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COURSE DETAILS

College College of Engineering

Department Mechanical Engineering Department
Program Bachelor of Science in Mechanical Engineering

Course Title Statics of Rigid Bodies

Code BES5-M
Credit Units 3
Description The course deals with forces acting on non-moving bodies. It covers concurrent
and non-concurrent forces, operation with free body concepts, equilibrium of
coplanar and non-coplanar systems, friction forces, centroids, and moment of
inertia.

Academic Year 2023-2024

Semester 1st Semester
Schedule --------
Class BSME 2

Prepared by ENGR. JAY MARK P. DELOS REYES

Rank INSTRUCTOR 1
Date --------
Reviewed by --------
Designations --------
Date --------
Approved by --------
Designation --------
Date --------

GENERAL INSTRUCTIONS

Competencies/Skills Critical Thinking and Problem Solving

Hardware Resources Books and Calculators
Software Resources Tutorial Videos

Academic Contact Person Engr. Jay Mark P. Delos Reyes

Admin Contact Person --------
IT Contact Person --------

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MODULE 1: INTRODUCTION TO MECHANICS

LEARNING OUTCOMES
Perform vector operations such as vector cross and dot product.

a. Defining vector quantities, distinguishing them from scalar quantities, and finding vector
components.
b. Applying laws of parallelogram and triangle for adding multiple vectors/forces.
c. Applying the force polygon method for adding more than multiple forces.
d. Using cross product in identifying the perpendicular of two vector forces
e. Using dot product for finding angles between two vector forces

EXPECTED OUTPUTS

At the end of this module, the students should complete or submit the following outputs:

a. Examination
b. Assignments

COMPLETION DEADLINE ----------

Note: Specify here how long this module should take in terms of number of hours/days.

PRELIMINARY EVALUATION
Note: Include here questionnaires or link to an online quiz. Remove this section if not applicable.

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VAA-ERD MODULE 1: INTRODUCTION TO MECHANICS
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I. TOPIC 1: MECHANICS

MECHANICS
-the science which describes and predicts the conditions of rest or motion of solid bodies or fluids
under the action of forces.

ENGINEERING MECHANICS
-branch of engineering that applies the principles of mechanics to mechanical design.

STATICS study of body at rest.

DYNAMICS study of body in motion.

FUNDAMENTAL PRINCIPLES

▪ LENGTH -used to locate position of point space.

▪ SPACE -define by three lengths measured from a certain reference point.
▪ TIME -measured by intervals between repeatable events.
▪ PARTICLE -very small amount of matter which may assume to occupy a single point in space.
▪ RIGID BODIES -combination of large number of particles in which all the particles remain at a fixed
distance from one another, both before and applying load.
▪ MASS-measure of the inertia of the body

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VAA-ERD MODULE 1: INTRODUCTION TO MECHANICS
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▪ WEIGHT -force gravitational acting on a body

▪ FORCE-characterized by point of application, magnitude and direction.

PRINCIPLES OF MECHANICS

1. Parallelogram Law
2. Principle of Transmissibility
3. Newton’s Law of Gravitation
a. First Law
b. Second Law
c. Third Law

VECTOR MECHANICS

1. SCALAR
-physical quantities specified by magnitude only.
2. VECTOR
-physical quantities characterized by both magnitude and direction.

Vectors are equal when they have the same magnitude and direction.

Vectors added by the parallelogram rule.

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Vectors are commutative.

Vectors are associative.

(A + B) + C = A + (B + C)

Subtraction of Vectors

In order to subtract vectors, first we must understand that if we multiply a vector by (-1) we
get a vector equal in length but exactly opposite in direction.

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Adding more than two vectors

Law of Cosines

This will be used often in balancing forces.

Law of Sines

Start with the same triangle:

Sample Problem 1:

Determine the resultant of the force acts on a bolt A.

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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 diagonal.

▪ Trigonometric solution - use the triangle rule for vector addition in conjunction with the law of
cosines and law of sines to find the resultant.

