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    Engineering Mechanics by R K BANSAL

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    “=s A texbook of Zp “Engineerin@ Mechanics a Published by LAXMI PUBLICATIONS (P) LTD 22, Golden House, Daryaganj, New Delhi-110002. . ) 011-23 2623.68. Tee oes 011.282525.72 Faxes: anes | 011-2326 2279 Branches © 129/1, Illrd Main Road, IX Gross, Chamrajpet, Bangalore (Phone : 080-26 61 15 61) © 26, Damodaran Street, 'T. Nagar, Chennai (Phone : 044-24 34 47 26) ‘© St. Benedict's Road, Cochin (Phone : 0484-239 70 04) © Pan Bazar, Rani Buri, Guwahati (Phones : 0361-254 36 69, 251 38 81) @ 4-2-453, Ist Floor, Ramkote, Hyderabad (Phone : 040-24 75 02 47) © Adda Tanda Chowk, N.D. 365, Falandhar City (Phone : 0181-222 12 72) ‘® 106/A, Ist Floor, S.N. Banerjee Road, Kolkata (Phones : 033-22 27 37 73, 22 27 52 47) © 18, Madan Mohan Malviya Marg, Lucknow (Phone : 0522-220 95 78) © 128A, Block 3, First Floor, Noorani Building, LJ, Road, Mumbai (Phone : 022-24 46 39 98) © Radha Govind Street, Tharpagna, Ranchi (Phone : 0651-230 77 64) EMAIL : colaxmi@hotmail.com WEBSITE : wwwlaxmipublications.com EEM-0552-240-ENGG MECHANICS © Dr RK. Bansal and Sanjay Bansal AU Rights Reserved. This book, or part thereof, may not be reproduced in any form or translated with the written permission of the authors and the publishers Compiled by : Smt. Nirmal Bansat First Edition 1991 Reprint : 1992, 1993 Second Edition 1994 Third Edition ; 1996 Reprint 1997, 1998, 1999, 2000, 2001, Jan. 2001 Fourth Edition : 2002 Reprint : April 2003, March 2004 Reprint + October 2004, June 2005 Price : Re, 240.00 Only (C—10642/05/06 ‘Typesetting by : Goswami Printers, Delhi-110053. Printed at : Sanjeev Offset Printers, Delhi. Contents Chapter Pages PARTI—STATICS Fundamentals of Engineering Mechanics 1—23 L1L.__Introduetion. 1 L2__Definitions 1.2.1. Vector quantity 122. Scalar quantity 1.23. Aparticle A. Law of parallelogram of forces 2.5. Law of triangle of forces le me L.3.__ System of Units oe 5 13.1. C.G.S. system of units 5 132. MKS. system of units 5 3. 8.1. system of units 5 ‘Trigonometric Formulae and Expressions 6 Differentiation and Integration 6 LBL. Differentiations 6 1.5.2. Integrations. 2 Solved Problems 1.1—1.9 ~ 7 1.6. Resolution of a Force 14 1.7.__ Resolution of a Number of Coplanar Forces 14 Solved Problems 1,10—1.13 14 1.8. Moment of a Force ws 16 18.1. Units of moment 7 18.2. Effect of Foree and moment on a body W Solved Problem 1.13 W 1.9. Laws of Mechanics 18 1.9.1. Newton's first and second Inws of motion 19 1.9.2. Newton's third law 19 1.9.3. ‘Tho Gravitional Law of attraction 19 1.9.4. ‘The parallelogram law 20 1.9.5. ‘The Principle of transmissibility of forces 21 Highlights os 21 Exercise 1 22 2.__Coplanar, Collinear and Concurrent Forces 24—42, 2.1. Introduction 24 2.2, Classification of a Force System 24 2.2.1. Coplanar collinear 24 2.2.2. Coplanar concurrent 25 2.3. Coplanar parallel 25 2.2.4. Coplanarnon-eoneurrent, non-parallel _ 25 2.3. Resultant of Several Forces 25 Chap. 24 (viii) Resultant of Coplanar Forces. es 26 Analytical method 26 6,2. Graphical method 26 Solved Problem 2.1 26 26. Resultant of Concurrent Coplanar Forces 27 2.6.1. When two forces act at a point 27 2.6.2. When more than two two forces act at a point ss 28 Solved Problems 2.2—2.10 2.4.4.4 Highlights os At Exercise 2 Al 3.__Coplanar Parallel Forces 43—60 .L.__Intreduction 43 4.2.__Moment of a Force 43 Solved Problem $. 0 3.8. Principle of Moments (or Varignon's Principle) oe 44 Salved Problem 3.2 00 a6 3.4. ‘Types of Parallel Forces we 47 3.4.1, Like parallel forces a 47 34.2. Unlike parallel forces a 47 2.5.Resultantof Two Parallel Forces a 2.5.1. Resultant of two like parallel forces oo AT 3.5.2. Resultant of two unlike parallel forces (unequal in magnitude)... 48 3.5.3. Resultant of two unlike parallel forces which are equal in magnitude a 49 Solved Problems 3.3—3.5 os 49 3.6. Resolution of a Foree into a Foree and a Couple 52 Solved Problem 3.6 oe 52 4.7. General Case of Parallel Forces in a Plane ee 54 Solved Problems 3.73.8 4.4. sg 3.8. Equivalent System 2 55, wed Probie 3.10 Highlights . 57 Exercise 3,88 4. Conditions of Equilibrium 61-91 4.1._Intreduction 42. Principle of Equilibrium os 61 42.1, — Equations of equilibrium for non-eurrent forees systems: oe 61 4.2.2. Equations of equilibrium for concurrent force system 61 4.3, Force Law of Equilibrium - 62 4.3.1, Two force system - 62 432. Three force system 62 4.3.3. Four foree system a 63 Solved Problems 4.1—4.7 . 63 44, Action and Reaction au a (ix) Chap. Pages 4.5, Free Body Diagram os 2 Solved Probleme4 B49) Hightights 88 Exercise $B 5.__Support Reactions 92—113 5.1__Introduction 22 5.2.__ Types of Supports os 92 5.2.1. Simple support or knife edge support 7 92 5.2.2. Roller support os 92 5.2.3. Pin joint (or hinged) support . 92 5.2.4. _ Smooth surface support oe 93 5.2.5. Fixed or built-in support a 93 5.3.__Types of Loading - 93 0.3.1. Concentrated or point load us 93 5.3.2. Uniformly distributed load oe m4 5.3.3. Uniformly varying load 24 5.4, Method for Finding out the Reactions of a Beam 94 5.4.1. Analytical method : 94 5.4.2. Graphical method far finding out the reactions of a beam 94 5.5. Problems on Simple Supported Beams we 3 Solved Problems 6.1—6.5. 95 5.6, Problems.on Overhanging Beams a 100 Solved Problems56—67 1 5.7. Problems on Roller and Hinged Supported Beams 101 Solved Problems 6.8—5.12 a 101 5.8. Problems When Beams are Subjected to Couples as 110 ‘Solved Problem 5.1 Highlights ui Exereise 5 ut 6.__Analysis of Perfect Frames 114—153 6.1,__Introduction Lia 6.2, Types of Frames i 14 6.2.1. Perfect frame 4 6.2.2. Imperfect frame 115 6.3.__ Assumptions Made in Finding out the Forces in a Frame 15 64. Reactions of Supports of a Frame . 115 6.5. Analysis of a Frame 116 6.5.1. Method of joints = 118 Solved Problems 6.16.6 6.5.2. _ Method of joints applied to cantilever trusses oe 127 Solved Problems 6.6—6.7 a 6.5.8, Method of joints applied to trusses carrying horizontal loads. 129 Solved ProblemsBR—69 00a 6.5.4. Method of joints applied to trusses carrying inclined londs . 134 ‘Solved Problem @.19 8 Chap. 86 62. 7._Centre of Gravity and Moment of Inertia. 154—194 ZL. Centre of Gravity ae 154, 7.2._Centroid 164 7.8. Centroid of Centre or Gravity of Simple Plane 164 7.4. Contre of Gravity of Plane Figures by the Method of Moments 154 Centre of gravity of plane figures by integration method 155, 742. Contre of gravity ofa line 166 7.5. Important Paints we 156, 7.5.1. Centre of gravity of structural sections oe 156 ‘Solved Problems 7.07.5 22 ‘75:2. Problems of finding centre of gravity of area by ‘integration method oe 162 7.5.8. Problems of finding contre of gravity of line-sogment by integration method ss 167 Pr p 167 ‘LG. __MomentofInertia 00 77. Radius of Gyration . 175, 7.8. ‘Theorem of the Perpendicular Axis os 175 fa Parallel Axis 76 7.10.1._Moment of inertia of a rect section oe 17 (110.2. Moment of inertia of a cireular section LB 7.10.3. Moment of inertia of a triangular section a 181 ‘.10.4._Moment of inertia of a uniform thin rod J __..__183 7.10.5._Moment of inertia of area under a curve of given equation os 183 ‘Solved Problems 7.12—7.14 ee 185 Highlights on 189 Exercise 7. oe 190 8,_Friction 195—238 ‘8.L__Introduetion 195, £2 Definitions oe 195, QL Coefficient offrietion 198 8.2.2. Angle of friction 7 195 2.2.3. Cone of friction 196 8.3. ‘Types of Friction oe 197 Copyrighted material Chap. (ai) 8.5. Angle of Repose os 204 8.6, Equilibrium of a Body Lying on a Rough Inclined Plane 204 8.7.