Applied Mechanics

Farooq Mustafa Joyia

Department of Technology
University of Lahore
Tech. Block : Room No F-2C :
[email protected]
 MET01104: Applied
Mechanics
Lecture Schedule: Venue L2 (Div. II
& IV)
DAY MC-2-Q VENUE
MONDAY 7:30-09:10 (PM) T-206
TUESDAY 6:40-07:30 (PM) T-204

2
 MET01104: Text/Reference
Books
J. L. Meriam and L. G. Kraige, Engineering Mechanics, Vol I – Statics, Vol
II – Dynamics, 6th Ed, John Wiley, 2008.

R. C. Hibbler, Engineering Mechanics: Principles of Statics and Dynamics,

Pearson Press, 2006.

F. P. Beer and E. R. Johnston, Vector Mechanics for Engineers, Vol I -

Statics, Vol II
– Dynamics, 9th Ed, Tata McGraw Hill, 2011.

I. H. Shames, Engineering Mechanics: Statics and dynamics, 4th Ed, PHI,

2002.

Andy Ruina and Rudra Pratap, Introduction to Statics and

Dynamics, Oxford University Press, 2011
Marks Distribution
Final Semester 40
Mid Semester 30
Quiz 05
Lab 20
Assignment 05

75% Attendance Mandatory

Assignments: Solve later and submit it in the next

class
Mechanics: Oldest of the Physical Sciences
Archimedes (287-212 BC): Principles of Lever and
Buoyancy!

Mechanics is a branch of the physical sciences that is

concerned with the state of rest or motion of bodies
subjected to the action of forces.

Rigid-body Mechanics

Statics

Dynamics
Deformable-Body Mechanics,
and Fluid Mechanics
Engineering Mechanics
Rigid-body Mechanics
• a basic requirement for the study of the
mechanics of deformable bodies and the
mechanics of fluids (advanced courses).
• essential for the design and analysis of many types of
structural members, mechanical components, electrical
devices, etc, encountered in engineering.
A rigid body does not deform under load!
Engineering Mechanics
Rigid-body Mechanics
Statics: deals with equilibrium of bodies under
action of forces (bodies may be either at rest or
move with a constant velocity).
 Engineering Mechanics
Rigid-body Mechanics
• Dynamics: deals with motion of
bodies (accelerated motion)
Mechanics: Fundamental
Concepts
Length (Space): needed to locate position of a point in
space, & describe size of the physical system Distances,
Geometric Properties

Time: measure of succession of events basic

quantity in Dynamics

Mass: quantity of matter in a body measure of inertia of

a body (its resistance to change in velocity)

Force: represents the action of one body on another

characterized by its magnitude, direction of its action,
and its point of application

Force is a Vector quantity.

Mechanics: Fundamental
Concepts
Newtonian Mechanics

Length, Time, and Mass are absolute

concepts independent of each other

Force is a derived concept

not independent of the other fundamental concepts.
Force acting on a body is related to the mass of the
body and the variation of its velocity with time.

Force can also occur between bodies that are

physically separated (Ex: gravitational, electrical, and
magnetic forces)
Mechanics: Fundamental
Concepts
Remember:
• Mass is a property of matter that does
not change from one location to
another.
• Weight refers to the gravitational attraction
of the earth on a body or quantity of mass.
Its magnitude depends upon the elevation
at which the mass is located
• Weight of a body is the gravitational force acting
on it.
Mechanics: Idealizations
To simplify application of the theory
Particle: A body with mass but with
dimensions that can be neglected

Size of earth is insignificant

compared to the size of its
orbit. Earth can be modeled
as a particle when studying
its orbital motion
Mechanics: Idealizations
Rigid Body: A combination of large number of
particles in which all particles remain at a fixed
distance (practically) from one another before and
after applying a load.

Material properties of a rigid body are not required to

be considered when analyzing the forces acting on
the body.

In most cases, actual deformations occurring in

structures, machines, mechanisms, etc. are relatively
small, and rigid body assumption is suitable for
analysis
Mechanics: Idealizations
Concentrated Force: Effect of a loading
which is assumed to act at a point (CG) on
a body.
•Provided the area over which the load is
applied is very small compared to the overall
size of the body.
Ex: Contact Force
between a wheel
and ground.
40 kN 160 kN
Mechanics: Newton’s Three Laws of
Motion
Basis of formulation of rigid body mechanics.
First Law: A particle originally at rest, or moving in a
straight line with constant velocity, tends to remain in this
state provided the particle is not subjected to an
unbalanced force.

