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Statics Review 2013
Statics Review 2013
Statics
BrittanyCoats,PhD
B i C PhD
MechanicalEngineeringDept.
brittany.coats@utah.edu
Scalars haveamagnitude
Vectors haveamagnitude&direction
Vector Principles
VectorPrinciples
2 VectorAddition
2. Vector Addition
A B R
GraphicallyidentifyRusingtheparallelogram
law B
A
R OR R
A
B
B
Vector Principles
VectorPrinciples
3 VectorSubtraction
3. Vector Subtraction
RB A OR R ( B) A
Sameasvectoraddition,butͲ1ismultipliedto
oneofthevectors
ͲB
B R
R A
Solving for the Resultant
SolvingfortheResultant
GraphicalSolution:
Graphical Solution:
lawofsines: sin D sin E sin J
A B C
lawofcosines: C 2
A2 B 2 2 AB cos J
B
J D
C
A E
Rectangular Components
RectangularComponents
Fx =Fcos T
Fy =Fsin T
Fx &Fy arestillvectorsw/amagnitude&direction.
Cartesian Coordinates
CartesianCoordinates
Breaksdownthemagnitudeanddirectionofthevector
F Fxiˆ Fy ˆj
F F F
x
2
y
2
§ Fy ·
T
T t
tan ¨¨ ¸¸
1
© Fx ¹
Bemindfulofpositive&negativei andjdirections
Cartesian Vector – 3D
CartesianVector
A Axiˆ Ay ˆj Az kˆ
A A A A
2
x
2
y
2
z
Cartesian Vector – 3D
CartesianVector
unit vector uA
unitvector,u
A Ax ˆ Ay ˆ Az ˆ
uA=
= == i j k
A A A A
Ax Ay Az
cos D cos E cos J
A A A
x Aiˆ y A ˆj z Akˆ
B(xB,yB,zB)
rA
rAB
rA
y
rAB xB x A iˆ yB y A ˆj zB z A kˆ
Defineforcevector
frompositionvector
Definethevector,F,usingtheprovided
magnitudeoftheforceandtheposition
i d f h f d h ii
vectortodeterminethedirection.
Magnitude=F(given)
g (g )
Direction=sameaspositionvectorfromAtoB
Step1:Findtheunitvectorfromthe
positionvector
r
uF ur
r
Step2:Multiplyunitvectorbyforce
magnitude
F F ur
Dot Product
DotProduct
Canbeusedto:
• Fi
Findanglebetweentwovectors
d l b t t t
• Findaforceperpendicular(ŏ)orparallel
(||)toaline
A B A B cos T
A
T
B
A B A B cos T
Dot Product
DotProduct
i j =0 k i i =1
j k =0 j j =1
k i =0 j k k =1
i
A Axiˆ Ay ˆj Az kˆ B Bxiˆ B y ˆj Bz kˆ
A B Ax Bx Ay B y Az Bz
Dot Product Applications
DotProductApplications
1. Anglebetweentwovectors:
A B A B cos T
2. Component
Componentofavector||toaline
of a vector || to a line
(projectionofavectoronaline)
A||a A cos T A ua
3. Componentofvector ŏ toaline
AAa A sin T
2
AAa A A 2
||a
a
A||
Moments
Momentarm
M0=Fd
= Fd
Moment Direction
MomentDirection
z
UserightͲhandrule
+M:thumbpointsin
directionofpositiveaxis(3D)
OR thumb points out of the
ORthumbpointsoutofthe
y
page(2D).
x
y
ͲM:thumbpointsindirection
ofnegativeaxis(3D)OR
x thumbpointsintothepage
(2D)
(2D).
Calculating Moments
CalculatingMoments
Mo =rxF
Cross Product
CrossProduct
• Alwaysresultsinavector.
• Resultingvectorisalwaysperpendicular
tothetwooriginatingvectors.
B
Cross Product
CrossProduct
ixj=k k i x i =0
jxk=i j x j =0
kxi=j j k x k =0
i
j x i =Ͳ k
k x j =Ͳ i
i x k =Ͳ j
O d1
d2
F2
r2
F2
¦M O ( r1 x F 1 ) ( r 2 x F 2 ) ( r 3 x F 3 )
Moment about Axis
MomentaboutAxis
Ma Fd Aa
Ma uˆa ( r x F )
Equivalent Couple
EquivalentCouple
2F
F
2d d
Ͳ2F
ͲFF
M=F(2d) = 2Fd
M=F(2d)=2Fd M=(2F)d = 2Fd
M=(2F)d=2Fd
Magnitude&directionofeachcouplearesame
Equivalent ForceͲMoment
EquivalentForce MomentSystems
Systems
d
ͲF1 F1
M=F1d
O
F1 ¦F F1
¦M O F1d
Distributed Loads
DistributedLoads
FR
xR
Fr ³ w( x)dx
L
d ³ dA A
A
xR
³ xw( x )dx ³ xdA
L A
³ w( x )dx ³ dA
L A
FR
Equilibrium:
objectatrestwillstayatrest
bj t t t ill t t t
OR
objectwithaconstantvelocity
willstayatthatconstantvelocity
ill t t th t t t l it
0
F
F=ma
F 0
F=0
Equilibrium
• Drawfreebodydiagram(FBD)
• Sumupalltheforcesandsetequalto
zero F=F
F = Fxi +F
+ Fyj+F
j+ Fzk =0
=0
• Sumupallthemomentsandsetequalto
zero
M=Mxi+Myj+Mzk =0
Mx =0 Fx =0
My =0 Fy =0
Mz =0 Fz =0
Free body diagrams
Freebodydiagrams
Find all forces acting at A
FindallforcesactingatA
TAD
TAB TAC
Types of forces: weight
Typesofforces:weight
particle
W=mg
W mg W=0
Types of forces: cables/ropes
Typesofforces:cables/ropes
C bl
Cablesarealwaysintension
l i t i
Typesofforces:
cablesinfrictionlesspulleys
bl f l ll
T W T
C bl
Cablesarealwaysintension
l i t i
Types of forces: normal forces
Typesofforces:normalforces
normalforce
normalforce
lf
Types of forces: springs
Typesofforces:springs
F=ks
k=springconstant
s=lengthfinal – lengthinitial
+s:
Ͳs:
Reaction forces
Reactionforces
Reactionforcesresisttranslationorrotation
Rx
roller Ry pin
Ry
Rx
M
rolleron
angle
Ry fixedsupport
R
Trick #1 – Two
Trick#1 TwoͲForce
ForceMember
Member
Ifonlytwoforcesactonarigidbody,theymustbe
equal and opposite in magnitude and act along the
equalandoppositeinmagnitude,andactalongthe
samelineofaction
Trick #2 – Three
Trick#2 ThreeͲForce
ForceMember
Member
Ifthreeforcesactonarigidbody,theymustbeeither
concurrent or parallel
concurrentorparallel
Equilibrium
Example:
Free Body Diagrams
FreeBodyDiagrams
Example:
Trusses
• Loadsareappliedtothejoints
• Membersareattachedwithsmoothpins
• Weightofmembersisconsideredsmall
Weight of members is considered small
comparedtoloadsbeingapplied
• Structuremakesthemrigid
St t k th i id
• Eachmembermustbe
undercompressionor
tension
Solve for Reaction Forces
SolveforReactionForces
Ax
Ay Cy
DrawFBDofentiretruss
Solve for Internal Forces
SolveforInternalForces
UsingMethodofJoints
B 500N
FBA
FBA FBC
A
Ax FAC
FBC
Ay
Ax C
FAC
Ay Cy
Cy
Createequilibriumequationsforeachjoint
Method of Sections
MethodofSections
ZeroͲForce
Zero ForceMembers
Members
Rule#1:Ifthereareonly2membersactingonajoint
and no external forces (applied or reaction), then those
andnoexternalforces(appliedorreaction),thenthose
membershavezeroforce.
ZeroͲForce
Zero ForceMembers
Members
Rule#2:Ifthereareonly3membersactingonajoint(and
noappliedorreactionforces)andtwomembersare
pp )
collinear,thenthe3rd memberhaszeroforce.
Solving Truss Problems
SolvingTrussProblems
• Seeifyoucansolvefortheforcesby
inspection
– ZeroͲforcemembers
– Symmetry
– Easy‘joints’
• Solveforreactionforces
• Usemethodofjointsiftheunknownsare
nearaknownforce
• Usemethodofsectionsiftheunknowns
arenotnearaknownforce.
Frames & Machines
Frames&Machines
FAB
FAB
FAB
Internal Forces
InternalForces
B
Internal Forces
InternalForces
Internal Forces (3D)
InternalForces(3D)
Load,Shear,MomentRelationships
10N 15N
Shearchangesbythe
g y
magnitudeanddirectionof
11N 14N concentratedload.
11N
1N Ͳ14N Momentchangeisequalto
the area under the shear
theareaundertheshear
curve.
1N*m
11N*m Ͳ14N*m
Slopeofshearisequalto
integralofload,slopeof
momentisequaltointegral
ofshear.
Load,Shear,MomentRelationships
10N 9N/m
Additionofamoment
2N*m
makesthemomentdiagram
11N 17N jumpbythemagnitude
11N
1N 1N
Ͳ9N Shearisintegralof
12N*m distributedload,momentis
11 N*m
11N m
11N*m i
integralofshear.
l f h
10N*m
Friction
• Aforcethatopposesmotionorpotential
motionbetweentwocontactingsurfaces
N
Kinetic Friction
KineticFriction
• Ifappliedload,P,surpassesthelimitingstatic
frictionalforce,frictionisreducedtothe
kineticfrictionalforce.
fk =PkN
Angleofkineticfriction:
Ik =tanͲ11(Pk)
Friction vs. Applied Load
Frictionvs.AppliedLoad
Friction Problems
FrictionProblems
• Equilibrium:Whatisthefrictionalforce?
PE
T2 T1e
CenterofMass
CenterofArea
A A
A A
C t
CenterofaLine:
f Li
L L
L L
Identifying Centroids Ͳ Line
IdentifyingCentroids
• Pickyourdifferentialelement
y
• IdentifyarelationshipofdL todx anddy
dL dx dy
2 2
• Identifyarelationshipofdx
tody
dx 2 ydy
• Plugintoourequationsfor
xandycentroid
Identifying Centroids Ͳ Area
IdentifyingCentroids
• Pickyourdifferentialelement
• IdentifyarelationshipofdA todx ordy
dA xdy
• Plugintoourequations
g q
forxandycentroid
Centroids – compositebodies
composite bodies
Moments of Inertia (I)
MomentsofInertia(I)
³
2
Ix y dA
³
2
Iy x dA
³
2
Jo r dA
Jo Ix I y
ParallelͲAxis
Parallel AxisTheorem
Theorem
Ix I x ' Ad 2
y
Iy I y ' Ad 2
x
JC I x' I y'
JO J C Ad 2
Radius of Gyration
RadiusofGyration
Ix Iy
kx ky
A A
Jo
ko
A
Moment of Inertia Ͳ composite
MomentofInertia
1) Computemomentofinertiafor
eachsegment.
2)) Addupmomentofinertias
…
p
BUT
…theymustbeaboutthe
same axis in order to add them up!
sameaxisinordertoaddthemup!
Moments of Inertia
MomentsofInertia
Example 2:
Example2:
DeterminethemomentofinertiaofthecrossͲsectionalarea
ofthechannelwithrespecttothexͲaxis