1

Subject Lecturer: Dr. Chandler Zhou

Whatsapp: 6721-3846
Email: chandler.zhou@cpce-polyu.edu.hk
Office: TBD
Consulting Hour: Every Thursday 14:00 to 16:00 in HHB-UG11

Lecture Time: 06/Sept/2022 – 29/Nov/2022 (Tuesday) 19:00 – 22:00

Room: HHB – UG06
Mode: Face to Face

2
3
 Contents
Week Date Content/ Topics Remarks
1 06/Sept Chapter 1: Introduction of Mechanics
2 13/Sept Chapter 2: Statics of Particles Release Assignment 1
3 20/Sept Chapter 3: Statics of Particles
4 27/Sept Chapter 3: Equivalent Systems of Forces
5 04/Oct Chapter 4: Equilibrium of Rigid Bodies Holiday (Make-up class Online)
6 11/Oct Chapter 5: Analysis of Structures Submit Assignment 1
7 18/Oct Midterm Test
8 25/Oct Centroids and Centre of Gravity Dr Junot Liang
9 1/Nov Moments of Inertia of an Area
10 08/Nov Internal Forces and Moments Release Assignment 2
11 15/Nov Kinematics and Kinetics of Particles 1
12 22/Nov Kinematics and Kinetics of Particles 2
13 29/Nov Kinematics and Kinetics of Particles 3 Submit Assignment 2

4
Beer, F.P., et al., “Vector Mechanics for Engineers
- Statics”, latest edition, McGraw-Hill.

Beer, F.P., et al., “Vector Mechanics for Engineers

- Dynamics”, latest edition, McGraw-Hill.

5
 Study of what happens to a “thing” (the technical name is “BODY”) when FORCES
are applied to it.
 Either the body or forces can be large or small.

 Mechanics is an applied science, closely related to physics, so many of the concepts

will build on that prior knowledge.
6
 Statics:
Mechanics
Equilibrium of bodies
(no accelerated motion)
under action of Forces

Statics Fluid

-Equilibrium Dynamics

Kinematics Kinetics Dynamics: Motion of bodies

-Particles -Particles
-Rigid Bodies - Rigid Bodies

(without consideration (concern relationship

of forces) between motion and
its causes) 7
 Statics
Dynamics Structures
Mech of Materials Automotives
Fluid Mechanics Robotics
Vibration Spacecrafts
Mechanics
Fracture Mechanics MEMs
Etc. Etc.

8
 Mechanics is the study of bodies under the
action of forces.
• Categories of Mechanics:
- Rigid bodies
- Statics – bodies at rest or at constant velocity
- Dynamics – bodies in motion
- Deformable bodies
- Fluids – gas and/or liquid

Mechanics is the foundation of many engineering topics

and is an indispensable prerequisite to their study.
9
 Calculate the force in each member of this
structure (a truss) in order to design it to
withstand the loads that it will experience.

Quebec Bridge, Canada Ting Kau Bridge & Tsing Ma Bridge

10
Determine the forces that this prosthetic
arm will need to withstand to make
exercise possible for the wearer.

PolyU designed the “Surface Sampling and

Packing System”, which accomplished the
tasks of automatic sample collection and
packaging on the lunar surface following the
soft landing of the Chang’e 5 probe.

11
Study of forces and torques and their effect on motion. Opposed to kinematics,
which studies the motion of objects without reference to its causes.
12
Fundamental Concepts

position,r
velocity,
acceleration

Space: Collection of points whose relative positions can be described

using “a coordinate system”

Time : For relative occurrence of events

Mass : - Resistance to change in velocity [Dynamics]

- Quantities that influence mutual attraction between bodies [Statics]
Force: Vector quantity that describes an action of one body on another [Statics]
Force is an action that tends to cause acceleration of an object [Dynamics]

In Newtonian Mechanics, space, time, and mass are absolute concepts,

independent of each other. Force, however, is not independent of the other three.
The resultant force acting on a body is related to the mass of the body and the
variation of its velocity with time. 13
14
 unit
Vector P ∴ 𝑷𝑷 = 𝑶𝑶𝑷𝑷 = 4 20o
Magnitude Direction

When magnitude 𝐴𝐴⃑ = 1 unit,

� = Unit Vector
𝑨𝑨 = 𝑨𝑨
Negative
Vector

𝑨𝑨𝑨𝑨 = 𝑪𝑪𝑪𝑪
(even though their locations differ)

15
 Addition of Collinear Vectors:

𝑹𝑹 = 𝑨𝑨 + 𝑨𝑨

𝑨𝑨
𝑨𝑨

Equivalent 𝑹𝑹
Force
Systems
16
 𝒊𝒊̂ & 𝒋𝒋̂ are unit vectors
Ux & Uy are scalars
3𝒊𝒊̂ 3𝒊𝒊̂ 6𝒊𝒊̂

2𝒋𝒋̂ 3𝒋𝒋̂ 5𝒋𝒋̂

4λ� 2λ� 6λ�

17
 When the vectors are not collinear, the addition of Co-planar
vectors uses Parallelogram rule or Triangle rule (“Tip-to-tail”
method).

