Engineering Mechanics - Statics

Engineering Mechanics - Statics
Instructor: R. Ganesh Narayanan, IITG
R.Ganesh Narayanan, IIT Guwahati 1

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, moment…
V = IvI n, where IvI = magnitude, n = unit vector
n = V / IvI
n - dimensionless and in direction of vector ‘V’
y j
In our course: x i i, j, k – unit vectors
z k

Dot product of vectors: A.B = AB cos θ; A.B = B.A (commutative)
A A.(B+C) = A.B+A.C (distributive operation)
θ
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 θ; AxB = -(BxA)

C x (A+B) = C x A + C x B
j
i j k
i j k k x j = -i; Ax AY AZ
ixi=0 BX BY BZ
k i
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
Force, Direction of motion

P kN
Body moves
P, kN
Force Body does

< P kN not move
bulging

Force system:
θ Magnitude, direction and point of application

is important
P
Bracket WIRE
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
F2
F1, F2 are concurrent forces
R will be on same plane
R
A R = F1+F2
F1
Plane R does not
Use triangle law pass through ‘A’
F2
R = F1+F2 R = F1+F2
F2 R
F2
R A F1
A A
F1 F1 F1 F2
R.Ganesh Narayanan, IIT Guwahati R 8
Two dimensional force system
Rectangular components:
j
Fy
F = Fx + Fy; both are vector components in x, y direction
F θ
Fx = fx i ; Fy = fy j; fx, fy are scalar quantities
Fx Therefore, F = fx i + fy j
i
+ ve Fx = F cos θ; Fy = F sin θ
F= fx2 + fy2 ;θ = tan -1 (fy/fx)
+ ve
- ve
- ve R.Ganesh Narayanan, IIT Guwahati 9

Two concurrent forces F1, F2 F1
F2
j
R
Rx = Σ Fx; Ry = Σ Fy
i
DERIVATION

Moment: Tendency to rotate; torque
O
Moment about a point: M = Fd

M
F
Magnitude of moment is α
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; CW = -ve
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’
r α
M = Fr sin α; M = Fd A
d B
Sin α = d / r
M = r x F = -(F x r): sense is important

Varignon’s 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
Concurrent forces – P, Q
P R
B Mo = r x R = r x (P+Q) = r x P + r x Q
Q
o r
Moment of ‘P’
Moment of ‘Q’
Usefulness:
Resultant ‘R’ – moment arm ‘d’
Force ‘P’ – moment arm ‘p’; Force ‘Q’ – moment arm ‘q’
Mo= Rd = -pP + qQ R.Ganesh Narayanan, IIT Guwahati 13
2
Pb:2/5 (Meriam / Kraige):
A
Calculate the magnitude of the moment 40 deg
about ‘O’ of the force 600 N 4 r 600N
o
1) Mo = 600 cos 40 (4) + 600 sin 40 (2) in mm
= 2610 Nm (app.)
j
2) Mo = r x F = (2i + 4j) x (600cos40i-600sin40j)
i
= -771.34-1839 = 2609.85 Nm (CW);

mag = 2610 Nm

Couple: Moment produced by two equal, opposite and
non-collinear forces
M
o -F
=>-F and F produces rotation
a
+F
d =>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 CW
Couple Couple
o -F
rb
r M = ra x F + rb x (-F) = (ra-rb) x F = r x F
ra +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 M M
-F d +F
-F
-F +F d
d
+F
M
All four are equivalent couples
-2F
+2F d/2

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
F B F
B B
F F
-F M = Fd
A A

EXAMPLE
80N 80N
9m
9
60deg 60 deg
o 80 N o 80 N o
80 N
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+….. = Σ F
Rx = Σ Fx; Ry = Σ Fy; R = (Σ Fx)2 + (Σ Fy)2
-1 (Ry/Rx)
Θ = tanR.Ganesh Narayanan, IIT Guwahati 20
How to obtain resultant force ?
F1 F2 Mo= ΣFd
R= ΣF
F1 F2
F3
F3 R
M1 = F1d1;
F1 – D1; F2 – D2; F3 – D3 d
M2 = F2d2;
M3 = F3d3 Mo=Rd
NON-CONCURRENT FORCES
Principle of moments
Summarize the above process: R = ΣF

Mo = ΣM = Σ(Fd)
Mo = Rd R
Mo= ΣFd
d
R= ΣF
Mo=Rd
First two equations: reduce the system of forces to a force-couple

system at some point ‘O’
Third equation: distance ‘d’ from point ‘O’ to the line of action ‘R’
=> VARIGNON’S THEOREM IS EXTENDED HERE FOR NON-

CONCURENT FORCES
Text Books
1. Meriam/kraige
2. J. F. Shelley – Schaum’s series
3. Shames
4. Beer/Johnston
5. Lakshmana rao, Lakshmimarasimhan …..
STATICS – MID SEMESTER – DYNAMICS
Tutorial: Monday 8 am to 8.55 am

ENGINEERING MECHANICS
TUTORIAL CLASS: Monday 8 AM TO 8.55 AM
Tutorial Groups Roll Numbers Class Room Tutors
From To
TG1 07010101 07010141 (41 Students) L2 Prof. R. Tiwari
TG2 07010142 07010149 (8 Students) 1G1 Dr. senthilvelan
07010201 07010233 (33 Students)
TG3 07010234 07010249 (16 Students) 1G2 R. Ganesh Narayanan
07010301 07010325 (25 Students)
TG4 07010326 07010353 (28 Students) 1202 Dr. M. Pandey
07010401 07010413 (13 Students)
TG5 07010414 07010449 (36 Students) 1205 Dr. Saravana Kumar
07010601 07010605 (5 Students)
LECTURE CLASSES: LT2 (one will be optional):

