Unit 4

Edition
Tenth
Vector Mechanics for Engineers: Statics
Unit -4
© 2013 The McGraw-Hill Companies, Inc. All rights reserved.

Edition
Tenth
WHAT IS MECHANICS?
Mechanics can be defined as that science which
describes and predicts the conditions of rest or motion of
bodies under the action of forces.
. The s ubjec t of Engineering Mec hanics may be divided

into the following two main groups : 1. Statics, and 2.
Dynamics .
STATICS It is that branc h o f Engineering Mechanics ,

which deals with the forces and their effects, while
acting upon the bodies at res t .
DYNAMICS It is that branc h o f Engineering

Mechanics, which deals with the forc es and their
effects, while acting upon the bodies i n motion .
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Force
Force represents the action of one body on another.

It changes (or) tends to change the state of rest or
uniform motion of a body
A force is characterized by its point of application,

magnitude, and direction, i.e., a force is a vector. (

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Tenth
• FUNDAMENTAL UNITS The measurement of physical quantities is one

of the most important operations in engineering. All the physical
quantities, met with in Engineering Mechanics, are expressed in terms of
three fundamental quantities, i.e.
• 1. length, 2. mass and 3. time.
• DERIVED UNITS Sometimes, the units are also expressed in other units
(which are derived from fundamental units) known as derived units e.g.
units of area, velocity, acceleration, pressure etc.

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Tenth
Parallelogram Law for the Addition of
Forces
Two forces acting on a particle may be replaced by a
single force, called their resultant.
It is obtained by drawing the diagonal of the

parallelogram which has sides equal to the given
forces.

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Lami’s Theorem
If the three forces acting at a point are in

equilibrium, each force is proportional to the sine of
the angle between the other two force
C
B α
𝛽
ν
A
While using Lami’s theorem, all the three forces should be either
directed away or all directed towards the point of concurrence
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Tenth
System of forces
System of
Forces
Coplanar (in Non-Coplanar

Plane/ 2-D) (Space/ 3-D)
Concurrent Non- Concurrent Non-

Concurrent Concurrent
Parallel General Parallel General

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System of forces
Non-coplanar non concurrent

forces

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Scalar & Vector
Scalar
Has magnitude and no associated direction
•Volume, Time, Mass, Speed, Density & Temperature.
Vector
Has magnitude and direction
•Force, Moment, Velocity & Acceleration.

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Addition of Vectors

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Addition of Vectors

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Addition of Vectors
•Addition of three or more vectors through repeated

application of the triangle rule.
The polygon rule for the addition of three or more

vectors.

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Resultant of Several Concurrent Forces
Concurrent forces: set of forces which all pass

through the same point.
A set of concurrent forces applied to a particle may
be replaced by a single resultant force which is the
vector sum of the applied forces.

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Rectangular Components of a
Force:
Unit Vectors

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Rectangular Components of a
Force:
Unit Vectors

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Addition of Forces by Summing
Components
To find the resultant of 3 or more concurrent forces
Resolve each force into rectangular components
The scalar components of the resultant are equal to

the sum of the corresponding scalar components of
the given forces
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Scalar Components of resultant
The scalar components of the resultant are equal to
the sum of the corresponding scalar components of
the given forces.

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Magnitude and Direction of RESULTANT
Magnitude
Direction

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Resultant of Two Forces
• force: action of one body on another;

characterized by its point of application,
magnitude, line of action, and sense.
• Experimental evidence shows that the

combined effect of two forces may be
represented by a single resultant force.
• The resultant is equivalent to the diagonal of

a parallelogram which contains the two
forces in adjacent legs.
• Force is a vector quantity.
© 2013 The McGraw-Hill Companies, Inc. All rights reserved. 2 - 20

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Sample Problem 2.1
SOLUTION:
• Graphical solution - construct a
parallelogram with sides in the same
direction as P and Q and lengths in
proportion. Graphically evaluate the
resultant which is equivalent in direction
and proportional in magnitude to the the
diagonal.
The two forces act on a bolt at
A. Determine their resultant. • Trigonometric solution - use the triangle
rule for vector addition in conjunction
with the law of cosines and law of sines
to find the resultant.