__Analveis of Ladder Friction as 222 8.8. _ Analysis of Wedge Friction os 230 9.6.1. Expression for maximum mechanical advantage zs 244 9.5.2. Expression for maximum efficiency oe 245 Solved Problems@5—96 00 9.6. Frietion of a Machine Expressed in Terms of Actual Effort (P) ~ 2AT 9.7.__ Friction of a Machine in Terms of Load 7 Solved Problems 7—942 000g 28 Important Lifting Machines ow 262 9.8.1. Simple wheel and axle a 253, 98.4. Single purchase erab winch, a 257 Solved Prablemayg 00s 9.8.5. _Double purehase erab wineh J, ‘Solved Problem @.97 2 9.8.6. Pulleys i” 262 Solved Problems $189.99 9 9.8.7. Weston’s differential pulley block - 269 10.1.__Introduetion 200, Copyrighted material (xii) Chap. Pages 10.2. Work 200 108 Virtual Work ga 10.4. Prineiple of Virtual Work 291 10.5.__Units of Work 291 106, Forces to be Omitted While Applying the Principle of Virtual Work a 291 10.7. Important Points to be Remembered while Applying the Principle ofVirtual Work 10.8. Uses of the Principle of Virtual Work en 292 10.8.1. ‘The principle of virtual work for problems on beams oe 202 Solved Problems 10.1—10,5 0g 10.8.2. ‘The principle of virtual work for problems on Framed structure... 502 Solved Problems 10.6—10.17 202.228 10.8.3. ‘The principle of virtual work for problems on lifting machines. 323 Solved Problems 10,18—10.19 323 10.9, Virtual Wark Done by Moment (or Torque) 25 ‘Solved Problem 10.20 326 Highlights 328 Eertive 10 F 11. Belts, Ropes and Chain Drives 332—378 1.L_Introduction 232 11.2. Open Flat Belt Drive a2 11.2.1. Velocity ratio of open belt drive = 333 Solved Problems 11.11.2000 ag Slip of the belt. . 334 (Creep of the belt 336 Solved Problema LLg—1Lg 0g 11.3. Cross Belt Drive ~ 339 114. Compound Belt Drive “ 339 Solved Problem ig 0g 11.5._Length of Belt os 341 ‘of an open belt drive 241 2. Length of a eross-belt drive om 343 Angle of contact for open belt drive ae 350 af Angle of contact for crossed belt drive ea 350 11.7. Power Transmitted by Belt oe 350 Solved Problems 11.9—11.10 v= 351 118. Centrifugal tension - 362 119. Maximum Power Transmitted by a Belt . 353. Solved Problems 11.11—11,14 355 siiel Tonaion in the Bal PH Solved Problems 11.15—11.17 - 360 1L.1L. V-belt Drive and Rope Drive os 365 Solved Problems 11 W123 0G (xiii) Chap. Pages 11.12. Chain drive 273 11.13. Relative Advantages and Disadvantages of Chain and Belt (or Rope) Drives: oe 373 Highlights B74 Exercise 08 PART II—DYNAMICS 12._Linear Motion 281412 12.1__Introduction 381 12.2. Velocity es 981 123. Aceeleration 12.4. Equations of Motion in a Straight Line - 382 12.4.1, Equation for final velocity Z Bez 12.4.2. Equation of motion for distance covered (@) eu 82 2.4.3, Derivation of v" =u? = 2as 383 Solved Problems 12.1—12.6 885 12.4.4. Distance travelled in the nth second on 389 ‘Solved Problem 12.7 22g 12.4.5, Equation of motion due to gravity . 390 12.5.__Points tobe Remembered 4.01 ‘Solved Problems 12.8—12.18 39) 126. Velocity and Acceleration of a Body Moving in a Straight Line by Differentiation “ 401 Solved Problems 12.18—12.20 ve 401 12.7. Velocity and Displacement of a Body Moving in a Straight Line by Integration “ 403 Solved Problems 12.21—12.24 40 Highlights, : 41. Exercise 12 412 13. Curvilinear Motion, Circular Motion, Rotation and Translation 414—440 13.1,_Introduction_ Als 13.2. Angular Velocity . ar 13.2.1. Relation between linear veloeity and angular velocity - 414 13.3._Angular Acceleration - - 415 13.3.1. Relation between linear acceleration and angular acceleration... 415 13.4. Equation of Motion Along a Circular Path . 415 13.4.1. Equation for angular displacement (6) a 416 13.4.2. Derivation of the angular displacement in terms of initial and final angular velocities: . 416 13.4.3. Relationship between r.p.m. (N) and angular velocity (w) a 416 ‘Solved Problems 13.1—13.8 2020222 ge 13.5. Types of Motion 422 13.5.1. Motio lati 2 13.5.2. Motion of rotation “ 423 13.5.3. Combined motion of translation and rotation “ 423 Solved P: 139 2 (xiv) Chap. Pages 13.6. Analysis of Reciprocating Engine Mechanism . 425 Solved Problems 13.10—13.11 429 13.7._Analysis of Four Bar Mechanism. 2 434 Solved Problems 19.12—18.18 2.4.\|\|\|\42.20 ga Highlights a 438. Exercise 13 - 439 14. Projectiles 441—470 14.1,_Introduction 4al 14.2. Terms Used with the Projectiles oe 441 14.2.1. Velocity of projection. 441 14.2.2. Angle of projection. 4a) 14.2.3. ‘Times of flight a 4a 14.2.4. Horizontal range a 441 14.3._Equation For the Path of a Projectile a 441 14.3.1, Maximum height attained by projectile 442 14.3.2. Time of fight 448 14.3.3, Horizontal range of projectile (2) on 443 14.3.4, Value of angle of projection (=) for maximum horizontal range 443 14.3.5, Time to reach the highest point 443 Solved Problems 14.1--14.11 ” 444 14.4. Motion of a Body Thrown Horizontally from a Given Height into the Air. 454 Solved Problems 14.12—14.17 a 455 14.5, Projectile on an Inclined Plane ~ 460 145.1. Time of flight 461 14.5.2. Range on inclined plane we 461 14.5.3. Projectile down the inclined plane « 462 Solved Problems 14.18—14.21 o 463 Highlights ~ 467 Exercise 14 468 15.8. Motion on an Inclined Rough Surface. . 480 Solved Problems 15.1155 94.4°|9 a 16.9. Analysis of Lift Motion oe 488 Solved Problems 15.16—15.20 0048 (xv) Chap. Pages 15.10. Analysis of the Motion of Two Bodies Connected by a String 493, Solved Problems 16.21—15.25 494 15.11, Analysis of the Mation of Two Bodies Connected by a String When One Body is Lying on a Horizontal Surface and Other is Hanging Free 499, 15.11.1. The horizontal surfaee is smooth and string is passing over a smooth pulley 499 15.1.2. The horizontal surface is rough and the string is passing over a smooth pulley 501 Solved Problems 15.26—15.29 502 15.11.3. The horizontal surfnee is rough and the string passes over a rough surface 504 Solved Problemap.gg sy 15.12. Analysis of the Motion of Two Bodies Connected by a String When One Body is Lying on Inelined Plane and the Other is Hanging Free in Air 506 15.12.1. First case when the inclined surface is smooth 506 15.12.2, Second case when the inclined surface is rough 508 Solved Problems 15.31—15.32 509 15.13. Momentum and Angular Momentum (or moment of momentum) Bil 15.13.1. Momentum 5 15.13.2. Momentum of momentum or angular momentum. 51 15.14. Moment of Inertia of a Circular Section 512 15.15, Radius of Gyration (K) 54 Solved Problems 15.33—15.34 515 15.16. Laws for Rotary Motion 516 15.17. Kinetic Energy Due to Rotation 517 15.18. Total Kinetie Energy of a Body 518, Solved Problems 15.35—16.38 518 15,19, Rotation Due to a Weight W Attached to One End of a String Passing Over a Pulley of Weight Wo 521 Solved Problem 16.39 522 15.20. Rotation due to Weights Attached to the Two Ends of a String, which Passes Over a Rough Pulley of Weight Wo 523, Solved Problems 15.40—15.42 625 15.21. D’ Alembret's Principle Applicable to Plane Mation 530 Solved Problem 15.43 B32 15.22, D’ Alembret’s Principle Applicable to Rotary Motion 533 Highlights 536 Exercise 15 539 16. Simple Harmonic Motion and Mechanical Vibrations 544—579 16.1._Intreduction fad 16.2. Definitions of Some Terms Used with S.H.M. 547 Solved Problems 16.1—16.9 547 16.3. Oscillation of the Bodies Having Simple Harmonie Motion 556 16.3.1. Oscillation of a vertical elastic string or spring 556 Solved Problems 16.10—16.17 558. Chap. 16.4. 16.5. (vid 16.3.2. Oscillations of a simple pendulum Solved Problems 16.18—16.19 Gain of Loss of Oscillations Due to Change in gor 1 for a Pendulum Solved Problems 16.20-—16.21 Free i 16.6.1. ‘The longitudinal vibrations 16.5.2. ‘The transverse vibration 16.5.3. The torsional vibrations Solved Problems 16.22—16.25 Highlights Exercise 16 17. Collision of Elastic Bodies 17.1. 