MODULE 3

Analysis of Force System

3.1 Introduction to Engineering Mechanics

Mechanics

It’s a branch of science, which deals with the action of forces on bodies at rest or in motion.

Engineering Mechanics
It is a branch of applied sciences that describes and predicts the state of rest or of uniform motion
of bodies under the action of forces.

Engineering Mechanics deals with the application of principles of mechanics and different laws
in a systematic manner.

Statics
Mechanics of
Rigid bodies
Mechanics of
Solids
Dynamics
Engineering Mechanics of
Deformable
Mechanics bodies
Mechanics of
Fluids

❖ Mechanics of Solids is the branch of continuum mechanics that studies the behavior
of solid materials, especially their motion and deformation under the action of forces,
temperature changes, phase changes, and other external or internal agents.

❖ Mechanics of fluid or Fluid Mechanics is defined as the science which deals with the
study of behaviour of fluids either at rest or in motion.

❖ Rigid body is an idealized solid whose size and shape are fixed and remains unaltered
when forces are applied on it and study of those solids is called Mechanics of Rigid
body.

❖ Any body that changes its shape and/or volume while being acted upon by any kind of
external force is called Deformable body and study of those solids is called Mechanics
of Deformable body.
❖ Statics is the branch of mechanics concerned with bodies at rest and forces in
equilibrium.
❖ Dynamics is the branch of mechanics concerned with the motion of bodies under the
action of forces.

3.2 Objectives
• To understand the basic concepts of Mechanics
• To understand the Principles of Mechanics
• To know the different types of force systems

3.3 Basic Concepts

Matter: Anything which has mass and requires space to occupy is called matter.

Mass: It is a measure of quality of matter contained by the body. SI unit: Kg.

Volume: It is a measure of space occupied by the body. Unit: m3

Note: Liter → Unit of volume

1000 liters = 1 m3

State of rest and motion: State of rest and state of motion are relative and depend on the frame
of reference. A body is said to be in a state of rest w.r.t. a frame of reference if the position of the
body w.r.t. that frame of reference is not changing with time. A body is said to be in a state of
motion w.r.t. a frame of reference if the position of the body w.r.t. that frame of reference is
changing with time.

Scalar and Vector Quantities: Quantities which require only magnitude to represent them are
called scalar quantities.
Eg: Mass, Time interval.
Quantities which require both magnitude and direction to represent them are called Vector
quantities.
Eg: Force, Velocity, etc.

Displacement and distance travelled: The total linear movement made by a body to change its
position from one point to another is called distance
travelled by the body. It is a scalar quantity.
Unit: Meter (m)
mm – Millimeter →10-3m
km – Kilo Meter →103m

The total linear movement made by a body to change its position from one point to another
moving along a particular direction is called displacement. Displacement is a vector quantity.
Unit: Meter (m).

Speed and Velocity: The distance travelled in a unit time is speed.

Unit: m/s or ms-1
The displacement in unit time is called velocity.
Unit: m/s → ms-1

Uniform motion and non-uniform motion: If the velocity of the moving body remains
constant then the motion is said to be uniform. If the velocity is changing with time, the motion
is laid to be non-uniform.

Acceleration and retardation: The time rate of change of velocity is called acceleration.
If the velocity is increasing with time then acceleration is positive. If the velocity is decreasing
with time then acceleration is negative. Negative acceleration is called retardation or
deceleration.
Unit: m/s2 → ms-2

Momentum: It is the capacity of a moving body to impart motion to other bodies. Momentum of
a moving body is given by the product of mass and velocity of the moving body.

Momentum = Mass X Velocity, Unit: kg m/s or kg ms-1

Particle: A particle is a body of infinitely small volume and the entire mass of the body is
assumed to be concentrated at a point.

Rigid body: It is one, which does not alter its shape, or size or the distance between any two
points on the body does not change on the application of external forces.

Deformable body: It is one, which alters its shape, or size or the distance between any two
points on the body changes on the application of external forces.

