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Week 1: DEFINITIONS, FORCES IN PLANE, CONCURRENT FORCES IN PLANE

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NOTES FOR STATICS


Zsolt Gspr
INTRODUCTION Coor,!$#te s-ste's Schools of civil engineering in Central Europe use traditionally the left-handed (Cartesian1) coordinate system, where first, second and third fingers of the left hand align with the positive x, y and z directions (Fig. 1-1). his yields that if we face the arrow of any a!is, the ne!t a!is (in the cyclic order of x-y-z-x-...) can always "e transformed into the third one "y a cloc#wise rotation of $%& (see the right hand side of Fig. 1-1). Conse'uently, a cloc#wise rotation is considered positive. U$!ts, pre.!/es (e use the )nternational *etric System (Syst+me )nternational, S)), "ut among its units it is sufficient to deal with the "ase units of length (m, meter), mass (#g, #ilogram) and time (s, second), as well as derived units of force (,, newton) and pressure (-a, pascal). hese latter ones can "e e!pressed with the "ase units as follows. #gm , #g 1 ,/1 , 1 -a/1 0 /1 . 0 s m ms 0

T!"or T#r$#!

R%"ert N&'et(

Fl%r!$ )o*+s

Figure 1-1 he left-handed coordinate system 1ll units can "e preceded "y prefi!es that multiply or reduce their dimension. he most commonly used prefi!es are listed here.

1 2en3 4escartes (15$6-165%) French philosopher, mathematician and scientist who settled the foundations of the coordinate geometry.

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,um"er %,%%% %%% %%1/1%-$ %,%%% %%1/1%-6 %,%%1/1%-8 %,%1/1%-0 %,1/1%-1 1%/1%1 1%%/1%0 1%%%/1%8 1 %%% %%%/1%6 1 %%% %%% %%%/1%$ For e!ample. 1 #,/1%%% ,. N1'er!+#l #++1r#+-

-refi! n 7 m c d da h # * 9

,ame (nano) (micro) (milli) (centi) (deci) (deca) (hecto) (#ilo) (mega) (giga)

Final results are re'uested to "e given for : significant figures. )t means that the first non;ero digit of the num"er should "e followed "y three further digits (including ;eros as well in given cases) )f the num"er is o"tained with more than four digits, the fourth digit should "e rounded off0 according to the e!amples "elow. ,um"er. 10.8:10 10.8:5%%%% 10.8:5%%%1 10.8:56 10.855 108:56 %.%%108:56 rounded off to four significant figures. 10.8: 10.8: 10.85 10.85 10.86 1085%% %.%%1085.

-lease #eep in mind that, for four significant figures, < 8.1:, "ut automatic generation of = is recommended (normally "y pressing the = "utton on the calculators). 2ASIC FIELDS AND LAWS OF 3EC4ANICS Cl#ss.!+#t!o$ o. 'e+(#$!+s De.!$!t!o$: Mechanics is the part of physics that deals with the conditions of rest and motion of "odies and materials. De.!$!t!o$: 1 rigid body does not change its shape or dimensions even under the action of forces. De.!$!t!o$: Kinematics is the part of physics that deals with the description of motions in time and space "ut ignores the causes of the motions.

0 )f the fifth significant figure is 5, followed "y all ;eros, it is recommended to round off towards the even digit.

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*echanics

>inematics

4ynamics

Statics >inetics Figure 1-0. Classification of mechanics De.!$!t!o$: Dynamics is the part of mechanics that also deals with causes of the motion. De.!$!t!o$: Statics is the part of dynamics that deals with forces acting upon a "ody in rest. De.!$!t!o$: Kinetics is the part of dynamics that deals with causes of motion and its change (forces and other effects) his #ind of classification is summari;ed in Fig. 1-0. Ne6to$7s l#6s Ne6to$7s 1st l#6 8t(e pr!$+!ple o. !$ert!#9: Each particle remains at rest or #eeps its motion with constant speed in a straight line, provided the particle is not su"?ected to a non;ero resultant force. Ne6to$7s 0$, l#6: 1 force F acting upon a particle of mass m produces an acceleration # that has the same direction as the force and a magnitude that is proportional to the force, and the factor of proportionality is the mass. )n a compact form, F/ m@#. Ne6to$7s 5r, l#6 8l#6 o. #+t!o$ #$, re#+t!o$9: wo interacting "odies act upon each other "y forces with the same magnitude "ut opposite direction. :e+tor oper#t!o$s De.!$!t!o$: 1 scalar is a 'uantity that can "e characteri;ed "y a single real num"er (e.g. mass, length). 1 vector is a 'uantity that can only "e defined "y giving its magnitude and direction as well (e.g. force, acceleration). Aectors will "e set in "oldface type (e.g. #, "). )n a hand-written te!t, sym"ols are underlined (e.g. a, "). he length of a vector is a scalar that is denoted "y the sym"ol of the vector "etween a"solute value signs, "ut it is also common to write the normal italic sym"ol instead (e.g. B#B / a). he length of a unit vector is 1. Cnit vectors pointing to the x, y and z directions are denoted "y the sym"ols !, ;, k, respectively. For the sum of vectors, commutativity, associativity and triangle ine'uality hold. # D " / " D #, (# D ") D + / # D (" D +9,