17.2. 173. 174. 175. 176. 107. 178. Introduetion Some Definition Time of restitution Time of collision 14. Law of conversion of momentum ‘Types of Impacts 17.3.1. Direet impact of two bodies 17.3.2, Indirect impact of two bodies Co-ctficient of restitution Solved Problems 17.1—17.7 Loss of Kinetic Energy During Impact Solved Problems 17.8—17.12 Impact of a Body on a Fixed Plane Direct impact of a body on a fixed plane Solved Problems 17.13—17.15 Indirect Impact of a Body on a Fixed Plane Solved Problems 17.16—17.17 Highlights 570 571 576 Exercise 17 a 603 18.__Work, Power and Ener, 18.2._Work. 18.5. Units of Work 2002 BG 18.4. 18.5. 186. Solved Problems 18.1—18.7 Power Solved Problems 18.8—18.11 Work Done By a Torque Power Developed by a Torque Solved Problems 18.12—18.13 Energy Mechanical Energy 18.8.1. Potentinl energy ( xvii) Pages 18.8.2. Kinetic energy - 615 18.8.3. Work done is equal to change of kinetic energy 616 Solved Problems 18.14—18.15 617 18.9. Law of Conservation of Energy 618 Solved Problems 18.16—18.21 o 619 18.10. Energy Lost By a Body Falling on Another Body and to Caleulate the Resistance Offered the Ground o 626 Solved Problems 18.22—18.28 627 Highlights 635 Exercise 18 ve 635 Forces in Space 638657 19.1, Introduetion - 638 19.2. Notation of a Vector 638 19.2.1. Magnitude of a vector 638 19.2.2. Multiplication of a vector by a scalar 638 19.3. Components of a Force . 638 19.4. Unit Veetor 639 . Components of a Force When Two Points on its Line of Actions are Given... 640 19.6. Position Vector of a Given Point 640 Solved Problems 19.1—19.5 640 19.7. Important Vector Operations . 646 19.7.1. Vector addition 646 19.7.2. Dot product oa 646 19.7.3. Cross product or vector product 647 Solved Problems 19,6—19.10 647 19.8 Moment of a Force 650 Solved Problems 19.11—19.15 “ 650 Subject Index 858 PARTI STATICS 1 Fundamentals of Engineering Mechanics 1.1, INTRODUCTION Engineering mechanics is that branch of science which deals with the behaviour of a body when the body is at rest or in motion. The engineering mechanics may be divided into Statics and Dynamics. The branch of science, which deals with the study of a body when the body is at rest, is known as Statics while the branch ‘of science which deals with the study of a body when the body isin motion, is known as Dynamics. Dynamics is further divided into kinematics and kinetics. The study of a body in motion, when the forces which cause the motion are not considered, is called kinematics and ifthe forces are also considered for the body in motion, that branch of science is called kinetics. The classification of Engineering Mechanics are shown in Fig. 1.1 below. ENGINEERING MECHANICS | 1.Statics 2, Dynamics (Body is at rest) (Body is in motion) (@ Kinematics (i) Kinetics Fig 1.1 Note. Statics deals with equilibrium of bodies at rest, whereas dynamics deals with the motion of bodies and the. forces that cause them, 1.2. DEFINITIONS 1.2.1, Vector Quantity, A quantity which iscompletely specified by magnitude and direction, is known a8 a veetor quantity. Some examples of vector quantities are : velocity, acceleration, force and momentum. A, vector quantity is represented by means of a straight line with an arrow as shown in Fig. 1.2. The length of the straight line (ce., AB) represents the magnitude and arrow represents the direction of the vector. The symbol AB also A 8 represents this vector, which means itis acting from A to B, Fig. 12. Vector Quanity. 1.2.2. Sealar Quantity. A quantity, which is completely specified by magnitude only, is known asa scalar quantity. Some examples of scalar quantity are : mass, length, time and temperature. 1.2.3, A Particle. A particle is a body of infinitely small volume (ora particle is a body of negligible dimensions) and the mass of the particle is considered to be concentrated ata point. Hence a particles assumed to a point and the mass of the particle is concentrated at this point, 1.2.4, Law of Parallelogram of Forces. The law of parallelogram of forces is used to determine the resultant* of two forces acting at a point in a plane. It states, “If two forces, acting at a point be represented “The resultant of sysiem of forces may be defined asa single force which has ihe came effect as system of forces acting on the body, ENGINEERING MECHANICS. in magnitude and direction by the two adjacent sides of a parallelogram, then their resultant is represented in magnitude and direction by the diagonal of the parallelogram passing through that point’. Let two forces P and Q act at a point Q as shown in Fig, 1.3. The force P is represented in magnitude and direction by OA whereas the foree@ is presented in magnitude and direction by OB. Let the angle between. the two forces be ‘a’. The resultant of these two forces will be obtained in magnitude and direction by the diagonal (passing through O) of the parallelogeam of which OA and OB are two adjacent sides. Hence draw the parallelogram with OA and OB as jacent sides as shown in Fig. 1.4. The resultant R is represented by QG in magnitude and direction. Fig 13 Fig 14 Magnitude of Resultant (R) and and From € draw CD perpendicular to GA produced. Let a= Angle between two forces P and @= LAOB Now LDAC= LAGB (Corresponding angles) _ ea In parallelogram OACB, AC is parallel and equal to OB, ee AC=Q. Intriangle ACD, AD=AC cosa= CD=ACsina=Qsina. Intriangle OCD, OC? =OD* + DC. But OC =R, OD =OA+AD =P +Qcosa DC =Qsina. fa R= (P+ Qcosa} +(Qsin ay = P? + Q cos’ a + 2PQ cos a + Q’ sin? =P? + G2 (cos? a + sin? ex) + 2PQ cos.cr =P?+G"+2P0cosa Ce costa t sin? = 1) * £ R=VP4 QF 2PQ co Vel) Equation (t.1) gives the magnitude of resultant force R. Direction of Resultant Let = Angle made by resultant with OA. ‘Then from triangle OCD, sina an = OD" P+Q cosa mt) FUNDAMENTALS OF ENGINEERING MECHANICS Equation (1.2) gives the direction of resultant (R). “The direction of resultant can also be obtained by using sine rule {In triangle OAC, OA = P, AC = @, OC =Ryangle OAC = (180—a), angle ACO = 180 - [8+ 180 a} =(«-8)] sin @ _ sin (180 a) _ sin(a~@) oc OA AC sin Q _ sin(180— a) _ sin(a 8) Qo” R ”~ P ‘Two cases are important. Fig. 14 (@) Ist Case. If the two forces P and Q act at right angles, then a= 90" From equation (1.1), we get the magnitude of resultant as R=VP*4 + 2PQ cosa =VP2+ "+ 2PQ cos 90° =VP4e Co cos90"=0) (1.2) From equation (1.2), the direction of resultant is obtained as Qsina ) P+Qcosa wun (52055) oxurt( sin 90° = | and cos 90° =0) wt P+Q cos 90° P 2nd Case. The wo forces P and Q are equal and are acting at an angle a between them. Then the ‘magnitude and direction of resultant is given 28 R= VP'+@'+2PQ cos a = VP" + P+ 2P x Px cos & ( P=Q) = V2P? 4 2P cos @ = V2P*(1 + cos a) = V 2F* 2008? $ #V 4P* cos? S = 2P cos 5 413) Oni (5 oe } ar! =P sin (: P=) P+Qeosa P+Poosa |+cosas2.o0s'5) and Psina 4 = tan" P (1 +005 @) stayt—2—_2 2sin £ cox ( 4 2ews*S int sin wear! (an $)=$ wn) 4 ENGINEERING MECHANICS Its not necessary that one of two forces, should be along x-axis. The forces P and @ may be in any direction as. shown in Fig. 1.5. If the angle between the two forces is ‘a’, then their resultant will be given by equation (1.1). The direction of the resultant would be obtained from equation (1.2), But angle @ will be the angle made by resultant with the direction of P. 1.2.8. Law of Triangle of Forces. It states that, “if three forces acting ata point be represented in magnitude and direction by the three sides of a