‎⁨الميكانيك الهندسي⁩

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Chapter One General Principles
1.1 Mechanics
1.2 Fundamental Concepts
1.3 Units of Measurement
1.4 The International System of Units
1.5 Numerical Calculations
1.6 General Procedure for Analysis
Chapter Two Force Vectors
2.1 Scalars and Vectors

2.2 Vector Operations
2.3 Vector Addition of Forces
2.4 Addition of a System of Coplanar Forces
Equilibrium of a Particle
3.1 Condition for the Equilibrium of a Particle

3.2 The Free-Body Diagram
3.3 Coplanar Force Systems
Chapter Four Force System Resultants
4.1 Moment of a Force—Scalar Formulation

4.2 Moment of a Force—Vector Formulation
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4.3 Principle of Moments
4.4 Moment of a Force about a Specified Axis
4.5 Moment of a Couple
Chapter Five Equilibrium of a Rigid Body
5.1 Conditions for Rigid-Body Equilibrium

5.2 Free-Body Diagrams
5.3 Equations of Equilibrium
5.4 Two- and Three-Force Members
5.5 Free-Body Diagrams
5.6 Equations of Equilibrium
Chapter Six Friction
6.1 Characteristics of Dry Friction

6.2 Problems Involving Dry Friction
Chapter Seven Center of Gravity and Centroid
7.1 Center of Gravity, Center of Mass, and the Centroid of a Body 451
7.2 Composite Bodies
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Chapter One “Kinematics of Particles”
Introduction to Dynamics
Rectilinear Motion of Particles
- Position, Velocity, and Acceleration
- Determination of the Motion of a Particle
- Uniform Rectilinear Motion
- Uniformly Accelerated Rectilinear Motion
- Motion of Several Particles
Curvilinear Motion of Particles
-Position Vector, Velocity, and Acceleration
- Derivatives of Vector Functions
- Rectangular Components of Velocity and Acceleration
Chapter Two “Kinetics of Particles”
- Newton’s Second Law of Motion

- Systems of Units
- Equations of Motion
- Dynamic Equilibrium
Chapter Three “Kinetics of Particles: Energy and Momentum Methods”
- Work of a Force
- Kinetic Energy of a Particle. Principle of Work and Energy
- Applications of the Principle of Work and Energy
- Power and Efficiency
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Engineering Mechanics Static General Principles Chapter One
Chapter One
General Principles
CHAPTER OBJECTIVES
■ To provide an introduction to the basic quantities and idealizations of
mechanics.
■ To give a statement of Newton’s Laws of Motion and gravitation.
■ To review the principles for applying the SI system of units.
1. Mechanics:
Mechanics: is a branch of the physical sciences that is concerned with the state
of rest or motion of bodies that are subjected to the action of forces. In general,
this subject can be subdivided into three branches:
Rigid-body mechanics, deformable-body mechanics, and fluid mechanics.
Rigid-body mechanics is divided into two areas: statics and dynamics. Statics
deals with the equilibrium of bodies, that is, those that are either at rest or move
with a constant velocity; whereas dynamics is concerned with the accelerated
motion of bodies.
2. Fundamental Concepts
Basic Quantities
Length: is used to locate the position of a point in space and thereby describe
the size of a physical system.
Time: is conceived as a succession of events.
Lecture: Dr. Raad Jamal Jassim Electrical Engineering Department Page 1

Mass: is a measure of a quantity of matter that is used to compare the action of

one body with that of another.
Force: is considered as a “push” or “pull” exerted by one body on another.
Idealizations.
A particle: has a mass, but a size that can be neglected.
Rigid body: can be considered as a combination of a large number of particles in

which all the particles remain at a fixed distance from one another, both before
and after applying a load.
A concentrated force: represents the effect of a loading which is assumed to act
at a point on a body.
3- Newton’s Three Laws of Motion

First Law: A particle originally at rest, or moving in a straight line with constant
velocity, tends to remain in this state provided the particle is not subjected to an
unbalanced force.
Second Law: A particle acted upon by an unbalanced force F experiences an

acceleration a that has the same direction as the force and a magnitude that is
directly proportional to the force,

Third Law: The mutual forces of action and reaction between two particles are
equal, opposite, and collinear.
4- Units of Measurement
SI Units: The International System of units
W = mg (g = 9.81 m/s2)
U.S. Customary: Customary system of units
W = mg (g = 32.2 ft /s2)
5- Conversion of Units
Table 1–2 provides a set of direct conversion factors between FPS and SI units
for the basic quantities. Also, in the FPS system, recall that 1 ft = 12 in. (inches),
5280 ft = 1 mi (mile), 1000 lb = 1 kip (kilo-pound), and 2000 lb = 1 ton.

6- Prefixes

Engineering Mechanics Static Force Vectors Chapter Two
Chapter Two
Force Vectors
CHAPTER OBJECTIVES
■ To show how to add forces and resolve them into components using the
Parallelogram Law.
■ To express force and position in Cartesian vector form and explain how
to determine the vector’s magnitude and direction.
1-Scalars and Vectors

A scalar is any positive or negative physical quantity that can be completely
specified by its magnitude. Examples of scalar quantities include length, mass,
and time
A vector is any physical quantity that requires both a magnitude and a direction
for its complete description. Examples of vectors encountered in statics are force,
position, and moment
Vector Addition. All vector quantities obey the parallelogram law of addition. To
illustrate, the two “component” vectors A and B in Fig. 2–3 a are added to form a
“resultant” vector R = A + B using the following procedure:
• First join the tails of the components at a point to make them concurrent, Fig. 2–
3 b.
• From the head of B, draw a line parallel to A. Draw another line from the head
of A that is parallel to B. These two lines intersect at point P to form the adjacent
sides of a parallelogram. The diagonal of this parallelogram that extends to P
forms R, which then represents the resultant vector R = A + B, Fig. 2–3 c.
Lecture: Dr. Raad Jamal & Huda Abdullah Electrical Engineering Department 2023 Page 5
As a special case, if the two vectors A and B are collinear, i.e., both have the
same line of action, the parallelogram law reduces to an algebraic or scalar
addition R = A + B , as shown in Fig. 2–5 .
Vector Subtraction. The resultant of the difference between two vectors A and B
of the same type may be expressed as
R_ = A - B = A + (-B)
This vector sum is shown graphically in Fig. 2–6 . Subtraction is therefore defined
as a special case of addition, so the rules of vector addition also apply to vector
subtraction.
2-Vector Addition of Forces

