Introductory mechanics-

Statics and dynamics

𝑴 𝑊

𝑭𝟏

Prof. Varadhan SKM

Department of Applied Mechanics
IIT Madras
https://commons.wikimedia.org/wiki/File:Arm_Bones.png, CC-BY-SA-4.0
In this class…

• Mechanics – Forces acting on a body

• Types of forces
• Principle of transmissibility
• Resolving forces
• Example
Definition of a force

Force - an external agent capable of changing a body's state of rest or motion

𝑭 = 𝒎×𝒂

𝑚 = 𝑚𝑎𝑠𝑠 𝑘𝑔
𝑎 = 𝑎𝑐𝑐𝑒𝑙𝑒𝑟𝑎𝑡𝑖𝑜𝑛 𝑚3 !
𝑠

𝒀 𝒀
𝑭 𝑭
𝒁 𝐹"
Force is a vector 𝐹# 𝐹"
𝜃
𝐹! 𝑿 𝑿
𝐹!

Force in 3D Force in 2D
Types of forces

Applied force Reaction force

Spring force Gravitational force Friction force

Principle of transmissibility of forces

The principle of transmissibility states that the point of application of a force can be moved
anywhere along its line of action without changing the external reaction forces on a rigid body.

𝑭𝟐

𝑭𝟐 𝑭 𝑭

O 𝑭𝟏 O
𝑭𝟏

𝑭
𝑭𝟐

O O 𝑭𝟏
𝑭𝟏
𝑭𝟐 𝑭
 Resolving forces

𝑩 𝑭

𝑭𝒚

𝜃 𝜃
𝑶 𝑨
𝑭𝒙

X
 𝑩 𝑭
Resolving forces -Example

𝑭𝒚

90 − 𝜃
𝑶 𝑨
𝑭𝒙
𝜃 𝑭
𝑂𝐴
cos(90 − 𝜃) =
𝑂𝐹
𝑂𝐴 = O𝐹× cos(90 − 𝜃)
𝜃 90 − 𝜃 𝐹% = 𝐹× cos(90 − 𝜃)
𝜃
𝐴𝐹
sin(90 − 𝜃) =
𝑂𝐹
Y
𝐴𝐹 = O𝐹× sin(90 − 𝜃)
𝐹$ = 𝐹× sin(90 − 𝜃)
X
 Resolving forces –Numerical Example

Resolve the force F along X direction and Y direction

30°

20°

𝑭=10 N
Y

X
Summary

• Forces acting on a body

• Principle of transmissibility
• Resolving forces
• Some examples
Introductory mechanics-
Statics and dynamics

𝑴 𝑊

𝑭𝟏

Prof. Varadhan SKM

Department of Applied Mechanics
IIT Madras
https://commons.wikimedia.org/wiki/File:Arm_Bones.png, CC-BY-SA-4.0
In this class…

• Biomechanics – Introduction
• Statics – Free body diagrams (FBDs)
• Equations of equilibrium
 Biomechanics

• The study of the movement of living things using the science of mechanics (Hatze, 1974).
• Bio (life) and Mechanics (study of action of forces)
• Study of the mechanics as it relates to the functional and structural analysis of biological
systems
• Mechanics is divided into 2 categories – Statics and Dynamics

𝑭𝟏
https://commons.wikimedia.org/wiki/File:Arm_Bones.png, CC-BY-SA-4.0
Statics

• The study of systems that are in a constant state of motion, whether at rest with no motion
or moving at a constant velocity without acceleration
• Statics involves all forces acting on the body being in balance resulting in the body being in
equilibrium

!!
Statics – Some terminologies

• Force - an external agent capable of changing a body's state of rest or motion

• Applied force
• Reaction force
• Moment – Bending effect produced on a body due to a force being applied at a particular
distance on an object
• Moment arm – Distance along which a force that caused bending effect is applied.
Statics – Free body diagrams (FBD)