triangle, taken in order, they will be in equilibrium.” Fig 15 1.2.6, Lam's Theorem. It states that, “If there forces acting at a point are in equilibrium, each force will be proportional to the sine of the angle between the other two forces," ‘Suppose the three forces P, Q and R are acting at a point O and they are in equilibrium as shown in Fig. 1.6. Let a= Angle between force Pand Q. B= Angle between force Q and R. y= Angle between force R and P. ‘Then according to Lami's theorem, Pasine of angls between Q and R a sin fi Fig. 1.6 os me = constant + Sirnilarly 2 5 constant and ——mconstant any ane tt =P. Ok. sin * siny ~ sina Proof of Lami’s Theorem. The three forces acting on a point, are in equilibrium and hence they can be represented by the three sides of the triangle taken in the same order. Now draw the forec triangle as shown in Fig. 1.6 (a). Naw applying sine rule, we get P yO sin (180 — fl) ~ sin (180—) This can also be written Pg sin siny ~ sing. This is same equation as equation (1.5). Fig. 1.6 (a) Note. All the three forces should be acting either towards the point or away from the point. FUNDAMENTALS OF ENGINEERING MECHANICS s 1.3. SYSTEM OF UNITS ‘The following system of units arc mostly used : 1. CGS. (ie., Cemimetre-Gram Second) system of units. 2, MKS. (ce., Metre-Kilogram-Sccond) system of units. 3, Sil (je International) system of units, 13,1 C.G.S, System af Units, In this system, length is expressed in centimetre, mass in gram and time in second, The unit of force in this system is dyne, which is defined as the force acting on a mass of one gram and producing an acceleration of one centimetre per second square. 1.3.2. M.KS. System of Units. In this system, length is expressed in metre, mass in kilogram and time in second. The unit of force in this system is expressed as kilogram force and is represented as kgf. 1,33. SL, System of Units, S.1, is abbreviation for “The System Intemational Units’, It is also called the International System of Units. In this system length is expressed in metre mass in kilogram and time in second. The unit of force in this system is Newion and is represented N. Newton is the force acting on a mass ‘of one kilogram and producing an acceleration of one metre per second square. The relation between newton (N) and dyne is obtained as One metre # One Newton = One kilogeam mass x oe (Crone kg = 1000 gm) = 1000 x 100 x BSS = 1000 gm x mx cm = 10% dyne omnes | ¥ ‘When the magnitude of forces is very large, then the unit of foree like kilo-newton and mega-newton is used. Kilo-newton is represented by KN. One kilo-newton = 107 newton or 1KN= 10°N and ‘One mega newton = 10° Newton ‘The large quantities are represented by kilo, mega, giga and terra. They stand for : Kilo = 10° and represented by Mega = 10° and represented by Giga = 10° and represented by .. ‘Tera = 10" and represented by T ‘Thus mega newton means 10* newton and is represented by MN. Similarly, giga newton means 10° N and is represented by GN. The symbol TN stands for 10'? N. ‘The small quantities are represented by milli, micro, nano and pico. They are equal to Milli = 107 and represented by Micro = 10“ and represented by Nano = 10" and represented by Pico = 10"? and represented by ‘Thus milli newton means 10° newton and is represented by mN. Micro newton means 10° N and is represented by tN. ‘The relation between kilogram force (kgf) and newton (N) is given by One kgf = 9.81 N 6 ENGINEERING MECHANICS Weight of a bady is the force with which the body is attracted towards earth. If W = weight of a body, ‘m = mass in kg, then W =m x g Newtons If mass, m of the body is | kg, then its weight will be, We 1g) x981-3= BIN. (- Nekg 1.4, TRIGONOMETRIC FORMULAE AND EXPRESSIONS ‘The following are the trigonometric formulae in a right-angled triangle ABC of Fig. 1.7. sin (i) cos 8 2 AC (ii) an 0 = Fe iv) sin (A +B) =sin A cos B+ cos A sin B (v) sin (A -B) = sin A cos B—cos A sin B (vi) cos (A + B) = cos A cos B- sind sin B (vii) cos (A = B) = cos A cos. B +sinA sin B tan +tanB T= ton tan B tan A ~ tan B (ay tan AB) = Tam A tan B (vidi) tan (A +B) = (3) sin 2A = 2 sin A cosa (xi) sin? 0+ cos? 0 = 1. 1S. DIFFERENTIATION AND INTEGRATION 1.5.1. Differentiations. (i) Differentiation of a quantity (say A) with respect tox is wrilten as aor ae ae ay ay 4 a a He (i) FO) = 48, ane and 2 @)=1 Gay 4 (ees yf eae 5x8 ww 4 (4) = 0 as differentiation of constant is zero. d dv, du 3 Oy Fus)eu. eae [when wand v are functions of x) (vi) Differentiation of trigonometrical functions Bes F(sina) = 0s x a a (cos.x)==sinx Kann = sex. FUNDAMENTALS OF ENGINEERING MECHANICS 7 1.5.2, Integrations. (i) Integration of a quantity (say A) with respect to.x is written as [Adx. 1 wf dx= x nat wat , 4), _ (Be45) wo feces) ee get) xe Prablem LL. Two forces of magnitude 10 N and &N are acting at a point. If the angle between the two forces is 60°, determine the magnitude of the resultant force, (ii) [Ade = 4x Sol. Given : Force P=10N Force Q=8N ‘Angle between the two forces, « = 60° “The magnitude of the resultant force (A) is given by equation (1.1) R=VPP4 OF + 2PQ cosa = VIO + 8 +2 x 10x 8 x cos 60? = V100 + 64 +2 x 10x8xE = V100 + 64+ BO = V244 = 15.62 N. Ans. Problem 1.2. Twoequal forces are acting ala point with an angle of 60° between them. Ifthe resuliant force is equal to 20 x V3 N, find magnitude of each force. Sol. Given: Angle between the force, «= 60° Resultant, R= 20%VF “The forees are equal. Let P is the magnitude of each fore. Using equation (1.3), we have a R=2P cos 20x v3 v5 z+ Magnitude of each force = 20 N. Ans. Problem 1.3. The resultant of the two forces, when they act at an angle of 60° is 14 N. If the same forces are acting at right angles, their resultant is 136 N. Determine the magnitude of the two forces. Sol. Given; Case Pe 20N. Resultant, R,=14N Angle, a=60° Case IT Resultant, R,=VT36N Angle, «= 90" Let the magnitude of the two forces are P and Q. Using equation (1.1) for ease I. R=VP°4Q?42PQ cosa or 142 VP? +? + 2PQ x.cos OF = VP +O? + 2POxt or 142VP4 074 PO ‘ or or ENGINEERING MECHANICS, Squaring, 196 = P+? + PQ. wi) Using cquation (1.2 A) for case 1, R=VP+@ or VBG=VPag? 136=P?+@? (Squaring both sides) ...(éi) Subtracting equation (if) from equation (i), we get 196-136 = P? + 0? + PQ—(P?+@2) 60= PQ Multiplying the above equation by wo, we get 120 = 2PQ Adding equation (iv) to equation (ii), we get 136 + 120 = P? + 0? + 2PQ 256=P?+Q°+2PQ or (16)'=(P+Qy 16=P4+0 * P=(16-Q) Substituting the value of P in equation (iii), we get 60 =(16-Q)x @= 169-0 or Q*-160+60=0 +. This is a quadratic equation. 5 162 V(- 16 =4x60 162 VB5= 20 alle) 2 ‘Substituting the value of @ in equation (v), we get P=(16—-10) or (16-6) = 6 or 10, < Hence the two forces are 10 N and 6 N. Ans, Problem 1.4. Two forces are acting at a point O as shown in Fig. 1.8, Determine the resultant in magnitude and direction, Fig 1.8 Fig. 19 Sol. Given = Foree P =50N, Force Q= 100N Angle between the two forces, et = 30° ‘The magnitude of the resultant R is given by equation (1.1) as RaVP +O? 2PQ cosa = W50°+ 100? +2 x 50 x 100 x cas 30° = VZ500 + 10000 + 8600 = VETTOU = 145.46 N. Ans. FUNDAMENTALS OF ENGINEERING MECHANICS 9 ‘The resultant R'is shown in Fig. 1.9, The angle made by the resultant with the direction of P'is given by equation (1.2) as __Qsinw tn 8 =F Oca . ee tant (—2since_) _ 51/100 x sin 30° P+Qcosa 30 + 100 cos 30° = tan”! 