Engineering Mechanics Statics

Instructor
R. Ganesh Narayanan
Department of Mechanical Engineering
IIT Guwahati

Batch: Jan - May 2008

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
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 2008

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
R. Ganesh Narayanan

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

In our course:

j
x

i, j, k unit vectors

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

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

j
k

k
i

k x j = -i;
ixi=0

Ax

AY

AZ

BX

BY

BZ

R. Ganesh Narayanan
AxB = (Axi+Ayj+Azk)x(Bxi+B
yj+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
Direction of motion

Force,
P kN

Body moves
P, kN

Force
< P kN

Body does
not move
bulging
R. Ganesh Narayanan

Force system:
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

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

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

F2

F1, F2 are concurrent forces

R will be on same plane

R = F1+F2

A
F1

Plane

R does not
pass through A

Use triangle law

F2

R = F1+F2

F2

R = F1+F2

F2

R
A

F1

A
F1

F1
R. Ganesh Narayanan

F1

F2
R

Two dimensional force system

Rectangular components:
j

F = Fx + Fy; both are vector components in x, y direction

Fy
F

Fx

+ ve

- ve

Therefore, F

= fx i + fy j

Fx = F cos ; Fy = F sin

+ ve

- ve

Fx = fx i ; Fy = fy j; fx, fy are scalar quantities

F=

fx2 + fy2

R. Ganesh Narayanan

= tan -1 (fy/fx)

10

Two concurrent forces F1, F2

F1

F2

j
R

Rx = Fx; Ry = Fy

DERIVATION

R. Ganesh Narayanan

11

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 CW = + ve; CWR.=Ganesh
-veNarayanan

12

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
M = Fr sin ; M = Fd

A
d

M = r x F = -(F x r): sense is important

R. Ganesh Narayanan

r
B

Sin = d / r

13

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
Concurrent forces P, Q
P

B
o

Mo = r x R = r x (P+Q) = r x P + r x Q
Moment of P

Usefulness:

Moment of Q

Resultant R moment arm d

Force P moment arm p; Force Q moment arm q
Mo= Rd = -pP + qQ

R. Ganesh Narayanan

14

Pb:2/5 (Meriam / Kraige):

Calculate the magnitude of the moment

about O of the force 600 N

40 deg

1) Mo = 600 cos 40 (4) + 600 sin 40 (2)

= 2610 Nm (app.)

600N

r
o

2) Mo = r x F = (2i + 4j) x (600cos40i-600sin40j)

in mm

j
i

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

mag = 2610 Nm

R. Ganesh Narayanan

15

Couple: Moment produced by two equal, opposite and

non-collinear forces
M
o

-F

a
d

=>-F and F produces rotation

+F

=>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
R. Ganesh Narayanan

16

Vector algebra method

CCW
Couple
o

CW
Couple
rb

-F

M = ra x F + rb x (-F) = (ra-rb) x F = r x F

r
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
R. Ganesh Narayanan

17

EXAMPLE
M
-F

M
+F

-F

+F

+F

-F

All four are equivalent couples

+2F

R. Ganesh Narayanan

d/2

-2F

18

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

B
F

B
F

-F

F
M = Fd

R. Ganesh Narayanan

19

EXAMPLE
80N

80N

9m

9
60deg

80 N

60 deg

80 N

80 N

Mo = Y N m

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

R. Ganesh Narayanan

20

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
R. Ganesh Narayanan
= tan -1 (Ry/Rx)

21

How to obtain resultant force ?

F1

F2

Mo= Fd

F1

R= F

F2
F3

F3
F1 D1; F2 D2; F3 D3

M1 = F1d1;
M2 = F2d2;
M3 = F3d3

Mo=Rd

NON-CONCURRENT FORCES
R. Ganesh Narayanan

22

Principle of moments
Summarize the above process:

R = F
Mo = M = (Fd)
Mo = Rd

Mo= Fd

d
R= F

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
=> VARIGNONS THEOREM IS EXTENDED HERE FOR NONCONCURENT FORCES
R. Ganesh Narayanan

23

Reference books
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

STATICS MID SEMESTER DYNAMICS

Tutorial: Monday 8 am to 8.55 am

R. Ganesh Narayanan

24

ENGINEERING MECHANICS
TUTORIAL CLASS: Monday 8 AM TO 8.55 AM

Tutorial Groups

Roll Numbers
From

Class Room

Tutors

To

TG1

07010101

07010141 (41 Students)

L2

Prof. R. Tiwari

TG2

07010142

07010149 (8 Students)

1G1

Dr. senthilvelan

07010201

07010233 (33 Students)

07010234

07010249 (16 Students)

1G2

R. Ganesh Narayanan

07010301

07010325 (25 Students)

07010326

07010353 (28 Students)

1202

Dr. M. Pandey

07010401

07010413 (13 Students)

07010414

07010449 (36 Students)

1205

Dr. Saravana Kumar

07010601

07010605 (5 Students)

TG3

TG4

TG5

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
R. Ganesh Narayanan

25

Three dimensional force system

Rectangular components
Fx = F cos x; Fy = F cos y; Fz = F cos z
l, m, n are directional cosines of F

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
F

Fz k
y

z
o

Fy j

x
Fx i
R. Ganesh Narayanan

26

Moment in 3D
Mo

A - a plane in 3D structure

Mo = F d (TEDIOUS to find d)
or Mo = r x F = (F x r) (BETTER)

Evaluating the cross product

Described in determinant form:

Expanding
R. Ganesh Narayanan

rx

rY

rZ

FX

FY

FZ
27

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

= Mo . n

(scalar reprn.)

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

n
F

Scalar triple product

o

, , DCs of n

rx

ry

rz

Fx

FY

FZ

R. Ganesh Narayanan

28

Varignons theorem in 3D
F2

F3

Mo = rxF1 + rxF2 + rx F3 += (r x F)
= r x (F1+F2+F3+)

B
o

= r x (F) = r x R

F1

Couples in 3D

+F

-F
B

M = ra x F + rb x F = (rarb) x F = rxF

A
ra

rb

R. Ganesh Narayanan

29

2D force system; equ. Force-couple; principle of

moments

Beer-Johnston; 2.3
F2 = 80N

20

F1 = 150N

Evaluate components of F1, F2, F3, F4

30

Rx = Fx; Ry = Fy

15

F4 = 100N

R = Rx i + Ry j
= tan -1 (Ry/Rx)

F3 = 110N

Ry

Rx

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

= 4.1 deg

30

F1
30 DEG

Boat

Find F1 and F2
45 DEG

F2

15 DEG

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

R. Ganesh Narayanan

31

Meriam / kraige; 2/37

780 N
Find the moment Mo of 780 N
about the hinge point

10m

10

20 DEG

10
D

T = -780 COS20 i 780 sin20 j

= -732.9 i 266.8 j

OC FLAG POLE
OAB LIGHT FRAME
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

R. Ganesh Narayanan

32

Meriam / kraige; 2/6

Replace couple 1 by eq. couple p, -p; find
1

M = 100 (0.1) = 10 Nm (CCW)

2
M
40

-P

100

100

M = 400 (0.04) cos

60

100

10 = 400 (0.04) cos

100N

100N

=> = 51.3 deg

R. Ganesh Narayanan

33

60 N

Meriam / kraige; 2/8

45

2m

50 N

5m

140Nm

2m

Find the resultant of four forces and one

couple which act on the plate

80N

2m

40 N

30 deg

1m

Rx = 40+80cos30-60cos45 = 66.9 N

R = 148.3N

Ry = 50+80sin 30+60cos45 = 132.4 N

237 Nm

63.2 deg

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

Final LOA of R:

63.2 deg

148.3 d = 237; d = 1.6 m

LOA of R with x-axis:

(Xi + yj) x (66.9i+132.4j) = -237k
(132.4 x 66.9 y)k = -237k

132.4 x -66.9 y = -237

Y = 0 => x

R = 148.3N

R. Ganesh Narayanan

= b = -1.792 m

y
x
34

Couples in 3D
M

+F

-F
B

M = ra x F + rb x F = (rarb) x F = rxF

A
ra

rb

Equivalent couples

M = Fd

F
B

A
B

-F

R. Ganesh Narayanan

35

How to find resultant ?