From the law of cosines,

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R2 = P2 + Q2 − 2PQ cos B

R2 = (40N)2 + (60N)2 − 2(40N)(60N) cos 1 55°

Ans. R = 97.73N
From the law of sines,

sin A sin B
=
Q R
Q
sin A = sin B
R
60N
A = sin−1 155° ( )
97.73N
A = 15.04°
α = 20° + A

α = 35.04°
Conclusion: The resultant of the two forces P and Q is 97.73 N and with the direction 35.04°
relative to the x-axis.

Sample Problem 2:
A barge is pulled by two tugboats. If the resultant of the forces exerted by the tugboats is
5000 lbf directed along the axis of the barge, determine
a. the tension in each of the ropes for 𝛼 = 45°,
b. the value of 𝛼 for which the tension in rope 2 is a minimum.

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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 axis and length proportional to 5000 lbf.
▪ Find a trigonometric solution by applying the Triangle Rule for vector addition. With the
magnitude and direction of the resultant known and the directions of the other two sides
parallel to the ropes given, apply the Law of Sines to find the rope tensions.
▪ The angle for minimum tension in rope 2 is determined by applying the Triangle Rule and
observing the effect of variations in a.
a. the tension in each of the ropes for 𝛼 = 45°
▪ Graphical solution - Parallelogram Rule with known resultant direction and magnitude,
known directions for sides.

▪ Trigonometric solution - Triangle Rule with Law of Sines

T1 T2 5000 lbf
= =
sin 45° sin 30° sin 105°

Ans. T1 = 3660 lbf T2 = 2590 lbf

b. the value of 𝛼 for which the tension in rope 2 is a minimum.

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The angle for minimum tension in rope 2 is determined by applying the Triangle Rule and
observing the effect of variations in α
The minimum tension in rope 2 occurs when T1 and T2 are perpendicular,

opposite
sin θ =
hypotenus
T2
sin 30° =
5000 lbf
T2 = 5000 sin 30°
T2 = 2500 lbf

adjacent
cos θ =
hypotenus
T1
cos 30° =
5000 lbf
T1 = 5000 cos 30°
T1 = 4330 lbf

α = 90° − 30°
α = 60°

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I. TOPIC 2: RECTANGULAR COMPONENT OF A FORCE

May resolve a force vector into perpendicular components so that the resulting parallelogram is
a rectangle. 𝐹𝑥 𝑎𝑛𝑑 𝐹𝑦 are referred to as rectangular vector components and

2
F = √(Fx )2 + (Fy )

Vector components may be expressed as products of the unit vectors with the scalar magnitudes of
the vector components.

𝐅 = 𝐅λ

𝐅 = Fx 𝐢 + Fy 𝐣
𝐹𝑥 and 𝐹𝑦 are referred to as the scalar components.

Addition of Forces by Summing Components

Wish to find the resultant of 3 or more concurrent forces,

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𝐑=𝐏+𝐐+𝐒

Resolve each force into rectangular components,

𝐑 = Rx 𝐢 + Ry 𝐣

𝐑 = (Px 𝐢 + Py 𝐣) + (Qx 𝐢 + Qy 𝐣) + (Sx 𝐢 + Sy 𝐣)

𝐑 = (Px + Qx + Sx )𝐢 + (Py + Qy + Sy )𝐣

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

∑ Fx = R x

R x = Px + Qx + Sx

∑ Fy = R y

R y = Py + Qy + Sy

To find the resultant magnitude and direction,

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R
R = √(R x )2 + (R y )2 θ = tan−1 (Ry)
x

Sample Problem 3:
Determine the resultant of the forces acting on the bolt shown on the figure.

Solution:
▪ Resolve each force into rectangular components.
▪ Determine the components of the resultant by adding the corresponding force components.
▪ Calculate the magnitude and direction of the resultant.