0.366 = 20.10" «. Angle made by resultant with x-axis = 0 + 15° = 20,10 + 15 = 38.10". Ans. Problems 1.5. The resultant of two concurrent forces is 1500 N and the angle between the forces is 90". The resultant makes an angle of 36° with one of the force. Find the magnitude of each force. Sol. Given: Resultant, 1500 N Angle between the forces, a = 90° Angle made by resultant with one force, @ = Let P and Q are two forces. Qsina P+ Qos an 36° = 2510.90" @xi_ g g tan 36° = 5 Ocas 0° P+Qx0p % %726= or 0 =0.726 P Ad) Using equation (1.1), R= VP? +Q? + 2PQ cos a or R= P40? +2PQcosa or 1500? = P? + (0.726P)" + 2P(0.726P) x cos 90° Q=0.726P) 1500 = P* + 0.527P? +0 (cos 90° = 0) =1527P Using equation (1.2), an = 1500? __1500 1527 © 1.2357 iting the value of P in equation (i), we get Q=0.726 x 1213.86 = 881.26N. Ans. Alternate Method, Refer to Fig. 1.9 (a). Consider triangle OAC. Using sine rule, we get sin 90° _ sin 36° _ sin 54° = 1213.86 N ‘Subst B c R Qo. P or sin 36° @ Rsin36* or Satyr ‘(where R = 1500N) = 10005877 _ 591.67 N. Ans. Fig. 19(@) = 1213.52 N. Ans. FUNDAMENTALS OF ENGINEERING MECHANICS Sol. Given: Weightat C= 15N ZOAC = 60" LCBD = 45° Let qT ‘oree in string BC ‘oree in string AC Ist Method Using Lami’s theorem at C 15 sin of ZBCA ~ sinof ZACE~ Ta in of LACE But LBCA = 45° +30" = 75° ZACE = 180° — 30° = 150° CBCE = 180° - 45° = 135° 15 TN Th sin 75° 150° ~ sin 135° 7, = 1x sin 150° pe sin 75° 15 x sin 135° ae sin 25° = 7,76 N, Ans. and 2nd Method ‘The point C is in the equilibrium, The forces acting at C are 15 N, 7) and 7, Resolving all forces at C in the horizontal direction 0.98 N. Ans, 7, sin 45° = Ty sin 30° or Nixa wie het; xRevdx qh Resolving all forces at C in the vertical direction, T, cos 45* + T; cos 30° = 15 vo ge 1S ‘Substituting the value of T) from equation (i) into equation (i), or Tx qpeTex TadeevEnt Sais v2 2 Ty Bn 2 or ve VE 215 77 or Ti+ VST =1SxVZ or Ty (1+ V3) = 15x VE “ he iat =7.6N. Ans. Substituting this value of 7; in equation (0, we get Tz, =v2 x T, = V2 x 7.76 = 10.98 N. Ans. B AD) wa(dé) oa VI xv i] 14 ENGINEERING MECHANICS. 1.6, RESOLUTION OF A FORCE Resolution of a force means * inding the components of a given force in two given directions.”” ‘Let a given force be R which makes an angle @ with X-axis as shown in Fig. 1.14. I is required to find the com- ponents af the force R along X-axis and Y-axis. ‘Components of R along X-axis = Rcos 8. ‘Component of R along Y-axis = R sin 8. ° ane a x Hence, the resolution of forces is the process of find- ing components of forces in specified directions. Fig. Ld 1,7, RESOLUTION OF A NUMBER OF COPLANAR FORCES: Let a number of coplanar forces (forces acting in one plane are called co-planar forces) Ry Ry. Ray we are acting at a point as shown in Fig, 1.15, Let 0, = Angle made by Ry with X-axis 0; = Angle made by Rz with X-axis 5 = Angle made by Ry with X-axis H = Resultant component of all forces along X-axis V= Resultant component of all forces along Y-axis R= Resultant of all forces: = Angle made by resultant with X-axis, Each force can be resolved into two components, one along X-axis and other along Y-axis, ‘Component of R along X-axis = Ry cos ‘Component of R; along Y-axis = Ry sin By. Similarly, the components of Rand Ry along X-axis and Y-axis are (Ry cos @, Ry sin 83) and (Ry cos 5, Ry sin Os) respectively. Resultant components along X-axis, = Sum of components of all forces along X-axis. 6 H = Ry cos 0, + Ry cos By + Ry cos; +... 41.6) Resultant component along Y-axis. = Sum of components of all forces along Y-axis. V=R, sin 6, + Ry sin 6; + Ry sin 8 +... Ry ‘Then resultant of all the forces, R= VH? + “The angle made by R with X-axis is given by, tan 0 ot Problem 1.10. Tivo forces are acting at a point Q as shown in Fig. 1.16. Determine the resultant in magnitude and direction, Sol, The above problem has been solved earlier. Hence it will be solved by resolution of forces, Force P= SON and force Q= 100N. Let us first find the angles made by each force with X-axis, FUNDAMENTALS OF ENGINEERING MECHANICS 15 Angle made by P with x-axis = 15° Angle made by @ with x-axis = 15 +30 = 43° Let J/ = Sum of components of all forces along X-axis. V = Sum of components of all forces along Y-axis. The sum of components of all forces along.¥-axis is given H =P cos 15" + Qcos 45° = 50x cos 15" + 100.cos 45° = 119 N The sum of components of all forces along ¥-axis is given by, V=Psin 15" + sin 45° 50 sin 15° + 100 sin 45° = 83.64 N ‘The magnitude of the resultant force is given by equation (1.8), R= VEPs = V119 + 83.647 = 145.46 N. Ans. “The direction of the resultant force is given by equation (1.9), tan @ = 8 = tant 52.64 35.10", Ans, 19 Here @ is the angle made by resultant R with x-axis, Problem 1.11, Three forces of magnitude 40 kN, 15 KN and 20 KN are acting at a point O as shown in Fig/ 1.17. The angles made by 40 kN, 15 kN and 20 kN forces with X-axis are 60, 120° and 240° respectively. Determine the magnitude and direetion of the resultant force. Sol. Given: Ry = 1OKN, 8, = 60° Ry= 1S KN, 03 = 120° Ry 20 KN, Oy = 240° ‘The sum of components of all forces along Xa epuation (1 6) as H = Ry cos 8, +.R2.c05 6 + R005 = 40 x cos 60° + 15 x cos 120° + 20 x cos 240° 340 x34 15 x (4) +20x(- 4) =20-75-10=2.5kN. ‘The resultant component along Y-axis is piven by equation (1.7) as V= R sin, +R sin 0; + Ry sin 8s = 40 x sin (60°) + 15 x sin (120°) + 20 x sin (240°) Bots x2 420% ( v5 is given by 404 +t = 20 x V3 + 7.5 x V3 — 10x V3 = 17.5 x V5 KN = 30.31 KN. ‘The magnitude of the resultant force is given by equation (1.8) R=VHP + =V257+ 3031? =30,41 KN, Ans, ‘The direction of the resultant force is given by equation (1.9) 2 = ppt gg 7 Wede4 = tan 85.28 © = 85,28" or 85° 16.8’, Ans, tan 10, ua 15, 16. L ENGINEERING MECHANICS According to Lami’s theorem, “IF thres forces acting at 8 point are equilibrium, each Force will be proportional to the sine of the angle between the other two forces." ‘The relation between newton and dyne is given by One newton = 10° dyne. Moment of 1 force atiout a point = Force x perpendicular distance of the line of action of the force from that point. ‘The force causes linear displacement while moment causes angular displacement. A body will be in equilibrium if () resultant force in any direction is zemo and (if) the net moment of the forces about any point is zero. Gravitational law of attraction is given by, myn z ational constant F26 where G = Universal gra mi, my mass of bodies jistance between the bodies F = Force of attraction between the bodies. EXERCISE 1 (A) Theoretical Problems ‘What do you mean by scalar and vector quantities ? Define the law of parallelogram of forces. What is the usc of this law ? State triangle law of forces and Lamis theorem, ‘Two forces P and Q are acting at a point in a plane, The angle between the forces is ‘a’. Prove that the resultant (A) of the two forces is given by R= VP* + 0" +20 cosa. Define the following terms : dyne, newton, meganewion and moment ofa force, Prove that one newton is equal to 10° dyne. the terms : elockwise moments and anti-clockwise moments. the effect of force and moment on aibody ? Indicate whether the following statement is trve or false. “The resultant components of the forces acting om a body along any direction is zero but the net moment of the forces about any point is not zero, the body will be in equilibrium’. [Ans. False] Write the S.1. units of : Force, moment and velocity. What do you mean by resolution of a foree:? ‘A umber of coplanar forces are acting ata point making different angles with x-axis. Find an expression for the resultant force, Find also the angle made by the resultant force with x-axis. State and explain the pinciple of transmissibility of forces. ‘State and-explain the following laws : (0) Newton's