Engineering Mechanics I: Statics

CEng 2061
Course Outline
Chapter 1: Scalars and Vectors
1.1 Introduction
1.2 Scalars and Vectors
1.3 Operation with Vectors
1.3.1. Vector Addition or Composition
1.3.2. Vector Multiplication: Dot & Cross
Chapter 2: Force Systems
2.1 Introduction
2.2 Two-Dimensional Force Systems
2.2.1. Rectangular components of Forces
2.2.2. Moment and Couple
2.2.3. Resultants of general coplanar force systems
 2.3 Three-Dimensional Force Systems
2.3.1. Rectangular Components
2.3.2. Moment and Couple
2.3.3. Resultants
Chapter 3: Equilibrium
3.1 Introduction
3.2 Equilibrium in Two Dimensions
3.2.1. System Isolation
3.2.2. Equilibrium Conditions
3.3 Equilibrium in Three Dimensions
3.3.1. System Isolation
3.3.2. Equilibrium Conditions
Chapter 4: Analysis of simple Structures
4.1 Introduction
4.2 Analysis of Plane Trusses
4.2.1 Method of Joints
4.2.2 Method of Sections
4.3 Analysis of Frames and Simple Machines
Chapter 5: Centroids
5.1. Introduction
5.2. Center of gravity
5.3. Centroids of lines, Areas, and Volumes
5.4. Centroids of composite bodies
5.5. Determination of centroid by integrations
Chapter 6: Area Moments of Inertia
6.1. Introduction
6.2. Moment of inertia of plane areas and curves
6.3. Moments of inertia of Composite areas
6.4. Products of Inertia and Rotation of Axes
Chapter 7: Friction
7.1. Introduction
7.2. Types of Friction
7.3. Characteristics of dry friction
7.4. Application of Friction in Machines
 Teaching & Learning Methods; lectures, tutorial, project

Assessment/Evaluation & Grading System:

 Continuous Assessment (50%); (tests, quizzes,

assignments, projects, presentation, active participation)

 Final Exam (50%)

 Attendance Requirements: minimum 85%

 Grading System: As per harmonized curriculum

 Instructional Objectives
After completing the course, you should be able to:
 Analyze forces and find out the resultant forces in two and
three dimension
 Differentiate between various type of supports and draw
free-body-diagram
 Compute the reaction force, internal forces and bending
moment at a specific point on a simple structure (beam,
frame, truss)
 Draw bending moment and shear force diagram to a simple
structure.
 Obtain center of mass and centroid for deferent engineering
shapes & moment of inertia for deferent sections
Introduction to Mechanics
 What is mechanics? Mechanics
 Physical science deals
with the state of rest or Statics Dynamics
motion of bodies under
the action of force
Kinematics
 Why we study mechanics?
 This science form the
groundwork for further Kinetics
study in the design and
analysis of structures
Cont…
Statics deals with the equilibrium of bodies, that is
those that are either at rest or move with a constant
velocity.
Dynamics is concerned with the accelerated motion of
bodies and subdivided into two parts as Kinematics and
Kinetics.
Kinematics deals with the geometry of motion without
taking into consideration the loading that causes this
motion.
Kinetics considers the loads that cause the motion.
 Cont…
Rigid-body Mechanics
1. Statics

2. Dynamics
 Basic Terms
 Essential basic terms to be understood
 Statics: dealing with the equilibrium of a rigid-body at rest
 Rigid body: the relative movement between its parts are negligible
 Dynamics: dealing with a rigid-body in motion
 Length: applied to the linear dimension of a strait line or curved line
 Area: the two dimensional size of shape or surface
 Volume: the three dimensional size of the space occupied by substance
 Force: the action of one body on another whether it’s a push or a pull
force
 Mass: the amount of matter in a body
 Weight: the force with which a body is attracted toward the center of
the Earth
 Particle: a body of negligible dimension
 Units of Measurement
 Four fundamental quantities in mechanics
 Mass
 Length
 Time
 Force
 Two different systems of units we dealing with during the
course
 U.S. Customary or British System of Units (FPS)
 Length in feet (ft.)
Time in Seconds (s)
 Force in Pounds (lb.)
 International System of Units or Metric Units (SI)
Length in metre (m)
Time in Seconds (s)
 Force in Newton (N)
 Units of Measurement Cont…
Summery of the four fundamental quantities in the two
system
Fundamental Principles
• Newton’s First Law: If the resultant force on a
particle is zero, the particle will remain at rest
or continue to move in a straight line.
• Newton’s Second Law: A particle will have
an acceleration proportional to a nonzero
resultant applied force.
• Parallelogram Law
• Newton’s Third Law: The forces of action and
reaction between two particles have the same
magnitude and line of action with opposite
sense.
• Newton’s Law of Gravitation: Two particles
are attracted with equal and opposite forces,
Mm GM
• Principle of Transmissibility F G W  mg , g 
r2 R2
 1.2. Scalars and Vectors
 Scalar quantities: - are physical quantities that can be
completely described (measured) by their magnitude alone.
These quantities do not need a direction to point out their
application. E.g. Time[s], Mass [Kg], Area [m2], Volume
[m3], Density [Kg/m3], Distance [m], etc.
 Vector quantities: - Like Scalar quantities, Vector quantities
need a magnitude. But in addition, they have a direction, and
sometimes point of application for their complete
description. E.g. Force [N, Kg.m/s2], Velocity [m/s],
Acceleration [m/s2], Momentum [N.s, kg.m/s], etc.
 1.2. Scalars and Vectors Cont…
Types of Vectors
Generally vectors fall into three basic classifications:
 Free Vectors: are vectors whose action in space is not confined or
associated with a unique line in space; hence they are ‘free’ in space.
E.g.
 Movement of a body without rotation.

