THEORETICAL MECHANICS

OR ENGINEERING MECHANICS

Instructor: Dr. Xuan-Binh Lam

Tiến sỹ Lâm Xuân Bình

1
Sách giáo trình cho môn Cơ Học Lý Thuyết:
[1] R. C. Hibbeler. Engineering Mechanics - Statics and
Dynamics, 13th edition. Pearson Education. 2012.
[2] Đỗ Sanh. Cơ học, Phần 1: Tĩnh học và Động học, và
Phần 2: Động lực học. NXB Giáo dục Việt Nam. 2010.
[3] Nguyễn Văn Khang. Cơ học kỹ thuật. NXB Giáo dục
Việt Nam. 2012.

2
Kiểm tra quá trình:
Kiểm tra quá trình chiếm 50% tổng điểm.

- Thực hiện 2 bài kiểm tra giấy tại lớp vào tuần thứ 7 (tĩnh học),
thứ 11 (động học) của học kỳ 15 tuần. Mỗi bài chiếm 20%
điểm quá trình. Chấm điểm cho từng sinh viên.

- Sinh viên thực hiện 2 bài kiểm tra trắc nghiệm online (1 bài tĩnh
học và 1 bài động học) vào tuần 8 và tuần 12 qua trang
utex.hcmute.edu.vn hay fhqx.hcmute.edu.vn, mỗi bài chiếm 30%
điểm quá trình. Mỗi bài trắc nghiệm online được làm tối đa 10
lần và được làm trong 5 ngày, lấy điểm cao nhất trong số 10
lần làm.

3
Kiểm tra quá trình (tiếp theo):
- Thực hiện điểm danh 7 buổi/học kỳ 15 buổi. Sinh viên đi
học đầy đủ sẽ được cộng từ 1 đến 2 điểm quá trình.

- Sinh viên sẽ được chấm nương tay thêm từ 1.5 đến 2.5
điểm. Ví dụ nếu điểm thực của sinh viên là 5.5 thì được
tăng lên 8.

- Sinh viên hãy tích cực tham gia thảo luận nâng cao chất
lượng dạy và học trên trang dạy học số
utex.hcmute.edu.vn hay fhqx.hcmute.edu.vn. Thầy có forum
trên trang Dạy Học Số để SV thảo luận tích cực.

4
Ghi nhớ quan trọng:
- Sinh viên hãy đánh giá chất lượng dạy học của thầy trên
trang online.hcmute.edu.vn đạt kết quả ít nhất là 85%.

5
Trợ giảng:
Họ và tên:
Ngày sinh:
MSSV:
Lớp:
Khoa:
Ngành:
Thành tích: giải Olympic Cơ Học môn Cơ Lý Thuyết, điểm
môn Cơ Lý thuyết , điểm TBCTL
SĐT:
Email:
Địa chỉ:

6
Nhiệm vụ của trợ giảng:
- Chấm bài kiểm tra quá trình: chấm 75% số bài kiểm tra

- Chấm bài tập lớn và vở bài tập về nhà cho sinh viên:
chấm 75% số bài tập lớn và số vở bài tập

- Hướng dẫn sinh viên một số bài tập trên lớp

- Hỗ trợ thầy coi thi kiểm tra quá trình

7
 INTRODUCTION ABOUT SUBJECT

Theoretical mechanics (Engineering mechanics) is a

science that study rule of mechanical motion of objects
in space, according to time.

Mechanical motion is change of place (including strain all

together) of objects compared to standard object called
reference system.

Theoretical mechanics just survey solid body or rigid

body.

8
Theoretical mechanics is built obeying method of axioms,
based on system of axioms which Newton proposed in
his writing “Mathematical principles of natural philosophy,
1687”. Hence, theoretical mechanics is also called
Newton mechanics.

Newton mechanics just survey objects which have finite

size and move with velocity very small to velocity of light.

Theoretical mechanics is foundation and start of many

other mechanics subjects, such as strength of materials,
theory of elasticity, fluid dynamics, structural mechanics,
principles of machine,…

9
Theoretical mechanics connects closely to the contributions
of the following scientists: Leonardo da Vinci (1452 –
1519, Italian), Nicolaus Copernicus (1473 – 1543,
Polish), Johannes Kepler (1571 – 1630, German),
Galileo Galilei (1564 - 1642, Italian), Isaac Newton (1643
– 1727, English), Jean le Rond D’Alembert (1717 –
1783, French), Leonhard Euler (1707 – 1783, Russian),
Joseph-Louis Lagrange (1736 – 1813, French), ...

10
 Part 1: Statics

Chapter 1: Basic concepts and force system

1.1.1) Solid body or rigid body
Solid body or rigid body is a combination of infinite number
of particles in which the distance between two arbitrary
particles is constant.
Solid body or rigid body is an object which is not deformed
under the action of forces.

11
1.1.2) Equilibrium or balance

Solid body is in equilibrium when its position does not

change in comparison with the position of a body which is
selected as standard (called reference system).

12
1.2) Force
Force is mechanical mutual action. Force is a vector
quantity. Force is a quantity which has sense.

13
Force is characterized by the following elements:
- Point of application of force: point of application is a point
(on body) which mechanical mutual action is transmitted
to from another body. Point of application is normally
origin or tail of a vector. For example, the point of
application of force F is point A in the figure.

→
F = AB

14
- Direction of force: is the direction of motion of particle from
rest state under the action of forces. For example,
direction or line of action of force F is direction DE in the
figure, the sense of force F is from A to B.

→
F = AB

15
- Magnitude or intensity of force: is measurements of
strong/weak action of force in comparison with
standardized force called unit force. Unit of force is
Newton, symbolized as N. For example, the length of
segment of straight line AB performs the magnitude of
force in a scale.

→
F = AB

16
1.2.2) Classification of forces acting on solid body or
mechasyst
1) For non-free solid body (or mechasyst): classifying to
active forces and reaction forces.
+ Reaction forces are forces caused by the action of
causing-link body on survey body to obstruct motion of
survey body.
+ Forces, which are not reaction forces, are called active
forces.

17
- Notice:
+ Active forces have magnitude and sense which are not
dependent on other forces acting on survey body directly.
+ Reaction forces have magnitude dependent on active
forces.

18
2) For free solid body (or mechasyst): classifying to external forces and
internal forces
+ External forces are forces caused by action of other bodies on
elements of survey body. For mechasyst, external forces are forces
caused by action of other bodies on the bodies of survey mechasyst.
Survey object is truck Survey mechasyst includes
body A and body B

f f' MR
W

WA
WB

19
+ Internal forces are forces caused by the mutual action between the
elements of survey body. For mechasyst, internal forces are forces
caused by the mutual action between the bodies inside the
mechasyst.

Survey object is truck Survey mechasyst includes

body A and body B

f f' MR
W

WA
WB

20
1.3.1) System of forces or force system

Force system is a set of many forces acting on a body

together. Force system including forces F1 , F2 ,..., Fn
is symbolized as

( F , F ,..., F )
1 2 n

21
A force system is equivalent to another force system
when it has the same mechanical action as that
(
force system. Two equivalent force systems F1 , F2 ,..., Fn )
( )
and 1 , 2 ,..., n are symbolized as

( F , F ,..., F )  (  ,  ,...,  )
1 2 n 1 2 n

22
Resultant of force system is a sole force which is
equivalent to that force system. Call R the resultant
( )
of force system F1 , F2 ,..., Fn
we have

(
R  F1 , F2 ,..., Fn )

23
Balance force system is a force system (if acts on a
body) does not change the state of motion of body
attained when the body is not acted by that force
system. Balance force system is also called
equivalent-to-0 force system.

24
1.3.5) Axiom about pair of balance forces: The
necessary and sufficient conditions for 2 forces in
equilibrium is that they have same line of action,
have opposite-sense, have same magnitude, act
on a body together.

25
1.3.6) Axiom about parallelogram of forces: system of 2
forces, which have same point of application, is
equivalent to one force located at that common point and
has force vector equaling diagonal vector of
parallelogram whose 2 edges are 2 vectors representing
2 componential forces.

FR = F1 + F2

26
1.3.7) Addition of Several Forces:

27
1.4.3) Couple
a) Definition
Couple is a force system including two parallel,
opposite-sense, same-magnitude forces.

d F
'
F
28
b) Features of couple
- Plane of action: is a plane containing 2 componential
forces
- Rotational sense of couple in plane of action
- Magnitude of couple: is product Fd, called couple
moment

d F
'
F
29
To demonstrate the features of couple, people utilize
couple moment vector, symbolized m , which has
origin at plane of action, is perpendicular to plane of
action (and when look from the tip of vector m into
vector m , we will see the rotational sense of couple
is counterclockwise), has modulus equaling Fd
(couple moment).

d F
'
F
30
1.4.5) Theorem of parallel movement of force
Theorem of parallel movement of force: Force F
placed at A is equivalent to a force F' parallel,
same-sense, same-magnitude with force F but
placed at O, and a couple having moment equal
to moment of force F about point O.

