TMEE3642:

SOLID
MECHANICS I
COURSE
INTRODUCTION
Details of Lecturer
 Course Lecturer/s: Dr. A. Ogunmokun & Mr. Izaaks

 Room Number: 211 Mechanical Building

 Email: gizaaks@unam.na

 Tel. No. : 065 232 4114

 OfficeHours: 9 a.m. to 1 pm. (Tue, Wed and

Friday)
 COURSE GOALS
 This course has two specific goals:

 (i)To introduce students to basic concepts of stress,

strains, bending and torsion of rigid bodies in two and
three dimensions.

 (ii)
To develop analytical skills relevant to the areas
mentioned in (i) above.
COURSE OBJECTIVES
 Upon successful completion of this course,
students should be able to:
 
(i) Analyze equilibrium of rigid bodies subjected to
2 & 3 dimensional force systems.

 (ii) Describe the principal of rigid equilibrium to

trusses, frames and machines.

 (iii) Apply the method of virtual work for equilibrium

and stability analysis.

 (iv) Apply properties of areas in solving mechanics

problems.
COURSE OBJECTIVES CONTD.
 (v) Analyzestatically determinate and statically
indeterminate problems.

 (vi) Analyze thermal and assembly stresses and

incorporate them in stress analysis.

 (vii)
Analyze stresses and strains under torsion,
bending and combined torsion and bending.

 (viii)
Apply the principle of transformation of
stresses and analyze stresses and strains using
Mohr’s circle.
   Course Content
 Statics:

1. Properties of 3D force systems.

2. Equilibrium of rigid bodies.
3. Application of principals of rigid bodies
equilibrium to trusses, frames and machines.
4. Introduction to the method of virtual work for
equilibrium and stability analysis of
interconnected system.
Course Content Cont.
 Solid Mechanics:
1. Second moment of area.
2. Normal and shear stresses and strains.
3. Statically indeterminate problems.
4. Geometric compatibility.
5. Thermal and assembly stresses.
6. Torsion of shafts.
7. Bending of beams.
8. Combined bending and direct stresses.
9. Bending and torsion stresses.
10.Transformation of stresses and strains.
11.Mohr’s circle.
Teaching Strategies

 The course will be taught via Lectures and

Tutorial Sessions, the tutorial being designed
to complement and enhance both the lectures
and the students appreciation of the subject.

 Course work assignments will be reviewed

with the students.
Course Textbook &
Lecture Times
 To be communicated to you.

 Lectures: Monday, 15h30 to 17h25

 Tutorials: Wednesday, 09h00 to 09h55

Attendance at Lectures and Tutorials is

Compulsory
Course Assessment

 (i)
One (1) mid-semester test, 1 hour duration
counting for 25% of the total course.

 (ii)
Sum of the tutorials marks counting for 25% of the
total course.

 (iii)
One (1) End-of-semester examination, 2 hours
duration counting for 50% of the total course marks.
TMEE3642:
Solids Mechanics
INTRODUCTION
1.1 MECHANICS
Body of Knowledge which
Deals with the Study and
Prediction of the State of Rest
or Motion of Particles and
Bodies under the action of
Forces
PARTS OF MECHANICS
1.2 STATICS

 Statics deals with the equilibrium of bodies, that

is those that are either at rest or move with a
constant velocity.

 Dynamics Is concerned with the accelerated

motion of bodies and will be dealt in another
course.
TMEE3642:
SOLID
MECHANICS
STATICS OF
PARTICLES
2.1 PARTICLE
A particle has a mass but a size that can
be neglected.
 When a body is idealised as a particle, the
principles of mechanics reduce to a
simplified form, since the geometry of the
body will not be concerned in the analysis
of the problem.
PARTICLE CONTINUED
All the forces acting on a
body will be assumed to be
applied at the same point,
that is the forces are
assumed concurrent.
2.2 FORCE ON A PARTICLE

AForce is a Vector quantity and must have

Magnitude, Direction and Point of action.


P
Force on a Particle Contd.

 Note: Point P is the point of action of force

and  and are directions. To notify that F is
a vector, it is printed in bold as in text books.

 Its magnitude is denoted as |F| or simply F.

