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ME A 3102 ENGINEERING MECHANICS

UNIT I: BASICS & STATICS OF PARTICLES

BASIC DEFINITIONS

Engineering Mechanics: Engineering Mechanics is the science that deals with the effect of
forces on objects either at rest or in motion.

Engineering Mechanics

Mechanics of Solids Mechanics of Fluids

Rigid body Deformable Bodies

Strength of Materials
[i] Theory of elasticity
Statics Dynamics [ii] theory of plasticity
[i] Kinetics
[ii] Kinematics

Statics: The mechanics of rigid bodies dealing with bodies at rest.

Dynamics: The mechanics of rigid bodies dealing with bodies in motion.

Kinematics Study of motion of bodies without referring to the forces causing the
motion is termed as kinematics

Kinetics Study of motion of bodies by accounting the forces causing the motion is
termed as kinetics

Rigid Body: A body is said to be rigid, if the relative position of any particles in it do
not change under the action of force
A

A B
B
Particle A body is idealized as a particle for the purpose of analysis under certain
conditions. A body whose dimensions are negligible when the distance
involved is larger is considered as a particle. Mathematically, a particle
denotes a body with all its mass concentrated at a point. Examples are
moving flight, rocket etc. They are considered as particles in engineering
mechanics for the purpose of analysis.

Engineering Mechanics – Unit I Statics of Particles Dr.M.Ramakrishnan, Professor, Mechanical Engineering, Hindustan University
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SYSTEM OF FORES

Force: Force is defined as an agent, which changes or tends to change the state
of rest or of uniform motion of a body.

Coplanar Forces: When all the forces acting on a body lie in a single plane, then they are
called coplanar forces

Concurrent When the line of action of all the forces passes through a single point,
Forces: then they are called concurrent forces

Collinear Forces: When the lines of act ion of all the forces act along a single line, then
they are called collinear forces.

BASICS LAWS

Continuum: Each body is made up of atom and molecules. Since it is not possible to solve
engineering problems by treating the body as a conglomeration of such discrete particles, the
body is assumed to consist of continuous distribution of matter. This is called continuum.

Principle of Transmissibility of Forces: The conditions of equilibrium remains unchanged , if

a force acting on the rigid body at a point is replaced by a force of same magnitude and
direction at any other point provided that the forces have the same line of action.

Triangular Law of forces – Resultant of Two Forces

When two forces acting on a body at a point are represented in magnitude and direction by the
sides of a triangle one after another, their resultant is represented in magnitude and direction by
the closing side of the triangle taken from the first point to the last point.

R
F2
F1
A B C
------ = -------- = -------
Sinα Sinβ Sinγ C B

A2 = B2 + C2 – 2BC Sinα
B2 = A2 + C2 – 2AC Sinβ A
C2 = A2 + B2 – 2AB Sinγ

Engineering Mechanics – Unit I Statics of Particles Dr.M.Ramakrishnan, Professor, Mechanical Engineering, Hindustan University
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Parallelogram Law of Forces – Resultant of two Concurrent Forces

When two forces acting on a body at a point are represented in magnitude and direction by the
two adjacent sides of a parallelogram, their resultant is represented in magnitude and direction
by the diagonal of the parallelogram which passes through the point of intersection of the two
sides representing the force.

B C
F2 R
θ
α
O F1 A D

OC2 = (OA + AD)2 + CD2

= OA2 + 2.OA.AD + AD2 + CD2
= OA2 + 2.OA.AD + AC2 since AC2 = AD2 + CD2
= OA2 + 2.OA. AC Cosθ + OB2 since AC = OB
R = F12 + 2F1 F2 Cosθ + F22
2

R = F12 + 2F1 F2 Cosθ + F22

CD F2 Sinθ
tanα = ------------------ = ---------------------
(OA + AD) F1 + F2 Cosθ

When F1 & F2 are mutually perpendicular

R = F12 + F22

F2
tanα = ------------
F1

Engineering Mechanics – Unit I Statics of Particles Dr.M.Ramakrishnan, Professor, Mechanical Engineering, Hindustan University
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RESOLUTION OF FORCES:
Fy
F

θ Fx

Horizontal component, Fx = FCosθ

Vertical component, Fy = FSinθ

RESULTANT OF SEVERAL CONCURRENT FORCES:

F1
F2
Θ2
F3 Θ1
Θ3 Θ4

F4
Force Angle with X-axis Horizontal Vertical Component
Component (Fx) (Fy)
F1 Θ1 F1 Cos Θ1 F1 Sin Θ1
F2 Θ2 -F2 Cos Θ2 F2 Sin Θ2
F3 Θ3 -F3 Cos Θ3 -F3 Sin Θ3
F4 Θ4 F4 Cos Θ4 -F4 Sin Θ4

Resultant Force along X-axis, ΣFx = F1 Cos Θ1 + (-F2 Cos Θ2) + (-F3 Cos Θ3) + F4 Cos Θ4
Resultant Force along Y-axis, ΣFy = F1 Sin Θ1 + F2 Sin Θ2 + (-F3 Sin Θ3) + (-F4 Sin Θ4)
ΣFy
R
α
ΣFx
θ

R = ΣFx2 + ΣFy2 R- Resultant of all the given 4 forces(F1, F2,F3 & F4)
-1
α = tan (ΣFy/ ΣFx) α – Angle the resultant makes with X-axis

Engineering Mechanics – Unit I Statics of Particles Dr.M.Ramakrishnan, Professor, Mechanical Engineering, Hindustan University
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PROBLEMS IN RESULTANT

I-1 If two forces F1 = 20 kN and F2= 15kN act at a point on a body with an angle between
them of 70o. Find the resultant of these two forces and also the angle the resultant force
makes with reference axis using parallelogram law of forces.

