Ministry of Labor and Skill

FEDERAL TVET INSTITUTE Kombolcha Polytechnic College

Satellite Center
DEPARTMENT OF MECHANICALTECHNOLOGY

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1.Basics of Statics
1.1 Basic Concepts In Mechanics
1.2 Scalars And Vectors
1.3 .Operation with Vectors
1.4 Newton’s(mechanics) Laws
2.Force Systems
2.1 Introduction
2.2 Two Dimensional Force Systems
Rectangular Resolution of A Force ,
Moment, & Couple
2.3 Three Dimensional Force Systems
Rectangular Resolution of A Force ,
Moment, &Couple
3.Equilibrium
Equilibrium In Two-Dimensions
Equilibrium in Three Dimensions
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4) Distributed Forces
4.1. Introduction
 (center of mass , centroids ,Composite Bodies ,Area Moments Of
Inertia
Analysis of Structures (Trusses, Plane Trusses, Method of Joints,
 Types of loads and reactions
Shear force and bending moment in beams
 Relation between the static functions and their applications
5 .Kinematics of particles
.Introduction to kinematics of particles
Basic equations of motion
Motion of particle
6. . Kinematics of rigid body
Introduction to kinematics of rigid body
Motion of rigid body
3
REFERENCE
1.Meriam, J. L. “Engineering Mechanics
(Statics)”, 6th ed.,and 8th ed.
2.Engineering Mechanics by(dynamics)
R.C. Hibbeler (Global Edition) fourteenth
ed
3.“Vector Mechanics for Engineers” by
Beer johnston.
4.Any other relevant Engineering Mechanics
Books

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 ASSESSMENT
Assignments (20%):
 Quiz (10%)
 Mid exam (30%)[ chapter 1 –chapter 3]
 Final exam 40%. [ chapter 4 –chapter 6]*

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 Chapter 1
Basics of Statics

1.1.Introduction to Mechanics

1.2. Basic Concepts in Mechanics

1.3.Newton’s Laws

1.4.Scalars and Vectors

1.5.Operation with Vectors

 Chapter 1
1.1.Introduction to Mechanics

 Mechanics is A branch of physical science which deals

with bodies under action of forces
 It is a physical science that deals with both stationary and
moving bodies under the influence of forces
 the engineering mechanics is classified as
(a) Mechanics of Solids, and
(b) Mechanics of Fluids.
8
The classification of mechanics is summarized below in flow
chart
mechanics

Mechanics of Mechanics of
solid Fluid

Rigid Deformable Ideal fluid

Viscous fluid
body body Incompressible fluid

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Mechanics of rigid bodies.
The body which will not deform or the body in
which deformation can be neglected in the analysis,
are called as rigid bodies.

Statics Dynamics
The mechanics of the The mechanics of the
rigid bodies dealing rigid bodies that
with the bodies at dealing with bodies
rest is termed as in motion is called
Statics Dynamics.
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Statics: deals with equilibrium of bodies under action of forces
(bodies may be either at rest or move with a constant velocity).

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 Dynamics: deals with the motion of rigid bodies
caused by unbalanced force acting on them.
 Dynamics is further subdivided into two parts:
Kinematics and
Kinetics
 Kinematics: dealing with geometry of motion of
bodies without reference to the forces causing the
motion,
 How to describe a motion of rigid bodies
 Linear motion
 Circular motion
 it’s relate the motion variables (displacement,
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Rigid body: (chapter 6)
 Body with negligible deformations

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Crankshaft
Transmits linear motion into rotational
motion

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 Kinetics is a branch of dynamics that deals with the
relationship between the change in motion of a body and
the forces that cause this change.
 The basis for kinetics is Newton’s second law, which
states that when an unbalanced force acts on a particle, the
particle will accelerate in the direction of the force with a
magnitude that is proportional to the force.

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 Kinetics motion
Example
The 300-N block A in Fig. (a) is at rest on the horizontal
plane when the force P is applied at t = 0 . Find the velocity
and position of the block when t =5 s. The coefficients of
static and kinetic friction are 0.2.

