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Vector Operations (See Part A)

Addition:
 Use parallelogram law or triangle rule

 Parallelogram law: Tail to tail

A A
A
R

B
B B
R=A+B

 Triangle rule: Head to tail

A B
A R
A

R
B
B
R=A+B R=B+A

Subtraction:
 Use parallelogram law or triangle rule
A B
A
R R A

B
B R=A-B R=A-B
Parallelogram law Triangle rule
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Resultant Force (See Part A)

i) Graphical Method:

 Use the parallelogram law or triangle rule (see part B, ii):

 Important equations to remember: Law of Sine and Cosine

A
B
A
R

R
B
R=A+B R=A+B

Parallelogram law Triangle rule

 Note: Use this method to resolve the force or vector into two components. For resultant force,
use the next method because it is faster.

ii) Algebraic Method:

 
⎯⎯⎯⎯⎯⎯⎯⎯⎯ 𝐅𝐲
 Use Algebraic sum of the x and y axis: 𝐅𝐑 = 𝐅𝐱 𝟐 + 𝐅𝐲 𝟐 , 𝛉 = 𝐭𝐚𝐧 𝟏
⎯⎯
𝐅𝐱

 Important equations to remember: Trigonometry Functions

F
F 5 3
F = F sin θ F = F (3/5)
θ
4

F = F cos θ F = F (4/5)

Sin θ = ⎯⎯⎯,
𝐎𝐩𝐩
Cos θ = 𝐇𝐲𝐩
𝐀𝐝𝐣
⎯⎯⎯, Tan θ = ⎯⎯⎯
𝐎𝐩𝐩 Similar Triangles:
𝐇𝐲𝐩 𝐀𝐝𝐣
⎯⎯= ⎯ = ⎯⎯
𝟒 𝟓 𝟑
𝟏 𝐎𝐩𝐩
θ = 𝐭𝐚𝐧 = ⎯⎯⎯
𝐀𝐝𝐣
= ⎯⎯ θ = 𝐭𝐚𝐧 𝟏 𝐎𝐩𝐩
= ⎯⎯⎯ = ⎯⎯
𝐀𝐝𝐣

Equations on page 72, Reference Handbook

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Cables and Pulleys (See Part B)

A. Steps For Analysis:

i) Draw the Free Body Diagram (FBD)

ii) Identify all forces

iii) Equilibrium equations: ∑ 𝐅𝐱 = 0, ∑ 𝐅𝐲 = 0.

Moment of Force (See Part C)

M=rF
 F is the force and r is the moment arm, which is the perpendicular distance to the
line of action of the force.
Examples:

r
F
M=rF

r
r sin θ r
M
θ r cos θ

M = (r sin θ) F

M
F

M = r F = (0) F = 0
Same line of action!
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Types of Supports (See Part C)

i. Roller:

◊ Reaction prevents translation in the vertical direction.

◊ Reaction force acts perpendicular to the surface.

θ
θ R

ii. Pin or hinge:

◊ Reaction prevents translation in any direction.

◊ The resultant reaction is broken into y and x components.

iii. Fixed:

◊ Reaction prevents translation and rotation.

◊ Reaction has a force (in the x and y direction) and a moment.

R
R
M
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Trusses (See Part D)

(I) Identifying Zero Force Members

i) If two noncollinear members are connected to a joint that is not subjected to any external loads or
reactions, then both members are zero.

ii) If three members, two of which are collinear and are connected to a joint that is not subjected to any
external loads or reactions, then the force member that is not collinear is zero.

(II) Fast Method Of Joint (FMJ)

Four Rules:

1. Equilibrium Equations (Mentally)

2. Break diagonal vectors into 2 components
3. Draw vectors head-head or tail-tail
4. Every action, there is an equal and opposite reaction

y
F = ⎯⎯F
𝑥
F y x
F = ⎯⎯F
𝑦
x
F

(III) Forces on members:

◊ If member elongates Tension (Force pulling the joint)
◊ If member shrinks Compression (Force pushing into the joint)

(IV) Method of Section

► Cut the truss where we want to determine the forces.