R = F12 + 2F1 F2 Cosθ + F22

R = 202 + (2 x20 x15 Cos70) + 152

R = 400 + 205.2 + 225

R = 28.81 kN

F2 Sinθ (15x Sin70)

tanα = -------------------- = ------------------------- =0.7
F1 + F2 Cosθ 20 + (15xCos70)

α = tan-1(0.7) = 34.990

Resultant, R = 28.81 kN
the angle resultant makes with x axis, α = 34.990

Engineering Mechanics – Unit I Statics of Particles Dr.M.Ramakrishnan, Professor, Mechanical Engineering, Hindustan University
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I-2 Determine the resultant of the concurrent force system shown in fig.

150N
200N

30 30
60 45

80N
180N

Angle Horizontal Vertical

Magnitude
S.No with Component (X) Component (Y)
of Force
X-axis Eqn Value Eqn Value
1 150 30 150Cos30 +129.9 150Sin30 +75
2 200 30 200Cos30 -173.2 200Sin30 +100
3 80 60 80Cos60 -40 80Sin60 -69.28
4 180 45 180Cos45 +127.27 180Sin45 -127.27
ΣFx 43.97 ΣFy -21.55

The resultant lies in IV quadrant since ΣFx is positive and ΣFy is negative.

R = Fx2 + Fy2

R = 43.972 + (-21.55)2 = 1933.36 + 464.40

R = 48.96 N

ΣFy 21.55
tanα = ------------- = ------------ = 0.49
ΣFx 43.97

α = tan-1(0.49) = 26.10 26.1

48.96 N
Resultant, R = 48.96 kN
Angle the resultant makes with X-axis, α = 26.10

Engineering Mechanics – Unit I Statics of Particles Dr.M.Ramakrishnan, Professor, Mechanical Engineering, Hindustan University
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I-3 Five coplanar forces are acting at a point as shown in Fig. Determine the resultant in
magnitude and direction.

156N
25 100N
3
45
320N
20
252N
10
3
125N

Angle Horizontal Vertical

Magnitude
S.No with Component (X) Component (Y)
of Force
X-axis Eqn Value Eqn Value
1 320 0 320 +320 0 0

2 100 45 100Cos45 +70.7 100Sin45 +70.7

3 156 65 156Cos65 -65.9 156Sin65 +141.38
4 252 20 252Cos20 -236.8 252Sin20 -86.18
5 125 80 125Cos80 -21.7 125Sin80 -123.1
ΣFx -133.7 ΣFy +2.8

The resultant lies in II quadrant since ΣFx is negative and ΣFy is positive.

R = Fx2 + Fy2

R = (-133.7)2 + 2.82 = 17883.71 + 7.84 = 133.76 N

ΣFy 2.8
tanα = ------------- = ------------ = 0.0209
ΣFx 133.7

α = tan-1(0.0209) = 1.20
133.76 N
Resultant, R = 133.76 kN
1.2
Angle the resultant makes with X-axis, α = 1.20

Engineering Mechanics – Unit I Statics of Particles Dr.M.Ramakrishnan, Professor, Mechanical Engineering, Hindustan University
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I-4 Find the magnitude and direction of the resultant R of five concurrent forces acting as
shown in Fig. If the vertical component of all these forces is -1000N, find the value of
P.
500N
700N

40
60
30 300N

800N

Angle Horizontal Vertical

Magnitude
S.No with Component (X) Component (Y)
of Force
X-axis Eqn Value Eqn Value
1 300 0 - -300 - 0
2 500 60 500Cos60 +250 500Sin60 +433.0
3 700 50 700Cos50 -450 700Sin50 +536.2
4 800 30 800Cos30 -692.8 800Sin30 -400
5 1569.2 0 - 0 - -1569.2
ΣFx -1192.8 ΣFy -1000

Given ΣFy = -1000 N

433.0 + 536.2 - 400 – P = -1000
P = 433.0 + 536.2 – 400 + 1000
P = 1569.2 N
The resultant lies in III quadrant since both ΣFx and ΣFy are negative.

R = Fx2 + Fy2

R = (-1192.8)2 + (-1000)2 = 1422771.8 + 1000000 = 1556.5 N

ΣFy 1000
tanα = ------------- = ------------ = 0.8383
ΣFx 1192.8

α = tan-1(0.8383) = 40.00

Resultant, R = 1556.5 kN 40
Angle the resultant makes with X-axis, α = 400 1556.5 N

Engineering Mechanics – Unit I Statics of Particles Dr.M.Ramakrishnan, Professor, Mechanical Engineering, Hindustan University
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EQUILIBRIUM OF A PARTICLE
Equation of equilibrium of concurrent forces:
When a body under the action of forces is in equilibrium, the resultant force is zero.
Resultant force = 0 or
Sum of forces along x, y, z axes are zero.
ΣFx = 0, ΣFy = 0, ΣFz = 0

Equilibrant:
Equilibrant is the single force which when introduced into a force system, will bring the system
into equilibrium.
Equilibrant is equal in magnitude to the resultant force, but act in the opposite direction so that
net forces will be zero and the equilibrium is achieved

Difference between a Resultant and Equilibrant:

Resultant (R): The resultant of a number of forces acting on a particle is a single equivalent
force which produces the same effect as that of all given forces.
Equilibrant (E): Equilibrant is the single force which when introduced into a force system, will
bring the system into equilibrium. Equilibrant is equal in magnitude to the resultant force, but
act in the opposite direction so that net forces will be zero and the equilibrium is achieved.

F2 R

45
F1
30

F3
E

Lame’s theorem – Equilibrium of a body under Three Concurrent Coplanar Forces

When a body is in equilibrium under the action three forces, each force is proportional to the
sine of the angle between the other two forces.