• Draw object of interest

• Draw all forces acting on the body
• Identify distances between point of application of forces to any important pivot points.
• Resolve forces along X and Y direction if needed.
Statics – Equations of Equilibrium

• Sum of forces or moments about any point/axis is zero – Ensures equilibrium of a rigid
body

) 𝑭𝒙 = 𝟎
X
Z
) 𝑭𝒚 = 𝟎

)𝑴 = 𝟎

Unit of force is N
Unit of moment is Nm
Summary

• Biomechanics – Introduction
• Statics – Free body diagrams (FBDs)
• Equations of equilibrium
Introductory mechanics-
Statics and dynamics

𝑴 𝑊

𝑭𝟏

Prof. Varadhan SKM

Department of Applied Mechanics
IIT Madras
https://commons.wikimedia.org/wiki/File:Arm_Bones.png, CC-BY-SA-4.0
In this class …

• Examples of free body diagrams and equations of equilibrium

 Statics – Equations of Equilibrium

Example 1 : Draw FBD and equations of equilibrium for the following examples

X
Z
 Statics – Equations of Equilibrium

Example 2 : Draw FBD and equations of equilibrium for the following examples

1m 10 N

1m
30°

Free to rotate

X
Z
Summary

• Examples of free body diagrams and equations of equilibrium

Introductory mechanics-
Statics and dynamics

𝑴 𝑊

𝑭𝟏

Prof. Varadhan SKM

Department of Applied Mechanics
IIT Madras
https://commons.wikimedia.org/wiki/File:Arm_Bones.png, CC-BY-SA-4.0
In this class …

• Joints in human body

 Joints in human body and their degrees of freedom (DOF)

Hinge joint Saddle joint Ball & Socket joint Pivot joint

DOF:

Example:
 Joints in human body and their degrees of freedom (DOF)

Pivot joint
Ball and socket

Hinge joint

Ball and socket

Saddle joint

Ellipsoid joint
Hinge joint

Plane joint

Credits: BruceBlaus, https://commons.wikimedia.org/wiki/File:Arm_Bones.png, CC-BY-SA-4.0

Joints in human body and their degrees of freedom (DOF)

Hinge joint
Ellipsoid joint
Summary

• Joints in human body

Introductory mechanics-
Statics and dynamics

𝑴 𝑊

𝑭𝟏

Prof. Varadhan SKM

Department of Applied Mechanics
IIT Madras
https://commons.wikimedia.org/wiki/File:Arm_Bones.png, CC-BY-SA-4.0
In this class …

• Concept of mechanical advantage

• Machines in the human body
Musculoskeletal systems – Taking advantage of the mechanical advantage

• Mechanical advantage
• Load/effort or load divided by effort
• Ideally using a relatively small force, or effort to move a much greater resistance

• Musculoskeletal system – a series of simple machines

• Machines - used to increase mechanical advantage ? Example: levers
Musculoskeletal systems – Taking advantage of the mechanical advantage

Advantages of machines:
• Balance multiple forces
• Enhance force in an attempt to reduce total force needed to overcome a resistance
• Enhance range of motion & speed of movement so that resistance may be moved
further or faster than applied force
• Alter resulting direction of the applied force
Summary

• Concept of mechanical advantage

• Machines in the human body
Introductory mechanics-
Statics and dynamics

𝑴 𝑊

𝑭𝟏

Prof. Varadhan SKM

Department of Applied Mechanics
IIT Madras
https://commons.wikimedia.org/wiki/File:Arm_Bones.png, CC-BY-SA-4.0
In this class …

• Levers in human musculoskeletal systems

• Types of levers
• Example of types of levers
Levers in the human musculoskeletal systems

• Humans moves through a system of levers

• Lever - a rigid bar that turns about an axis of rotation or a fulcrum
• Levers cannot be changed, but they can be utilized more efficiently

Levers rotate about an axis (A) as a result of force (F) or effort being applied to cause its
movement against a weight or resistance (R).

