CESTAT30

STATICS OF
RIGID BODIES
(1st Term – AY: 2023 – 2024 )
MODULE 1: INTENDED LEARNING OUTCOMES (ILOs)
At the end of the topic, the students are expected to:

• Understand the fundamental concepts / general principles of statics

• Know on how to add forces and resolve them into components using the
Parallelogram Law and Triangle Law
• Express force and position in Cartesian vector form and explain how to determine
the vector’s magnitude and direction.
• Understand dot product in order to determine the angle between two vectors or the
projection of one vector onto another.
MODULE 1: PRINCIPLES & FUNDAMENTALS OF
STATICS; FORCE VECTORS

1.1 Introduction and General Principles

Force Vectors – Vector Operations and Vector Addition of

1.2
Forces

Force Vectors – Addition of a System of Coplanar Forces and

1.3
Cartesian Vectors

1.4 Force Vectors – Position Vectors and Dot Product

1.1 INTRODUCTION Dynamics
Engineering Mechanics
Statics
o It is a branch of mechanics that deals with a study of
forces in relation to problems with engineering
applications.
In general, this subject is subdivided into three
branches:
Statics o deals with the equilibrium
of bodies, that is, those
Rigid-body Mechanics that either at rest or move
with constant velocity.

Deformable Mechanics
Dynamics o is concerned with the
accelerated motion of
Fluid Mechanics bodies.
1.1 INTRODUCTION
Simon Stevinus

• Flemish Mathematician and engineer

• First to demonstrate resolution of forces, thereby
establishing the foundation of modern statics

Source: https://en.wikipedia.org/wiki/Simon_Stevin#/media/File:Simon-stevin.jpeg
Archimedes
• his writings deals with the principle of lever; studies of
the pulley, inclined plane, and wrench are also recorded
in ancient writings – at times when the requirements of
engineering were limited primarily to building
construction.

Source: https://cdn.britannica.com/58/187758-050-
09C50136/Archimedes-canvas-Giuseppe-Noga ri-Push kin-Fine-
Arts.jpg
1.1 INTRODUCTION
Fundamental Concepts

The following four quantities are used throughout mechanics:

01 Length o is needed to locate the position of a point in space and thereby

describe the size of the physical system.

02 Time o is conceived as a succession of events.

03 Mass o is a property of matter by which we can compare the action of

one body with that of another.

04 Force o in general, it is considered as a push or pull exerted by one body

on another.
1.1 INTRODUCTION
Units and Dimensions Conversion of Units:

Units o The standard of measurement o Force → 1 lb = 4.4482 N

o Mass → 1 slug = 14.5938 kg
Dimension o Refers to the type of o Length → 1 ft = 0.3048 m
measurement, regardless of
the units used
1.1 INTRODUCTION
Units and Dimensions Conversion of Units:

Units o The standard of measurement o Force → 1 lb = 4.4482 N

o Mass → 1 slug = 14.5938 kg
Dimension o Refers to the type of o Length → 1 ft = 0.3048 m
measurement, regardless of
the units used
1.1 INTRODUCTION
Example 1.1.1
• A person weighs 150N on the moon, where g = 1.64m/s^2.
Determine:
(a) the mass of the person
(b) the weight of the person on earth.

Solution
a. First, let us solve for the mass of the man on the moon. Let us use the formula for weight force
and substitute the given information, we have:
1.1 INTRODUCTION
Example 1.1.1
• A person weighs 150N on the moon, where g = 1.64m/s^2.
Determine:
(a) the mass of the person
(b) the weight of the person on earth.

Solution
b. Now, let us solve his weight on Earth. Let us use the same mass and the pull of gravity on earth,
9.8 m/s² to solve for the weight, we have:

Therefore, the mass of the person on the moon is 91.46 kg and his
weight on earth is 896.34 N
1.1 INTRODUCTION
Example 1.1.2
• A rocket has a mass of 250 (103 ) slugs on earth. Specify
(a) its mass in SI units and
(b) its weight in SI units. If the rocket is on the moon, where the acceleration due to gravity is 5.30
ft/𝑠 2 , determine to three significant figures (c) its weight in SI units and (d) its mass in SI units

Solution

a. Mass in SI unit b. Weight in SI unit

Therefore, the mass of the rocket on earth is 3.65 Gg and its weight
on earth is 35.8 MN
1.1 INTRODUCTION
Example 1.1.2
• A rocket has a mass of 250 (103 ) slugs on earth. Specify
(a) its mass in SI units and
(b) its weight in SI units. If the rocket is on the moon, where the acceleration due to gravity is 5.30
ft/s^2, determine to three significant figures (c) its weight in SI units and (d) its mass in SI units