R = F = F1+F2+F3+
Mo = M = M1+M2+M3+ = (rxF)
M = Mx2 + My2 + Mz2; R = Fx2 + Fy2 + Fz2
Mx = ; My = ; Mz =

R. Ganesh Narayanan

36

Equilibrium
Body in equilibrium - necessary & sufficient condition:
R = F = 0; M = M = 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
R. Ganesh Narayanan

37

Modeling the action of forces

Imp

Imp

R. Ganesh Narayanan

Meriam/Kraige

38

FBD - Examples

Equilibrium equns. Can be

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

R. Ganesh Narayanan

39

Meriam/Kraige

Types of 2D equilibrium
Concurrent at a point: Fx = 0; Fy = 0
x

Collinear: Fx = 0

F2

F1

F3

Y
F2

X
F1

F3

F4
F1
F2
F3
F4

Y
M

Parallel: Fx = 0; Mz = 0
R. Ganesh Narayanan

General: Fx = 0; Fy = 0; Mz = 0

40

General equilibrium conditions

Fx = 0; Fy = 0; Fz = 0
Mx = 0; My = 0; Mz = 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
R. Ganesh Narayanan

41

P
C

PY

Px

QY

RY

Qx

Rx
D

C
W

AX

B
Pin

Roller

AY

B
BY

Written in three alternate ways,

Fx = 0; Fy = 0; MA = 0

MB = 0 => will not provide new information; used to check the

solution; To find only three unknowns
R. Ganesh Narayanan

42

Fx = 0; MA = 0; MB = 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. (MB = 0) says this force must be zero

MA = 0; MB = 0; Mc = 0;

III

Body is statically indeterminate: more unknown reactions than

independent equilibrium equations
R. Ganesh Narayanan

43

3D force system
A

Meriam / Kraige; 2/10

15

Find the moment Mz of T about the z-axis passing

thro the base O

R. Ganesh Narayanan

T = 10kN

12 m

44

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

R. Ganesh Narayanan

45

Merial / Kraige; 2/117

Replace the 750N tensile force which the cable exerts on point B by a forcecouple system at point O

R. Ganesh Narayanan

46

F = f , where 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

R. Ganesh Narayanan

47

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
MA = (T cos 25) (0.25) + (T sin 25) (5-0.12)
10(5-1.5-0.12) 4.66 (2.5-0.12) = 0
y

T = 19.6 kN
Fx = Ax 19.6 cos 25 = 0

T
25 deg

Ax = 17.7 kN
Fy = Ay+19.61 sin 25-4.66-10 = 0

Ax
0.12 m

Ay = 6.37 kN

0.5 m

Ay

1.5m

4.66 kN
10 kN

A = Ax2 + Ay2 = 18.88kN

5m
R. Ganesh Narayanan

48

Beer/Johnston; 4.5

mm, N

Find reactions at A, B if (a) a = 100 mm; (b)

a=70 mm

60

a = 100 mm

60

40
Ma = 0 => (-40x60)+(-50x120)+(-30x220)+
(-10x300)+(-Byx120) = 0

80

50

30

10

By
Ay

By = 150 N

Bx

Fy = 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
R. Ganesh Narayanan

49

Beer/Johnston; 4.4

1.8

Find the reaction at the fixed end

E

2.25
C

20

20

20

3.75

20

DF = 7.5 m

Fx = Ex + 150 (4.5/7.5) = 0 => Ex = - 90 kN (sign change)

F
4.5

Fy = Ey 4(20)-150 (6/7.5) = 0 => Ey = 200 kN

D

ME= 20 (7.2) + 20 (5.4) + 20 (3.6) +20 (1.8) (6/7.5) (150) (4.5) +

ME= 0
A

ME= +180 kN.m => ccw

2.25
C

20

20

20

3.75

20
E

1.8

Ex

ME
R. Ganesh Narayanan

Ey

4.5
50 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

R. Ganesh Narayanan

51

3D equilibrium
3D equilibrium equns. can be written in scalar and vector form
F = 0 (or) FX = 0; FY = 0; FZ = 0
M = 0 (or) MX = 0; MY = 0; MZ = 0
F = 0 => Only if the coefficients of i, j, k are zero; FX = 0
M = 0 => Only if the coefficients of i, j, k are zero; MX = 0

R. Ganesh Narayanan

52

Modeling forces in 3D

R. Ganesh Narayanan

53

Types of 3D equilibrium

R. Ganesh Narayanan

54

Meriem / Kraige

7 = 22 + 62 + h2 => h = 3 m

7m

2m

rAG = -1i-3j+1.5k m; rAB = -2i-6j+3k m

6m
x

MA = 0 => rAB x (Bx+By) + rAG x W = 0

Bx
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

F = 0 => (654-Ax) i + (1962-Ay) j + (-1962+Az)k = 0

Ax

Az

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

R. Ganesh Narayanan

55

Meriem / Kraige; 3/64

R. Ganesh Narayanan

56

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

R. Ganesh Narayanan

57

F.B.D. - 1

F.B.D. - 2

F.B.D. - 2
Mc = 0 => (Dy) (15) 200 (15) (15/2)
(1/2)(15)(300)[2/3 (15)] = 0
Dy = 3000 N
R. Ganesh Narayanan

58

F.B.D. - 1
MB = 0 => -Ay (13) +(3000) (21) 200
(34) (34/2-13) (300) (15) [6+2/3(15)]
=0
Ay = -15.4 N
Fy = 0 => Ay+By+3000-200(34)(1/2)(300)(15) = 0
Sub. Ay here,
=> By = 6065 N

R. Ganesh Narayanan

59

2D, 3D force system

Rectangular components
Moment
Varignons theorem
Couple
Force-couple system
Resultant

Equilibrium equations
Fx = 0; Fy = 0; MA = 0
Fx = 0; MA = 0; MB = 0

2D

MA = 0; MB = 0; Mc = 0
F = 0 (or) FX = 0; FY = 0; FZ = 0
M = 0 (or) MX = 0; MY = 0; MZ = 0

3D

Principle of moment

R. Ganesh Narayanan

60

Structures
Truss: Framework composed of members joined at their ends to form a rigid
structures
Plane truss: Members of truss lie in same plane

Roof trussR. Ganesh Narayanan

Bridge truss

61

B
Three bars joined with pins at end
Rigid bars and non-collapsible
Deformation due to induced internal strains is negligible

c
B
B
A

Non rigid body can be made rigid by

adding BC, DE, CE elements

D
C

Non-rigid

E
A

C
rigid

R. Ganesh Narayanan

62

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

R. Ganesh Narayanan

63

Structures
Truss: Framework composed of members joined at their ends to form a rigid
structures
Plane truss: Members of truss lie in same plane

Roof trussR. Ganesh Narayanan

Bridge truss

64

Three bars joined with pins at end

Rigid bars and non-collapsible
Deformation due to induced internal strains is negligible

c
B
B
A

Non rigid body can be made rigid by

adding BC, DE, CE elements

D
C

Non-rigid

E
A

C
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 necessaryR.for
maintaining
Ganesh
Narayanan equilibrium - redundant

65

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. Newtons 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

weight

TWOR.FORCE
MEMBERS
Ganesh Narayanan

66

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
Newtons third law is followed

R. Ganesh Narayanan

67

Example
F

A
B

Fy = 0; Fx = 0

Finally sign can be changed if

not applied correctly

R. Ganesh Narayanan

68

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
R. Ganesh Narayanan

69

I. H. Shames

Determine the force transmitted by each member;

10

A, F = 1000 N
Pin A

FAB
FAB

FAC

1000
FAC

Fx = 0 =>FAC 0.707FAB = 0

10

C 10

1000

10

1000

Fy = 0 => -0.707FAB+1000 = 0
1000

FAB = 1414 N; FAC = 1000 N

Pin B
Fx = 0 => -FBD + 1414COS45 = 0 => FBD = 1000 N

FBD Fy = 0 => -FBC+1414 COS45 = 0 => FBC = 1000 N

1414

FBD
FBC

1414
R. Ganesh Narayanan

FBC

70

Pin C
1000
B

FDC
FCE

1000

FDC

FCE
1000

1000
1000

1000

Fx = 0 => -1000 + FCE + FDC COS 45 = 0 => FCE = 1000 N

Fy = 0 => -1000+1000+ FDC COS 45 = 0 => FDC = 0

SIMILARLY D, E, F pins are solved

R. Ganesh Narayanan

71

Meriem / Kraige (similar pbm. 6.1 in Beer/Johnston)