𝑹𝑹 = 𝑨𝑨 + 𝑨𝑨
𝐵𝐵
𝐵𝐵

𝐴𝐴⃑ 𝐴𝐴⃑

Parallelogram rule Triangle rule

18
By using “Tip-to-tail” method: 𝑨𝑨 𝑨𝑨 + 𝑨𝑨 = 𝑨𝑨 + 𝑨𝑨
𝑨𝑨 𝑨𝑨
𝑨𝑨 𝑨𝑨

𝑨𝑨

Does the adding sequence affect the resultant vector? 19

Find the magnitude ( 𝑹𝑹 ) and direction (θ) of
resultant 𝑹𝑹, where 𝑹𝑹 = 𝟒𝟒𝒊𝒊̂ + 𝟑𝟑𝒋𝒋.̂

𝑹𝑹 𝑹𝑹 = 𝟒𝟒𝟐𝟐 + 𝟑𝟑𝟐𝟐 = 𝟓𝟓
𝟑𝟑𝒋𝒋̂
𝟑𝟑
𝜽𝜽 = tan−𝟏𝟏 = 𝟑𝟑𝟑𝟑. 𝟖𝟖𝟖𝟖𝐨𝐨
𝟒𝟒𝒊𝒊̂ 𝟒𝟒

Can we find the resultant when the two vectors are not
perpendicular?
20
Method 1: Graphical Method (unless specify, no mark
is given in Assignments, Test & Exam)

(10 cm) 6 kN (6 cm)

10 kN

R
Find R & θ by
measuring the
θ length and angle.

6 kN 𝑹𝑹 ≈ 14.5 20o (kN)

21
Method 2: Using Sine law or Cosine law
(for adding 2 vectors, e.g. 𝑪𝑪 = 𝑨𝑨 + 𝑨𝑨)

22
Find the force resultant 𝑹𝑹.

R 2 = 202 + 302 – 2(20)(30)cos 65o

= 792.9
R = 28.16 N

sin 𝛼𝛼 sin 65o 意 器

 α = 74.93o
30N 30
=
28.16 :
20o θ = 180o – 45o – 74.93o = 60.07o
45o
𝑅𝑅
20N α
45o θ ∴ 𝑹𝑹 = 28.16 60.07o

23
Determine the magnitude of the component force F and the
magnitude of the resultant force FR if FR is directed along the
positive y axis.
Hints:
• Draw vector diagram and
use triangle rule
• Label all forces and angles
• Find the unknowns by
Cosine/Sine law
 θ 𝑈𝑈𝑦𝑦
tan 𝜃𝜃 =
A free vector 𝑈𝑈𝑥𝑥

(Ux, Uy)
𝑼𝑼 = 𝑈𝑈𝑥𝑥 𝒊𝒊̂ + 𝑈𝑈𝑦𝑦 𝒋𝒋̂
θ
𝑼𝑼 = 𝑈𝑈 cos 𝜃𝜃 𝒊𝒊̂ + 𝑈𝑈 sin 𝜃𝜃 𝒋𝒋̂
(0, 0)

i & j are unit vector

26
Method 3: Summing Components

27
Find the force resultant 𝑹𝑹.
𝐹𝐹1 𝐹𝐹1 = 30 cos 20o 𝒊𝒊̂ + 30 sin 20o 𝒋𝒋̂
𝐹𝐹2 = 28.19𝒊𝒊̂ + 10.26𝒋𝒋̂
𝐹𝐹2 = −20 cos 45o 𝒊𝒊̂ + 20 sin 45o 𝒋𝒋̂
= −14.14𝒊𝒊̂ + 14.14𝒋𝒋̂
𝑅𝑅 = 𝐹𝐹1 + 𝐹𝐹2
= 28.19 − 14.14 𝒊𝒊̂
+(10.26 + 14.14)𝒋𝒋̂
= (14.05𝒊𝒊̂ + 24.40𝒋𝒋)̂ 𝐍𝐍

Checking:
𝑅𝑅 = 14.052 + 24.402 = 28.16N
−1
24.40
𝜃𝜃 = tan = 60.07o 28
14.05
The screw eye is subjected to two forces, F1 and F2. Determine the
magnitude and direction of the resultant force.