Solution

c. Weight in SI unit (moon) d. Mass in SI unit (moon)

Therefore, the weight of the rocket on the

moon is 5.89 MN and its mass on the
moon is 3.65 Gg
1.1 INTRODUCTION
Idealization

o It is used in mechanics in order to simplify application of the theory

There are mainly four assumptions made:

01 Particle o has a mass, but a size that can be neglected

Earth

o To study motion of earth

Sun around the sun in celestial
space, earth is treated as a
particle
1.1 INTRODUCTION
Idealization

o It is used in mechanics in order to simplify application of the theory

There are mainly four assumptions made:

02 Rigid Body o 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.
𝐹2
b b o The object considered is a
particle 𝐹1 particle
rigid body because there are
no changes in the dimensions
a a of the object and distance
d

d
𝐹3 between particles.
Before applying After applying
the loads the loads
𝐹4 ✓ In reality, No object / body is
perfectly rigid.
1.1 INTRODUCTION
Idealization

o It is used in mechanics in order to simplify application of the theory

There are mainly four assumptions made:

03 Concentrated Force o represents the effect of a loading which is assumed at a point on

a body

Point
Load Point
Load
Point Source: Google Images
Load Source: Google Images
1.1 INTRODUCTION
Idealization

o It is used in mechanics in order to simplify application of the theory

There are mainly four assumptions made:

04 Continuum o The body is assumed to consist of a continuous distribution of

matter which will not separate even when various forces are
acting simultaneously

o It is assumed that the body

does not have any voids or
empty spaces

Source: Google Images

1.1 INTRODUCTION
Idealization

o It is used in mechanics in order to simplify application of the theory

There are mainly four assumptions made:

01 Particle o has a mass, but a size that can be neglected

02 Rigid Body o 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.
03 Concentrated Force o represents the effect of a loading which is assumed at a point on
a body

04 Continuum o The body is assumed to consist of a continuous distribution of

matter which will not separate even when various forces are
acting simultaneously
1.1 INTRODUCTION
Problem Formulation and the Accuracy of Solutions:

o “Engineering Approach” to Problem Analysis:

Given 01 o After carefully reading the problem

statement, list all the data provided. If a
figure is required, sketch it neatly and
approximately to scale.

Find 02 o State precisely the information that is

to be determined.

o Solve the problem, showing all the steps

Solution 03
that you used in the analysis. Work
neatly so that your work can be easily
followed by others.
Validate 04 o Many times, an invalid solution can be
uncovered by simply asking yourself,
“Does the answer make sense?”
1.1 INTRODUCTION
Newton’s Three Laws of Motion:

o The entire subject of rigid-body mechanics is formulated on the basis of Newton’s three laws of
motion, the validity of which is based on experimental observation.
01 First Law:

o A particle originally at rest,

or moving on a straight line
with constant velocity, will
remain in this state provided
the particle is not subjected
to an unbalanced force. Unbalanced force

If σ 𝑭 = 𝟎, then V = 0
1.1 INTRODUCTION
Newton’s Three Laws of Motion:

o The entire subject of rigid-body mechanics is formulated on the basis of Newton’s three laws of
motion, the validity of which is based on experimental observation.
02 Second Law:

o A particle acted upon by an

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

F=m.a Source: https://brainly.in/question/4063384

1.1 INTRODUCTION
Newton’s Three Laws of Motion:

o The entire subject of rigid-body mechanics is formulated on the basis of Newton’s three laws of
motion, the validity of which is based on experimental observation.
03 Third Law:

o The mutual forces of action

and reaction between two
particles are equal, opposite,
and collinear.

Source: Google Images

FAB = - FBA
1.1 INTRODUCTION
What is Force?

o Defines as that of which changes, or tends to change the state of motion of a body

Force System

o it is any arrangement where two or more forces act on a body or on a group of related bodies

Characteristics of a Force:

01 Magnitude

02 Direction

03 Line of Action
1.1 INTRODUCTION
Force System
Coplanar

Force System

Non-Coplanar
1.1 INTRODUCTION y

𝐹2
Coplanar Force System
𝐹3
o When the lines of action of all the forces 𝐹1
x
in a force systems lie in one plane.
z
1.1 INTRODUCTION y

𝐹2
Coplanar Force System
𝐹3
o When the lines of action of all the forces 𝐹1
x
in a force systems lie in one plane.
z

Non-Coplanar Force System y

𝑏 𝑐
o When the lines of action of all the forces 𝐹2
in a force systems do not lie in one plane. 𝑎 𝑑
𝐹1
𝑔
x

