Z A Textbook of “Enaineering”” Mechanics aPublished by LAXMI PUBLICATIONS (P) LTD 22, Golden House, Daryaganj, New Delhi-110002. _ { 011-2826 2368 Phones he 011-2325 25.72 Faxes : axes | ou-asa52s72 Branches : © 1290/1, Ilrd Main Road, IX Cross, Chamrajpet, Bangalore (Phone : 080-26 61 15 61) © 26, Damodaran Street, 'T. Nagar, Chennai (Phone : 044-24 34 47 26) © St. Benedict's Road, Cochin (Phane : 0484-239 70 04) © Pan Bazar, Rani Buri, Guwahati (Phones : 0361-254 36 69, 251 38 81) * 4-2-453, Lst Floor, Ramkote, Hyderabad (Phone : 040-24 75 02 47) © Adda Tanda Chowk, N.D. 365, Falandhar City (Phone : 0181-222 12 72) ‘* 106/A, Ist Floor, S.N. Banerjee Road, Kolkata (Phones : 033-22 27 37 73, 22 27 52 47) 18, Madan Mohan Malviya Marg, Lueknow (Phone : 0522-220 95 78) © 128A, Block 3, First Floor, Noorani Building, LJ, Road, Mumbai (Phone : 022-24 46 39 98) © Radha Govind Street, Tharpagna, Ranchi (Phone : 0651-230 77 64) EMAIL : colaxmi@hotmail.com WEBSITE + wwwlaxmipublications.com EEM-0552-240-ENGG MECHANICS © Dr. RK. Bansal and Sanjay Bansal All Rights Reserved. This book, or part thereof, may not be reproduced! in any form or translated with the written permission of the authors and the publishers. Compiled by : Smt. Nirmal Bansal First Edition 1991 Reprint 1 1992, 198 Second Edition : 1994 ‘Third Edition : 1996 Reprint 1997, 1998, 1999, 2000, 2002, Jan. 2001 Fourth Edition : 2002 Reprint 2 April 2003, Mareh 2004 Reprint + October 2004, June 2005 Price :Rs, 240.00 Only (C—10642/05/06 ‘Typesetting by : Goswami Printers, Delhi-110053. Printed at : Sanjeev Offset Printers, Delhi.Contents Chapter Pages PARTI—STATICS Fundamentals of Engineering Mechanics 1—23 LL.__Introduetion 1 L2__Definitions 1.2.1. Vector quantity 122. Scalar quantity 1.23. Aparticle A. Law of parallelogram of forces 2.5. Law of triangle of forces a ee me L.3.__ System of Units oe 5 13.1. C.G.S. system of units 5 132. MKS. system of units 5 3. 8.1. system of units 5 ‘Trigonometric Formulae and Expressions 6 Differentiation and Integration 6 15.1. Differentiations 6 1.5.2. Integrations. 7 Solved Problems 1.1—19 ~ 7 1.6. Resolution of a Force 14 1.7. _ Resolution of a Number of Coplanar Forces 14 Solved Problems 1.10—1.13 14 1.8. Moment of a Force ws 16 18.1. Units of moment 7 18.2. Effect of Foree and moment on a body W Solved Problem 1.13 W 1.9. Laws of Mechanics 18 1.9.1. Newton's first and second Inws of motion 19 1.9.2. Newton's third law 19 1.9.3. ‘Tho Gravitional Law of attraction 19 1.9.4. ‘The parallelogram law 20 1.9.5. ‘The Principle of transmissibility of forces 21 Highlights os 21 Exercise L 22 2.__Coplanar, Collinear and Concurrent Forces 24—42, 21. Introduction 24 2.2, Classification of a Force System 24 2.21. Coplanar collinear 24 2.2.2. Coplanar concurrent 25 2.3. Coplanar parallel 25 2.2.4. Coplanarnon-eoneurrent, non-parallel = 25 2.3, Resultant of Several Forces 25Chap. 24 (viii) Resultant of Coplanar Forces 2.6, Resultant of Collinear Coplanar Forces Analytical method i" 26 .5.2. Graphical method oe 26 Solved Problem 2.1 ~ 26 26. Resultant of Concurrent Coplanar Forces 27 2.6.1, When two forces act at a point . 27 2.6.2. When more than two two forces act at a point . 28 Solved Problems 2,.2—2,10 2.049222 Highlights 41 Exercise Al 3.__Coplanar Parallel Forces 4360 ..__Intreduction. 43 4.2.__Moment of a Force 43 Solved Problem 3.) 3.3. Principle of Moments (or Varignon's Principle) _ 44 Salved Problem 3.2 | 6 3.4. ‘Types of Parallel Forces a 47 4.1. Like parallel forces AT 3.4.2. Unlike parallel forees oo 47 4.5__Resultant of Two Parallel Forces a 3.5.1. Resultant of two like parallel forces oo 47 8.5.2. Resultant of two unlike parallel forces (unequal in magnitude). 48 3.5.3. Resultant of two unlike parallel forces which are equal in magnitude a 49 Solved Problems 3.3—3.5 ws 49 3.6. Resolution of a Foree into a Force and a Couple 52 Ived Problem 3. oe 2 4.7. General Caso of Parallel Fores in a Plane oo 5a ‘Solved Problems 8.73.8 54 3.8. Equivalent System 55 wed Proble 3.10 Highlights . 57 Bou 4, Conditions of Equilibrium 61-91 4.1.__Introduction 6 42. Principle of Equilibrium oe 61 4.2.1, Equations of equilibrium for non-current forces systems: oe 61 42.2. Equations of equilibrium for concurrent force system 61 4.3. Force Law of Equilibrium . 62 4.3.1, ‘Two forve system . 62 432. Three force system - 62 4.3.3. Four force system _ 63 Solved Problems 4.1—4.7 . 63 44, Action and Reaction " a(ix) Chap. Pages 4.5, Free Body Diagram os 72 Solved ProblemegB—49) Hightights 88 Exercise$ 5._ Support Reactions 92—113 5.1__Introduction 22 5.2. Types of Supports os 92 5.2.1. Simple support or knife edge support - 92 5.2.2. Roller support we 92 5.2.3. Pin joint (or hinged) support . 92 5.2.4. _ Smooth surface support oe 93 5.2.5. Fixed or built-in support us 93 5.3. Types of Loading - 93 0.3.1. Concentrated or point load os 93 5.3.2. Uniformly distributed load oe m4 5.3.3. Uniformly varying load 34 5.4, Method for Finding out the Reactions of a Beam 94 5.4.1. Analytical method . 94 5.4.2. Graphical method far finding out the reactions of a beam 94 5.5. Problems on Simple Supported Beams we 3m Solved Problems 6.1—6.5 95 5.6, Problems.on Overhanging Beams os 100 Solved Problems56—67 1 5.7. Problems on Roller and Hinged Supported Beams 101 Solved Problems 6.85.12 a 101 5.6. Problems When Beams are Subjected to Couples as 110 ‘Solved Problem §.J Highlights ui Exereise 5 ut 6.__Analysis of Perfect Frames 114—153 6.1,__Introduction ua 6.2, Types of Frames : 114 6.2.1. Perfect frame 4 6.2.2. Imperfect frame 115 6.3.