Force x − component y − component

F1 = 150 N +130 N +75 N

F2 = 80 N −27.4 N +75.2 N

F3 = 110 N 0N −110 N

F4 = 100 N +96.6 −25.9N

R x = 200 N R y = 14.3 N

2
R = √(R x )2 + (R y )

R = √(200)2 + (14.3)2

Ans. R = 200.5 N

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R
tan α = Ry
x

R
α = tan−1 (Ry )
x

14.3 N
α = tan−1 ( 200 N )

Ans. 𝛂 = 𝟒. 𝟏°

I. TOPIC 3: UNIT VECTOR (𝝀) LAMBDA AND VECTOR REPRESENTATION

Lambda (𝜆)
- vector whose magnitude is 1.0.
- dimensionless parameters which specify direction
- provide convenient way to express a vector that has direction.
𝐀 = A𝛌
𝛌 = l𝐢 + m𝐣 + n𝐤
𝛌 = (cos θx )𝐢 + (cos θy )𝐣 + (cos θz )𝐤

|𝛌| = 1.0

|𝛌| = √l2 + m2 + n2 = 1.0

2
also, | 𝛌| = √(cos θx )2 + (cos θy ) + (cos θz )2 = 1.0

Direction cosine:
(cos θx )
(cos θy )
(cos θz )

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𝐀 = A𝛌

𝐀 = A [(cos θx )𝐢 + (cos θy )𝐣 + (cos θz )𝐤]

Note: this method is used at least 2 angles from 𝜃𝑥 , 𝜃𝑦 , 𝜃𝑧 are known the other input angle
is determined from,

2
| 𝛌| = √(cos θx )2 + (cos θy ) + (cos θz )2 = 1.0

Sample Problem 4:

Determine the rectangular representation of the position vector 𝑭.

Solution:
F = 500 N
θz = 30° , θx = ? , θy =?

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For θx and θy ,

θxy = 40°
z = 12 cos cos 30 °
z = 10.39 m
xy = 12 sin sin 30 °
xy = 6 m
x = 6 cos cos 40

x = 4.59 m
y = 6 sin sin 40
y = 3.86 m

4.59
θx = cos−1 ( ) = 67.5°
12
3.86
θy = cos −1 ( ) = 71.3°
12

𝐅 = F [(cos θx )𝐢 + (cos θy )𝐣 + (cos θz )𝐤]

𝐅 = 500 [(cos 67.5 °)𝐢 + (cos 71.3 °)𝐣 + (cos 30° )𝐤]

Ans. 𝐅 = 191.34𝐢 + 160.31𝐣 + 433.01𝐤

θz = 30°
θx = 67.5°

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θy = 71.3°

𝛌 = [(cos θx )𝐢 + (cos θy )𝐣 + (cos θz )𝐤]

𝛌 = [(cos 67.5 )𝐢 + (cos 71.3 )𝐣 + (cos 30 )𝐤]

Ans. 𝛌 = 0.38𝐢 + 0.32𝐣 + 0.87𝐤

Direction by means of position,

𝐅 = F𝛌𝐀𝐁
𝐀𝐁
𝐅 = F[ ]
|𝐀𝐁|
(xB − xA )𝐢 + (yB − yA )𝐣 + (zB − zA )𝐤
𝐅 = F[ ]
√(xB − xA )2 + (yB − yA )2 + (zB − zA )2

𝐀𝐁 = position vector (from A to B)

|𝐀𝐁| = magnitude or absolute value of position vector

Note: If the position vector originates from the origin or point 0 it is an absolute position vector.

Sample Problem 5:

The cable attached to the eyebolt id pulled force 𝐅 of magnitude 500 lbf . Determine the rectangular
representation of the force.

Solution:
𝐅 =?

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𝐀𝐁
𝐅 = F𝛌𝐀𝐁 ; 𝛌𝐀𝐁 = [|𝐀𝐁|]
(xB − xA )𝐢 + (yB − yA )𝐣 + (zB − zA )𝐤
𝛌𝐀𝐁 = [ ]
√(xB − xA )2 + (yB − yA )2 + (zB − zA )2
(0 − 4)𝐢 + (6 − 0)𝐣 + (0 − 3)𝐤
𝛌𝐀𝐁 = [ ]
√(0 − 4)2 + (6 − 0)2 + (0 − 3)2

𝛌𝐀𝐁 = −0.512𝐢 + 0.768𝐣 − 0.384𝐤

𝐅 = 500[−0.512𝐢 + 0.768𝐣 − 0.384𝐤]

Ans. 𝐅 = −256𝐢 + 384𝐣 − 192𝐤

I. TOPIC 4: VECTOR MULTIPLICATION

1. Dot Product / Scalar Product

𝐀 ∙ 𝐁 = ABcos θ

Note: resulting expression shows the component of one vector along the line of
action of the other vector.

Application of Dot Product

In Engineering Mechanics, dot product is used in determining the orthogonal
components of one vector along the direction of the other vector.
𝐀 ∙𝐁
𝐀 ∙ 𝐁 = ABcos θ ⇒ A cos θ =
B
𝐁
Acos θ = 𝐀 ∙
B
Acos θ = 𝐀 ∙ 𝛌𝐁
where:
𝐀 = Ax 𝐢 + Ay 𝐣 + Az 𝐤
𝐁 = Bx 𝐢 + By 𝐣 + Bz 𝐤

Note:
𝐀 ∙ 𝐁 = Ax Bx + Ay By + Az Bz
𝐢∙𝐢=𝐣∙𝐣=𝐤∙𝐤=𝟏

𝐢∙𝐣 =𝐣∙𝐤 =𝐤∙𝐢=𝟎

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2. Cross Product
𝐀 x𝐁 = 𝐂

- the resulting vector 𝐂 is perpendicular to the vector 𝐀 and 𝐁

Properties:
𝐀 x 𝐁 ≠ 𝐁 x 𝐀 ; not commutative
𝐀 x 𝐁 = − (𝐁 x 𝐀)
𝐀 x (𝐁 + 𝐂) = (𝐀 x 𝐁) + 𝐀( x 𝐂)
Identities:
𝐢x𝐣 =𝐤
𝐣x𝐤=𝐢
𝐤x𝐢=𝐣
Thus, if
𝐀 = Ax 𝐢 + Ay 𝐣 + Az 𝐤
𝐁 = Bx 𝐢 + By 𝐣 + Bz 𝐤
Then:
𝐀 x 𝐁 = (Ay Bz − Az By )𝐢 + (Ax Bz − Az By )𝐣 + (Ax By − Ay Bz )𝐤

Also cross product can be evaluated by the use of an artificial matrix formed from the vectors
involved.

𝐢 𝐣 𝐤 + − +
A
𝐀x𝐁=| x Ay Az | ; note that |− + −|
Bx By Bz + − +

Ay Az A Az Ax Ay
𝐀x𝐁= | |𝐢 − | x |𝐣 + | |𝐤
By Bz Bx Bz Bx By

𝐀 x 𝐁 = (Ay Bz − Az By )𝐢 + (Ax Bz − Az By )𝐣 + (Ax By − Ay Bz )𝐤

Application of Cross Product

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In Engineering Mechanics, cross product is used in determining the moment of force

about a point.
𝐌𝐎 = 𝐫𝐎𝐀 𝐱 𝐅
𝐌𝐎 →moment of force F with respect to O
𝐫𝐎𝐀 → position vector starting from the point of moment O up to point A on the line of
action of 𝐅
𝐅 → vector force passing through point A

3. Triple (Scalar) Product

𝐀x𝐁 ∙𝐂
- resulting to a scalar product where in it is done by doing cross product then dot product.

𝐀 x 𝐁 ∙ 𝐂 = 𝐁x 𝐂 ∙ 𝐀 = 𝐂 x 𝐀 ∙ 𝐁

- operation is processed by means of the determinant matrix formed from vectors involved
Ax Ay Az
𝐀 x 𝐁 ∙ 𝐂 = |Bx By Bz |
Cx Cy Cz

Application of Triple (Scalar) Product

In Engineering Mechanics, triple product is used in determining the moment of a
forces about a line on axis.
ML = 𝐫 𝐱 𝐅 ∙ 𝛌𝐋
ML → magnitude of the moment of the force about the reference line
𝐫 → position vector from the reference line of moment to any point on the line of
action of force 𝐅
𝐅 → Force

𝛌𝐋 → unit vector of the reference axis on the line of moment

Sample Problem 6:
Given the vectors:
𝐀 = 8𝐢 + 4𝐣 − 2𝐤 , 𝐥𝐛
𝐁 = 2𝐣 + 6𝐤 , 𝐟𝐭
𝐂 = 3𝐢 − 2𝐣 + 4𝐤, 𝐟𝐭
Calculate:
a. 𝐀 ∙ 𝐁
b. Orthogonal component of 𝐁 in the direction 𝐂

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c. Angle between 𝐀 and 𝐂

d. 𝐀𝐱𝐁
e. Determine the direction that is perpendicular to 𝐀 and 𝐁
f. 𝐀𝐱𝐁∙𝐂
Solution:
a. 𝐀 ∙ 𝐁

𝐀 ∙ 𝐁 = (8𝐢 + 4𝐣 − 2𝐤) ∙ (2𝐣 + 6𝐤 )

𝐀 ∙ 𝐁 = (8)(0) + (4)(2) + (−2)(6)

𝐀 ∙ 𝐁 = − 4, lb ft

b. Orthogonal component of 𝐁 in the direction 𝐂

Bcos θ = 𝐁 ∙ 𝛌𝐂
BC = 𝐁 ∙ 𝛌𝐂
𝐂
BC = 𝐁 ∙
|𝐂|

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3𝐢 − 2𝐣 + 4𝐤, 𝐟𝐭
BC = (2𝐣 + 6𝐤 , 𝐟𝐭) ∙ [ ]
√(32 ) + (−22 ) + (42 ), 𝐟𝐭

3𝐢 − 2𝐣 + 4𝐤, 𝐟𝐭
BC = (2𝐣 + 6𝐤 , 𝐟𝐭) ∙ [ ]
√29, 𝐟𝐭

BC = (2𝐣 + 6𝐤 , 𝐟𝐭) ∙ (0.557𝐢 − 0.371𝐣 + 0.743𝐤 )

BC = (0)(0.557) + (2)(−0.371) + (6)(0.743)
BC = 3.716 ft (scalar)

𝐁𝐂 = BC 𝛌𝐂
𝐁𝐂 = 3.716 ft (0.557𝐢 − 0.371𝐣 + 0.743𝐤)

𝐁𝐂 = 2.07𝐢 − 1.38𝐣 + 2.76𝐤, ft 2 (vector)

c. Angle between 𝐀 and 𝐂

cos θ = 𝛌𝐀 ∙ 𝛌𝐁

θ = cos −1 (𝛌𝐀 ∙ 𝛌𝐁 )
𝐀 𝐁
θ = cos −1 ( ∙ )
|𝐀| |𝐁|
8𝐢 + 4𝐣 − 2𝐤 2𝐣 + 6𝐤
θ = cos −1 [ ∙ ]
√(82 ) + (42 ) + (−22 ) √(22 ) + (62 )

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8𝐢 + 4𝐣 − 2𝐤 3𝐢 − 2𝐣 + 4𝐤
θ = cos−1 [ ∙ ]
2√21 √29
8(3) + 4(−2) − 2(4)
θ = cos −1 [ ]
(2√21)(√29)

θ = cos −1 [0.162]
θ = 80.68°

d. 𝐀 𝐱 𝐁

𝐑 = 𝐀 x𝐁
𝐑 = (8𝐢 + 4𝐣 − 2𝐤) x (2𝐣 + 6𝐤)
𝐢 𝐣 𝐤 + − +
𝐑 = 𝐀 x 𝐁 = |Ax Ay Az | ; note that |− + −|
Bx By Bz + − +

𝐢 𝐣 𝐤
𝐑 = |8 4 −2|
0 2 6
4 −2 8 −2 8 4
𝐀x𝐁 = | |𝐢− | |𝐣+ | |𝐤
2 6 0 6 0 2
𝐀 x 𝐁 = [(4)(6) − (2)(−2)]𝐢 − [(8)(6) − (0)(−2)]𝐣 + [(8)(2) − (0)(4)]𝐤
𝐑 = 𝐀 x 𝐁 = 28𝐢 − 48𝐣 + 16𝐤