𝑒 𝑓 𝐹3
z
1.1 INTRODUCTION
Collinear
Force System
Coplanar Parallel

Concurrent

Force System
Non-Concurrent

Parallel
Non-Coplanar

Concurrent

Non-Concurrent
1.1 INTRODUCTION
𝐹3
Collinear Force System
𝐹2

o When the lines of action of all the forces 𝐹1

of a system act along the same line

Parallel Forces

o Forces that have a lines of action are

𝐹2
parallel 𝐹1 𝐹3
1.1 INTRODUCTION
Concurrent Force System 𝐹2

o The forces when extended pass through a 𝐹1

single point and the point is called point 𝐹3
of concurrency.
o The lines of actions of all forces meet at
the point of concurrency. Concurrent
forces may or may not be coplanar.

Non-Concurrent Force System

𝐹3
o When the forces of a system do not meet
at a common point of concurrency. 𝐹1
𝐹4
o Parallel forces are the example of this
type of force system.
o Non-concurrent forces may be coplanar 𝐹2
or non-coplanar.
MODULE 1: PRINCIPLES & FUNDAMENTALS OF
STATICS; FORCE VECTORS

1.1 Introduction and General Principles

Force Vectors – Vector Operations and Vector Addition of

1.2
Forces

Force Vectors – Addition of a System of Coplanar Forces and

1.3
Cartesian Vectors

1.4 Force Vectors – Position Vectors and Dot Product

1.2 FORCE VECTORS 𝐿𝑖𝑛𝑒 𝑜𝑓 𝑎𝑐𝑡𝑖𝑜𝑛

Fundamental Properties of Vectors 𝐻𝑒𝑎𝑑

Two Physical Quantities: 𝑃

𝑨 𝒐𝒓 𝑨
a) Scalar 𝑇𝑎𝑖𝑙
• any positive or negative physical 
quantity that can be completely specified 𝑂
by its magnitude. (length, mass,
Temperature, speed and time)
o The length of the arrow represents the
magnitude of the vector, and the angle
b) Vector
between the vector and a fixed axis defines
• any physical quantity that requires both
the direction of its line of action.
a magnitude and a direction for its
o The head or tip of the arrow indicates the
complete description. (Force, velocity,
sense of direction of the vector as shown in
displacement, position, and moment).
the figure.
• A vector is shown graphically by an
arrow.
1.2 FORCE VECTORS 𝐿𝑖𝑛𝑒 𝑜𝑓 𝑎𝑐𝑡𝑖𝑜𝑛

Fundamental Properties of Vectors 𝐻𝑒𝑎𝑑

Conventions: 𝑃
𝑨 𝒐𝒓 𝑨
a) Scalars are written as italicized English or 𝑇𝑎𝑖𝑙
Greek letters – for example, ― "t" for time 
and “” for angle. 𝑂

b) Vectors are written as boldface letters – for

example F for force

c) The magnitude of a vector A is denoted as

|A| or simple A (italic)
1.2 FORCE VECTORS 𝐿𝑖𝑛𝑒 𝑜𝑓 𝑎𝑐𝑡𝑖𝑜𝑛

Fundamental Properties of Vectors 𝐻𝑒𝑎𝑑

Equality of Vectors: 𝑃
𝑨 𝒐𝒓 𝑨
Two vectors A and B are said to be equal, 𝑇𝑎𝑖𝑙
written A = B if: 
𝑂
a) Their magnitudes are equal – that is, A = B

b) They have the same direction

1.2 FORCE VECTORS
Vector Operations
Scalar-Vector Multiplication

The multiplication of a scalar m and a vector A,

written as mA or as Am, is defined as follows:
𝑨
𝟐𝑨
1. If m is positive, mA is the vector of
magnitude mA has the same direction as A. 𝑖𝑓 𝑚 = 2

2. If m is negative, mA is the vector of

𝑨
magnitude |m|A that is oppositely directed -𝑨 -0.5𝑨
to A.
𝑖𝑓 𝑚 = −1
𝑖𝑓 𝑚 = −0.5
3. If m = 0, m A (called the null or zero vector)
is a vector of zero magnitude and arbitrary
direction.
1.2 FORCE VECTORS
Parallelogram Law of Vector addition
• The parallelogram law states that the resultant of two forces is the diagonal of the
parallelogram formed on the vectors of these forces.

𝑨
𝑨

𝑩 𝑂 𝑩

(𝒂) (𝒃)
1.2 FORCE VECTORS
Parallelogram Law of Vector addition
• The parallelogram law states that the resultant of two forces is the diagonal of the
parallelogram formed on the vectors of these forces.