__Assumptions Made in Finding out the Forees in a Frame 115 64. Reactions of Supports of a Frame . 115 6.5. Analysis of a Frame 116 6.5.1. Method of joints = 118 Solved Problems 6.16.6 6.5.2. Method of joints applied to cantilever trusses oe 127 Solved Problems 6.6—6.7 a 6.5.8, Method of joints applied to trusses carrying horizontal loads. 129 Solved ProblemaBR—89 0a 6.5.4. Method of joints applied to trusses carrying inclined londs 134 ‘Solved Problem @.19 8Zz Centre of Gravity and Moment of Inertia 154—194 71. Centre of Gravit os 154 712.__Centroid 154 7.8. Centroid of Centre or Gravity of Simple Plane Figures 164 7.4. Centre of Gravity of Plane Figures by the Method of Moments 154 74.1. Centre of gravity of plane figures by integration method 155, 74.2. Contre of gravity of a line 185 7.5.__Tmportant Points 156 ‘7.5.1. Centre of gravity of structural sections: sue 156 Solved Problema 207.5 6 7.5.2. Problems of finding centro of gravity of area by integration method os 162 7.5.3. Problems of finding contre of gravity of line-segment by integration method ea 167 Pi 167 ‘L6&.__MomentofInertia 00 7.7.__Radius of Gyration ee 175, 7.8, Theorem of the Perpendicular Axis eee 175 L9__‘Theorem of Parallel Axis i768 7.10.1.__Moment of inertia of a reet section oe 117 ‘L.10.2._Moment of inertia of a cireular section J ___.. __180 7.10.3._Moment of inertia of a triangular section a 181 Z.10.4.__Moment of inertia of a uniform thin rod ___..____ 183 7.10.5. Moment of inertia of area under a eurve of, ation _ 183 ‘Solved Problems 7.12—7.14 i” 185, Highlights ae 189 ‘Exercise 7 a 190 Friction 195—238 ‘8.1L Introduction 195 8.2. Definitions at 195, B21 Coefficient of friction . 195 5.2.2. Angle of friction se 195° B23. Come of friction 198 8.3. _ "Types of Friction os 197 Copyrighted materialChap. (ai) | 8.5. le of Repose ce 204 8.6, Equilibrium of a Body Lying on a Rough Inclined Plane 204 8.7.__ Analysis of Ladder Friction os 229 88. Analysis of Wedge Friction oe 230 Highlights. se 234 Exercise 8 Lifting Machines. 239—289 9.1 Intreduetion ‘29 92___Definitions 239, 9.3___Reversible and Irreversible Machine 20s 94. Condition for Irreversibility of a Machine oe 240 Solved Problems .1—O.4 a 95 Lawafa Machine 00g 9.6.1. Expression for maximum mechanical advantage . zag 9.6.2. ion for maximum effici = 245, ‘Solved Problems $.5—@6 ||| 9.6. Friction of a Machine Expressed in Terms of Actual Effort (P) on 247 9.7. Friction ofa Machine Expressed in Terms of Load . 248 Solved Problems 9.79.02 000 98 Important Lifting Machines . 262 9.8.1. Simple wheel and axle = 253 9.8.4. Single purchase crab winch os 267 ‘Solved Problem 9.36 1 sg ‘9.8.5. Double purchase crab winch... ‘Solved Problem @.7 0g 9.8.6. Pulleys a 262 ‘Solved Problems 9.18920 eg 9.8.7. _Weston's differential pulley block os 269 ‘10.1._Introduction 200, Copyrighted material(xii) Chap. Pages 10.2. Work 200 108 Virtual Work 9 10.4. Prineiple of Virtual Work 291 10.5.__Units of Work 291 10.6, Forces to be Omitted While Applying the Principle of Virtual Work es 291 10.7. Important Points to be Remembered while Applying the Principle ofVirtual Work 10.8. Uses of the Principle of Virtual Work es 292 10.8.1. ‘The principle of virtual work for problems on beams oe 202 Solved Problems 10.1—10,5 0g 10.8.2. ‘The principle of virtual work for problems on Framed structure. 802 Solved Problems 10.6—10.17 22.2222 10.8.3. ‘The principle of virtual work for problems on lifting machines. 323 Solved Problems 10.18—10.19 323 10.9, Virtual Wark Done by Moment (ar Torque) 25 ‘Solved Problem 10.20 326 Highlights 328 Eeertive 10 5 11. Belts, Ropes and Chain Drives 332—378 1L.L_Introduction 282 11.2, Open Flat Belt Drive a2 11.2.1. Velocity ratio of open belt drive = 333 Solved Problems 11..—11.2 00 ag Slip of the belt. i 334 (Creep of the belt 336 Solved Problema LLg—1Lg ag 11.3. Cross Belt Drive ~ 339 114. Compound Belt Drive “ 339 Solved Problem pig 0° 11.5._Length of Belt os 341 ‘of an open belt drive 241 2. Length of a cross-belt drive om 343 Angle of contact for open belt drive oe 350. af Angle of contact for crossed belt drive oa 350 11.7. Power Transmitted by Belt oe 350 Solved Problems 11.9—11.10 v= 351 118. Centrifugal tension - 362 11.9. Maximum Power Transmitted by a Belt . 353. Solved Problems 11.11—11,14 ‘355 ‘diel Tenaion in the Bal 256 Solved Problems 11.15—11.17 - 360 1L.1L. V-belt Drive and Rope Drive os 365 Solved Problems 11 W123 0G(iit) Chap. Pages 11.12. Chain drive 273 11.13. Relative Advantages and Disadvantages of Chain and Belt (or Rope) Drives . 373 Highlights a74 Exercise 4) 8G PART II—DYNAMICS 12.__Linear Motion BR1—413 12.1._Introduetion 0 122. Velocity os 381 12.5._Acceleration 381 12.4. Equations of Motion in a Straight Line oe 382 12.4.1. Equation for final velocity - ‘382 12.4.2. Equation of motion for distance covered (s) - 382 12.4.3. Derivation of" =u = 2a8 383 Solved Problems 12.1—12.6 - 385 12.44, Distance travelled in the nth second on 389 Solved Problemi27 4.4.4.4. 12.4.5. Equation of motion due to gravity “ 390 12.5. Points tobe Remembered 00091 ved 8 12. 12.6, Velocity and Acceleration of a Body Moving in a Straight Line by Differentiation - 401 Solved Problems 12.18—12.20 . 401 12.7, Velocity and Displacement of a Body Moving in a Straight Line by Integration . 403 Solved Problems 12.21—12.24 404 Highlights - an. Exercise 12 412 13. Curvilinear Motion, Circular Motion, Rotation and Translation 414—440 18.1,_Introduction 414 13.2. Angular Velocity . 414 13.2.1. Relation between linear velocity and angular velocity " 414 13.3.