What is Mechanics?

Mechanics is the science which describes and predicts

the conditions of rest or motion of bodies under the
action of forces.

• Categories of Mechanics:
- Rigid bodies
- Statics
- Dynamics
- Deformable bodies
- Fluids

• Mechanics is an applied science - it is not an abstract or pure

science but does not have the empiricism found in other engineering
sciences.
• Mechanics is the foundation of most engineering sciences and is an
indispensable prerequisite to their study.
 Fundamental Concepts
Space - associated with the notion of the position of a point P given in terms of
three coordinates measured from a reference point or origin.
Time - definition of an event requires specification of the time and position at
which it occurred.

Mass - used to characterize and compare bodies, e.g., response to earth’s

gravitational attraction and resistance to changes in translational motion.
Force - represents the action of one body on another. A force is characterized
by its point of application, magnitude, and direction, i.e., a force is a vector
quantity.

In Newtonian Mechanics, space, time, and mass are absolute concepts,

independent of each other. Force, however, is not independent of the other
three. The force acting on a body is related to the mass of the body and the
variation of its velocity with time.
 Idealizations
Particle:

i. Mass is considered
ii. Size is neglected
i.e., geometry of the particle won’t be involved in the analysis of the problem

e.g., to study orbital motion of the Earth.

(Compared to the size of the orbit, Earth size is insignificant)

Rigid Body:

i. Combination of large no. of particle, at fixed distance from each other

ii. No deformation

e.g., In large structures deformation is small and to study the mechanism in big machines, the
deformation is neglected
Introduction to Vectors

• Scalar Quantity
• parameters possessing magnitude but not direction.
• Examples:
• Length, e.g. 93,000,000 miles
• Mass, e.g. 180 kg
• Speed, e.g. 186,000 miles/second
• Vector Quantity
• parameters possessing magnitude and direction which add
according to the parallelogram law.
• Examples
• Force, e.g. 20 Newtons Eastward
• Velocity, e.g. 20 meters/second North
• Acceleration, e.g. 9.8 m/s2 downward
 Vector (Contd.)
• An arrow drawn to scale used
to represent a vector
quantity

F
• Vector notation
 Vectors (contd.)
• Vector classifications:
- Fixed or bound vectors have well defined points of application that
cannot be changed without affecting an analysis.
(only for deformable bodies)

- Free vectors may be freely moved in space without changing their

effect on an analysis.

- Sliding vectors may be applied anywhere along their line of action

without affecting an analysis. (transmissibility)

• Equal vectors have the same magnitude and

direction.

• Negative vector of a given vector has the same

magnitude and the opposite direction.
Addition of Vectors
Graphical Vector Addition
Components of Vectors
Components If Components
of a vector are Known
Example of Vector Components
Addition of Vectors
Polar Form Example
 Addition of Vectors
Combining Vector Components
 Unit Vector

Magnitude of 1 and a direction

î , ĵ, k̂
Rectangular coordinates in 3-D
A vector connecting two points
Rectangular Components of a Force

• May resolve a force vector into perpendicular

components so that
 the resulting parallelogram
is a rectangle. Fx and Fy are referred to as
rectangular vector components and
  
F = Fx + Fy
 
• Define perpendicular unit vectors i and j
which are parallel to the x and y axes.

• Vector components may be expressed as

products of the unit vectors with the scalar
magnitudes of the vector components.
  
F = Fx i + Fy j
Fx and Fy are referred
 to as the scalar
components of F
Addition of Forces
• Wish to find the resultant of 3 or more
concurrent forces,
   
R = P+Q+S

• Resolve each force into rectangular components

       
R x i + R y j = Px i + Py j + Q x i + Q y j + S x i + S y j
= ( Px + Q x + S x )i + (Py + Q y + S y ) j
 

• The scalar components of the resultant are

equal to the sum of the corresponding scalar
components of the given forces.
R x = Px + Q x + S x R y = Py + Q y + S y
= ∑ Fx = ∑ Fy
• To find the resultant magnitude and direction,
2 2 −1 R y
R = Rx + R y θ = tan
Rx
 Sample Problem 1

SOLUTION:
• Resolve each force into
rectangular components.

• Determine the components of the

resultant by adding the
corresponding force components.

