TR2001_CC_HK211 HCMC

16/1/2022

FINAL REPORT
Engineering mechanics & Mechanical Vibrations
STUDENT’S NAME: Phạm Đức Hiếu
HCMUT ID: 2052995

TABLE OF CONTENT

Contents
PART A: Topic: Equilibrium of a rigid body.........................................................................................................2
A. Summary of theory................................................................................................................................2
 Conditions for rigid-body equilibrium.............................................................................................2
 Free-body diagram............................................................................................................................2
 Equations of equlibrium....................................................................................................................2
 Dry friction.........................................................................................................................................3
B. Problems.................................................................................................................................................4
PART B:..............................................................................................................................................................16
Topic 1: Kinematics of a particle, kinematics of rigid body..............................................................................16
Topic 2: Dynamics of a particle, dynamics of a rigid body...............................................................................16
A. Summary of theory..............................................................................................................................16
 Newton’s laws of motion..................................................................................................................16
 Acceleration......................................................................................................................................16
 D’Alembert’s principle....................................................................................................................16
 Dynamics of a rigid body in translation.........................................................................................17
 Dynamics of a rigid body in rotation..............................................................................................17
 Dynamics of a body in plane motion..............................................................................................18
B. Problems...............................................................................................................................................19
PART A: Topic: Equilibrium of a rigid body
A. Summary of theory
 Conditions for rigid-body equilibrium
 The equilibrium of a body is expressed as:
FR =∑F =0
(M ) = ∑ M O = 0
R O

 Consider summing moments about some other point, such as point A,

we require:
∑ M A = r x FR + (MR)O = 0
 Free-body diagram
Procedure for Drawing a FBD:
1. Draw Outlined Shape:
 Imagine body to be isolated or cut free from its constraints.
 Draw outlined shape.
2. Show All Forces and Couple Moments:
 Identify all external forces and couple moments that act on the body.
3. Identify Each Loading and Give Dimensions:
 Indicate dimensions for calculation of forces.
 Known forces and couple moments should be properly labeled with
their magnitudes and directions.
 Equations of equlibrium
 For equilibrium of a rigid body in 2D,
∑Fx = 0; ∑Fy = 0; ∑MO = 0
 ∑Fx and ∑Fy represent sums of x and y components of all the forces
 ∑MO represents the sum of the couple moments and moments of the force components
Vector Equations of Equilibrium
 For two conditions for equilibrium of a rigid body in vector form,
∑F =0
∑ MO = 0
Scalar Equations of Equilibrium
 If all external forces and couple moments are expressed in Cartesian vector form,
∑ F = ∑ F xi + ∑ F yj + ∑ F zk = 0
∑ M O = ∑ M xi + ∑ M y j + ∑ M zk = 0
 Dry friction
Theory of Dry Friction
 Consider the effects caused by pulling horizontally on a
block of uniform weight W which is resting on a rough
horizontal surface.
 Consider the surfaces of contact to be nonrigid or
deformable and other parts of the block to be rigid.
 Normal force ∆Nn and frictional force ∆Fn act along the contact surface.
 For equilibrium, normal forces act upward to balance the block’s weight W,
frictional forces act to the left to prevent force P from moving the block to the
right.
Theory of Dry Friction – Equilibrium
 Effect of normal and frictional loadings are indicated by their resultant
N and F.
 Distribution of ∆Fn indicates that F is tangent to the contacting
surface, opposite to the direction of P.
 Normal force N is determined from the distribution of ∆N n.
 N is directed upward to balance W.
 N acts a distance x to the right of the line of action of W.
Theory of Dry Friction – Impending Motion
 As P is slowly increased, F correspondingly increase until it attains a
certain maximum value F, called the limiting static frictional force.
 Limiting static frictional force Fs is directly proportional to the resultant
normal force N,
Fs = μsN
 Constant of proportionality μs is known as the coefficient of static
friction.
 Angle Φs that Rs makes with N is called the angle of static friction,
Fs μ N
Φs = tan−1 = tan−1 s = tan−1 μ s
N N
When P is greater than Fs, the frictional force is slightly smaller value than Fs, called kinetic frictional
force:
 Resultant frictional force Fk is directly proportional to the magnitude of the resultant normal force
N,
Fk = μkN
 Constant of proportionality μk is coefficient of kinetic friction.
 μk are typically 25% smaller than μs.
 Resultant Rk has a line of action defined by Φk, angle of kinetic
friction,
 Fk μ N
Φk = tan−1 = tan−1 k = tan−1 μ k
N N
Characteristics of Dry Friction
 The frictional force acts tangent to the contacting surfaces
 The max static frictional force Fs is independent of the area of contact
 The max static frictional force is greater than kinetic frictional force
 When slipping, the max static frictional force is proportional to the normal force and kinetic frictional
force is proportional to the normal force

B. Problems
PART B:
Topic 1: Kinematics of a particle, kinematics of rigid body
A. Summary of theory (mentioned in Session 6 in the course syllabus)
- Kinematics of a particle, rigid body in plane motion, spatial motion:
1. Definition.
2. Rectilinear motion.
3. Curvilinear motion.
4. Rectangular components.
5. Tangential and normal components.
6. Radial and transverse components.
7. Plane motion of rigid body.
8. Translation of rigid body.
9. Rotation of rigid body.
10. Instantanneous axis of rotation.
11. Coriolis’ law.
12. Combination of motion of a particle, rigid body.
13. Spatial motion of rigid body.
B. Illustration by 10 problems (at least) with detailed solutions. (Ref: slides and exercises required
in the course syllabus)

