r r = FD FD i
0 r R=0 r = ( 34.73 + 0.3512 T AC + FD )i r +( 19.84 + 0.9363 T AC 60) j 0
TAC = +42.9 N FDNarayanan, = +19.66 N 2010 R. Ganesh Jan-Apr
Meriam / kraige; 2/37 Find the moment Mo of 780 N about the hinge point T = -780 COS20 i 780 sin20 j = -732.9 i 266.8 j r = OA = 10 cos 60 i + 10 sin 60 j = 5 i + 8.6 j Mo = r x F = 5014 k ; Mag = 5014 Nm Meriam / kraige; 2/61 In the design of lifting hook the action of the applied force F at the section is a direct pull at B and a couple. If the magnitude of the couple is 4000 lb-ft, find F M = 4000 = Fd => 4000/0.332 = 12048 lb
D
780 N
20 DEG
10 10
10m
B C
OC FLAG POLE OAB LIGHT FRAME D POWER WINCH
4 F 1 inch = 0.083 feet
Meriam / kraige; 2/6
2 M
40
Replace couple 1 by eq. couple p, -p; find

1
100
M = 100 (0.1) = 10 Nm (CCW)

P = 400 N
-P
100
M = 400 (0.04) cos

60
10 = 400 (0.04) cos => = 51.3 deg
100 100N 100N
In mm
Meriam / kraige; 2/76 Determine and locate the resultant R of the two forces and one couple acting on I-Beam
25 kN.m
8 kN
2 5 kN
R = Fy
R = 5 8 = -3 kN x R
25 kN.m 8 kN
- 3 x = (5x2) + 25 + (-8 x 6) => x = 4. 33 m

2 2 5 kN 2
Moment by R
Moment by forces and existing couple
60 N
Meriam / kraige; 2/8

Find the resultant of four forces and one couple which act on the plate
40 N
2m 45 2m
50 N
5m
140Nm
80N 2m
o
1m
30
Rx = 40+80cos30-60cos45 = 66.9 N Ry = 50+80sin 30+60cos45 = 132.4 N R = 148.3 N; = tan-1 (132.4/66.9) = 63.2 Mo = 140-50(5)+60cos45(4)-60sin45(7) = -237 Nm
R = 148.3N 237 Nm
R = 148.3N
63.2 deg
Final LOA of R:
148.3 d = 237; d = 1.6 m o
63.2 deg
LOA of R with x-axis: r X R = Mo (Xi + yj) x (66.9i+132.4j) = -237k

R = 148.3N
(132.4 x 66.9 y)k = -237k 132.4 x -66.9 y = -237 Y = 0 => x o

y x
= b = -1.792 m
Three external forces are acting on a L-shaped body as shown in fig. Find the equivalent system through point O.
This means, we need to find i) single resultant force, R and ii) single moment through O.
1) Find Fx, Fy 2) Find R 3) Take moments (Mo) of all forces about O 4) R & Mo constitute equivalent system
R = 1261 N; M = 250 Nm

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Engineering Mechanics Statics Instructor: R. Ganesh Narayanan # 301; C-Block, Dept. of Mechanical Engg. IIT Guwahati ganu@iitg.ernet.

R. Ganesh Narayanan, Jan-Apr 2010

1. Find 2. Apply cosine law, find R 3. Apply sine law, find ,

R. Ganesh Narayanan, Jan-Apr 2010

Find Find R using cosine law Find using sine law

R. Ganesh Narayanan, Jan-Apr 2010

R. Ganesh Narayanan, Jan-Apr 2010

R. Ganesh Narayanan, Jan-Apr 2010

i.i=1 A.B = (Axi+Ayj+Azk).(Bxi+Byj+Bzk) = AxBx+AyBy+AzBz i.j=0

R. Ganesh Narayanan, Jan-Apr 2010

R. Ganesh Narayanan, Jan-Apr 2010

R will be on same plane R = F1+F2

Law of sines Law of cosines

Plane Use triangle law

R does not pass through A R = F1+F2

R. Ganesh Narayanan, Jan-Apr 2010

Two dimensional force system Rectangular components:

R. Ganesh Narayanan, Jan-Apr 2010

Moment: Tendency to rotate; torque (moment by a couple)

Moment about a point: M = Fd

M = r x F = -(F x r): sense is important

R. Ganesh Narayanan, Jan-Apr 2010

Concurrent forces P, Q Mo = r x R = r x (P+Q) = r x P + r x Q

= -771.34-1839 = 2609.85 Nm (CW); mag = 2610 Nm

R. Ganesh Narayanan, Jan-Apr 2010

Couple: Moment produced by two equal, opposite and non-collinear forces

Vector algebra method

All four are equivalent couples

R. Ganesh Narayanan, Jan-Apr 2010

R. Ganesh Narayanan, Jan-Apr 2010

Mo = 80 (9 sin 60) = 624 N m; CCW

R. Ganesh Narayanan, Jan-Apr 2010

R = F1+F2+F3+.. = F Rx = Fx; Ry = Fy; R = ( Fx)2 + ( Fy)2

How to obtain resultant force ?

F3 M1 = F1d1; F1 D1; F2 D2; F3 D3 M2 = F2d2; M3 = F3d3

Principle of moments Summarize the above process:

STATICS MID SEMESTER EXAM DYNAMICS END SEMESTER EXAM

R. Ganesh Narayanan, Jan-Apr 2010

Instructions for TUTORIAL

Three dimensional force system Rectangular components

l, m, n are directional cosines of F

A - a plane in 3D structure Mo = F d (TEDIOUS to find d)

Evaluating the cross product Described in determinant form:

Expanding Narayanan, Jan-Apr 2010 R. Ganesh

Moment about any arbitrary axis :

, , DCs of R. n Ganesh Narayanan, Jan-Apr 2010

Mo = rxF1 + rxF2 + rx F3 += (r x F) = r x (F1+F2+F3+) = r x (F) = r x R

R. Ganesh Narayanan, Jan-Apr 2010

2D force system; equ. Force-couple; principle of moments

Evaluate components of F1, F2, F3, F4 Rx = Fx; Ry = Fy

R. Ganesh Narayanan, Jan-Apr 2010 R = 199i + 14.3j;

T TAB 3500 N = AC = sin 120 sin 2 sin 58

R. Ganesh Narayanan, Jan-Apr 2010

R. Ganesh Narayanan, Jan-Apr 2010

TAC = +42.9 N FDNarayanan, = +19.66 N 2010 R. Ganesh Jan-Apr

OC FLAG POLE OAB LIGHT FRAME D POWER WINCH

4 F 1 inch = 0.083 feet

Meriam / kraige; 2/6

Replace couple 1 by eq. couple p, -p; find

M = 100 (0.1) = 10 Nm (CCW)

M = 400 (0.04) cos

10 = 400 (0.04) cos => = 51.3 deg

100 100N 100N

R. Ganesh Narayanan, Jan-Apr 2010