Find the force in each member of the loaded
cantilever truss by method of joints

B
5

5
5

A
30

R. Ganesh Narayanan

5
5

C
20

5
5
E
kN, m

72

FBD of entire truss

ME = 0 => 5T-20(5)-30 (10) = 0; T = 80 kN
Fx = 0 => 80 cos 30 Ex = 0; Ex = 69.28 kN
Fy = 0 => Ey +80sin30-20-30 = 0 => Ey = 10kN
FBD of joints
Fx = 0; Fy = 0

Fx = 0; Fy = 0

Find AB, AC forces

Find BC, BD forces

Fx = 0; Fy = 0

Fy = 0

Find CD, CE forces

Find DE forces
Fx = 0 can be checked

R. Ganesh Narayanan

73

Q = 100 N; smooth surfaces; Find

reactions at A, B, C

roller

100
100

roller

A
30

Rc
RA
RB

F = 0 => (-RA cos 60 - RB cos 60 + Rc) i + (-2 x 100 + RB

sin 60 + RA sin 60) j = 0
RC = (RA + RB)/2
RB + RA = 230.94

RC = 115.5 N

100
RAB
30

Rc

F = 0 => (-RAB cos 30 - RB cos 60 + Rc) i + (RB Sin 60 100 - RAB

sin 30) j = 0
0.866 RAB + 0.5 RB = 115.5; -0.5 RAB + 0.866 RB = 100

RB

RAB = 50 N (app.); RB = 144.4 N; RA = 230.94-144.4 = 86.5 N

R. Ganesh Narayanan

74

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
Newtons third law is followed

R. Ganesh Narayanan

75

Methodology for method of joints

F

A
B

Fy = 0; Fx = 0

Finally sign can be changed if

not applied correctly

R. Ganesh Narayanan

76

B
5

5
5

A
30

R. Ganesh Narayanan

D
5

C
20

5
5
E
kN, m

77

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
R. Ganesh Narayanan

78

Methodology for method of sections

F

A
B
L

C
R1

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
R. Ganesh Narayanan
initially unknown

79

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;
R. Ganesh Narayanan
80
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

MB = 0 => FORCE IN EF; BE, BC = 0

Fy = 0 => FORCE IN BE; BC, EF = 0

Section 1

Section 2

ME = 0 => FORCE IN BC; EF, BE = 0

R. Ganesh Narayanan

81

Section AA and BB are

possible

convenient
R. Ganesh Narayanan

82

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
R. Ganesh Narayanan

83

Meriem/Kraige
Find the forces included in members KL,
CL, CB by the 20 ton load on the cantilever
truss
y

KL
K
CL
G

CB

20 T

Section 1

Section 2

Moment abt. L => CB is compressive => creates CW moment

Moment abt. C => KL is tensile => creates CW moment
R. Ganesh Narayanan

CL is assumed to be compressive

84

KL
K

CL

20 T

x
P

CB

Section 1

Section 2

BL = 16 + (26-16)/2 = 12 ft
= tan -1 (5/12) => cos = 12/13

ML = 0 => 20 (5) (12)- CB (21) = 0 => CB = 57.1 t (C)

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

R. Ganesh Narayanan

85

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
MG = -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
Moment abt. A => CD, JK Eliminated; CJ will be upwards creating CCW moment
Moment abt. C => JK must be towards right creating CCW moment
R. Ganesh Narayanan
ASSUME CD TO HAVE TENSILE FORCE

86

From section 1 FBD

MA = 0 => CJ (12) (0.707) 10 (4) -10( 8) =0; CJ = 14.14 Kn

MJ = 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

MG = 0 => 12 DJ +10(16)+10(20)-18.3 (24)14.14 (0.707)(12) = 0
DJ = 16.7 kN
R. Ganesh Narayanan

87

I.H. Shames

FBD - 1

FBD - 2
From FBD-2
MB = 0 => -(10)(500)+30 (789)- FAC Sin 30 (30) = 0
FAC = 1244.67 N
From FBD -1
Fx = 0 => FDA Cos 30 (1244.67) cos 30 1000 sin 30 = 0 ;
FDA = 1822 N
Ganesh
Narayanan
Fy = 0 => (1822)Sin 30 + (1244.67)R.sin
30 +F
AB 1000 Cos 30 = 0; FAB = -667 N

88

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
R. Ganesh Narayanan

89

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

R. Ganesh Narayanan

90

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

R. Ganesh Narayanan

91

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
R. Ganesh Narayanan

92

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

R. Ganesh Narayanan

93

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

R. Ganesh Narayanan

94

Full truss
K, J are un-necessary
here

AE

AF

BD

R. Ganesh Narayanan

95

Meriem/Kraige
B

30 lb
12

20 ft
Find the forces in all the frames;
neglect weight of each member

50 lb

12
E

20 ft
A

C
30 ft

FBD of full frame

30 lb

Mc = 0 => 50 (12) +30(40)-30 (Ay) = 0; Ay = 60 lb

Fy = 0 => Cy 50 (4/5) 60 = 0 => Cy = 100 lb
50 lb
Cx
R. Ganesh Narayanan

Ay

Ax

Cy

96

FBD of individual members

EF: Two force member; E, F are
compressive
ED:
MD = 0 => 50(12)-12E = 0 => E = 50 lb
F = 0 => D-50-50 = 0 => D= 100 lb
(components will be eliminated)
EF: F = 50 lb (opposite and equal to E)
AB:
MA = 0 => 50(3/5)(20)-Bx (40) = 0 => Bx = 15 lb

Fx = 0 => Ax+15-50(3/5) = 0 => Ax = 15 lb

Fy = 0 => 50 (4/5)-60-By = 0 =>By = -20 lb

Fx

Fx = -50 (cos 53.1)+15+15 = -30+15+15 = 0

BC: Fx = 0 => 30 +100 (3/5)-15-Cx = 0 => Cx = 75 lb
R. Ganesh Narayanan

53.1 deg

Fy

97

Find the force in link DE and components of

forces exerted at C on member BCD

A
160

480 N

60

FBD of full frame

Ay

80

Ax

60

100

150

160
480 N

B
Bx

80

Fy = 0 => Ay-480 = 0 =>Ay = 480 N

MA = 0 => Bx (160)-480 (100) = 0 => Bx = 300 N
Fx = 0 => 300+Ax = 0 => Ax = -300 N

E
100

150

-1 (80/150)
Ganesh
Narayanan
=R.tan
= 28.07 deg

98

DE: Two force member

FDE

FBD of BCD
FBD of AE
Ay

Cy

300
A

480 N

Cx
C

Ax

D
FBD of DE

FDE
FDE
Cx

FDE

Cy
E

FDE

Mc = 0 => -FDE sin 28.07 (250) 300(80)-480 (100) = 0; FDE = -561 N

Fx = 0 => Cx (-561) cos 28.07 +300 = 0 => Cx = -795 N
Fy = 0 => Cy (-561) sin 28.07 480 = 0 => Cy = 216 N
R. Ganesh Narayanan

99

Meriem/Kraige

3m

Find the horizontal and vertical

components of all the forces; neglect
weight of each member

A
1.5m
0.5m

FBD of full frame

2m

R =0.5 m
B

1.5m

Ay

Ax

1.5m
D
400 kg

0.4 x 9.81 = 3.92

Dx

MA = 0 => 5.5 (-0.4) (9.81) + 5Dx = 0 => Dx = 4.32 kN

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

R. Ganesh Narayanan

100

FBD of individual members

3.92

3.92
4.32

Bx B

3.92

3.92
By

3.92

Ex

Bx

3.92

Cx

Ey

3.92
Ey

By

3.92

Cy

Ex

4.32
D

3m

Cx

2m

C
1.5m

Cy

0.5m

Apply equilibrium equn. And solve for

forces

R =0.5 m
B

1.5m
C
1.5m

R. Ganesh Narayanan

101
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,

M A = 0 = aP bQ

a
P
R. b
Ganesh Narayanan

Q=

102

Center of mass & center of gravity

BODY

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
R. Ganesh Narayanan

103

Moment abt. Y axis = dw (x)