__ Angular Acceleration. - 7 415 13.3.1. Relation between linear acceleration and angular acceleration. 415 13.4. Equation of Motion Along a Circular Path = 415 13.4, Equation for angular displacement (6) at 416 13.4.2. Derivation of the angular displacement in terms of initial and final angular velocities _ 416 13.4.3. Relationship between r.p.m. (N) and angular velocity («) a 416 Solved Problems 13..—13.8 29 ga 13.5, Types of Motion 422 13.5.1, Motion of translation 422 18.5.2. Motion of rotation 2 423 13.6.3. Combined motion of translation and rotation. oe 423, Solved P: 139 2(xiv) Chap. Pages 13.6._Analysis of Reciprocating Engine Mechanism . 425 Solved Problems 13.10—13.11 429 13.7._Analysis of Four Bar Mechanism. a 434 Solved Problems 19.12—18.18 24.4.|\|\|4.94.2.0 ga Highlights oe 438 Exercise 13 439 14._ Projectiles 441—470 14.1.__Introduction sal 14.2. Terms Used with the Projectiles oo 441 14.2.1. Velocity of projection. 441 14.2.2. Angle of projection. rvs 14.2.3. ‘Times of flight a Aa 14.2.4. Horizontal range a 4a1 14.3.__Equation For the Path of a Projectile a 441 14.3.1, Maximum height attained by projectile 442 14.3.2. Time of fight 448 14.3.3, Horizontal range of projectile (2) on 443 14.3.4, Value of angle of projection (=) for maximum horizontal range 443 14.3.5, Time to reach the highest point 443 Solved Problems 14.1--14.11 ” 444 14.4. Motion of a Body Thrown Horizontally from a Given Height into the Air. 454 Solved Problems 14.12—14.17 a 455 14.5, Projectile on an Inclined Plane ~ 460 14.5.1. Time of flight 461 14.5.2. Range on inclined plane we 461 14.5.3. Projectile down the inclined plane « 462 Solved Problems 14.18—14.21 “ 463 Highlights ~ 467 Exercise 14 468 15.8. Motion on an Inclined Rough Surface. . 480 Solved Problems 15.1515 9.4999 a 16.9. Analysis of Lift Motion oe 488 Solved Problems 15.16—15.20 0048(xv) Chap. Pages 15.10. Analysis of the Motion of Two Bodies Connected by a String . 493 Solved Problems 16.21—15.25 494 15.11. Analysis of the Motion of Two Bodies Connected by a String When One Body is Lying on « Horizontal Surface and Other is Hanging Free - 499 1.11.1. ‘The horizontal surface is smooth and string is passing over a smooth pulley ue 499 1.11.2. The horizontal surface is rough and the string is passing, over a smooth pulley . 501 Solved Problems 15.26—15.29 a 502 15.11.3. The horizontal surface is rough and the string passes over a rough surface . 504 ‘Solved Problem 16.30 2.211 15.12, Analysis of the Motion of Two Bodies Connected by a String When One Body is Lying on Inclined Plane.and the Other is Hanging Free in Air. 506 15.12.1, First case when the inclined surface is smooth 506 15.12.2. Second case when the inclined surface is rough 508 Solved Problems 15.31—15.32 ve 509 15.13. Momentum and Angular Momentum (or moment of momentum) - Si 15.13.1. Momentum : oul 15.13.2, Momentum of momentum or angular momentum. su 15.14. Moment of Inertia of a Circular Section 7 512 15.15. Radius of Gyration (K) 514 Solved Problems 15.33—15.34 . 515 15.16. Laws for Rotary Motion . 516 15,17, Kinetic Energy Due to Rotation 517 15.18, Total Kinetic Energy of a Body 518. Solved Problems 15.95—15.38 - 518 15.19. Rotation Due to a Weight W Attached to One End of a String Passing: Over a Pulley of Weight Wo . 621 Solved Problem 16.99 oe 522 15.20. Rotation due to Weights Attached to the Two Ends of a String, which Passes Over a Rough Pulley of Weight Wo oo 523 Solved Problems 15.40—~15.42 oe 525 165.21, D’ Alembret's Principle Applicable to Plane Mation . 530 Solved Problem 15.43 532 15.22. D’ Alembret’s Principle Applicable to Rotary Motion os 533 Highlights os 536 Exercise 15, “ 539° 16. Simple Harmonic Motion and Mechanical Vibrations 544—579 16.1,_Introduetion Bad 16.2. Definitions of Some Terms Used with S.H.M. . BAT Solved Problems 16.1—16.9 . 647 16.3. Oscillation of the Bodies Having Simple Harmonie Motion - 556 16.3.1. Oscillation of a vertical elastic string or spring ' 566 Solved Problems 16.10—16.17 “ 558(vid Chap. Pages 16.3.2, Oscillations of a simple pendulum o 588 Solved Problems 16.18—16.19 367 16.4. Gain or Loss of Oscillations Due to Change in gor 1 for a Pendulum a 367 Solved Problems 16.20—16.21 . 568 165, Free i 569 16.6.1. ‘The longitudinal vibrations 569 16.5.2. ‘The transverse vibration 570 16.5.3. The torsional vibrations 570 Solved Problems 16.22—16.25 571 Highlights 876 Exercise 16 . 8m7 17, Collision of Elastic Bodies 580—605 17.1. Introduetion . 580 17.2, Some Definition 580 580 ‘Time of restitution 580 ‘Time of collision 580 17.24, Law of conversion of momentum 580 17.3. ‘Types of Impacts 580 17.8.1. Direct impact of two bodies 580 17.3.2. Indirect impact of two bodies a 581 174. Co-efficient of restitution 583 Solved Problems 17.1—17.7 a 584 17.5, Loss of Kinetic Energy During Impact 592 Solved Problems 17.8—17.12 592 17.6, Impact of a Body on a Fixed Plane ~ 597 17.7. Direct impact of a body on a fixed plane . 597 Solved Problems 17.13—17.15 “ 588 17.8, Indirect Impact of a Body on a Fixed Plane 600 Solved Problems 17.16—17.17 600 Highlights 602 Exercise 17 ae 603 18.__Work, Power and Energy 606—6387 18.1._Intreduction 606 182. Work 608 18.3._Units of Work, 8G Solved Problems 18.1—18.7 . 607 18.4. Power 610 Solved Problems 18.8—18.11 610 18.5, Work Done By a Torque o 614 18.6. Pawer Developed by a Torque os 614 Solved Problems 18.12—18.13 ~ 64 . Energy . 