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Tenth
Sample Problem 2.1
• Graphical solution - A parallelogram with sides

equal to P and Q is drawn to scale. The
magnitude and direction of the resultant or of
the diagonal to the parallelogram are measured,
R = 98 N  = 35
• Graphical solution - A triangle is drawn with P

and Q head-to-tail and to scale. The magnitude
and direction of the resultant or of the third side
of the triangle are measured,
R = 98 N  = 35

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Sample Problem 2.1
• Trigonometric solution - Apply the triangle rule.
From the Law of Cosines,
R 2 = P 2 + Q 2 − 2 PQ cos B
= (40 N )2 + (60 N )2 − 2(40 N )(60 N ) cos155
R = 97.73N
From the Law of Sines,
sin A sin B
=
Q R
Q
sin A = sin B
R
60 N
= sin 155
97.73N
A = 15.04
 = 20 + A
 = 35.04
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Sample Problem 2.2
SOLUTION:
• Find a graphical solution by applying
the Parallelogram Rule for vector
addition. The parallelogram has sides
in the directions of the two ropes and a
diagonal in the direction of the barge
A barge is pulled by two axis and length proportional to 5000 lbf.
tugboats. If the resultant of
the forces exerted by the • Find a trigonometric solution by
tugboats is 5000 lbf directed applying the Triangle Rule for vector
along the axis of the barge, addition. With the magnitude and
determine the tension in each direction of the resultant known and
of the ropes for  = 45o. the directions of the other two sides
parallel to the ropes given, apply the
Discuss with a neighbor how
Law of Sines to find the rope tensions.
you would solve this problem.

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Sample Problem 2.2
• Graphical solution - Parallelogram Rule

with known resultant direction and
magnitude, known directions for sides.
T1 = 3700 lbf T2 = 2600 lbf
• Trigonometric solution - Triangle Rule

with Law of Sines
T1 T2 5000 lbf
= =
sin 45 sin 30 sin 105
T1 = 3660 lbf T2 = 2590 lbf

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Sample Problem 2.3
SOLUTION:
• Resolve each force into rectangular
components.
• Determine the components of the

resultant by adding the corresponding
force components in the x and y
directions.
Four forces act on bolt A as shown. • Calculate the magnitude and direction
Determine the resultant of the force of the resultant.
on the bolt.

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Sample Problem 2.3
SOLUTION:
• Resolve each force into rectangular components.
force mag x − comp y − comp
r
F1 150 +129.9 +75.0
r
F2 80 −27.4 +75.2
r
F3 110 0 −110.0
r
F4 100 +96.6 −25.9
R x = +199.1 R y = +14.3
• Determine the components of the resultant by

adding the corresponding force components.

• Calculate the magnitude and direction.
R = 199.12 + 14.32 R = 199.6 N
14.3 N
tan  =  = 4.1
199.1 N
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Free-Body Diagrams
Space Diagram: A sketch showing Free Body Diagram: A sketch showing

the physical conditions of the only the forces on the selected particle.
problem, usually provided with This must be created by you.
the problem statement, or
represented by the actual
physical situation.

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Sample Problem 2.4
SOLUTION:
• Construct a free body diagram for the
particle at the junction of the rope and
cable.
• Apply the conditions for equilibrium by
creating a closed polygon from the
forces applied to the particle.
• Apply trigonometric relations to
determine the unknown force
In a ship-unloading operation, a magnitudes.
3500-lb automobile is supported by
a cable. A rope is tied to the cable
and pulled to center the automobile
over its intended position. What is
the tension in the rope?

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Sample Problem 2.4
SOLUTION:
• Construct a free body diagram for the
particle at A, and the associated polygon.
• Apply the conditions for equilibrium and

solve for the unknown force magnitudes.
Law of Sines:
T AB T 3500 lb
= AC =
sin 120 sin 2 sin 58
T AB = 3570 lb
T AC = 144 lb

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Sample Problem 2.6
SOLUTION:
• Decide what the appropriate “body” is
and draw a free body diagram
• The condition for equilibrium states
that the sum of forces equals 0, or:
 
It is desired to determine the drag force R = F = 0
at a given speed on a prototype sailboat  Fx = 0  Fy = 0
hull. A model is placed in a test
channel and three cables are used to • The two equations means we can solve
align its bow on the channel centerline. for, at most, two unknowns. Since
For a given speed, the tension is 40 lb there are 4 forces involved (tensions in
in cable AB and 60 lb in cable AE. 3 cables and the drag force), it is easier
Determine the drag force exerted on the to resolve all forces into components
hull and the tension in cable AC. and apply the equilibrium conditions