F2 F1

F3
F1 F2 F3
------ = -------- = -------
Sinα Sinβ Sinγ

Engineering Mechanics – Unit I Statics of Particles Dr.M.Ramakrishnan, Professor, Mechanical Engineering, Hindustan University
 10

PROBLEMS IN EQUILIBRIUM CASES

1-5 A weight of 2000N is supported by two chains as shown in Fig. determine the tension in
each chain.
600mm 800mm
A B
D
1000mm γ1 γ2

F2
γ= 69.70 F1

α = 1490 β = 141.30

F3
In right-angled triangle ADC, Tan γ1=(600/1000) =0.6
γ1 = Tan-1(0.6) = 31.00

In right-angled triangle BDC, Tan γ2=(800/1000) =0.8

γ2 = Tan-1(0.8) = 38.70

γ = γ1 + γ2 = 31.0 + 38.7 = 69.70

α = 180 – γ1 = 180 – 31 = 1490
β = 180 – γ2 = 180 – 38.7 = 141.30

Applying Lami‟s law,

F1 F2 F3
-------- = -------- = ----------
Sinα Sinβ Sinγ

F1 F2 2000
------------ = ------------- = ------------
Sin149 Sin141.3 Sin69.7

F1 = 2000 x (Sin149/ Sin69.7) = 1098.3 N

F2 = 2000 x (Sin141.3/ Sin69.7) = 1333.3 N

Engineering Mechanics – Unit I Statics of Particles Dr.M.Ramakrishnan, Professor, Mechanical Engineering, Hindustan University
 11

I-6 Five forces F1, F2, F3, F4 and F5 are acting at a point on a body as shown in Fig.1 and the
body is in equilibrium. If F1=18N, F2=22N, F3=15N and F4=30N, find the force F5 in
magnitude and direction.
F3
F2

45
F1
30 θ
F4
F5

Angle Horizontal Vertical

Magnitude
S.No with Component (X) Component (Y)
of Force
X-axis Eqn Value Eqn Value
1 18 0 - 18.00 - 0.00
2 22 45 22Cos45 15.56 22Sin45 15.56
3 15 90 15Cos90 0.00 15Sin90 15.00
4 30 50 30Cos50 -19.28 30Sin50 -22.98
5 F5 θ F5Cosθ -F5Cosθ F5Sinθ -F5Sinθ

For equilibrium, ΣFx = 0 and ΣFx = 0

ΣFx = 0 gives +18 + 15.56 – 19.28 – F5Cosθ = 0

+14.28 – F5Cosθ = 0
F3Cosθ = 14.28 ---------------- (1)

ΣFx = 0 gives +15.56 + 15.00 – 22.98 – F5Sinθ = 0

+7.58 – F5Sinθ = 0
F5Sinθ = 7.58 ---------------- (2)

F5Sinθ 7.58
(2)/(1) gives ------------- = -------------
F5Cosθ 14.28

tan θ = 0.403
θ = tan-1(0.403) = 280

From equation(2), F5 = 7.58/Sin27.9 = 16.2 N

F5 = 16.2 N
Θ = 280

Engineering Mechanics – Unit I Statics of Particles Dr.M.Ramakrishnan, Professor, Mechanical Engineering, Hindustan University
 12

I-7 A string PQRS attached to fixed points P and S has two equal weights of 500N attached
to Q and R. The weights rest with the portions PQ and RS inclined at angles of 30 o and
60o to vertical as shown in fig. Find the tensions in the portions PQ, QR and RS of the
string, if inclination of the portion QR with vertical is 120o.

S
P

30 Q
0
1200 60
0

R
350
N
500

P
1200 300 1200
Q S 600
600 0 Q 300
60
R 300 R
300

1000N
Free body diagram of “QRS” Free body diagram of “PQR"

Applying Equilibrium Conditions for QRS

ΣFX = 0 TRS Cos30 - TRQ Cos30 = 0
0.866TRS - 0.866TRQ = 0
TRS = TRQ ----------------------(1)

ΣFY = 0 - 1000 + TRS Sin30 + TRQ Sin30 = 0

0.5TRS + 0.5TRQ = 1000
0.5TRS + 0.5TRS = 1000 [Since TRS = TRQ from(1)]
TRS = 1000 N and TRQ = 1000 N

Applying Equilibrium Conditions for PQR

ΣFY = 0 350 + TRQ Sin30 – TPQ Sin60 = 0

350 + 0.5x1000 – 0.866TPQ = 0
TPQ = 850/0.866 = 981.5 N

TPQ = 981.5 N
TQR = 1000 N
TRS = 1000 N

Engineering Mechanics – Unit I Statics of Particles Dr.M.Ramakrishnan, Professor, Mechanical Engineering, Hindustan University
 13

I-8 If the resultant of the three concurrent forces acting on the bolt shown in figure is zero, determine
the orientation θ and the required magnitude of F3.
Y(+)
100N

60
X(+)
45
θ
67N
F3

Angle Horizontal Component Vertical

Magnitude
S.No with (X) Component (Y)
of Force
X-axis Eqn Value Eqn Value
1 100 60 100Cos60 +50 100Sin60 +86.60
2 67 45 67Cos45 +47.38 6 Sin45 -47.38
3 F3 θ F3Cosθ -F3Cosθ F3Sinθ - F3Sinθ
ΣFx +97.38 ΣFy +39.22

Given Resultant =0.

Hence, ΣFx = 0 and ΣFx = 0

ΣFx = 0 +50 + 47.37 – F3Cosθ = 0

F3Cosθ = 97.38 ------------------(1)

ΣFy = 0 +86.60 + 47.38 – F3Sinθ = 0

F3Sinθ = 39.22 ----------------------(2)

F3Sinθ 39.22
(2)/(1) gives ------------- = -------------
F3Cosθ 97.38

tan θ = 0.403
θ = tan-1(0.403) = 21.90

From equation(2), F3 = 39.22/Sin21.9 = 105.15 N

F3 = 105.15 N
θ = 21.90

Engineering Mechanics – Unit I Statics of Particles Dr.M.Ramakrishnan, Professor, Mechanical Engineering, Hindustan University
 14

VECTORS

Vector quantity: All quantities that have both magnitude and direction are known as vector
quantities. Examples are force, velocity, acceleration

A scalar quantity has only magnitude. Examples are length, area, time, mass.