► Draw Free Body Diagram.

► Take moment where two unknown forces intersect, so we have only one unknown in the
moment equation.
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Centroids (See Part E)

Procedure For Analysis: Given A Function

1. Draw a small vertical or a horizontal rectangle

2. Find the area of the small rectangle, A = base x height

3. Find 𝒙 and 𝒚

∫ 𝒙 𝐝𝐀 ∫ 𝒚 𝐝𝐀
4. Plug in to the equation: 𝐱𝐜 = ⎯⎯⎯⎯ , 𝐲𝐜 = ⎯⎯⎯⎯
𝐀 𝐀

Procedure For Analysis: Given Geometric Shapes

1. Break the drawing into geometric parts.

2. Find the centroid, 𝐱𝐧 or 𝐲𝐧 for each geomteric part & always with respect to the datum
(0,0)!

3. Find the area of the geometric shapes.

∑𝐱 𝐚 ∑𝐲 𝐚
4. Plug in to the equations: 𝐱 𝐜 = ⎯⎯⎯⎯⎯,
𝐧 𝐧
𝐀
𝐧 𝐧
𝐲𝐜 = ⎯⎯⎯⎯⎯
𝐀

Moment of Inertia (See Part F)

Procedure For Analysis:

1. Break the drawing into geometric parts.

2. Find the moment of inertia for each geometric shape.

3. Find 𝐝𝐱 and 𝐝𝐲 , if necessary!

4. Plug in to the equations: 𝐈 𝐱 = 𝐈𝐱𝐜 + 𝐝𝟐 𝐲 𝐀 , 𝐈 𝐲 = 𝐈𝐲𝐜 + 𝐝𝟐 𝐱 𝐀

Centroid about x & y 𝐈 𝐱 or 𝐈 𝐲 𝐈 𝐱𝐜 or 𝐈𝐲𝐜 𝐝𝐱 or 𝐝𝐲

axis
Shape on x or y axis Use These Not Zero – shape is on the axis, there is NO distance!
Equations Applicable
Shape NOT on x or y Not Use These Distance from x or y axis to the centroid of the small shape.
axis Applicable Equations
Centroid about x & y 𝐈 𝐱 or 𝐈𝐲 𝐈 𝐱𝐜 or 𝐈𝐲𝐜 𝐝𝐱 or 𝐝𝐲
centroidal axis
Shape is symmetric Not Use These Zero – centroid of the small shape is at the same point as the centroid of
Applicable Equations the whole shape!
Shape is NOT symmetric Not Use These Distance from centroid of the small shape to the centroid of the whole
(find centroid x and y ) Applicable Equations shape! (Also, use fast method, e.g. 𝐝𝐱 = ( 𝐱 𝐜 − 𝐱 𝐧 ), see examples in
the course)
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Friction Force (See Part G)

Free body diagram:
w

F=F = µ N
N

 Surface or floor exerts a normal force and a frictional force.

 Frictional Force always tangent to the surface.
 For equilibrium, normal force acts upward and perpendicular to the surface to balance
out the weight.
 Frictional force acts opposite of the force P to reach equilibrium and to prevent motion
to the right.

Friction Forces:
 F, the static frictional force, is when equilibrium is reached.
 F, the limiting static frictional force, is when the maximum value is reached but still
maintaining equilibrium.
 𝐅𝐤 , the kinetic frictional force, is when an object starts moving and sliding occurs

Procedure For Analysis:

i) Draw the Free Body Diagram (FBD)

ii) Identify all forces

iii) Equilibrium and friction force equations: ∑ 𝐅𝐱 = 0, ∑ 𝐅𝐲 = 0, ∑ M = 0, F = µ𝐬 𝐍

 Note: Normal force is NOT Always equal to weight.

Belt Friction (See Part G)

 𝐅𝟏 = 𝐅𝟐 𝒆µ𝜽 , where 𝐅𝟏 > 𝐅𝟐