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1.2. Basic Concepts in Mechanics
The concepts and definitions of
Space,
Time,
Mass,
Force,
Particle and
Rigid body are basic to the study of
mechanics.

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Basic Concept - Definition
Space: Collection of points whose relative positions
can be described using “a coordinate system”
Time : For relative occurrence of events
Mass : - resistance to change in velocity [Dynamics],

- quantities that influence mutual attraction

Force: between bodies [Statics]
Vector quantity that describes an action of
one body on another [Statics]
Particle: Body of negligible dimensions
has only mass and no size.
Rigid body: Body with negligible deformations
Non-rigid body: Body which
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can deform----- 21
 In this course, the bodies are assumed to be rigid such that
whatever load applied, they don‟t deform or change
shape.
 But translation or rotation may exist.
 The loads are assumed to cause only external movement,
not internal.
 In reality, the bodies may deform.
 But the changes in shapes are assumed to be minimal and
insignificant to affect the condition of equilibrium (stability)
or motion of the structure under load.
 When we deal Statics/Mechanics of rigid bodies under
equilibrium condition, we can represent the body or system
under a load by a particle or centerline.
 Thus, the general response in terms of other load of the
bodies can be spotted easily.
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Some Basic Terms Used In Mechanics
 The followings are the basic terms which are used in
mechanics:
 Length:
 Mass: Basic
 Time: Quantities.
 Force:
 Weight: are used throughout mechanics.
 Area:
 Volume:
 Space:
 Displacement: Derived Quantities.
 Velocity:
 Acceleration
 Particle:
 Rigid body
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Unit of Measurement
 Principal SI Units ((International System of Units)) Used in Mechanics
 The four basic quantities—length, time, mass, and force—are not all
independent from one another; in fact, they are related by Newton’s
second law of motion, .
i t s
Un
S I

Drive
quantity
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 While US customary unit is pound per square
inch (psi) or (Ib) expressed in Ib.wt/in2,
 1 Ib.wt = 4.45 newtons (N)
 1 Ib.wt/in2 ( psi) = 6.89 x 103 N/m2 = 6.89 kN/m2

1 kpsi = 6.895 MPa, 1 kpsi = 103 psi

 1 inch = 25.4mm
 12 inches = 304.8mm=1 foot
 39.37 inches = 1000mm = 1 meter
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Prefixes.
 When a numerical quantity is either very large or very small,
the units used to define its size may be modified by using a
prefix.

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 .* For example, 4 000 000 N = 4 000 kN (kilo-newton)
= 4 MN (mega-newton), or
0.005 m = 5 mm (milli-meter).
 When performing calculations, represent the numbers in
terms of their base or derived units by converting all
prefixes to powers of 10.
 The final result should then be expressed using a single
prefix.
 Also, after calculation, it is best to keep numerical values
between 0.1 and 1000; otherwise, a suitable prefix should
be chosen.
 For example

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Significant Figures (digit)
 Uncertainty exists in all measurements. The degree of
uncertainty is affected in part by the quality of the measuring
tool.
 Significant figures give an indication of the certainty of a
measurement.
 Significant figures are used to establish the number which
is presented in the form of digits.
 These digits carry a meaningful representation of numbers.
 The term significant digits are also used often instead of
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figures.
 We can identify the number of significant digits by
counting all the values starting from the 1 st non-
zero digit located on the left.

Example 1

Example 2,

 12.45 has four significant digits.

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The five important rules for the significant figures are as follows:

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Self-check
Give the number of significant figures in each.
Identify the rule for each.
A.860.0 _______________________
B.38.7 m _______________________
C.0.006606 s _______________________
D.2,002 kg ______________________
E.3,900 g ______________________
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Rounding to Significant Digits
 When doing mathematical calculations or finding
measurements that require rounding, a decision has to be
made as to how precise that answer must be.
 Example 1: The length of a room is measured by three
different people.
 The measurements taken are 6.8 meters, 7 meters, and 6.76
meters.
 Which is the most precise measurement?
 This can be determined by the number of “significant
digits”, also called “significant figures”, in the
measurement. 6.8 meters has 2 significant digits. 7 meters
has 1 significant digit. 6.76 meters has 3 significant digits.
 The measurement of 6.76 meters is more precise than 6.8
meters
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or 7 meters because byitsilmahas more significant digits.32
•Rounding Significant Figures Rules
 A number is rounded off to the required number of significant digits
by leaving one or more digits from the right.
•There are two rules to round off the significant numbers:
1. First, we have to check, up to which digit the rounding off should
be performed. If the number after the rounding off digit is less than
5, then we have to exclude all the numbers present on the right side.
2. But if the digit next to the rounding off digit is 5 or more, then we
have to add 1 to the rounding off digit and exclude the other
numbers on the right side.
 When the digit left is exactly 5, the number held is rounded up or
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down to receive an even number.
Example
a) Round 76340 to one significant figure = 80000
Because, the first significant figure is the 7. The next
digit to the right is 6, which is bigger than 5, so we
round up. Adding 1 to 7 gives us 8 and filling in the
zeros gives us 80000
b) Round 0.3897 to one significant figure= 0.4
The first significant figure is the 3. The next digit to
the right is 8, which is bigger than 5, so we round up.
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c). Round 4.7041294 to three significant figures.
The third significant figure is 0. The next figure to the
right is 4, which is less than 5. Therefore we round
down and the 0 remains the same. The answer is 4.70
to 3 s.f.
d)Round 0.0051489 to three significant figures
The first significant figure is 5 and the third significant
figure is 4. The next number to the right is 8, which is
bigger than 5, so we round up. Adding 1 to the 4 gives
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Self-check 2 Round off the significant numbers:
1) 7.264
a) Round to 1 significant digit__________
b) Round to 2 significant digits______
c) Round to 3 significant digits______
2) 25,715
a) Round to 2 significant digits_____
b) Round to 3 significant digits____
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3) 15.47572
a) Round to 3 significant digits____
b) Round to 2 significant digits_____
c) Round to 1 significant digit____
4) 958.96
a) Round to 2 significant digits_____
b) Round to 1 significant digit_____
c) Round to 3 significant digits_____

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1.3 Fundamental Principles(Newton’s law)
 The three laws of Newton are of importance while
studying mechanics
1. Newton’s first law:

First Law: A particle originally at

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

.” This statement can be formulated as ΣF = 0 ⇔ a = 0

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 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

.” This statement can be formulated as ΣF = 0 ⇔ a = 0

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• The first law states: “A particle remains at rest or continue to
move in a straight line with a uniform velocity if there is no
unbalanced force acting on it.” This statement can be
formulated as ΣF = 0 ⇔ a = 0

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Newton’s second law:
 “The absolute acceleration of a particle is proportional to
the resultant force acting on it and is in the direction of this
resultant force.”
 This statement can be formulated as
• ΣF = ma where a = absolute acceleration of the particle
mass do not change,

 Second
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Newton’s third 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?
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Concept
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of FBD (Free Body Diagram)42
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The first and third laws have of great
importance for Statics whereas the second
one is basic for dynamics of Mechanics.
Another important law for mechanics is the
Law of gravitation by Newton, as it usual to
compute the weight of bodies. Accordingly:

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• Newton’s Law of Gravitation. This states that two
particles of mass M and m are mutually attracted
with equal and opposite forces F and 2F ( Fig. 1.1 )
of magnitude F given by the formula