Monday 3 pm to 3.55 pm
Tuesday 2 pm to 2.55 pm
Thursday 5 pm to 5.55 pm
Friday 4 pm to 4.55 pm
Three dimensional force system
Rectangular components
Fx = F cos θx; Fy = F cos θy; Fz = F cos θz
l, m, n are directional cosines of ‘F’

F = Fx i + Fy j + Fz k
= F (i cos θx + j cos θy + k cos θz) = F (l i + m j + n k)
F = F nf
F
Fz k
θy Fy j
θz
o θx
Fx i
Moment in 3D
Mo
r A - a plane in 3D structure
A α
d Mo = F d (TEDIOUS to find d)
F or Mo = r x F = – (F x r) (BETTER)
Evaluating the cross product

i j k
Described in determinant form:
rx rY rZ
FX FY FZ
Expanding … Narayanan, IIT Guwahati

R.Ganesh 26
Mo = (ryFz - rzFy) i + (rzFx – rxFz) j + (rxFy – ryFx) k
Mx = ryFz – rzFy; My = rzFx – rxFz; Mz = rxFy – ryFx
Moment about any arbitrary axis λ:

Magnitude of the moment Mλ of F about λ
λ = Mo . n (scalar reprn.)
Mo n Similarly, Mλ = (r x F.n) n (vector reprn.)
F
Scalar triple product

r
o rx ry rz
Fx FY FZ
α β γ
α, β, γ – DCs of R.Ganesh
n Narayanan, IIT Guwahati 27
Varignon’s theorem in 3D
F2 Mo = rxF1 + rxF2 + rx F3 +…= Σ(r x F)

F3
B = r x (F1+F2+F3+…)
o r F1 = r x (ΣF) = r x R
Couples in 3D M
d M = ra x F + rb x –F = (ra-
+F
-F rb) x F = rxF
B r
A
ra
rb

2D force system; equ. Force-couple; principle of
Beer-Johnston; 2.3 moments
20
F2 = 80N F1 = 150N
30
• Evaluate components of F1, F2, F3, F4
15 • Rx = ΣFx; Ry = ΣFy
F4 = 100N • R = Rx i + Ry j
F3 = 110N
• α = tan -1 (Ry/Rx)
Ry
R
α
Rx
R.Ganesh Narayanan,
• R = 199iIIT+Guwahati
14.3j; α = 4.1 deg 29
F1
30 DEG
Boat
Find F1 and F2
15 DEG
45 DEG
F2 R =3000 N
R = F1 + F2
3000 (cos15i – sin 15j) = F1 (cos 30i – Sin 30j)+ F2 (cos45i – sin 45j)
EQUATING THE COMPONENTS OF VECTOR,
F1 = 2690 N; F2 = 804 N

Meriam / kraige; 2/37
780 N A
10m
Find the moment Mo of 780 N 20 DEG 10
about the hinge point 10 B C
D o
OC – FLAG POLE
T = -780 COS20 i – 780 sin20 j
OAB – LIGHT FRAME
= -732.9 i – 266.8 j
D – POWER WINCH
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; 2/6 2
M
Replace couple 1 by eq. couple p, -p; find Θ θ
P
40
100
θ
-P
1 M = 100 (0.1) = 10 Nm (CCW)
100
2 M = 400 (0.04) cos θ 60
100 1
10 = 400 (0.04) cos θ 100N 100N
=> Θ = 51.3 deg

60 N
Meriam / kraige; 2/8 2m 50 N
5m 140Nm
45
2m
80N
Find the resultant of four forces and one 2m
40 N o 30 deg
couple which act on the plate
1m
Rx = 40+80cos30-60cos45 = 66.9 N R = 148.3N

Ry = 50+80sin 30+60cos45 = 132.4 N 63.2 deg
237 Nm
o
R = 148.3 N; Θ = tan-1 (132.4/66.9) = 63.2 deg
Mo = 140-50(5)+60cos45(4)-60sin45(7) = -237 Nm
R = 148.3N
63.2 deg
Final LOA of R: 148.3 d = 237; d = 1.6 m
o
LOA of R with x-axis:
(Xi + yj) x (66.9i+132.4j) = -237k
R = 148.3N
(132.4 x – 66.9 y)k = -237k y
o x
132.4 x -66.9 y = -237
R.Ganesh Narayanan, IIT Guwahati
b 33
Y = 0 => x = b = -1.792 m
Couples in 3D
M
d
+F
-F
B r M = ra x F + rb x –F = (ra-
A
ra rb) x F = rxF
rb
Equivalent couples M = Fd
F F F
F
B A B r A
B
-F
How to find resultant ?
R = ΣF = F1+F2+F3+…
Mo = ΣM = M1+M2+M3+… = Σ(rxF)
M = Mx2 + My2 + Mz2; R = ΣFx2 + ΣFy2 + ΣFz2
Mx = ; My = ; Mz =

Equilibrium
Body in equilibrium - necessary & sufficient condition:
R = ΣF = 0; M = ΣM = 0
Equilibrium in 2D
Mechanical system: body or group of bodies which can be conceptually
isolated from all other bodies
System: single body, combination of bodies; rigid or non-rigid;
combination of fluids and solids
Free body diagram - FBD:
=> Body to be analyzed is isolated; Forces acting on the body are
represented – action of one body on other, gravity attraction,
magnetic force etc.
=> After FBD, equilibrium equns. can be formed
Modeling the action of forces
Imp
Imp