Topic 2: Dynamics of a particle, dynamics of a rigid body

A. Summary of theory
 Newton’s laws of motion
 A particle will maintain its state of rest or of uniform motion (at constant speed) along a straight line
unless compelled by some force to change that state. In other words, a particle accelerates only if an
unbalanced force acts on it.
 The time rate of change of the product of the mass and velocity of a particle is proportional to the force
acting on the particle. The product of the mass m and the velocity v is the linear momentum G. Thus
the second law states:
d (mv) dG
F=K =K
dt dt
If m is constant, the above equation becomes,
dv
F = Km = Kma
dt
If suitable units are chosen so that the constant of proportionality K=1, these equations are:
dG
F= or F=ma
dt
 To every action, or force, there is an equal and opposite reaction, or force. In other words, if a particle
exerts a force on a second particle, then the second particle exerts a numerically equal and oppositely
directed force on the first particle.
 Acceleration
 Acceleration of a particle may now be determined by the vector equation:
∑ F = ma = mr̈
Where ∑ F = vector sum of all the forces acting on the particle,
m = mass of the particle,
a = r̈ = acceleration.
 D’Alembert’s principle
∑ F – ma = 0
 Thus an imaginary force (called an "inertia force"), which is collinear with ∑ F but oppositely sensed
and of magnitude ma, would if applied to the particle cause it to be in equilibrium. The equations of
equilibrium would then apply. Some authors state that the particle is in dynamic equilibrium. Actually
the particle is not in equilibrium, but equations of motion can be applied in the form shown above.
 Dynamics of a rigid body in translation
 For translantion the scalar equations are:
∑ F x = ∑ (dm)a x = a x ∑ dm = m a x
∑ F y = ∑ (dm)a y = a y ∑ dm = m a y
∑ Ḿ = 0
Where ∑ F x , ∑ F y = algebaric summation of the magnitudes of the components of the external
forces in the x and y directions,
m = mass of the body,
a x , a y = components of linear accleration of the mass center in x and y directions,
∑ Ḿ = sum of the moments of the external forces about the mass center of the body.
 Dynamics of a rigid body in rotation
Rotate about a noncentroidal axis
 If a body has a plane of symmetry and rotates about a fixed axis
perpendicular to this plane as shown, the scalar equations of motion
of the body under the action of an unbalanced for system are:
∑ F n = m ŕ ω2
∑ F t = m ŕ α
∑ M0 = I0 α
where ∑ F n = the algebraic summation of the components of all
external forces along the n axis,
∑ F t = the algebraic summation of the components of all external forces along the t axis,
∑ M 0= the algerbraic summation of the moments of the external forces about the axis of
rotation through O,
ŕ = distance between the center of rotation O and the mass center G,
I 0 = the moment of inertia of the body about the axis of rotation,
ω = angulare speed of the body,
α = magnitude of angular acceleration.
Rotation about the centroidal axis (through the mass center)
 If the rotation is about a fixed axis through G (if G and O coincide), then ŕ = 0 and moments are taken
about the mass center. The equation of motion become:
∑ Fx = 0
∑ Fy = 0
∑ Ḿ = Í α
Where ∑ F x = the algebraic summation of the components of the external forces along any axis
chosen as the x axis,
∑ F y = the algebraic summation of the components of the external forces along y axis,
∑ Ḿ = the algebraic summation of the components of the external forces about the axis of
rotation through the mass center G (axis of symmetry),
Í = moment of inertia of body about the axis of rotation through the mass center G,
α = magnitude of the angular acceleration of the body.
Inertia force method
 The inertia force method for rotation about any fixed axis may be used, provided that the reversed
effective forces are applied as shown:

 The reversed force m ŕ ω2 must act away from the center of rotation along the n axis, and the reversed
force m ŕ α must be introduced at a distance q away from the center of rotation O and parallel to the t
axis but such that the sense of its moment is opposite to the sense of the angular acceleration α .
 The distance q is given by:
k 02
q=
ŕ
Where k 02 = square of the radius of gyration of the body with respect to the axis of rotation through O.
Note that k 02 = I o/m, I o being the mass moment of inertia of the body about O and m its total mass.
ŕ = distance from the center of rotation O to the mass center G.
 Dynamics of a body in plane motion
Vector equations of plane motion
 The vector equations of plane motion are:
∑ F = m á
∑ M o = [ I o α +m x́ a o −m ý ao ]k
y x

Where ∑ F = resultant of the external forces acting on the body,

m = mass of the body,
á = acceleration of the mass center of the body,
I 0 = moment of inertia of the body relative to any refercent point O,
α = angular acceleration of the body,
x́ , ý = coordinates of the mass center relative to the reference point O,
a O , aO = magnitudes of the components of the acceleration of O along x and y axes.
x y

Scalar equations of plane motion

 The scalar equations of plane motion are:
∑ F x = m á x
∑ F y = m a´y
∑ Ḿ = Í α
Where ∑ F x , ∑ F y = algebaric summation of the magnitudes of the components of the external
forces along the x and y axes,
m = mass of the body,
á x , á y = components of linear accleration of the mass center in x and y directions,
∑ Ḿ = algebraic summation of the moments of external forces about the mass center,
Í = moment of inertia of the body about the mass center,
α = angular acceleration of the body.
B. Problems
Bonus Mark Section