where r =distance between the two particles

G = universal constant called the constant
of gravitation
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Assignment 1(5%) Plagiarism is strictly forbidden
1)Represent each of the following quantities in the correct SI form using an
appropriate prefix
A)0.000431kg B) 0.00532 km
2)Convert each of the following
A)20 lb.ft to N.m B) 15ft/h to mm/s
3)Evaluate each of the following to three significant and express each answer in SI
unit using an appropriate prefix
A)435MN/23.2 mm B)0.00453Mg*(201 ms)
4)Represent each of the following combinations of units in the correct SI form using
an appropriate prefix:
a) MN (b)MN/k.s2
5) Round off the following numbers to three significant figure.
A) 4.65735m
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by silma C) 27689 kg 46
1.4 VECTORS AND SCALAR
 Various quantities used in engineering mechanics may be
grouped into scalars and vectors.
Scalar Quantity:
 A scalar is any positive or negative physical quantity
that can be completely specified by its magnitude (size)
only
 Examples of scalar quantities are:
 Time[s],
 Mass [Kg],
 Area [m2],
 Volume [m3],
 Density [Kg/m3],
 Distance [m], etc.
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Vector Quantity:
 A vector is any physical quantity that requires both a
magnitude and a direction for its complete description
 Examples of vector quantities include:
 Force, [N, Kg.m/s2],
 Displacement, [m],
 Velocity [m/s], and
 Acceleration [m/s2], etc.
• The displacement of an object is a vector, since
you have to state the direction the object has
traveled.
• E.g. The car moved 2.56km east.”

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Vectors representing physical quantities can be
classified Vectors: “Magnitude”, “Direction”

Fixed Vector Free Vector Sliding Vector

E.g.) Force on rotating motion, couple E.g.) Force on

non- rigid body rotation rigid-body

vector
Rigid Body F

F
F

Rotational motion occurs at 49

point of action line of action
every point in the object.
 magnitude,  magnitude,
 direction &  magnitude &  direction &
 point of application  direction  line of action
NB:
 From the above we can see that a force
can be applied anywhere along its line of
action on a rigid body without altering its
external effect on the body.
 This principle is known as Principle of
Transmissibility.

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Self-check 1
Determine whether a scalar quantity, a vector
quantity or neither would be appropriate to describe
each of the following situations.
a) The outside temperature is 15º C.
b) A truck is traveling at 60 km/hr.
c) The rock has a mass of 5 kilograms.
d) The box has a volume of .25 m3.
e) The rock has a density of 5 gm/cm3.
f) A bulldozer moves the rock eastward 15m.
g) The wind is blowing at 20 km/hr from the south.
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Representation of Vectors
A) Graphical representation
 Graphically, a vector is represented by a directed line
segment headed by an arrow.
 The length of the line segment is equal to the magnitude of
the vector to some predetermined scale and the arrow
indicates the direction of the vector

head
NB: The direction of the vector
may be measured by an angle Ꝋ
from some known reference
Tail Ꝋ direction.

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B) Algebraic (arithmetic) representation
 Algebraically a vector is represented by the components of
the vector along the three dimensions

Chapter two

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 Vectors are represented by short arrows on top of the letters
describing them.

In written (vector A)

Put arrow on the head = A

Put hat overhead = A

Bold face = A
NB.
A positive velocity means you are moving forward , to the right, or up,

while negative means you are going backwards, to the left, or down.
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Properties of vectors
 Equality of vectors:
 Two free vectors are said to be equal if and only if they
have the same magnitude and direction.
 The Negative of a vector:
 is a vector which has equal magnitude to a given vector
but opposite in direction.
 Null vector:
 is a vector of zero magnitude.
 Unit vector (vector with magnitude =u=λ)
 is any vector whose magnitude is unity.

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Commutative Property: A+B = B+A
Associative Property: (A+B)+C = A+(B+C)
Zero Property: A+(-B) = 0, if and only if, A
is equal in magnitude to B and pointing in
the opposite direction.
Subtraction: A - B = A + (-B)
Multiplication: 3 x A = 3A

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 Vector angle ranges
N
NW quad NE quad
270o <  < 360o 0 <  < 90o
 
W E
 
SW quad SE quad
180o <  < 270o 90o <  < 180o
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Operation with Vectors
A. Vector Addition (Composition of Vectors)
a) Parallelogram method(tail-to-tail method
b) Triangle method (head-to-tail method)
c) Trigonometry Law (laws of sines and cosines)

Graphical Vector Addition

B. Vector Multiplication:
b) Dot (scalar) product
c) Cross (vector) product

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a) 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.
tail-to-tail method

V2 
  V  V1  V2
V2 V
  (generally V  V1  V2 )
V1 V1
 For a quick assessment.
 Good for concurrent forces.
 This law is based on experimental evidence;
 it cannot be proved or derived mathematically.
 A