29
𝐹𝐹1 = 100 cos 15o 𝒊𝒊̂ + 100 sin 15o 𝒋𝒋̂
= 96.59𝒊𝒊̂ + 25.88𝒋𝒋̂
𝐹𝐹2 = 150 cos 80o 𝒊𝒊̂ + 150 sin 80o 𝒋𝒋̂
= 26.04𝒊𝒊̂ + 147.72𝒋𝒋̂
𝐹𝐹𝑅𝑅 = 𝐹𝐹1 + 𝐹𝐹2
= 96.59 + 26.04 𝒊𝒊̂
+(25.88 + 147.72)𝒋𝒋̂
= (122.64𝒊𝒊̂ + 173.60𝒋𝒋)̂ 𝐍𝐍

Checking:
𝐹𝐹𝑅𝑅 = 122.642 + 173.602 = 212.6N
−1
173.60
𝜃𝜃 = tan = 54.8o
122.64 30
𝑭𝑭𝑹𝑹 = 𝟐𝟐𝟏𝟏𝟐𝟐. 𝟑𝟑 𝐍𝐍 𝟓𝟓𝟒𝟒. 𝟖𝟖𝐨𝐨 31
Express each force acting on the gusset plate of the bridge truss in
unit-vector form and find the resultant force.

𝐹𝐹1 = −200⃑𝚤𝚤
4 3
𝐹𝐹2 = 400 𝚤𝚤⃑ − 400 𝚥𝚥⃑
5 5
= 320⃑𝚤𝚤 − 240⃑𝚥𝚥
3 4
𝐹𝐹3 = 300 𝚤𝚤⃑ + 300 𝚥𝚥⃑
5 5
=
𝐹𝐹4 =

𝑅𝑅 = −200 + 320 + 180 − 300 𝚤𝚤⃑

+ −240 + 240 𝚥𝚥⃑ = 𝟎𝟎
Express each force acting on the gusset plate of the bridge truss in
unit-vector form and find the resultant force.

𝐹𝐹1 = −200𝚤𝚤̂
4 3
𝐹𝐹2 = 400 𝚤𝚤̂ − 400 𝚥𝚥̂
5 5
= 320𝚤𝚤̂ − 240𝚥𝚥̂
3 4
𝐹𝐹3 = 300 𝚤𝚤̂ + 300 𝚥𝚥̂
5 5
= 180𝚤𝚤̂ + 240𝚥𝚥̂
𝐹𝐹4 = −300𝚤𝚤̂

𝑅𝑅 = −200 + 320 + 180 − 300 𝚤𝚤̂

+ −240 + 240 𝚥𝚥̂ = 𝟎𝟎
 𝑼𝑼
�
Unit vector 𝒆𝒆 =
𝑼𝑼

𝑈𝑈
𝑈𝑈 𝑒𝑒̂ 𝑈𝑈 = 𝑈𝑈 𝑒𝑒̂

Checking:
𝑽𝑽 = 𝟒𝟒𝒊𝒊̂ + 𝟑𝟑𝒋𝒋̂ 2 2
𝟒𝟒 𝟑𝟑
� =
𝑽𝑽 +
𝟑𝟑𝒋𝒋̂ 𝑽𝑽 = 𝟒𝟒2 + 𝟑𝟑2 = 𝟓𝟓 𝟓𝟓 𝟓𝟓
�
𝑽𝑽
𝜽𝜽 𝑽𝑽 𝟒𝟒𝒊𝒊̂ + 𝟑𝟑𝒋𝒋̂ 𝟒𝟒 𝟑𝟑 𝟒𝟒𝟐𝟐 + 𝟑𝟑𝟐𝟐
�
𝑽𝑽 = = = 𝒊𝒊̂ + 𝒋𝒋̂ = = 𝟏𝟏
𝟓𝟓 𝟓𝟓 𝟓𝟓 𝟓𝟓 𝟐𝟐
𝟒𝟒𝒊𝒊̂ 𝑽𝑽 34
(Scaling a vector will not change its direction!)
The cable from point A to point B exerts a 900-N force on the top of the
television transmission tower that is represented by the vector F. Express
F in unit-vector (⃑𝚤𝚤 & 𝚥𝚥⃑) form.