laws of motion. Gi) The gravitational law of attraction. Using gravitation law of attraction, prove that W'=m x 4. Explain (ully the following terms : (@ Resolved pant of a given force in a given direction. i) Lams theorem, (B) Numerical Problems Determine the magnitude of the resultant of the two forces of magnitude 12N and 9N scting ata poiat if the angle between the two forcesis 30°. [ans. 203) FUNDAMENTALS OF ENGINEERING MECHANICS 3 2 2 10. Find the magnitude of two-equal forces acting at a point with an angle of 60° between them, if the resultant is equal to 30xVv N. [Ans. 30 N] ‘The resultant of two forces when they act at right angles is 10'N, whereas when they act at an angle of 60° the resuliants is VTAB . Determine the magnitude of the two forces. [Aus. 81N and 6 N] ‘Three forces of magnitade 30 kN, 10 kN and 15 KN are acting ata point 0. The angles made by 30 KN force, TKN force and 15 KN force with x-axis are 60°, 120° and 240° respectively. Determine the magnitude and direction of the resultant force, [Ans 21.79 kN, 83° 24] A weight of 800 N is supported by two chains as shown in Fig. 1.26. Determine the tension in each chain, (Ans, 273.5, 751.7N] Aneleettie light fixture weighing 20 N hangs from a point C. by two strings AC and BC. AC is inclined at 60" to ‘the horizontal and BC at 30° to the vertical as shown in Fig. 127, Using Lami’s thcorem or otherwise determine the forces inthe strings AC and BC TAns. 8.929 N, 13.05 NJ Fig. 1.26 4.27 A beam AB of span 6 m catries a point load of 100 N ata distance 2m from A. Determine the beam reaction. [Ans. Ry = 66.67 N ; Ry = 33.33 N] Four forces of magnitudes 20 N, 30 N, 40 N and SON are actingrespectively along the four sides of a square taken in order, Determine the magnitude, direction and position of the resultant forse, Ans, 20 x VEN, 225%, =" the resultant of the forces in magnitude and direction. [Ans 23.43 N, 26.3 Four forces of magnitude P, 2P, 3 x VTP and 4P are seting at a point O. The angles made by these forces with x-axis are O°, 60°, 150° and 300° respectively. Find the magnitude and direction of the resultant force. Ans. P, 1200) 2 Coplanar Collinear and Concurrent Forces 2.1. INTRODUCTION Coplanar forces means the forces in a plane. The word collinear stands for the forces which are having common lines of action whereas the word concurrent stands for the forces which intersect at a common point, When several forces act on a body, then they are called a force system or a system of forces. In a system which all the forces lie in the same plane, it is known as coplanar force system. Hence this chapter deals with system of forces which are acting in the same plane and the forces are either having a common line of action or intersecting at a common point. 2.2. CLASSIFICATION OF A FORCE SYSTEM. A force system may be coplanar or non-coplanar. [fin a system all the forces lic in the same plane then the force system is known as coplanar, But if in a system all the forces lie in different planes, then the force system is known as non-coplanar. Hence a force systemyis classified as shown in Fig. 2.1. Force System 1, Coplanar 2. Non-coplanar Colfincar ‘Concurrent Parallel Non-concurrent Non-parallet Concurrent Parallel Non-concurrent Non-paratle! Fig,24 In this chapter, we shall discuss only coplanar foree system, in which the forces may be : @ Collinear {i Concurrent (i) Paraltet (iv) Non-concurrent, non-parallel (or General system of forces). 2.2.1, Coplanar Collinear. Fig. 2.2 shows three forces . F;, Fyand Fy acting ina plane. These three forces are in the same 1 Fs line de, these three forces are having a common line of action. This system of forces is known as coplanar collinear free 6 9 Casnae Collnear Forces 24 COPLANAR COLLINEAR AND CONCURRENT FORCES system, Hence in coplanar collincar system of forces, all the forces act in the same plane and have a common of action. 2.2.2, Coplanar Concurrent. Fig.2.3shows three forces Fi, Fz and F; acting in a plane and these forces intersect or meet at a common point O. This system of forces is known as coplanar concurrent force system. Hence in coplanar concurrent system of forces, all the forces act inthe same plane and they intersect atacommon point. 2.2.3. Coplanar Parallel. Fig. 2.4 shows three forces F,, F, and F; acting in a plane and these forces are parallel. This system of forces is known as coplanar paral- Tel force system. Hence in coplanar parallel system of forces, all the forces actin the same plane and are parallel, 2.2.4, Coplanar Non-concurrent Non-parallel, Fig. 2.5 shows four forces Fj, F:, Fy and F, acting in a plane. The lines of action of these forces lie in the same plane but they are ncither parallel nor meet or intersect al a common point. This system of forces is known as coplanar non-concurrent non-parallel force system. Hence in coplanar non-concurrent non-parallel system of forces, all the forces act in the same plane but the forces are neither parallel nor meet at a common point. This force system is also known as general system of forces. 2.3. RESULTANT OF SEVERAL FORCES ‘When a number of coplanar forces are acting on a rigid* body, then these forces can be replaced by a single force which has the same effect on the rigid body as that of all the forces acting together, then this single force is known as the resufiant of several forces. Hence a single force which can replace a number of forces acting on a rigid body, without causing any change in the external effects on the body, is known as the resultant force, 2,4, RESULTANT OF COPLANAR FORCES Fig. 2.2. Concurrent Coplanar Forces. Fe A Fs Fig. 2.4. Coplanar Parallel Forces. fa Fig. 25. Non-concurrent Non-parallel. ‘The resultant of coplanar forces may be determined by following two methods : 1. Graphical method 2. Analytical method, “Rigid body is a body which docs not deform under the action af loads or extemal forces. In-easc of rigid body, the distance between any two points of the body remains constant, when this body is subjected to loads. Though all the bodies do deform to same extent under the action of loads, but in many situation, this deformation is negligible small 26 ENGINEERING MECHANICS ‘The resultant of the following coplanar forces will be determined by the above two methods : (i Resultant of collinear coplanar forces (di) Resultant of concurrent coplanar forces, 2.5, RESULTANT OF COLLINEAR COPLANAR FORCES: As defined in Art. 2.2.1, collinear coplanar forces arc those forces which act in the same plane and have a common line of action. The resultant of these forces are obtained by analytical method or graphical method, 2.5.1. Analytical method. The resultant is obtained by adding all the forces if they are acting in the same direction. If any one of the forces is acting in the opposite direction, then resultant is obtained by subtracting that force. 