R
B B

THE PARALLELOGRAM METHOD

60
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b) Triangle method (head-to-tail method)
 using the triangle rule, which is a special case of the
parallelogram law, whereby vector B is added to vector
A in a “head-to-tail” fashion, i.e., by connecting the head
of A to the tail of B,


V1 
V 
V2 
 V  V1  V2
 V1
V2

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Find the Resultant Displacement
TIP-TO-TAIL METHOD
A: 12 meters 20o East of North
B: 15 meters East
C: 5 meters 30o North of West

Solution

C
C: 5 meters 30o North of West
B

A R
B: 15 meters East

A: 12 meters 20o East of North

 Other example

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 As a special case, if the two vectors A and B are collinear,
i.e., both have the same line of action, the parallelogram
law reduces to an algebraic or scalar addition R = A + B

Vector Subtraction.
R' = A - B = A + (–B)

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 Given Vector
method

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c) Trigonometry Law
 A third technique is to determine the relationships between
the various magnitudes and angles analytically by applying
the laws of sines and cosines to a sketch of the
parallelogram (or the triangle methods)

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Activity
The screw eye in Fig. is subjected to two forces, F1 and F2.
Determine the magnitude and direction of the resultant force.

Trigonometry.

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Determine this magnitude, the angle and the corresponding
resultant force?

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Vector Multiplication: Dot & Cross
 In two dimensions, these problems can readily be solved
by trigonometry since the geometry is easy to visualize.
 In three dimensions, however, this is often difficult, and
consequently vector methods should be employed for the
solution.
a) Dot (scalar) product
 The dot product, which defines a particular method for
“multiplying” two vectors, will be is used to solve the
above-mentioned problems.
 The dot product of vectors A and B, written A · B, and
read “A dot B” is defined as the product of the magnitudes
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 The dot product is often referred to as the scalar product
of vectors since the result is a scalar and not a vector.
 The dot product of A and B is defined as

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 From the definition of the dot product, we also note
that the base vectors of a rectangular coordinate
system satisfy the following identities:
 i·i = j·j = k · k = 1

because of cos0=1

 i·j = j· k = k ·i = 0
because of cos90=0

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 1
1
1

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EXAMPLE
Given the vectors A = 8i + 4j − 2k lb
B = 2j + 6k ft

Calculate the following: a) A · B;

Solution

ANSWER=-4lbft

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b. Cross (vector) product
 The cross product C of two vectors A and B, denoted by
C = A × B has the following characteristics
 The magnitude of C is C = AB sin θ where θ (0 ≤ θ ≤ 180◦) is the
angle between the positive directions of A and B. (Note that C is
always a positive number.)
 C is perpendicular to both A and B

 If A and B are perpendicular (θ = 90◦),

then C = AB; and
 If A and B are parallel (θ = 0◦ or 180◦),
then C = 0
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 If the circle is constructed as shown, then
 “crossing” two unit vectors in a
counterclockwise fashion around the
circle yields the positive third unit
vector;
 e.g., “Crossing” clockwise, a negative
unit vector is obtained; e.g., i * k = -j.

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 Let us now consider the cross product of two general
vectors A and B which are expressed in Cartesian vector
form.
 We have
 Carrying out the cross-product operations and combining
terms yields
 This equation may also be written in a more
compact determinant form as

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Given the vectors
 A = 8i + 4j − 2k lb
 B = 2j + 6k ft
 C = 3i − 2j + 4k ft
Calculate the following:
a) A · B;
b) A.C;
c) B.C;
d) A × B;
e) A × C;=
f) B × C; =
g) A unit vector u (A,B & C)
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Solution
a) A · B; =-4lbft
b) A.C; = 8lbft
c) B.C; =20lbft
d) A × B; =28i-48j+16k lb.ft
e) A × C;=12i-30j-4k lbft
f) B × C; =20i+18j-6k lbft
g) A unit vector u (A,B & C)
√𝟖
𝟐 𝟐
+𝟒 +𝟐 𝟐

uA = = =

uB = =

uC =
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 CHAPTER TWO - FORCE SYSTEM
2.1 Introduction to force system
2.2. Two Dimensional Force Systems
2.2.1 Rectangular Resolution of Forces