Finding a Resultant Force. The two component forces F1 and F2 acting on the
pin in Fig. 2–7 a can be added together to form the resultant force FR = F1 + F2
Finding the Components of a Force. Sometimes it is necessary to resolve a

force into two components in order to study its pulling or pushing effect in two
specific directions
Parallelogram Law:
1. Two “component” forces F1 and F2 in Fig. 2–10 a add according to the
parallelogram law, yielding a resultant force FR that forms the diagonal of
the parallelogram.
2. If a force F is to be resolved into components along two axes u and v , Fig.
2–10 b , then start at the head of force F and construct lines parallel to the
axes, thereby forming the parallelogram. The sides of the parallelogram
represent the components, Fu and Fv
Example -1: The screw eye in Fig. 2–11 a is subjected to two forces, F1 and F2 .
Determine the magnitude and direction of the resultant force.
Example -2: Resolve the horizontal 600-lb force into components acting along
the u and v axes and determine the magnitudes of these components
Example -3: Determine the magnitude of the component force F and the
magnitude of the resultant force FR if FR is directed along the positive y axis.
Example -4: It is required that the resultant force acting on the eyebolt in be
directed along the positive x axis and that F2 have a minimum magnitude.
Determine this magnitude, the angle u, and the corresponding resultant force.
Problems
1- Determine the magnitude of the resultant force acting

on the screw eye and its direction measured clockwise
from the x axis.
2- Two forces act on the hook. Determine the magnitude

of the resultant force.
3- Determine the magnitude of the resultant force and

its direction measured counterclockwise from the
positive x axis.
4- Resolve the 30-lb force into components along the u

and v axes, and determine the magnitude of each of
these components.
5- If φ = 60ο and F = 450 N, determine the magnitude of

the resultant force and its direction, measured
counterclockwise from the positive x axis.
6- Resolve the force F1 into components acting along

the u and v axes and determine the magnitudes of the
components
7- Resolve F2 into components along the u and v axes

and determine the magnitudes of these components.
8- Determine the angle ϴ for connecting member A to

the plate so that the resultant force of FA and FB is
directed horizontally to the right. Also, what is the
magnitude of the resultant force?
9- Determine the design angle f (0 ≤ꝋ≤90)

between struts AB and AC so that the 400-lb
horizontal force has a component of 600 lb
which acts up to the left, in the same direction
as from B towards A . Take u = 30.
10- Two forces act on the screw eye. If F1 = 400 N

and F2 = 600 N, determine the angle u (0 ≤ ꝋ ≤ 180)
between them, so that the resultant force has a
magnitude of FR = 800 N.
3- Addition of a System of Coplanar Forces

When a force is resolved into two components along the x and y axes, the
components are then called rectangular components.
** Here the y component is a negative scalar since Fy is directed along the

negative y axis.
Cartesian Vector Notation. It is also possible to represent the x and y

components of a force in terms of Cartesian unit vectors i and j.
Coplanar Force Resultants
Example-1: Determine the x and y components of F1 and F2 acting on the boom

shown in. Express each force as a Cartesian vector.
Example-2: The link is subjected to two forces F1 and F2 Determine the

magnitude and direction of the resultant force.
Example-3: The end of the boom O is subjected to three concurrent and

coplanar forces. Determine the magnitude and direction of the resultant force.
Problems
1- Determine the magnitude and direction of the
resultant force.
2-If the resultant force acting on the bracket is to be

750 N directed along the positive x axis, determine
the magnitude of F and its direction ϴ.
3- Determine the magnitude of the resultant force

and its direction measured counterclockwise from the
positive x axis
4- If the magnitude of the resultant force acting on the

eyebolt is 600 N and its direction measured clockwise
from the positive x axis is ϴ = 30, determine the
magnitude of F1 and the angle φ.
5- Determine the magnitude of the resultant force

and its direction measured counterclockwise from
the positive x axis.
6- Determine the magnitude and orientation, measured

Counterclockwise from the positive y-axis, of the
resultant force acting on the bracket, if FB = 600 N and
Ꝋ = 20.
7- If the resultant force acting on the bracket is to

be directed along the positive u axis, and the
magnitude of F1 is required to be minimum,
determine the magnitudes of the resultant force and
F1.
Engineering Mechanics Static Equilibrium of a Particle Chapter Three
Chapter Three
Equilibrium of a Particle
CHAPTER OBJECTIVES
■ To introduce the concept of the free-body diagram for a particle.
■ To show how to solve particle equilibrium problems using the equations
of equilibrium.
1. Condition for the Equilibrium of a Particle

A particle is said to be in equilibrium if it remains at rest if originally at rest, or has
a constant velocity if originally in motion to maintain equilibrium, it is necessary to
satisfy Newton’s first law of motion, which requires the resultant force acting on a
particle to be equal to zero . This condition may be stated mathematically as
where F is the vector sum of all the forces acting on the particle.
2- The Free-Body Diagram

Springs. : The magnitude of force exerted on a linearly elastic spring which has
a stiffness k and is deformed (elongated or compressed) a distance s = l - l0,
measured from its unloaded position, is
F=k.s
Where K: stiffness of spring N/m
Lecture: Dr. Raad Jamal & Huda Abdallah Electrical Engineering Department 2023 Page 31
Cables and Pulleys
Two straps A and B.

suspend the 5-kg plate. To
find the force in each strap
we should consider the free-
body diagram of the plate.
As noted, the three forces
acting on it form a
concurrent force system.
Example-1: The sphere in Fig. 3–3 a has a mass of 6 kg and is supported as shown.
Draw a free-body diagram of the sphere, the cord CE, and the knot at C.
3- Coplanar Force Systems