First law contains the principle

of the equilibrium of forces
main topic of concern in
Statics
Mechanics: Newton’s Three Laws of
Motion
Second Law: A particle of mass “m” acted upon by an
unbalanced force “F” experiences an acceleration “a”
that has the same direction as the force and a
magnitude that is directly proportional to the force.

m F = ma

Second Law forms the basis for

most of the analysis in Dynamics
Mechanics: Newton’s Three Laws of
Motion
Third Law: The mutual forces of action and reaction
between two particles are equal, opposite, and collinear.

Third law is basic to our understanding of Force Forces

always occur in pairs of equal and opposite forces.
 Mechanics: Newton’s Law of Gravitational
Attraction
Weight of a body (gravitational force acting on a body) is required
to be computed in Statics as well as Dynamics.
This law governs the gravitational attraction between any two
particles.

m1m22
F=G r
F = mutual force of attraction between two particles
G = universal constant of gravitation
Experiments G = 6.673x10-11
m3/(kg.s2)
Rotation of Earth is not taken into account
m1, m2 = masses of two particles
r = distance between two particles
Gravitational Attraction of the
Earth
Weight of a Body: If a particle is located at or near the
surface of the earth, the only significant gravitational force
is that between the earth and the particle
Weight of a particle having mass m1 = m :

Assuming earth to be a non-

rotating sphere of constant
density and having mass m2 =
Me
W = G mMe r = distance between the
r earth’s center and the particle
2
W = mg Let g = G Me /r2 = acceleration due to
gravity (9.81m/s2)
 Mechanics: Units
Four Fundamental
Quantities
Quantity Dimensional SI UNIT
Symbol Unit Symb
Mas M KilogramKg ol
Basic
sLengt L Meter M Unit
h
Tim T Second s
e
Forc F Newton N
e
F = ma N=
1 Newton is the force
kg.m/s2 required to give a mass
of 1 kg an acceleration of
W = mg N= 1 m/s2
kg.m/s2
Mechanics: Units Prefixes
Scalars and Vectors
Scalars: only magnitude is associated.
Ex: time, volume, density, speed, energy, mass
Vectors: possess direction as well as magnitude, and must
obey the parallelogram law of addition (and the triangle law).
Ex: displacement, velocity,
acceleration, force, moment,
momentum

Equivalent Vector: V = V1 + V2 (Vector Sum)

Speed is the magnitude of velocity.

Vectors
A Vector V can be written as: V =
Vn V = magnitude of V
coincides
n = unit vector whose magnitude is one and whose
with
direction that of V
Unit vector can be formed by dividing any vector, such as the
geometric position vector, by its length or magnitude

Vectors represented by Bold and Non-Italic letters (V)

Magnitude of vectors represented by Non-Bold, Italic

letters (V)
y j
x i i, j, k – unit vectors

z k
 Vectors
Free Vector: whose action is not confined
to or associated with a unique line in space
Ex: Movement of a body without rotation.

Sliding Vector: has a unique

line of action in space but not a
unique point of application
Ex: External force on a rigid body
Principle of Transmissibility
Imp in Rigid Body Mechanics

Fixed Vector: for which a unique

point of application is specified
Ex: Action of a force on deformable body
 Vector Addition: Procedure for Analysis
Parallelogram Law
(Graphical) Resultant
Force (diagonal)
Components (sides of
parallelogram)

Algebraic Solution
Using the coordinate
system

Trigonometry (Geometry)
Resultant Force and
Components from Law of
Cosines and Law of Sines
Force Systems
Force: Magnitude (P), direction (arrow) and point of application (point
A) is important
Change in any of the three specifications will alter the effect on the
bracket.

Force is a Fixed Vector

In case of rigid bodies, line of action of force is important (not its
point of application if we are interested in only the resultant external
effects of the force), we will treat most forces as
External effect: Forces applied
(applied force); Forces exerted by
bracket, bolts, Foundation (reactive
Internal effect: Deformation, strain
force)
pattern – permanent strain; depends
Cable Tension P on material properties of bracket,
bolts, etc.
 Force Systems
Concurrent force:
Forces are said to be concurrent at a point if their lines of
action intersect at that point
F1, F2 are concurrent forces; R will be on same plane; R =
F1+F2

F2 F2
R = F1+F2
R
F2
R R F2
A A A
F1 F1 F1 F1
Plane

Forces act at same point

Forces act at different Triangle
point (Apply Principle of Law
Transmissibility)
Components and Projections of
Force of a Force are not necessarily equal to the
Components
Projections of the Force unless the axes on which the forces
are projected are orthogonal (perpendicular to each other).

F1 and F2 are components of R. R = F1 + F2

Fa and Fb are perpendicular projections

on axes a and b, respectively.