𝑏
𝑐
𝑨
𝑨

𝑩 𝑂 𝑩 𝑎

(𝒂) (𝒃)
1.2 FORCE VECTORS
Parallelogram Law of Vector addition
• The parallelogram law states that the resultant of two forces is the diagonal of the
parallelogram formed on the vectors of these forces.

𝑏 𝑏
𝑐 𝑐
𝑨
𝑨 𝑨 𝑹

𝑩 𝑂 𝑩 𝑎 𝑂 𝑩 𝑎
𝑹=𝐀+𝐁
𝒄
(𝒂) (𝒃)
Parallelogram Law
1.2 FORCE VECTORS
Triangle Law of Vector Addition
• Vector B is added to vector A in “head-to-tail” fashion, by connecting the head of A to the of B.
The resultant R extends from the tail of A to the head of B.

𝑩
𝑨
𝑨

(𝒂)
1.2 FORCE VECTORS
Triangle Law of Vector Addition
• Vector B is added to vector A in “head-to-tail” fashion, by connecting the head of A to the of B.
The resultant R extends from the tail of A to the head of B.

𝑩
𝑨
𝑨
𝑹

𝑩
𝑹= 𝐀+𝐁
(𝒂) 𝒃
Triangle Rule
1.2 FORCE VECTORS
Triangle Law of Vector Addition
• Vector B is added to vector A in “head-to-tail” fashion, by connecting the head of A to the of B.
The resultant R extends from the tail of A to the head of B.
𝑹=𝐀+𝐁=𝐁+𝐀
𝑩
𝑨
𝑨 𝑹
𝑹 𝑨

𝑩 𝑩
𝑹=𝐀+𝐁 𝑹=𝐁+𝐀
(𝒂) 𝒃 𝑪
Triangle Rule Triangle Rule
1.2 FORCE VECTORS
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)
−𝑩
𝑨
𝑹′ 𝑹′
𝑨 𝑨

𝑹 = 𝐀 + (−𝐁)
𝑩 −𝑩 𝒄
Triangle Rule
𝑹=𝐀−𝐁
(𝒂) 𝒃
Parallelogram
Law
1.2 FORCE VECTORS
Vector Addition of Forces

1. Finding a Resultant Force

2. Finding a Components of a Force

𝑭𝑹 = 𝐅𝟏 + 𝐅𝟐 + 𝐅𝟑
3. Addition of Several Forces
1.2 FORCE VECTORS
Example
• Determine the magnitude of the resultant
force Fr = F1 + F2 and its direction,
measured counterclockwise from the
positive x-axis.
1.2 FORCE VECTORS
Example
• Determine the magnitude of the resultant
force Fr = F1 + F2 and its direction,
measured counterclockwise from the
positive x-axis.
1.2 FORCE VECTORS
Example
• If the resultant force acting on the support
is to be 1200 lbs, directed horizontally to
the right, determine the force F in rope A
and the corresponding angle 
1.2 FORCE VECTORS
Example
• If the resultant force acting on the support
is to be 1200 lbs, directed horizontally to
the right, determine the force F in rope A
and the corresponding angle 
1.2 FORCE VECTORS
Example
• If the resultant force acting on the support
is to be 1200 lbs, directed horizontally to
the right, determine the force F in rope A
and the corresponding angle 
1.2 FORCE VECTORS
Resultant of three or more concurrent forces
1. Graphical Method
• Two vectors can be added to give a resultant; the resultant in turn can be added to a third
vector until all the vectors have been added together to give an overall resultant. These vectors
can be added in any order.
• Parallelogram Law / Triangular Law
2. Analytical Method
• The vectors can be resolved into components that coincide with arbitrarily chosen axes.
𝑹𝒙 = ∑𝑭𝒙 (x-component of the resultant)

𝑹𝒚 = ∑𝑭𝒚 (y-component of the resultant)

𝑹= 𝑹𝒙𝟐 + 𝑹𝒚𝟐 (resultant)

𝐭𝐚𝐧𝒙 = 𝑹𝒚/𝑹𝒙 Note: In determining the signs, follow the

quadrant signs of Cartesian Coordinate System
1.2 FORCE VECTORS
Example
• Compute the value of the resultant of the
concurrent forces shown.
𝑦
𝟑𝟎𝟎 𝑵
𝟏𝟎𝟎 𝑵
2
1
60°
x
45° 30°

𝟐𝟎𝟎 𝑵 𝟒𝟎𝟎 𝑵
1.2 FORCE VECTORS
Lecture Exercise
• Determine the resultant of the three
concurrent forces as shown: