the study of the relationship among forces

and their effects on bodies.

the science which describes and predicts

the conditions for rest and motion of bodies
under the action of forces.

1
 MECHANICS

RIGID BODIES DEFORMABLE FLUIDS

BODIES

DYNAMICS INCOMPRESSIBLE COMPRESSIBLE

STATICS

bodies at rest bodies in motion

2
 RESULTANT OF THE ORIGINAL FORCES

 PARALLELOGRAM LAW
 The resultant of two forces id the diagonal of the
parallelogram formed on the vectors of these forces drawn
tail-to-tail

 TRIANGLE LAW
 If two forces are represented by their free vectors drawn
head-to-tail, their resultant vector is the third side of the
triangle

3
STATICS
The rectangular components of a force can be determined
easily depending on the given characteristics of the force.

4
Fx = Fcos x Fy = F cos y Fz = Fcos z
where cos x, cos y and cos z are direction cosines

F = Fxi + Fyj + Fzk

5
STATICS


F  F cos xiˆ  cos yˆj  cos zkˆ 
let = cos x i + cos y j+ cos z k
 = unit vector
x2 + y2 + z2 = 1
x= cos x
y= cos y it follows that,
z= cos z cos2 x + cos2 y + cos2 z = 1

The force vector is equal to the product

F=F of the magnitude of the force and the
unit vector.

6
STATICS

cos x = Fx / F x = cos-1 (Fx / F)

cos y = Fy / F y = cos-1 (Fy / F)

cos z = Fz / F z = cos-1 (Fz / F)

F = Fx2 + Fy2 + Fz2

7
STATICS

 A particle is in equilibrium if the resultant of all

the forces acting on the particle is zero. The
component Rx, Ry, Rz of the resultant are zero.

Rx   Fx  0 Ry   Fy  0 Rz   Fz  0

Note: The above equations represent the necessary and sufficient

conditions for the equilibrium of a particle in space. They can be
used to used to solve problems dealing with the equilibrium of a
particle involving no more than 3 unknowns.

8
STATICS

The tension force in AC is

28 kN, determine the the
required values of tension
in AB and AD so that the
resultant force of the three
forces applied at A is
vertical. Determine the
resultant force.
 STATICS

The resulting free-body

RA diagram can solve the
problem by attaching
points.
TAC

TAD
TAB
 STATICS

The vector AB is

d x  16 m
d y  48 m The vector AC is
d z  12 m d x  16 m
The vector AD is d y  48 m
d x  14 m d z  24 m
d y  48 m
dz  0 m
STATICS

Moment of a force is the measure of the tendency of a

force F to make the rigid body rotate about a fixed axis
perpendicular to the plane of the force F.

Mo
F
o r
d 
A

pt. O – fixed point/axis on the plane of the force and pt.

r - position vector of F acting at pt. A relative to the fixed pt. o.
pt. A – pt. of application of force F
12
STATICS

   Mo
M O  r xF (vector) F
o r
d 
A

M O  rF sin  (scalar or magnitude)

where d represents the perpendicular distance from O to the line of

action of F.

13
STATICS

Two forces F and F’ are equivalent if, and only if, they
are equal (i.e. have the same magnitude and same
direction) and have equal moments about a given
point O.

r
o F
A
r'
'
B
F

F = F’ Mo = M’o
14
STATICS

Consider a line L and a force F. Let MP be the

moment of F about an arbitrary point P on L.

M p  rx R Mp
P P

r
F ML
L
L
    
MP  r x F M L  M P  eL
15
STATICS

In terms of the unit vector e along L, ML is given by

 
   
M L  M P  eL eL

  
    
M L  r x F  eL eL
The mixed triple product can be expressed in determinant
as
ex ey ez Note: If ML is + then

  
M L  e  r x F  rx  ry rz component is the
same direction as e,
Fx Fy Fz negative otherwise.

16
 STATICS

The jib crane is oriented so

that the boom DA is parallel
to the x axis. At the instant
shown the tension in the
cable AB is 13 kN.
Determine the moment about
each of the coordinate axes
of the force exerted on D and
moment along DA by the
cable at A.
STATICS

Replace the three forces shown with an equivalent force-

couple system at B.
STATICS

A pair of forces of:

• Equal magnitudes
• Opposite directions
• Parallel LOAs
A couple tends to
cause rotation of an d
object even though the
vector sum of the
forces is zero.

19
STATICS

• Six scalar equations are required to express the

conditions for the equilibrium of a rigid body in the
general three dimensional case.
 Fx  0  Fy  0  Fz  0
Mx  0 My  0 Mz  0

• These equations can be solved for no more than 6

unknowns which generally represent reactions at supports
or connections.

• The scalar equations are conveniently obtained by applying the

vector forms of the conditions for equilibrium,
   
 F  0  M O   r  F   0

20
21
22
 STATICS

SOLUTION:
• Create a free-body diagram for the sign.

• Apply the conditions for static

equilibrium to develop equations for
the unknown reactions.

A sign of uniform density weighs 270

lb and is supported by a ball-and-
socket joint at A and by two cables.
Determine the tension in each cable
and the reaction at A.

23
STATICS
 
 rD  rB
TBD  TBD  
rD  rB
  
 8i  4 j  8k
 TBD
12
  1 2
 TBD  3 i  3 j  3 k
2 
 
 rC  rE
TEC  TEC  
rC  rE
  
 6i  3 j  2 k
 TEC
7
  3 2
 TEC  7 i  7 j  7 k
6 

24
STATICS
    
F  A  TBD  TEC  270 lb j  0

i: Ax  23 TBD  76 TEC  0

j: Ay  13 TBD  73 TEC  270 lb  0

k: Az  23 TBD  72 TEC  0
      
MA  rB  TBD  rE  TEC  4 ft i   270 lb j  0

j: 5.333 TBD  1.714 TEC  0

k: 2.667 TBD  2.571TEC  1080 lb  0
Solve the 5 equations for the 5 unknowns,
TBD  101.3 lb TEC  315 lb
   
A  338 lbi  101.2 lb j  22.5 lbk
25
STATICS
Nature of Friction
The coefficient of friction depends on
the nature of the surfaces in contact,
f N us (rubber to concrete): .60 - .90
us (metal to metal): .15 - .60
IMPORTANT NOTES
If there is no load parallel to surface, no friction
will develop.
impending motion f’ s N Limiting Friction
sliding f k
N
Limiting Friction – maximum friction that can develop between two
surfaces given their normal force.
26
Example
Body A has a mass of 25 kg and body B has a
mass of 50 kg. The coefficient of friction for all
contiguous surfaces is  = 0.20. Find the
maximum force P that can be applied to B without
disturbing the equilibrium of the system.

27
The force P is maximum when motion of B towards the
right is impending. Motion A is therefore impending
towards the left relative to B so that in the free body
diagram of A, limiting friction is directed towards the
right.
FH  0  0.20 N BA  TCA cos 20
FV  0  N BA  245.3  TCA sin 20
TCA may be eliminated from the two
equations and the value of NBA found.

NBA = 228.7 N
FBD of A
F’BA = 0.20(228.7) = 45.74 N
28
FV = 0 = NDA - 490.5 - 228.7

NDA = 719.2 N
FBD of B
The value of P is found by summing forces
in the horizontal direction.
FH = 0 = P - 0.20(719.2) – 45.74
P = 18.6 N
29
STATICS

y
Moment of a differential area
about an axis, dQi = differential
area x perpendicular distance of
x dA this area to axis.
dQX = dA x y
y dQY = dA x x
Integrating to get moment for the
whole area,
x

Q X   y dA First moment of area about x-axis Unit: length to the

A
third power e.g.
QY   x dA First moment of area about y-axis m3 , cm3 , ft 3
A

30
STATICS

y
Moment of a differential line about an
axis, Q = differential line x
dL perpendicular distance of this line to
x axis.

y dQX = dL x y
dQY = dL x x
Integrating to get moment for the
x whole line,

QX   y dL First moment of line about x-axis Unit: length to the

L second power e.g.
QY   x dL First moment of line about y-axis m2 , cm 2 , ft 2
L

31
STATICS

First Moment of a Volume – w.r.t. a plane

z
dV  dxdydz QXY   z dV
V

dV QXZ   y dV
V

QYZ   x dV
y V
z
x
y Unit: length to the
x fourth power e.g.
m4 , cm 4 , ft 4
32
 DISTRIBUTED FORCES
parallel systems of forces
Load intensity – load per unit length of a distributed load acting
on a straight member.
Load diagram – diagram which shows the variation of load
intensity along the length of a member.

The magnitude of the resultant is

equal to the area of the load diagram
The line of action passes through the
centroid of the load diagram.

R
d

33
Find the reactions at the supports for the beam
loaded as shown.

Solution:

34
The load diagram can be subdivided into simpler ones of which the resultant of the
areas can be easily computed and also their corresponding line of actions.
R1 = Area of A1 = 800 (1.8) = 1440 N Located @ x1 = 0.9 m
R2 = Area of A2 = 1200 (2.7) = 3240 N @ x2 = 1.8 + (2.7 / 2) = 3.15 m
R3 = Area of A3 = ½ (2000-1200) (2.7) = 1080 N @ x3 = 1.8+(2.7 / 3) = 2.7 m

35
 INTERNAL FORCES
 forces that develop within a body due to the application of forces.
y

A P A
PY PY
M
 x x
PX F PX
V
A
A

3 Types of Internal Forces

 Axial force (F) – force that is perpendicular to the transverse cross-section.
This force is either tensile (T) or compressive (C).
 Shear force (V) – force that is tangent/parallel to the cross-section.
 Bending Moment (M) – a couple that lies on the plane of the applied forces.

36
PLANE STRUCTURES
Plane Truss – a structure made up of a number of
straight and slender bars that are joined together
through joints to form a pattern of triangles (e.g. bridge
& roof truss).
Bridge Truss Roof Truss
D
B D F H F
B
A H
A I
C E G
C E G

Notation: Bar/members are named after the joints where member

is connected. Member forces are also named after the joint
connections. Ex. Bar AB, BC, AC, FG, … Bar force AB, BC, AC,
FG,...
Note: No member is continuous through a joint.
37
Plane Truss: Assumptions
The weight of the members are negligible.
All joints are smooth pins.
The applied forces act at the joints only.

 All members are two-force bodies.

P P P P

38
Internal Forces on a Two-Force Body
(Axial Forces)
1) Tension – member reaction due to pulling forces at
both ends and is denoted by (T) (lengthening force –
“binabatak”).
a a a

P P P P P P
a a a

2) Compression – member reaction due to pushing

forces at both ends denoted by (C) (shortening force
– “nang-iipit”).
a a a
P P P P P P
a a a

39
Stability of Plane Trusses

• A rigid truss will not

collapse under the
application of a load.
• A simple truss is
constructed by
successively adding two
members and one
connection to the basic
triangular truss.
• In a simple truss, m = 2n - 3
where m is the total number
of members and n is the
number of joints.
40
Methods of Truss Analysis
 Method of Joints
 Method of Sections

Method of Joints (MOJ)

 to calculate the forces in the members of a truss, the
equilibrium equations are applied to individual joints (or
pins) of the truss. The resulting FBDs of the joints will
be a concurrent force system thus,
FBD of Joint A
F X 0 F Y 0
3
AB

HA= 900N 4
AC

VA= 1237.5N
41
Method of Sections (MOS)

 consist of cutting a truss into two sections at a point

where the bar force is required. The resulting force
system after cutting will generally be non-concurrent
and coplanar thus having three equations of equilibrium.
a
AB
F X 0 A B
CB

F Y 0
C
CD D
a

M A 0
900N
42
 G E Determine the
400 N force in members
3m GE, GC, and BC
A B C D of the truss.
Indicate whether
4m 4m 4m the members are
in tension or
1200 N
compression.

43
PLANE STRUCTURES
FRAMES – is a rigid structure which is made up of
members at least one of which is not a two-force
member.
 To simply put it, in order to solve for the unknown
forces in the frame, you need to draw the FBD of the
frame and individual members in the right sequence.

44
EXAMPLE
Determine the horizontal and vertical components of
force which the pin at C on member ABCD of the
frame.
1.6 m 0.4 m
Draw the FBD
D
of the frame
0.4 m

C E
F
1.6 m

B
0.8 m
100 kg
A
45
FBD of the frame ABCD:

2m

D
Dx
Dismember
the beam into
2.8 m
3 segments
F=981 N

Ax
A

Ay
46
 Equations of Equilibrium (Entire Frame)

2m
D M A  0;
Dx  981N (2m)  Dx (2.8m)  0

  Fx  0;
2.8 m Ax  700.7 N  0
F=981 N
   Fy  0;
Ay  981N  0
Ax
A
Dismember the beam
Ay into 3 segments
47
 Equations of Equilibrium (For Bar CEF)
1.6 0.4
m m
C E
Cx F
45º
Cy 981 N
 ccw M C  0; FB

 981N (2m)  ( FB sin 45)(1.6m)  0


  Fx  0; Cx  1230 N

 Cx  (1734.2 cos 45 N )  0

   Fy  0; C y  245N
C y  (1734.2 sin 45 N )  0
48
FBD of bar ACD

D
Dx
0.4
m Cx

Cy
1.6
m FB

0.8
m
Ax
A

Ay
FBD of bar BE

FB

45º

FB

50
 1.6 m 0.4 m

C E
Cx F
45º
D
0.4 m Dx Cy FB 981 N
Cx FB

Cy
1.6 m
FB

45º
0.8 m
Ax FB
A

Ay
51
Final Answers for Problem

Cx  1230 N

C y  245N

52
SHEAR & BENDING MOMENT DIAGRAMS

 internal forces at a transverse

section of a beam consist of a shear
force and a bending moment.

 the shear force and bending moment

vary along the length of the beam can
be exhibited by means of equations
showing the dependence of V and M on
beam coordinate

the graph of shear force vs. beam

abscissa is called a shear diagram;
the graph of bending moment vs.
beam abscissa is called a bending
moment diagram

53
Sign Conventions for Shear & Bending Moment
Sign convention for shear:
A shear force is positive if it tends to cause the right to move
downwards relative to the left portion.
A shear force is negative if it tends to cause the right to move
upwards relative to the left portion.

(-)
(+)
Sign convention for bending moment:
A bending moment is positive if it tends to cause the beam to
bend concave upward
it is negative if the beam tends to bend concave downward

(+) (-)
54
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57