𝑭𝑭 = 𝑭𝑭𝒙𝒙 𝒊𝒊̂ + 𝑭𝑭𝒚𝒚 𝒋𝒋̂ 𝐍𝐍

35
 A
𝐴𝐴𝐵𝐵 =

𝐴𝐴𝐵𝐵 = 40 m 𝚤𝚤̂ − 80 m 𝚥𝚥̂

𝐴𝐴𝐵𝐵 40m 80m

� =λ=
𝐴𝐴𝐵𝐵 = 𝚤𝚤̂ − 𝚥𝚥̂
𝐴𝐴𝐵𝐵 89.4m 89.4m
(Unit vector in direction of 𝐴𝐴𝐵𝐵)
B
𝐹𝐹⃑ = 𝐹𝐹 λ� = 900 N λ�
Make use of the lengths to find 40 80
the unit directional vector λ. = 900 N 𝚤𝚤̂ − 𝚥𝚥̂
89.4 89.4
Then, 𝐹𝐹⃑ = 𝐹𝐹λ. = 𝟒𝟒𝟎𝟎𝟐𝟐𝒊𝒊̂ − 𝟖𝟖𝟎𝟎𝟓𝟓𝒋𝒋̂ 𝐍𝐍 36
 International System of Units (SI system)

Does a vector have a unit? 𝐹𝐹⃑ = 3𝚤𝚤̂ + 4𝚥𝚥̂ N

 Prefixes

37
 �
𝑨𝑨 = 𝑨𝑨𝒙𝒙 𝒊𝒊̂ + 𝑨𝑨𝒚𝒚 𝒋𝒋̂ + 𝑨𝑨𝒛𝒛 𝒌𝒌

𝑨𝑨 = 𝑨𝑨𝒙𝒙 𝟐𝟐 + 𝑨𝑨𝒚𝒚 𝟐𝟐 + 𝑨𝑨𝒛𝒛 𝟐𝟐

(Ax, Ay, AZ)

If 𝐴𝐴⃑ = 𝐴𝐴𝑥𝑥 𝚤𝚤̂ + 𝐴𝐴𝑦𝑦 𝚥𝚥̂ + 𝐴𝐴𝑧𝑧 𝑘𝑘� and

𝐵𝐵 = 3𝚤𝚤̂ + 4𝚥𝚥̂ + 5𝑘𝑘� are EQUAL,

Ax = 3
Ay = 4
Az = 5
Unit vector of 𝑨𝑨 = 𝒖𝒖𝑨𝑨
 � form!
Given F = 900N, find 𝑭𝑭 in 𝒊𝒊,̂ 𝒋𝒋,̂ 𝒌𝒌
(Bx , By , Bz)
Treat A as origin, 𝐴𝐴𝐵𝐵 = 𝐵𝐵𝑥𝑥 𝚤𝚤̂ + 𝐵𝐵𝑦𝑦 𝚥𝚥̂ + 𝐵𝐵𝑧𝑧 𝑘𝑘�

Length 𝐴𝐴𝐵𝐵 = 𝐴𝐴𝐵𝐵 = 𝐵𝐵𝑥𝑥 2 + 𝐵𝐵𝑦𝑦 2 + 𝐵𝐵𝑧𝑧 2

𝑭𝑭

Spatial 𝐴𝐴𝐵𝐵 𝐵𝐵𝑥𝑥 𝐵𝐵𝑦𝑦 𝐵𝐵𝑧𝑧

unit vector λ = = 𝚤𝚤̂ + 𝚥𝚥̂ + 𝑘𝑘� (0 , 0 , 0)
𝐴𝐴𝐵𝐵 𝐴𝐴𝐵𝐵 𝐴𝐴𝐵𝐵 𝐴𝐴𝐵𝐵
(3D Force direction)

2 2 2
𝐵𝐵𝑥𝑥 𝐵𝐵𝑦𝑦 𝐵𝐵𝑧𝑧
λ = + + =1
𝐴𝐴𝐵𝐵 𝐴𝐴𝐵𝐵 𝐴𝐴𝐵𝐵

𝑨𝑨𝒙𝒙 𝑨𝑨𝒚𝒚 𝑨𝑨𝒛𝒛

𝑭𝑭 = 𝑭𝑭 λ = 𝑭𝑭 𝒊𝒊̂ + 𝒋𝒋̂ + �
𝒌𝒌 40
𝑨𝑨𝑨𝑨 𝑨𝑨𝑨𝑨 𝑨𝑨𝑨𝑨
 �
𝑨𝑨𝑨𝑨 = –1.6 𝒊𝒊̂ + 1.6 𝒋𝒋̂ – 2.8 𝒌𝒌