 Displacement, Velocity, Acceleration, Couples, etc.

 Sliding Vectors: has a unique line of action in space but not a

unique point of application. E.g. Force acting on rigid bodies.
 Principle of Transmissibility

 Fixed Vectors: are vectors for which a unique and well-defined

point of application is specified to have the same external effect.
E.g. Force acting on non-rigid (deformable) bodies.
1.2. Scalars and Vectors Cont…
Types of Vectors
 Free Vectors:

 Sliding Vectors:

 Fixed Vectors
 1.2. Scalars and Vectors Cont…
Graphical representation of Vectors
A. Graphical representation
Graphically, a vector is represented by a directed line segment
headed by an arrow. The length of the line segment is equal to
the magnitude of the vector to some predetermined scale and
the arrow indicates the direction of the vector.
• Length of the line equals, to some scale, the
magnitude of the vector and the arrow
indicates the direction of the vector
• NB: The direction of the vector may be
measured by an angle θ from some known
reference direction.
 1.2. Scalars and Vectors Cont…
Graphical representation of Vectors
B. Algebraic (arithmetic) representation
Algebraically a vector is represented by the components of the
vector along the three dimensions. E.g.
• Where ax, ay and az are components of the vector A along the x, y
and z axes respectively.
• NB: The vectors j i, and k are unit vectors along the respective
axes.
 1.2. Scalars and Vectors Cont…
Properties of vectors
 Equality of vectors: Two free vectors are said to be equal if
and only if they have the same magnitude and direction.

 The Negative of a vector: is a vector which has equal magnitude

to a given vector but opposite in direction.
 1.2. Scalars and Vectors Cont…
Properties of vectors
 Null vector: is a vector of zero magnitude. A null vector has
an arbitrary direction.
 Unit vector: is any vector whose magnitude is unity. A unit
vector along the direction of a certain vector, say vector A
(denoted by uA) can then be found by dividing vector A by its
magnitude.
 1.2. Scalars and Vectors Cont…
Generally, any two or more vectors can be aligned in
different manner. But they may be:
* Collinear-Having the same line of action.
* Coplanar- Lying in the same plane.
* Concurrent- Passing through a common point.
 1.3. Operations With Vectors
Scalar quantities are operated in the same way as numbers
are operated. But vectors are not and have the following
rules:
Vector Addition or Composition of Vectors
Vector Multiplication: Dot and Cross products
1. Vector Addition or Composition of Vectors
Composition of vectors is the process of adding two or
more vectors to get a single vector, a Resultant, which has
the same external effect as the combined effect of individual
vectors on the rigid body they act.
 1.3. Operations With Vectors
1.3.1.Vector Addition
Using the Parallelogram Law, Construct a Parm.
with two Forces as Parts. The resultant of the forces
is the diagonal. P

Q
Vector Addition Contd.
Triangle Rule: Draw the first Vector. Join the tail of
the Second to the head of the First and then join the
head of the third to the tail of the first force to get the
resultant force, R
Also:
R=Q+P Q
P P
Q
R=P+Q

Q + P = P + Q. This is the commutative law of vector addition

 Polygon Rule
Can be used for the addition of more than two vectors. Two
vectors are actually summed and added to the third.
S Q  P + Q = (P + Q) ……….
Triangle Rule
P  i.e. P + Q + S = (P +
Q) + S = R
 The method of drawing
S the vectors is
immaterial . The
Q following method can be
R used.
(P + Q)
P
R=P+Q+S
 Polygon Rule contd.
S Q  Q + S = (Q + S) …….
Triangle Rule
P  P + Q + S = P + (Q + S) = R
 i.e. P + Q + S = (P + Q) + S =
P + (Q + S)
 This is the associative Law of
S Vector Addition

Q
R (Q + S)

