Professional Documents
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ENGINEERING
MECHANICS
(In S.I. Units)
For
By
Dr. R.K. BANSAL
B.Sc. Engg. (Mech.), M. Tech., Hons. (I.I.T., Delhi),
Ph.D., M.I.E. (India)
Formerly,
Professor in Mechanical Engineering
Department of Mechanical Engineering
Delhi College of Engineering
Delhi
Presently,
Dean (Academics)
Northern India
Engineering College,
New Delhi
AND
SANJAY BANSAL
B.E. (Computer)
Published by :
LAXMI PUBLICATIONS (P) LTD
113, Golden House, Daryaganj,
New Delhi-110002
Phone : 011-43 53 25 00
Fax : 011-43 53 25 28
www.laxmipublications.com
info@laxmipublications.com
Chapters Pages
3.3. Centroid of T-section, I-section, Angle-section, Hollow-section etc. ... 198
3.4. Centroid of Volume ... 203
3.5. Second Moment of Area (or Area Moment of Inertia) ... 206
3.6. Theorem of the Perpendicular Axis ... 207
3.7. Theorem of Parallel Axis ... 208
3.8. Determination of Second Moment of Area (or Area Moment of Inertia)
of Plane Area like Rectangle, Triangle, Circle etc. from Integration ... 209
3.9. Moment of Inertia of T-section, I-section, Angle-section, Hollow-section
etc. By using Standard Formula ... 216
3.10. Polar Moment of Inertia ... 223
3.11. Product of Inertia ... 224
3.12. Principal Axes ... 225
3.13. Principal Moments of Inertia ... 227
3.14. Mass Moment of Inertia ... 234
3.15. Derivation of Mass Moment of Inertia for Rectangle Section, Prism,
Sphere etc. From First Principal ... 235
Highlights ... 241
Exercise-3 ... 242
4. Dynamics of Particles 246—418
4.1. Introduction ... 246
4.2. Velocity ... 246
4.3. Acceleration ... 246
4.4. Relationship of Velocity, Acceleration and Displacement ... 247
4.5. Relative Motion ... 276
4.6. Curvilinear Motion ... 280
4.7. Equations of Motions Along a Circular Path ... 281
4.8. Newton’s Laws ... 288
4.9. Momentum and Angular Momentum (or Moment of Momentum) ... 328
4.10. Laws for Rotary Motion ... 334
4.11. Work Energy Equation of Particles ... 354
4.12. Impulse and Momentum ... 383
4.13. Impact of Elastic Bodies ... 384
Highlights ... 405
Exercise-4 ... 409
5. Friction and Elements of Rigid Body Dynamics 419—512
5.1. Frictional Force ... 419
5.2. Limiting Force of Friction and Definitions of Certain Terms ... 419
5.3. Laws of Coulomb Friction ... 421
5.4. Simple Contact Friction ... 421
5.5. Rolling Resistance ... 455
5.6. Belt Friction ... 457
5.7. Transmission of Power Through Belts ... 459
5.8. Translation, Rotation and General Plane Motion ... 473
( vii )
Chapters Pages
5.9. Velocity and Acceleration for Combined Motion of Translation
and Rotation of Rigid Bodies ... 478
5.10 General Plane Motion ... 485
5.11 Kinematics of Plane Motion ... 488
5.12 Equations of Motion for Plane Motion of a Rigid Body ... 502
Highlights ... 506
Exercise-5 ... 508
Question Bank 513—561
Model Question Paper 562—564
Preface to the Third Edition
Authors are glad to present the Third Edition of the book entitled, ‘Engineering Mechanics’
to the engineering students of all disciples of Anna University, Tamilnadu. The course contents
are planned in such a way that the book covers the complete course of first year students of
Anna University, Tamilnadu according to the revised syllabus.
The Third Edition contains the following five units :
Unit I : Basics and Statics of Particles.
Unit II : Equilibrium of Rigid Bodies.
Unit III : Properties of Surfaces and Solids.
Unit IV : Dynamics of Particles.
Unit V : Friction and Elements of Rigid Body Dynamics.
The book is written in a simple and easy-to-follow language, so that even an average
student can grasp the subject by self-study. At the end of each chapter highlights, theoretical
questions and many unsolved numerical problems with answers are given for the students to
solve them.
Mrs. Nirmal Bansal deserves special credit as she not only provided an ideal atmos-
phere at home for book writing but also gave inspiration and valuable suggestions.
Though every care has been taken in checking the manuscript and proofreading, yet
claiming perfection is very difficult. We shall be very grateful to the readers and users of this
book for pointing any mistake that might have crept in. Suggestions for improvement are most
welcome and would be incorporated in the next edition with a view to make the book more
useful.