615 ‘Mechanical Energy a 615, 18.8.1. Potentinl energy os 615( xvii) Pages 18.8.2. Kinetic energy - 615 18.8.3. Work done is equal to change of kinetic energy 616 Solved Problems 18.14—18.15 617 18.9. Law of Conservation of Energy 618 Solved Problems 18.16—18.21 o 619 18.10. Energy Lost By a Body Falling on Another Body and to Caleulate the Resistance Offered the Ground o 626 Solved Problems 18.22—18.28 627 Highlights 635 Exercise 18 ve 635 Forces in Space 638657 19.1, Introduetion - 638 19.2. Notation of a Vector 638 19.2.1. Magnitude of a vector 638 19.2.2. Multiplication of a vector by a scalar 638 19.3. Components of a Force . 638 19.4. Unit Veetor 639 . Components of a Force When Two Points on its Line of Actions are Given... 640 19.6. Position Vector of a Given Point 640 Solved Problems 19.1—19.5 640 19.7. Important Vector Operations . 646 19.7.1. Vector addition 646 19.7.2. Dot product oa 646 19.7.3. Cross product or vector product 647 Solved Problems 19,6—19.10 647 19.8 Moment of a Force 650 Solved Problems 19.11—19.15 “ 650 Subject Index 858PARTI STATICS1 Fundamentals of Engineering Mechanics 1.1, INTRODUCTION Engineering mechanics is that branch of science which deals with the behaviour of a body when the body is at rest or in motion. The engineering mechanics may be divided into Statics and Dynamics. The branch of science, which deals with the study of a body when the body is at rest, is known as Statics while the branch of science which deals with the study of a body when the body isin motion, is known as Dynamics. Dynamics is further divided into kinematics and kinetics. The study of a body in motion, when the Forces which eause the motion are not considered, is called kinematics and ifthe forces are also considered for the body in motion, that branch of science is called kinetics. The classification of Engineering Mechanics are shown in Fig. 1.1 below, ENGINEERING MECHANICS | 1.Staties 2. Dynamics (Body is at rest) (Body is in motion) () Kinematics (i Kinetics Fig 1.41 Note. Statics deals with equilibrium of bodies at rest, wheteas dynamics deals with the motion of bodies and the forces that cause them, 1.2, DEFINITIONS 1.2.1, Vector Quantity. A quantity which iscompletely specified by magnitude and direction, is known as a vector quantity. Some examples of vector quantities are : velocity, acceleration, force and momentum. A, vector quantity is represented by means of a straight line with an arrow as shown in Fig, 1.2, The length of the straight line (ce., AB) represents the magnitude and arrow represents the direction of the vector. The symbol AB also # 8 Tepresents this vector, which means itis acting from A to B. Fig. 12, Vector Quantity. 1.2.2, Sealar Quantity. A quantity, which is completely specified by magnitude only, is known asa scalar quantity. Some examples of scalar quantity are : mass, length, time and temperature. 1.2.3. A Particle. A particle is a body of infinitely small volume (or a particle is a body of negligible dimensions) and the mass of the particle is considered to be concentrated at a point. Hence a particleis assumed to a point and the mass of the particle is concentrated at this point, 1.2.4, Law of Parallelogram of Forces, The law of parallelogram of forces is used to determine the resultant® of two forces acting at a point in a plane. It states, “‘If two forces, acting at a point be represented “The resultant of a sysiem of forces may be defined asa single force which has the came effect as system of forces acting on the body.2 ENGINEERING MECHANICS. in magnitude and direction by the two adjacent sides of a parallelogram, then their resultant is represented in magnitude and direction by the diagonal of the parallelogram passing through that point’. Let nwo forces P and Q act at a point O as shown in Fig. 1.3. The force P'is represented in magnitude and direction by OA whereas the force Q is presented in magnitude and direction by OB. Let the angle between. the two forces be ‘ct’. The resultant of these two forces will be obtained in magnitude and direetion by the diagonal (passing through 0) of the paraltelogram of which GA and OB are two adjacent sides. Hence draw the parallelogram with OA and OB as adjacent sides as shown in Fig. 1.4. The resultant R is represented by OC in magnitude and direction, Fig 13 Fig. 14 Magnitude of Resultant (R) and and From € draw CD perpendicular to OA produced. Let ‘a= Angle between two forces Pand Q= LAOB Now LDAC = LAOB (Corresponding angles) . ce In parallelogram OACB, AC is parallel and equal to OB. * AC=Q. Intriangle ACD, AD=AC cosa = CD=AC sina=Qsina. Intriangle OCD, 0C?=0D* + DC. But QC =R, OD =O0A+AD=P + Qcosa BC=Qsina ‘ R= (P+ Qcosa)' + (Qsin ay = P? +O" cos? a+ 2PQ cos a + 0" sin? = P+ G2 (cos? + sin? a) +2PQ cose 740 + PO cosa Cr cos* a+ sin? = 1) * R=VP'+Q"+2PQ cos & (1D) Equation (1.1) gives the magnitude of resultant force R. Direction of Resultant Let 8 = Angle made by resultant with OA. ‘Then from triangle OCD, cp sina tan = = OD P+Qcosa our ord (0.2) P+QosaFUNDAMENTALS OF ENGINEERING MECHANICS 3 Equation (1.2) gives the direction of resultant (R). “The direction of resultant can also be obtained by using sine rule [In triangle OAC, OA = P, AC = Q, OC =R, angle OAC = (180— a), angle ACO = 180 — [8+ 180 —aj = (@-8)] sin@ _ sin(180~a) _ sin(a 8) AC oc OA sin @ _ sin(180-a) _ sin(a~6) Q R “OP ‘Two casesare important. Fig 14(a) Ist Case, If the two forces P and Q act a right angles, then a= 90" From equation (1.1), we get the magnitude of resultant as R=VP'+Q?+2PQ cosa =VP*+Q? + 2PQ cos 90° “VPage Cr cos 90 =O) (1.24) From equation (1.2), the direction of resultant is obtained as ous’ (pate) P+Qoosa wt (C2 sin 90° = 1 and cos 90° = 0) P+Q cos 90° 2nd Case. The wo forces P and Q are equal and are acting at an angle « between them. Then the ‘magnitude and direction of resultant is given as ReVP4Q?