−𝐵𝐵𝑧𝑧 𝑘𝑘�

𝑨𝑨𝑨𝑨 Bx = –1.6 m

By = +1.6 m
+𝐵𝐵𝑦𝑦 𝚥𝚥̂
Bz = –2.8 m
−𝐵𝐵𝑥𝑥 𝚤𝚤̂

41
 𝐴𝐴𝐵𝐵 = –1.6 𝚤𝚤̂ + 1.6 𝚥𝚥̂ – 2.8 𝑘𝑘� (Treat A as origin)

AB = 1.62 + 1.62 + 2.82 = 3.6 m

𝐴𝐴𝐵𝐵
= λ�𝐴𝐴𝐴𝐴 = –(1.6/3.6) 𝚤𝚤̂ + (1.6/3.6) 𝚥𝚥̂ – (2.8/3.6) 𝑘𝑘�
𝐴𝐴𝐵𝐵
= –0.44 𝚤𝚤̂ + 0.44 𝚥𝚥̂ – 0.78 𝑘𝑘�
𝐹𝐹𝐴𝐴𝐴𝐴 = FAB λ�𝐴𝐴𝐴𝐴
�
= (900)(–0.44 𝚤𝚤̂ + 0.44 𝚥𝚥̂ – 0.78 𝑘𝑘)
= –400 𝚤𝚤̂ + 400 𝚥𝚥̂ – 700 𝑘𝑘�
Fx = – 400 N
Note: Magnitude of λ� 𝑨𝑨𝑨𝑨 = 1 Fy = 400 N

( (−𝟎𝟎. 𝟒𝟒𝟒𝟒)𝟐𝟐 + 𝟎𝟎. 𝟒𝟒𝟒𝟒𝟐𝟐 + (−𝟎𝟎. 𝟖𝟖𝟖𝟖)𝟐𝟐 = 1 ) Fz = – 700 N

42
The roof is supported by cables as shown in the figure below. If the cables exert
forces FAB = 100 N and FAC = 120 N on the wall hook at A, find the resultant
force acting at A in unit-vector form.

Hints:
• Express 𝐹𝐹⃑𝐴𝐴𝐴𝐴 & 𝐹𝐹⃑𝐴𝐴𝐴𝐴 in 𝚤𝚤,̂ 𝚥𝚥,̂ 𝑘𝑘� form
• 𝐹𝐹⃑𝑅𝑅 = 𝐹𝐹⃑𝐴𝐴𝐴𝐴 + 𝐹𝐹⃑𝐴𝐴𝐴𝐴

43
44
 SOLUTION:
• Based on the relative locations of the
points A and B, determine the unit
vector pointing from A towards B.
y • Apply the unit vector to determine the
x components of the force acting on A.
z • Noting that the components of the unit
vector are the direction cosines for the
The tension in the guy wire is 2500 N. vector, calculate the corresponding
Determine: angles.
a) components Fx, Fy, Fz of the force
acting on the bolt at A,
b) the angles θx, θy, θz defining the
direction of the force (the direction
cosines) 45
SOLUTION:
• Determine the unit vector pointing from A
towards B.
AB = (− 40m ) i + (80m ) j + (30m )k
AB = (− 40m ) + (80m ) + (30m )
2 2 2

= 94.3 m
 − 40   80   30 
λ = i +  j +  k
 94.3   94.3   94.3 
= −0.424 i + 0.848 j + 0.318k

• Determine the components of the force.

F=Fλ
= (2500 N )(− 0.424 i + 0.848 j + 0.318 k )
= (− 1060N )i + (2120 N )j + (795 N )k

46
• Noting that the components of the unit vector are
the direction cosines for the vector, calculate the
corresponding angles.
λ = cosθ x i + cosθ y j + cosθ z k
= −0.424 i + 0.848 j + 0.318 k

θ x = 115.1
θ y = 32.0
θ z = 71.5

47
 SOLUTION:
FBA • Since the force in the guy wire must be
the same throughout its length, the force
at B (and acting toward A) must be the
same magnitude but opposite in
FAB direction to the force at A.

FBA = −FAB
= (1060N )i + (− 2120 N )j + (− 795 N )k
What are the components of the
force in the wire at point B? Can
you find it without doing any
calculations?
Give this some thought and discuss
this with a neighbor.
48
Tutorial 1: Statics of Particles

49
ˊ

50
51
52
53
54
55
56
57
58
59
60
61
600

62
63