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Sample Problem 2.6
SOLUTION:
• The correct free body diagram is shown
and the unknown angles are:
7 ft 1.5 ft
tan  = = 1.75 tan  = = 0.375
4 ft 4 ft
 = 60.25  = 20.56
• In vector form, the equilibrium

condition requires that the resultant
force (or the sum of all forces) be zero:
    
R = T AB + T AC + T AE + FD = 0
• Write each force vector above in

component form.

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Sample Problem 2.6
• Resolve the vector equilibrium equation into
two component equations. Solve for the two
unknown cable tensions.
r r r
TAB = −(40 lb)sin60.26 i + (40 lb)cos 60.26 j
r r
= −(34.73 lb)i + (19.84 lb) j
r r r
TAC = TAC sin20.56 i + TAC cos 20.56 j
r r
= 0.3512TAC i + 0.9363TAC j
r r
TAE = −(60 lb) j
r r
FD = FD i
r
R=0
r
= (−34.73+ 0.3512TAC + FD ) i
r
+ (19.84 + 0.9363TAC − 60) j

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Sample Problem 2.6

R=0

= (− 34.73 + 0.3512 T AC + FD ) i

+ (19.84 + 0.9363T AC − 60) j
This equation is satisfied only if each component

of the resultant is equal to zero
( Fx = 0) 0 = −34.73+ 0.3512TAC + FD
( Fy = 0) 0 =19.84 + 0.9363TAC − 60
T AC = +42.9 lb
FD = +19.66 lb


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External and Internal Forces
• Forces acting on rigid bodies are
divided into two groups:
- External forces
- Internal forces
• External forces are shown in a

free-body diagram.
• If unopposed, each external force

can impart a motion of
translation or rotation, or both.

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Principle of Transmissibility: Equivalent Forces
• Principle of Transmissibility -
Conditions of equilibrium or motion are
not affected by transmitting a force
along its line of action.
NOTE: F and F’ are equivalent forces.
• Moving the point of application of

the force F to the rear bumper
does not affect the motion or the
other forces acting on the truck.
• Principle of transmissibility may

not always apply in determining
internal forces and deformations.

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Tenth
Moment of a Force About a Point
• A force vector is defined by its magnitude and
direction. Its effect on the rigid body also depends
on it point of application.
• The moment of F about O is defined as
MO = r  F
• The moment vector MO is perpendicular to the
plane containing O and the force F.
• Magnitude of MO measures the tendency of the force
to cause rotation of the body about an axis along MO.
M O = rF sin  = Fd
The sense of the moment may be determined by the
right-hand rule.
• Any force F’ that has the same magnitude and
direction as F, is equivalent if it also has the same line
of action and therefore, produces the same moment.
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Moment of a Force About a Point
• Two-dimensional structures have length and breadth but
negligible depth and are subjected to forces contained in
the plane of the structure.
• The plane of the structure contains the point O and the

force F. MO, the moment of the force about O is
perpendicular to the plane.
• If the force tends to rotate the structure

counterclockwise, the sense of the moment vector is out
of the plane of the structure and the magnitude of the
moment is positive.
• If the force tends to rotate the structure clockwise, the
sense of the moment vector is into the plane of the
structure and the magnitude of the moment is negative.

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Varignon’s Theorem
• The moment about a given point O of the

resultant of several concurrent forces is equal
to the sum of the moments of the various
moments about the same point O.
      
r  (F1 + F2 + ) = r  F1 + r  F2 + 
• Varigon’s Theorem makes it possible to

replace the direct determination of the
moment of a force F by the moments of two
or more component forces of F.

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Moment of a Couple
• Two forces F and -F having the same magnitude,
parallel lines of action, and opposite sense are said
to form a couple.
• The moment vector of the couple is

independent of the choice of the origin of the
coordinate axes, i.e., it is a free vector that can
be applied at any point with the same effect.

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Moment of a Couple
Two couples will have equal moments if
• F1d1 = F2 d 2
• the two couples lie in parallel planes, and
• the two couples have the same sense or

the tendency to cause rotation in the same
direction.