Meriam/Kraige
FBD - Examples
Equilibrium equns. Can be

solved,
• Some forces can be zero
• Assumed sign can be
different

Meriam/Kraige
Types of 2D equilibrium
Concurrent at a point: ΣFx = 0; ΣFy = 0
x Collinear: ΣFx = 0 F1 F2
F3
Y
F2
X
F1
F3
F4
F1
F2 Y
F3 M
X
F4
Parallel: ΣFx = 0; ΣMz = 0

General: ΣFx = 0; ΣFy = 0; ΣMz = 0
General equilibrium conditions
ΣFx = 0; ΣFy = 0; ΣFz = 0

ΣMx = 0; ΣMy = 0; ΣMz = 0
⇒These equations can be used to solve unknown forces,

reactions applied to rigid body
⇒For a rigid body in equilibrium, the system of external forces will
impart no translational, rotational motion to the body
⇒Necessary and sufficient equilibrium conditions

P Q R PY QY RY
D Px Qx Rx
C
D
C
AX A
A B B
Pin Roller
BY
AY
Written in three alternate ways,
ΣFx = 0; ΣFy = 0; ΣMA = 0 I

ΣMB = 0 => will not provide new information; used to check the
solution; To find only three unknowns
ΣFx = 0; ΣMA = 0; ΣMB = 0 II
Rigid body in equilibrium =>
• Point B can not lie on the line that passes through point A
• First two equ. indicate that the ext. forces reduced to a single vertical force at A
• Third eqn. (ΣMB = 0) says this force must be zero
ΣMA = 0; ΣMB = 0; ΣMc = 0; III
Body is statically indeterminate: more unknown reactions than

independent equilibrium equations
3D force system Y
A
Meriam / Kraige; 2/10 T = 10kN
15
x
Find the moment Mz of T about the z-axis passing O
thro the base O
9
12 m
B
z

F = T = ITI nAB = 10 [12i-15j+9k/21.21] = 10(0.566i-0.707j+0.424k) k N
Mo = rxF = 15j x 10(0.566i-0.707j+0.424k) = 150 (-0.566k+0.424i) k Nm
Mz = Mo.k= 150 (-0.566k+0.424i).k = -84.9 kN. m

Merial / Kraige; 2/117
Replace the 750N tensile force which the cable exerts on point B by a force-
couple system at point O

F = f λ, where λ is unit vector along BC
= (750) BC/IBCI = 750 (-1.6i+1.1j+0.5k/2.005)
F = -599i+412j+188.5k
rob = OB = 1.6i-0.4j+0.8k
Mo = rob x F
= (1.6i-0.4j+0.7k) x (-599i+412j+188.5k)
Mo = - 363i-720j+419.2k

2D equilibrium
Meriem / Kraige; 3/4
Find T and force at A; I-beam with mass of 95
kg/meter of length
95 kg/meter => 95(10-3)(5)(9.81) = 4.66kN
ΣMA = (T cos 25) (0.25) + (T sin 25) (5-0.12) –

10(5-1.5-0.12) – 4.66 (2.5-0.12) = 0
T = 19.6 kN y T
ΣFx = Ax – 19.6 cos 25 = 0 25 deg
Ax 0.5 m
Ax = 17.7 kN
ΣFy = Ay+19.61 sin 25-4.66-10 = 0 0.12 m
Ay 1.5m
4.66 kN
Ay = 6.37 kN
10 kN
A = Ax2 + Ay2 = 18.88kN

5m
B
Beer/Johnston; 4.5
mm, N
Find reactions at A, B if (a) a = 100 mm; (b) A

a=70 mm
60
a = 100 mm 60 a 80
40 50 30 10
ΣMa = 0 => (-40x60)+(-50x120)+(-30x220)+
By
(-10x300)+(-Byx120) = 0
Ay
By = 150 N Bx
ΣFy = 0 => By-Ay-40-50-30-10 = 0

= 150-Ay-130 = 0 => Ay = 20 N
40 50 30 10
a = 70 mm
By = 140 N Ay = 10 N
D
Beer/Johnston; 4.4 1.8
A B
Find the reaction at the fixed end C
2.25
‘E’ 3.75
20 20 20 20
DF = 7.5 m E F
ΣFx = Ex + 150 (4.5/7.5) = 0 => Ex = - 90 kN (sign change) 4.5

ΣFy = Ey – 4(20)-150 (6/7.5) = 0 => Ey = 200 kN
D
ΣME= 20 (7.2) + 20 (5.4) + 20 (3.6) +20 (1.8) – (6/7.5) (150) (4.5) +
ME= 0
A B
ME= +180 kN.m => ccw 2.25
C
3.75
20 20 20 20
E F
1.8 Ex
ME 4.5
R.Ganesh Narayanan, IIT Guwahati Ey 49 kN

150
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
QUIZ 1 – FEB, 11TH, 2008

3D equilibrium
3D equilibrium equns. can be written in scalar and vector form
ΣF = 0 (or) ΣFX = 0; ΣFY = 0; ΣFZ = 0

ΣM = 0 (or) ΣMX = 0; ΣMY = 0; ΣMZ = 0
ΣF = 0 => Only if the coefficients of i, j, k are zero; ΣFX = 0

ΣM = 0 => Only if the coefficients of i, j, k are zero; ΣMX = 0

Modeling forces in 3D

Types of 3D equilibrium

Meriem / Kraige z
B
7 = 22 + 62 + h2 => h = 3 m 7m
h
2m
rAG = -1i-3j+1.5k m; rAB = -2i-6j+3k m y
A
6m
x Bx
ΣMA = 0 => rAB x (Bx+By) + rAG x W = 0 By 3.5
(-2i-6j+3k) x (Bx i + By j) + (-i-3j+1.5k) x (-1962k) = 0 G

