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

in

Batch: Jan - May 2009

R. Ganesh Narayanan

-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
Batch: Jan - May 2009 R. Ganesh Narayanan 2

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

Batch: Jan - May 2009

R. Ganesh Narayanan

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
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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:

Batch: Jan - May 2009

R. Ganesh Narayanan

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
6

k x j = -i; ixi=0

Ax BX

Batch: Jan - May 2009

R. AxB = (Axi+Ayj+Azk)x(Bxi+BGanesh k) = (AyBz- AzBy)i+( )j+( )k j+Bz Narayanan y

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
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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

Batch: Jan - May 2009

R. Ganesh Narayanan

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

Batch: Jan - May 2009

R. Ganesh Narayanan

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. Ganesh Narayanan

R does not pass through A R = F1+F2

F2 F2 R
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R = F1+F2
R

F1

Batch: Jan - May 2009

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 - Jan Batch:ve - May 2009

R. Ganesh Narayanan 11

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
Batch: Jan - May 2009

f2x Rx

i
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R. Ganesh Narayanan

Moment: Tendency to rotate; torque

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- May 2009= + ve; CWR.= -veNarayanan CW Batch: Jan Ganesh

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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

Batch: Jan - May 2009

R. Ganesh Narayanan

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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
Batch: Jan - May 2009 R. Ganesh Narayanan 15

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

Batch: Jan - May 2009

R. Ganesh Narayanan

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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

Batch: Jan - May 2009

R. Ganesh Narayanan

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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
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EXAMPLE M -F d +F M M

-F -F d +F +F M d

All four are equivalent couples

+2F

d/2

-2F

Batch: Jan - May 2009

R. Ganesh Narayanan

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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

Batch: Jan - May 2009

R. Ganesh Narayanan

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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

Batch: Jan - May 2009

R. Ganesh Narayanan

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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

Batch: Jan - May 2009 R. Ganesh Narayanan = tan -1 (Ry/Rx) 22

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
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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 Batch: Jan - May 2009 R. Ganesh Narayanan 24

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 Tutorial: Thursday 8 am to 8.55 am
Batch: Jan - May 2009 R. Ganesh Narayanan 25

Group: Division I
Total students 201; Abhinav Atul to Sarat Chandra Srinivas Tutorial: Thursday 8 to 8.55 am Roll No. 08010101-0141 08010142-0228 08010229-0321 08010322-0408 08010409-0449 Tutorial Group T1 T2 T3 T4 T5 Tutor, Dept. R. Tiwari, Mechanical Engg. M. Pandey, Mechanical Engg. S. K. Majumder, Chemical Engg. Chandan Das, Chemical Engg. R. Ganesh Narayanan, Mechanical Engg. Tutorial Hall L1 L2 L3 L4 1G1

Lecture hours: Monday 3 to 3.55 pm; Tuesday 2 to 2.55 pm; Friday 4 to 4.55 pm
Batch: Jan - May 2009 R. Ganesh Narayanan 26

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 15 % 20 % 25 % 40 %
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Quiz 1, Quiz 2 Mid semester End semester

Batch: Jan - May 2009

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
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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
Batch: Jan - May 2009

j rY FY

k rZ FZ
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Expanding Ganesh Narayanan R.

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
Batch: Jan - May 2009 , ,

= Mo . n

(scalar reprn.)

n F

Similarly, M = (r x F.n) n (vector reprn.)

Scalar triple product ry FY rz FZ

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DCs of n

R. Ganesh Narayanan

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

Batch: Jan - May 2009

R. Ganesh Narayanan

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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

Batch: Jan - May 2009

R. Ganesh Narayanan R = 199i + 14.3j;

= 4.1 deg

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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

Batch: Jan - May 2009

R. Ganesh Narayanan

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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

Batch: Jan - May 2009

R. Ganesh Narayanan

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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 = (60 N )j T r r = FD i FD
0 r R=0 r = ( 34.73 + 0.3512 T AC + FD )i r + ( .84 + 0.9363 T AC 60) j 19 0

TAC = +42.9 N
Batch: Jan - May 2009

FGanesh Narayanan R. D = +19.66 N

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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
Batch: Jan - May 2009 R. Ganesh Narayanan
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

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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

Batch: Jan - May 2009

R. Ganesh Narayanan

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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 = 5 8 = -3 kN

R = Fy 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

Batch: Jan - May 2009

R. Ganesh Narayanan

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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 deg

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 deg 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

Batch: Jan - May 2009

y x
39

o
R. Ganesh Narayanan

Y = 0 => 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
Batch: Jan - May 2009 R. Ganesh Narayanan 40