Any vector quantity can be written as the product of its magnitude and a unit vector in the
direction of a given vector.

F= Fxi +Fyj + Fzk

F= F λ

F - Magnitude
λ – Unit Vector [A vector of unit magnitude is known as unit vector]

F = Fxi2 + Fyj2 + Fzk2

F Fxi +Fyj + Fzk Vector

λ = -------- = -------------------- = ------------------
F F Magnitude

λ = Cosθxi + Cosθyj + Cosθzk

θx – Angle the vector makes with X-axis

θy – Angle the vector makes with Y-axis
θz – Angle the vector makes with Z-axis

Cosθx = Fx / F
Cosθy = Fy / F
Cosθz = Fz / F

Addition & Subtraction of Vectors

A= Axi +Ayj + Azk

B= Bxi + Byj + Bzk

A+B = (Ax+Bx)i + (Ay+By)j + (Az+Bz)k

A - B = (Ax- Bx)i + (Ay- By)j + (Az- Bz)k

Engineering Mechanics – Unit I Statics of Particles Dr.M.Ramakrishnan, Professor, Mechanical Engineering, Hindustan University
 15

Multiplication of Vectors

Dot product: A dot product of two intersecting vectors A and B can be defined as the product of
the magnitudes of the vectors A and B and the cosine of the angle between them.

A.B = A B cosθ

The dot product of two vectors is a scalar quantity. Hence dot product is also called as scalar
product. Dot product is used for calculation of work done.

A= Axi +Ayj + Azk

B= Bxi + Byj + Bzk
A.B = (Axi +Ayj + Azk) . (Bxi + Byj + Bzk)

For dot product, i.i = j.j = k.k = 1

i.j = j.k = k.i =0

Hence A.B = Ax Bx +Ay By+ Az Bz

(Ax Bx +Ay By+ Az Bz)

Cosθ = ------------------------------------
A B

Cross product: A cross product of two intersecting vectors A and B can be defined as the
product of the magnitudes of the vectors A and B and the sine of the angle between them.

AxB = A B Sinθ

A= Axi +Ayj + Azk

B= Bxi + Byj + Bzk

i j k
AxB= Ax Ay Az
Bx By Bz

A x B = (AyBz –AzBy)i + (AzBx –AxBz)j + (AxBy –AyBx)k

For cross product, i.i = jj = kk = 0

i.j = k
j.i = -k
jk = i
kj = -i

The cross product of two vectors is a vector quantity. Hence cross product is also called as vector
product. Cross product is used for moment calculation.

Engineering Mechanics – Unit I Statics of Particles Dr.M.Ramakrishnan, Professor, Mechanical Engineering, Hindustan University
 16

Representation of moment Vector

i j k
M=dxF = x y z
Fx Fy Fz

M = (yFz –zFy)i + (zFx –xFz)j + (xFy –yFx)k

F – Force vector
d – Distance vector

PROBLEMS IN VECTOR MECHANICS:

I-9 A force vector, F is equal to 10i + 5j - 8k. The point of application of this force moves
from the point 2i + k to the point 4i – j -4k. Find the work done by the force.

Force vector, F = 10i + 5j - 8k

Initial point = 2i + k
Final point = 4i – j – 4k
Distance vector,d = Final point – Initial point
= (4 – 2) i + (–1 – 0) j + (–4 – 1) k
= 2i – j – 5k

Workdone is a scalar quantity and is given by the dot product.

Workdone = Force x distance = F . d
= [10 x 2] + [5 x (–1)] + [(–8) x (–1)]
= 20 – 5 + 40 = 55

I-10 A force vector, F= 30i + 12j – 8k acts through origin. Determine the magnitude of the
force and angle it forms with x, y, z axis.

F= 30i + 12j – 8k

Magnitude = 302 + 122 + (-8)2 = 900 + 144 + 64 = 33.3

Unit Vector, λ =(30i + 12j – 8k) / 33.3

= 0.9i + 0.36j – 0.24k
By definition, λ = Cosθx i + CosθY j + CosθZ k

Cosθx = 0.9 θx = Cos-1(0.9) = 25.80

CosθY = 0.36 θY = Cos-1(0.36) = 68.90
CosθZ = 0.9 θZ = Cos-1(-0.24) = 103.90

Engineering Mechanics – Unit I Statics of Particles Dr.M.Ramakrishnan, Professor, Mechanical Engineering, Hindustan University
 17

I-8 Three vectors A, B, C are given as

A = i + j + 2k B = 4i – 3k +2k C = 2i – j – k
Find the resultant vector and a unit vector in the direction of the resultant.

R = (1 + 4 +2)i + (1 – 3 – 1)j + (2 + 2 – 1)k

R = 7i – 3j + 3k

Magnitude = 72 + (–3)2 + 32 = 49 + 9 + 9 = 8.2

Unit Vector, λ =(7i – 3j + 3k) / 8.2 = 0.86i + 0.37j – 0.37k

I-9 A force 15kN forms an angle 600, 450 and 1200 with x, y, z axes respectively. Find the
components and express it as vector.

Cosθx = Cos60 = 0.5

CosθY = Cos45 = 0.707
CosθZ = Cos120 = –0.5

By definition, λ = Cosθx i + CosθY j + CosθZ k

λ = 0.5 i + 0.707 j – 0.5 k

Force Vector, F = 15(0.5i + 0.707j – 0.5k) = 7.5i + 10.6j – 7.5k

I-10 A force of magnitude 10 kN starts from a point A(-2,1,-3) and passes through the point
B(6,3,1). Represent the force in terms of unit vectors i, j, k. Also find the components of
the force along the three direction and the angle made by the force with these directions

Initial point = –2i + k –3k

Final point = 6i + 3j + k
Distance vector, d = Final point – Initial point
= (6 – (–2)) i + (3 – 1) j + (1 – (–3)) k = 8i + 2j + 4k

Magnitude = 8 2 + 22 + 42 = 64 + 4 + 16 = 9.2

Unit Vector, λ =(8i + 2j + 4k) / 9.2 = 0.87i + 0.22j – 0.43k

Force Vector, F = 10(0.87i + 0.22j – 0.43k) = 8.7i + 2.2j – 4.3k

Components of Force: FX = 8.7kN FY = 2.2 kN FZ = – 4.3 kN

Cosθx = 0.87 θx = Cos-1(0.87) = 29.50

CosθY = 0.22 θY = Cos-1(0.22) = 77.30
CosθZ = – 0.43 θZ = Cos-1(-0.43) = 115.50

Engineering Mechanics – Unit I Statics of Particles Dr.M.Ramakrishnan, Professor, Mechanical Engineering, Hindustan University
 18

-11 Forces 32kN, 24kN,24kN and 120kN are concurrent at origin and are respectively
directed through the points whose coordinates are A(2,1,6), B(4,-2,5), C(-3,-2,1) and
D(5,1,-2). Determine the resultant of the system.

Distance vector, OA = (2 – 0)i + (1 – 0)j + (6 – 0)k = 2i + j + 6k

Magnitude = 2 2 + 12 + 62 = 4 + 1 + 36 = 6.4

Unit Vector, λ1 =(2i + j + 6k) / 6.4 = 0.31i + 0.16j + 0.94k

Force Vector, F1 = 32(0.31i + 0.16j + 0.94k) = 9.92i + 5.12j + 30.1k

Distance vector, OB = (4 – 0)i + (–2 – 0)j + (5 – 0)k = 4i – 2j + 5k

Magnitude = 42 + (–2)2 + 52 = 16 + 4 + 25 = 6.7

Unit Vector, λ2 =(4i – 2j + 5k) / 6.7 = 0.6i – 0.3j + 0.75k

Force Vector, F2 = 24(0.6i – 0.3j + 0.75k) = 14.4i – 7.2j + 18.0k

Distance vector, OC = (–3 – 0)i + (–2 – 0)j + (1 – 0)k = –3i – 2j + k

Magnitude = (–3)2 + (–2)2 + 12 = 9 + 4 + 1 = 3.74

Unit Vector, λ3 =(–3i – 2j + k) / 3.74 = – 0.8i – 0.53j + 0.27k

Force Vector, F3 = 24(–0.8i – 0.53j + 0.27k) = –19.2i – 12.7j + 6.5k

Distance vector, OD = (5 – 0)i + (1 – 0)j + (–2 – 0)k = 5i + j – 2k

Magnitude = 52 + 12 + (–2)2 = 25 + 1 + 4 = 5.5

Unit Vector, λ4 =(5i + j – 2k) / 5.5 = 0.9i + 0.18j – 0.36k

Force Vector, F4 = 120(0.9i – 0.18j – 0.36k) = 108i + 21.6j – 43.2k

Resultant Force, R = F1+ F2+ F3+ F4

=(9.92+14.4–19.2+108)i + (5.12–7.2–12.7+21.6)j + (30.1+18.0+6.5–43.2)k
= 113.1i + 6.8j + 11.4k

Magnitude of Resultant = 113.12 + 6.82 + 11.42 = 12791.6+46.2+130 = 113.9

Unit Vector of resultant, λR = (113.1i + 6.8j + 11.4k)/113.9 = 0.99i + 0.059j + 0.1k

Cosθx = 0.99 θx = Cos-1(0.99) = 8.10

CosθY = 0.059 θY = Cos-1(0.22) = 86.60
CosθZ = 0.1 θZ = Cos-1(-0.43) = 84.260

Engineering Mechanics – Unit I Statics of Particles Dr.M.Ramakrishnan, Professor, Mechanical Engineering, Hindustan University
 19

I-12 Evaluate the magnitude of the resultant of three forces as given below.

A(2,1,6)

200N

400N O(0,0,0)
500N
C(-6,-4,-4)
B(4,-2,-5)

Distance vector, OA = (2 – 0)i + (1 – 0)j + (6 – 0)k = 2i + j + 6k

Magnitude = 2 2 + 12 + 62 = 4 + 1 + 36 = 6.4

Unit Vector, λ1 =(2i + j + 6k) / 6.4 = 0.31i + 0.16j + 0.94k

Force Vector, F1 = 200(0.31i + 0.16j + 0.94k) = 62i + 32j + 188k

Distance vector, OB = (4 – 0)i + (–2 – 0)j + (–5 – 0)k = 4i – 2j – 5k

Magnitude = 42 + (–2)2 + (–5)2 = 16 + 4 + 25 = 6.7

Unit Vector, λ2 =(4i – 2j – 5k) / 6.7 = 0.6i – 0.3j – 0.75k

Force Vector, F2 = 500(0.6i – 0.3j – 0.75k) = 300i – 150j – 375k

Distance vector, OC = (–6 – 0)i + (–4 – 0)j + (–4 – 0)k = –6i – 4j –4k

Magnitude = (–6)2 + (–4)2 + (–4)2 = 36 + 16 + 16 = 8.24

Unit Vector, λ3 =(–6i – 4j –4k) / 8.24 = – 0.73i – 0.49j – 0.49k

Force Vector, F3 = 400(– 0.73i – 0.49j – 0.49k) = –292i – 196j – 196k

Resultant Force, R = F1+ F2+ F3+ F4

=(62+300–292)i + (32–150–196)j + (188–375–196)k
= 70i – 314j – 383k

Magnitude of Resultant = 702 + (–314)2 + (–383)2 = 4900+98596+146689 = 500.2

Unit Vector of resultant, λR = (70i – 314j – 383k)/500.2 = 0.14i – 0.63j – 0.77k

Cosθx = 0.14 θx = Cos-1(0.14) = 820

CosθY = –0.63 θY = Cos-1(–0.63) = 1290
CosθZ = –0.77 θZ = Cos-1(–0.43) = 115.50

Engineering Mechanics – Unit I Statics of Particles Dr.M.Ramakrishnan, Professor, Mechanical Engineering, Hindustan University
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EQUILI BRIUM OF PARTICLES IN SPACE