3.5
(-3By+5886)i + (3Bx-1962)j + (-2By+6Bx)k = 0
Ay
W=mg=200 x 9.81
=> By = 1962 N; Bx = 654 N
W = 1962 N
ΣF = 0 => (654-Ax) i + (1962-Ay) j + (-1962+Az)k = 0 Ax Az

=> Ax = 654 N; Ay = 1963 N; Az = 1962 N; find A

Meriem / Kraige; 3/64

I.H. Shames
Find forces at A, B, D. Pin connection at C; E has welded connection

F.B.D. - 1
F.B.D. - 2
F.B.D. - 2
ΣMc = 0 => (Dy) (15) – 200 (15) (15/2) –

(1/2)(15)(300)[2/3 (15)] = 0
Dy = 3000 N

F.B.D. - 1
ΣMB = 0 => -Ay (13) +(3000) (21) – 200

(34) (34/2-13) – ½ (300) (15) [6+2/3(15)]
=0
Ay = -15.4 N
ΣFy = 0 => Ay+By+3000-200(34)-

(1/2)(300)(15) = 0
Sub. ‘Ay’ here,
=> By = 6065 N

2D, 3D force system Equilibrium equations
• Rectangular components ΣFx = 0; ΣFy = 0; ΣMA = 0

• Moment
ΣFx = 0; ΣMA = 0; ΣMB = 0 2D
• Varignon’s theorem
ΣMA = 0; ΣMB = 0; ΣMc = 0
• Couple
• Force-couple system ΣF = 0 (or) ΣFX = 0; ΣFY = 0; ΣFZ = 0
• Resultant 3D
ΣM = 0 (or) ΣMX = 0; ΣMY = 0; ΣMZ = 0
• Principle of moment

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
QUIZ 1 – FEB, 11TH, 2008

Structures
Truss: Framework composed of members joined at their ends to form a rigid
structures
Plane truss: Members of truss lie in same plane
Bridge truss
Roof R.Ganesh
truss Narayanan, IIT Guwahati 61
B
•Three bars joined with pins at end
• Rigid bars and non-collapsible
• Deformation due to induced internal strains is negligible
A c
B D
Non rigid body can be made rigid by
B D
adding BC, DE, CE elements
E
A C A
C
Non-rigid rigid
Simple truss: structures built from basic triangle

More members are present to prevent collapsing => statically indeterminate truss;
they can not be analyzed by equilibrium equations
Additional members not necessary for
R.Ganesh maintaining
Narayanan, equilibrium - redundant
IIT Guwahati 62
In designing simples truss or truss => assumptions are followed
1. Two force members – equilibrium only in two forces; either tension or compression
2. Each member is a straight link joining two points of application of force
3. Two forces are applied at the end; they are equal, opposite and collinear for
equilibrium
4. Newton’s third law is followed for each joint
5. Weight can be included; effect of bending is not accepted
6. External forces are applied only in pin connections
7. Roller or rocker is also provided at joints to allow expansion and contraction due to
temperature changes and deformation for applied loads
T c
T c weight
TWO FORCE MEMBERS

Two methods to analyze force in simple truss
Method of joints
•This method consists of satisfying the conditions of equilibrium for the

forces acting on the connecting pin of each joint
•This method deals with equilibrium of concurrent forces and only two
independent equilibrium equations are solved
• Newton’s third law is followed

Example
F E
A D ΣFy = 0; ΣFx = 0
B
C
Finally sign can be changed if

not applied correctly

Internal and external redundancy
external redundancy: If a plane truss has more supports than are necessary to
ensure a stable equilibrium, the extra supports constitute external redundancy
Internal redundancy: More internal members than are necessary to prevent collapse,
the extra members constitute internal redundancy
Condition for statically determinate truss: m + 3 = 2j

- Equilibrium of each joint can be specified by two scalar force equations, then ‘2j’
equations are present for a truss with ‘j’ joints
-The entire truss composed of ‘m’ two force members and having the maximum of
three unknown support reactions, there are (m + 3) unknowns
j – no. of joints; m – no. of members
m + 3 > 2 j =>more members than independent equations; statically

indeterminate
m + 3 < 2 j => deficiency of internal members; truss is unstable
I. H. Shames
B D
Determine the force transmitted by each member;
A, F = 1000 N 10
Pin A A
FAB 10 F
1000 C 10 10
FAB E
FAC
A FAC 1000 1000
ΣFx = 0 =>FAC – 0.707FAB = 0
ΣFy = 0 => -0.707FAB+1000 = 0
1000 FAB = 1414 N; FAC = 1000 N
Pin B
ΣFx = 0 => -FBD + 1414COS45 = 0 => FBD = 1000 N
B
FBD ΣFy = 0 => -FBC+1414 COS45 = 0 => FBC = 1000 N
1414 FBD
FBC
1414Narayanan, IIT Guwahati
R.Ganesh 67
FBC
Pin C
FCE
1000 FDC
FDC
B
FCE 1000 1000
1000
1000
1000
ΣFx = 0 => -1000 + FCE + FDC COS 45 = 0 => FCE = 1000 N
ΣFy = 0 => -1000+1000+ FDC COS 45 = 0 => FDC = 0
SIMILARLY D, E, F pins are solved

Meriem / Kraige (similar pbm. 6.1 in Beer/Johnston)
Find the force in each member of the loaded