+2PQ cosa =VP*4 P+ 2P x Pxcosa@ (: P=Q) = V2P" 4 2P eos a = VIFP(1 + cos a) Vv £ oa 2 2 V2P x2 ces? 5 (: 1 veesa.-2e0s'§ | £V 4P* cos? $= 2P cos $ 13) tar! (—28ina_)_4,,1_Psina_ pa and 6 = tar (Fedara)=" P+Posa ( P=@) tar? PSO gq t ine tan Pilscosa)"" Tecosa 2sin £ cos stant = sina=2sin cos Zens? a2 2 (4)4 ENGINEERING MECHANICS It is not necessary that one of two forces, should be along x-axis. The forces P and @ may be in any direction as shown in Fig. 1.5. Ifthe angle between the two forces is ‘a’, then their resultant will be given by equation (1.1). The direction of the resultant would be oblained from equation (1.2), Butangle 0 will be the angle made by resultant with the direction of P. 1.2.8. Law of Triangle of Forees, It states that, ‘if three forces acting ata point be represented in magnitude and direction by the three sides of a triangle, taken in order, they will be in equilibrium.” Fig 15 1.2.6, Lami’s Theorem. It states that, “If there forces acting at a point are in equilibrium, each force will be proportional to the sine of the angle between the other two forces."” Suppose the three forces P, Q and R are acting at a point O and they are in equilibrium as shown in Fig. 16, Let «= Angle between foree Pand Q. B= Angle between force Q and R. = Angle between force Rand P. ‘Then according to Lami’s theorem, Passine of angle between Q and Rat sin B. Fig. 1.6 Similarly 22 constant and —*— s constant siny sing, or et. Proof of Lami's Theorem. The three forces acting on a point, are in equilibrium and hence they can be represented by the three sides of the triangle taken in the same order. Now draw the foree triangle as shown in Fig. 1.6(2). Naw applying sine rule, we get "ye sin (180 -y) ~ sin (180-2) This canalso be written Po Rk sinBsiny~ sina Fig. 1.6 (@) Note. All the three forces should be acting either towards the point or away from the point. This is same equation as equation (1.5),FUNDAMENTALS OF ENGINEERING MECHANICS 5 1.3. SYSTEM OF UNITS ‘The following system of units arc mostly used : 1. CGS. (ie., Contimetre-Gram Second) system of units. 2. M.K.S, (ce. Metre-Kilogram-Second) system of units. 3. Sle (ies International) system of units. 13,1 C.G.S, System of Units, In this system, length is expressed in centimetre, mass in gramand time in second. The unit of force in this system is dyne, which is defined as the force acting on a mass of one gram and producing an acceleration of one centimetre per second square. 13.2. MKS. System of Units. in this system, length is expressed in metre, mass in kilogram and time in second. The unit of force in this system is expressed as kilogram force and is represented as kgf. 1.33. S.L. System of Units. S.1. is abbreviation for “The System Intemational Units’. Itis also called the International System of Units. In this system length is expressed in metre mass in kilogram and time in second. The unit of force in this system is Newton and is represented N. Newton is the force acting on a mass ‘of one kilogram and producing an acceleration of one metre per second square. The relation between newton (N) and dyne is obtained as One Newton = One kilogram mass x One. tnette = = 1000 gm x 100s (one kg = 1000 gm) § = 1000 x 100 x #2 =S" # = 10% dyne . syne ene | ‘When the magnitude of forces is very largo, then the unit of force like kilo-newton and mega-newton is used. Kilo-newton is represented by KN, One kilo-newton or KN and ‘One mega newton = 10" Newton ‘The large quantities are represented by kilo, mega, giga and terra, They stand for : Kilo = 10° and represented by Mega = 10? and represented by Giga = 10° and represented by Tera = 10" and represented by wovunT “Thus mega newton means 10° newton and is represented by MN. Similarly, giga newton means 10°N and is represented by GN. The symbol TN stands for 10'? N. ‘The small quantities are represented by milli, micro, nano and pico. They are equal to Milli = 10 and represented by Micro = 10% and represented by Nano = [0-* and represented by Pico = 10"? and represented by ‘Thus milli newton means 10°? newton and is represented by mN. Micro newton means 10 N and is represented by jN. ‘The relation between kilogram force (kgf) and newton (N) is given by One kgf = 9.81 N6 ENGINEERING MECHANICS Weight of a body is the force with which the body is attracted towards earth. If W= weight of a body, ‘m = mass in kg, then W =m x g Newtons If mass, m of the body is | kg, then its weight will be, We 1g) x9.81-3= 9.1 N, 1.4, TRIGONOMETRIC FORMULAE AND EXPRESSIONS ‘The following are the trigonometric formulae in a right-angled triangle ABC of Fig. 1.7. a AC ” AB @sinO=36 (i) cos 8 = FC c a) ana 24 iti) 1an 8 = 5 (iv) sin (A +B) =3in A cos B+ cos A sin (v) sin (A —B) = sin A cos B—cos A sin B (Wi) cos (A +.B) = cos A cos B—sin A sin B (vii) cos (A - B) = cos A cos B + sind sinB a tanA + tan B (vidi) tan (A+B) = A ~tanB (i) an = By (3) sin 24 =2 sin A cosa Fig 1.7 (xi) sin? 0+ cos?0= 1. 