Sum of moments for small regions through out the
body: x dw

dw

Moment of w force with Y axis = w x

r
r

x dw = w x
Sum of moments

X = ( x dw) / w

Y = ( y dw) / w
W = mg

X = ( x dm) / m

Y = ( y dm) / m
R. Ganesh Narayanan

Moment of the sum

Z = ( z dw) / w
1

Z = ( z dm) / m
104

In vector form,

r = ( r dm) / m

= m/V; dm = dv

X = ( x dv) / dv
4

Y = ( y dv) / dv

= not constant through out

body

Z = ( z dv) / 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
R. Ganesh Narayanan

105

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

Y = ( y dA) / A

Z = ( z dA) / A

Y = ( y dL) / L

Z = ( z dL) / L

Centroid of area

X = ( x dA) / A
Centroid of line

X = ( x dL) / L

R. Ganesh Narayanan

106

Find the y-coordinate of centroid of the triangular area

X / (h-y) = b/h

AY = y dA

dy
y

h
x
x

b
h

b h (y) = y (x dy) = y [b (h-y) / h] dy = b h2 / 6

0

Y=h/3

R. Ganesh Narayanan

107

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
R. Ganesh Narayanan

108

External effects in beams

Reaction due to supports, distributed load, concentrated loads

Internal effects in beams

Shear, bending, torsion of beams
v
M
v

SHEAR

M
R. Ganesh Narayanan

BENDING

TORSION

109

compression
Tension

D
T

D
E

Cx

D
T
J

Cy

FBE

B
W
G

SECTION - J

AX

A
A

AY
V SHEAR FORCE

Internal forces in beam

R. Ganesh Narayanan

F AXIAL FORCE
M BENDING MOMENT AT J

110

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

R. Ganesh Narayanan

111

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.

+ VE SHEAR FORCE
+VE BENDING MOMENT

V
SECTION C

SECTION C

R. Ganesh Narayanan

SECTION C

112

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
moment is correct
R. Ganesh
Narayanan

113

Beer/Johnston

Evaluate the Variation of shear and bending

moment along beam

MB= 0 =>RA (-L)+P (L/2) = 0; RA= +P/2

RB = +P/2

SECTION AT C
Between A & D

SECTION AT E
Between D & B

R. Ganesh Narayanan

114

SECTION AT C; C is at x distance from A

Member AC:

Fy = 0 => P/2-V = 0; V = +P/2

Mc = 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
R. Ganesh Narayanan

115

SECTION AT E; E is at x distance from A

CONSIDER AE:

Fy = 0 => P/2-P-V = 0; V = -P/2

ME = 0 => (- P/2) (X) +P(X-L/2)+ M = 0; M = +P(L-X)/2
EB CAN ALSO
BE CONSIDERED
R. Ganesh Narayanan

116

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

R. Ganesh Narayanan

117

Slide 117
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
MB = 0:

B y = 365 N

(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
R. Ganesh Narayanan
D.

118

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
R. Ganesh Narayanan
119
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 :
M2 = 0:

515 480 400 V = 0

V = 365 N

515 x + 480 ( x 6 ) 1600 + 400 ( x 18 ) + M = 0

M = (11,680 365 x ) N cm

R. Ganesh Narayanan

120

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 R.toGanesh
0
Narayanan

121

300 lb

100 lb/ft

Find the shear force and

bending moment for the
loaded beam

4 ft

R. Ganesh Narayanan

122

Machine

R. Ganesh Narayanan

123

R. Ganesh Narayanan

124

Friction
Earlier we assumed action and reaction forces at contacting surfaces
are normal
Seen as smooth surface not practically true
Normal & tangential forces are important
Tangential forces generated near contacting surfaces are
FRICTIONAL FORCES
Sliding of one contact surface to other friction occurs and it is
opposite to the applied force
Reduce friction in bearings, power screws, gears, aircraft propulsion,
missiles through the atmosphere, fluid flow etc.
Maximize friction in brakes, clutches, belt drives etc.
Friction dissipated as heatR.Ganesh
loss Narayanan
of energy, wear of parts etc.

125

Friction
Dry friction

Fluid friction

(coulomb friction)
Occurs when the adjacent layers in a
fluid (liquid, gas) are moving at different
Occurs when un-lubricated surfaces are velocities
in contact during sliding
This motion causes friction between
friction force always oppose the sliding fluid elements
motion
Depends on the relative velocity
between layers
No relative velocity no fluid friction
depends on the viscosity of fluid
measure of resistance to shearing action
between the fluid layers
R. Ganesh Narayanan

126

Dry friction: Laws of dry friction

W weight; N Reaction of the surface

A

Only vertical component

P applied load
A
F
N

F static friction force : resultant of many forces acting over

the entire contact area
Because of irregularities in surface & molecular attraction

R. Ganesh Narayanan

127

Equilibrium

Fm

Motion

Fk

N
More irregularities
interaction

Less irregularities
interaction

P is increased; F is also increased and continue to oppose P

This happens till maximum Fm is reached Body tend to move till Fm is reached
After this point, block is in motion
Block in motion: Fm reduced to Fk lower value kinetic friction force and it
remains same related to irregularities interaction
N reaches B from A Then tipping occurs abt. B
R. Ganesh Narayanan

128

EXPERIMENTAL EVIDENCE:
Fm proportional to N
Fm = s N; s static friction co-efficient
Similarly, Fk = k N; k kinetic friction co-efficient

k = 0.75 s
s and k depends on the nature of
surface; not on contact area of
surface
R. Ganesh Narayanan

129

Four situations can occur when a rigid body is in contact with a

horizontal surface:
We have horizontal and vertical force equilibrium equns. and
F=N

F
Equilibrium

Fm

Motion

Fk
p

No motion,
(Px < Fm)

R. Ganesh Narayanan

130

It is sometimes convenient to replace normal force N and friction force

F by their resultant R:

No friction

No motion

Motion impending

Fm s N
Fk k N
tan s =
=
tank =
=
N
N
N
N
tan s = s
tank = k
R. Ganesh Narayanan

Motion

s angle of static
friction maximum angle
(like Fm)
k angle of kinetic
friction; k < s

131

Consider block of weight W resting on board with variable inclination

angle .
ANGLE OF INCLINATION IS INCREASING

Angle of inclination =
angle of repose; = s
R. Ganesh Narayanan

R Not vertical
132

Three categories of problems

First category: to know a body slips or not

All applied forces are given, co-effts. of friction are known

Find whether the body will remain at rest or slide
Friction force F required to maintain equilibrium is unknown
(magnitude not equal to s N)
Solution
Determine F required for equilibrium, by solving equilibrium equns; Also find
N
Compare F obtained with maximum value Fm i.e., from Fm = s N
F is smaller or equal to Fm, then body is at rest
Otherwise body starts moving
Narayanan
Actual friction force magnitude =R. FGanesh
k = k N

133

Beer/Johnston

A 100 N force acts as shown on a 300 N block

placed on an inclined plane. The coefficients of
friction between the block and plane are s = 0.25
and k = 0.20. Determine whether the block is in
equilibrium and find the value of the friction force.
= 36.9 DEG

Fx = 0 :

100 N - 53 (300 N ) F = 0

F = 80 N
= 36.9
DEG

Fy = 0 :

N - 54 (300 N ) = 0

N = 240 N
Fm = s N = 0.25 (240) = 60 N

Fm < F
R.
Ganesh
Narayanan
The
block
will slide

down the plane.

134

 If maximum friction force is less than friction force

required for equilibrium, block will slide. Calculate
kinetic-friction force.
Factual = Fk = k N

= 0 .20 (240 N )
Factual = 48 N

F
Equilibrium

Fm

Motion

Fk
p

R. Ganesh Narayanan

135

Meriam/Kraige; 6/8

Cylinder weight: 30 kg; Dia: 400 mm

Static friction co-efft: 0.30 between cylinder and surface
M

Calculate the applied CW couple M which cause the cylinder

to slip

30

Fx = 0 = -NA+0.3NB Cos 30-NB Sin 30 = 0

30 x 9.81

Fy = 0 =>-294.3+0.3NA+NBCos 30-0.3NB Sin 30 = 0

Find NA & NB by solving these two equns.