B 5 D
cantilever truss by method of joints
5 5 5 5
A 5 5
C E
30 20
kN, m

FBD of entire truss
ΣME = 0 => 5T-20(5)-30 (10) = 0; T = 80 kN

ΣFx = 0 => 80 cos 30 – Ex = 0; Ex = 69.28 kN
ΣFy = 0 => Ey +80sin30-20-30 = 0 => Ey = 10kN
FBD of joints
ΣFx = 0; ΣFy = 0
ΣFx = 0; ΣFy = 0
Find AB, AC forces
Find BC, BD forces
ΣFx = 0; ΣFy = 0 ΣFy = 0

Find CD, CE forces Find DE forces
ΣFx = 0 can be checked
Q = 100 N; smooth surfaces; Find Q
reactions at A, B, C Q roller
100
100 roller c
A
B 30°
Rc
ΣF = 0 => (-RA cos 60 - RB cos 60 + Rc) i + (-2 x 100 + RB

RA
sin 60 + RA sin 60) j = 0
RB
RC = (RA + RB)/2
RC = 115.5 N
RB + RA = 230.94
100
RAB
ΣF = 0 => (-RAB cos 30 - RB cos 60 + Rc) i + (RB Sin 60 – 100 - RAB
30°
Rc sin 30) j = 0
0.866 RAB + 0.5 RB = 115.5; -0.5 RAB + 0.866 RB = 100
RAB = 50 N (app.); RB = 144.4 N; RA = 230.94-144.4 = 86.5 N
RB

Two methods to analyze force in plane truss
Method of joints Method of sections
•This method consists of satisfying the conditions of equilibrium for the

forces acting on the connecting pin of each joint
•This method deals with equilibrium of concurrent forces and only two
independent equilibrium equations are solved
• Newton’s third law is followed

Methodology for method of joints
F E
A D ΣFy = 0; ΣFx = 0
B
C
Finally sign can be changed if

not applied correctly

B 5 D
5 5 5 5
A 5 5
C E
30 20
kN, m

Method of sections
• In method of joints, we need only two equilibrium equations, as we
deal with concurrent force system
• In method of sections, we will consider three equilibrium
equations, including one moment equilibrium eqn.
• force in almost any desired member can be obtained directly from
an analysis of a section which has cut the member
• Not necessary to proceed from joint to joint
•Not more than three members whose forces are unknown should
be cut. Only three independent equilibrium eqns. are present
•Efficiently find limited information

Methodology for method of sections
F A E
F E
A D
A D B
B C
C
R1 L A
L R2
•The external forces are obtained initially from method of joints, by
considering truss as a whole
• Assume we need to find force in BE, then entire truss has to be
sectioned across FE, BE, BC as shown in figure; we have only 3
equilibrium equns.
• AA – section across FE, BE, BC; Forces in these members are
initially unknown R.Ganesh Narayanan, IIT Guwahati 76
Section 1 Section 2
• Now each section will apply opposite forces on each other

• The LHS is in equilibrium with R1, L, three forces exerted on the cut
members (EF, BE, BC) by the RHS which has been removed
• IN this method the initial direction of forces is decided by moment about
any point where known forces are present
• For eg., take moment about point B for the LHS, this will give BE, BC to
be zero; Then moment by EF should be opposite to moment by R1;
Hence EF should be towards left hand side - compressive
• Now take moment about ‘F’ => BE should be opposite to R1
moment; Hence BE must be up and to the right; So BE is tensile
• Now depending on the magnitudes of known forces, BC direction
has to be decided, which in this case is outwards i.e., tensile
Σ MB = 0 => FORCE IN EF; BE, BC = 0

Σ Fy = 0 => FORCE IN BE; BC, EF = 0
Section 1 Section 2
Σ ME = 0 => FORCE IN BC; EF, BE = 0

Section AA and BB are
possible
convenient
Important points
• IN method of sections, an entire portion of the truss is considered a
single body in equilibrium
• Force in members internal to the section are not involved in the
analysis of the section as a whole
• The cutting section is preferably passed through members and not
through joints
• Either portion of the truss can be used, but the one with smaller
number of forces will yield a simpler solution
• Method sections and method of joints can be combined
• Moment center can be selected through which many unknown forces
pass through
• Positive force value will sense the initial assumption of force direction
Meriem/Kraige
Find the forces included in members KL,

CL, CB by the 20 ton load on the cantilever
truss
y
L
KL
K
CL
G
P C CB x
20 T
Section 1 Section 2
Σ Moment abt. ‘L’ => CB is compressive => creates CW moment

Σ Moment abt. C => KL is tensile => creates CW moment
CL is assumed to be compressive
y
L
KL
K θ
CL
x
G
P C CB Section 1 Section 2
20 T BL = 16 + (26-16)/2 = 12 ft
Θ = tan -1 (5/12) => cos Θ = 12/13
Σ ML = 0 => 20 (5) (12)- CB (21) = 0 => CB = 57.1 t (C)

Σ Mc = 0 => 20 (4)(12) – 12/13 (KL) (16) = 0; KL = 65 t (T)
Σ Mp = 0 => find PC distance and find CL; CL = 5.76 t (C)

Meriem/Kraige
Find the force in member DJ of the truss
shown. Neglect the horizontal force in
supports
Consider FBD for whole truss and find

reaction at A
ΣMG = -Ay (24) +(10) (20) + 10(16) + 10
(8) = 0
Ay = 18. 3 kN => creates CW moment
Section 2 cuts four members, but we have only

3 equi. Equns
Hence consider section 1 which cuts only 3
members – CD, CJ, KJ
Force direction
Σ Moment abt. A => CD, JK – Eliminated; CJ will be upwards creating CCW moment
Σ Moment abt. C => JK must be towards right creating CCW moment
ASSUME CD TO HAVE TENSILE FORCE
From section 1 FBD
ΣMA = 0 => CJ (12) (0.707) – 10 (4) -10( 8) =0; CJ = 14.14 Kn

ΣMJ = 0 => 0.894 (CD) (6) +18.33 (12)-10(4)-10(8) = 0; CD = -18.7 kN
CD direction is changed
From section 2 FBD
ΣMG = 0 => 12 DJ +10(16)+10(20)-18.3 (24)-

14.14 (0.707)(12) = 0
DJ = 16.7 kN

I.H. Shames FBD - 1
FBD - 2
From FBD-2
ΣMB = 0 => -(10)(500)+30 (789)- FAC Sin 30 (30) = 0
FAC = 1244.67 N
From FBD -1
ΣFx = 0 => FDA Cos 30 – (1244.67) cos 30 – 1000 sin 30 = 0 ;
FDA = 1822 N
ΣFy = 0 => (1822)Sin 30 + (1244.67) sin
R.Ganesh 30 +FABIIT
Narayanan, 1000 Cos 30 = 0; FAB = -667 N
– Guwahati 85
Frames and machines
Multi force members: Members on which three or more forces acting
on it (or) one with two or more forces and one or more couples acting
on it
Frame or machine: At least one of its member is multi force member
Frame: Structures which are designed to support applied loads and
are fixed in position
Machine: Structure which contain moving parts and are designed to
transmit input forces or couples to output forces or couples
Frames and machines contain multi force members, the forces in

these members will not be in directions of members
Method of joints and sections are not applicable
Inter-connected rigid bodies with multi force members
• Previously we have seen equilibrium of single rigid bodies
• Now we have equilibrium of inter-connected members which
involves multi force members
• Isolate members with FBD and applying the equilibrium equations
• Principle of action and reaction should be remembered
• Statically determinate structures will be studied

Force representation and FBD
• Representing force by rectangular components
• Calculation of moment arms will be simplified
• Proper sense of force is necessary; Some times arbitrary assignment
is done; Final force answer will yield correct force direction
• Force direction should be consistently followed

Full truss
K, J are un-necessary
here
AE AF
BD

Meriem/Kraige
B
30 lb
20 ft 12
Find the forces in all the frames; F D
neglect weight of each member 12 50 lb
20 ft E
A C
30 ft
FBD of full frame 30 lb
Σ Mc = 0 => 50 (12) +30(40)-30 (Ay) = 0; Ay = 60 lb

Σ Fy = 0 => Cy – 50 (4/5) – 60 = 0 => Cy = 100 lb
50 lb
Cx
R.Ganesh Narayanan, IIT Guwahati Ax 90
Cy
Ay
FBD of individual members
EF: Two force member; E, F are
compressive
ED:
ΣMD = 0 => 50(12)-12E = 0 => E = 50 lb
ΣF = 0 => D-50-50 = 0 => D= 100 lb
(components will be eliminated)
EF: F = 50 lb (opposite and equal to E)
AB:
ΣMA = 0 => 50(3/5)(20)-Bx (40) = 0 => Bx = 15 lb
D
ΣFx = 0 => Ax+15-50(3/5) = 0 => Ax = 15 lb
E
ΣFy = 0 => 50 (4/5)-60-By = 0 =>By = -20 lb
Σ Fx = -50 (cos 53.1)+15+15 = -30+15+15 = 0 Fx

53.1 deg
BC: ΣFx = 0 => 30 +100 (3/5)-15-Cx = 0 => Cx = 75 lb

Fy F
Find the force in link DE and components of A
forces exerted at C on member BCD
160
B 480 N
FBD of full frame 60 D

C
Ay 80
E
A Ax 60
100 150
160
480 N
B
Bx Σ Fy = 0 => Ay-480 = 0 =>Ay = 480 N
C D
Σ MA = 0 => Bx (160)-480 (100) = 0 => Bx = 300 N
80
θ Σ Fx = 0 => 300+Ax = 0 => Ax = -300 N
E
100 150
R.Ganesh
Θ = tanNarayanan, IIT Guwahati
-1 (80/150) = 28.07 deg 92
DE: Two force member
FBD of BCD
FDE
FBD of AE 480 N
Cy
Ay B D
300 Cx
A D
Ax C θ
FBD of DE
FDE
FDE E
Cx D
FDE
Cy
E FDE
Σ Mc = 0 => -FDE sin 28.07 (250) – 300(80)-480 (100) = 0; FDE = -561 N

Σ Fx = 0 => Cx – (-561) cos 28.07 +300 = 0 => Cx = -795 N
Σ Fy = 0 => Cy – (-561) sin 28.07 – 480 = 0 => Cy = 216 N
Meriem/Kraige 3m 2m
A
Find the horizontal and vertical
components of all the forces; neglect 1.5m
weight of each member R =0.5 m
0.5m
B F
E
FBD of full frame 1.5m
Ay C
Ax
1.5m
D
400 kg
0.4 x 9.81 = 3.92
Σ MA = 0 => 5.5 (-0.4) (9.81) + 5Dx = 0 => Dx = 4.32 kN

Dx
Σ Fx = 0 => -Ax + 4.32 = 0 => Ax = 4.32 kN
Σ Fy = 0 => Ay – 3.92 = 0 => Ay = 3.92 kN