In the above example, the body considered is rigid as long as the distance between the points A
and B remains the same before and after application of forces, or else it is considered as a
deformable body.
Rigid body: The concept of rigid body is purely theoretical or imaginary. A rigid body is said to
undergo, no deformation under the action of any external agency such as force and moments. In
other words relative positions of the modules of a rigid body are fixed in space.
Continuum: The concept of continuum is purely theoretical or imaginary. Continuum is said to
be made up of infinite number of molecules packed in such a way that, there is no gap between
the molecules so that property functions remain same at all the points.

Force: According to Newton‘s I law, force is defined as an action or agent, which changes or
tends to change the state of rest or of uniform motion of a body in a straight line.

Units of force: The gravitational (MKS) unit of force is the kilogram force and is denoted as
kgf‘. The absolute (SI) unit of force is the Newton and is denoted as N‘.
Note: 1 kgf = g * N (But g = 9.81m/s2) Therefore 1 kgf = 9.81 N or 10 N.

Point force: The concept of point force in purely theoretical or imaginary, here the force is
assumed to be acting at a point or over infinity small area.

3.4 Characteristics of a force

These are ones, which help in understanding a force completely, representing a force and also
distinguishing one force from one another. A force is a vector quantity. It has four important
characteristics, which can be listed as follows.
1) Magnitude: length of the vector
2) Point of application: It indicates the point on the body on which the force acts.
3) Line of action: The arrowhead placed on the line representing the direction represents it.
4) Direction: It is represented by a co-ordinate or cardinal system.
5) Nature of Force: It indicates the nature of the force either tensile or compressive
Ex.1: Consider a body being pushed by a force of 10 N as shown in figure below.

The characteristics of the force acting on the body are

1) Magnitude is 10 N.
2) Point of application is A.
3) Line of action is A to B or AB.
4) Direction is horizontally to right.
5) Force is compressive in nature

Idealization or assumptions in Mechanics:

In applying the principles of mechanics to practical problems, a number of ideal conditions are
assumed. They are as follows.
1) A body consists of continuous distribution of matter.
2) The body considered is perfectly rigid.
3) A particle has mass but not size.
4) A force acts through a very small point.

3.5 Types of forces

1. Gravitational Force: Every object on the surface of the earth or near it, is attracted towards
the center of the earth
2. Reactive Force: A force generated when an object applies a force on another object in
contact with it
3. Frictional Force: The force of friction is the one which opposes the force causing movement
of the body on the surface of the other
4. Inertial Force: Inertia force is present in every object which tends to resist any attempt to
change its existing state of rest or motion by application of force from outside

3.6 Principles of Mechanics

Principle physical independence of forces:

It states that if number of forces acting on the system, the effect

produces by a single force is same as that of effect of force on the
body taken individually.

Principle of superposition of forces:

If number of forces acting on the system, the net effect of forces is the algebraic sum of effect of
individual forces
Principle of transmissibility of forces:

The point of application of a force on a rigid body can be changed along the same line of action
maintaining the same magnitude and direction without affecting the effect of the force on the
body.

Limitation of principle of transmissibility: Principle of transmissibility can be used only for

rigid bodies and cannot be used for deformable bodies.

3.7 Resolution of forces

The method to resolve or split a single force into two mutually perpendicular directions is called
resolution of forces.

Principle of Resolution / Resolved parts

It states that, “the algebraic sum of the resolved part of a number of forces in a given direction
is equal to resolved parts of their resultant in the same direction”.
A force F making an angle θ wrt x-axis is shown in the figure below can be resolved into two
mutually perpendicular components Fx and Fy acting along x and y axes respectively.
X F

θ Fy = F Sinθ

Fx = F COSθ

Y
 During resolution, first draw a horizontal line from tail of the given force F and then draw a
vertical line from the end of horizontal line to meet the arrow of force F. then draw arrows on
the horizontal and vertical lines in such a way that they meet the force arrow.

From triangle OAB,

OA OA Fx
cosθ = OB = = therefore Fx = F cosθ
F F

AB AB Fy
sinθ = OB = = therefore Fy = F Sinθ
F F

Fy
tanθ = where θ is measured wrt Horizontal axis
Fx

Therefore, the given force F can be resolved into two components Fx & Fy acting along X & Y
axis.