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B# D "B E B#B D B"B. Similarly, for the multiplication of a vector "y a scalar. c# / #c, (c Dd)# / c# D d#, cd# / dc#, c(# D ") / c# D c".

Fn the "asis of the formulae a"ove, any vector # can uni'uely "e decomposed into the sum of three vectors actiong along the coordinate a!es. # / #x D #y D #z / ax! D ay; D azk. he vectors #x, #y, #z are called the a!ial components of the vector #, while the scalars ax, ay, az are the Cartesian coordinates (also called scalar components) of #. Finding vectors #x, #y, #z is called resolution of vector # into components acting along a!es x, y, z. wo vectors can "e multiplied "y using either scalar (dot) or vectorial (cross) product. De.!$!t!o$: he dot product of vectors # and " is #" / ab cos , where is the smaller angle su"tended "y the two vectors. 1pplying this definition for the dot product of a!ial unit vectors, e'uals either % or $% degrees, thus !! / ;; / kk / 1, !; / !k / ;! / ;k / k! = k; / %. 4ot products in a Cartesian coordinate system can "e evaluated as follows. #" / (ax! D ay; D azk)(bx! D by; D bzk) / / axbx!! D axby!; D axbz!k D aybx;! D ayby;; D aybz;k D azbxk! D azbyk; D azbzkk that (using also the formula for the orthogonal unit vectors) leads to the e!pression "elow. #" / axbx D ayby D azbz. Aector lengths can also "e computed with dot products. a = ## . De.!$!t!o$> he cross product of vectors # and " (#?", reads as # cross ") is #?" / ab sin e, where is the smaller angle su"tended "y the two vectors and e is a unit vector perpendicular to "oth # and ", producing a left-handed system in the order #, ", e. ()n another approach. if one is loo#ing in front of the arrow of e, the direction of # can "e transformed into the direction of " "y a cloc#wise rotation of magnitude .) For this reason, "?# = - #?". 1pplying this definition for the cross product of a!ial unit vectors, e'uals either % or $% degrees, thus !G! / ;?; / k?k / @, !?; / k, ;?k / !, ;?! / -k, k?; / -!, k?! = ;, !?k = -;.

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)t indicates that the evaluation of cross products of two unit vectors in the cyclic order i, j, , i... gives always the third unit vector, while acting in reverse order gives the negative of the previous result. Cross products in a Cartesian coordinate system can "e evaluated as follows. #?" / (ax! D ay; D azk)?(bx! D by; D bzk) / / axbx!?! D axby!?; D axbz!?k D aybx;?! D ayby;?; D aybz;?k D D azbxk?! D azbyk?; D azbzk?k that (using also the formula for the orthogonal unit vectors) leads to the e!pression "elow. #?" / (aybz - azby)! D (azbx - axbz); D(axby - aybx)k. 1s one can prove easily, it is e'uivalent to the value of the following determinant.
! #?" / a x bx

