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ME101 Lecture01 04 HBK
ME101 Lecture01 04 HBK
ME101 Lecture01 04 HBK
Tutorial Schedule:
Monday: 7:55 am - 8:50 am
ME101 - Division II & IV Hemant B Kaushik 2
Hemant B Kaushik 1
ME101 - Handouts - HBK
ME101: Tutorials
• 11 Tutorials
• Best 10 will be
considered
• No make-up
tutorials
• 2 Quizzes
• No make-up
quizzes
5-6 Q in each Tutorial. You need to solve 1 or 2 Q in Tutorial
class. Rest as Home Assignment & submission next Monday
ME101 - Division II & IV Hemant B Kaushik 4
Hemant B Kaushik 2
ME101 - Handouts - HBK
Hemant B Kaushik 3
ME101 - Handouts - HBK
ME101: Evaluation
Tutorials and Home Assignments: 10%
2 Quizzes (12 Feb & 01 April): 20%
Mid-Semester Exam (24 Feb): 30%
End Semester Exam (29 Apr): 40%
Hemant B Kaushik 4
ME101 - Handouts - HBK
Hemant B Kaushik 5
ME101 - Handouts - HBK
Hemant B Kaushik 6
ME101 - Handouts - HBK
Hemant B Kaushik 7
ME101 - Handouts - HBK
Hemant B Kaushik 8
ME101 - Handouts - HBK
Mechanics: Idealizations
• To simplify application of the theory
Particle: A body with a mass but with
dimensions that can be neglected
Size of earth is insignificant
compared to the size of its
orbit. Earth can be modeled
as a particle when studying its
orbital motion → Simplifies
principles of mechanics
because geometry of the
body is not involved in the
analysis.
ME101 - Division II & IV Hemant B Kaushik 18
Hemant B Kaushik 9
ME101 - Handouts - HBK
Mechanics: Idealizations
Rigid Body: A combination of large number of
particles in which all particles remain at a fixed
distance (practically) from one another before
and after applying a load.
→Material properties of a rigid body are not
required to be considered when analyzing the
forces acting on the body.
In most cases, actual deformations occurring in structures,
machines, mechanisms, etc are relatively small, and rigid
body assumption is suitable for analysis
Mechanics: Idealizations
Concentrated Force: Effect of a loading which
is assumed to act at a point (CG) on a body.
• Provided the area over which the load is
applied is very small compared to the overall
size of the body.
Ex: Contact Force
between a wheel
and ground.
40 kN 160 kN
Hemant B Kaushik 10
ME101 - Handouts - HBK
Hemant B Kaushik 11
ME101 - Handouts - HBK
Hemant B Kaushik 12
ME101 - Handouts - HBK
Mechanics: Units
Four Fundamental Quantities
F = ma → N = kg.m/s2
1 Newton is the force reqd to give a mass of 1 kg an accln of 1 m/s 2.
W = mg → N = kg.m/s2
Hemant B Kaushik 13
ME101 - Handouts - HBK
Hemant B Kaushik 14
ME101 - Handouts - HBK
Vectors
A Vector V can be written as: V = Vn
V = magnitude of V
n = unit vector whose magnitude is one and whose direction
coincides with that of V
Unit vector can be formed by dividing any vector, such as the
geometric position vector, by its length or magnitude
z k
ME101 - Division II & IV Hemant B Kaushik 29
Vectors
Free Vector: whose action is not confined to or
associated with a unique line in space
Ex: Movement of a body without rotation.
Sliding Vector: has a unique line of action in space but
not a unique point of application
Ex: External force on a rigid body
→ Principle of Transmissibility →
→ Imp in Rigid Body Mechanics
Hemant B Kaushik 15
ME101 - Handouts - HBK
Force Systems
Force: Magnitude (P), direction (arrow) and point of
application (point A) is important
Change in any of the three specifications
will alter the effect on the bracket.
→ Force is a Fixed Vector
In case of rigid bodies, line of action of force is
important (not its point of application if we are
interested in only the resultant external effects
of the force), we will treat most forces as
Cable Tension P
Sliding Vectors
Hemant B Kaushik 16
ME101 - Handouts - HBK
Force Systems
Concurrent force:
Forces are said to be concurrent at a point if
their lines of action intersect at that point
F1, F2 are concurrent forces; R will be on same plane; R = F1+F2
F2 F2
R = F1+F2
R
F2
R F2
R
A A
F1 A F1
F1 F1
Plane
Forces act at same point Forces act at different point Triangle Law
(Apply Principle of Transmissibility)
Hemant B Kaushik 17
ME101 - Handouts - HBK
Components of Force
Examples
Components of Force
Example 1:
Determine the x and y
scalar components of
F1, F2, and F3 acting
at point A of the bracket
Hemant B Kaushik 18
ME101 - Handouts - HBK
Components of Force
Solution:
Components of Force
Alternative Solution: Scalar components of F3 can be
obtained by writing F3 as a magnitude times a unit vector nAB
in the direction of the line segment AB.
Unit vector can be formed by dividing any vector, such as the geometric
position vector by its length or magnitude.
Scalar Components:
Hemant B Kaushik 19
ME101 - Handouts - HBK
Components of Force
Example 2: The two forces act on a bolt at A. Determine their
resultant.
• 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.
Components of Force
Solution:
• Graphical solution - A parallelogram with sides
equal to P and Q is drawn to scale. The
magnitude and direction of the resultant or of
the diagonal to the parallelogram are
measured,
R = 98 N = 35
R = 98 N = 35
Hemant B Kaushik 20
ME101 - Handouts - HBK
Components of Force
Trigonometric Solution: Apply the triangle rule.
From the Law of Cosines,
R 2 = P 2 + Q 2 − 2 PQ cos B
= (40 N )2 + (60 N )2 − 2(40 N )(60 N ) cos 155
R = 97.73N
From the Law of Sines,
sin A sin B
=
Q R
Q
sin A = sin B
R
60 N
= sin 155
97.73N
A = 15.04
= 20 + A
= 35.04
ME101 - Division II & IV Hemant B Kaushik 41
Components of Force
Example 3:Tension in cable BC is 725-N, determine the
resultant of the three forces exerted at point B of beam AB.
Solution:
• Resolve each force into
rectangular components.
• Determine the components of the
resultant by adding the
corresponding force components.
• Calculate the magnitude and
direction of the resultant.
Hemant B Kaushik 21
ME101 - Handouts - HBK
Components of Force
Solution
• Resolve each force into rectangular components.
• Resolve Fh into
• The vector F is • Resolve F into rectangular
contained in the horizontal and vertical components
plane OBAC. components.
Fx = Fh cos
Fy = F cos y = F sin y cos
Fh = F sin y Fz = Fh sin
= F sin y sin
ME101 - Division II & IV Hemant B Kaushik 44
L03
Hemant B Kaushik 22
ME101 - Handouts - HBK
• With the angles between F and the axes,
Fx = F cos x Fy = F cos y Fz = F cos z
F = Fx i + Fy j + Fz k
= F (cos x i + cos y j + cos z k )
= F
= cos x i + cos y j + cos z k
• is a unit vector along the line of action of F
and cos x , cos y , and cos z are the
direction cosines for F
ME101 - Division II & IV Hemant B Kaushik 45
d = vector joining M and N
= d xi + d y j + d z k
d x = x2 − x1 d y = y 2 − y1 d z = z 2 − z1
F = F
1
(
= d xi + d y j + d z k
d
)
Fd x Fd y Fd z
Fx = Fy = Fz =
d d d
Hemant B Kaushik 23
ME101 - Handouts - HBK
Hemant B Kaushik 24
ME101 - Handouts - HBK
x = 115.1
y = 32.0
z = 71.5
Vector Products
Dot Product: A.B = AB cos θ
Applications:
• to determine the angle between two vectors
• to determine the projection of a vector in a specified direction
A.B = B.A (commutative)
A.(B+C) = A.B+A.C (distributive operation)
Hemant B Kaushik 25
ME101 - Handouts - HBK
Vector Products
Cross Product: A x B = C → C = AB Sin θ
A x B = -(B x A); C x (A+B) = C x A + C x B
AxB = (Axi+Ayj+Azk)x(Bxi+Byj+Bzk) = (AyBz- AzBy)i+( )j+( )k
i j k
=
Ax AY AZ
BX BY BZ
Cartesian Vector
Hemant B Kaushik 26
ME101 - Handouts - HBK
Moment of a Force
• Moment obeys all rules of vector combination
• The moment arm, d = rsinα does not depend on the
particular point on the line of action of F to which the vector r
is directed.
→ Moment may be considered a sliding vector with a line of
action coinciding with the moment axis.
Principle of Transmissibility
Any force that has the same
magnitude and direction as F,
is equivalent if it also has the
same line of action and therefore,
produces the same moment.
Moment of a Force
Varignon’s Theorem (Principle of Moments)
Hemant B Kaushik 27
ME101 - Handouts - HBK
M O = M xi + M y j + M z k
i j k
= x y z
Fx Fy Fz
( )
= yFz − zFy i + ( zFx − xFz ) j + xF y − yFx k ( )
ME101 - Division II & IV Hemant B Kaushik 55
rA / B = rA − rB
= (x A − xB ) i + ( y A − y B ) j + (z A − z B ) k
F = Fx i + Fy j + Fz k
i j k
M B = (x A − xB ) ( y A − yB ) (z A − z B )
Fx Fy Fz
Hemant B Kaushik 28
ME101 - Handouts - HBK
M BL = • M B
= • (rA B F )
rA B = rA − rB
Hemant B Kaushik 29
ME101 - Handouts - HBK
Moment: Example
Moment: Example
Hemant B Kaushik 30
ME101 - Handouts - HBK
Moment of a Couple
Moment produced by two equal, opposite and
noncollinear forces is called a couple.
Magnitude of the combined moment of the two
forces about O:
M = F(a+d) – Fa = Fd
Vector Algebra Method: M = rA F + rB (− F )
Moment of the couple = (rA − rB ) F
about point O:
= r F
M = rF sin = Fd
Moment of a Couple
Two couples will have equal moments if
• F1d1 = F2 d 2
• the two couples lie in parallel planes, and
• the two couples have the same sense or
the tendency to cause rotation in the same
direction.
Examples:
Hemant B Kaushik 31
ME101 - Handouts - HBK
Addition of Couples
• Consider two intersecting planes
P1 and P2 with each containing a
couple
M 1 = r F1 in plane P1
M 2 = r F2 in plane P2
• Resultants of the vectors also
form a couple
M = r R = r (F1 + F2 )
• By Varigon’s theorem
M = r F1 + r F2
= M1 + M 2
Hemant B Kaushik 32
ME101 - Handouts - HBK
Couple: Example
Moment reqd to turn the shaft connected at center of
the wheel = 12 Nm
• First case: Couple Moment
produced by 40 N forces = 12 Nm
• Second case: Couple Moment
produced by 30 N forces = 12 Nm
If only One hand is used → F = 60N
Same couple moment will be produced
even if the shaft is not connected at the
center of the wheel
→ Couple Moment is a Free Vector
ME101 - Division II & IV Hemant B Kaushik 65
L04
At support O:
WR = W1 + W2
(MR)O = W 1d1 + W 2d2
Hemant B Kaushik 33
ME101 - Handouts - HBK
FR = F1 + F2 + F3
How to find d?
Moment of the Resultant force about the grip must be equal
to the moment of the forces about the grip
FRd = F1d1 + F2d2 + F3d3
→ Equilibrium Conditions
Hemant B Kaushik 34
ME101 - Handouts - HBK
Hemant B Kaushik 35
ME101 - Handouts - HBK
Hemant B Kaushik 36
ME101 - Handouts - HBK
z x
Hemant B Kaushik 37
ME101 - Handouts - HBK
Restraints
Hemant B Kaushik 38
ME101 - Handouts - HBK
Various Supports
2-D Force Systems
Various Supports
2-D Force Systems
Hemant B Kaushik 39
ME101 - Handouts - HBK
Various Supports
3-D Force Systems
Various Supports
3-D Force Systems
Hemant B Kaushik 40
ME101 - Handouts - HBK
Rigid Body
Equilibrium
Categories
in 2-D
Rigid Body
Equilibrium
Categories
in 3-D
Hemant B Kaushik 41
ME101 - Handouts - HBK
Fz = 0 M x = M y = 0 M z = M O
• Equations of equilibrium become
Fx = 0 Fy = 0 M A = 0
where A is any point in the plane of the structure.
Fx = 0 M A = 0 M B = 0
• More unknowns
than equations: • Fewer unknowns • Equal number unknowns and
Statically than equations, equations but improperly
Indeterminate partially constrained constrained
ME101 - Division II & IV Hemant B Kaushik 84
Hemant B Kaushik 42
ME101 - Handouts - HBK
= 58.6
Hemant B Kaushik 43
ME101 - Handouts - HBK
T R 98.1 N
=
=
sin 31.4 sin 110 sin 38.6
T = 81.9 N
R = 147.8 N
Hemant B Kaushik 44