FBD of individual members
3.92 3.92
3.92 F
4.32 A
3.92 Bx B E
3.92 3.92
Ex Ey
By
Bx 3.92
3.92 By
Cy
Cx Ey Ex
E
4.32 3m
2m
D
Cx A
C
1.5m
Cy
R =0.5 m
0.5m
B F
E
Apply equilibrium equn. And solve for 1.5m
forces
C
1.5m
R.Ganesh Narayanan, IIT Guwahati D 95
400 kg
Machines
• Machines are structures designed to transmit and modify forces. Their main purpose
is to transform input forces into output forces.
• Given the magnitude of P, determine the

magnitude of Q.
Taking moments about A,

a
∑ M A = 0 = aP − bQ Q= P
R.GaneshbNarayanan, IIT Guwahati 96
Center of mass & center of gravity
C
A B
BODY
B
A
C
C G
G G
A
G
W W W
•Body of mass ‘m’
•Body at equilibrium w.r.t. forces in the cord and resultant of gravitational
forces at all particles ‘W’
•W is collinear with point A
•Changing the point of hanging to B, C – Same effect
•All practical purposes, LOA coincides with G; G – center of gravity
z Y
Moment abt. Y axis = dw (x)
Sum of moments for small regions through out the
dw body: ∫ x dw
G Moment of ‘w’ force with Y axis = w x

r
r w
∫ x dw = w x
X
Sum of moments Moment of the sum
X = (∫ x dw) / w Y = (∫ y dw) / w Z = (∫ z dw) / w

1
W = mg
X = (∫ x dm) / m Y = (∫ y dm) / m Z = (∫ z dm) / m
2
In vector form, r = (∫ r dm) / m 3
ρ = m/V; dm = ρ dv
X = (∫ x ρ dv) / ∫ ρ dv
ρ = not constant through out
4
Y = (∫ y ρ dv) / ∫ ρ dv body
Z = (∫ z ρ dv) / ∫ ρ dv
Equns 2, 3, 4 are independent of ‘g’; They depend only on mass distribution;
This define a co-ordinate point – center of mass

This is same as center of gravity as long as gravitational field is uniform and parallel
Centroids of lines, areas, volumes
Suppose if density is constant, then the expression define a purely

geometrical property of the body; It is called as centroid
Centroid of volume
X = (∫ xc dv) / v Y = (∫ yc dv) / v Z = (∫ zc dv) / v
Centroid of area
X = (∫ x dA) / A Y = (∫ y dA) / A Z = (∫ z dA) / A
Centroid of line
X = (∫ x dL) / L Y = (∫ y dL) / L Z = (∫ z dL) / L

Find the y-coordinate of centroid of the triangular area y
h
X / (h-y) = b/h dy
y x
AY = ∫ y dA
x
b
h h
½ b h (y) = ∫ y (x dy) = ∫ y [b (h-y) / h] dy = b h2 / 6
0 0
Y=h/3

Beams
Structural members which offer resistance to bending due to
applied loads
• Reactions at beam supports are determinate if they involve only three

unknowns. Otherwise, they are statically indeterminate
External effects in beams
Reaction due to supports, distributed load, concentrated loads
Internal effects in beams
Shear, bending, torsion of beams

v
M M
v R.Ganesh Narayanan, IIT Guwahati 103
SHEAR BENDING TORSION
compression
Tension
D D
Cx
T T
D J V
J V J
E F Cy M
C M
FBE
F F
B
SECTION - J
W AX
A
G A A
AY
V – SHEAR FORCE
Internal forces in beam F – AXIAL FORCE
M – BENDING MOMENT AT J
Shear force and bending moment in beam
To determine bending moment and shearing

force at any point in a beam subjected to
concentrated and distributed loads.
FINDING REACTION FORCES AT A AND B
1. Determine reactions at supports by

treating whole beam as free-body

DIRECTION OF V AND M
2. SECTION beam at C and draw free-body

diagrams for AC and CB. By definition,
positive sense for internal force-couple
systems are as shown.
M M
+ VE SHEAR FORCE
+VE BENDING MOMENT
V V
SECTION C

SECTION C SECTION C
EVALUATING V AND M
Apply vertical force equilibrium eqn. to AC, shear force at ‘C’, i.e.,
‘V’ can be determined
Apply moment equilibrium eqn. at C, bending moment at ‘C’, i.e.,

‘M’ can be determined; Couple if any should be included
+ ve value of ‘V’ => assigned shear force direction is correct

+ ve value of ‘M’ => assigned bending
R.Ganesh Narayanan, moment is correct
IIT Guwahati 107
Beer/Johnston
Evaluate the Variation of shear and bending

moment along beam
ΣMB= 0 =>RA (-L)+P (L/2) = 0; RA= +P/2

RB = +P/2
SECTION AT C SECTION AT E
Between A & D Between D & B

SECTION AT C; C is at ‘x’ distance from A
Member AC: ΣFy = 0 => P/2-V = 0; V = +P/2

ΣMc = 0 => (- P/2) (X) + M = 0; M = +PX/2
Any section between A and D will

yield same result
V = +P/2 is valid from A to D
V = +P/2 yields straight line from A
to D (or beam length : 0 to L/2)
M = +PX/2 yield a linear straight line
fit for beam length from 0 to L/2

SECTION AT E; E is at ‘x’ distance from A
CONSIDER AE:
ΣFy = 0 => P/2-P-V = 0; V = -P/2
ΣME = 0 => (- P/2) (X) +P(X-L/2)+ M = 0; M = +P(L-X)/2
EB CAN ALSO BE CONSIDERED

V = V0 + (NEGATIVE OF THE AREA UNDER THE LOADING
CURVE FROM X0 TO X) = V0 - ∫w dx c1
M = M0 + (AREA UNDER SHEAR DIAGRAM FROM X0 TO X)