31
1.4.6) 3 Newton’s law
1) Newton’s law 1
If the resultant force acting on a particle is zero, the particle
will remain at rest (if originally at rest) or will move with
constant speed in a straight line (if originally in motion).

32
2) Newton’s law 2
A particle acted upon by an unbalanced force F
experiences an acceleration a that has the same direction
as the force and a magnitude that is directly proportional to
the force.

F = ma

33
3) Newton’s law 3
The mutual forces of action and reaction between two
particles are equal, opposite, and collinear.

34
Chapter 3: Equilibrium of particle
1) Condition for the Equilibrium of a Particle
A particle is said to be in equilibrium if it remains at rest if
originally at rest, or has a constant velocity if originally in
motion.
Equation of equilibrium:

F =0

35
2) The Free-Body Diagram
a) Spring

F = ks

b) Cables and pulleys

36
c) Smooth contact

3) Coplanar force systems

F
x =0
F
y =0

4) Three-Dimensional Force Systems

F x =0
F y =0
F z =0
37
Chapter 4: Reduce force system and equilibrium of
system of rigid bodies

4.1) Moment of a force about a point and moment of a

force about a given axis

a) Moment of a force about a point

Moment of a force represents the rotational action of that

force.

38
Moment of force F about point O, symbolized m O F : ( )
- is a vector which is perpendicular to the plane containing
point O and force F
- when take a look from the tip of m into vector m , we
will see force F rotating about point O counterclockwise
(according to right-hand rule).
- having modulus which is equal to Fd; d is called moment
arm.
- unit of moment is Nm.

39
Sign convention: in the subject of theoretical mechanics,
moment is conventionalized carrying positive sign if the
force rotates counterclockwise about moment-took
center O, and vice versa.

40
 ( )
Clearly, m O F = 0 when F = 0 or line of action
of force F passes through moment-took center
O.

( )
mO F = r  F
→
in which r = OA is positioning vector of point A.

41
 i j k
 
mO ( )
F = r F = r F =  x y z
F Fy Fz 
 x
i, j, k are unit vectors. x, y, z are coordinates of point A.
Fx, Fy, Fz are projections of force F on axes.
( ) ( ) ( )
m Ox F = yFz − zFy ; m Oy F = zFx − xFz ; m Oz F = xFy − yFx

42
b) Moment of a force about a given axis
Moment of force F about axis , symbolized m  F ( )
is algebraic moment of force F  about point O,
in which F  is projection of force F on plane 
which is perpendicular to axis  , point O is
intersection between axis  and plane  :

( ) ( )
m  F = m O F F

( )
A(x,y,z)
mO F r

F'
O A'(x,y,0)

 43
 ( )
Clearly, m  F = 0 when F = 0 , or when F
is parallel to or intersect axis  , namely
force and axis are coplanar.

F

( )
A(x,y,z)
mO F r

F'
O A'(x,y,0)



44
Example 1:

( )
* m O F = + F.h = + F.a.sin 

* F = F1 + F2
F1
( ) ( )
m O F = m O F1 + m O F2 ( ) F
= + F1.a + 0 = + F.a.sin 
O
a

h A
F2
45
Example 2: Determine the moment of the force F
about point O?
Method 1:

Moment arm: d = 3m  sin 75 = 2,898m

o

( )
M O F = − F  d = −5  2,898 = −14,5 kNm
46
Method 2:

F = Fx + Fy
( ) ( )
 M O F = M O Fx + M O Fy ( )
= − Fx  d y − Fy  d x = −14,5 kNm
47
Method 3:

F = Fx + Fy
( ) ( )
 M O F = M O Fx + M O Fy ( )
= +0 − Fy  3 = −14,5 kNm
48
 Example 3: Determine the moment of the force F
about point O? F=400N.

r = 0, 4i − 0, 2 j  m
F = 400sin 30o.i − 400 cos 30o. j  N
= 200.i − 346, 4. j  N
i j k
MO ( )
F = r  F = 0, 4 −0, 2 0
200 −346, 4 0
= 0, 4 ( −346, 4 ) − ( −0.2 ) 200  .k
= −98, 6.k Nm 49
Example 4: calculate mx T( )?
T = T1 + T2
( ) ( )
m x T = m x T1 + m x T2 ( )
z
= +T1.a + 0
45o
= +T.a.cos 45 o

O T1 y
a
a
T2
x A
50
4.2) Axiom about releasing links: non-free body, namely be-
linked body, in equilibrium can be considered as a free
body in equilibrium if releasing connections, replace the
actions of connections by corresponding reaction forces.