[CONCURRENT NON-COPLANAR FORCE SYSTEM]

Since a particle does not have dimensions and possess weight concentrated at a single point, it
will experience only force effects and does not have moments. Hence, a particle is said to in
equilibrium when the net effect of all the forces acting on the particle is zero. Hence, the
conditions for equilibrium of a particle in space is given below.

ΣFX = 0 ΣFY = 0 and ΣFZ = 0

I-11 A tripod is acted upon by forces at „P‟ as follows; 20kN along positive x-direction,
40kN along the negative y-direction. Three legs rest on ground at points A(-4,0,0),
B(5,0,2) and C(-2,0,-3). Height of „P‟ above origin is 10m. Coordinate of P(0,10,0).
Find the forces in legs of tripod.

+Y
P(0,10,0)

-Z
C(-2,0,-3)
2m
3m
+X
-X A(-4,0,0) 2m
5m
B(5,0,2)
+Z
-Y

1.Calculation of Force Vector along the leg PA

Distance vector, PA = (–4–0)i + (0–10)j + (0–0)k = –4i –10 j

Magnitude = (–4)2 + (–10)2 = 16 + 100 = 10.8

Unit Vector, λPA =(–4i –10 j) / 10.8 = –0.37i – 0.93j

Force Vector = FPA(–0.37i – 0.93j)

2.Calculation of Force Vector along the leg PB

Distance vector, PB = (5–0)i + (0–10)j + (2–0)k = 5i –10j + 2k

Magnitude = 52 + (–10)2 + 22 = 25 + 100 + 4 = 11.4

Unit Vector, λPB =(5i – 10j + 2k) /11.4 = 0.44i – 0.88j – 0.18k
Force Vector = FPB(0.44i – 0.88j – 0.18k)

Engineering Mechanics – Unit I Statics of Particles Dr.M.Ramakrishnan, Professor, Mechanical Engineering, Hindustan University
 21

3.Calculation of Force Vector along the leg PC

Distance vector, PC = (–2 – 0)i + (0 – 10)j + (–3 – 0)k = –2i – 10j – 3k

Magnitude = (–2)2 + (–10)2 + (–3)2 = 4 + 100 + 9 = 10.6

Unit Vector, λPC =(–2i – 10j – 3k) /10.6 = –0.19i – 0.94j – 0.28k
Force Vector = FPC(–0.19i–0.94j–0.28k) = –0.19FPB i – 0.94FPB j – 0.28FPB k

4.Input Load vector at “P’ : 20i – 40j

5.Calculation of Forces in legs (FPA , FPB and FPC)

Since, the tripod is in Equilibrium, the force resultant will be zero. Hence,

R = (–0.37FPA+0.44FPB–0.19FPC+20) i + (–0.93FPA–0.88FPB–0.94FPC–40) j
= (–0.18FPB–0.28FPC) k = 0

–0.37FPA+0.44FPB–0.19FPC+20 = 0 ----------------------(1)
–0.93FPA–0.88FPB–0.94FPC–40 = 0 ----------------------(2)
–0.18FPB–0.28FPC = 0 ----------------------(3)

Solving (1)&(2)
(1)x-0.93 (-0.37x–0.93)FPA + (0.44x–0.93)FPB – (0.19x–0.93)FPC + (20x–0.93) = 0
(2)x0.37 (-0.93x0.37) FPA –(0.88x0.37)FPB – (0.94x0.37FPC) – (40x0.37) = 0
Adding –0.73FPB – 0.17FPC –3.8 =0
–0.73FPB – 0.17FPC = 3.8 -----------------(4)
Solving (3)&(4)
(1)x-0.73 (-0.18x–0.73)FPB – (0.28x–0.73)FPC = 0
(2)x0.18 (-0.73x0.18) FPB – (0.17x0.18FPC) = (3.8x0.18)
Adding – 0.17FPC = 0.68
FPC = 0.68/0.17 = 4

Substituting the value of FPC in (4),

–0.73FPB – 0.17x4 = 3.8
FPB = [3.8 + (0.17x4.0)] / (–0.73) = –6.1

Substituting the value of FPC & FPC in (1),

–0.37FPA+ (0.44x–6.1) – (0.19x4)+20 = 0
–0.37FPA – 2.68 – 0.76 + 20 = 0
FPA = (–16.56) / (–0.37) = 44.8

FPA = 44.8 kN FPB = –6.1kN FPC = 4.0 kN

Engineering Mechanics – Unit I Statics of Particles Dr.M.Ramakrishnan, Professor, Mechanical Engineering, Hindustan University
 22

I-12 In the figure shown, three wires are joined at D. Two ends A and B are on the wall and
the other end C is on the ground. The wire CD is vertical. A force of 60kN is applied at
„D‟ and it passes through a point „E‟ on the ground as shown in figure. Find the forces in
all the three wires.