M
FB = 0.3 NB

NA
C

MC = 0 = > 0.3 NA (0.2)+0.3 NB (0.2) - M = 0

Put NA & NB; Find M

NA = 237 N & NB R.=Ganesh

312 Narayanan
N; M = 33 Nm

NB

FA = 0.3 NA

136

Paint

Second category: Impending relative motion when two or

three bodies in contact with each other

Wooden
block

Meriam/Kraige; 6/5

Wooden block: 1.2 kg; Paint: 9 kg

12

Roof
surface

Determine the magnitude and direction of (1) the friction

force exerted by roof surface on the wooden block, (2)
total force exerted by roof surface on the wooden block
10.2x 9.81

= tan-1 (4/12) = 18.43

(2) Total force = 10.2 x 9.81 = 100.06 N UP

F

(1) Fx = 0 => -F+100.06 sin 18.43 => F = 31.6 N

Fy = 0 => N = 95 N
R. Ganesh Narayanan

137

Beer/Johnston

For 20 kg block

For 30 kg block

(a)

20 x 9.81 = 196.2 N

30 x 9.81 = 294.3 N
N1

F1
T
F1

P
F2

N1

N2

R. Ganesh Narayanan

138

(B)

490.5 N

R. Ganesh Narayanan

139

Beer/Johnston
B

A 6.5-m ladder AB of mass 10 kg leans against a wall as shown.

Assuming that the coefficient of static friction on s is the same at
both surfaces of contact, determine the smallest value of s for which
equilibrium can be maintained.

6m

Slip impends at both A and B, FA= sNA, FB= sNB

2.5 m

Fx=0=> FANB=0, NB=FA=sNA

FB

Fy=0=> NAW+FB=0, NA+FB=W

NB

NA+sNB=W; W = NA(1+s2)
W

Mo = 0 => (6) NB - (2.5) (NA) +(W) (1.25) = 0

6sNA - 2.5 NA + NA(1+s2) 1.25 = 0
s = -2.4 2.6 = > Min s = 0.2

R. Ganesh Narayanan

A
NA

FA
1.25

O
1.25

140

Wedges
Wedges - simple machines used to raise heavy
loads like wooden block, stone etc.
Loads can be raised by applying force P to
wedge
Force required to lift block is significantly less
than block weight
A wooden block

Friction at AC & CD prevents wedge from sliding

out

C, D Wedges

Want to find minimum force P to raise block

R. Ganesh Narayanan

141

FBD of block

FBD of wedge

F3
6

Fx = 0 :

Fx = 0 :

s N 2 N 3 ( s cos 6 sin 6 )

N1 + s N 2 = 0

+P=0

Fy = 0 :
W s N1 + N 2 = 0

6
N3

Fy = 0 :
N 2 + N 3 (cos 6 s sin 6 ) = 0

R. Ganesh Narayanan

142

Beer/Johnston
Two 8 wedges of negligible weight are used to move
and position a 530-N block. Knowing that the
coefficient of static friction is 0.40 at all surfaces of
contact, determine the magnitude of the force P for
which motion of the block is impending
s = tan1 s = tan1 (0.4) = 21.801
slip impends at wedge/block
wedge/wedge and block/incline

FBD of block
530
R2

530
21.8

R1
20 21.8

41.8
91.8

R1
46.4

R2
R. Ganesh Narayanan

Using sine law,

(R2/Sin 41.8) = (530/sin 46.4)
R2 = 487.84 N
143

P = 440.6 N

R. Ganesh Narayanan

144

Beer/Johnston
A 6 steel wedge is driven into the end of an ax handle
to lock the handle to the ax head. The coefficient of
static friction between the wedge and the handle is
0.35. Knowing that a force P of magnitude 60 N was
required to insert the wedge to the equilibrium position
shown, determine the magnitude of the forces exerted
on the handle by the wedge after force P is removed.
P = 60 N

s = tan 1 s= tan 1 (0.35 ) = 19.29

By symmetry R1= R2; in EQUILIBRIUM

3
19.29

R2

R1

19.29

Fy = 0: 2R1 sin 22.29 60 N =0

R1 = R2 = 79.094 N

R. Ganesh
WHAT WILL HAPPEN
IFNarayanan
P IS REMOVED ?

145

Vertical component of R1, R2 will be eliminated

Hence, H1 = H2 = 79.094 N cos22.29 = 73.184 N
Final force = 73.184 N
Since included angle is 3(< s) from the normal, the
wedge is self-locking and will remain in place.

R. Ganesh
Narayanan
No motion

146

Screws
Used for fastening, transmitting power or motion, lifting body
Square threaded jack - screw jack

V-thread is also
possible

W- AXIAL LOAD
Upward
motion

M APPLIED MOMENT ABOUT AXIS OF SCREW

M

M=PXr
L LEAD DISTANCE Advancement per revolution
HELIX ANGLE

R. Ganesh Narayanan

147

One full thread

of screw

To raise load
W

P
P = M/r

tan (+) = P/W = M/rW

=> M = rW tan (+)

2r

= tan-1 (L/2r)

angle of friction

To lower load unwinding condition

W

P = M/r
R

<

Screw will remain in place

self locking

Moment required to
lower the screw

=> M = rW tan (-)

In verge of un-winding

R. Ganesh Narayanan

148

P = M/r

>
Moment required to
prevent unwinding

Screw will unwind itself

=> M = rW tan (-)

R. Ganesh Narayanan

149

Beer/Johnston

A clamp is used to hold two pieces of wood together

as shown. The clamp has a double square thread of
mean diameter equal to 10 mm with a pitch of 2 mm.
The coefficient of friction between threads is s =
0.30.
If a maximum torque of 40 Nm is applied in
tightening the clamp, determine (a) the force exerted
on the pieces of wood, and (b) the torque required to
loosen the clamp.

Lead distance = 2 x pitch = 2 x 2 = 4 mm

(double square thread)

r = 5 mm

2 (2 mm )
tan =
=
= 0 .1273
2 r 10 mm
tan s = s = 0 .30
L

R. Ganesh Narayanan

= 7 .3

s = 16 .7
150

a) Forces exerted on the wooded pieces

M/r tan (+) = W
W = 40 / (0.005) tan (24) = 17.96 kN
b) the torque required to loosen the clamp
M = rW tan (-) = 0.005 (17.96) tan (9.4)
M = 14.87 Nm

R. Ganesh Narayanan

151

Beer/Johnston
The position of the automobile jack shown is
controlled by a screw ABC that is singlethreaded at each end (right-handed thread at A,
left-handed thread at C). Each thread has a pitch
of 2 mm and a mean diameter of 7.5 mm. If the
coefficient of static friction is 0.15, determine the
magnitude of the couple M that must be applied
to raise the automobile.
FBD joint D:

By symmetry:

Fy = 0 => 2FADsin254 kN=0

4 kN

FAD = FCD = 4.73 kN

25

FAD

25

FCD
R. Ganesh Narayanan

152

FBD joint A:
4.73 kN
25

25

FAC

Fx = 0 => FAC2(4.73) cos25=0

FAC = 8.57 kN

FAE = 4.73
Joint A
W = FAC = 8.57

Here is used instead of used earlier

P = M/r

L = Pitch = 2 mm

(7.5)

MA = rW tan (+) = (7.5/2) (8.57) tan (13.38) = 7.63 Nm

Similarly, at C, Mc = 7.63 Nm (by symmetry); Total moment = 7.63 (2) = 15.27 Nm
R. Ganesh Narayanan

153

Journal & Thrust bearing

Journal bearings provide lateral support to rotating shafts
Thrust bearings provide axial support
bearing

shaft

Journal bearing - Axle friction

bearing

shaft

Thrust bearing - Disc friction

R. Ganesh Narayanan

154

Friction in full circular area

- DISK FRICTION (Eg., Disc clutch)

Friction between two

ring shaped areas

Consider Hollow shaft (R1, R2)

M Moment required for shaft
rotation at constant speed
P axial force which maintains
shaft in contact with bearing
R. Ganesh Narayanan

155

Couple moment required to overcome friction

resistance, M

Equilibrium conditions and moment equations are

necessary to solve problems
R. Ganesh Narayanan

156

Beer/Johnston
A .178 m-diameter buffer weighs 10.1 N. The
coefficient of kinetic friction between the buffing pad
and the surface being polished is 0.60. Assuming
that the normal force per unit area between the pad
and the surface is uniformly distributed, determine
the magnitude Q of the horizontal forces required to
prevent motion of the buffer.