Force on a Particle Contd.
 There can be many forces acting on a
particle.
The resultant of a system of forces
on a particle is the single force
which has the same effect as the
system of forces.
The resultant of two forces can be
found using the parallelogram law.
2.2.VECTOR OPERATIONS
 2.2.1 EQUAL VECTORS

Two vectors are equal if they are equal in

magnitude and act in the same direction.

pP
Q
Equal Vectors Contd.
 Forces equal in Magnitude can act in opposite Directions

S
2.2.2 Vector Addition
Using the Parallelogram Law, Construct a
Parallelogram. with two Forces as Parts. The
resultant of the forces is the diagonal.

Q
Vector Addition Contd.

 Triangle Rule: Draw the first Vector. Join the tail of

the Second to the head of the First and then join the
head of the third to the tail of the first force to get the
resultant force, R

R=Q+P
P
Q
Triangle Rule Contd.

 Also:
Q
P

R=P+Q

Q + P = P + Q.
This is the commutative law of vector addition
Polygon Rule
 Can be used for the addition of more than two
vectors.
 Two vectors are actually summed and added
to the third.
Polygon Rule contd.
Q
S
P

R
(P + Q) Q

R=P+Q+S P
Polygon Rule Contd.
P + Q = (P + Q) ………. Triangle Rule

 i.e.
P + Q + S = (P + Q) + S = R
 The method of drawing the vectors is immaterial .
The following method can be used.
Polygon Rule contd.
S Q
P

Q
R
(Q + S)
R=P+Q+S

P
Polygon Rule Concluded
Q + S = (Q + S) ……. Triangle Rule

P + Q + S = P + (Q + S) = R

 i.e. P + Q + S = (P + Q) + S = P + (Q + S)

 This is the associative Law of Vector Addition

2.2.3. Vector Subtraction
P - Q = P + (- Q) P

P
P -Q
Q

-Q P-Q
P

Parallelogram Rule Triangle Rule

2.3 Resolution of Forces
It has been shown that the
resultant of forces acting at the
same point (concurrent forces)
can be found.
In the same way, a given force, F
can be resolved into components.
 There are two major cases.
Resolution of Forces: Case 1
 (a)When one of the two components, P is
known: The second component Q is
obtained using the triangle rule. Join the tip
of P to the tip of F. The magnitude and
direction of Q are determined graphically or
by trigonometry.

P Q

F i.e. F = P + Q
Resolution of Forces: Case 2
(b) When the line of action of each component is known: The force, F can be
resolved into two components having lines of action along lines ‘a’ and ‘b’ using the
paralleogram law. From the head of F, extend a line parallel to ‘a’ until it intersects ‘b’.
Likewise, a line parallel to ‘b’ is drawn from the head of F to the point of intersection with
‘a’. The two components P and Q are then drawn such that they extend from the tail of
F to points of intersection.
a
Q F

P b
Example
 Determine graphically, the magnitude and direction of
the resultant of the two forces using (a)
Parallelogram law and (b) the triangle rule.

600 N
900 N
45o
30o
 Solution
Solution: A parm. with sides equal to 900 N and 600 N is drawn to scale as shown.
The magnitude and direction of the resultant can be found by drawing to scale.

600N 900N

600 N R
45o
30o
15o 900 N
45o 30o

The triangle rule may also be used. Join the forces in a tip to tail fashion and
measure the magnitude and direction of the resultant.

600 N
R 45o
135o C
900 N
B 30o
 Trignometric Solution
U s in g t h e c o s in e la w :

R 2 = 9002 + 6002 - 2 x 900 x 600 cos 1350

R = 1 3 9 0 .6 = 1 3 9 1 N

U s in g t h e s in e la w :

R 600 1 6 0 0 sin 1 3 5  600N

 i. e . B  s in R
s in 1 3 5  sin B 1391
 1 7 .8  135o

B 900 N
T h e a n g l e o f t h e r e s u l ta n t  3 0  1 7 .8  4 7 .8 30o
ie . R = 1 3 9 N

4 7 .8 o
Example
 Two structural members B and C are bolted to
bracket A. Knowing that both members are in
tension and that P = 30 kN and Q = 20 kN,
determine the magnitude and direction of the
resultant force exerted on the bracket.
P

25o
50o

Q
Solution

75o P 30kN
Q 105o
20kN 25o
θ
R
2.4 RECTANGULAR COMPONENTS OF
FORCE
y

Fy = Fy j F

i Fx = Fx i x
RECTANGULAR COMPONENTS OF
FORCE CONTD.
 In many problems, it is desirable to resolve
force F into two perpendicular components in
the x and y directions.
F and Fy are called rectangular vector
x
components.
 In two-dimensions, the Cartesian unit vectors i
and j are used to designate the directions of x
and y axes.
 F = F i and F = F j
x x y y
 i.e. F = F i + F j
x y
 F and F are scalar components of F
x y
 RECTANGULAR
COMPONENTS OF FORCE
CONTD.
While the scalars Fx and Fy may be positive or negative,
depending on the sense of Fx and Fy, their absolute values are
respectively equal to the magnitude of the components forces
Fx and Fy.