The magnitude of the force F is given by

F = √(Fx 2 + Fy 2 )

Composition of Forces

The process of combining a number of forces into a single force such that the net effect
produced by the single force is equal to the algebraic sum of the effects produced by individual
force is called as composition of forces.

Resultant Force:

Whenever a number of forces are acting on a body, it is possible to find a single force, which
can produce the same effect as that produced by the given forces acting together. Such a single
force is called as resultant force or resultant.

In the above figure R can be called as the resultant of the given forces F1, F2 and F3

The process of determining the resultant force of a given force system is known as
Composition of forces.
The resultant force of a given force system can be determining by Graphical and Analytical
methods. In analytical methods two different principles namely: Parallelogram law of forces
and Method of Resolution of forces are adopted.

3.8 Classification of force systems

Depending upon their relative positions, points of applications and lines of actions, the different
force systems can be classified as follows.

1) Collinear forces: It is a force system, in which all the forces have the same line of action.

Ex.: Forces in a rope in a tug of war.

2) Coplanar forces: If the line of action of all forces are acting on the same line are referred as
coplanar force system
3) Non-coplanar force system: If the line of action of forces are acting in different planes are
referred as non-coplanar force system
4) Coplanar Concurrent forces: It is a force system, in which all the forces are lying in the
same plane and lines of action meet a single point.
Ex.: The forces or loads and the support reactions in case of beams.

5) Coplanar non-concurrent forces: It is a force system, in which all the forces are lying in the
same plane but lines of action do not meet a single point.
 Ex.: Forces on a ladder and reactions from floor and wall, when a ladder rests on a floor
and leans against a wall.
6) Coplanar parallel forces: It is a force system, in which all the forces are lying in the same
plane and have parallel lines of action.

Ex.: The forces in the rope and pulley arrangement.

7) Non- coplanar parallel forces: It is a force system, in which all the forces are lying in the
different planes and still have parallel lines of action.

Ex: The forces acting and the reactions at the points of contact of bench with floor in a
classroom.

8) Non- coplanar concurrent forces It is a force system, in which all the forces are lying in the
different planes and still have common point of action.

Ex.: The forces acting on a tripod when a camera is mounted on a tripod.

9) Non- coplanar non-concurrent forces: It is a force system, in which all the forces are lying
in the different planes and also do not meet a single point.

Ex.: Forces acting on a building frame.

3.9 Parallelogram of Forces

Statement: If two concurrent coplanar forces acting at a point be represented in magnitude and
direction by the 2 sides of a parallelogram, then the diagonal of the parallelogram represents their
resultant in magnitude and direction passing through the same point of intersection.
Construction: C B

R
P
P
θ
α θ
O Q A D
Proof:
Let P & Q be the two forces acting at point O represented by the magnitude and direction by the
two sides OC & OA respectively of the parallelogram OABC as shown in fig. Let θ be the angle
subtended between the forces P & Q and R makes an angle α wrt horizontal.
Draw a perpendicular from point B to meet the line OA extended at point O.

Considering triangle ABD,

Adj AD AD
cosθ = Hyp = AB = therefore AD = P cosθ
P

Opp BD BD
sinθ = Hyp = AB = therefore BD = P Sinθ
P

Considering triangle OBD

(OB)2 = (OD)2 + (BD)2
(OB)2 = (OA + AD)2 + (BD)2
(OB)2 = (Q + P cosθ )2 + (P sinθ)2
(OB)2 = Q2 + P2 cos2θ + 2PQ cosθ + P2 sin2θ
(OB)2 = Q2 + P2 (cos2θ + sin2θ) + 2PQ cosθ
(OB)2 = P2 + Q2 + 2PQ cosθ
(OB) = R = √P 2 + Q2 + 2PQ cosθ Magnitude of the Resultant

Direction of the resultant wrt horizontal

Considering the triangle OBD

Opp BD BD
tanα = = =
Adj OD OA+AD

P sinθ
tanα = Q+Pcosθ

P sinθ
Therefore α = tan-1 Q+Pcosθ

Department of Civil Engineering, ATMECE Mysuru Page 46

Case1: if θ = 0; R = √P 2 + Q2 + 2PQ cosθ [cos0 = 1]
R = √(P + Q)2 = P +Q

Case2: if θ = 90°; R = √P 2 + Q2 + 2PQ cosθ [cos90° = 0]