Mo = 0 => (0.2) Q M = 0; Q = M / 0.2

M
O

M = 2/3 (0.6) (10.1) (0.178/2) = 0.36 Nm

Q = M / 0.2 = 0.36/0.2 = 1.8 N

R. Ganesh Narayanan

0.2 m

-Q
157

Consider flat belt, cylindrical

drum

Belt friction
Draw free-body diagram for PP element of belt

(
)
F
=
0
:
T
+

T
cos

T
cos
s N = 0
x
2
2

(
)
F
=
0
:

T
+

T
sin

T
sin
=0
y
2
2

dT / T = S d
T2

dT / T = S d

T1

angle of
contact

ln (T2/T1) = S ; T2/T1 = e S
R. Ganesh Narayanan

158

ln (T2/T1) = S ; T2/T1 = e S
Applicable to belts passing over fixed drums; ropes wrapped around a post; belt
drives
T2 > T1
This formula can be used only if belt, rope are about to slip;
Angle of contact is radians; rope is wrapped n times - 2n rad
In belt drives, pulley with lesser value slips first, with S remaining same

V- Belt

T2/T1 = e S /sin (/2)

R. Ganesh Narayanan

159

Beer/Johnston
A flat belt connects pulley A to pulley B. The
coefficients of friction are s = 0.25 and k = 0.20
between both pulleys and the belt.
Knowing that the maximum allowable tension in the
belt is 600 N, determine the largest torque which can
be exerted by the belt on pulley A.

Since angle of contact is smaller, slippage will occur on pulley B first. Determine
belt tensions based on pulley B; = 120 deg = 2/3 rad

T2
= e
T1

600 N
= e 0 . 25 (2 3 ) = 1 . 688
T1

600 N
T1 =
= 355 . 4 N
1.688
R. Ganesh Narayanan

160

M A = 0:

M A + (8 c m )(355 .4 N 600 N ) = 0
M A = 1956 .8 N c m

Check for belt not sliping at pulley A:

ln (600/355.4) = x 4/3 => = 0.125 < 0.25

R. Ganesh Narayanan

161

Beer/Johnston
A 120-kg block is supported by a rope which is
wrapped 1.5 - times around a horizontal rod. Knowing
that the coefficient of static friction between the rope
and the rod is 0.15, determine the range of values of P
for which equilibrium is maintained.

= 1.5 turns = 3 rad

For impending motion of W up

P = W e s = (1177.2 N) e (0.15)3
= 4839.7 N

W = 9.81 X 120 =
1177.2 N

For impending motion of W down

P = W es = (1177.2 N) e(0.15)3
= 286.3 N

R. Ganesh286
Narayanan
For equilibrium:
N P 4.84 kN

162

Beer/Johnston
In the pivoted motor mount shown, the weight W of the
175-N motor is used to maintain tension in the drive
belt. Knowing that the coefficient of static friction
between the flat belt and drums A and B is 0.40, and
neglecting the weight of platform CD, determine the
largest couple which can be transmitted to drum B when
the drive drum A is rotating clockwise.
For impending belt slip: CW rotation

= radians

Obtain FBD of motor and mount; MD = 0 => find T1 and T2

T1 = 54.5 N, T2 = 191.5 N

Obtain FBD of drum at B; MB in CCW; MB = 0; Find MB

MB=10.27 N.m

R. Ganesh Narayanan

163

Virtual work
We have analyzed equilibrium of a body by isolating it with a FBD
and equilibrium equations
Class of problems where interconnected members move relative to
each other; equilibrium equations are not the direct and
conventional method
Concept of work done by force is more direct => Method of virtual
work

R. Ganesh Narayanan

164

Work done U by the force F on the body during

displacement is the compt. Of force in the
displacement direction times the displacement

Work of a force
F

U = +(F cos ) S (+ ve)

F

U = +F (cos S)

Work is a scalar quantity as we get same result regardless

of direction in which we resolve vectors
A

A
S

U = -(F cos ) S

R. Ganesh
Narayanan
U = 0 if S
= 0 and
= 90 deg

165

F
A1

A2

dr

Work done by force F during

displacement dr is given by, dU = F.dr
dU = (Fx i + Fy j + Fz k).(dx i + dy j + dz k)
= Fx dx + Fy dy + Fz dz

U = F.dr = Fx dx + Fy dy + Fz dz
We should know relation between the force and their coordinates
d

Work of a couple
Moment can be taken
instead of forces

dU = M d
M

-F

U = M d

F
R. Ganesh Narayanan

166

Forces which do no work

ds = 0; cos = 0
reaction at a frictionless pin due to rotation of a body around the
pin
reaction at a frictionless surface due to motion of a body along the
surface
weight of a body with cg moving horizontally
friction force on a wheel moving without slipping
Only work done by applied forces, loads, friction forces need to
be considered

R. Ganesh Narayanan

167

Sum of work done by several forces may be zero

bodies connected by a frictionless pin
=> W.D by F and F is opposite and will cancel
bodies connected by an inextensible cord
internal forces holding together particles of a rigid
body

A, B particles

Rigid body

F, -F are acting as shown

Though dr, dr are different, components of these
displacements along AB must be equal, otherwise
distance between the particles will change and this is
not a rigid body; so U done by F and F cancel each
other, i.e, U of internal forces = 0R. Ganesh Narayanan

168

Principle of virtual work

Imagine the small virtual displacement of particle which is
acted upon by several forces F1, F2, .. Fn
Imagine the small displacement A to A
This is possible displacement, but will not occur
AA ---- VIRTUAL DISPLACEMENT, r (not dr)
Work done by these forces F1, F2, .Fn during virtual
displacement r is called VIRTUAL WORK, U

U = F1. r + F2. r + ..+ Fn. r = R . r

Total virtual work of the
forces R. Ganesh Narayanan

Virtual work of
the resultant 169

Principle of virtual work for particle

Principle of virtual work for rigid body

Principle of virtual work for system of interconnected rigid bodies

Work of internal forces

zero (proved earlier)
R. Ganeshis
Narayanan

170

Applications of Principle of virtual work

Mainly applicable to the solutions of problems involving machines or mechanisms
consisting of several interconnected rigid bodies
TOGGLE VISE

Wish to determine the force of the vice on the block for a given force
P assuming no friction
Virtual displacement is given; This results in xB and yc.
Here no work is done byR.Ax,
AyNarayanan
at A and N at B
Ganesh
171

UQ = -Q xB ; UP = -P yc

Output work = Input work

In this problem, we have eliminated all un-known reactions, while

MA = 0 would have eliminated only TWO unknowns
The same problem can be used to find for which the
linkage is in equilibrium under two forces P and Q
R. Ganesh Narayanan

172

Real machines

For an ideal machine without friction, the output work is equal to the input
work; 2Ql cos = Pl sin
In real machine, output work < input work => because of presence of
friction forces
Output work = Input work
friction force work

U = Q x B PyC Fx B = 0
0 = 2 Ql cos + Pl sin Pl cos
Q =

1
2

P (tan )

R. Ganesh Narayanan

Q = 0 if tan = => = , angle of friction

173

Mechanical efficiency
Mechanical efficiency of m/c, = Output work / Input work
For toggle vise, = 2Ql cos / Pl sin
Substituting Q = P (tan ) here
= 1 cot
In the absence of friction forces, = 0 and hence = 1 => Ideal m/c
For real m/c, < 1

R. Ganesh Narayanan

174

Beer/Johnston

Determine the magnitude of the couple M

required to maintain the equilibrium of the
mechanism.
Virtual displacement = , xD, Work done by Ex,
Ey, A is zero

By virtual work principle,

U = UM + Up = 0
M + P xD = 0
xD = -3l sin can be obtained from
geometry
M = 3Pl sin

R. Ganesh Narayanan

175

Beer/Johnston

A hydraulic lift table consisting of two identical

linkages and hydraulic cylinders is used to raise a
1000-kg crate. Members EDB and CG are each
of length 2a and member AD is pinned to the
midpoint of EDB.
Determine the force exerted by each cylinder in
raising the crate for = 60o, a = 0.70 m, and L =
3.20 m.

Work done is zero for Ex, Ey, Fcg;R.Work

by W, FDH will be considered
Ganeshdone
Narayanan

176

1)

---- (1)
W, y are in opposite
direction, (-)sign will come

FDH, s are in same direction,

(+) sign will come

2) Express y, s in terms of

y = 2a cos ; s = (aL sin/s)

Substituting y & s in (1) gives,
-(1/2) W (2a cos ) + (FDH) (aL sin/s) = 0
FDH = W (s/L) cot
3) Apply numerical data
FDH = (1000 X 9.81) (2.91/3.2) cot R.
60Ganesh
= 5.15
kN
Narayanan

177
S is obtained from this triangle

Beer/Johnston

The mechanism shown is acted upon by the force P.

Derive an expression for the magnitude of the force Q
required for equilibrium.
W.D. by Ay, Bx, By will be zero

U = 0 => +Q (XA) - P (YF)

Find XA and YF in terms of
(Check calculation of XA and YF)

Ay

XA
Q

XA

By
Bx

U = Q(2l cos ) - P(3l sin ) = 0

YF
Yf
x

R. Ganesh Narayanan

178

Work of force using finite displacement

Work of force F corresponding to infinitesimal displacement,
dr = dU = F. dr
Work of F corresponding to a finite displacement of particle
from A1 to A2 and covering distances S1, S2,
A2

U1-2 = F . dr
A1

S2

or U1-2 = (F cos) ds = F (S2-S1)

S1

S1, S2 distance along the path traveled by the particle

Area under curve = U1-2

Similarly, work of a couple of moment M, dU = M d

2

U1-2 = M d = M (2-1)
1

R. Ganesh Narayanan

179

Work of a weight

Work of a spring

F=kx
k spring
constant, N/m

dU = Wdy
y2

dU = Fdx = (kx )dx

U 1 2 = Wdy
y1

= Wy 1 Wy 2

U 1 2 =

= W y
Work is equal to product of W and
vertical displacement of CG of body;
Body moves upwards; Body moving
downwards will have +ve work done

x2

kx dx

x1

U 1 2 = 12 ( F1 + F2 ) x
= 12 kx 12 12 kx 22
+ve work done is expected if x2 < x1, i.e.,
when spring is returning to its un-deformed
position
R. Ganesh
Narayanan

180

Potential Energy
Work of a weight:

U 1 2 = Wy 1 Wy 2

The work is independent of path and depends only on

positions (A1, A2) or Wy
Wy = V g = potential energy of the body with r
respect to the force of gravity W

( ) ( )

U 1 2 = V g V g
1
2

Vg1 < Vg2 => PE is increasing with displacement in this

case, work done is negative
Work is positive, if PE decreases

Unit of PE Joule (J)

R. Ganesh Narayanan

181

Work of a spring
U 1 2 =

1 kx 2
2 1

12 kx 22

= (V e )1 (V e )2

V e = potential energy of the body with

r
respect to the elastic force F

Here PE increases, work done is (-ve)

Now in general, it is possible to find a function V, called potential energy, such
that, dU = -dV

U1-2 = V1 V2 => A force which satisfies this eqn. is conservative force

Work is independent of path & negative of change in PE for the
cases seen
R. Ganesh Narayanan

182

Potential energy & equilibrium

(V/) = 0

Considering virtual displacement, U = -V = 0

=> (dV / d) = 0 => position of the variable defined by single independent

1variable,

In terms of potential energy, the virtual work principle states that if a system is in
equilibrium, the derivative of its total potential energy is zero
2
Example:

For equilibrium, U = (Ve + Vg)

Initial spring length = AD
Work is done only by W, F

R. Ganesh Narayanan

183

Total potential energy of the system, V = Vg + Ve

For W

For F

dv/d = 4kl2sin cos Wl sin = 0

= 0 and = cos-1 (W/4kl)

R. Ganesh Narayanan

184

4bsin/2

Two uniform links of mass, m are connected as

shown. As the angle increases with P applied in O
b
the direction shown, the light rod connected at A,
passes thro pivoted collar B, compresses the
spring (k). If the uncompressed position of the
k
spring is at = 0, find the force which will
produce equilibrium at the angle

Vg = 0
b

B
b

Compression distance of spring, x = movement of A away from B; X = 2b sin /2

U = (Ve + Vg)

Ve = k x2; Vg = mgh
U = P (4b sin /2)

Find Ve, Ve; Vg, Vg; U (of P)

2Pb cos /2 = 2kb2sin /2 cos /2 + mgb sin /2
P = kb sin /2 + mg tan /2
R. Ganesh Narayanan

185

Meriam/Kraige, 7/39

Vg = 0

For the device shown the spring would be un-stretched

in the position =0. Specify the stiffness k of the spring
which will establish an equilibrium position in the
vertical plane. The mass of links are negligible.

y
b

m
Spring stretch distance, x = 2b-2b cos
Ve = k [(2b)(1-cos )]2 = 2kb2 (1-cos )2
Vg = -mgy = -mg (2bsin) = -2mgbsin
V = 2kb2 (1-cos )2 - 2mgbsin

For equilibrium, dv / d = 4kb2(1-cos ) sin - 2mgb cos = 0

=> K = (mg/2b) (cot /1-cos )
R. Ganesh Narayanan

186

Stability of equilibrium (one DOF )

dV
=0
d

dV
=0
d

AB

d2V / d2 > 0

AB

d2V / d2 < 0

R. Ganesh Narayanan

Must examine higher

order derivatives and are
187
zero

Beer/Johnston

Knowing that the spring BC is un-stretched when = 0,

determine the position or positions of equilibrium and state
whether the equilibrium is stable, unstable, or neutral.

V = Ve + V g
=

1
2

ks 2 + mgy

1
2

k (a )2 + mg (b cos )

dV
= 0 = ka 2 mgb sin
d

(
4 kN m )(0 .08 m )2
ka 2
sin =
=

2
mgb
(10 kg ) 9 .81 m s (0 .3m )

= 0 .8699

= 0 R. Ganesh
=Narayanan
0 .902 rad = 51 .7

188

d 2V
d 2

= ka 2 mgb cos

= (4 kN m )(0.08 m )2 (10 kg ) 9.81 m s 2 (0.3m )cos

= 25 .6 29 .43 cos
2

at = 0:

at = 51.7o:

d V
d

d 2V
d

= 3.83 < 0
= + 7 .36 > 0

R. Ganesh Narayanan

unstable

stable

189

Beer/Johnston (10.81)
Spring AB of constant 2 kN/m is attached to two
identical drums as shown.
Knowing that the spring is un-stretched when =
0, determine (a) the range of values of the mass
m of the block for which a position of equilibrium
exists, (b) the range of values of for which the
equilibrium is stable.

A
B
A

R. Ganesh Narayanan

190

(Sin varies from 0 to 1)

(Cos varies from 1 to 0)

R. Ganesh Narayanan

191

Moments of inertia : The moment of inertia of an object about a given axis

describes how difficult it is to change its angular motion about that axis.

Centroid of volume:
XV = ( xc dv)
YV = ( yc dv)

ZV = ( zc dv)

First moment of volume

w.r.t. yz plane

Centroid of area:
XA = ( xc dA)

YA = ( yc dA)

ZA = ( zc dA)

Centroid of
volume

Symmetry plane

R. Ganesh Narayanan

xc dv = 0

192

Consider a beam subjected to pure bending.

Internal forces vary linearly with distance from
the neutral axis which passes through the section
centroid.
X-axis => neutral axis => centroid of section
passes
F = k y A vary linearly with distance y

r
F = ky A
MX = y F = k y2 A;

R = k y dA = 0
M = k y 2 dA

y dA = Q x = first moment
2
y
dA = second moment

Moment of inertia of beam

section w.r.t x-axis, IX (+VE)193
R. Ganesh Narayanan

Rectangular moment of inertia

Second moments or moments of inertia of an area with
respect to the x and y axes,

I x = y 2dA

I y = x2dA

For a rectangular area,

I x = y 2 dA = y 2bdy = 13 bh3
0
b

IY = x2 dA = x2 h dx = 1/3 b3h
0

R. Ganesh Narayanan

194

Polar moment of inertia

The polar moment of inertia is an important parameter in problems involving
torsion of cylindrical shafts and rotations of slabs.