Scalar components of F have magnitudes

Fx = F cos θ and Fy = F Sin θ

Where F is the magnitude of the force F

Example

 Determine the resultant of the three forces below.

y
600 N 800 N

350 N
45o
60o 25o
x
Solution
 F x = 350 cos 25o + 800 cos 70o - 600 cos 60o

= 3 1 7 .2 + 2 7 3 .6 - 3 0 0 = 2 9 0 .8 N

 F y = 3 5 0 s in 2 5 o + 8 0 0 s in 7 0 o + 6 0 0 s in 6 0 o

= 1 4 7 .9 + 7 5 1 + 5 1 9 .6 = 1 4 1 9 .3 N

i. e . F = 2 9 0 . 8 N i + 1 4 1 9 . 3 N j
y 800 N
R e s u lt a n t , F 600 N

F  2 9 0 .8 2  1 4 1 9 . 3 2  1 4 4 9 N 350 N
45o
1 4 1 9 .3
  ta n 1  7 8 .4 0 60o 25o
2 9 0 .8 x
F = 1449 N 7 8 .4 o
Example
A hoist trolley is subjected to the three forces
shown. Knowing that  = 40o , determine (a)
the magnitude of force, P for which the
resultant of the three forces is vertical (b) the
corresponding magnitude of the resultant.

P


2000 N 1000 N
 Solution
(a) The resultant being vertical means that the
horizontal component is zero.
 F x = 1000 sin 40o + P - 2000 cos 40o = 0
P = 2000 cos 40o - 1000 sin 40o =
1532.1 - 642.8 = 889.3 = 889 kN

(b)  Fy = - 2000 sin 40o - 1000 cos 40o =

- 1285.6 - 766 = - 2052 N = 2052 N

40o P
40o
2000 N 1000 N
 2.5. EQUILIBRIUM OF A PARTICLE
A particle is said to be at equilibrium when the resultant of all the forces acting on it is
zero. It two forces are involved on a body in equilibrium, then the forces are equal and
opposite.

.. 150 N 150 N

If there are three forces, when resolving, the triangle of forces will close, if they are in
equilibrium.
F2 F1 F2
F3
F1

F3
 EQUILIBRIUM OF A PARTICLE
CONTD.
If there are more than three forces, the polygon of forces will be closed if the particle is
in equilibrium.
F3
F2 F2
F3 F1 F4

F1

F4

The closed polygon provides a graphical expression of the equilibrium of forces.

Mathematically: For equilibrium:
R = F = 0
i.e.  ( Fx i + Fy j) = 0 or  (Fx) i +  (Fy) j
EQUILIBRIUM OF A PARTICLE
CONCLUDED
 For equilibrium:
  Fx = 0 and
  F y = 0.
 Note: Considering Newton’s first law of
motion, equilibrium can mean that the particle
is either at rest or moving in a straight line at
constant speed.
FREE BODY DIAGRAMS:
 Space diagram represents the sketch of the
physical problem. The free body diagram
selects the significant particle or points and
draws the force system on that particle or point.
 Steps:

1. Imagine the particle to be isolated or cut free

from its surroundings. Draw or sketch its
outlined shape.
Free Body Diagrams Contd.
2. Indicate on this sketch all the forces that act
on the particle.

 These include active forces - tend to set the

particle in motion e.g. from cables and
weights and reactive forces caused by
constraints or supports that prevent motion.
Free Body Diagrams Contd.

3. Label known forces with their magnitudes

and directions. use letters to represent
magnitudes and directions of unknown
forces.
 Assume direction of force which may be
corrected later.
 Example
 The crate below has a weight of 50 kg. Draw
a free body diagram of the crate, the cord BD
and the ring at B.
A

45o B ring C

D
CRATE
 Solution
(a) Crate
FD ( force of cord acting on crate)

50 kg (wt. of crate) B C
45o

(b) Cord BD
F B (force of ring acting on cord) D
CRATE

FD (force of crate acting on cord)

 Solution Contd.