R ≠ Fa + Fb unless a and b are

perpendicular to each other
 Components of Force
Exampl
es
Vector
 Components of Force
Example 1:
Determine the x and
y scalar
components of F1,
F2, and F3 acting
at point A of the
bracket
 Components of Force
Solution:
 Components of
Force
Alternative Solution
 Components of
Force
Alternative
Solution
Components of Force
Example 2: The two forces act on a bolt at A. Determine
their resultant.

Graphical solution - construct a

parallelogram with sides in the same
direction as P and Q and lengths in
proportion. Graphically evaluate
the resultant which is equivalent in
direction and proportional in
magnitude to the diagonal.

Trigonometric solution - use the

triangle rule for vector addition in
conjunction with the law of
cosines and law of sines to find
the resultant.
 Components of Force
Solution:
• Graphical solution - A parallelogram with sides
equal to P and Q is drawn to scale. The
magnitude and direction of the resultant or of
the diagonal to the parallelogram are
measured,
R = 98 N α = 35 °

• Graphical solution - A triangle is drawn with P

and Q head-to-tail and to scale. The
magnitude and direction of the resultant or of
the third side of the triangle are measured,

R = 98 N α = 35°
 Components of
Force Solution: Apply the triangle rule.
Trigonometric
From the Law of Cosines,
R 2 = P 2 + Q 2 − 2 PQ cos B
= (40 N)2 + (60 N )2 − 2(40 N )(60 N)cos
155 °

R = 97 .73 N
From the Law of Sines,
sin A = sin B
Q R
sin A = sin B Q
60
R
N
97.73
= sin 155 N
°
A = 15.04°
α = 20° + A
α = 35 .04°
Components of
Force
Components of
Force
Example 3:Tension in cable BC is 725-N, determine the resultant of
the three forces exerted at point B of beam AB.

Solution:
• Resolve each force into
rectangular components.

• Determine the components of

the resultant by adding the
corresponding force
components.

• Calculate the magnitude

and direction of the
resultant.
Components of
Force Resolve each force into rectangular
components
Magnitude (N) X-component (N) Y-component (N)
725 -525500
500 -300-400
780 720 -300

Calculate the magnitude and direction

 Components of
Force
Alternate solution

Calculate the magnitude and direction

 Rectangular Components in
Space

• ResolveFh into
• The vector F • Resolveinto
F
rectangular
contained in the horizontal and vertical
is OBAC. components
plane components.
Fx = Fh cosφ
Fy = F cosθ y = F sin θycosφ

Fh = F sinθ y Fz = Fh sin φ
= F sin θ y sin
φ
Rectangular Components in
Space
Rectangular Components in
Space
Direction of the force is defined by the location of two
points
Rectangular Components in
Space
Example: The tension in the guy
wire is 2500 N. Determine: SOLUTION:

a)components Fx, Fy, Fz of the • Based on the relative locations of the

points A and B, determine the unit
force acting on the bolt at
vector pointing from A towards B.
A,
• Apply the unit vector to determine
b)the angles qx, qy, qz defining the the components of the force acting
direction of the force on A.
• Noting that the components of the
unit vector are the direction cosines
for the vector, calculate the
corresponding angles.
 Rectangular Components in
Space Solution
Determine the unit vector pointing from
A
towards B.

Determine the components of the

force.
Rectangular Components in
Space Solution
Noting that the components of the unit
vector are the direction cosines for the
vector, calculate the corresponding
angles.

θ x = 115.1

θ y = 32.0

θ z = 71.5
 Vector Products
Dot Product

Applications:
to determine the angle between two vectors
to determine the projection of a vector in a specified
direction

A.B = B.A (commutative)

A.(B+C) = A.B+A.C (distributive operation)
 Vector Products
Cross
Product:

Cartesian Vector
Moment of a Force
(Torque)

Sense of the moment may be determined

by the right-hand rule
 Moment of a Force
Principle of Transmissibility
Any force 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.

Varignon’s Theorem
(Principle of Moments)

Moment of a Force about a point is equal

to the sum of the moments of the force’s
components about the point.
Rectangular Components of a
Moment
The moment of F about O,
Rectangular Components of the
Moment
The moment of F about B,
Moment of a Force About a Given
Axis
Moment M of a force F applied at
O
the point A about a point O

Scalar moment MOL about an axis

OL is the projection of the moment
vector MO onto the axis,

Moments of F about the coordinate

axes (using previous slide)
 Moment:
Example
Calculate the magnitude of the moment about
the base point O of the 600 N force in different
ways
Solution 1.
Moment about O is

Solution 2.
 Moment:
Example
Solution 3.

Solution 4.