51
* Free body is a body which can perform all
movements in space.

* Be-linked body or non-free body is a body which at

least one of its movements in space is compelled by
other related or contacted bodies.

52
* Link or connection is conditions that obstruct
movements of survey body or be-linked body.

* Link force: when surveying a system of many solid

bodies, the forces occured at contacting place or
joining place between bodies are called link forces.

53
* Reaction force is link force caused by the action of
causing-link body on survey body to obstruct motion
of survey body.

54
Reaction force has following elements:
- Point of application: at contacting place between 2
linked bodies.
- Have same line of action, is contrariwise with the
obstructed motions of survey body.
- Have magnitude which is dependent on force system
acting on survey body.

55
Contact connection or leaning N
connection:
2 bodies have contact connection when
they lean over each other directly.
Reaction force of contact connection
have line of action perpendicular to
leaning surface or leaning way, have
sense directed toward survey body.

N
N

N
N

56
Pictures of contact connection:

57
Cable connection or cord connection:
Reaction force of cable or cord acting on survey body
always places at the position of fastening cable, have
line of action along cable, and is contrariwise with the
obstructed motion of survey body.

58
Pictures of cable (cord) connection:

59
Internal pin connection:
2 bodies have internal pin connection when they have
common peg.
The reaction forces have 2 components: R x and R y .

Ry

Rx' Rx

Ry'
60
Pictures of internal pin connection:

61
Pin connection:
To parry beams and frames,…, people utilize pin
connection and roller connection.

YO N

XO

62
Pictures of pin connection:

63
Pictures of roller connection:

64
Ball-and-socket joint (Sphere bearing connection):
Reaction force of ball-and-socket joint is decomposed
to 3 perpendicular components.

65
Pictures of ball-and-socket joint:

66
Short journal bearing connection:
Reaction forces are decomposed
ZO
into 2 perpendicular components,
simultaneously perpendicular to
centerline axis.

XO

67
Acetabulum connection:
Reaction forces have 3 components
XO , YO , ZO

68
Sphere joint connection:
Be-linked body and causing-link body can rotate
relatively together about center O of sphere joint.
Reaction force of sphere joint connection is
decomposed to 3 perpendicular components.

69
Planar-fixed-support connection:
2 bodies have fixed-support connection when be-linked
body and causing-link body connect stiffly together,
for example, a vertical pillar is fixed in the ground
securely.
In case of planar-fixed-support, reaction forces include
2 forces and 1 couple.

XA

MA
MA
RA YA
70
 Example: Give the beam as shown. Determine reaction
forces at B?

P P P P P P

A B
l /5 l /5 l /5 l /5 l /5

A
B
l
71
Spatial-fixed-support connection:
In case of spatial-fixed-support, reaction forces
include 3 perpendicular forces and 3 couples.

72
Bar or link connection:
Bar or link connection is
carried out by bars
satisfying 2 conditions:
bars only have forces at
two ends, weight of bars
is negligible. According to
axiom 1, reaction forces
are along the line
connecting 2 ends of bar.

73
Pictures of bar or link connection:

74
4.4) Conditions of equilibrium and equations of
equilibrium of spatial force system
4.4.1) Principal vector and principal moment of spatial
force system
1) Principal vector of spatial force system
'
Principal vector of spatial force system, symbolized R ,
is vector sum of vectors representing forces of force
system
n
R = F1 + F2 + ... + Fn =  Fk
'

k =1

75
2) Principal moment of spatial force system about
a point
Principal moment of spatial force system about
O
point O, symbolized M , is a vector which is
equal to vector sum of moment vectors of forces
of force system about point O

(F ) =  r  F
n n
M = m
O O
k k k
k =1 k =1

76
Theorem about reducing spatial force system about a point:
arbitrary spatial force system is equivalent to a force and
a couple placed at an arbitrary point, called reduced
force and reduced couple. Reduced force is represented
as principal-vector of force system placed at reduced
point, reduced couple has moment vector equaling
principal moment of force system about reduced point.