2.6 shows three collinear coplanar forces F, Fy and Ai a Fy acting on a rigid body in the same direction, Their resultant Rwill be sum of these forces. R=F\+Fi+Fy m2) Fig. 26 Ifany one of these forces (say force F,) is acting in the ‘opposite direction, as shown in Fig. 2.7, then their resultant will be given by RaF\-Fy+Py (22) 2.5.2. Graphical Method. Some suitable scale is chosen F and vectors are drawn to the chosen scale. These vectors are added/or subtracted to find the resultant. The resultant of the three collinear forees F,, F, and Fy acting in the same direction Fig. 2.7 will be obtained by adding all the vectors. In Fig. 2.8, the force F\ =abto some scale, force Fy =bc and force Fy=cd.Thenthe = ft_ | Fa Fay length ad represents the magnitude of the resultant on the scale @ boc q chosen. R= Fi +Fot+Fs The resultant of the forces F), Fs and F acting on a body shown in Fig. 2.7 will be obtained by subtracting the vector F. Fig. 28 This resultant is shown in Fig, 2.9, in which the force F, = ab to - é some suitable scale. This force is acting from a to b. The force pt Fy is taken equal to be on the same scale in opposite direction. % ©Fp b d ‘This force is acting from b to c. The force Fy is taken equal to fq_RaFi Fe +Fa | cd. This force is acting from c to d. The resultant force is represented in magnitude by ad on the chosen scaic. Fig. 2.9 Problem 2.1. Three calfinear horizontal forces of magnitude 200 N, 100 N and 300 N are acting on a rigid body, Determine the resultant of the forces anatytically and graphically when (@ all the forces are acting in the same direction, (ii) the force 100 N acts in the opposite direction. Sol. Given: F, = 200N, F;.= 100 Nand Fy = 300N (a) Analytical Method @ When all the forces are acting in the same direction, then resultant is given by equation (2.1) as, R=F\+Fy+ Fy= 200+ 1004+300=600N, Ans. COPLANAR COLLINEAR AND CONCURRENT FORCES 27 and Fig. 2.10(a). (i) When the force 100 N acts in the opposite direction, then resultant is given by equation (2.2) as R=F\+F,+ Fy= 200-1004 300=400N, Ans. (8) Graphical Method Select a suitable scale, Suppose 100 N = 1 cm. Then to this scale, we have Fy= a2 = = om, 100 Fy=tgy7 tem, 300 Fy= Ba 3em (2) When all the forces act in the same direction. Draw vectors ab=2em to represent F;, vector be = | emto represent F, and vector ed = 3 cm to represent F yas shown in Fig. 2.10. Measure vector ad which represents the resultant. By measurement length ad = 6 cm a Resultant = Length ad x chosen scale = 6% 100 =600N. Ans. (i When force 100 N = F,, acts in the opposite direetion Draw length ab =2.¢m to represent force Fy. Chasen scale is 1 em = 100 N) From 6, draw be = 1 cm in the opposite direction to F Fs i. —+-——__ fepresent Fy. From c draw cd = 3 cm to represent Fy as shown in Se" 4 Measure length ad. This gives the resultant. Rie By measurement, length ad = 4.cm Resullant = Length ad x chosen seale =4%100=400N, Ans. 2.6, RESULTANT OF CONCURRENT COPLANAR FORCES As defined in Art. 2.2.2, concurrent coplanar forces are those forces which act in the same plane and they intersect or meet at a common point. We will consider the following two eases : () When two forces act at a point (é When more than two forces act at a point, 2.6.1. When two forces act at a point (a) Anatytical Method In An. 1.2.4, we have mentioned that when two forces act at a poiat, their resultant is found by the law of parallelogram of forces. The magnitude of resultant is obtained from equation (1.1) and the direction of resultant with one of the forces is obtained from equi Fig. 2.11 and qzis the angle between them. Let @ is the angle ‘made by the resultant R with the direction of force P. according to the law, the diagonal through the point O gives the resultant R as shown. (1.2). Suppose two forces Pand Qact st point O as shown in Forces P and Q form two sides of a paralielogram and 28 ENGINEERING MECHANICS ‘The magnitude* of resultant is given by R=VP+Q?+2PQ wsa ‘The above method of determining the resultant is also known as the cosine law method, ‘The direction* of the resultant with the force Pis given by -t sing osu! ( 2st) (b) Graphical Method (i) Choose a convenient scale to represent the forces P and 2. (ii) From point 0, draw a vector Oa = P. (iii) Now from point O, draw anather vector Ob = Q and at an angle of «as shown in Fig. 2.12, (é) Complete the parallelogram by drawing lines a¢ || Ob and be |] to Oa. (v) Measure the length OC. ‘Thea resultant R will be equal to length OC x chosen scale. (vi) Also measure the angle 0, which will give the direction of resultant, ‘The resultant can also be determine graphically by drawing a triangle oac as explained below and shown in Fig. 2.13. @) Draw a line oa parallel to P and equal to P. (ii) From a, draw a vector ac at an angle c with the horizontal and cul ac equal to-Q. (iii) Join vc. Then oc represents the magnitude and direction of resultant R. Magnitude of resultant R= Length OC x chosen seale. ‘The direction of resultant is given by angle ®. Hence measure the angle 0. 2.6.2. When more than two forces act at a point (a) Analytical Method ‘The resultant of three or more forces acting at a pointis found anal ytically by a method which is known as rectangular components methods (Referto An. 1.7). According to this method all the forces acting ata point are resolved into horizontal and vertical components. and then algebraic summarion* * ot horizontal and vertical components is done separately. The summation of horizontal component is written as ZH and that of vertical as EV. Then resultant R is given by »ReV(EHP+(2YP . ‘The angle made by the resultant with horizontal is given by sl tn an =H) Let four forees Fy, Fz, Fy and F, act at a point O as shown in Fig. 2.14. 2.2 Fig. 2.13 “Refer Art. 1.2.4, for the derivation of magnitude and direction of resultant on page I. "Summation means addition. Algebraic summation of horizontal components means that if all the horizontal ‘components are in the same direction then they are added, But if ane horizontal component is in apposite direction then it is subtracted. COPLANAR COLLINEAR AND CONCURRENT FORCES 29 Fa 214 (a Fig. 214 (6) Fig. 214 (©) Fig. 214d) “The inclination of the forces is indicated with respect to horizontal direction, Let 6, = Inclination of force Fy with OX 6 = Inclination of force F with OX" 0)= Inclination of force Fy with OX" 84 = Inclin: of force Fy with OX, ‘The force F is resolved into horizontal and vertical components and these components are shown in Fig, 2.14 (a), Similarly, Fig, 2.14 (6), (¢) and (d) shows the horizontal and vertical components of forces Fy, Fy and F respectively. The various horizontal components are : Fos 8, = (+) Fz¢08 8) — (-) Fy 208 — () Fy cos ® — (+) Summation or algebraic sum of horizontal components : EH = Fy cos 0) — Fyc0s 0)— Fy cos 05+ Fy 00s Oy Similarly, various vertical components of all forces are = Fy sin ® t (+) Fr sin ® t (+) Fysin O40) Fysin 40) Summation or algebraic sum of vertical components : EV=F; sin Q, + Fpsin 0) — Fy sin Oy— Fy sin 04 30 ENGINEERING MECHANICS ‘Then the resultant will be given by & = V(ZH} + (SVP wf) And the angle (6) made by resultant with x-axis is given by tan @ = aa 2.2) (b) Graphical method ‘The resultant of several forees acting at a point is found graphically with the help of the pofygon law of forces, which may be stated as ““Ifa number of coplanar forces ate acting al a point such that they can be represented in magnitude and direction by the sides of a polygon taken in the same order, then their resultant is represented in magnitude and direction by the closing side of the polygon taken in the opposite order. Let the four forees Fy, Fy, Fy and Fy act at a point O as shown in Fig, 2.15. The resultant is obtained zraphically by drawing polygon of forces as explained below and showa in Fig. 2.15 (a). F, c 2 Fi Fo Fy @ b 7; 5 1 F, Fy ofa 3 4 RESULTANT Fig. 215 Fig. 2.15 (a) (0) Choose a suitable scale to represent the given forces. (ii) Take any point a, From a, draw vector ab parallel to OF, Cut ab = force F; to the scale, (if) From point b, draw be parallel to OF, Cut be (iv) From point C, draw ad parallel to OF ;. Cut ed (0) From point d, draw de parallel to OF ¢ Cut de = force Fy, (+i) Join point a to ¢, This is the closing side of the polygon, Hence ae represents the resultant in magnitude and direction. Magnitude of resultant & = Length ae » scale. ‘The resultant is acting from ato e. Problem 2.2. Two forces of magnitude 240 N and 200 N are acting at a point 0 as shown in Fig. 2.16. Ifthe angle between the forces is 60", determine the magnitude of the resultant force. Also determine the angle (hand yas shown in the figure. Fig. 2.16 Sol. Given : Force P= 240N,Q=200N COPLANAR COLLINEAR AND CONCURRENT FORCES: 31 Angle between the forces, a = 60° The magnitude of resultant R is given by, RaVPP +O? + 2PQ cos « = V240" + 200? +2 x 240 x 200 x cos 60° = V57600 + 40000 + 48000 = 381.57 N. Ans. 16 (a). Using sine formula, we get R = Gin (180° - a) 4) R Now refer to Fi or sins @) _ 240sin(180-60) ,, je sin B= aT (1 P= 240 N, = 60°, R = 381.57 N) = 240 x sin 120° sT 7 OSa7 f=sin'05447=33°. Ans. i a From equation () also we have => = Tg ay sin y = 2310. (180 —a) re R _ 200 sin (180-60) _ 200 sin 120° _ eae? agns7 53° y=sin”! 