B(0,3,-3
Y
3m

3m -Z
+Y
D(1.5,2,0)
A(0,3,3)
60kN
X
C(1.5,0,0)
5m
E(7.5,0,1.5)

1.Calculation of Force Vector along the leg DA

Distance vector, DA = (0–1.5)i + (3–2)j + (3–0)k = –1.5i +j + 3k

Magnitude = (–4)2 +12 + 32 = 16 + 1 + 9 = 5.1

Unit Vector, λDA =(–1.5i +j + 3k) / 5.1 = –0.29i + 0.2j + 0.59k

Force Vector = FDA(–0.29i + 0.2j + 0.59k)

2.Calculation of Force Vector along the leg DB

Distance vector, DB = (0–1.5)i + (3–2)j + (–3–0)k = –1.5i + j – 3k

Magnitude = (–4)2 +12 +(–3)2 = 16 + 1 + 9 = 5.1

Unit Vector, λDB =(–1.5i +j – 3k) / 5.1 = –0.29i + 0.2j – 0.59k

Force Vector = FDB(–0.29i + 0.2j – 0.59k)

3.Calculation of Force Vector along the leg DC

Distance vector, DC = (1.5–1.5)i + (0–2)j + (0–0)k = –2j

Magnitude = 2
Unit Vector, λDC =(–2j) / 2 = –j
Force Vector = FDc(–j ) = – FDcj

Engineering Mechanics – Unit I Statics of Particles Dr.M.Ramakrishnan, Professor, Mechanical Engineering, Hindustan University
 23

4.Input Load vector along DE:

Distance vector, DE = (7.5–1.5)i + (0–2)j + (1.5–0)k = 6i – 2j +1.5k

Magnitude = 62 + (–2)2 + 1.52 = 36+4+2.25 = 6.5

Unit Vector, λDE =(6i – 2j +1.5k) / 6.5 = 0.92i –0.31j + 0.23k

Force Vector = 60(0.92i –0.31j + 0.23k) = 55.2i – 18.6j + 13.8k

5.Calculation of Forces in Wires (FDA , FDB and FDC)

Since, the tripod is in Equilibrium, the force resultant will be zero. Hence,
R= (–0.29FDA –0.29FDB +55.2) i + (0.2FDA+0.2FDB–FDC–18.6) j
= (0.59FDA–0.59FDB+13.8) k = 0

–0.29FDA –0.29FDB +55.2 = 0 ----------------------(1)

0.2FDA+0.2FDB–FDC–18.6 = 0 ----------------------(2)
0.59FDA–0.59FDB+13.8 = 0 ----------------------(3)

Solving (1)&(3)
(1)x0.59 (-0.29x0.59)FDA – (0.29x0.59)FDB + (55.2x0.59) = 0
(3)x0.29 (0.59x0.29) FDA –(0.59x0.29)FDB + (13.8x0.29) = 0
Adding –0.34FDB + 36.6 =0
FDB = 36.6 / 0.34 = 107.6

Substituting the value of FDB in (3),

0.59FDA – 0.59x107.6 + 13.8 = 0
FDA = [13.8 + (0.59x107.6)] / (0.59) = 131

Substituting the value of FDA & FDB in (2),

(0.2x131)+(0.2x107.6)–FDC–18.6 = 0
26.2 + 21.5 –FDC–18.6 = 0
FDC = 29.1

FDA = 131 kN FDB = 107.6kN FDC = 29.1 kN

Engineering Mechanics – Unit I Statics of Particles Dr.M.Ramakrishnan, Professor, Mechanical Engineering, Hindustan University
 24

PART-A Q&A I-BASICS & STATICS OF PARTICLES

I-1 Define force and give its unit.

Force is defined as an agent, which changes or tends to change the state of rest or of
uniform motion of a body. Unit of force is newton, designated as “N”.

I-2 Define rigid body and particle in the context of engineering mechanics.

A body is said to be rigid, if the relative position of any particles in it do not change
under the action of forces. A body whose dimensions are negligible when the distance
involved is larger is termed as a particle. Mathematically, a particle denotes a body with
all its mass concentrated at a point. Examples: moving flight, rocket etc.

I-3 Define particle.

A body is idealized as a particle for the purpose of analysis under certain conditions. A
body whose dimensions are negligible when the distance involved is larger is
considered as a particle. Mathematically, a particle denotes a body with all its mass
concentrated at a point. Examples are moving flight, rocket etc. They are considered as
particles in engineering mechanics for the purpose of analysis.

I-4 Define the following terms

Coplanar Forces: When all the forces acting on a body lie in a single plane, then they
are called coplanar forces.
Concurrent Forces: When the line of action of all the forces passes through a single
point, then they are called concurrent forces.
Collinear Forces: When the lines of action of all the forces act along a single line, then
they are called collinear forces.

I-5 State Triangular Law of forces

When two forces acting on a body at a point are represented in magnitude and direction
by the sides of a triangle one after another, their resultant is represented in magnitude
and direction by the closing side of the triangle taken from the first point to the last
point.

R
F2
F1

Engineering Mechanics – Unit I Statics of Particles Dr.M.Ramakrishnan, Professor, Mechanical Engineering, Hindustan University
 25

I-6 State Parallelogram Law of Forces.

When two forces acting on a body at a point are represented in magnitude and direction
by the two adjacent sides of a parallelogram, their resultant is represented in magnitude
and direction by the diagonal of the parallelogram which passes through the point of
intersection of the two sides representing the force.

F2 R
θ
α
F1
R = F12 + 2F1 F2 Cosθ + F22

F2 Sinθ
tanα = ---------------------
F1 + F2 Cosθ

1-7 State Lame’s theorem.

When a body is in equilibrium under the action three forces, each force is proportional
to the sine of the angle between the other two forces.

F2 γ F1
α β

F3
F1 F2 F3
------ = -------- = --------
Sinα Sinβ Sinγ

I-8 State the principle of transmissibility of forces

The conditions of equilibrium remains unchanged , if a force acting on the rigid body at
a point is replaced by a force of same magnitude and direction at any other point
provided that the forces have the same line of action.

I-9 Define equilibrant.

Equilibrant is the single force which when introduced into a force system, will bring the
system into equilibrium.
Equilibrant is equal in magnitude to the resultant force, but act in the opposite direction
so that net forces will be zero and the equilibrium is achieved.