If a particle is subjected to a system of coplanar forces that lie in the x–y
plane, as in Fig. 3–4 , then each force can be resolved into its i and j
Components. For equilibrium, these forces must sum to produce a zero
force resultant, i.e.,
Example -2: Determine the tension in cables BA and BC necessary to support

the 60-kg cylinder.
Example -3: The 200-kg crate is suspended using the ropes AB and AC. Each
rope can withstand a maximum force of 10 KN before it breaks. If AB always
remains horizontal, determine the smallest angle Ꝋ to which the crate can be
suspended before one of the ropes breaks.
Example -4: Determine the required length of cord AC a so that the 8-kg lamp
can be suspended in the position shown. The unreformed length of spring AB is
l_AB = 0.4 m, and the spring has a stiffness of kAB = 300 N/m.
Problems
1- The crate has a weight of 550 lb. Determine the

force in each supporting cable.
2- The block has a mass of 5 kg and rests on the

smooth plane. Determine the unstretched length of the
spring.
3- If the mass of cylinder C is 40 kg, determine the

mass of cylinder A in order to hold the assembly in the
position shown.
4- The lift sling is used to hoist a container having a

mass of 500 kg. Determine the force in each of the
cables AB and AC as a function of u. If the maximum
tension allowed in each cable is 5 kN, determine the
shortest lengths of cables AB and AC that can be used
for the lift. The center of gravity of the container is
located at G.
5- The device shown is used to straighten the

frames of wrecked autos. Determine the tension
of each segment of the chain, i.e., AB and BC, if
the force that the hydraulic cylinder DB exerts on
point B is 3.50 KN, as shown
7- Determine the maximum weight of the flowerpot that

can be supported without exceeding a cable tension of
50 lb in either cable AB or AC.
8- If blocks D and F weigh 5 lb each, determine

the weight of block E if the sag s = 3 ft. Neglect
the size of the pulleys.
9- The 10-lb lamp fixture is suspended from two

springs, each having an unstretched length of 4 ft
and stiffness of k = 5 lb>ft. Determine the angle u
for equilibrium
10- The spring has a stiffness of k = 800 N/m and

an unstretched length of 200 mm. Determine the
force in cables BC and BD when the spring is
held in the position shown.
11- Determine the tension developed in each

cord required for equilibrium of the 20-kg lamp.
Engineering Mechanics Static Force System Resultants Chapter Four
Chapter Four
Force System Resultants
CHAPTER OBJECTIVES
■ To discuss the concept of the moment of a force
■ To provide a method for finding the moment of a force about a
Specified axis.
■ To define the moment of a couple.
1. Moment of a Force- Scalar Formulation
When a force is applied to a body it will produce a tendency for the body to rotate
about a point that is not on the line of action of the force. This tendency to rotate
is sometimes called a torque, but most often, it is called the moment of a force
or simply the moment.
M=F.d M=F.d’=F.d.sinϴ M=0
Lecture: Dr. Raad Jamal & Huda Abdallah Mechanical Engineering Department 2023 Page 45
Direction.
Resultant Moment
Example -1: For each case illustrated, determine the moment of the force about
point O.
Example -2: Determine the resultant moment of the four forces acting on the rod
shown in Fig. 4–5 about point O.
2. Principle of Moments
Varignon’s theorem: the moment of a force about a point is equal to the sum of
the moments of the components of the force about the point.
Example -3: Determine the moment of the force a about point O.
Example -4: Force F acts at the end of the angle bracket. Determine the moment
of the force about point O.
Example -6: Two men exert forces of F= 80 Ib and P=50 Ib on the ropes.
Determine the moment of each force about A. Which way will the pole rotate,
clockwise or counterclockwise?
Example -6:If the 1500-lb boom AB, the 200-lb cage BCD, and the 175-lb man
have centers of gravity located at points G1 ,G2 and G3 , respectively, determine
the resultant moment produced by each weight about point A.
Problems
1. Determine the resultant moment produced by

the forces about point O.
2. The Achilles tendon force Ft is mobilized when the man

tries to stand on his toes. As this is done, each of his feet
is subjected to a reactive force of Nt = 400 N. If the
resultant moment produced by forces Ft and Nt about the
ankle joint A is required to be zero, determine the
magnitude of Ft .
3. The tower crane is used to hoist a 2-Mg load

upward at constant velocity. The 1.5-Mg jib BD and
0.5-Mg jib BC have centers of mass at G1 and G2
, respectively. Determine the required mass of the
counterweight C so that the resultant moment
produced by the load and the weight of the tower
crane jibs about point A is zero. The center of
mass for the counterweight is located at G3 .
3-Moment of a Couple
Scalar Formulation. The moment of a couple, M , Fig. 4–27 , is defined as having

a magnitude of
M = F.d
Where F is the magnitude of one of the forces and d is
the perpendicular distance or moment arm between the
forces.
Example -7: Determine the resultant couple moment of the three couples acting
on the plate in Fig. 4–30 .
Example -8: Determine the magnitude and direction of the couple moment acting
on the gear in Fig. 4–31 a .
Example -8: The ends of the triangular plate are subjected to three couples.
Determine the magnitude of the force F so that the resultant couple moment is
400 N . m clockwise.
Problems
1. Determine the resultant couple moment acting on

the beam.
2. A twist of 4 N # m is applied to the handle of the

screwdriver. Resolve this couple moment into a pair
of couple of forces F exerted on the handle and P
exerted on the blade.
3. The caster wheel is subjected to the two couples.