Other Method,

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𝐢 𝐣 𝐤 𝐢 𝐣
𝐑 = 𝐀 𝐱 𝐁 = |8 4 −2| 8 4
0 2 6 0 2
𝐑 = [(𝐢)(4)(6) + (𝐣)(−2)(0) + (𝐤)(8)(2)] ↘ −[(0)(4)(𝐤) + (2)(−2)(𝐢) + (6)(8)(𝐣)] ↗
𝐑 = [(24𝐢) + (0𝐣) + (16𝐤)] ↘ −[(0𝐤) + (−4𝐢) + (48𝐣)] ↗

𝐑 = 24𝐢 + 16𝐤 + 4𝐢 − 48𝐣

𝐑 = 𝐀 𝐱 𝐁 = 28𝐢 − 48𝐣 + 16𝐤

e. Determine the direction that is perpendicular to 𝐀 and 𝐁

𝛌𝐀𝐁⊥ = ?
𝛌𝐀𝐁⊥ = ± 𝛌𝐑
𝐑
𝛌𝐀𝐁⊥ = ± 𝛌𝐑 =
|𝐑|
28𝐢 − 48𝐣 + 16𝐤
𝛌𝐀𝐁⊥ =
√(28)2 + (−48)2 + (16)2
28𝐢 − 48𝐣 + 16𝐤
𝛌𝐀𝐁⊥ =
4√209
𝛌𝐀𝐁⊥ = 0.484𝐢 − 0.830𝐣 + 0.277𝐤

f. 𝐀𝐱𝐁∙𝐂

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𝐀 𝐱 𝐁 = 28𝐢 − 48𝐣 + 16𝐤

∴ 𝐀 𝐱 𝐁 ∙ 𝐂 = (28𝐢 − 48𝐣 + 16𝐤) ∙ (3𝐢 − 2𝐣 + 4𝐤)
𝐀 𝐱 𝐁 ∙ 𝐂 = (28)(3) + (−48)(−2) + (16)(4)

𝐀 𝐱 𝐁 ∙ 𝐂 = 244 𝐥𝐛 𝐟𝐭 𝟐

End of Module

II. ACTIVITY
Note: In this section, discuss the required hands-on exercises at self-pacing, collaborative, experimental or simulation approaches.
This section should answer the enabling or demonstrative domains of learning outcomes as facilitated though synchronous,
asynchronous and offline modalities. Include the link/s of the actual worksheets using Google Suite or online Microsoft Office
applications or similar platforms or multimedia.

1. SYNCHRONOUS
Face to Face Discussion

2. ASYNCHRONOUS

3. OFFLINE
Supplemental Reading

III. EVALUATION
Note: Discuss here the mode of evaluation to be conducted, which are not limited to objective types of quizzes, long exams, or
essays, etc. Include the link/s of the actual worksheets using Google Suite or online Microsoft Office applications or similar platforms
or multimedia.

1. SYNCHRONOUS
Recitation, and Examination

2. ASYNCHRONOUS
Assignment

3. OFFLINE
Assignment

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IV. IMPROVEMENT PLANS

Note: Specify here also any means of improving student competencies through assignment, research, coaching, mentoring, remedial
classes, or similar activities using the 3 modalities of learning.

1. SYNCHRONOUS
Consultation and Coaching

2. ASYNCHRONOUS
Consultation

3. OFFLINE
Assignment

V. REFERENCES
Note: Specify here the list of references used in the design and development of the course learning materials. Use APA Version 7
and arrange them alphabetically.

Kumar, D.S. (2019). Engineering Mechanics (Statics and Dynamics) (5th rev. ed.). S.K. Kataria &
Sons
Pytel, A., & Kiusalaas J. (2017). Engineering Mechanics: Statics (4th ed.). Cengage Learning

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