1.5, DIFFERENTIATION AND INTEGRATION 1.5.1. Differentiations. (i) Differentiation of a quantity (say A) with respect to x is written as HA) ort de de ay d - (i) 08) = 48, Fant 1 and ( yA (er + 24 e+ SP x8 ww 4 (4) = 0 as differentiation of constant is zero. dv du d 5 Og usdeu Baus [when wand v are functions of 2] (+i) Differentiation of trigonometrical functions dg, ie ina) = c08 x a i Gp (084) = = sinc Kann = sex,FUNDAMENTALS OF ENGINEERING MECHANICS 7 1.5.2. Integrations. (i) Integration of a quantity (say A) with respect to x is written as f Adx. 1 often (ii) [Ade = 4x 4, _ (8e4sy'*! Cor fer sy dea BS Problem 1-1, Two forces of magninule 10 N and 8 N are acting at a point. If the angle between the two forces is 60°, determine the magnitude of the resultant force. Sol. Given = Force P=10N Force Q=8N Angle between the two forces, «t = 60° ‘The magnitude of the resultant force (R) is given by equation (1.1) R=VP 4074+ 2PQ cosa = V10? + 8 42 x 10x 8x ons 60" =V1004 64+ 2x 10x 8x! = V100 + 64 + BO = V244 = 15,62 N. Ans. Problem 1.2. Twoequal forces are acting ata point with an angle of 60° between ther. If the resulzant force is equal ta 20 x V3 N, find magnitude of each force. Sol. Given: Angle between the force, «= 60° Resultant, R= 20x V3 “The forces are equal, Let P is the magnitude of each force, Using equation (1.3), we have R=2Pcos$ or ROVE = 2P cos 22x Sera v5 va .'. Magnitude of cach force = 20 N. Ans. Problem 1.3. The resultant of the two forces, when they act at an angle of 60° is 74 N. If the same forces are acting at right angles, their resultant is VI36 N. Determine the magnitude of the two forces. Sol. Given: Casel ) =2Pes0r I Ps =20N. Resultant, Ry = 14N Angle, a=60° Case Il Resultant, Ry = V136N Angle, a=? Let the magnitude of the two forces arc P and Q. Using equation (1.1) for case I. R=VP*40"+2PQ cosa or 14=-VP? +0? + 2PQ «cos OF = VP + G+ 2PQx! or 142VP*4 074 PO ‘or or ENGINEERING MECHANICS, Squaring, 196 = P+? + PO wali) Using equation (1.2 A) for case Il, R=VP+Q or VBG=VP 4g? 136 = P?+ (Squaring both sides) Subtracting equation (ii) from equation {i}, we get 195 — 136 = P24 0? + PQ-(P? 4 @2) 60= PQ iii) Multiplying the above equation by two, we get 120 = 2PQ iv) Adding equation (iv) to equation (ii), we get 136 + 120 = P* + 0? + 2PQ 256=P?+Q74+2PQ or (16)'=(P +O) 16=P4+Q * P=(16-Q) wv) Substituting the value of P in equation (iif), we get 60 = (16-0) x @=16Q-Q" of O?-162+60=0 ©. This is a quadratic equation. 162V(-16F-4%60 162VB6-20 1624 e- 2 . 2 as 644 and ‘Substituting the value of Qin equation (v), we get P=(16—10) or (16-6) = 6 or 10. Hence the two forces are 10 N and 6 N. Ans. Problem 1.4. Two forces are acting at a point O as shown in Fig. 1.8. Determine the resultant in ‘magnitude and direction, Fig 1.8 Fig 1.9 Sol. Given = Foree P =SON, Force Q = 100N ‘Angle between the two forces, = 30° “The magnitude of the resultant R is given by equation (1.1) as R=VP4Q"42PQ cosa = V50"+ 100 +2 x 50 x 100 x cas 30” = VZ500 + 10000 + 8660 = VZIT60 = 145.46 N. Ans.FUNDAMENTALS OF ENGINEERING MECHANICS 9 ‘The resultant R'is shown in Fig. 1.9, The angle made by the resultant with the direction of P'is given by equation (1.2) as __Qsinw tn 8 =F Oca . ee tant (—2since_) _ 51/100 x sin 30° P+Qcosa 30 + 100 cos 30° = tan”! 0.366 = 20.10" «. Angle made by resultant with x-axis = 0 + 15° = 20,10 + 15 = 38.10". Ans. Problems 1.5. The resultant of two concurrent forces is 1500 N and the angle between the forces is 90". The resultant makes an angle of 36° with one of the force. Find the magnitude of each force. Sol. Given: Resultant, 1500 N Angle between the forces, a = 90° Angle made by resultant with one force, @ = Let P and Q are two forces. Qsina P+ Qos an 36° = 2510.90" @xi_ g g tan 36° = 5 Ocas 0° P+Qx0p % %726= or 0 =0.726 P Ad) Using equation (1.1), R= VP? +Q? + 2PQ cos a or R= P40? +2PQcosa or 1500? = P? + (0.726P)" + 2P(0.726P) x cos 90° Q=0.726P) 1500 = P* + 0.527P? +0 (cos 90° = 0) =1527P Using equation (1.2), an = 1500? __1500 1527 © 1.2357 iting the value of P in equation (i), we get Q=0.726 x 1213.86 = 881.26N. Ans. Alternate Method, Refer to Fig. 1.9 (a). Consider triangle OAC. Using sine rule, we get sin 90° _ sin 36° _ sin 54° = 1213.86 N ‘Subst B c R Qo. P or sin 36° @ Rsin36* or Satyr ‘(where R = 1500N) = 10005877 _ 591.67 N. Ans. Fig. 19(@) = 1213.52 N. Ans.FUNDAMENTALS OF ENGINEERING MECHANICS B Sol. Given: Weightat C= 15N LOAC = 60° LCBD = 45° Let 7, = Force in string BC Ty = Force in string AC Ist Method Using Lami's theorem at C 15 sin of ZBCA~ sinof ZACE But LBCA = 45° +30" = 75° LACE = 180° 30° = 150° ZBCE = 180° — 45° = 135° 15 TN. sin 75° ~ sin 150° ~ sin 135° 15 x sin 150° Tye ag 7 TIGN. Ans. and = Wxsin 135° a sin 75? 2nd Method ‘The point C is in the equ Resolving all forces at C’in the horizontal direction = 10.98 N. Ans. rium. The forces acting at C are 15 N, 7, and 7. T, sin 45? = Tysin 30° or TxgpeTaxy os ety xgevixn, -) Resolving all forces at C in the vertical direction, T, cos 45° + T; cos 30° = 15 wedi) 1 ve or Tix gettan y= is Substituting the value of T» from equation ({) into equation (i), devtxnx Sais Tix 2 or Fos or Ty+V3T=1SxVZ or Ty(1 +V3) = 15x VE 1, = 18208 -176N, Ans. Substituting this value of 7; in equation (), we get Tz, =V2 x T, = V2 x 7.76 = 10.98 N, Ans.14 ENGINEERING, MECHANICS. 