Determine the forces F that the bearings create on
the shaft so that the resultant couple moment on the
caster is zero.
4. Determine the required magnitude of force F

, if the resultant couple moment on the beam is
to be zero.
Engineering Mechanics Static Equilibrium of a Rigid Body Chapter Five
Chapter Five
Equilibrium of a Rigid Body
CHAPTER OBJECTIVES
■ To develop the equations of equilibrium for a rigid body.
■ To introduce the concept of the free-body diagram for a rigid body.
■ To show how to solve rigid-body equilibrium problems using the
equations of equilibrium.
1-EQUILIBRIUM IN TWO DIMENSIONS
Support Reactions
The various types of reactions that occur at supports and points of contact
between bodies subjected to coplanar force systems. As a general rule;
- If a support prevents the translation of a body in a given direction, then a force
is developed on the body in that direction.
- If rotation is prevented, a couple moments is exerted on the body.
Typical examples of actual supports are shown in the following sequence of photos. The numbers refer to the
Connection types in Table 5–1.
Examples of Free Body Diagram
(1)
(2)
(3)
(4)
Problems
1. Draw the free-body diagram of the uniform bar
which has a mass of 100 kg and a center of mass
at G . The supports A, B , and C are smooth.
2. Draw the free-body diagram of the beam, which

is pin-supported at A and rests on the smooth
incline at B.
3. Draw the free-body diagram of the beam, which

is pin connected at A and rocker-supported at B .
4. Draw the free-body diagram of the jib crane AB ,

which is pin connected at A and supported by
member
(link) BC .
2-Equations of Equilibrium
The two equations which are both necessary and sufficient for the equilibrium of a rigid
body, namely, _F = 0 and _MO = 0
Example -1: Determine the horizontal and vertical components of reaction on the
beam caused by the pin at B and the rocker at A as shown in Fig. 5–12 a .
Neglect the weight of the beam.
Solution:
Example -2: The cord shows a supports a force of 100 lb and wraps over the
frictionless pulley. Determine the tension in the cord at C and the horizontal and
vertical components of reaction at pin A.
Example -3: The member shows a is pin connected at A and rests against a
smooth support at B. Determine the horizontal and vertical components of
reaction at the pin A.
Example -4: The box wrench a is used to tighten the bolt at A. If the wrench
does not turn when the load is applied to the handle, determine the torque or
moment applied to the bolt and the force of the wrench on the bolt.
Example -5: Determine the horizontal and vertical components of reaction on the
member at the pin A, and the normal reaction at the roller B.
Example -6: Determine the support reactions on the member. The collar at A is
fixed to the member and can slide vertically along the vertical shaft.
Problems:
1. Determine the horizontal and vertical

components of reaction at the supports.
Neglect the thickness of the beam.
2. The 25-kg bar has a center of mass at

G. If it is supported by a smooth peg at C,
a roller at A , and cord AB , determine the
reactions at these supports.
3. Determine the horizontal and vertical

components of reaction at the pin A and the
reaction of the rocker B on the beam.
4. If the wheelbarrow and its contents have

a mass of 60 kg and center of mass at G ,
determine the magnitude of the resultant
force which the man must exert on each of
the two handles in order to hold the
wheelbarrow in equilibrium.
5. The telephone pole of negligible thickness is

subjected to the force of 80 lb directed as shown. It
is supported by the cable BCD and can be
assumed pinned at its base A . In order to provide
clearance for a sidewalk right of way, where D is
located, the strut CE is attached at C , as shown by
the dashed lines (cable segment CD is removed). If
the tension in CD_ is to be twice the tension in
BCD , determine the height h for placement of the
strut CE .
5. The floor crane and the driver have a total weight

of 2500 lb with a center of gravity at G . Determine
the largest weight of the drum that can be lifted
without causing the crane to overturn when its
boom is in the position shown.
6. The uniform smooth rod shown in Fig. is

subjected to a force and couple moment. If the rod
is supported at A by a smooth wall and at B and C
at either the top or bottom by rollers, determine the
reactions at these supports. Neglect the weight of
the rod.
7. The jib crane is pin connected at A and supported

by a smooth collar at B. If x = 8 ft, determine the
reactions on the jib crane at the pin A and smooth
collar B. The load has a weight of 5000 lb.
8. The mobile crane has a weight of 120 000 lb and

center of gravity at G1; the boom has a weight of 30
000 lb and center of gravity at G2. If the suspended
load has a weight of W = 16 000 lb, determine the
normal reactions at the tracks A and B . For the
calculation, neglect the thickness of the tracks and
take Ꝋ = 30.
Engineering Mechanics Static Friction Chapter Six
Chapter Six
Friction
CHAPTER OBJECTIVES
■ To introduce the concept of dry friction and show how to analyze
the equilibrium of rigid bodies subjected to this force.
1- Characteristics of Dry Friction

Friction is a force that resists the movement of two contacting surfaces that slide
relative to one another. This force always acts tangent to the surface at the
points of contact and is directed so as to oppose the possible or existing motion
between the surfaces.
Theory of Dry Friction
P is slowly increased; F correspondingly increases until it attains a certain
maximum value Fs, called the limiting static frictional force,
μs: the coefficient of static friction .
Lecture: Dr. Raad Jamal & Huda Abdallah Electrical Engineering Department Page 82
Impending Motion.
In cases where the surfaces of contact are rather “slippery,” the frictional force F
may not be great enough to balance P , and consequently the block will tend to
slip. In other words, as P is slowly increased, F correspondingly increases until it
attains a certain maximum value Fs, called the limiting static frictional force,
When the block is on the verge of sliding, the normal force N and frictional force
Fs combine to create a resultant Rs, The angle ϕs that Rs makes with N is called
the angle of static friction.
Motion: If the magnitude of P acting on the block is increased so that it becomes

slightly greater than Fs, the frictional force at the contacting surface will drop to a
smaller value Fk, called the kinetic frictional force. μk, is called the coefficient of
kinetic friction
.
This angle is referred to as the angle of kinetic friction ϕk
The frictional force is categorized in three different ways:

 F is a static frictional force if equilibrium is maintained.
 F is a limiting static frictional force Fs when it reaches a maximum value
needed to maintain equilibrium.
 F is a kinetic frictional force Fk when sliding occurs at the contacting
surface.
 When slipping at the surface of contact is about to occur, the maximum
static frictional force is proportional to the normal force, such that Fs = μsN.
 When slipping at the surface of contact is occurring, the kinetic frictional
force is proportional to the normal force, such that Fk = μkN.
Example -1: The uniform crate has a mass of 20 kg. If a force P = 80 N is

applied to the crate, determine if it remains in equilibrium. The coefficient of static
friction is μs = 0.3.
Example -2: It is observed that when the bed of the dump truck is raised to an
angle of ϴ = 25ο the vending machines will begin to slide off the bed. Determine
the static coefficient of friction between a vending machine and the surface of the
truckbed.
Example -3: The uniform 10-kg ladder a rests against the smooth wall at B, and
the end A rests on the rough horizontal plane for which the coefficient of static
friction is μs = 0.3. Determine the angle of inclination Ꝋ of the ladder and the
normal reaction at B if the ladder is on the verge of slipping.
Problems
1. If P = 200 N , determine the friction developed
between the 50-kg crate and the ground. The
coefficient of static friction between the crate and
the ground is µs = 0.3.
2. If the coefficient of static friction at contact

points A and B is µs = 0.3, determine the
maximum force P that can be applied without
causing the 100-kg spool to move.
3. If the coefficient of static friction at all contacting

surfaces is µs , determine the inclination Ꝋ at which
the identical blocks, each of weight W , begin to slide.
.
4. The mine car and its contents have a total mass of 6

Mg and a center of gravity at G . If the coefficient of
static friction between the wheels and the tracks is µs =
0.4 when the wheels are locked, find the normal force
acting on the front wheels at B and the rear wheels at A
when the brakes. at both A and B are locked. Does the
car move?
5. Determine the maximum force P the connection

can support so that no slipping occurs between the
plates. There are four bolts used for the connection
and each is tightened so that it is subjected to a
tension of 4 kN. The coefficient of static friction
between the plates is µs = 0.4.
6. The ladder has a uniform weight of 80 lb and

rests against the smooth wall at B. If the coefficient
of static friction at A is µs = 0.4, determine if the
ladder will slip. Take Ꝋ = 60.
7. The block brake is used to stop the wheel from

rotating when the wheel is subjected to a couple
moment M0. If the coefficient of static friction
between the wheel and the block is µs, determine
the smallest force P that should be applied.
8. The uniform dresser has a weight of 90 lb and

rests on a tile floor for which µs = 0.25. If the man
pushes on it in the direction Ꝋ = 30_, determine
the smallest magnitude of force F needed to move
the dresser. Also, if the man has a weight of 150 lb,
determine the smallest coefficient of
static friction between his shoes and the floor so
that he
does not slip.
Engineering Mechanics Static Center of Gravity and Centroid Chapter Seven
Chapter Seven
Center of Gravity and Centroid
CHAPTER OBJECTIVES
■ To discuss the concept of the center of gravity, center of mass,
and the centroid.
■ To show how to determine the location of the center of gravity
and centroid for a system of discrete particles and a body of
arbitrary shape.
1-Center of Gravity, Center of Mass, and the Centroid of a Body
Center of Gravity: A body is composed of an infinite number of particles of

differential size, and so if the body is located within a gravitational field, then
each of these particles will have a weight dW.
the total weight of the body, which passes through a single point called the center
of gravity.
Center of Mass of a Body: In order to study the dynamic response or

accelerated motion of a body, it becomes important to locate the body’s center of
mass Cm
Centroid of a Volume. If the body in Fig. 9–3 is made from a homogeneous

material, then its density Ꝭ (rho) will be constant. Therefore, a differential element
of volume dV has a mass dm = Ꝭ dV.
Centroid of an Area
These integrals can be evaluated by performing a single integration if we use a

rectangular strip for the differential area element. For example, if a vertical strip is used,
Fig. 9–5 b , the area of the element is dA = y dx , and its centroid is located at x--- = x and
y-- = y/2 . If we consider a horizontal strip, Fig. 9–5 c , then dA = x dy , and its centroid is
located at x-- = x/2 and y- = y .
Centroid of a Line
Example-1: Locate the centroid of the rod bent into the shape of a parabolic arc as
shown
Example-2: Determine the distance y measured from the x axis to the centroid of
the area of the triangle shown
Example-3: Locate the centroid of the area shown
Problems
1. Determine the centroid (x, y) of the shaded area
2- Composite Bodies
A composite body consists of a series of connected “simpler” shaped bodies,

which may be rectangular, triangular, semicircular, etc. Such a body can often be
sectioned or divided into its composite parts and, provided the weight and
location of the center of gravity of each of these parts.
the first moment of the area A with respect to the y axis and is denoted by Qy
the first moment of A with respect to the x axis and is denoted by Qx.
Example -1: Locate the centroid of the plate area shown
Example-2: For the plane area shown, determine (a) the first moments with
respect to the x and y axes, (b) the location of the centroid.
Example -2: The figure shown is made from a piece of thin, homogeneous wire.
Determine the location of its center of gravity.
Problems
1- Locate the centroid of the plane area shown.
Engineering Mechanics Dynamic Chapter One Kinematics of Particles
Chapter One
Kinematics of Particles
1- Dynamics includes:
1. Kinematics: which is the study of the geometry of motion? Kinematics is used
to relate displacement, velocity, acceleration, and time, without reference to the
cause of the motion.
2. Kinetics: which is the study of the relation existing between the forces acting
on a body, the mass of the body, and the motion of the body? Kinetics is used to
predict the motion caused by given forces or to determine the forces required to
produce a given motion.
RECTILINEAR MOTION OF PARTICLESRECTILINEAR MOTION OF
PARTICL
2. Rectilinear Motion of Particles
POSITION, VELOCITY, AND ACCELERATION
The velocity v is represented by an algebraic number which can be Positive or

negative
.Note: A positive value of v indicates that x increases, i.e., that the particle
moves in the positive direction (Fig. 11.3a); a negative value of v indicates
that x decreases, i.e., that the particle moves in the negative direction (Fig.
11.3b).
The acceleration a is represented by an algebraic number which can be positive