R=P+Q+S
 Vector Subtraction
P
P - Q = P + (- Q)

P P
P -Q
Q
-Q P-Q

Parm. Rule
Triangle Rule
 1.3.2. Vector Multiplication

A. Cross or Vector Product of Two Vectors

 The cross product of two vectors, P and Q yields the
vector V which is written

V=PxQ (i.e. V=P cross Q)

 Magnitude: the magnitude of Vis PxQ = PQ sin

Where: 0 <  < 180o

 Cross Product Vectors Cont…

 Direction
 Vector, V has a direction that is perpendicular to the
plane containing P and Q such that the direction of V
is specified by the right hand rule i.e. curling the
fingers of the right hand from vector P (cross) to
vector Q, the thumb then points in the direction of V.
 Cross Product Vectors Cont…

The sense of V is such that a person located at the tip of V will observe as

counterclockwise the rotation through  that brings the vector P in line with vector Q.

Knowing the magnitude and direction of V:

V = P x Q = (P Q sin )  v

Where: the scalar PQ sin  defines the magnitude of V and the unit vector,  v

defines the direction of V.

V = PxQ V

Q PQ sin  = V

  Q

P P
 Cross Product Vectors Cont…

 Laws of Operation
1. The commutative law does not apply
i.e. P x Q  Q x P
Rather: P x Q = - Q x P
2. Multiplication by a scalar
a ( P x Q) = (a P) x Q = P x ( a Q) = ( P x Q )a
3. The distributive law:
P x (Q + S ) = ( P x Q ) + ( P x S )
4. The associative property does not apply to vector products
(P x Q ) x S  P ( Q x S )
 Cross Product Vectors Cont…

 Cartesian (Rectangular) Vector Formulation

y

j x

k = (i x j) i

To find i x j, the magnitude of the resultant is:

i x j = i . j . sin 90o = 1 x 1 x 1 = 1.

Using the right hand rule, the resultant vector points in the k direction.

Thus i x j = 1 k. But: j x i = - k since the 90o rotation that

brings j into i is observed as counterclockwise by a person located

at the tip of - k.
 Cross Product Vectors Cont…

 Cartesian (Rectangular) Vector Formulation

• Rules: If a circle is constructed as shown, the vector product

of two unit vectors in a counterclockwise fashion around the
circle yields the positive third unit vector.e.g. k x i=j moving
clockwise a negative unit vector is obtained. e.g. i x k =-j
 Cross Product Vectors Cont…
Consider the cross product of two vectors P and Q expressed in
Cartesian vector form:
V = P x Q = ( Px i + Py j + Pz k) x ( Qx i + Qy j + Qz k)

= Px Qx (i x i) + Px Qy (i x j) + Px Q z ( i x k)

+ Py Qx ( j x i) + Py Qy (j x j) + Py Q z (j x k)

+ Pz Q x (k x i) + Pz Qy (k x j) + Pz Qz (k x k)

= ( Px Qy ) k + Px Qz (-j) + Py Qx (-k) + Py Qz (i) + Pz Qx (j) + Pz Qy (-i)

V = (Py Q z - Pz Qy) i + (Pz Qx - Px Qz) j + (Px Qy - Py Qx) k

 Cross Product Vectors Cont…

V in Determinant Form
 The equation for V may be written in a
more compact determinant form as:

 V = P x Q= i j k
Px Py Pz
Qx Qy Qz
 Scalar or Dot Product of Two Vectors

 Scalar product of two vectors, P and Q

 P.Q = P Q cos  ..... magnitude
Where: 0 <  < 180o
 The dot product is often referred to as scalar product
of vectors, since the result is a scalar, not a vector.
Q

P
 Dot Product of Vectors Cont…

Laws of Operation
 Commutative law: P. Q = Q. P
 Multiplication by a scalar: a (P. Q) = (a P). Q = P.
(a Q) = (P. Q) a
 Distributive law: P. ( Q1 + Q2) = P Q1 + P Q2
Dot Product of Vectors Cont…
 Dot Product of Vectors Cont…
1. D o t p r o d u c t is u s e d t o d e t e r m in e t h e a n g le fo r m e d b y t w o v e c t o r s o r in t e r s e c t in g

lin e s . T h e a n g le b e t w e e n t w o v e c t o r s P a n d Q is r e q u ir e d .

P = Px i + Py j + Pz k Q = Qx i + Qy j + Qz k

R e c a ll t h a t : P . Q = P Q c o s  ............. ( 1 )

P . Q = P x Q x + P y Q y + P z Q z ...... (2 )

E q u a t in g ( 1 ) a n d ( 2 ) : P Q c o s  = P x Q x + P y Q y + P z Q z

Px Qx Py Qy PzQz

i.e . c o s  
P Q
THANK YOU !!!