0.4539 = 26.9667. Ans. Problem 2.3, Two forces P and Q are acting ai a point Q as shown in Fig, 2.17. The resultant force i400 N and angles § and y are 35° and 25° respectively. Find the two forces P and Q. Y Ke < <4 LT ° POA Fig.2.17 Fig. 217(@) Sol. Given: Resultant, R=400N Angles, 235°, y=25° ‘Angle between the two forces, a = B+ y= 35° +25" = 60° Refer to Fig. 2.17 (a). Using sine formula for AOAC, we get P sin B a sinB~ sin(180-a) Rsinf _ __400xsin 35° * sin (180~—a) ~ sin (180 - 60) 400 x 0.5736 Se o6g = 2OESSN. Ans. Ai) R=400, fi = 35, a5 60°) ENGINEERING MECHANICS » from equation (2), we have -2— = —_&__ Also from equation (2), we hi siny” sm(I80-@) Rsiny 400 x sin 25° _ 400 x 0.4226 g =195,19N, Ans. * sin (180 ~ at) ~ Sin 180° - 60°) OB66 Problem 2.4. Two forces P and Q are acting at a point O as showa in Fig. 2.18. The force P = 240 N cond force Q = 200 N. Af the resultant of the forces és equal to 00 N, then find the values of angtes fi, 7 and «1. ol. Given Forces, 240 N, @=200N Resultant, R= 400N Let {i= Angle between Rand Q, ‘y= Angle between R and P. clear that, a= B +4. Lot us first ealculate the angle ee(ie...angle between the two forces), From Fig, 2.18, Using the relation, Sipe RaVPP4 0+ 2PQ cosa or R7= P+ GF + 2PQ cosa or 4007 = 2407 + 2007 +2 x 240 x 200 x cos ct or 16000 = 57600 + 40000 + 96000 x cos at _16000 — 57600 - 40000 i cos = aod & a= cos 0.65 = 49.458" (ASS x 60) Now using sine formula for AOAC of Fig. 2.18, we get 2. Rk sin y ~ sin (180 ~ ce) — ih in (180) Pin (180-a) _ 240 sin i= - = 0.65 180 ~ 49.458) P= 240, 0 = 49.458") __ 240 sin (130.542°) _ = = 0.4559 fi = sin”! 0.4550 = 27.12". Ans. Iso from equation (i), we have 2 = —_R_ bso from equation (3), we have tay = aia) a) Saye 2 180 - a) _ 200 x sin (180 - 49.458) R 400 200 x sin (130.542") _ 4 gag 400 a y= sin! 0.3799 = 22.33". Ans, Problem 2.5. A force of 100 is acting at a point making an angle of 30° with the horizontal, Determine the components of this force afong X and ¥ directions. COPLANAR COLLINEAR AND CONCURRENT FORCES: u Sol. Given: Force, F=100N Angle made by F with horizontat, 0 = 30° Let F, = Component along x-axis F,= Component along y-axis ‘Then F,=F cos 8= 100 cos MF 100 x 0.866, 86.6.N. Ans. and ¥ sin 8 = 100 sin 30° = 1000.5 =50N. Ans. Problem 2.6.A small block of weight JOON is placed on an inclined plane which makes an angle (0.2 30° with the horizontal. What is the component of this weight ; (ii) parallel to the inclined plane ancl (iti perpendicular to the inclined plane ? Sol. Given : INCLINED ‘Weight of block. W = LOON PLANE Inclination of plane, @ = 30° ‘The weight of block 00 N is acting verti- cally downwards through the C.G. of the block. Resolve this weight into: two components ie. one per= pendicular tothe inclined plane and other parallel tathe WORHONTAL inclined plane as shown in Fig. 2.20. The perpendicular (normal) component makes an angle of 30° with the direction of IW. Fig. 220 Hence component of the weight perpendicular to the inclined plane Weos 30° = 100 x 0.866, 66N. Ans. Component of the weight (W¥) parallel to the inclined plane = Wsin 30° 00 xOS5=50N. Ans. Problem 2.7. fig, 2.27 shows a particular position of the connecting rod BA anu crank AQ, At this position, the connecting rod of the engine exerts a force 2500 N on the crank pin at A, Resolve shis force into horizontal andl vertical components ai Ac Also resolve the given force at A along AO and along perpendicular to AO. Sol, Given : Length Length PERPENDICULAR TO INCLINED PLANE 34 ENGINEERING MECHANICS, Force exerted by connecting rod BA at A = 2500 N. This force is acting along BA at point A. Let c= Angle made by BA with horizontal. “This angle can be calculated by drawing a perpendicular AC from point A on the horizontal axis. Now the side AC is common in triangles ABC and AOC. In triangle ABC, sina = 46 or AC=ABsina=50sina AB = 50) In triangle AOC, 25 sin 45° Equating the two values of AC, we get 50 sin «x = 25 sin 45° e sin = 255045" 203535 or ce=siy 0.3535 = 20.7" Now the foree 2500 N is aeting along BA at point A as shown in Fig. 2.21 (a). :. Horizontal component of this force at A= 2500.cns 7 = 2500 cos 20.7" A = 2338.61, Ans. f £2 Vertical component = 2500 sina 18S00m = 2500 x sin 20,7 . nH” = 883,75. Ans. Und Part Fig. 221 (a) The force of 2500 N is at represented by AD. Hence BAD is a straight lini the foree AD along AO and perpendicular to AO i direction AE where AE is perpendicular to AO at 1g along BA at point A as shown in Fig. 2.21 (b), This force at point A is Resolve Now angle GAD 545+ 20.7 = 65 ‘Component of force AD along AQ =AD 0s 65.7" = 2500 cos 65.7° = 1028.78. Ans, ‘Component of force AD along AE = AD sin 65. = 2500 x sin 65.7 =2278.5N, Ans. Problem 2.8 Tie four coplanar forces are acting at @ point as shown in Fig. 2.22. Determine the resultant in magninde and direction analytically and graphicalty. Sol. Given: Forces, Fy=104N, F,=156N, F,=252N, and Fy=228N. (a) Anaiyticat Method, Resolve each force along horizontal and vertical axes, ‘The horizontal components along OX will be consideres +vewhereasalong OA" as—ve. Similarly, vertical components in upward direction will be -+ve whereas in dowaward direction as—ve. COPLANAR COLLINEAR AND CONCURRENT PORCES 35 (04 N, Horizontal and vertical 2.22 (a). (i) Consider force F ‘components are shown in Fi Horizontal component, Fey = Fy cos 10° = 104 0.9848 = 10242N Vertical component, Fy, = F,sin 10° = 104 0.1736 = 18.06N. (G) Consider force Fz = 156 N, Horizontal and vertical components are shown in Fi (). Angle made by Fs with horizontal axis OX = 9) ~24 = 66" Horizontal components, Fxg = Fy 00s 66° 63.44.N. Wis negative as it is acting along OX", Vertical component, Fy = Fysin 66° = 156 «0.9135 = 142,30 N, (+ve) (iit) Consider force F; = 252 N, Horizontal and vertical ‘components are shown in Fig. 2.22 (c). 156 x 0.4067 Horizontal component, Fsy = Fy cos 3° = 252 x 0.9986 = 251.64 N. (-ve) Vertical component, Fyy = Fy sin 3° = 252 x 0.0523 3.18 N. (re) (iv) Consider force F, = 228 N, Horizontal and vertical components are shown in Fig. 2.22 (d). Angle made by F, with horizontal axis, OX 390-9 Horizontal component, Fry = Fy cos 81° = 228 x 0.1564 =35.66N (ve) Vertical component, Fy, = Fysin 81° = 228 x 0.9877 =225.2N, (vey Now algebraic sum of horizontal componentsis given by, EH = Fy — Fx = Fy— tg = 102.4 ~ 63.44 ~ 251.64 ~ 35.66 248.32 N, 36 ENGINEERING MECHANICS —ve sign means that 2 is acting along OX" as shawn in Fi rly, the algebraic sum of vertical components is given by, EV= 18.06 = 142.504 13,18 -235.2 ==TISIN,

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