or negative.
Note: A positive value of a indicates that the velocity (i.e., the algebraic number
v) increases. This may mean that the particle is moving faster in the positive
direction (Fig. 11.5a) A negative value of a indicates that the velocity decreases;
either the particle is moving more slowly in the positive direction (Fig. 11.5c)
3- Uniform Rectilinear Motion
Uniform rectilinear motion is a type of straight-line motion which is frequently

encountered in practical applications. In this motion, the acceleration a of the
particle is zero for every value of t. The velocity v is therefore constant.
4- Uniformly Acceleration Rectilinear Motion
Uniformly accelerated rectilinear motion is another common type of motion. In

this motion, the acceleration a of the particle is constant
3- Motion of Several Particles
Relative Motion of Two Particles: Consider two particles A and B moving along
the same straight line. If the position coordinates XA and XB are measured from
the same origin, the difference ( XA - XB )defines the relative position coordinate
of B with respect to A and is denoted by XB/A. We write
The rate of change of XB/A is known as the relative velocity of B with respect to A
and is denoted by VB/A.
The rate of change of VB/A is known as the relative acceleration of B with respect
to A and is denoted by aB/A
Dependent Motions
Sometimes, the position of a particle will depend upon the position of another
particle or of several other particles. The motions are then said to be dependent.
Example -1: A ball is thrown vertically upward from the 12-m level in an elevator
shaft with an initial velocity of 18 m/s. At the same instant an open-platform
elevator passes the 5-m level, moving upward with a constant velocity of 2 m/s.
Determine (a) when and where the ball will hit the elevator, (b) the relative
velocity of the ball with respect to the elevator when the ball hits the elevator.
Example -2: A stone is thrown vertically upward from a point on a bridge located
40 m above the water. Knowing that it strikes the water 4 s after release,
determine (a) the speed with which the stone was thrown upward, (b) the speed
with which the stone strikes the water.
Example -3: A motorist enters a freeway at 30 mi/h and accelerates uniformly to

60 mi/h. From the odometer in the car, the motorist knows that she traveled 550
ft while accelerating. Determine (a) the acceleration of the car, (b) the time
required to reach 60 mi/h.
Example -4: A sprinter in a 100-m race accelerates uniformly for the first 35 m
and then runs with constant velocity. If the sprinter’s time for the first 35 m is 5.4
s, determine (a) his acceleration, (b) his final velocity, (c) his time for the race.
Problems
Q1: As relay runner A enters the 20-m-long

exchange zone with a speed of 12.9 m/s, he
begins to slow down. He hands the baton to
runner B 1.82 s later as they leave the exchange
zone with the same velocity. Determine (a) the
uniform acceleration of each of the runners, (b)
when runner B should begin to run.
Q2: Automobiles A and B are traveling in

adjacent highway lanes and at t 5 0 have the
positions and speeds shown. Knowing that
automobile A has a constant acceleration of 1.8
ft/s2 and that B has a constant deceleration of
1.2 ft/s2, determine (a) when and where A will
overtake B, (b) the speed of each automobile at
that time.
Q3: Two rockets are launched at a fireworks display.
Rocket A is launched with an initial velocity v0 5 100
m/s and rocket B is launched t1 s later with the same
initial velocity. The two rockets are timed to explode
simultaneously at a height of 300 m as A is falling
and B is rising. Assuming a constant acceleration g 5
9.81 m/s2, determine (a) the time t1, (b) the velocity
of B relative to
A at the time of the explosion.
Curvilinear Motion of Partials
Position Vector, Velocity, Acceleration
When a particle moves along a curve other than a straight line,

we say that the particle is in curvilinear motion
The instantaneous velocity
The vector v obtained in the limit must therefore be tangent

to the path of the particle (Fig. 11.14c).
The instantaneous acceleration
The curve described by the tip of v and shown in Fig. 11.15c is called the
hodograph of the motion
Rectangular Components of Velocity and Acceleration
In the case of the motion of a projectile
In the Horizontal Motion
In the Vertical Motion
Vy2=Vyo2-2g(y-yo)
If the projectile is fired in the xy plane from the origin O, we have x0 = y0 = z0 = 0

and (vz)0 = 0, and the equations of motion reduce to
Example-1: A projectile is fired from the edge of a 150-m cliff with an initial
velocity of 180 m/s at an angle of 30° with the horizontal. Neglecting air
resistance, find (a) the horizontal distance from the gun to the point where the
projectile strikes the ground, (b) the greatest elevation above the ground reached
by the projectile.
Example-2: A projectile is fired with an initial velocity of 800 ft/s at a target B

located 2000 ft above the gun A and at a horizontal distance of 12,000 ft.
Neglecting air resistance, determine the value of the firing angle α.
Example-3: An airplane used to drop water on brushfires is flying horizontally in

a straight line at 180 mi/h at an altitude of 300 ft. Determine the distance d at
which the pilot should release the water so that it will hit the fire at B.
Example-4: In slow pitch softball the underhand pitch must reach a maximum
height of between 1.8 m and 3.7 m above the ground. A pitch is made with an
initial velocity of magnitude 13 m/s at an angle of 33 with the horizontal.
Determine (a) if the pitch meets the maximum height requirement, (b) the height
of the ball as it reaches the batter
Problems
Q1: A homeowner uses a snow blower to

clear his driveway. Knowing that the snow
is discharged at an average angle of 40°
with the horizontal, determine the initial
velocity v0 of the snow.
Q2: An airplane used to drop water on

brushfires is flying horizontally in a straight line
at 180 mi/h at an altitude of 300 ft. Determine
the distance d at which the pilot should release
the water so that it will hit the fire at B.
Q3: A baseball-pitching machine “throws” baseballs with a horizontal velocity v0.

Knowing that height h varies between 788 mm and 1068 mm, determine (a) the
range of values of v0, (b) the values of a corresponding to h 5 788 mm and h 5
1068 mm.
Q4: Water flows from a drain spout with an initial

velocity of 2.5 ft/s at an angle of 15° with the
horizontal. Determine the range of values of the
distance d for which the water will enter the trough
BC.
Q5: A golfer hits a golf ball with an initial velocity of 160 ft/s at an angle of 25° with
the horizontal. Knowing that the fairway slopes downward at an average angle of
5°, determine the distance d between the golfer and point B where the ball first
lands.
Q6: A basketball player shoots when she is 16

ft from the backboard. Knowing that the ball
has an initial velocity v0 at an angle of 30° with
the horizontal, determine the value of v0 when
d is equal to (a) 9 in., (b) 17 in.
Engineering Mechanics Dynamic Chapter Two Kinetics of Particles
Kinetics of Particles
Newton’s Second Law
1- Newton second law Motion
If the resultant force acting on a particle is not zero, the particle will have
acceleration proportional to the magnitude of the resultant and in the direction of
this resultant force
where F represents the sum, or resultant, of all the forces acting on

the particle.
2 -System of Units
A-International System of Units (SI Units)
B- U.S. Customary Units
C- Conversion from One System of Units to Another
3- Equation of motion
A- Rectangular Components
Resolving each force F and the acceleration a into rectangular components,

we write
B-Tangential and Normal Components
Resolving the forces and the acceleration of the particle into components along
the tangent to the path (in the direction of motion) and the normal (toward the
inside of
Example -1: A 200-lb block rests on a horizontal plane. Find the magnitude of
the force P required to give the block an acceleration of 10 ft/s2 to the right. The
coefficient of kinetic friction between the block and the plane is μk = 0.25.
Example -2: The two blocks shown start from rest. The horizontal plane and the
pulley are frictionless, and the pulley is assumed to be of negligible mass.
Determine the acceleration of each block and the tension in each cord.
Example -3: The bob of a 2-m pendulum describes an arc of circle in a vertical
plane. If the tension in the cord is 2.5 times the weight of the bob for the position
shown, find the velocity and the acceleration of the bob in that position
Problems
Q1: In the braking test of a sports car its velocity is reduced from 70 mi/h to
zero in a distance of 170 ft with slipping impending. Knowing that the
coefficient of kinetic friction is 80 percent of the coefficient of static friction,
determine (a) the coefficient of static friction, (b) the stopping distance for the
same initial velocity if the car skids. Ignore air resistance and rolling
resistance.
Q 2: A 20-kg package is at rest on an incline when a

force P is applied to it. Determine the magnitude of P if
10 s is required for the package to travel 5 m up the
incline. The kinetic coefficients of friction between the
package and the incline are both equal to 0.3.
Q 3: A light train made up of two cars is traveling at 55 mi/h when the brakes are
applied to both cars. Knowing that car A has a weight of 55,000 lb and car B has
a weight of 44,000 lb and that the braking force is 7000 lb on each car, determine
(a) the distance traveled by the train before it comes to a stop, (b) the force in the
coupling between the cars while the train is slowing down.
Q 3: A light train made up of two cars is traveling at 55 mi/h when the brakes are
applied to both cars. Knowing that car A has a weight of 55,000 lb and car B has
a weight of 44,000 lb and that the braking force is 7000 lb on each car, determine
(a) the distance traveled by the train before it comes to a stop, (b) the force in the
coupling between the cars while the train is slowing down.
Q 4: The system shown is initially at rest. Neglecting

the masses of the pulleys and the effect of friction in
the pulleys, determine (a) the acceleration of each
block, (b) the tension in each cable.
Q 5: Each of the systems shown is initially at rest. Neglecting axle friction and
the masses of the pulleys, determine for each system (a) the acceleration of
block A, (b) the velocity of block A after it has moved through 10 ft, (c) the time
required for block A to reach a velocity of 20 ft/s.
Q 6: The two blocks shown are originally at rest.

Neglecting the masses of the pulleys and the
effect of friction in the pulleys and between block
A and the incline, determine (a) the acceleration
of each block, (b) the tension in the cable.
Q 7: During a hammer thrower’s practice swings,

the 7.1-kg head A of the hammer revolves at a
constant speed v in a horizontal circle as shown.
If r = 0.93 m and u = 60°, determine (a) the
tension in wire BC, (b) the speed of the hammer’s
head
Q 8: The coefficients of friction between the load

and the flat-bed trailer shown are μ= 0.30.
Knowing that the speed of the rig is 72 km/h,
determine the shortest distance in which the rig
can be brought to a stop if the load is not to shift.
Engineering Mechanics Dynamic Chapter Three Energy and Momentum Methods
Chapter Three
Energy and Momentum Methods
1-WORK OF A FORCE
The work of the force F corresponding to the

displacement dr is defined as the quantity
dU =F . dr
In U.S. customary units are used, work should be expressed in ft. lb or in .

lb.
In SI units are used, work should be expressed in N . m. The unit of work N .
m is called a joule (J)
The work of F during a finite displacement of the particle from A1 to A2 (Fig. )

is obtained by integrating Eq. (13.1) along the path described by the particle.
This work, denoted by U1-2, is
When the force F is defined by its rectangular components, the expression

(13.1) can be used for the elementary work. We then write
* Work of a Constant Force in Rectilinear Motion. When a force F of

constant magnitude and of constant direction (Fig.) acts upon a particle
moving in a straight line, formula (13.2) yields
where a α angle the force forms with direction of motion

x = displacement from A1 to A2
* Work of the Force of Gravity.
The work of the weight W of a body, i.e., of the force of gravity exerted on
that body, is obtained by substituting the components of W into (13.1) and
(13.2). With the y axis chosen upward (Fig. 13.4), we have Fx = 0, Fy =-W,
and Fz = 0, and we write
Where y is the vertical displacement from A1 to A2. The work of the weight W
is thus equal to the product of W and the vertical displacement of the center
of gravity of the body. The work is positive when y , 0, that is, when the body
moves down.
* Work of the Force Exerted by a Spring. Consider a body A attached to a