R = √P 2 + Q2

Case3: if θ = 180°; R = √P 2 + Q2 + 2PQ cosθ [cos180 = -1]

R = √P − Q)2 = P – Q

Case4: if P = Q; R = √P 2 + Q2 + 2PQ cosθ

R = √P 2 + P 2 + 2P 2 cosθ
R = √2P 2 (1 + 𝑐𝑜𝑠𝜃)
R = √2P2 ∗ 2𝑐𝑜𝑠 2 (θ/2)
R = 2P cos (θ/2)

3.10 Resultant of Coplanar concurrent force system

Step1: Resolve all the given forces horizontally & find out their algebraic sum ie ΣH
Step1: Resolve all the given forces vertically & find out their algebraic sum ie ΣV
Step3: The magnitude of the resultant can be determined by using the expression
R = √(𝛴𝐻)2 + (𝛴𝑉)2
Step4: Based on the sign convention of ΣH & ΣV. Resultant can be decided in which quadrant it
acts
Step5: The direction of the resultant wrt horizontal can be determined by using the expression
ΣH
tanα =
ΣV
Note: Do not consider the sign convention while calculating the direction of resultant & only
magnitude should be considered.

Example 1:
Five coplanar forces are acting at a point as shown in figure. Determine the resultant in terms of
magnitude & direction.
Solution:

Force Horizontal Component (Fx) Vertical Component (Fy)

Fy 200N
30° = 200 sin30° = 200 cos30°

Fx
Fy 100N

30° = 100 cos45° = 100 sin45°

Fx

200N Fy
30°
= - 200 sin30° =200 cos30°
Fx

Fx
6°
= - 275 sin6° = - 275 cos6°
275N Fy

Fx

20° = -250 cos20° = -250 sin20°

250N
Fy
ΣFx = -288.28N ΣFy = 153.45N

R = √𝛴𝐹𝑥 2 + 𝛴𝐹𝑦 2 = √(−288.28)2 + (153.45)2 = 326.57 N

Example 2: Determine the resultant force acting on the structure at point O both in magnitude
and direction.
O
800
θ
N

600 6m
N
θ
60
C
°
A B

O 3m O

Hyp = 6m Opp Hyp = 6m Opp

A B C B
Adj Adj

Wkt, Wkt,
Adj Opp Adj Opp
cosθ = Hyp sinθ = cosθ = Hyp sinθ =
Hyp Hyp
Adj Opp Adj Opp
cos60° = 6
sin60° = cos60° = sin60° =
6 6 6
Adj = cos60° ∗ 6 Opp = sin60° ∗ 6 Adj = cos60° ∗ 6 Opp = sin60° ∗ 6
Adj = 3m Opp = 5.196m Adj = 3m Opp = 5.196m
5.196
tanθ = 6
5.196
θ = tan-1( ) = 40.89°
6

Force Horizontal Component (Fx) Vertical Component (Fy)

Fy
40.89°
600N = - 600 cos40.89° = - 600 sin 40.89°
Fx

800N = 800 -
ΣH = 346.41N ΣV = - 392.76N

R = √𝛴𝐹𝑥 2 + 𝛴𝐹𝑦 2 = √(346.41)2 + (−392.76)2 = 523.69 N

 3.11 Moment of a Force

It is the capacity of a force to produce rotator motion. In other words moment of a force is its
rotating capacity.

Based on the direction of rotation produced moment of a force can be classified into

a) Clockwise moment

b) Anticlockwise moment / counter clockwise moment.

Calculation of Moment of a Force about a Point

Moment of a force about any point is given by the product of magnitude of force and
perpendicular distance between the line of action of a force and the point about which moment is
considered.

Sign Convention for Moment of a Force

Clockwise moment positive and anticlockwise moment negative.

3.12 Couple

Couple consists of two equal, opposite and non-collinear forces.

