EEE - 2105 - L1 To 3 - Upload
EEE - 2105 - L1 To 3 - Upload
EEE - 2105 - L1 To 3 - Upload
Rigid-body Mechanics
• a basic requirement for the study of the
mechanics of deformable bodies and the
mechanics of fluids (advanced courses).
• essential for the design and analysis of many
types of structural members, mechanical
components, electrical devices, etc, encountered
in engineering.
A rigid body does not deform under load!
Engineering Mechanics
Rigid-body Mechanics
Statics: deals with equilibrium of bodies under
action of forces (bodies may be either at rest or
move with a constant velocity).
Engineering Mechanics
Rigid-body Mechanics
• Dynamics: deals with motion of bodies
(accelerated motion)
Mechanics: Fundamental Concepts
Length (Space): needed to locate position of a point in space, &
describe size of the physical system Distances, Geometric
Properties
Time: measure of succession of events basic quantity in
Dynamics
40 kN 160 kN
Mechanics: Newton’s Three Laws of Motion
Basis of formulation of rigid body mechanics.
First Law: A particle originally at rest, or moving in a straight line
with constant velocity, tends to remain in this state provided the
particle is not subjected to an unbalanced force.
m F = ma
m1m2
F =G 2
r
F = mutual force of attraction between two particles
G = universal constant of gravitation
Experiments G = 6.673x10-11 m3/(kg.s2)
Rotation of Earth is not taken into account
m1, m2 = masses of two particles
r = distance between two particles
Gravitational Attraction of the Earth
Weight of a Body: If a particle is located at or near the surface of
the earth, the only significant gravitational force is that between
the earth and the particle
Weight of a particle having mass m1 = m :
Assuming earth to be a non-
rotating sphere of constant density
and having mass m2 = Me
mM e
W =G 2 r = distance between the earth’s
r center and the particle
Let g = G Me /r2 = acceleration due to gravity
W = mg (9.81m/s2)
Mechanics: Units
Four Fundamental Quantities
Quantity Dimensional SI UNIT
Symbol Unit Symbol
Mass M Kilogram Kg
Basic Unit
Length L Meter M
Time T Second s
Force F Newton N
F = ma N = kg.m/s2
1 Newton is the force
required to give a mass of 1
kg an acceleration of 1 m/s2
W = mg N = kg.m/s2
Mechanics: Units Prefixes
Scalars and Vectors
Scalars: only magnitude is associated.
Ex: time, volume, density, speed, energy, mass
Vectors: possess direction as well as magnitude, and must obey the
parallelogram law of addition (and the triangle law).
Ex: displacement, velocity, acceleration,
force, moment, momentum
y j
x i i, j, k – unit vectors
z k
Vectors
Free Vector: whose action is not confined to or
associated with a unique line in space
Ex: Movement of a body without rotation.
Algebraic Solution
Using the coordinate system
Trigonometry (Geometry)
Resultant Force and Components
from Law of Cosines and Law of
Sines
Force Systems
Force: Magnitude (P), direction (arrow) and point of application (point A) is
important
Change in any of the three specifications will alter the effect on the bracket.
F2 F2
R = F1+F2
R
F2
R R F2
A A
F1 A F1
F1 F1
Plane
Forces act at same point Forces act at different point Triangle Law
(Apply Principle of Transmissibility)
Components and Projections of Force
Components of a Force are not necessarily equal to the Projections
of the Force unless the axes on which the forces are projected are
orthogonal (perpendicular to each other).
R = 98 N α = 35 °
Components of Force
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 ) cos 155 °
R = 97 .73 N
From the Law of Sines,
sin A sin B
=
Q R
Q
sin A = sin B
R
60 N
= sin 155 °
97 .73 N
A = 15 .04 °
α = 20 ° + A
α = 35 .04 °
Components of Force
Components of Force
Example 3:Tension in cable BC is 725-N, determine the resultant of the three
forces exerted at point B of beam AB.
Solution:
• Resolve each force into rectangular
components.
r r • Resolve Fh into
• The vector F is • Resolve F into rectangular
contained in the horizontal and vertical components
plane OBAC. components.
Fx = Fh cos φ
Fy = F cosθ y = F sin θ y cos φ
Fh = F sin θ y Fz = Fh sin φ
= F sin θ y sin φ
Rectangular Components in Space
Rectangular Components in Space
Direction of the force is defined by the location of two points
Rectangular Components in Space
Example: The tension in the guy
wire is 2500 N. Determine: SOLUTION:
θ x = 115.1o
θ y = 32.0o
θ z = 71.5o
Vector Products
Dot Product
Applications:
to determine the angle between two vectors
to determine the projection of a vector in a specified direction
Cartesian Vector
Moment of a Force (Torque)
Varignon’s Theorem
(Principle of Moments)
If we take point in place of point
0
.
.
.
and are in the same line
Moment: Example
Calculate the magnitude of the moment about the
base point O of the 600 N force in different ways
Solution 1.
Moment about O is
Solution 2.
Moment: Example
Solution 3.
Solution 4.
Solution 5.
Examples:
Addition of Couples
Consider two intersecting planes P1
and P2 with each containing a couple
in plane
in plane
By Varigon’s theorem
Sum of two couples is also a couple that is equal to
the vector sum of the two couples
Couples Vectors
Couple vectors are free vectors, i.e., the point of application is not
significant.
At support O
!
"
Equivalent Systems: Resultants
# $
What is the value of d?
Moment of the Resultant force about the grip must be equal to the
moment of the forces about the grip
# $ $ Equilibrium Conditions
Equivalent Systems: Resultants
Equilibrium
= − 600+ (
= % ×
= − 600+ (
The couple at B is equal to the moment about
B of the force-couple system found at A.
= + ×
= 3.13 0
−
Rigid Body Equilibrium
z x
Rigid Body Equilibrium
Free-Body Diagrams
Support Reactions
Prevention of
Translation or
Rotation of a body
Restraints
Rigid Body
Equilibrium
Various Supports
2-D Force
Systems
Rigid Body
Equilibrium
Various Supports
2-D Force
Systems
Rigid Body
Equilibrium
Various Supports
3-D Force
Systems
Free body
diagram
Rigid Body
Equilibrium
Categories
in 2-D
Rigid Body
Equilibrium
Categories
in 3-D
Rigid Body Equilibrium: Example
Solution:
• Create a free-body diagram of the joist. Note
that the joist is a 3 force body acted upon by
the rope, its weight, and the reaction at A.
α = 58.6o
Rigid Body Equilibrium: Example
• Determine the magnitude of the reaction
force R.
T R 98.1 N
= =
sin 31.4o sin110o sin 38.6o
T = 81.9 N
R = 147.8 N
Reading Assignment
Chapters 1, 2, 3 and 4 of