; ay by

k a z / (aybz - azby)! D (azbx - axbz); D(axby - aybx)k. bz

Hased on the e!pressions a"ove, the principle of su!er!osition will "e accepted. the result of simultaneous actions can "e o"tained as the sum of the results of all individual actions. his can only "e true "ecause the results are linear functions of the corresponding actions. FORCE SBSTE3S IN A PLANE T(e For+e De.!$!t!o$: he force is a concept that can characteri;e the mechanical interaction "etween "odies. )n the case of gravitation and magnetic interaction, the "odies are not re'uired to "e in touch with each other, the interaction is made through remote forces. )f a force is induced "y the physical touch of two "odies, it is called direct force. )n this case, the two "odies touch each other through a finite domain. )f this domain is small enough compared to the dimension of the "odies, all the calculations can "e reduced considera"ly "y supposing rather a point-li#e contact. Forces that are transmitted through a single point are called concentrated forces. )f a force is transmitted through a finite domain, its name is distributed force. 2emote forces are acting upon each particle of a "ody, therefore they are volumetric forces. )f the area of the contact surface cannot "e neglected, we tal# a"out surface forces. )f one of the dimensions of a small contact surface is still significant, the surface can "e appro!imated "y a line and the force will "e called a force distributed along a line. )n reality, only distri"uted forces appearI however, for the sa#e of simplicity, in the first steps only concentrated forces will "e dealt with. )t has "een already seen from ,ewtonJs 0nd law that since the force is a vector, not only its magnitude "ut its direction is essential. *oreover, the "ehaviour of the "ody is strongly influenced "y changing the point where the force is applied. his point is called the point of application of the force. 1 straight line that is parallel to the vector of the force shows the slope of the force. he line that is parallel to the

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vector of the force and contains the point of application is the line of action of the force. 1long this line it is possi"le to define a positive sense. he sense of the force is positive if identical to this pre-defined sense and negative if opposite. he direction of a force is determined "y its slope and sense, while the length of the force vector defines the magnitude of the force. *agnitude and sense together determines the signed magnitude of a force. Conse'uently, a force vector shows the direction and sense (more precisely, slope and sense) of the force. 1ll these concepts are demonstrated in Fig. 1-8. 1 concentrated force can then "e characteri;ed "y its point of application, slope, sense and magnitude (as was seen a"ove, some of these four characteristics can "e unified, e.g. a force can "e given "y its line of action and signed magnitude). he magnitude of the force is measured in newton (,), or more commonly, #ilonewton (#,). he force is denoted more fre'uently "y the capital initial of the word JforceJ, though other latin capitals can also "e applied for reference e.g. to the point of application of the force. )f more forces are intended to "e denoted "y the same letter, the difference is made "y numeral su"scripts. )n this note, a force with all the four characteristics is a capital letter set in 1rial. F, F1, F0, A, B. )f ?ust the magnitude or signed magnitude is referred to, italic capitals are applied. ", "1, "0, #, $. he vector of the force is indicated "y capitals in "old type. )n hand-writing, underlined letters are used instead of "old typefaces and usually no distinction is made "etween the first two casesI the e!act meaning is to "e deduced from the conte!t. *ore forces together form a force system. )f all the forces of that system act in the same plane, we tal# a"out a !lanar force system. For the time "eing, only planar force systems are dealt with. (e assume that the common plane of the forces is the plane of the sheet of paper, and all forces in a system act upon the same rigid "ody. (For the sa#e of "etter comprehensi"ility of the figures, rigid "odies are not displayed in this chapter.) )f there e!ists a point that all lines of action pass through, the force system is called concurrent. )f there is no such a point, the force system is general.
t slope F % line of action direction vector " / 5#, force

% point of application % t t

t sense

" / 5#, magnitude

Figure 1-8. Charactristics of a force CONCURRENT FORCES IN A PLANE Spe+!.!+#t!o$ o. # .or+e he first step towards the graphical specification of a force is to draw the "ody at least in a s#etch in order that the point of application and line of action can "e specified. his re'uires a (geometrical) scale for the diagram that is usually given in

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the following way. */1.m, where * refers to the 9erman word J*aKsta"J (/scale), while m shows how many times real distances are "igger than measured in the diagram. For e!ample, */1.1%% implies that 1 cm in the graph (called s!ace diagram) corresponds to 1%% cm in reality.

Figure 1-:. 9raphical representation of a force in a space diagram (a) and the force vector in the vector diagram (") )n order to represent the magnitude of a force, another scale is necessary that ma#es possi"le to determine the force magnitude from the measured vector length. Conse'uently, measured distances and corresponding force magnitudes to "e displayedin the graph (called vector diagram) are of different units. he force scale is given as follows. 1 cm (/) n , and reads as J1 cm corresponds to n newtonJ. 9raphical representation of a force is illustrated in Fig. 1-:. ,ote that the length of a line segment (hence, the force magnitude) can "e specified more accurately in the way shown in Fig. 1-:". 1ny numerical specification of a force implies a pre-defined coordinate system. we use the left-handed system descri"ed in the introductory part. he location and orientation of the coordinate system can "e set ar"itrarily, "ut when the forces are concurrent, for convenience it is always done such that (see Fig. 1-5)

the origin of the coordinate system coincides with the common point of intersection, a!es x and y span the plane of the forces, a!is z is directed towards us (thus, y can "e o"tained from x "y a cloc#wise rotation of $% degrees)

