Sample Problem 1/1 Sample Problem 1/3: Solution
Sample Problem 1/1 Sample Problem 1/3: Solution
Sample Problem 1/1 Sample Problem 1/3: Solution
Solution. The two results are A unit vector may always be formed
by dividing a vector by its magnitude.
Gmem (6.673 10 11
)(5.976 1024)(70) Note that a unit vector is dimen-
W 688 N Ans.
R2 [6371 103]
2
sionless.
R me
W mg 70(9.81) 687 N Ans.
The discrepancy is due to the fact that Newton’s universal gravitational law does
Helpful Hint
not take into account the rotation of the earth. On the other hand, the value g
9.81 m/s2 used in the second equation does account for the earth’s rotation. Note The effective distance between the
that had we used the more accurate value g 9.80665 m/s2 (which likewise ac- mass centers of the two bodies in-
counts for the earth’s rotation) in the second equation, the discrepancy would volved is the radius of the earth.
have been larger (686 N would have been the result).
Solution. Part (1). From Fig. a we may write F as F = 500 N d 4 cos 40 2 sin 40 4.35 m O
30°
F (F cos )i (F sin )j i′ 2m
By M Fd the moment is clockwise and has the magnitude
(500 cos 60 )i (500 sin 60 )j 40°
x′
MO 600(4.35) 2610 N m Ans.
(250i 433j) N Ans. 4m
y y′ 600 N
(II) Replace the force by its rectangular components at A, 40° d
The scalar components are Fx 250 N and Fy 433 N. The vector compo- Fx
nents are Fx 250i N and Fy 433j N. A x A j′
θ = 60° F1 600 cos 40 460 N, F2 600 sin 40 386 N
Part (2). From Fig. b we may write F as F 500i N, so that the required O
scalar components are F
Fy F By Varignon’s theorem, the moment becomes 2m F1 = 600 cos 40°
Fx 500 N Fy 0 Ans. i′ MO 460(4) 386(2) 2610 N m Ans.
Part (3). The components of F in the x- and y -directions are nonrectan- x′
4m
(a) (b) (III) By the principle of transmissibility, move the 600-N force along its F2 = 600 sin 40°
gular and are obtained by completing the parallelogram as shown in Fig. c. The
magnitudes of the components may be calculated by the law of sines. Thus, line of action to point B, which eliminates the moment of the component F2. The
y′ Fx moment arm of F1 becomes
x
Fx 500 60° 30° O
Fx 1000 N Fy′ 90°
sin 90 sin 30 d1 4 2 tan 40 5.68 m
90° B
30° 60° F1 y
Fy 500 F = 500 N and the moment is
Fy 866 N F2
sin 60 sin 30 (c) A
x
MO 460(5.68) 2610 N m Ans.
The required scalar components are then Helpful Hint
d1 r F
(IV) Moving the force to point C eliminates the moment of the component
Fx 1000 N Fy 866 N Ans. Obtain Fx and Fy graphically and
F1. The moment arm of F2 becomes
compare your results with the calcu-
lated values. C
d2 2 4 cot 40 6.77 m F1
O d2
SAMPLE PROB LEM 2/6 The free-body method is extremely important in mechanics because
T B
it ensures an accurate definition of a mechanical system and focuses at-
The trap door OA is raised by the cable AB, which passes over the small fric-
0.3 m tention on the exact meaning and application of the force laws of statics
tionless guide pulleys at B. The tension everywhere in the cable is T, and this ten-
0.4 m A and dynamics. Review the foregoing four steps for constructing a free-
sion applied at A causes a moment MO about the hinge at O. Plot the quantity MO/T
as a function of the door elevation angle over the range 0 90 and note min-
0.5 m body diagram while studying the sample free-body diagrams shown in
O Fig. 3/2 and the Sample Problems which appear at the end of the next
imum and maximum values. What is the physical significance of this ratio? θ
article.
Solution. We begin by constructing a figure which shows the tension force T
acting directly on the door, which is shown in an arbitrary angular position . It y Examples of Free-Body Diagrams
should be clear that the direction of T will vary as varies. In order to deal with
B Figure 3/2 gives four examples of mechanisms and structures to-
this variation, we write a unit vector nAB which “aims” T: rAB gether with their correct free-body diagrams. Dimensions and magni-
rAB rOB rOA T
nAB tudes are omitted for clarity. In each case we treat the entire system as
rAB rAB rOB A
d rOA
Using the x-y coordinates of our figure, we can write
O θ
x
rOB 0.4j m and rOA 0.5(cos i sin j) m SAMPLE FREE-BODY DIAGRAMS
T sin 40 3 C cos 20 0
Solution. In constructing the free-body diagram, we note that the reaction on
which are the same, of course, as Eqs. (a) and (b), which we solved above. the roller at A and the weight are vertical forces. Consequently, in the absence of P
P B
other horizontal forces, P must also be vertical. From Sample Problem 3/2 we 2m
20° y
C see immediately that the tension P in the cable equals the tension P applied to 2m C
Solution IV (geometric). The polygon representing the zero vector sum of T 8 kN
the beam at C. 3m
the five forces is shown. Equations (a) and (b) are seen immediately to give the
3 kN 4m
Moment equilibrium about A eliminates force R and gives
projections of the vectors onto the x- and y-directions. Similarly, projections onto 40° θ 100(9.81) N
A x
the x - and y -directions give the alternative equations in Solution II. 16 kN [ΣMA 0] P(6 cos ) 981(4 cos ) 0 P 654 N Ans.
A graphical solution is easily obtained. The known vectors are laid off head-
Equilibrium of vertical forces requires
to-tail to some convenient scale, and the directions of T and C are then drawn to R
close the polygon. The resulting intersection at point P completes the solution, [ΣFy 0] 654 R 981 0 R 327 N Ans.
thus enabling us to measure the magnitudes of T and C directly from the draw- The known vectors may be added in
Helpful Hint
any order desired, but they must be The angle depends only on the specified geometry and is
ing to whatever degree of accuracy we incorporate in the construction.
added before the unknown vectors. sin 3/8 22.0 Ans. Clearly the equilibrium of this paral-
lel force system is independent of .
Article 3/3 Equilibrium Conditions 129 180 Chapter 4 Structures
Article 4/3 Method of Joints 181 Article 4/4 Method of Sections 191
Solution. Because of symmetry we analyze only one of the two hinged mem- 20 kN
bers. The upper part is chosen, and its free-body diagram along with that for the
connection at D is drawn. Because of symmetry the forces at S and A have no Released
position
x-components. The two-force members BD and CD exert forces of equal magni-
tude B C on the connection at D. Equilibrium of the connection gives Solution. (a) We begin by constructing a free-body diagram of the entire arm
y assembly. Note that we include only the dimensions necessary for this portion of
[ΣFx 0] B cos C cos T 0 2B cos T B the problem—details of the cylinders DE and GH are unnecessary at this time.
B
A T
B T/(2 cos ) θ x –– [ΣMO 0] 20 000(3.95) 2FAC cos 41.3 (0.68) 2FAC sin 41.3 (2) 0
θ 2
T
From the free-body diagram of the upper part we express the equilibrium of C S FAC 48 800 N or 48.8 kN Ans.
moments about point A. Substituting S 800 N and the expression for B gives A Helpful Hint
FAC 48 800
From FAC pAC AAC, pAC 6.89(106) Pa or 6.89 MPa Ans.
AAC 0.0952 Recall that force (pressure)(area).
T T T Helpful Hints
[Σ M A 0] (cos )(50) (sin )(36) 36(800) (26) 0 4
2 cos 2 cos 2
It is always useful to recognize sym- (b) For cylinder DF, we “cut” the assembly at a location which makes the desired
Substituting sin /cos tan 5/12 and solving for T give metry. Here it tells us that the forces cylinder force external to our free-body diagram. This means isolating the verti-
acting on the two parts behave as cal arm EBIF along with the bucket and its applied force.
5(36) mirror images of each other with re-
T 25 13 28 800 spect to the x-axis. Thus, we cannot [ΣMB 0] 20 000(3.5) FDE cos 11.31 (0.73) FDE sin 11.31 (0.4) 0
2(12)
have an action on one member in the
T 1477 N or T 1.477 kN Ans. plus x-direction and its reaction on FDE 88 100 N or 88.1 kN Ans.
the other member in the negative FDE 88 100
Finally, equilibrium in the y-direction gives us x-direction. Consequently the forces p 10.18(106) Pa or 10.18 MPa Ans.
DE ADE 0.1052
at S and A have no x-components.
[ΣFy 0] S B sin A 0 4
Be careful not to forget the moment of
1477 5
800 A 0 A 492 N Ans. the y-component of B. Note that our
2(12/13) 13
units here are newton-millimeters.
0.4 m
2m
β
D
A Oy E
0.68 m FDE
2FAC By
0.73 m
α O Ox
C B Bx
3.95 m
3.5 m
0.1 + 0.4
(
β = tan−1 –––––––– = 11.31°
0.4 + 2.1 )
(
0.4 + 0.28 + 0.55
α = tan−1 –––––––––––––– = 41.3°
1.4 )
20 kN 20 kN
(a) (b)
256 Chapter 5 Distributed Forces 242 Chapter 5 Distributed Forces
3
2 dy
Solution. The body is divided into five sections. For each section, the average h
1
area, volume, and centroid location are determined and entered in the following Solution. The x-axis is taken to coincide with the base. A differential strip of x
0
table: 0 0.2 0.4 0.6 0.8 1.0 area dA x dy is chosen. By similar triangles x/(h y) b/h. Applying the sec- y
x, m ond of Eqs. 5/5a gives
x
Aav Volume V x Vx b
h
INTERVAL m2 m3 m m4 bh b(h y) bh2
[Ay yc dA] y y dy
2 0 h 6
0–0.2 3 0.6 0.1 0.060
0.2–0.4 4.5 0.90 0.3 0.270 h Helpful Hint
and y Ans.
0.4–0.6 5.2 1.04 0.5 0.520 3 We save one integration here by
0.6–0.8 5.2 1.04 0.7 0.728 using the first-order element of area.
This same result holds with respect to either of the other two sides of the
0.8–1.0 4.5 0.90 0.9 0.810 Recognize that dA must be expressed
triangle considered a new base with corresponding new altitude. Thus, the cen-
TOTALS 4.48 2.388 troid lies at the intersection of the medians, since the distance of this point from in terms of the integration variable
any side is one-third the altitude of the triangle with that side considered the y; hence, x ƒ( y) is required.
Helpful Hint
base.
ΣV x 2.388 Note that the shape of the body as a
X X 0.533 m Ans.
ΣV 4.48 function of y and z does not affect X.
Article 5/3 Centroids of Lines, Areas, and Volumes 243 244 Chapter 5 Distributed Forces
Centroid of the area of a circular sector. Locate the centroid of the area r Locate the centroid of the area under the curve x ky3 from x 0 to x a. x = ky3
of a circular sector with respect to its vertex.
α C –
x
α
Solution I. A vertical element of area dA y dx is chosen as shown in the fig- b
C
Solution I. The x-axis is chosen as the axis of symmetry, and y is therefore ure. The x-coordinate of the centroid is found from the first of Eqs. 5/5a. Thus,
–
y
automatically zero. We may cover the area by moving an element in the form of
a a
a partial circular ring, as shown in the figure, from the center to the outer pe-
[Ax xc dA] x y dx xy dx
riphery. The radius of the ring is r0 and its thickness is dr0, so that its area is 0 0 a x
y
dA 2r0 dr0.
1/3 3
The x-coordinate to the centroid of the element from Sample Problem 5/1 is Substituting y (x/k) and k a/b and integrating give y
r
xc r0 sin / , where r0 replaces r in the formula. Thus, the first of Eqs. 5/5a
gives dr0 3ab 3a2b 4 b
x x 7a Ans.
α r0 4 7 x = ky3
r x
2 r0 sin α
[Ax xc dA] ( r2)x (2r0 dr0) In the solution for y from the second of Eqs. 5/5a, the coordinate to the
2 0
centroid of the rectangular element is yc y/2, where y is the height of the strip
2 3 governed by the equation of the curve x ky3. Thus, the moment principle be- y
r2 x r0 sin α
3 r sin xc = ——–––
α comes y
yc = –
2 r sin a 2
x Ans. 3ab y
3 Solution I [Ay yc dA] y y dx x
4 0 2 x dx a
1/3
Substituting y b(x/a) and integrating give
Helpful Hints
Solution II. The area may also be covered by swinging a triangle of differen-
tial area about the vertex and through the total angle of the sector. This triangle, Note carefully that we must distin- 3ab 3ab2 2
y y 5b Ans.
shown in the illustration, has an area dA (r/2)(r d ), where higher-order terms guish between the variable r0 and 4 10
are neglected. From Sample Problem 5/2 the centroid of the triangular element the constant r.
y
of area is two-thirds of its altitude from its vertex, so that the x-coordinate to the Be careful not to use r0 as the cen- xc = a +x
––––
centroid of the element is xc 32 r cos . Applying the first of Eqs. 5/5a gives troidal coordinate for the element. Solution II. The horizontal element of area shown in the lower figure may be b
2
employed in place of the vertical element. The x-coordinate to the centroid of the
x = ky3
rectangular element is seen to be xc x 12 (a x) (a x)/2, which is simply
[Ax xc dA] (r2 )x (23 r cos )(12 r2 d ) dy
y the average of the coordinates a and x of the ends of the strip. Hence,
2 r cos θ b b
r2
x 2 3 xc = – a x
3 r sin 3 [Ax xc dA] x (a x) dy
2
(a x) dy
dθ
0 0 x a–x y
2 r sin
and as before x Ans. The value of y is found from
3 α
θ b b a
x
For a semicircular area 2 , which gives x 4r/3 . By symmetry we see x
α [Ay yc dA] y (a x) dy y(a x) dy
immediately that this result also applies to the quarter-circular area where the 0 0
measurement is made as shown. Helpful Hint
It should be noted that, if we had chosen a second-order element r0 dr0 d , r where yc y for the horizontal strip. The evaluation of these integrals will check
one integration with respect to would yield the ring with which Solution I the previous results for x and y. Note that xc x for the vertical
began. On the other hand, integration with respect to r0 initially would give the element.
triangular element with which Solution II began.
Solution II
4r/3π
C
C
r r
274 Chapter 5 Distributed Forces 284 Chapter 5 Distributed Forces
x
Solution. The area associated with the load distribution is divided into the Helpful Hint l
rectangular and triangular areas shown. The concentrated-load values are deter- Solution. The free-body diagram of the entire beam is drawn first so that the
Note that it is usually unnecessary
mined by computing the areas, and these loads are located at the centroids of the shear force V0 and bending moment M0 which act at the supported end at x 0 R
to reduce a given distributed load to y
respective areas. can be computed. By convention V0 and M0 are shown in their positive mathe-
a single concentrated load.
Once the concentrated loads are determined, they are placed on the free- matical senses. A summation of vertical forces for equilibrium gives
w
body diagram of the beam along with the external reactions at A and B. Using M0
principles of equilibrium, we have 1
– (160) (6) = 480 lb
l l
x 2w0l
2 [ΣFy 0] V0 w dx 0 V0 w 0 sin dx x
8′ 0 0 l
5′ 160 lb/ft
[ΣMA 0] 1200(5) 480(8) RB(10) 0 x dx
120 lb/ft 120 lb/ft A summation of moments about the left end at x 0 for equilibrium gives
RB 984 lb Ans. A B V0
l l
(120) (10) = 1200 lb x
[ΣMB 0] RA(10) 1200(5) 480(2) 0 [ΣM 0] M0 x(w dx) 0 M0 w0 x sin dx
0 0 l
1200 lb 480 lb M0 M
RA 696 lb Ans. w0l2
l
w0l2
5′ 3′ x x x
M0 sin cos
A B 2 l l l 0
x
RA RB
From a free-body diagram of an arbitrary section of length x, integration of
Eq. 5/10 permits us to find the shear force internal to the beam. Thus, V0 V
V x
x 0.637
[dV w dx] dV w0 sin dx
V0 0 l
SAMPLE PROB LEM 5/12 w0l
x
2w0l w0l V
w(x) w = w0 + kx3 x x ——
V V0 cos V cos 1 w0 l
Determine the reaction at the support A of the loaded cantilever beam. 1000 N/m 2024 l 0
l
N/m
x or in dimensionless form 0
B 0 0.2 x/l 0.6 0.8 1.0
8m 0
Solution. The constants in the load distribution are found to be w0 1000 V 1 x
A 1 cos Ans. M
N/m and k 2 N/m4. The load R is then w0l l
——–
w0 l2
8 8
x4 Helpful Hints The bending moment is obtained by integration of Eq. 5/11, which gives –0.318
R w dx (1000 2x3) dx 1000x 10 050 N
0 2 0
Use caution with the units of the M x
w 0l x Helpful Hints
constants w0 and k. [dM V dx] dM 1 cos dx
The x-coordinate of the centroid of the area is found by M0 0 l
x In this case of symmetry it is clear
xw dx The student should recognize that w0l l x
1
8
M M0 x sin that the resultant R V0 2w0l/ of
x x(1000 2x3) dx the calculation of R and its location x l the load distribution acts at midspan,
R 10 050 0 0
is simply an application of centroids w0l2 w0l so that the moment requirement is
l x
1 2 5 8 as treated in Art. 5/3. M x sin 0 simply M0 Rl/2 w0l2/ . The
(500x2 l
10 050 5x ) 0 4.49 m
minus sign tells us that physically
10 050 N or in dimensionless form the bending moment at x 0 is oppo-
From the free-body diagram of the beam, we have site to that represented on the free-
4.49 m
Ax B M 1 x 1 x body diagram.
[ΣMA 0] MA (10 050)(4.49) 0 A y 1 sin Ans.
MA w0l2 l l The free-body diagram serves to
MA 45 100 N m Ans. Ay remind us that the integration
x
The variations of V/w0l and M/w0l2 with x/l are shown in the bottom figures.
limits for V as well as for x must be
[ΣFy 0] Ay 10 050 N Ans. The negative values of M/w0 l2 indicate that physically the bending moment is in
accounted for. We see that the
the direction opposite to that shown.
Note that Ax 0 by inspection. expression for V is positive, so that
the shear force is as represented on
the free-body diagram.
Solution. The support reactions are most easily obtained by considering the 4′ 4′ 2′ 2′
resultants of the distributed loads as shown on the free-body diagram of the Solution. The weight per unit length is 0.6 /100 0.006 lb /ft. The total
beam as a whole. The first interval of the beam is analyzed from the free-body di- y length is 2s 100 or s 50 ft.
200 lb 400 lb
agram of the section for 0 x 4 ft. A summation of vertical forces and a mo- 8′
–– 300 lb
ment summation about the cut section yield 3 [T 2 2 2
s T02] 102 (0.006)2 (50)2 T02
T0 9.995 lb Helpful Hint
[ΣFy 0] V 247 12.5x2
x [T T0 y] 10 9.995 0.006h
x An extra significant figure is dis-
[ΣM 0] M (12.5x2) 247x 0 M 247x 4.17x3 played here for clarity.
3 h 0.750 ft or 9.00 in. Ans.
R1 = 247 lb R2 = 653 lb
These values of V and M hold for 0 x 4 ft and are plotted for that interval in
the shear and moment diagrams shown. 12.5x2
From the free-body diagram of the section for which 4 x 8 ft, equilib- 2x x V 300 lb SAMPLE PROB LEM 5/17 300 m
–– – 100
rium in the vertical direction and a moment sum about the cut section give 3 4
12 – x The light cable supports a mass of 12 kg per meter of horizontal length and
M is suspended between the two points on the same level 300 m apart. If the sag is
[ΣFy 0] V 100(x 4) 200 247 0 V 447 100x 60 m
x 60 m, find the tension at midlength, the maximum tension, and the total length
M of the cable.
x 4 2
[ΣM 0] M 100(x 4) 200[x 3 (4)] 247x 0
2 V
247 lb 653 lb 12 kg/m
M 267 447x 50x2 100(x – 4)
Solution. With a uniform horizontal distribution of load, the solution of part y Tmax
200 lb x–4
––––
These values of V and M are plotted on the shear and moment diagrams for the (b) of Art. 5/8 applies, and we have a parabolic shape for the cable. For h 60 m,
2
interval 4 x 8 ft. L 300 m, and w 12(9.81)(10 3) kN/m the relation following Eq. 5/14 with
The analysis of the remainder of the beam is continued from the free-body M lA L/2 gives for the midlength tension
60 m
diagram of the portion of the beam to the right of a section in the next interval. x
x wL2 0.1177(300)2 T0
It should be noted that V and M are represented in their positive directions. A T0 T0 22.1 kN Ans. 75 m 75 m
vertical-force summation and a moment summation about the section yield 8h 8(60)
V –3
247 lb The maximum tension occurs at the supports and is given by Eq. 5/15b. Thus, R = 12(150)(9.81)(10 )
V 353 lb and M 2930 353x = 17.66 kN
V, lb 2
wL L
Tmax 1
These values of V and M are plotted on the shear and moment diagrams for the 2 4h Helpful Hint
247 300
interval 8 x 10 ft.
12(9.81)(10 3)(300) 300 2 Suggestion: Check the value of Tmax
The last interval may be analyzed by inspection. The shear is constant at Tmax 1 28.3 kN Ans.
0 x, ft 2 4(60) directly from the free-body diagram
300 lb, and the moment follows a straight-line relation beginning with zero at 0 4 8 10 12 of the right-hand half of the cable,
the right end of the beam. The sag-to-span ratio is 60/300 1/5 1/4. Therefore, the series expression
4.47′ from which a force polygon may be
The maximum moment occurs at x 4.47 ft, where the shear curve crosses developed in Eq. 5/16a is convergent, and we may write for the total length
drawn.
the zero axis, and the magnitude of M is obtained for this value of x by substitu- –353
tion into the expression for M for the second interval. The maximum moment is M, lb-ft 8 1 2
32 1 4
S 300 1 …
732 3 5 5 5
M 732 lb-ft Ans. …]
300[1 0.1067 0.01024
0 x, ft 329 m Ans.
As before, note that the change in moment M up to any section equals the 0 4 8 10 12
area under the shear diagram up to that section. For instance, for x 4 ft,
x
[ M V dx] M 0 (247 12.5x2) dx –600
0
3
and, as above, M 247x 4.17x
Article 5/8 Flexible Cables 299 314 Chapter 5 Distributed Forces
Solution. The free-body diagram of the plate is shown in section and includes y
Solution. With a load distributed uniformly along the length of 0.33 the vertical and horizontal components of the force at A, the unspecified weight
the cable, the solution of part (c) of Art. 5/8 applies, and we have W mg of the plate, the unknown horizontal force B, and the resultant R of the Ay
a catenary shape of the cable. Equations 5/20 and 5/21 for the triangular distribution of pressure against the vertical face.
0.32 x
cable length and tension both involve the minimum tension T0 at Solution The density of fresh water is 1.000 Mg/m3 so that the average pressure is Ax
midlength, which must be found from Eq. 5/19. Thus, for x 150 m, T0 = 23.2 kN
y 60 m, and 12(9.81)(10 3) 0.1177 kN/m, we have 0.31 [pav gh] pav 1.000(9.81)(32 ) 14.72 kPa
7.06
T0 (0.1177)(150)
(——–
T0 ( The resultant R of the pressure forces against the plate becomes
2m mg 4m
60 cosh 1 0.30 R
0.1177 T0 [R pavA] R (14.72)(3)(6) 265 kN 1m
17.66
or
7.06
cosh
17.66
1 0.29 (cosh ——– – 1
T0
( This force acts through the centroid of the triangular distribution of pressure,
B
T0 T0 which is 1 m above the bottom of the plate. A zero moment summation about A
Helpful Hint
establishes the unknown force B. Thus,
This equation can be solved graphically. We compute the expres- 0.28 Note that the units of pressure gh are
sion on each side of the equals sign and plot it as a function of T0. The 22.5 23.0 23.5 24.0
[ΣMA 0] 3(265) 4B 0 B 198.7 kN Ans.
intersection of the two curves establishes the equality and determines T0, kN kg m (m) kg m 1
103 103
the correct value of T0. This plot is shown in the figure accompanying m3 s2 s2 m2
this problem and yields the solution kN/m 2
kPa.
T0 23.2 kN
SAMPLE PROB LEM 5/20
Alternatively, we may write the equation as A 25″
The air space in the closed fresh-water tank is maintained at a pressure of
Air 8″
0.80 lb/in.2 (above atmospheric). Determine the resultant force R exerted by the
17.66 7.06
ƒ(T0) cosh 1 0 air and water on the end of the tank.
T0 T0
Water 30″
and set up a computer program to calculate the value(s) of T0 which renders
ƒ(T0) 0. See Art. C/11 of Appendix C for an explanation of one applicable nu-
Solution. The pressure distribution on the end surface is shown, where p0
merical method. B
0.80 lb/in.2 The specific weight of fresh water is g 62.4/1728 0.0361 Side view End view
The maximum tension occurs for maximum y and from Eq. 5/22 is
lb/in.3 so that the increment of pressure p due to the water is
p0 A
Tmax 23.2 (0.1177)(60) 30.2 kN Ans. p h 0.0361(30) 1.083 lb/in. 2
The resultant forces R1 and R2 due to the rectangular and triangular distribu- 19″ h
From Eq. 5/20 the total length of the cable becomes R1 28″
tions of pressure, respectively, are
23.2 (0.1177)(150) R
2s 2 sinh 330 m Ans. R1 p0A1 0.80(38)(25) 760 lb
0.1177 23.2 R2
1.083
R2 pavA2 (30)(25) 406 lb
2 ∆p p0 B
Helpful Hint The resultant is then R R1 R2 760 406 1166 lb. Ans.
Note that the solution of Sample Problem 5/17 for the parabolic cable gives a Helpful Hint
We locate R by applying the moment principle about A noting that R1 acts
very close approximation to the values for the catenary even though we have through the center of the 38-in. depth and that R2 acts through the centroid of Dividing the pressure distribution
a fairly large sag. The approximation is even better for smaller sag-to-span the triangular pressure distribution 20 in. below the surface of the water and into these two parts is decidedly the
ratios. 20 8 28 in. below A. Thus, simplest way in which to make the
calculation.
[Rh ΣMA] 1166h 760(19) 406(28) h 22.1 in. Ans.
Solution. The free-body diagram of the block shows its weight W mg, the
normal force N, and the friction force F exerted by the incline on the block. The y Solution. There is no way of telling from the statement of the problem whether
W = mg y
friction force acts in the direction to oppose the slipping which would occur if no the block will remain in equilibrium or whether it will begin to slip following the
friction were present. application of P. It is therefore necessary that we make an assumption, so we will 100(9.81) = 981 N
Equilibrium in the x- and y-directions requires take the friction force to be up the plane, as shown by the solid arrow. From the
free-body diagram a balance of forces in both x- and y-directions gives x
x
[ΣFx 0] mg sin F 0 F mg sin F N
θ P
[ΣFx 0] P cos 20 F 981 sin 20 0
F
[ΣFy 0] mg cos N 0 N mg cos Helpful Hints
[ΣFy 0] N P sin 20 981 cos 20 0 20° F
We choose reference axes along and N
Dividing the first equation by the second gives F/N tan . Since the maximum
normal to the direction of F to
angle occurs when F Fmax sN, for impending motion we have
avoid resolving both F and N into
components. Case I. P 500 N
1
s tan max or max tan s Ans. Substitution into the first of the two equations gives
This problem describes a very simple
way to determine a static coefficient F 134.3 N
of friction. The maximum value of
is known as the angle of repose. The negative sign tells us that if the block is in equilibrium, the friction force
acting on it is in the direction opposite to that assumed and therefore is down
SAMPLE PROB LEM 6 /2 kg the plane, as represented by the dashed arrow. We cannot reach a conclusion on
10 0 the magnitude of F, however, until we verify that the surfaces are capable of
Determine the range of values which the mass m0 may have so that the 100-kg supporting 134.3 N of friction force. This may be done by substituting P 500 N
block shown in the figure will neither start moving up the plane nor slip down 20° m0
into the second equation, which gives
the plane. The coefficient of static friction for the contact surfaces is 0.30.
y N 1093 N
981 N x
Solution. The maximum value of m0 will be given by the requirement for mo- The maximum static friction force which the surfaces can support is then
T = m0 g
tion impending up the plane. The friction force on the block therefore acts down
the plane, as shown in the free-body diagram of the block for Case I in the figure. Fmax [Fmax sN] Fmax 0.20(1093) 219 N
With the weight mg 100(9.81) 981 N, the equations of equilibrium give 20°
N Since this force is greater than that required for equilibrium, we conclude that
Case I the assumption of equilibrium was correct. The answer is, then,
[ΣFy 0] N 981 cos 20 0 N 922 N
y
981 N F 134.3 N down the plane Ans.
[Fmax x
s N] Fmax 0.30(922) 277 N
T = m0 g
[ΣFx 0] m0(9.81) 277 981 sin 20 0 m0 62.4 kg Ans. Fmax
Case II. P 100 N
The minimum value of m0 is determined when motion is impending down the 20° Substitution into the two equilibrium equations gives
N
plane. The friction force on the block will act up the plane to oppose the ten- Case II F 242 N N 956 N
dency to move, as shown in the free-body diagram for Case II. Equilibrium in the
x-direction requires Helpful Hint But the maximum possible static friction force is
Helpful Hint
[ΣFx 0] m0(9.81) 277 981 sin 20 0 m0 6.01 kg Ans. We see from the results of Sample [Fmax sN] Fmax 0.20(956) 191.2 N
We should note that even though ΣFx
Problem 6/1 that the block would
It follows that 242 N of friction cannot be supported. Therefore, equilibrium cannot is no longer equal to zero, equilibrium
Thus, m0 may have any value from 6.01 to 62.4 kg, and the block will remain at slide down the incline without the re-
exist, and we obtain the correct value of the friction force by using the kinetic coeffi- does exist in the y-direction, so that
rest. straint of attachment to m0 since tan
cient of friction accompanying the motion down the plane. Hence, the answer is ΣFy 0. Therefore, the normal force
In both cases equilibrium requires that the resultant of Fmax and N be con- 20 0.30. Thus, a value of m0 will
N is 956 N whether or not the block is
current with the 981-N weight and the tension T. be required to maintain equilibrium.
[Fk kN] F 0.17(956) 162.5 N up the plane Ans. in equilibrium.
P 93.8 N Ans.
Thus, with P 93.8 N, motion impends for the 50-kg and 40-kg blocks as a unit.
Article 6/5 Screws 361 360 Chapter 6 Friction
SAMPLE PROBLEM 6 /6 P W W
Solution. The free-body diagrams of the wedge and the block are drawn with P
W
the reactions R1, R2, and R3 inclined with respect to their normals by the
amount of the friction angles for impending motion. The friction angle for limit- b
–R2 W = 500(9.81) N
ing static friction is given by tan 1 . Each of the two friction angles is com- 5° φ1 M
P = ––
puted and shown on the diagram. φ1 r
φ1 α φ
We start our vector diagram expressing the equilibrium of the block at a R2 a
R1 α
convenient point A and draw the only known vector, the weight W of the block.
Next we add R3, whose 31.0 inclination from the vertical is now known. The b R
vector R2, whose 16.70 inclination from the horizontal is also known, must φ 1 = tan–1 0.30 a R3 (c) To lower load (α > φ )
= 16.70° φ2
close the polygon for equilibrium. Thus, point B on the lower polygon is deter- φ 2 = tan–1 0.60
mined by the intersection of the known directions of R3 and R2, and their mag- = 31.0° Figure 6/7
nitudes become known.
For the wedge we draw R2, which is now known, and add R1, whose direc-
tion is known. The directions of R1 and P intersect at C, thus giving us the solu- R1 C
Conditions for Unwinding
tion for the magnitude of P. 16.70° + 5° = 21.7° If the moment M is removed, the friction force changes direction so
Wedge P
16.70°
that is measured to the other side of the normal to the thread. The
–R2 screw will remain in place and be self-locking provided that , and
R2
Algebraic solution. The simplest choice of reference axes for calculation B will be on the verge of unwinding if .
purposes is, for the block, in the direction a-a normal to R3 and, for the wedge, in 16.70° A To lower the load by unwinding the screw, we must reverse the di-
the direction b-b normal to R1. The angle between R2 and the a-direction is rection of M as long as . This condition is illustrated in Fig. 6/7b
16.70 31.0 47.7 . Thus, for the block Block for our simulated thread on the fixed incline. An equivalent force P
R3 M/r must be applied to the thread to pull it down the incline. From the
[ΣFa 0] 500(9.81) sin 31.0 R2 cos 47.7 0 31.0° W = 4905 N triangle of vectors we therefore obtain the moment required to lower
R2 3750 N the screw, which is
For the wedge the angle between R2 and the b-direction is 90 (2 1 M Wr tan ( ) (6/3a)
5) 51.6 , and the angle between P and the b-direction is 1 5 21.7 . Thus,
If , the screw will unwind by itself, and Fig. 6/7c shows that the
[ΣFb 0] 3750 cos 51.6 P cos 21.7 0 moment required to prevent unwinding is
Helpful Hints
P 2500 N Ans.
Be certain to note that the reactions M Wr tan ( ) (6/3b)
are inclined from their normals in
the direction to oppose the motion.
Graphical solution. The accuracy of a graphical solution is well within the Also, we note the equal and opposite
uncertainty of the friction coefficients and provides a simple and direct result. By reactions R2 and R2.
laying off the vectors to a reasonable scale following the sequence described, we
obtain the magnitudes of P and the R’s easily by scaling them directly from the It should be evident that we avoid si-
diagrams. multaneous equations by eliminat-
ing reference to R3 for the block and
R1 for the wedge.
Equilibrium of forces in the axial direction further requires that with the case of raising the load. The free-body diagrams and vector
polygons for this condition are shown in Fig. 6/5.
W ΣR cos ( ) [cos ( )] ΣR Wedge problems lend themselves to graphical solutions as indicated
in the three figures. The accuracy of a graphical solution is easily held
Combining the expressions for M and W gives within tolerances consistent with the uncertainty of friction coefficients.
Algebraic solutions may also be obtained from the trigonometry of the
M Wr tan ( ) (6/3) equilibrium polygons.
To determine the helix angle , unwrap the thread of the screw for one
complete turn and note that tan 1 (L/2 r). R3
We may use the unwrapped thread of the screw as an alternative
model to simulate the action of the entire screw, as shown in Fig. mg
mg φ –α
6/7a. The equivalent force required to push the movable thread up the
R3 R2
fixed incline is P M/r, and the triangle of force vectors gives Eq. 6/3
immediately.
R2 φ
φ R2
φ –α
φ R1
W α P R2
W
R1
P
φ
M
M Forces to lower load
Figure 6/5
L
6/5 Screws
r α Screws are used for fastening and for transmitting power or motion.
R In each case the friction developed in the threads largely determines the
α action of the screw. For transmitting power or motion the square thread
φ
is more efficient than the V-thread, and the analysis here is confined to
Figure 6/6 the square thread.
Article 6/7 Thrust Bearings; Disk Friction 371 Article 6/8 Flexible Belts 377
SAMPLE PROBLEM 6 /8
T
6/8 Flexible Belts
r
The bell crank fits over a 100-mm-diameter shaft which is fixed and cannot The impending slippage of flexible cables, belts, and ropes over
rotate. The horizontal force T is applied to maintain equilibrium of the crank dθ
120 mm sheaves and drums is important in the design of belt drives of all types, β θ
under the action of the vertical force P 100 N. Determine the maximum and band brakes, and hoisting rigs.
minimum values which T may have without causing the crank to rotate in either Figure 6/11a shows a drum subjected to the two belt tensions T1
direction. The coefficient of static friction between the shaft and the bearing M
mm and T2, the torque M necessary to prevent rotation, and a bearing reac-
surface of the crank is 0.20. 100 O R
tion R. With M in the direction shown, T2 is greater than T1. The free-
body diagram of an element of the belt of length r d is shown in part b
of the figure. We analyze the forces acting on this differential element
Solution. Impending rotation occurs when the reaction R of the fixed shaft on 180 mm by establishing the equilibrium of the element, in a manner similar to T2
the bell crank makes an angle tan 1 with the normal to the bearing sur- P = 100 N that used for other variable-force problems. The tension increases from T1
face and is, therefore, tangent to the friction circle. Also, equilibrium requires T at the angle to T dT at the angle d . The normal force is a dif- (a)
that the three forces acting on the crank be concurrent at point C. These facts C ferential dN, since it acts on a differential element of area. Likewise the
T1
are shown in the free-body diagrams for the two cases of impending motion. friction force, which must act on the belt in a direction to oppose slip- n
The following calculations are needed:
ping, is a differential and is dN for impending motion.
T + dT
1 1 Equilibrium in the t-direction gives
Friction angle tan tan 0.20 11.31
t
Radius of friction circle rƒ r sin 50 sin 11.31 9.81 mm R1 µ dN T
r d d dN r
T cos dN (T dT) cos dθ dθ
120 2 2 –– ––
Angle tan 1
33.7 rƒ O 2 dθ 2
180
P = 100 N or dN dT
rƒ 9.81
1 1
Angle sin sin 2.60
OC (120)2 (180)2 R1 (b)
P since the cosine of a differential quantity is unity in the limit. Equilib-
– rium in the n-direction requires that Figure 6/11
T1
(a) Impending counterclockwise motion. The equilibrium triangle of forces (a) Counterclockwise motion impends d d
dN (T dT) sin T sin
is drawn and gives C
2 2
T2
T1 P cot ( ) 100 cot (33.7 2.60 ) or dN Td
T1 Tmax 165.8 N Ans.
where we have used the facts that the sine of a differential angle in the
r limit equals the angle and that the product of two differentials must be
O
neglected in the limit compared with the first-order differentials re-
rƒ
(b) Impending clockwise motion. The equilibrium triangle of forces for this maining.
case gives R2
Combining the two equilibrium relations gives
P = 100 N
T2 P cot ( ) 100 cot (33.7 2.60 )
R2 dT
P d
T2 Tmin 136.2 N Ans. T
+
T2
Integrating between corresponding limits yields
(b) Clockwise motion impends
T2
dT
d
T
© Media Bakery
T1 0
T2
or ln
T1
where the ln (T2/T1) is a natural logarithm (base e). Solving for T2 gives Just one turn of a line around a
fixed cylinder can produce a large
T2 T1e (6/7) change in tension.
Note that is the total angle of belt contact and must be expressed in SAMPLE PROB LEM 6 /9
radians. If a rope were wrapped around a drum n times, the angle α
A flexible cable which supports the 100-kg load is passed over a fixed circu-
would be 2 n radians. Equation 6/7 holds equally well for a noncircular P
lar drum and subjected to a force P to maintain equilibrium. The coefficient of r
section where the total angle of contact is . This conclusion is evident static friction between the cable and the fixed drum is 0.30. (a) For 0, de- O
from the fact that the radius r of the circular drum in Fig. 6/11 does not termine the maximum and minimum values which P may have in order not to
enter into the equations for the equilibrium of the differential element raise or lower the load. (b) For P 500 N, determine the minimum value which
of the belt. the angle may have before the load begins to slip.