Engineering Mechanics – Unit I Statics of Particles Dr.M.Ramakrishnan, Professor, Mechanical Engineering, Hindustan University
 26

I-10 State the necessary and sufficient conditions for equilibrium of a particle in two
dimensions.

A body is idealized as a particle for the purpose of analysis under certain conditions. A
body whose dimensions are negligible when the distance involved is larger is
considered as a particle. Mathematically, a particle denotes a body with all its mass
concentrated at a point. Examples are moving flight, rocket etc. They are considered as
particles in engineering mechanics for the purpose of analysis.

Since a particle does not have dimensions and possess weight concentrated at a single
point, it will experience only force effects and does not have moments. Hence, a particle
is said to in equilibrium when the net effect of all the forces acting on the particle is
zero. Generally, a system of concurrent forces(Coplanar-2D & NonCoplanar-3D) is
applicable for particles.

Hence, for a Concurrent Coplanar force system,

ΣFX = 0 and ΣFY = 0

For a Concurrent Non- Coplanar force system,

ΣFX = 0 ΣFY = 0 and ΣFZ = 0

I-11 What is the difference between a resultant and equilibrant in the force system?

Resultant (R): The resultant of a number of forces acting on a particle is a single

equivalent force which produces the same effect as that of all given forces.
Equilibrant (E): Equilibrant is the single force which when introduced into a force
system, will bring the system into equilibrium. Equilibrant is equal in magnitude to the
resultant force, but act in the opposite direction so that net forces will be zero and the
equilibrium is achieved.

R
F2

45
F1
30
F3

I-12 The force of reaction always acts perpendicular to the surface on which the body
rests. State whether this is true or false

Answer: True

Engineering Mechanics – Unit I Statics of Particles Dr.M.Ramakrishnan, Professor, Mechanical Engineering, Hindustan University
 27

I-13 What is a vector quantity?

All quantities that have both magnitude and direction are known as vector quantities.
Examples are force, velocity, acceleration

I-14 Differentiate between a vector and a scalar quantity.

All quantities that have both magnitude and direction are known as vector quantities.
Examples are force, velocity, acceleration and moment.

A scalar quantity has only magnitude. Examples are length, area, time, mass.

I-15 What is meant by unit vector?

A vector of unit magnitude is known as unit vector.

Any vector quantity can be written as the product of its magnitude and a unit vector in
the direction of a given vector.

Vector
Unit vector = ----------------
Magnitude

I-16 What is the dot product?

A dot product of two intersecting vectors A and B can be defined as the product of the
magnitudes of the vectors A and B and the cosine of the angle between them.

A.B = A B cosθ

The dot product of two vectors is a scalar quantity. Hence dot product is also called as
scalar product.

I-17 What is a cross product?

A cross product of two intersecting vectors A and B can be defined as the product of the
magnitudes of the vectors A and B and the sine of the angle between them.

AxB = A B sinθ

The cross product of two vectors is a vector quantity. Hence cross product is also called
as vector product.

Engineering Mechanics – Unit I Statics of Particles Dr.M.Ramakrishnan, Professor, Mechanical Engineering, Hindustan University
 28

TUTORIAL PROBLEMS IN UNIT I- BASICS & STATICS OF PARTICLES

I-1 Two forces of magnitude 60 kN and 100 kN are acting on a particle, such that the
angle between the two is 1200. If both the forces are acting away from the particle,
calculate the resultant and find its direction.

I-2 Determine the resultant (magnitude and direction) of the concurrent force system
shown in figure.

20kN 15kN

30 35
45
30
18kN
12kN

I-3 If five forces act on a particle as shown in figure, and the algebraic sum of horizontal
components of all these forces is -324.9 kN, calculate the magnitude and direction of
the resultant P and the resultant of all these forces.

165
100
282.843
P
3
45 4
30
75

I-4 Fig. shows a 10kg lamp supported by two cables AB and AC. Find the tension in each
cable.

1.5m 2m
A B

0.75m

Engineering Mechanics – Unit I Statics of Particles Dr.M.Ramakrishnan, Professor, Mechanical Engineering, Hindustan University
 29

I-5 Five forces are acting at a point on a body as shown in Figure. If the body is in
equilibrium, find the force P in magnitude and direction.

5kN 25kN
20kN
30 45
60 θ

P
35kN

I-6 Figure shows a cable O1-O2-O3-O4 attached to two fixed points O1 and O4. Two
weights of 3.5kN and 2.5 kN are suspended from O2 and O3 respectively. Determine
the tensions in the portions O1O2, O2O3 and O3O4 of the cable.

Q4 Q1

θ 1350 0
45
Q3
Q2
2.5kN

3.5kN

I-7 A force vector, F is equal to 10i + 5j - 8k. The point of application of this force moves
from the point 4i + 2k to the point 4i – j + 4k. Find the work done by the force.

I-8 A force 25kN forms an angle 300, 450 and 1200 with x, y, z axes respectively. Find the
components and express it as vector.

I-9 A force vector, F= 340i –180j – 280k acts through origin. Determine the magnitude of
the force and angle it forms with x, y, z axis.

I-10 A force of magnitude 800 N starts from a point A(2,1,-3) and passes through the point
B(4,3,1). Represent the force in terms of unit vectors i, j, k. Also find the components
of the force along the three direction and the angle made by the force with these
directions

Engineering Mechanics – Unit I Statics of Particles Dr.M.Ramakrishnan, Professor, Mechanical Engineering, Hindustan University
 30

I-11 Evaluate the magnitude of the resultant of three forces as given below.

A(2,1,6)

220N

400N O(0,0,0)
350N
C(-6,-4,-3)
B(2,-2,-5)

Engineering Mechanics – Unit I Statics of Particles Dr.M.Ramakrishnan, Professor, Mechanical Engineering, Hindustan University