Characteristics:
1) As the two forces are equal in magnitude but opposite in direction, their resultant force is
zero but a moment is associated with couple.
2) A couple acting on a rigid body can produce only rotational motion. It cannot produce
translational motion.
3) Moment of couple is same about any point in the plane.
4) Theeffect of a couple can be nullified only by another couple of equal magnitude but opposite
sense of rotation.
To Prove: Moment of force = 2 * Area of Triangle

Moment = Force * Perpendicular Distance

M=F*D

Area of Triangle = ½ * base * Height

=½*F*d
Area of Triangle = ½ * base * Height

= ½ * M or
2 * Area of Triangle = Moment of force

3.13 Varignon’s theorem of moments

Statement: It states that the algebraic sum of moments due to all forces acting on an object
about any point is equal to the moment of their resultant about the same point.

Construction:

Proof: Let P & Q be the coplanar forces acting along the sides OA & OB of the parallelogram
OACB. R is the resultant of the two forces acting along the diagonal of the parallelogram.

Moment of a force P about X = 2 * Area of Triangle OXA

Moment of a force Q about X = 2 * Area of Triangle OXB

Moment of a force R about X = 2 * Area of Triangle OXC

But triangle OXC = triangle OXB + triangle OBC

By geometry, triangle OBC = triangle OCA = triangle OXA are similar

Therefore, Moment of a force R about X = 2 * (Area of Triangle OXB + Area of Triangle OXA)

Hence
 Therefore, Moment of a force R about X = 2 * (Area of Triangle OXB + Area of Triangle OXA)

Moment of a force R about X = Moment of a force Q about X + Moment of a force P about X

Therefore

Moment of Resultant about a point = Algebraic sum of moment of all the forces about the same point

3.14 Procedure for problems on non-concurrent force system

1. Add all the Horizontal forces by considering the sign convention ie ∑ Fx

2. Add all the Vertical forces by considering the sign convention ie ∑ F𝑦
3. Determine the magnitude of Resultant

R = √(∑ 𝐹𝑋 )2 + (∑ 𝐹𝑦 )2

4. Direction of Resultant

∑ 𝐹𝑦
Ɵ = 𝑡𝑎𝑛−1 (∑ 𝐹 )
𝑥

5. For position of Resultant

∑𝑀
Inclined Distance 𝑑 = 𝑅

𝛴𝑀
𝑥 − 𝑖𝑛𝑡𝑒𝑟𝑐𝑒𝑝𝑡 = |𝛴𝐹𝑦|

𝛴𝑀
𝑦 − 𝑖𝑛𝑡𝑒𝑟𝑐𝑒𝑝𝑡 = |𝛴𝐹𝑥|
Four forces of magnitude 10N, 20N, 30N & 40N are simultaneously acting along the sides of a
square of size 2mX2m as shown in fig. Determine the magnitude, direction & position of
resultant force wrt point A

To find: R=?, Ɵ=?, d=?, x-int=? & y-int=?

Step 1: ∑ Fx = 10 – 30 = -20N

Step 2: ∑ Fy = 40 – 20 = 20N

Step 3: Magnitude of resultant

R = √(∑ 𝐹𝑋 )2 + (∑ 𝐹𝑦 )2 = √(20)2 + (20)2 = 28.28N

Step 4: Direction of resultant

∑ 𝐹𝑦 20
tanƟ = ∑ 𝐹 = −20 = -1
𝑥

Therefore, Ɵ = tan-1 (1) = -45° (Should be marked in clockwise direction)

Taking Moment of all the forces about point A

∑ 𝑀𝐴 = (10 X 2) + (20 X 2) = 60N-m

Assuming the position of resultant towards left of

Point A R * d = ∑ 𝑀𝐴
∑𝑀 60
d= = 28.28 = 2.12m
𝑅

𝛴𝑀 60
𝑥 − 𝑖𝑛𝑡𝑒𝑟𝑐𝑒𝑝𝑡 = |𝛴𝐹𝑦| = |20| = 3m

𝛴𝑀 60
𝑦 − 𝑖𝑛𝑡𝑒𝑟𝑐𝑒𝑝𝑡 = |𝛴𝐹𝑥| = |−20| = 3m