F
F
Bones represent the bars
Joints are the axes
A
A Muscles contract to apply force R
R
Levers in the human musculoskeletal systems

Types of levers
Lever classification based on the relative location of:
./0102345/
1. Axis of rotation/fulcrum (A) Mechanical advantage =
6785/
2. Resistance force (R)
3. Applied force (F)

Class 1 lever Class 2 lever Class 3 lever

F F F

A R A R A R

Force arm Resistance arm Force arm Resistance arm Force arm Resistance arm
Levers in the human musculoskeletal systems

Effect of changing force arm and resistance arm – Speed and range of movemnet

F F F

A R A R A R
Force arm Force arm Resistance arm Resistance arm
Force arm
Resistance arm
Levers in the human musculoskeletal systems

Practical examples

Class 1 lever Class 2 lever Class 3 lever

Force (F)
Force (F)
Resistance (R)
Force (F) Resistance (R)

Fulcrum (A)

Fulcrum (A) Fulcrum (A)

Summary

• Levers in human musculoskeletal systems

• Types of levers
• Example of types of levers
Introductory mechanics-
Statics and dynamics

𝑴 𝑊

𝑭𝟏

Prof. Varadhan SKM

Department of Applied Mechanics
IIT Madras
https://commons.wikimedia.org/wiki/File:Arm_Bones.png, CC-BY-SA-4.0
In this class …

• Examples of levers in human musculoskeletal systems

• Muscle insertion point, moment arm and torque
• Effect of flexion/extension angle on moment arm
Levers in the human musculoskeletal systems

Class 1 lever Class 2 lever Class 3 lever

F F

A A A

R
R
 Muscle insertion point, moment arm and torque

• Muscle insertion point is the point at which the muscles distal end is attached to - the end
of the muscle furthest away from the torso.
• The bicep insertion occurs at the elbow.
• The muscle insertion point and the angle of flexion determines the moment arm
• Torque is an entity that produces a turning effect on the body (similar to moment that
causes bending effect).

Torque =𝑭𝒚 ×𝒅

𝑭𝒚
Muscle insertion F
point 𝑭𝒙

d d F
Moment arm
Muscle insertion point, moment arm and torque

Effect of muscle insertion point on torque produced

𝑭𝒚 F 𝑭𝒚
𝑭𝒚 F 𝑭𝒚 F
F
𝑭𝒙 𝑭𝒙
𝑭𝒙 𝑭𝒙

𝒅𝟑 𝒅𝟒
𝒅𝟏 𝒅𝟐

Torque =𝑭𝒚 ×𝒅
 Muscle insertion point, moment arm and torque

Effect of flexion/extension angle on moment arm

𝑭𝒚
F F 𝑭𝒚
𝑭𝒙 𝑭𝒙 𝑭𝒚
F
𝑭𝒚
𝑭𝒙 F
F 𝑭
𝒅𝟏 𝒅𝟐 𝒅𝟑 𝑭𝒙 𝒚
𝑭𝒙
𝒅𝟒
𝒅𝟓

Torque =𝑭𝒚 ×𝒅
Summary

• Examples of levers in human musculoskeletal systems

• Muscle insertion point, moment arm and torque
• Effect of flexion/extension angle on moment arm
Introductory mechanics-
Statics and dynamics

𝑴 𝑊

𝑭𝟏

Prof. Varadhan SKM

Department of Applied Mechanics
IIT Madras
https://commons.wikimedia.org/wiki/File:Arm_Bones.png, CC-BY-SA-4.0
In this class …

• Example problems
Practice problems

1. Draw FBD and calculate the unknown reaction forces and moments wherever applicable
in the following problem.
10 N

60°

5N

0.5m 0.5m
Practice problems

1. Draw FBD and calculate the unknown reaction forces and moments wherever applicable
in the following problem.

F=? 5N 7N

60°

0.5m 0.5m 0.5m

Summary

• Example problems