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Couple: Example Case I
Moment required to turn the shaft connected

at center of the wheel = 12 Nm
Case I: Couple Moment produced by 40 N
forces = 12 Nm
Case II: Couple Moment produced by 30 N
forces = 12 Nm
Case II
If only one hand is used?
Force required for case I is 80N Force
required for case II is 60N

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Rigid Body Equilibrium
A rigid body will remain in equilibrium provided

•sum of all the external forces acting on the body
is equal to zero, and
•Sum of the moments of the external forces about
a point is equal to zero
z x

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© 2013 The McGraw-Hill Companies, Inc. All rights reserved.

. The s ubjec t of Engineering Mec hanics may be divided

STATICS It is that branc h o f Engineering Mechanics ,

DYNAMICS It is that branc h o f Engineering

Force represents the action of one body on another.

A force is characterized by its point of application,

© 2013 The McGraw-Hill Companies, Inc. All rights reserved.

• FUNDAMENTAL UNITS The measurement of physical quantities is one

© 2013 The McGraw-Hill Companies, Inc. All rights reserved.

It is obtained by drawing the diagonal of the

© 2013 The McGraw-Hill Companies, Inc. All rights reserved.

© 2013 The McGraw-Hill Companies, Inc. All rights reserved.

If the three forces acting at a point are in

Coplanar (in Non-Coplanar

Concurrent Non- Concurrent Non-

Parallel General Parallel General

© 2013 The McGraw-Hill Companies, Inc. All rights reserved.

Non-coplanar non concurrent

© 2013 The McGraw-Hill Companies, Inc. All rights reserved.

© 2013 The McGraw-Hill Companies, Inc. All rights reserved.

© 2013 The McGraw-Hill Companies, Inc. All rights reserved.

© 2013 The McGraw-Hill Companies, Inc. All rights reserved.

•Addition of three or more vectors through repeated

The polygon rule for the addition of three or more

© 2013 The McGraw-Hill Companies, Inc. All rights reserved.

Concurrent forces: set of forces which all pass

© 2013 The McGraw-Hill Companies, Inc. All rights reserved.

© 2013 The McGraw-Hill Companies, Inc. All rights reserved.

© 2013 The McGraw-Hill Companies, Inc. All rights reserved.

Resolve each force into rectangular components

The scalar components of the resultant are equal to

© 2013 The McGraw-Hill Companies, Inc. All rights reserved.

© 2013 The McGraw-Hill Companies, Inc. All rights reserved.

• force: action of one body on another;

• Experimental evidence shows that the

• The resultant is equivalent to the diagonal of

• Force is a vector quantity.

© 2013 The McGraw-Hill Companies, Inc. All rights reserved. 2 - 20

© 2013 The McGraw-Hill Companies, Inc. All rights reserved. 2 - 21

• Graphical solution - A parallelogram with sides

• Graphical solution - A triangle is drawn with P

© 2013 The McGraw-Hill Companies, Inc. All rights reserved. 2 - 22

© 2013 The McGraw-Hill Companies, Inc. All rights reserved. 2 - 24

• Graphical solution - Parallelogram Rule

• Trigonometric solution - Triangle Rule

T1 = 3660 lbf T2 = 2590 lbf

© 2013 The McGraw-Hill Companies, Inc. All rights reserved. 2 - 25

• Determine the components of the

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• Determine the components of the resultant by

Space Diagram: A sketch showing Free Body Diagram: A sketch showing

© 2013 The McGraw-Hill Companies, Inc. All rights reserved. 2 - 28

© 2013 The McGraw-Hill Companies, Inc. All rights reserved. 2 - 29

• Apply the conditions for equilibrium and

© 2013 The McGraw-Hill Companies, Inc. All rights reserved. 2 - 30

© 2013 The McGraw-Hill Companies, Inc. All rights reserved. 2 - 31

• In vector form, the equilibrium

• Write each force vector above in

© 2013 The McGraw-Hill Companies, Inc. All rights reserved. 2 - 32

© 2013 The McGraw-Hill Companies, Inc. All rights reserved. 2 - 33

This equation is satisfied only if each component

© 2013 The McGraw-Hill Companies, Inc. All rights reserved. 2 - 34

• External forces are shown in a