= M0 + ∫V dx

Slide 111
c1 cclab9, 1/24/2008
Beer/Johnston • Taking entire beam as free-body, calculate
reactions at A and B.
• Determine equivalent internal force-couple

systems at sections cut within segments AC,
CD, and DB.
∑M A = 0:
B y (32 cm ) − (480 N )(6 cm ) − (400 N )(22 cm ) = 0
B y = 365 N
∑MB = 0:
(480 N )(26 cm ) + (400 N )(10 cm ) − A(32 cm ) = 0
A = 515 N
∑ Fx = 0 : Bx = 0
• The 400 N load at E may be replaced by a 400 N force and 1600 N-cm couple at
D.
From A to C:
∑ F y = 0 : 515 − 40 x − V = 0
V = 515 − 40 x
∑ M1 = 0 : ( )
− 515 x − 40 x 12 x + M = 0
M = 515 x − 20 x 2
x
V = 515 + (-40 X) = 515-40X = 515 - ∫40 dx
0
x
M = ∫515-40x dx = 515x-20 x2
0
From C to D:
∑ Fy = 0 : 515 − 480 − V = 0
V = 35 N
∑ M 2 = 0 : − 515 x + 480 ( x − 6 ) + M = 0
M = (2880 + 35 x ) N ⋅ cm
• Evaluate equivalent internal force-couple systems
at sections cut within segments AC, CD, and DB.
From D to B:
∑ Fy = 0 : 515 − 480 − 400 − V = 0
V = −365 N
∑M2 = 0:
− 515 x + 480 ( x − 6 ) − 1600 + 400 ( x − 18 ) + M = 0
M = (11,680 − 365 x ) N ⋅ cm

Shear force & Bending moment plot
AREA UNDER SHEAR FORCE DIAGRAM GIVES BM DIAGRAM
AC: (35X12) + (1/2 x 12 x 480) = 3300

0 to 3300
CD: 3300 +(35X6) = 3510
3300 to 3510
DB: 365 x 14 = 5110
5110 to 0
1000 lb/ft 300 lb
Find the shear force and
bending moment for the
loaded beam
4 ft 4 2 2

Machine


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Engineering Mechanics - Statics

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Engineering Mechanics - Statics

Instructor: R. Ganesh Narayanan, IITG

R.Ganesh Narayanan, IIT Guwahati 1

Mechanics principles used in vibration, spacecraft

Statics: deals with effect of force on bodies which

Dynamics: deals with force effect on moving bodies

We consider RIGID BODIES – Non deformable

R.Ganesh Narayanan, IIT Guwahati 3

Cross product of vectors: A x B = C; ICI = IAI IBI Sin θ; AxB = -(BxA)

Force, Direction of motion

Force Body does

R.Ganesh Narayanan, IIT Guwahati 5

θ Magnitude, direction and point of application

External effect: Forces applied (applied force); Forces exerted by

Internal effect: Deformation, strain pattern – permanent strain;

R.Ganesh Narayanan, IIT Guwahati 6

Magnitude, direction and line of action is important; not

R.Ganesh Narayanan, IIT Guwahati 7

- ve R.Ganesh Narayanan, IIT Guwahati 9

R.Ganesh Narayanan, IIT Guwahati 10

Moment about a point: M = Fd

moment arm ‘d’ i.e, perpendicular

R.Ganesh Narayanan, IIT Guwahati 12

Calculate the magnitude of the moment 40 deg

about ‘O’ of the force 600 N 4 r 600N

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

R.Ganesh Narayanan, IIT Guwahati 14

•Changing the F and d values does not change a given couple

R.Ganesh Narayanan, IIT Guwahati 16

All four are equivalent couples

R.Ganesh Narayanan, IIT Guwahati 17

R.Ganesh Narayanan, IIT Guwahati 18

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

R.Ganesh Narayanan, IIT Guwahati 19

To describe the resultant action of a group or system of forces

Summarize the above process: R = ΣF

First two equations: reduce the system of forces to a force-couple

=> VARIGNON’S THEOREM IS EXTENDED HERE FOR NON-

STATICS – MID SEMESTER – DYNAMICS

Tutorial: Monday 8 am to 8.55 am

R.Ganesh Narayanan, IIT Guwahati 23

Tutorial Groups Roll Numbers Class Room Tutors

TG1 07010101 07010141 (41 Students) L2 Prof. R. Tiwari

TG2 07010142 07010149 (8 Students) 1G1 Dr. senthilvelan

07010201 07010233 (33 Students)

TG3 07010234 07010249 (16 Students) 1G2 R. Ganesh Narayanan

07010301 07010325 (25 Students)

TG4 07010326 07010353 (28 Students) 1202 Dr. M. Pandey

07010401 07010413 (13 Students)

TG5 07010414 07010449 (36 Students) 1205 Dr. Saravana Kumar

07010601 07010605 (5 Students)

LECTURE CLASSES: LT2 (one will be optional):

l, m, n are directional cosines of ‘F’

Evaluating the cross product

Expanding … Narayanan, IIT Guwahati

Mx = ryFz – rzFy; My = rzFx – rxFz; Mz = rxFy – ryFx

Moment about any arbitrary axis λ:

Scalar triple product

F2 Mo = rxF1 + rxF2 + rx F3 +…= Σ(r x F)

R.Ganesh Narayanan, IIT Guwahati 28

R.Ganesh Narayanan, IIT Guwahati 30

r = OA = 10 cos 60 i + 10 sin 60 j = 5 i + 8.6 j

Mo = r x F = 5014 k ; Mag = 5014 Nm

R.Ganesh Narayanan, IIT Guwahati 31