fixed point B by a spring; it is assumed that the spring is undeformed when
the body is at A0 (Fig.). Experimental evidence shows that the magnitude of
the force F exerted by the spring on body A is proportional to the deflection x
of the spring measured from the position A0. We have
F = kx
where k is the spring constant, expressed in N/m or kN/m if SI units are used and
in lb/ft or lb/in. if U.S. customary units are used.
2- PRINCIPLE OF WORK AND ENERGY
which expresses that, when a particle moves from A1 to A2 under the action
of a force F, the work of the force F is equal to the change in kinetic energy of
the particle. This is known as the principle of work and energy.
Example-1: An automobile weighing 4000 lb is driven down a 5° incline at a

speed of 60 mi/h when the brakes are applied, causing a constant total braking
force (applied by the road on the tires) of 1500 lb. Determine the distance
traveled by the automobile as it comes to a stop.
Example-2: A spring is used to stop a 60-kg package which is sliding on a

horizontal surface. The spring has a constant k = 20 kN/m and is held by cables
so that it is initially compressed 120 mm. Knowing that the package has a
velocity of 2.5 m/s in the position shown and that the maximum additional
deflection of the spring is 40 mm, determine (a) the coefficient of kinetic friction
between the package and the surface, (b) the velocity of the package as it
passes again through the position shown
Example-3: A 2000-lb car starts from rest at point 1 and moves without friction
down the track shown. (a) Determine the force exerted by the track on the car at
point 2, where the radius of curvature of the track is 20 ft. (b) determine the
minimum safe value of the radius of curvature at point 3.
Problems
Q1: A 90-lb package is at rest on an incline when a constant

force P is applied to it. The coefficient of kinetic friction
between the package and the incline is 0.35. Knowing that
the speed of the package is 2 ft/s after it has moved 3 ft up
the incline, determine the magnitude of the force P.
Q2: A package is projected up a 15° incline at A

with an initial velocity of 8 m/s. Knowing that the
coefficient of kinetic friction between the package
and the incline is 0.12, determine (a) the maximum
distance d that the package will move up the
incline, (b) the velocity of the package as it returns
to its original position.
Q3: A 7.5-lb collar is released from rest in the position

shown, slides down the inclined rod, and compresses the
spring. The direction of motion is reversed and the collar
slides up the rod. Knowing that the maximum deflection of
the spring is 5 in., determine (a) the coefficient of kinetic
friction between the collar and the rod, (b) the maximum
speed of the collar.
Q4: Boxes are transported by a conveyor belt with a velocity v0 to a fixed incline at
A where they slide and eventually fall off at B. Knowing that mk 5 0.40, determine
the velocity of the conveyor belt if the boxes leave the incline at B with a velocity of
8 ft/s.
Q5: The system shown is at rest when a constant 250-N

force is applied to block A. Neglecting the masses of the
pulleys and the effect of friction in the pulleys and
between block A and the horizontal surface, determine (a)
the velocity of block B after block A has moved 2 m, (b)
the tension in the cable.
Q6: An 8-lb collar C slides on a horizontal rod between springs A and B. If the
collar is pushed to the right until spring B is compressed 2 in. and released,
determine the distance through which the collar will travel assuming (a) no
friction between the collar and the rod, (b) a coefficient of friction µk = 0.35.

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Chapter One General Principles

Chapter Two Force Vectors

2.1 Scalars and Vectors

3.1 Condition for the Equilibrium of a Particle

Chapter Four Force System Resultants

4.1 Moment of a Force—Scalar Formulation

Chapter Five Equilibrium of a Rigid Body

5.1 Conditions for Rigid-Body Equilibrium

Chapter Six Friction

6.1 Characteristics of Dry Friction

Chapter Seven Center of Gravity and Centroid

Chapter Two “Kinetics of Particles”

- Newton’s Second Law of Motion

Chapter Three “Kinetics of Particles: Energy and Momentum Methods”

Lecture: Dr. Raad Jamal Jassim Electrical Engineering Department Page 1

Mass: is a measure of a quantity of matter that is used to compare the action of

Rigid body: can be considered as a combination of a large number of particles in

3- Newton’s Three Laws of Motion

Second Law: A particle acted upon by an unbalanced force F experiences an

Lecture: Dr. Raad Jamal Jassim Electrical Engineering Department Page 2

U.S. Customary: Customary system of units

Lecture: Dr. Raad Jamal Jassim Electrical Engineering Department Page 3

Lecture: Dr. Raad Jamal Jassim Electrical Engineering Department Page 4

1-Scalars and Vectors

2-Vector Addition of Forces

Finding the Components of a Force. Sometimes it is necessary to resolve a

1- Determine the magnitude of the resultant force acting

2- Two forces act on the hook. Determine the magnitude

3- Determine the magnitude of the resultant force and

4- Resolve the 30-lb force into components along the u

5- If φ = 60ο and F = 450 N, determine the magnitude of

6- Resolve the force F1 into components acting along

7- Resolve F2 into components along the u and v axes

8- Determine the angle ϴ for connecting member A to

9- Determine the design angle f (0 ≤ꝋ≤90)

10- Two forces act on the screw eye. If F1 = 400 N

3- Addition of a System of Coplanar Forces

** Here the y component is a negative scalar since Fy is directed along the

Cartesian Vector Notation. It is also possible to represent the x and y

Coplanar Force Resultants

Example-1: Determine the x and y components of F1 and F2 acting on the boom

Example-2: The link is subjected to two forces F1 and F2 Determine the

Example-3: The end of the boom O is subjected to three concurrent and

2-If the resultant force acting on the bracket is to be

3- Determine the magnitude of the resultant force

4- If the magnitude of the resultant force acting on the

5- Determine the magnitude of the resultant force

6- Determine the magnitude and orientation, measured

7- If the resultant force acting on the bracket is to

1. Condition for the Equilibrium of a Particle

2- The Free-Body Diagram

Cables and Pulleys

Two straps A and B.

3- Coplanar Force Systems

Example -2: Determine the tension in cables BA and BC necessary to support

1- The crate has a weight of 550 lb. Determine the

2- The block has a mass of 5 kg and rests on the

3- If the mass of cylinder C is 40 kg, determine the

4- The lift sling is used to hoist a container having a

5- The device shown is used to straighten the

7- Determine the maximum weight of the flowerpot that

8- If blocks D and F weigh 5 lb each, determine