Fig. 1-5. Coordinate system for concurrent forces 1ccording to the conventions a"ove, the point of application of the forces is #nown (the origin), and it has already "een shown that a vector can "e specified uni'uely "y its coordinates. Conse'uently, it is sufficient to give t&o coordinates ("x, "y) for the uni'ue specification of each force, see Fig. 1-6. )t was seen at the discussion of the characteristics of forces that a vector can "e characteri;ed "y its direction and magnitude. it is done specifically in polar

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coordinates (or cylindrical coordinates in three dimensions), where x is the polar a!is, and the polar angle (L) is su"tended "y the a!is x and the force. his way of specification is illustrated in Fig. 1-6". hese ways of specifications are e'uivalent. >nowing the coordinates of a force, a!ial com!onents can "e determined "y using vector alge"ra as follows. Fx / "x !, Fy / "y ;.

Figure 1-6. Specification of a force in Cartesian (a) and polar (") coordinate system hese two components are forces as wellI their point of application is identical to that of F (the origin). 1rrows of the two components are shown "y dashed lines in Fig. 1-Ma. Net us consider the dot product of a force vector and a unit vector t pointing along an a!is t. Ft / "1cos / "cos / "t, where is the angle su"tended "y the two vectors, therefore "i is the 'signed( !rojection of the force on the axis t. )f the force and the a!is are orthogonal, then the pro?ection is ;ero.

Fig. 1-M. Force components (a) and their vectors (") De.!$!t!o$: 1 force of ;ero magnitude is named zero force. De.!$!t!o$: 1 force is s to "e the negative of F and denoted "y -F if its line of action and magnitude are identical to those of F "ut their senses are opposite. A,,!t!o$ o. .or+e *e+tors Force vectors can "e added either analytically (numerically) or gra!hically ("y construction). First of all, the sum of two force vectors will "e determined. Net the sum of force vectors F1 and F0 "e denoted "y F10 For the numerical addition, the rules of vector alge"ra are used again. F10 / F1 D F0 / "1x! D "1y; D "0x! D "0y; /

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/ ("1x D "0x)! D ("1y D "0y) ; / "10x! D "10y;. )n Fig.1-Oa, F10. and F10 are drawn with continuous lines, while their sum F10 is displayed "y a dash-dot line8. )t can "e seen in the figure that the sum vector is the diagonal of a parallelogram whose sides are constituted "y the force vectors to "e added (in original and displaced positions as well). he parallelogram is repeated in Fig. 1-O" to emphasi;e that the sum vector points from the tail of the first vector to the tip of the second one if the force vectors are drawn one after another in a tip-to-tail fashion ("ut in ar"itrary order). )n other words, the additive vectors are drawn with a continuous flow of the arrowheads, "ut the sum vector is drawn with an arrowhead against the flow. his rule of addition is #nown as the triangle la& or !arallelogram la&.

Figure 1-O. 1ddition of two force vectors Csing the rules a"ove, it is possi"le to add three or even more force vectors as well. Net F1n denote the sum of n force vectors. F1n / F1 D F0 D P D Fn /

"i .
i) 1

T(eore': the sum of n concurrent force vectors is a vector (F1n), whose coordinates can "e calculated as the sum of the corresponding coordinates. "1nx /

" ix ,
i) 1

"1ny /

" iy .
i) 1

)n these e'uations the coordinates of forces, o"tained from resolving the forces along the coordinate a!es, are summedI they are called therefore resolution e'uations. (Since the force coordinates can "e considered as pro?ections of the forces onto the coordinate a!es, these e'uations sometimes are called also pro?ection e'uations.) he first and second e'uations are the resolution e'uations along the x and y a!es, respectively. For the sa#e of compactness, the sym"ol " it * will "e introduced to show that a resolution along an a!is t will follow after the colon. Csing the graphical method, the force vectors are drawn one after another in a tip-to-tail fashion. )n this case the sum vector points from the tail of the first vector to the tip of the last one (see Fig. 1-$).
8 his is ?ust a JcoincidenceJ here that force vectors remained in their lines of action. Nengths of arrows are proportional to the force magnitudes, that is why the forces are set in "oldface type.

