Mecánica de Cuerpos Rígidos

(Introducción a la Estática )

Dr. Grover Zurita

Docente Investigador
Director del Laboratorio de Innovación Tecnológica Industrial y
Robótica (LITIR)
Universidad Privada Boliviana
Carrera de Ing. Electromecánica
Cochabamba-Bolivia
Applications
 Mechanics ?
Statics:
Mechanics Equilibrium of bodies
(no accelerated motion)
under action of Forces

Statics

-Equilibrium
Dynamics
-Selected Topics
Dynamics: Motion of bodies

Kinematics

-Particles
-Rigid Bodies
-Relative velocity
 Basic Concepts

Mechanics
Statics
Structures
Dynamics
Automotives
Mech of Materials
Robotics
Fluid Mechanics Mechanics
Spacecrafts
Vibration
MEMs
Fracture Mechanics
Etc.
Etc.
Basic Concept - Force

Force: Vector quantity that describes an action of

one body on another [Statics]

In dynamics, force is an action that tends to

cause acceleration of an object.

The SI unit of force magnitude is the newton (N).

One newton is equivalent to one kilogram-meter
per second squared (kg·m/s2 or kg·m · s – 2)
 SCALARS AND VECTORS

Scalars: associated with “Magnitude” alone

- mass, density, volume, time, energy, … free vector
(“math” vector)
Vectors: associated with “Magnitude” and “Direction”
- force, displacement, velocity, acceleration, …

Magnitude: Vector :
| V | or V V or V
 : Direction
 THE PARALLELOGRAM LAW

The two vectors V1 and V2 ,treated as free vectors, can be

replaced by their equivalent V, which is the diagonal of
the parallelogram formed by V1 and V2 as its two sides.

V2 V V
V2 V2
V1 V1
V1
V  V1  V2 (generally V  V1  V2 )

Robotics
 The Principle of Transmissibility

 
F F If we concerns only about the
? external resultant effects on rigid body.
=
The two force can be
We can slide the force along its line
considered equivalent if
of action.
…… (force can be considered as sliding vector)

“A force may be applied at any point on its given line of action

without altering the resultant effects external to the rigid body on
which it acts.”
NEWTON’S LAWS OF MOTION (1st Law)

The study of rigid body mechanics is

formulated on the basis of Newton’s laws of
motion.

First Law:
An object at rest tends to stay at rest and an object
in motion tends to stay in motion with the same speed
and in the same direction, unless acted upon by an
unbalanced force.

F  0
NEWTON’S LAWS OF MOTION (2nd Law)

Second Law:
The acceleration of a particle is proportional to the
vector sum of forces acting on it, and is in the direction
of this vector sum.


F m a

 
F  ma
 NEWTON’S LAWS OF MOTION
Thrird Law:
The mutual forces of action and reaction between two
particles are equal in magnitude, opposite in direction,
and collinear. Forces always occur in pairs – equal and
opposite action-reaction force pairs.

F F F F

Point: Isolate the body

Confusing? Concept of FBD (Free Body Diagram)

 Mecánica de Cuerpos Rígidos
Los ingenieros desarrollan ecuaciones matemáticas basadas
en las características físicas de los objetos que diseñan.

Con estos modelos matemáticos predicen el

comportamiento de sus diseños, los modifican y los
prueban antes de su construcción real: los ingenieros
aeroespaciales usan modelos matemáticos para predecir las
rutas que seguirá un trasbordador espacial durante su vuelo

Los ingenieros civiles usan modelos matemáticos para

analizar los efectos de las cargas sobre edificios y sus
cimientos.
El Sistema Internacional de Unidades (abreviado SI)
es el sistema de unidades que se usa en casi todos los
países del mundo. Se basa en 3 unidades básicas
coherentes el metro (m), kilogramo (kg) y segundo (s)

Equivalencia de las medidas utilizadas en Estados Unidos con el

sistema métrico tradicional
1 pulgada = 2,54 centímetros.
1 pie = 0,3048 metros.
1 yarda = 0,91 metros.
1 milla = 1,6093 kilómetros.
1 onza = 28,34 gramos.
1 galón = 3,78 litros.
 La fuerza gravitatoria

Donde G es una constante de gravitación universal (G), es una

constante física obtenida de forma empírica, que determina la
intensidad de la fuerza de atracción gravitatoria entre los cuerpos.

Aparece tanto en la ley de gravitación universal de Newton como en la

teoría general de la relatividad de Einstein.
 Peso
Para obtener el peso aproximado de un cuerpo de masa m debido a la atracción
gravitatoria de la Tierra
Problemas del cap. 1 , Libro Bedford
1.4
1.5
1.8
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