77
4.4.2) Conditions of equilibrium of spatial force system
Necessary and sufficient conditions for spatial force
system in equilibrium are that principal-vector and
principal-moment of force system about an arbitrary
point are equal to 0.

R' = 0
MO = 0

78
4.4.3) Equations of equilibrium of spatial force system
Necessary and sufficient conditions for spatial force
system in equilibrium are that sum of projections of
forces on 3 perpendicular axes and sum of moment
of forces about those 3 axes are 0.

 F = 0;  F = 0;  F = 0;
kx ky kz

 M ( F ) = 0;  M ( F ) = 0;  M ( F ) = 0
x k y k z k

79
4.4.4) Balance equations of special force systems
1) Concurrent spatial force system
n n n

F
k =1
kx = 0;  Fky = 0;  Fkz = 0
k =1 k =1

2) Spatial force system parallel to z axis

F kz = 0;  M x = 0;  M y = 0

80
3) Planar force system

( )
n n n

F
k =1
kx = 0;  Fky = 0;  m O Fk = 0
k =1 k =1
Ox ⊥ Oy

F kx = 0;  M A = 0;  M B = 0 AB not ⊥ x
M A = 0;  M B = 0;  M C = 0 A, B, C not on straight line

4) Concurrent and planar force system

n n

F
k =1
kx = 0; Fky = 0
k =1
5) Planar force system parallel to y axis
F ky = 0;  M O = 0

81
4.5) Steps to solve problems of statics balance

Step 1: Choose survey object in equilibrium

Step 2: Put action forces on survey object

Action forces are reaction forces and active forces
(remaining forces)

Step 3: Write balance equations for force sytem acting

on survey object

Step 4: Solve balance equations to find unknowns

82
Chapter 6: Friction
6.1) Definition and classification of friction
Friction is a phenomenon with the appearance of
forces and couples obstructing relative motion or
relative motion tendency between 2 bodies on
their surfaces.

83
There are 3 kinds of friction:
- Static friction and kinetic friction: Friction is called
static friction when there is only motion tendency
between 2 bodies but the bodies are still in
equilibrium; friction is called kinetic friction when the
bodies moved together.

84
- Gliding friction and rolling friction: if motion tendency
or motion occurred between 2 bodies is gliding, we
have gliding friction; if motion tendency or motion
occurred between 2 bodies is rolling, we have rolling
friction.

85
- Dry friction and viscid friction: friction is called dry
friction when 2 bodies contact together directly;
friction is called viscid friction when 2 bodies contact
together through an oil layer.

86
6.2) Law of static gliding friction
Static gliding friction is friction occurring, between 2
bodies, when there is only motion tendency of
gliding but still in equilibrium state.

87
Static gliding friction force, occurring when there is
relatively gliding tendency, lies along tangent of
leaning-and-contacting surface, is contrary to gliding
tendency, and has magnitude be up-blocked
F  f0 N
t
ms

N is magnitude of normal reaction.

f 0 is coefficient of static gliding friction, no dimension.

88
6.3) Law of static rolling friction
Static rolling friction is friction occurring when, between
2 bodies, there is only motion tendency of rolling but
still in equilibrium state.

89
Static rolling friction couple, occurring when there is
relatively rolling tendency, has sense which is
contrary to rolling tendency, and has magnitude be
up-blocked
M  k0N
t
L

N is magnitude of normal reaction.

k 0 is coefficient of static rolling friction, has dimension
of length.

90
6.4) When having static friction, static friction force is
element of balance force system; apart from
establishing system of balance equations, we also
have conditions:
1) Have static gliding friction (condition of no gliding)
F  f0 N
t
ms
* Body start gliding (body is going to glide)
F = f0 N
t
ms
2) Have static rolling friction (condition of no rolling)
M  k0N
t
L
* Body start rolling (body is going to roll)
M = k0 N
t
L

91
6.5) Law of kinetic gliding friction
Kinetic gliding friction is friction occurring when,
between 2 bodies, there is gliding movement.
Kinetic gliding friction force has sense which is
contrary to sense of gliding motion, and has
magnitude:

F = fN
d
ms

N is magnitude of normal reaction.

f is coefficient of kinetic gliding friction, no dimension.

92
6.6) Law of kinetic rolling friction

Kinetic rolling friction is friction occurring when 2

bodies have relative motion of rolling.
Kinetic rolling friction couple has sense which is
contrary to sense of rolling movement, and has :

M = kN
d
L

N is magnitude of normal reaction.

k is coefficient of kinetic rolling friction, has dimension
of length.

93