—AUTHORS
SYLLABUS
(Anna University, Tamilnadu)
GE1X04 ENGINEERING MECHANICS 3 1 0 100
(Common to B.E. (Civil), B. Tech (Chemical / Textile / Textile Tech (Textile Chemistry)
Polymer Tech / Biotech / Petroleum Engg / Food Tech / Rubber and Plastics Tech))
OBJECTIVE
At the end of this course the student should be able to understand the vectorial and scalar
representation of forces and moments, static equilibrium of particles and rigid bodies both in two
dimensions and also in three dimensions. Further, he should understand the principle of work and
energy. He should be able to comprehend the effect of friction on equilibrium. He should be able to
understand the laws of motion, the kinematics of motion and the interrelationship. He should also
be able to write the dynamic equilibrium equation. All these should be achieved both conceptually
and through solved examples.
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 is in motion, is known as dynamics. Dynamics is further divided into
kinematics and kinetics. The study of a body in motion, when the forces which cause the
motion are not considered, is called kinematics and if the 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. Statics 2. Dynamics
(Body is at rest) (Body is in motion)
Fig. 1.1
Note. Statics deals with equilibrium of bodies at rest, whereas dynamics deals with the motion
of bodies and the forces that cause them.
The following terms are generally used in Mechanics :
1. Vector quantity, 2. Scalar quantity, 3. Particle, 4. Law of parallelogram of forces,
5. Triangle law and 6. Lame’s theorem.
1.1.1. Vector Quantity. A quantity which is completely 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 (i.e., AB) represents the
magnitude and arrow represents the direction of the vector.
→ A B
The symbol AB also represents this vector, which means it
Fig. 1.2. Vector quantity
is acting from A to B.
1
2 ENGINEERING MECHANICS
B B C
Q Q R
α
α θ α
O P A O P A D
*The resultant of a system of forces may be defined as a single force which has the same effect as
system of forces acting on the body.
BASICS AND STATICS OF PARTICLES 3
But OC = R, OD = OA + AD = P + Q cos α
and DC = Q sin α.
∴ R2 = (P + Q cos α)2 + (Q sin α)2 = P2 + Q2 cos2 α + 2PQ cos α + Q2 sin2 α
= P2 + Q2 (cos2 α + sin2 α) + 2PQ cos α
= P2 + Q2 + 2PQ cos α (∵ cos2 α + sin2 α = 1)
∴ R= P 2 + Q 2 + 2 PQ cos α ...(1.1)
Equation (1.1) gives the magnitude of resultant force R.
Direction of Resultant
Let θ = Angle made by resultant with OA.
Then from triangle OCD,
CD Q sin α
tan θ = =
OD P + Q cos α
FG Q sin α IJ
∴ θ = tan–1
H P + Q cos α K ...(1.2)
= 2 P 2 + 2 P 2 cos α = 2 P 2 (1 + cos α)
4 ENGINEERING MECHANICS
α FG∵ α IJ
= 2 P 2 × 2 cos 2
2 H 1 + cos α = 2 cos 2
2 K
α α
= 4 P 2 cos 2 = 2 P cos ...(1.3)
2 2
θ = tan–1
FG Q sin α IJ
= tan −1
P sin α
and
HP + Q cos α K P + P cos α
(∵ P = Q)
P sin α sin α
= tan–1 = tan −1
P (1 + cos α) 1 + cos α
α α
2 sin cos FG α α IJ
= tan –1 2
2 cos 2
α
2
H∵ sin α = 2 sin cos
2 2 K
2
α
sin
FG
2 = tan −1 tan α = α IJ
= tan–1
cos
α H2 K 2
...(1.4)
2
It is not necessary that one of two forces, should
be along x-axis. The forces P and Q may be in any direc- Q
tion as shown in Fig. 1.5. If the angle between the two
forces is ‘α’, then their resultant will be given by equa- R
tion (1.1). The direction of the resultant would be
obtained from equation (1.2). But angle θ will be the
angle made by resultant with the direction of P.
1.1.5. Law of Triangle of Forces. It states that,
α θ P
“if three forces acting at a point be represented in mag-
nitude and direction by the three sides of a triangle, O
taken in order, they will be in equilibrium.” Fig. 1.5
1.1.6. Lame’s Theorem. It states that, “If there forces acting at a point are in equilib-
rium, 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 act- Q
ing at a point O and they are in equilibrium as
shown in Fig. 1.6.
Let α = Angle between force P and Q.
β = Angle between force Q and R. β α
γ = Angle between force R and P.
Then according to Lame’s theorem, O P
P is proportional sine of angle between Q and γ
R α sin β.
P R
∴ = constant
sin β Fig. 1.6
Q R
Similarly = constant and = constant
sin γ sin α
P Q R
or = = ...(1.5)
sin β sin γ sin α
BASICS AND STATICS OF PARTICLES 5
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