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Res1lt#$t o. # .or+e s-ste' De.!$!t!o$: wo force systems ((F#1, F#0, P , F#m) and (F$1, F$0, P , F$n)) are called to "e e'uivalent if they have the same effect when acting upon the same rigid "ody (in other terms, if they influence the motion of the "ody in the same way).

Figure1-$. 1ddition of n force vectors he notation applied for e'uivalence is the sign of e'uality with a dot a"ove it. he fact that two force systems are e'uivalent can "e formulated "y an e+uivalence statement (F#1, F#0, P , F#m) = (F$1, F$0, P , F$n) that reads. the force system 1 is e'uivalent to the force system H. De.!$!t!o$: he (only) force (R) that a given force system is e'uivalent to is called the resultant of the force system. (F1, F0, P , Fn) = R. T(eore': he resultant of a force system is the single force whose vector e'uals the sum of the vectors contained "y the system and its line of action passes through the common point of intersection. 1ddition of force vectors can "e calculated as shown earlier, so the resultant vector is determined "y a vector e'uation. R / F1 D F0 D P D Fn , while the two scalar components (coordinates) of the resultant can "e o"tained from two scalar e'uations. ,x /

" ix ,
i) 1

,y /

" iy .
i) 1

Conse'uently, an e'uili"rium statement yields one vector e'uation or two scalar

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e'uations for a system of concurrent planar forces. T(e eG1!l!"r!1' De.!$!t!o$: 1 force system is said to "e in e+uilibrium if its resultant is the ;ero force. (F1, F0, P , Fn) = 0. his #ind of e'uivalence statement, where there is the ;ero force only on either side, is called e+uilibrium statement. he fact whether or not a concurrent planar force system is in e'uili"rium can "e chec#ed "y using either a graphical or analytical method. he graphical verification is made via the vector e'uation generated "y the e'uili"rium statement. a closed vector polygon composed of all the vectors of the system with a continuous flo& of arro&heads is a necessary and sufficient condition of the e'uili"rium he analytical verification is normally "ased on the scalar e'uations. he necessary and sufficient condition of e'uili"rium is fulfilled when the following two e'uations hold.

" ix / %,
i) 1

" iy / %.
i) 1

Coroll#r-: wo forces are in e'uili"rium if and only if they have the same line of action and force magnitude "ut opposite sense (in other words, if they are negatives to each other). Coroll#r-: hree (concurrent planar) forces are in e'uili"rium if and only if their vectors form a closed triangle with a continuous flow of arrowheads. T(eore': 1ny force system can "e "alanced with the negative of its resultant. T(eore': 1ny system of concurrent planar forces can "e (uni'uely) "alanced "y two forces with given lines of action that are not parallel and pass through the common point of intersection. E/#'ple: 1 concurrent force system composed of four forces should "e "alanced "y two forces with given lines of action. "1 / 5 #,, L1 / %o, "0 / O #,, L0 / M%o, "8 / 6 #,, L8 / 0%%o, ": / 0 #,, L: / 8%%o. he two lines of action are given "y the following e'uations. x / %, x / y. 9raphical solution 1n e'uili"rium statement should "e posed first for the solution of the pro"lem, then the space diagram (Fig. 1-1%a) and vector diagram (Fig. 1-1%") should "e constructed. he last step must always "e the presentation of the results through a final s#etch (Fig. 1-1%c). he e'uili"rium statement is as follows. (F1, F0, F8, F:, A, B) = 0. he s!ace diagram re'uires a scale first (even if it is not used with concurrent forces), the coordinate system and the lines of action can "e drawn afterwards. )t is