Solution 5.

The minus sign indicates that the

vector is in the negative z-
direction
 Moment of a
Couple
Two couples will have equal moments if
The two couples lie in parallel planes

The two couples have the same sense or the

tendency to cause rotation in the same
direction.

Examples:
Couples
Vectors

A couple can be represented by a vector with magnitude

and direction equal to the moment of the couple.

Couple vectors obey the law of addition of vectors.

Couple vectors are free vectors, i.e., the point of application is

not significant.

Couple vectors may be resolved into component vectors.

Couple: Case I

Example
Moment required to turn the shaft connected
at center of the wheel = 12 Nm
Case I: Couple Moment produced by 40
N forces = 12 Nm
Case II: Couple Moment produced by 30
N forces = 12 Nm
Case II
If only one hand is used?
Force required for case I is
80N Force required for case II is
60N
What if the shaft is not connected at the
center of the wheel?
Is it a Free Vector?
 Equivalent Systems:
Resultants
Equilibrium

Equilibrium of a body is a condition in which

the resultants of all forces acting on the body
is zero.

Condition studied in Statics

 Equivalent Systems:
Resultants
Vector
used
Approach: Principle of Transmissibility can be

Magnitude and direction of the resultant force R is obtained

by forming the force polygon where the forces are added
head to tail in any sequence
 Equivalent Systems:
Example Solution:
a) Compute the resultant force for
the forces shown and the resultant
For the beam, reduce the couple for the moments of the
system of forces shown to (a) forces about A.
an equivalent force-couple
system at A, (b) an equivalent b) Find an equivalent force-couple
force couple system at B, and system at B based on the force-
(c) a single force or resultant. couple system at A.
Note: Since the support c) Determine the point of application
reactions are not included, the for the resultant force such that its
given system will not maintain moment about A is equal to the
the beam in equilibrium. resultant couple at A.
 Equivalent Systems:
Example (a) Compute the resultant force
SOLUTION
and the resultant couple at A.

% 150( − 600( + 100( − 250(

= − 600+ (

=% ×
= 1.6, × −600( + 2.8, × 100( + 4.8, × −250(
= − 1880 +. 0 1
Equivalent Systems:
Example b)at Find an equivalent force-couple system
B based on the force-couple system at A.
The force is unchanged by the movement
of the force-couple system from A to B.

=− ) + (
The couple at B is equal to the moment about
B of the force-couple system found at A.

= =+−18001
× + −4.8, ×
−600(
= 1000+.
0 1
 Rigid Body Equilibrium

A rigid body will remain in equilibrium provided

• sum of all the external forces acting on the
body is equal to zero, and
• Sum of the moments of the external forces
about a point is equal to zero

z x
Rigid Body
Equilibrium
Free-Body Diagrams

Space Diagram: A sketch

showing the physical conditions Free-Body Diagram: A sketch
of the problem. showing only the forces on the
selected particle.
Rigid Body Equilibrium

Support
Reactions
Prevention of
Translation or
Rotation of a
body

Restraints
Rigid
Body
Equilibriu
m
Various
Supports 2-D
Force Systems
Rigid
Body
Equilibriu
m
Various
Supports 2-D
Force Systems
Rigid
Body
Equilibriu
m
Various
Supports 3-D
Force Systems
Free
body
diagram
Rigid
Body
Equilibriu
m

Categorie
s in 2-D
Rigid
Body
Equilibriu
m

Categorie
s in 3-D
 Rigid Body Equilibrium: Example
Solution:
• Create a free-body diagram of the joist.
Note that the joist is a 3 force body acted
upon by the rope, its weight, and the reaction
at A.
• The three forces must be concurrent for
static equilibrium. Therefore, the reaction R
A man raises a 10 kg joist, of must pass through the intersection of the
length 4 m, by pulling on a lines of action of the weight and rope forces.
rope. Determine the direction of the reaction force
Find the tension in the rope R.
and the reaction at A. • Utilize a force triangle to determine
the magnitude of the reaction force R.
Rigid Body Equilibrium:
Example • Create a free-body diagram of the joist.
• Determine the direction of the reaction force
R.
AF = ABcos45 = (4m)cos45 = 2.828m
1
CD = AE = 2 AF =1.414m

BD = CDcot(45+ 20) = (1.414m)tan20 = 0.515m

CE = BF − BD = (2.828− 0.515) m = 2.313m
tanα = CE = 2.313 = 1.636
AE 1.414

α = 58.6
Rigid Body Equilibrium:
Example • Determine the magnitude of the
reaction force R.

T = R = 98.1 N

sin31.4 sin110
sin38.6

T = 81.9 N
R =147.8 N