• Calculate the magnitude and

Four forces act on bolt A as
direction of the resultant.
shown. Determine the resultant
of the force on the bolt.
Solution -- Sample Problem 1
• Resolve each force into rectangular
components.
force mag x − comp y − comp
F1 150 + 129.9 + 75.0
F2 80 − 27.4 + 75.2
F 3 110 0 − 110.0
F 4 100 + 96.6 − 25.9
R x = +199.1 R y = +14.3
• Determine the components of the resultant by
adding the corresponding force components.
• Calculate the magnitude and direction.
R = 199.12 + 14.32 R = 199.6 N
14.3 N
tan α = α = 4.1°
199.1 N
 Rectangular Components in Space

• Resolve Fh into
  rectangular
• The vector F is • Resolve F into
components
contained in the horizontal and Fx = Fh cos φ
plane OBAC. vertical components.
= F sin θ y cos φ
Fy = F cosθ y
Fz = Fh sin φ
Fh = F sin θ y
= F sin θ y sin φ
Rectangular Components in Space


• With the angles betweenF and the axes,
Fx = F cosθ x Fy = F cosθ y Fz = F cosθ z
   
F = Fx i + Fy j + Fz k

(  
)
= F cosθ x i + cosθ y j + cosθ z k

= Fλ
   
λ = cosθ x i + cosθ y j + cosθ z k
 
• λ is a unit vector along the line of action of F
and cosθ x , cos
 θ y , and cosθ z are the direction
cosines for F
 Rectangular Components in Space

Direction of the force is defined by

the location of two points,
M ( x1 , y1 , z1 ) and N ( x2 , y 2 , z 2 )


d = vector joining M and N
  
= d xi + d y j + d z k
d x = x2 − x1 d y = y 2 − y1 d z = z 2 − z1
 
F = Fλ
 1 
(  
λ = d xi + d y j + d z k
d
)
Fd x Fd y Fd z
Fx = Fy = Fz =
d d d
Sample Problem

SOLUTION:
• Based on the relative locations of the
points A and B, determine the unit
vector pointing from A towards B.

The tension in the guy wire is 2500 N. • Apply the unit vector to determine the
Determine: components of the force acting on A.
a) components Fx, Fy, Fz of the force
• Noting that the components of the unit
acting on the bolt at A,
vector are the direction cosines for the
b) the angles θx, θy, θz defining the vector, calculate the corresponding
direction of the force angles.
Sample Problem
SOLUTION:
• Determine the unit vector pointing from A
towards B.
  
AB = (− 40 m ) i + (80 m ) j + (30 m )k
AB = (− 40 m )2 + (80 m )2 + (30 m )2
= 94.3 m
  − 40    80    30  
λ = i +   j + k
 94.3   94.3   94.3 
  
= −0.424 i + 0.848 j + 0.318k

• Determine the components of the force.

 
F = Fλ

= (2500 N )(− 0.424 i + 0.848 j + 0.318k )
 
  
= (− 1060 N )i + (2120 N ) j + (795 N )k
 Scalar Product of Two Vectors
• The scalar product or dot product between
two vectors P and Q is defined as
 
P • Q = PQ cosθ (scalar result )
• Scalar products:
   
- are commutative, P • Q = Q • P
      
- are distributive, P • (Q1 + Q2 ) = P • Q1 + P • Q2
  
- are not associative, (P • Q ) • S = undefined
• Scalar products with Cartesian unit
components,
   
P • Q = (Px i + Py j + Pz k )• (Qx i + Q y j + Qz k )
   
           
i •i =1 j • j =1 k •k =1 i • j = 0 j •k = 0 k •i = 0
 
P • Q = Px Qx + Py Q y + Pz Qz
 
P • P = Px2 + Py2 + Pz2 = P 2
 Scalar Product of Two Vectors:
Applications
• Angle between two vectors:
 
P • Q = PQ cosθ = Px Qx + Py Q y + Pz Qz
Px Qx + Py Q y + Pz Qz
cosθ =
PQ
• Projection of a vector on a given axis:
POL = P cosθ = projection of P along OL
 
P • Q = PQ cosθ
 
P•Q
= P cosθ = POL
Q
• For an axis defined by a unit vector:
 
POL = P • λ
= Px cosθ x + Py cosθ y + Pz cosθ z
 Vector Product of Two Vectors
• Concept of the moment of a force about a point
is more easily understood through applications
of the vector product or cross product.

• Vector product of two vectors P and Q is defined

as the vector V which satisfies the following
conditions:
1. Line of action of V is perpendicular to plane
containing P and Q.
2. Magnitude of V is V = PQ sin θ
3. Direction of V is obtained from the right-hand
rule.