The relation expressed by Eq. 6/7 also applies to belt drives where
100 kg
both the belt and the pulley are rotating at constant speed. In this case
the equation describes the ratio of belt tensions for slippage or impend-
ing slippage. When the speed of rotation becomes large, the belt tends to Solution. Impending slipping of the cable over the fixed drum is given by Eq. P
6/7, which is T2/T1 e .
leave the rim, so Eq. 6/7 involves some error in this case.
β = π /2
SAMPLE PROB LEM 6 /10 ms = 0.20 rolling wheel in Fig. 7/9b, on the other hand, does no work if the wheel
r r
does not slip as it rolls.
Determine the range of mass m over which the system is in static equilib- 9 kg
L/3 In Fig. 7/9c the moment Mƒ about the center of the pinned joint due
rium. The coefficient of static friction between the cord and the upper curved 30° d
ms = 0.40 to the friction forces which act at the contacting surfaces does negative
surface is 0.20, while that between the block and the incline is 0.40. Neglect fric- 2L/3
A work during any relative angular movement between the two parts.
tion at the pivot O. m
25° Thus, for a virtual displacement between the two parts, which have
O the separate virtual displacements 1 and 2 as shown, the negative
q = 40°
work done is Mƒ 1 Mƒ 2 Mƒ( 1 2), or simply Mƒ . For
Solution. From the FBD of the uniform slender bar, we can determine the TA each part, Mƒ is in the sense to oppose the relative motion of rotation.
tension TA in the cable at point A. It was noted earlier in the article that a major advantage of the
35°
2L L method of virtual work is in the analysis of an entire system of con-
[ΣMO 0] TA cos 35 9(9.81) cos 25 0
3 2 A G nected members without taking them apart. If there is appreciable ki-
TA 73.3 N netic friction internal to the system, it becomes necessary to dismember
O the system to determine the friction forces. In such cases the method of
25°
I. Motion of m impends up the incline. Ox virtual work finds only limited use.
The tension TA 73.3 N is the larger of the two tensions associated with
L/6 9(9.81) N
the rough rounded surface. From Eq. 6/7 we have Mechanical Efficiency
L/2
[T2 T1e s ] 73.3 T1e0.20[30 40 ] /180
T1 57.4 N Oy Because of energy loss due to friction, the output work of a machine
is always less than the input work. The ratio of the two amounts of
From the FBD of the block for Case I: work is the mechanical efficiency e. Thus,
mg
[ΣFy 0] N mg cos 40 0 N = 0.766mg T1 = 57.4 N output work
e
input work
[ΣFx 0] 57.4 mg sin 40 0.40(0.766mg) 0
mg 60.5 N m 6.16 kg y The mechanical efficiency of simple machines which have a single de-
gree of freedom and which operate in a uniform manner may be deter-
II. Motion of m impends down the incline. mined by the method of work by evaluating the numerator and mg
40° δs
The value TA 73.3 N is unchanged, but now this is the smaller of the two denominator of the expression for e during a virtual displacement.
tensions in Eq. 6/7. N x As an example, consider the block being moved up the inclined
0.40N
plane in Fig. 7/10. For the virtual displacement s shown, the output T
[T2 T1e s ] T2 73.3e0.20[30 40 ] /180
T2 93.5 N Case I work is that necessary to elevate the block, or mg s sin . The input µ k mg cos θ
θ
Considering the FBD of the block for Case II, we see that the normal force N is work is T s (mg sin kmg cos ) s. The efficiency of the inclined
unchanged from Case I. plane is, therefore, Figure 7/10
mg
[ΣFx 0] 93.5 – 0.4(0.766mg) mg sin 40 0 T2 = 93.5 N
mg s sin 1
e
mg 278 N m 28.3 kg mg(sin k cos ) s 1 k cot
0.40N
So the requested range is 6.16 m 28.3 kg. Ans. As a second example, consider the screw jack described in Art. 6/5
and shown in Fig. 6/6. Equation 6/3 gives the moment M required to
40° raise the load W, where the screw has a mean radius r and a helix angle
N x , and where the friction angle is tan 1 k. During a small rotation
of the screw, the input work is M Wr tan ( ). The output
Case II
work is that required to elevate the load, or Wr tan . Thus the effi-
Helpful Hints ciency of the jack can be expressed as
Only the total angular contact enters
Eq. 6/7 (as ). So our results are in- Wr tan tan
e
dependent of the quantities r and d. Wr tan ( ) tan ( )
Re-solve the entire problem if the As friction is decreased, becomes smaller, and the efficiency ap-
ramp angle were changed to 20 , proaches unity.
with all other given information re-
maining constant. Be alert for a sur-
prising result!
Again, we observe that the virtual-work method produces a direct relation- We could have chosen different
ship between the active force P and the couple M without involving other forces datum planes for Ve and Vg without
which are irrelevant to this relationship. Solution by the force and moment affecting our conclusions. Such a
equations of equilibrium, although fairly simple in this problem, would require change would merely shift the sepa-
accounting for all forces initially and then eliminating the irrelevant ones. rate curves for Ve and Vg up or down
but would not affect the position of
the minimum value of V.
424 Chapter 7 Virtual Work Article 7/4 Potential Energy and Stability 425
The distance between O and C is 4b sin /2, so that the virtual work done by The two solutions to this equation are given by
P is mg
sin 0 and cos Be careful not to overlook the solu-
2kb tion 0 given by sin 0.
U P 4b sin 2Pb cos
2 2 We now determine the stability by examining the sign of the second deriva-
The virtual-work equation now gives tive of V for each of the two equilibrium positions. The second derivative is
d2 V 1
[ U Ve Vg ] kb2(cos2 sin2 ) 2 mgb cos
d 2
1
2Pb cos 2kb2 sin2 2mgb cos kb2(2 cos2 1) 2 mgb cos
2 2 2
d2V 1 mg
Simplifying gives finally kb2(2 1) 2 mgb kb2 1
d 2 2kb
1
P kb sin 2 mg tan 2 Ans. positive (stable) if k mg/2b
2
If we had been asked to express the equilibrium value of corresponding to negative (unstable) if k mg/2b Ans.
a given force P, we would have difficulty solving explicitly for in this particular Thus, if the spring is sufficiently stiff, the bar will return to the vertical position
case. But for a numerical problem we could resort to a computer solution and even though there is no force in the spring at that position. We might not have anticipated this
graphical plot of numerical values of the sum of the two functions of to deter- result without the mathematical
mine the value of for which the sum equals P. analysis of the stability.
mg mg
Solution II. cos , cos 1
2kb 2kb
d2 V mg 2
1 mg mg 2
kb2 2 1 2 mgb 2kb kb2 1 Ans.
d 2 2kb 2kb Again, without the benefit of the
Since the cosine must be less than unity, we see that this solution is limited to mathematical analysis of the stability
the case where k mg/2b, which makes the second derivative of V negative. we might have supposed erroneously
Thus, equilibrium for Solution II is never stable. If k mg/2b, we no longer have that the bar could come to rest in a
Solution II since the spring will be too weak to maintain equilibrium at a value stable equilibrium position for some
of between 0 and 90 . value of between 0 and 90 .
446 Appendix A Area Moments of Inertia Article A/2 Definitions 447
Solution. A strip of area parallel to the base is selected as shown in the figure, x
y
and it has the area dA x dy [(h y)b/h] dy. By definition
x
h h b
h y y3 y4 bh3
[Ix y2 dA] Ix y2 b dy b Ans.
0 h 3 4h 0
12
Helpful Hints
By the parallel-axis theorem the moment of inertia I about an axis through the
centroid, a distance h/3 above the x-axis, is Here again we choose the simplest
possible element. If we had chosen
bh3 bh h 2
bh3 dA dx dy, we would have to inte-
[I I Ad2] I Ans.
12 2 3 36 grate y2 dx dy with respect to x first.
This gives us y2x dy, which is the ex-
A transfer from the centroidal axis to the x -axis through the vertex gives pression we chose at the outset.
bh3 bh 2h 2
bh3 Expressing x in terms of y should
[I I Ad2] Ix Ans. cause no difficulty if we observe the
36 2 3 4
proportional relationship between
the similar triangles.
Solution. The constant k 49 is obtained first by substituting x 4 and y 3 Solution. The choice of a vertical differential strip of area permits one integra- a
into the equation for the parabola. 0 y2
x tion to cover the entire area. A horizontal strip would require two integrations
0 4
with respect to y by virtue of the discontinuity. The moment of inertia of the y1
2 /9
strip about the x-axis is that of a strip of height y2 minus that of a strip of height
(a) Horizontal strip. Since all parts of the horizontal strip are the same dis- y
4y y1. Thus, from the results of Sample Problem A/1 we write
tance from the x-axis, the moment of inertia of the strip about the x-axis is y2 dA x= dy A
x x
1 2 1 2 1 3 O a/2 a
where dA (4 x) dy 4(1 y2/9) dy. Integrating with respect to y gives us Solution (a) dIx 3 (y2 dx)y2 3 (y1 dx)y1 3 (y2 y1 3) dx
3 The values of y2 and y1 are obtained from the equations of the two curves,
y2 72 y
[Ix y2 dA] Ix 4y2 1 dy 14.4 (units)4 Ans. which are x2 y2 2 a2 and (x a)2 y12 a2, and which give y2 a2 x2
0 9 5
x and y1 a2 (x a)2. Thus, Helpful Hint
a/2
y 1 We choose the positive signs for the
y /9 {(a2 a)2} dx
2
(b) Vertical strip. Here all parts of the element are at different distances Ix x2) a2 x2 [a2 (x a)2] a2 (x
x =4 3 0 radicals here since both y1 and y2 lie
from the x-axis, so we must use the correct expressions for the moment of inertia
Solution (b) above the x-axis.
of the elemental rectangle about its base, which, from Sample Problem A/1, is Simultaneous solution of the two equations which define the two circles gives
y
bh3/3. For the width dx and the height y the expression becomes the x-coordinate of the intersection of the two curves, which, by inspection, is
1 a/2. Evaluation of the integrals gives
dIx 3
(dx)y3 x
x dx a/2
a4 3
To integrate with respect to x, we must express y in terms of x, which gives a2 a2 x2 dx
0 4 2 3
y 3 x/2, and the integral becomes Helpful Hint
a/2
a4 3
1
4
3 x 3
72 There is little preference between So- x2 a2 x2 dx
Ix dx 14.4 (units)4 Ans. 0 16 4 3
3
0 2 5 lutions (a) and (b). Solution (b) re-
a/2
quires knowing the moment of inertia a4 3 2
a2 a2 (x a)2 dx
for a rectangular area about its base. 0 4 2 3
The moment of inertia of the quarter-circular part about the x-axis is now We watch our signs carefully here.
Since the area is negative, both I
(30)2 and A carry negative signs.
[I I Ad2] Ix 0.0445(106) (60 12.73)2
4
Always use common sense at key
1.624(106) mm4
points such as this. The two minus
Finally, the moment of inertia of the negative triangular area (3) about its base, signs are consistent with the fact
from Sample Problem A/2 (or Table D/3), is that subareas (2) and (3) reduce the
1 1
numerical value of the moment of
Ix 12
bh3 12
(40)(30)3 0.90(106) mm4 inertia of the basic rectangular area.
The total moment of inertia about the x-axis of the composite area is,
consequently,
468 Appendix A Area Moments of Inertia Article A/4 Products of Inertia and Rotation of Axes 469
h x0
Solution. Since the product of inertia Ixy about the axes x0-y0 is zero by sym- C Solution. The location of the centroid C is easily calculated, and its position is
metry, the transfer-of-axis theorem gives us 50 mm
dx shown on the diagram.
[Ixy Ixy dxdyA] Ixy dxdybh Ans. C
b x
Products of Inertia. The product of inertia for each rectangle about its cen- 7.5 mm
In this example both dx and dy are shown positive. We must be careful to be con- x
troidal axes parallel to the x-y axes is zero by symmetry. Thus, the product of in-
sistent with the positive directions of dx and dy as defined, so that their proper ertia about the x-y axes for part I is 10 mm
signs are observed.
[Ixy Ixy dxdyA] Ixy 0 ( 12.5)( 7.5)(400) 3.75(104) mm4 40 mm
SAMPLE PROB LEM A/10 y where dx (7.5 5) 12.5 mm
y
Determine the product of inertia about the x-y axes for the area under the b and dy (20 10 2.5) 7.5 mm y′
parabola. 2
y Likewise for part II,
x =k II
dx [Ixy Ixy dxdyA] Ixy 0 (12.5)( 7.5)(400) 3.75(104) mm4 dy
x dy x′
Solution. With the substitution of x a when y b, the equation of the curve
y where dx (20 7.5) 12.5 mm, dy (5 2.5) 7.5 mm
becomes x ay2/b2.
a x
For the complete angle, dx α
C
y x
y0 b
Solution I. If we start with the second-order element dA dx dy, we have Ixy 3.75(104) 3.75(104) 7.5(104) mm4 dx
2
dIxy xy dx dy. The integral over the entire area is 2 /b
ay Moments of Inertia. The moments of inertia about the x- and y-axes for part I
b a b
a2y4 x=
1 2 1 2 2 y x0 I are
Ixy xy dx dy a y dy 6a b Ans.
0 ay2/b2 0 2 b4 dy
y/2 [I I Ad ] 2
Ix 1 3
(400)(12.5)2 6.58(104) mm4
12(40)(10)
a x 1
Iy (10)(40)3 (400)(7.5)2 7.58(104) mm4 Helpful Hint
Solution II. Alternatively we can start with a first-order elemental strip and x dx 12
save one integration by using the results of Sample Problem A/9. Taking a verti- and the moments of inertia for part II about these same axes are Mohr’s circle. Alternatively we could use Eqs.
y
cal strip dA y dx gives dIxy 0 (12 y)(x)(y dx), where the distances to the cen- a+x y0 1 A/11 to obtain the results for Imax and Imin, or
——– b [I I Ad2] Ix (10)(40)3 (400)(12.5)2 11.58(104) mm4
troidal axes of the elemental rectangle are dx y/2 and dy x. Now we have 2 dy 12 we could construct the Mohr’s circle from the
x 1 3
a a a Iy 12(40)(10) (400)(7.5)2 2.58(104) mm4 calculated values of Ix, Iy, and Ixy. These values
y2 xb2 b2 3 x0
Ixy x dx x dx x 1 2 2 are spotted on the diagram to locate points A
2 2a 6a 6a b Ans. Thus, for the entire section we have
0 0 0 and B, which are the extremities of the diame-
y
Ix 6.58(10)4 11.58(10)4 18.17(104) mm4 ter of the circle. The angle 2 and Imax and Imin
Helpful Hint
x Iy 7.58(104) 2.58(104) 10.17(104) mm4 are obtained from the figure, as shown.
a
If we had chosen a horizontal strip, our expression would have become
dI xy y 12 (a x)[(a x) dy], which when integrated, of course, gives us Principal Axes. The inclination of the principal axes of inertia is given by Eq. +Ixy , (10 4) mm4
the same result as before. A/10, so we have
Imax = 22.7
SAMPLE PROB LEM A/11 2Ixy 2( 7.50) Iy = 10.17
y tan 2 tan 2 1.875
Iy Ix 10.17 18.17
Determine the product of inertia of the semicircular area with respect to the y0 B
4r
–– –Ixy =
x-y axes. 3p 2 61.9 31.0 Ans.
x –(–7.5)
We now compute the principal moments of inertia from Eqs. A/9 using for = +7.5
r x0 I, (10 4) mm4
C and get Imax from Ix and Imin from Iy . Thus,
Solution. We use the transfer-of-axis theorem, Eq. A/8, to write 2α = 61.9°
18.17 10.17 18.17 10.17 Ixy = –7.5
4r r2 2r4 Imax (0.471) (7.50)(0.882) (104)
[Ixy Ixy dxdyA] Ixy 0 (r) Ans. 2 2 Imin =
3 2 3 Helpful Hint
22.7(104) mm4 Ans. 5.67 A
Proper use of the transfer-of-axis
where the x- and y-coordinates of the centroid C are dy r and dx 4r/(3 ).
theorem saves a great deal of labor 18.17 10.17 18.17 10.17 Ix = 18.17
Because y0 is an axis of symmetry, Ixy 0. Imin (0.471) (7.50)(0.882) (104)
in computing products of inertia. 2 2
4 4 –Ixy , (10 4) mm 4
5.67(10 ) mm Ans.
482 Appendix C Selected Topics of Mathematics 484 Appendix C Selected Topics of Mathematics
3. Miscellaneous relations 4. Law of sines With the aid of these identities and the distributive law, the vector
product may be written
sin2 cos2 1 a sin A
1 tan2 sec2 b sin B B P Q (Px i Py j Pz k) (Qx i Qy j Qz k)
1 cot2 csc2 c a (PyQz PzQy)i (PzQx PxQz)j (PxQy PyQx)k
1
sin 2 (1 cos )
2 The cross product may also be expressed by the determinant
1 A C D
cos 2
(1 cos )
2 b i j k
sin 2 2 sin cos P Q Px Py Pz
5. Law of cosines
cos 2 cos2 sin2 Qx Qy Qz
sin (a b) sin a cos b cos a sin b c2 a2 b2 2ab cos C
cos (a b) cos a cos b sin a sin b c2 a2 b2 2ab cos D 8. Additional relations
Triple scalar product (P Q) R R (P Q). The dot and cross
may be interchanged as long as the order of the vectors is main-
tained. Parentheses are unnecessary since P (Q R) is meaning-
less because a vector P cannot be crossed into a scalar Q R. Thus,
C/7 Vector Operations the expression may be written
–Q
or P (Q R) P RQ P QR
P Q P ( Q) P– Q
The first term in the first expression, for example, is the dot prod-
uct R P , a scalar, multiplied by the vector Q.
4. Unit vectors i, j, k
9. Derivatives of vectors obey the same rules as they do for scalars.
V Vxi Vy j Vzk z
dP
where V V Vx 2 Vy 2 Vz 2 k Ṗ Ṗ x i Ṗy j Ṗz k
dt
kVz V
d(Pu)
Pu̇ Ṗu
y
dt
5. Direction cosines l, m, n are the cosines of the angles between V
and the x-, y-, z-axes. Thus, d(P Q)
jVy j P Q̇ Ṗ Q
dt
l Vx /V m Vy /V n Vz /V
d(P Q)
so that V V(li mj nk) iVx i
P Q̇ Ṗ Q
dt
and l2 m2 n2 1 x
C/8 Series 2
a bx dx (a bx)3
(Expression in brackets following series indicates range of 3b
convergence.)
n(n 1) 2 n(n 1)(n 2) 3 2
(1 x)n 1 nx x x [x2 1] x a bx dx (3bx 2a) (a bx)3
2! 3! 15b2
x3 x5 x7 2
sin x x [x ] 2
3! 5! 7! x2 a bx dx (8a2 12abx 15b2x2) (a bx)3
105b3
x2 x4 x6 2
cos x 1 [x ]
2! 4! 6!
dx 2 a bx
ex e x x3 x5 x7 a bx b
sinh x x [x2 ]
2 3! 5! 7!
a x a x
ex e x x2 x4 x6 dx a x b x (a b) sin 1
cosh x 1 [x2 ] a b
2 2! 4! 6! b x
a0 n x n x x dx
ƒ(x) an cos bn sin 1 [a bx a ln (a bx)]
2 n 1 l n 1 l a bx b2
l l
1 n x 1 n x
where an ƒ(x) cos dx, bn ƒ(x) sin dx (a bx)1 n
l l l l l l x dx a bx a
(a bx)n b2 2 n 1 n
[Fourier expansion for l x l]
dx 1 1
x ab 1 1
x ab
tan a or tanh a
a bx2 ab ab
C/9 Derivatives x dx 1
ln (a bx2)
a bx2 2b
u du dv
d v v u
dxn d(uv) 1
u dv v du , dx dx x2 a2 dx 2 a2 a2 ln (x x2 a2)]
nxn 2[x x
1,
dx dx dx dx dx v2
1 x
lim sin x sin dx tan dx dx a2 x2 dx 2
x a2 x2 a2 sin 1
a
xl0
1
lim cos x cos dx 1 x a2 x2 dx 3 (a
2
x2)3
xl0
dx 1 b 1 b 2cx eax
ln a bx cx2 x c or sin 1 eax dx
a
a bx cx2 c 2 c c b2 4ac
eax
dx xeax dx (ax 1)
ln (x x2 a2) a2
x2 a2
eax (a sin px p cos px)
dx x eax sin px dx
sin 1
a a2 p2
a2 x2
eax (a cos px p sin px)
x dx eax cos px dx
x2 a2 a2 p2
x2 a2
x dx eax 2
a2 x2 eax sin2 x dx a sin2 x sin 2x a
a2 x2 4 a2
x x2 a2 dx 1 2 a2)3 eax 2
3 (x eax cos2 x dx a cos2 x sin 2x a
4 a2
x a2 a4 eax a
x2 x2 a2 dx (x2 a2)3 x x2 a2 ln (x x2 a2) eax sin x cos x dx sin 2x cos 2x
4 8 8 4 a2 2
sin x
cos x dx sin x cos 3 x dx (2 cos2 x)
3
1 ln 1 sin x 2 1
sec x dx cos 5 x dx sin x 3
sin3 x 5
sin5 x
2 1 sin x
cosh x dx sinh x
tanh x dx ln cosh x
ln x dx x ln x x
TABLE D/3 PROPERTIES OF PLANE FIGURES TABLE D/3 PROPERTIES OF PLANE FIGURES Continued
C C – 2r
– y = –– —
y r
bh3
a x1 – a+b Ix = –––
x = –––– 12
y 3
–
x C h –
Triangular Area bh3
y –
y Ix = –––
36
r4 x – h
Ix = Iy = ––– y = ––
4 b 3 bh3
r — Ix1 = –––
Circular Area x 4
C r4
Iz = –––
2
y
Area of Elliptical
Quadrant –
x = 4a
––
ab3 I– = –– – 4
Ix = ––––,
16
x
16 9 (
–– ab3
)
3
y
8
r4
Ix = Iy = –––
–
x –
y = 4b
––
a3b I– = –– – 4
Iy = ––––,
16
y
16 9 (
–– a3b
)
b C
( )
– 8 – 3
– 4r Ix = – – –– r4 y ab
Semicircular
C y = –– x Iz = ––– (a2 + b2)
3 8 9 a 16
Area r –
y
x r4
Iz = –––
4 Subparabolic Area
ab3
Ix = –––
b – 21
x = 3a
2 — 2
r4 y y = kx = a2 x ––
4
y Ix = Iy = ––– a3b
16 Iy = –––
Area A = ab
–– 5
3 –
( ) C b
– – – x –
y = 3b
x = – 4r
y = –– 4
Ix = Iy = — – –– r4 ––
( )
– 3 –
y 10 a3 b2
Quarter-Circular x C 16 9 Iz = ab –– + ––
Area r x 5 21
– a
y
x r4
Iz = –––
8
Parabolic Area
2ab3
Ix = ––––
y –
y r4 (α – 1 sin 2α )
Ix = –– –
b
y = kx2 = — x2 x = 3a
–– 7
4 2 a2 8
a
r 2a3b
Iy = ––––
–
Area of Circular α – x
–
x =2 r sin α
– –––––– r4 (α + 1 sin 2 )
Iy = –– – α Area A = 2ab
––– b
x C –
15
Sector α x 3 α 4 2 3 – y = 3b
––
C
( )
y 5 a2 b2
Iz = 2ab –– + ––
Iz = 1
– r4α x 15 7
2