J 0 = r 2 dA

The polar moment of inertia is related to the rectangular moments of

inertia,

J 0 = r 2 dA =

( x 2 + y 2 )dA = x 2 dA + y 2 dA

= Iy + Ix
R. Ganesh Narayanan

195

Radius of gyration
Consider area A with moment of inertia Ix. Imagine that
the area is concentrated in a thin strip parallel to the x axis
with equivalent Ix.

Ix =

k x2 A

kx =

Ix
A

kx = radius of gyration with respect to the x axis

Iy =

k y2 A

J O = k O2 A

ky =
kO =

Iy
A
JO
A

k O2 = k x2 + k y2
R. Ganesh Narayanan

196

Determination of MI by area of integration

Determine the moment of inertia of a
triangle with respect to its base.

Beer/Johnston

dA = l dy
For similar triangles,

l h y
=
b
h

Ix =

y dA =

h y
l=b
h
h

b
=
h

h y
b
y b
dy =
h
h
2

2
3
(
)dy
hy

h
0

y
y

3
4

0
3

h y
dA = b
dy
h

bh 3
I x=
12

R. Ganesh Narayanan

197

MI of rectangular area:

Ix =

y2

dA =

y2

bdy = 1/3

bh3;

Iy = 1/3

dA = bdy

hb3

About centroidal axis (X, Y): Ix = 1/12 bh3; Iy = 1/12 b3h

dy
b

y
x

MI - Ix and Iy for elemental strip:

y

dIx = 1/3 dx (y3) = 1/3 y3 dx

dx

dIy = x2dA = x2y dx or 1/3 x3dy

dy

x
dA = Ydx

From this, MI of whole area can be

calculated by integration
R. Ganesh Narayanan

198

Beer/Johnston (9.1)

Find MI w.r.t Y axis

a
b

y = k x5/2
x

R. Ganesh Narayanan

199

Triangle: bh3/12 (about base)

Circular area: /4 r4 (about dia)
Rectangular area: bh3/3 (about base)

R. Ganesh Narayanan

200

Parallel axis theorem

Consider moment of inertia I of an area A with respect
to the axis AA

I = y dA

B
y

(
)
y
+
d
dA

= y 2 dA + 2 d y dA + d 2 dA
MI of area with
centroidal axis

First moment of
area
0

The axis BB passes through the area centroid and

is called a centroidal axis.

I = y 2 dA =

dA

A
C Centroid
BB Centroidal axis

Jo = Jc + Ad2

Parallel axis theorem

I = I + Ad R.2 Ganesh Narayanan

201

Moments of Inertia of Composite Areas

The moment of inertia of a composite area A about a given axis is

obtained by adding the moments of inertia of the component areas A1,
A2, A3, ... , with respect to the same axis.
y

It should be noted that the radius of gyration of a composite area is not

equal to sum of radii of gyration of the component areas
R. Ganesh Narayanan

202

MI of some common geometric shapes

R. Ganesh Narayanan

203

Application 1:
Moment of inertia IT of a circular area with respect to a
tangent to the circle T,

I T = I + Ad
=
Application 2:

5
4

1
4

r4 + r2 r2

r4

Moment of inertia of a triangle with respect to a

centroidal axis,

I A A = I B B + Ad

I B B = I A A Ad

1
36

1
12

bh

1
2

bh

( h)
1
3

bh 3

Narayanan
IDD = IBB + adR.2Ganesh
= 1/36
bh3 + 1/2bh (2/3h)2 = bh3

204

shames

Find the centroid of the area of the un-equal Z section. Find the
moment of inertia of area about the centroidal axes
y

Ai

xi

yi

Aixi

Aiyi

2x1=2

7.5

15

8x1=8

2.5

20

32

4x1=4

0.5

20

Ai = 14

Aixi = 42

1
2

Aiyi = 49

Xc, Yc

3
2

Xc = 42/14 = 3 in.; Yc = 49/14 = 3.5in

Ixcxc = [(1/12)(2)(13)+(2)(42)] + [(1/12)(1)(83)+(8)(1/2)2] +
[(1/12)(4)(13)+(4)(32)] = 113.16 in4
Similarly, Iycyc = 32.67 in4

R. Ganesh Narayanan

205

Beer/Johnston:

Determine the moment of inertia of the shaded area

with respect to the x axis.

Rectangle:

I x = 13 bh3

= 13

(240)(120) = 138.2 106 mm4

Half-circle:
moment of inertia with respect to AA,

I AA = 18r4 = 18 (90)4 = 25.76106 mm4

R. Ganesh Narayanan

206

moment of inertia with respect to x,

I x = I A A Aa

= 7 . 20 10 6 mm

4 r (4 )(90 )
=
= 38 .2 mm
3
3
b = 120 - a = 81.8 mm

a=

A = 12 r 2 = 12 (90 )2

)(

6
==25.76x10
25 . 76 6 10
12 . 723)(38.2)
10 3 2
(12.72x10
4

moment of inertia with respect to x,

I x = I x + Ab 2 = 7 .20 10 6 + 12 .72 10 3 (81 .8 )2

= 92 .3 10 6 mm 4

= 12 .72 10 3 mm 2

Ix

138 .2 10 6 mm 4
R. Ganesh Narayanan

92 .3 10 6 mm 4
4
I x = 45 .9 10 6 mm207

Product of inertia, Ixy

I xy =

xy dA
[Similar to Ixx (or Ix), Iyy (or Iy)]

When the x axis, the y axis, or both are an axis of symmetry,

the product of inertia is zero.
The contributions to Ixy of dA and dA will cancel out

Parallel axis theorem for products of inertia:

Centroid C is defined by x, y

I xy = I xy + x y A
R. Ganesh Narayanan

208

Moment of inertia, Product of inertia about rotated axes

x, y rotated to x, y
Given

I x = y 2 dA

I y = x 2 dA

I xy = xy dA
we wish to determine moments and product of
inertia with respect to new axes x and y
The change of axes yields

I x =
I y =

Ix + Iy
2
Ix + Iy

I x y =

2
Ix Iy
2

Ix Iy
2
Ix Iy
2

cos 2 I xy sin 2

Ix+Iy = Ix+Iy
cos 2 + I xy sin 2

sin 2 + I R.
cos 2Narayanan
xy Ganesh

209

Principal axes & Principal MI

Imin

Imax

Assume Ixx, Iyy, Ixy are known for the reference axes x, y
At what angle of , we have maximum and minimum I
Minimum angle will be at right angles to maximum angle
These axes are called Principal axes & MI are Principal MI

Imax, min = (Ix+Iy/2) (Ix-Iy/2)2 + Ixy2

tan 2 = 2Ixy / (Iy-Ix)
R. Ganesh Narayanan

210

For the section shown, the moments of inertia with

respect to the x and y axes are Ix = 10.38 cm4 and Iy =
6.97 cm4.
Determine (a) the orientation of the principal axes of the
section about O, and (b) the values of the principal
moments of inertia about O.
Apply the parallel axis theorem to each rectangle,

I xy =

(I x y + x y A )

Note that the product of inertia with respect to centroidal axes parallel to the xy
axes is zero for each rectangle.
Rectangle
I
II
III

Area, cm 2
1 .5
1 .5
1 .5

x y A, cm 4
3 .28
0
0
0
+ 1 .25 1 .75
3 .28
R. Ganesh Narayanan
x y A = 6 .56
x , cm
1 .25

y , cm
+ 1 .75

211

tan 2 m

2 I xy
2( 6.56 )
=
=
= +3.85
Ix Iy
10 .38 6.97

2 m = 75 .4 and 255.4

m = 37.7 and m = 127.7

I max, min =

Ix + Iy
2

2
Ix I y
2
+ I xy

2
2

10 .38 + 6 .97
10 .38 6 .97
2
=

+ ( 6 .56 )

2
2

I a = I max = 15 .45 cm 4
I b = I min = 1 .897 cm 4
R. Ganesh Narayanan

212