(c) Ring
FA (Force of cord BA acting along ring)

FC (force of cord BC acting on ring)

FB (force of cord BD acting on ring)

Example
 Solution Contd.
o
F A C s in 7 5
F B C   3 .7 3 F A C .............(1 )
cos75o
o o
 F y = 0 i.e . F B C s in 7 5 - F A C cos 75 - 1962 = 0
1 9 6 2  0 .2 6 F
F B C  A C
 2 0 3 1 .2  0 .2 7 F A C ......(2 )
0 .9 6 6
F r o m E q u a t io n s ( 1 ) a n d ( 2 ) , 3 . 7 3 F A C = 2 0 3 1 .2 + 0 .2 7 F A C

F A C = 587 N

F ro m (1 ), F B C = 3 .7 3 x 5 8 7 = 2 1 9 0 N
RECTANGULAR COMPONENTS OF
FORCE (REVISITED)
y
F = Fx + Fy
F = |Fx| . i + |Fy| . j
Fy = Fy j
|F|2 = |Fx|2 + |Fy|2

j | F|  | Fx|2  | Fy |2
F

i x
Fx = Fx i
2.6 Forces in Space

 Rectangular Components
j
Fy
F 

Fx i

Fz
k
 Rectangular Components of a Force in
Space
F = Fx + Fy + Fz
F = |Fx| . i + |Fy| . j + |Fz| . k
|F|2 = |Fx|2 + |Fy|2 + |Fz|2

| F|  | Fx|2  | Fy|2  | Fz|2

| Fx|  | F | cos x | Fy|  | F | cos y | Fz|  | F |cos z

Cos x , Cos y and Cos z are called direction cos ines of
angles  x ,  y and  z
 Forces in Space Contd.

i.e. F = F ( cos x i + cos y j + cos z k) = F 

F can therefore be expressed as the product of scalar, F

and the unit vector  where:  = cos x i + cos y j + cos z k.

 is a unit vector of magnitude 1 and of the same direction as F.

 is a unit vector along the line of action of F.

 Forces in Space Contd.
Also:

x = cos x, y = cos y and z = cos z - Scalar vectors

i.e. magnitudes.

x2 + y2 + z2 = 1 = 2

i.e. cos2 x, + cos2 y + cos2 z = 1

Note: If components, Fx, Fy, and Fz of a Force, F are known,

the magnitude of F, F = Fx2 + Fy2 + Fz2

Direction cosines are: cos x = Fx/F , cos y = Fy/F and cos2 z = Fz/F
Force Defined by Magnitude and two Points
on its Line of Action Contd.
Unit vector,  along the line of action of F = MN/MN

MN is the distance, d from M to N.

 = MN/MN = 1/d ( dx i + d y j + dz k )

Recall that: F = F 

F = F  = F/d ( dx i + dy j + dz k )

Fd x Fd y Fd z
Fx  , Fy  , Fz 
d d d
d x  x2  x1 , d y  y2  y1 , d z  z2  z1
2 2 2
d  d x  d y  dz
dx dy dz
cos x  , cos y  , cos z 
d d d
 2.8.3 Addition of Concurrent Forces in
Space
The resultant, R of two or more forces in space is obtained by

summing their rectangular components i.e.

R = F

i.e. Rx i + Ry j + Rz k =  ( Fx i + Fy j + Fz k )

= ( Fx) i + ( Fy)j + ( Fz )k

R x =  Fx, Ry =  Fy , Rz =  Fz

R = Rx2 + Ry2 + Rz2

cos x = Rx/R cos y = Ry/R cos z = Rz/R

Solution

S o lu t io n :

P o s it io n v e c t o r o f B H = 0 . 6 m i + 1 . 2 m j - 1 . 2 m k

M a g n it u d e , B H = 0 .6 2  1 .2 2  1 .2 2  1 .8 m

BH  1
 BH   ( 0 .6 m i  1 .2 m j  1 .2 m k )
|BH | 1 .8
 BH  750 N
TBH  | T B H |.  BH  |TBH |  0 .6 m i  1 .2 m j  1 .2 m k
|BH | 1 .8 m

TBH  (2 5 0 N ) i  (5 0 0 N ) j  (5 0 0 N ) k 

Fx  250 N , Fy  500 N , Fz   500 N

2.9 EQUILIBRIUM OF A
PARTICLE IN SPACE
For equilibrium:
 F = 0, F = 0 and F =0.
x y z

The equations may be used to

solve problems dealing with the
equilibrium of a particle involving
no more than three unknowns.