1.6, RESOLUTION OF A FORCE Resolution of a force means “finding the components of a given force in two given directions.”” Let a given force be R which makes an angle @ with X-axis as shown in Fig. 1.14. I is required to find the com- ponents af the force R along X-axis and Y-axis. Components of Ralong X-axis = R cos 8. ‘Component of R along Y-axis = R sin 8. ° tena 3 x Hence, the resolution of forces is the process of find- ing components of forces in specified directions. Fig. Ld 1,7, RESOLUTION OF A NUMBER OF COPLANAR FORCES Let a number of coplanar forces (forces acting in one plane are called co-planar forces) Ry Ros Ry, we are acting at a point as shown in Fig. 1.15. Let 0, = Angle made by Ry with X-axis 0; = Angle made by Rz with X-axis 05 = Angle made by Ry with X-axis H = Resultant component of all forces along X-axis V= Resultant component of all forces along Y-axis R= Resultant of all forces: = Angle made by resultant with X-axis, Each force can be resolved into two components, one along X-axis and other along Y-axis, ‘Component of R along X-axis = Ry cos 0 Component of R, along Y-axis = Ry sin Oy. Similarly, the components of Rand Ry along X-axis and Y-axis are (Ry cos 8, R; sin 83) and (Ry cos 5, Ry sin O4) respectively. Resultant components along X-axis, = Sum of components of all forees along X-axis. & H = Ry cos 0, + Ry cos By + Ry cos 0; +... (1.6) Resultant component along Y-axis. = Sum of components of all forces along Y-axis. V=R, sin 8; + Rz sin 6; + Ry sin O +... Ry ‘Then resultant of all the forces, R= VH? + “The angle made by R with X-axis is given by, tan 0 ot Problem 1.10. Tivo forces are acting at a point Q as shown in Fig. 1.16, Determine the resultant in magnitude and direction, Sol, The above problem has been solved earlier. Hence it will be solved by resolution of forces, Force P= SON and force Q= 100N, Let us first find the angles made by each force with X-axis,FUNDAMENTALS OF ENGINEERING MECHANICS 15 Angle made by P with x-axis = 15° Angle made by Q with x-axis = 15 +30= 45° Let = Sum of components of all forces along X-axis. V = Sum of components of all forces along Y-axis. ‘The sum of components of all forces along.X-axis is given H =P eos 15% + Qeos 45° = 50x cos 15" + 100cos 45° = 119 N The sum of components of all forces along ¥-axis is given by, V =Psin 15° + sin 45° 50 sin 15° + 100 sin 45° = 83.64 N ‘The magnitude of the resultant force is given by equation (1.8), R= VEPs = V119" + 83.647 = 145.46 N. Ans, “The direction of the resultant force is given by equation (1,9), tan @ = 0 = tant SEK 38,10", Ans, Here 0 is the angle made by resultant R with x-axis, Problem 1,11, Three forces of magnitude 40 kN, 15 KN and 20 KN are acting at a point O as shown in Fig 1.17. The angles made by 40 kN, 15 kN and 20 KN forces with X-axis are 60, 120° and 240° respectively. Determine the magnitude and direetion of the resultant force. Sol. Given: Ry = IO KN, 8; = 60° y= 15 KN, 0; = 120° Ry = 20 KN, Oy = 240° ‘The sum of components of all forces along X-a euation (1 6) as H = Ry cos ®, +.R2.c05 6 + R605 = 40 x cos 60° + 15 x.c0s 120° + 20x cos 240° 340 x34 15 x (3) +20x (4) =20-75-10=2.5kN. ‘The resultant component along Y-axis is given by equation (1.7) as VR, sin®, + Rzsin 0; + Ry sin 8, = 40 x sin (60°) + 15 x sin (120°) + 20 x sin (240°) B 615.2 420% ( =) is given by 404 +15 E =20xV3 + 75x VE - 10x V5 =175 «VERN = 30.31 KN. ‘The magnitude of the resultant force is given by equation (1.8) R=ViP + = 25243031 = 30,41 KN, Ans, ‘The direction of the resultant force is given by equation (1.9) =H? 357 12.124 = tan 85.28° © = 85,28" or 85° 16.3’, Ans, tan15, 16. 1 ENGINEERING MECHANICS According to Lami's theorem, ‘“Ifthree forces acting.a the sine of the angle between the other two forces.” ‘The relation between newton and dyne is given by One newton = 10° dyne. Moment ofa force about a point = Force x perpendicular distance of the line of action of the force from that point. “The force causes linear displacement while moment causes angular displacement. A body will be in equilibrium if (0 resultant force in any direction is zero and (if) the net moment of the forces about any point is zero. Gravitational law of attraction is given by, pointare equilibrium, each force will be proportional to my x my z ational constant. FsG where G = Universal gra my, my mass of bodies EXERCISE 1 (A) Theoretical Problems ‘What do you mean by scalar and vector quantities ? Define the law of parallelogram of forces. What isthe use ofthis law ? State triangle law of forces and Lami’s theorem. ‘Two forces P and @ are acting at a point in a plane. The angle between the forces is “a. Prove that the resultant (Ry of the two forces is given by R=-VP¥ +0" + 2AQ aa Define the following terms : dyne, newton, meganewion and moment of a force. Prove that one newton is equal to 10° dyne. the terms : clockwise moments and anti-clockwise moments. tne effect of force and moment:on a'body ? Indicate whether the following statement is trve or false. “The resultant components of the forces seting on a body slong any direction is zero but the net moment of the forces about any point is not zero, the body will be in equilibrium’. (Ans. Fatse] Write the S.1. units of: Force, moment and velocity. What do you mean by resolution of a force? Acsumber of coplanar forces are acting at a point making different angles with x-axis. Find an expression for the resultant force, Find also the angle made by the resultant force with x-axis. ‘State and explain the pinciple of transmissibility of forces. ‘State and explain the following laws : (8) Newton's laws of motion. i) The gravitational law of attraction. Using gravitation law of attraction, prove that W = mx g. Explain fully the following terms : (@ Resolved part of a given force in a given direction. Gi) Lami’s theorem. (B) Numerical Problems Determine the magnitude of the resultant of the two forces of magnitude 12 Nand 9N acting ala point if the angle between the two forcesis 30°. [Ans. 203 N]FUNDAMENTALS OF ENGINEERING MECHANICS 23 h 10. Find the magnitude of 1wo-equal forces acting at a point with an angle of 60° between them, if the resultant is equal 10 30xV3 N. [Ans 30 N] ‘The resultant of two forces when they act at right angles is 10.N, whereas when they act at an angle of 60° the resultants