• Vector products:
- are not commutative, Q × P = −( P × Q )
- are distributive, P × (Q1 + Q2 ) = P × Q1 + P × Q2
- are not associative, ( P × Q ) × S ≠ P × (Q × S )
Vector Products: Rectangular
Components
• Vector products of Cartesian unit vectors,
       
i ×i = 0 j × i = −k k × i = j
       
i× j =k j× j =0 k × j = −i
       
i ×k = − j j ×k = i k ×k = 0

• Vector products in terms of rectangular

coordinates
 
V = (Px i + Py j + Pz k )× (Q x i + Q y j + Q z k )
    

= (Py Q z − Pz Q y )i + ( Pz Q x − Px Q z ) j
 

+ (Px Q y − Py Q x )k
  
i j k
= Px Py Pz
Qx Q y Qz
Moment of a Force About a Given Axis

• Moment MO of a force F applied at the point A about a

point O,
  
MO = r × F

• Scalar moment MOL about an axis OL is the projection

of the moment vector MO onto the axis,
    
M OL = λ • M O = λ • (r × F )
 Moment of a Force About a Given Axis

  
MO = r × F
    
M OL = λ • M O = λ • (r × F )

• Moments of F about the coordinate axes,

M x = yFz − zFy
M y = zFx − xFz
M z = xFy − yFx
Moment about an axis through the origin
Moment of a Force About a Given Axis

• Moment of a force about an arbitrary axis,

 
M BL = λ •MB
  
= λ • (rA B × F )
  
rA B = rA − rB
• The result is independent of the point
B along the given axis.
0, as the volume of
the parallelepiped is
zero
 Moment of a Force About a Point

• A force vector is defined by its magnitude and

direction. Its effect on the rigid body also depends
on it point of application.
• The moment of F about O is defined as
MO = r × F
• The moment vector MO is perpendicular to the
plane containing O and the force F.
• Magnitude of MO measures the tendency of the
force to cause rotation of the body about an axis
along MO. M = rF sin α = Fd
O

The sense of the moment may be determined by

the right-hand rule.
• Any force F’ that has the same magnitude and
direction as F, is equivalent if it also has the same line
of action and therefore, produces the same moment.
 Moment of a Force About a Point

• Two-dimensional structures have length and breadth but

negligible depth and are subjected to forces contained in
the plane of the structure.

• The plane of the structure contains the point O and the

force F. MO, the moment of the force about O is
perpendicular to the plane.

• If the force tends to rotate the structure clockwise, the

sense of the moment vector is out of the plane of the
structure and the magnitude of the moment is negative.

• If the force tends to rotate the structure

counterclockwise, the sense of the moment vector is into
the plane of the structure and the magnitude of the
moment is positive.
Varignon’s
theorem
• The moment about a given point O
of the resultant of several
concurrent forces is equal to the
sum of the moments of the various
forces about the same point O.
Sample Problem
A cube is acted on by a
force P as shown.
Determine the moment of P
a) about A
b) about the edge AB and
c) about the diagonal AG of
the cube.
d) Determine the
perpendicular distance
between AG and FC.
Sample Problem
• Moment of P about A,
  
M A = rF A × P
   
rF A = a i − a j = a (i − j )


{( ) (

P=P−1 2 k+1 2 j = P )} (

)(
 
2 j −k )

( )(
MA = aP 2 i + j +k
  
) 
(
M A = aP )(
  
2 i + j +k )
• Moment
 of
 P about AB,
M AB = i • M A

(   
)(
= i • aP / 2 i + j + k ) M AB = aP / 2
Sample Problem
• Moment of P about the diagonal AG,
 
M AG = λ • M A
   
 rA G ai − aj − ak 1   
λ=
rA G
=
a 3
=
3
(i − j −k)

 aP   
MA =
2
(i + j +k)

1    aP   
M AG =
3
( i − j − k )•
2
(i + j +k)

aP
= (1 − 1 − 1)
6 aP
M AG =−
6
Sample Problem
• Perpendicular distance between AG and
FC,
  P   1    P
P•λ =
2
(
j −k •) 3
( )
i − j −k =
6
(0 − 1 + 1)
=0
Therefore, P is perpendicular to AG.
aP
M AG = = Pd
6
a
d=
6
ASSUMPTIONS
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-h ·,vn. St· re whe _ e.r each n1em . er is :in tens1 n o.r compression ..
1
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so un:o-
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• :
I

·
•
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:·

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'

-B('_'m §1'. '

_ (7 'm =·
B =m ·,
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C.

1108 k I
-
C
EXAMPLE: Determine the forces in each member of the truss shown in Fig. using the method of
joints. The reactions are at B and E. All six acute angles are 45 ° .

4m

4m 4m
A.-------------t
7?7;'1'7'777

SOON 1200N SOON 1200N RE

(a) (b)
FAB R8 = 1867 N
FDE
\

·x
FBD= 188 N
F BD ◄
A ◄ F AC FCE ◄
E

SOON RE= 133 N

Fen
/
FoE= 133 N
I
FAB = 1130N
"
Fsc

\
(c)