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recommended to use long line segments for more accuracy in drawing parallel and perpendicular lines. For the #nown forces, letter sym"ols are displayed and the sense of the force should also "e shown "y a small arrowhead (vector lengths are irrelevant here). For the two un#nown vectors the senses are also un#nown, here a line of action is la"elled "y the corresponding lowercase letter. o a vector diagram it is recommended to associate a force scale such that space and vector diagrams fit to the same sheet (otherwise the construction of parallel lines turns to "e pro"lematic) "ut the greatest e!tension of the vector diagram e!ceeds 1%-15 cm. 1ll #nown force vectors are drawn in a tip-to-tail fashion. a parallel line is constructed (on the "asis of the space diagram) first and then the distance is measured according to the force scale. 1fter this, parallel lines to the lines of action of un#nown forces are drawn through the two endpoints of the "ro#en line. hese lines intersect, so it is possi"le then to measure the lengths of the two line segments. Force magnitudes can "e determined with the help of the scale again. he final s#etch should "e made for convenience "y free hand. a) ") 1cm (/) 1#, * / 1.n
F1 ": "8 2 "1 x A F: F0

a y c) Final s#etch $) :.8% #, "8

"0

#)%.65 #, ": "1 "0 y x

F8 #. %.65 cm (/) %.65 #, $. :.8% cm (/) :.8% #,

Figure 1-1%. 9raphical solution. space diagram (a), vector diagram (") and final s#etch (c) 1nalytical (vectorial) solution he pro"lem is traced in a free-hand s#etch here (Fig. 1-11a), together with the (same) e'uili"rium statement. he vector e'uation is written as induced "y the statement, then un#nown values are calculated. 1fter that, a final s#etch is made

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(Fig. 1-11") in order to display the new results. )n the pro"lem s#etch, all forces were represented "y arrows and the directions were descri"ed "y an angle smaller than $%& instead of the JformalJ polar angle. 1 sense was assumed initially for "oth un#nown forces. he e'uili"rium statement is. (F1, F0, F8, F:, A, B) = 0. )t induces the following (vector) e'uation. F1 D F0 D F8 D F: D A D 2 / @, "y su"stituting the force vectors (the signs of coordinates are determined "y inspection) it yields. ! Q 6sin 0%o; D 0sin 8%o! Q 0cos 8%o; Q#; D $cos :5o! D $sin :5o; / @. 1fter grouping the coefficients of vectors ! and ; we have. (5 D 0.M86 Q 5.68O D 1 D %.M%M1$)! D (M.51O Q 0.%50 Q 1.M80 Q # D %.M%M1$); / @. his vector e'uation can only "e satisfied if "oth unit vectors have a ;ero coefficient. From the coefficient of !, $ / -:.8O1 #,, from the other e'uation, # / %.6800 #, is o"tained. he negative sign of $ indicates that the force direction is opposite of that was initially assumed. a) # "8/ 6#, 0%o 0%o y ":/ 0#, 8%o "1/ 5#, :5o x $ "0/ O#, y "0 ") Final s#etch $) :.8O1 #, #) %.6800 #, ": "8 "1 x

Figure 1-11. 1nalytical solution. pro"lem s#etch (a) and final s#etch (") 1nalytical (scalar) solution 1 pro"lem s#etch is drawn "y free hand (Fig. 1-10a), and the same e'uili"rium statement is presented. Conveniently chosen scalar e'uations are written as induced "y the statement, then un#nown values are calculated. )n the last step, a final s#etch (Fig. 1-10") is made. he e'uili"rium statement is. (F1, F0, F8, F:, A, B) = 0. Since the force A is vertical, the resolution along x is considered first.

" ix *

5cos %o D Ocos M%o D 6cos 0%%o D 0cos 8%%o D $cos :5o / %.

)t yields $ / -:.8O1 #,. he other a!is (t) is chosen to "e perpendicular to the force . he a!is t must "e rotated "y D:5& to "e transformed into x, therefore all polar angles are increased "y :5& to "e converted into direction angles measured from t. 2esolving along a!is t we have

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" it *

5cos :5o D Ocos 115o D 6cos 0:5o D 0cos 8:5o D #cos 185o / %.

Figure 1-10. -ro"lem s#etch with polar (direction) angles From this, # / -%.6800 #, is o"tained. he final s#etch is identical to that given for the previous solution. REFERENCES )t is intended for each lecture to specify the chapters of the recommended lecture notes and "oo#s that deal with the current topic in depth. he referenced wor#s are. Rsolt 9SspSr Q i"or arnai. Stati#aI ($5%86, lecture notes in Tungarian), *Uegyetemi >iadV, 0%%0 Ferdinand -. Heer Q E. 2ussell Wohnston, Wr.. Aector *echanics for Engineers, S 1 )CS (in English), *c9raw-Till Hoo# Company RELATED C4APTERS 9SspSr- arnai. Stati#aI 1.-0. and 8.1-8.0. Heer-Wohnston. S 1 )CSI Chapters 1, 0.1-0.1%

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