is VTAB . Determine the magnitude of the two forces. [Ans. 8N and 6 NJ ‘Three forces of magnitude 30 kN, 10 kN and 15 kN are acting ata point 0. The angles made by 30 KN force, TKN forceand 15 KN force with x-axis are 60°, 120° and 240° respectively. Determine the magnitude and direction of the resultant force. [Ans 21.79 kN, 83° 24] A weight of 800 N is supported by two chains a8 shown in Fig. 1.26. Determine the tension in each chain, (Ans, 273.5N, 751.7] Anelecttic light fixture weighing 20 N hangs from a point C. by two strings AC and BC. AC is inclined at 60° to the horizontal and BC at 30° to the vertical as shown in Fig, 1.27. Using Lami’s theorem or othcrwise determine the forces inthe strings AC and BC TAns. 8.929 N, 13.05 NJ Fig. 1.26 427 A beam AB of span 6 m carries a point load of 100 N ata distance 2m from A, Determine the beam reaction, [Ans. Ry = 66.67 N ; Ry =33.33 N] Four forces of magnitudes 20 N, 30.N, 40N and SON are actingrespectively along the four sides of a squate taken inorder. Determine the magnitude, direction and position of the resultant force. 2g, 7a ‘Ans. 20x VEN, 225", 5 ‘Two forces magnitude 15.N and 12.N are acting at a point. Ifthe angle between the wo forces is 60°, determine the resultant of the forces in magnitude and direction, [Ams, 23.43 N, 263°] Four forces of magnitude P, 2P, 3 x V3P and 4P are acting at a point 0. The angles made by these forces with x-axis are 0", 60°, 150° and 300° respectively. Find the magnitude and direction of the resultant force. [Ans. P, 1200)2 Coplanar Collinear and Concurrent Forces 2.1. INTRODUCTION Coplanar forces means the forces in a plane. The word collinear stands for the forces which are having common lines of action whereas the word concurrent stands for the forces which intersect at a common point. When several forces aet on a body, then they are called a force system or a system of forces. In a system in which all the forces lie in the same plane, it is known as coplanar force system. Hence this chapter deals with a system of forces which are acting in the same plane and the forces are either having a common line of action or intersecting at a common point, 2.2, CLASSIFICATION OF A FORCE SYSTEM. ‘A force system may be coplanar or non-coplanar. [fin a system all the forces lie in the same plane then the force system is known as coplanar. But if in a system all the forces lie in different planes, then the force system is known as non-coplanar. Hence a force system is classified as shown in Fig. 2.1. Force System 1. Coplanar 2. Non-coplanar Collinest ‘Concurrent Parallel Non-concurtent Non-parallet Concurrent Parallel Non-concurrent Non-paralie! Fig. In this chapter, we shall discuss only coplanar foree system, in which the forces may be : (@ Collinear (i) Concurrent (i Paraltet (iv) Non-concurrent, non-parallel (or General system of forces). 2.21. Coplanar Collinear, Fig. 2.2 shows three forces Fy, F2and Fyacting ina plane. These three forces are in the same line de., these three forces are having a common line of action. ‘This system of forces is known as coplanar collinear force 24 Fj Fs Fig. 2.2. Coplanar Collinear Forces.COPLANAR COLLINEAR AND CONCURRENT FORCES system. Hence in coplanar collinear system of forces, all the forces act of action. the same plane and have a common line 2.2.2, Coplanar Concurrent. Fig. 23shows three forces F,, Fz and F; acting in a plane and these forces intersect or meet at a common point O. This system of forces is known as coplanar concurrent force system. Hence in coplanar concurrent system of forces, all the forces act inthe same plane and they intersect atacommon point. 2.2.3. Coplanar Parallel. Fig. 2.4 shows three forces F), F) and Fy acting in a plane and these forces are parallel. This system of forces is known as coplanar paral- lel force system, Hence in coplanar parallel system of forces, all the forces actin the same plane and are parallel. 2.2.4, Coplanar Non-concurrent Non-parallel, Fig. 2.5 shows four forces F), Fa, Fy and Fy acting in a plane. The lines of action of these forces lic in the same plane but they are neither parallel nor meet or intersect at a common point. This system of forces is known as coplanar non-concurrent non-parallel force system. Hence in coplanar non-concurrent non-parallel system of forces, all the forces act inthesame plane but the forces are neither parallel nor meet at a common point, This force system is also known as general system of forces. 2.3. RESULTANT OF SEVERAL FORCES Wher a number of coplanar forces are acting on a rigid” body, then these forees can be replaced by a single force which has the same effect on the rigid body as that of all the forces acting together, then this single force is known as the resuftant of several forces. Hence a single force which can replace a number of forces acting on a rigid body, without causing any change in the external effects on the body, is known as the resultant force. 2,4, RESULTANT OF COPLANAR FORCES 3 Fig. 2.3. Concurrent Coplanar Farces. Fig. 2.4. Coplanar Paraflel Forces. ¥ Fa fs Fig. 2.5, Non-concurrent Non-parallel. ‘The resultant of coplanar forces may be determined by following two methods = 1. Graphical method 2. Analytical method, “Rigid body is a body wh h does not deform under the action af loads or extemal forces. In casc of rigid body, the distance between any two points of the body remains constant, when this body is subjected to loads. Though all (he bodies do deform to same extent under the action of loads, but in many 6 ition, this deformation is negligible small