2.2.2. Moment and Couple

2.3 Three Dimensional Force Systems
2.3.1 Rectangular Resolution of Forces
2.3.2 Moment and Couple

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2.1 INTRODUCTION
 Any external agent that changes or tries to change an
object's state is called a force
 A force is a vector quantity, because its effect depends on
the direction as well as on the magnitude of the action.
2.1.1 Characteristics Of A Force
 A force represents the action of one body on another and is
generally characterized by its

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2.1.2 Classification of forces
Based on the characteristic of the interacting bodies
 Contacting vs. Non-contacting forces
 contacting force (Surface force )
 Examples: »Pushing/pulling force »Frictions
 non-contacting force (Body force )
 Examples: »Gravitational force »Electromagnetic
force

03/21/2024 by silma 85
Based on the area (or volume) over which the force is acting
 Distributed force – The application area is relatively large
compare to the whole loaded body
Uniform vs. Non-uniform
 Concentrated force – The application area is relatively small
compare to the whole loaded body

03/21/2024 by silma 86
What is the System of Forces?
 A system of forces is a collection of forces acting on
an object simultaneously
 The study of the system of forces is very important
to analyze the effect of the system of forces on the
object and to calculate the results of the system of
forces.
 Generally, force systems can be divided into two
types.
1. Coplanar force system
2. Non coplanar force system
 Non-coplanar force system refers to the
number of forces which do not remain in
03/21/2024
same plane. by silma 87
1) Coplanar Force System
Coplanar force system refers to the number
of forces which remain in same plane.
 All of the forces lie in the same plane
It is also stated as the number of forces in a
system which remains in single plane.

03/21/2024 by silma 88
• This force system can be concurrent, parallel and
collinear

03/21/2024 by silma 89
Fig 2.4 Force Systems
•Resultant of three concurrent forces and more

F3 head-to-tail method
F2
R123
R12

03/21/2024 by silma 90
 •Resultant of more than three forces
F3
F2 head-to-tail method
R12
R123 F4

R1234

03/21/2024 by silma 91
Activity 2.3
Determine: – The resultant force (R) and The angle
θ between the R and the x-axis(fig 1)

40 ?
?
 180-40=1400

R=
R=1,413 lb
R=

2=?
2 =35+15.8=510
2 =35+
03/21/2024 by silma 92
 2.2. Two Dimensional Force Systems
 The most common two-dimensional resolution of a force vector is
into rectangular components.
 It follows from the parallelogram rule that the vector F of Fig. below
 may be written as F = Fx + Fy

Fy

03/21/2024 by silma 93
 Where Fx and Fy are vector components of F in the
x- and y-directions.
 Each of the two vector components may be written
as a scalar times the appropriate unit vector.
 In terms of the unit vectors i and j
Fx = Fxi and Fy = Fy j, and thus we may write
F = Fxi +Fy j
 The scalar components can be positive or negative,
depending on the quadrant into which F points.

03/21/2024 by silma 94
How to Determining the Components of a Force
Fy
Fx

Fy

Fx

03/21/2024 by silma 95
How to Determining the Components of a Force

Ø
03/21/2024 by silma 96
Addition of Forces by Summing Components
• Wish to find the resultant of 3 or more concurrent
forces,
   
R  PQS

• Resolve each force into rectangular components

       
R x i  R y j  Px i  Py j  Q x i  Q y j  S x i  S y j
 
 Px  Q x  S x i  Py  Q y  S y  j
• The scalar components of the resultant are equal to
the sum of the corresponding scalar components of
the given forces.
R x  Px  Q x  S x R y  Py  Q y  S y
  Fx   Fy
• To find the resultant magnitude and direction,

1 Ry
R R x2  R y2   tan
Rx
03/21/2024 by silma 97 2-
97
Activity 2.1
1.A force Fx= (700 lb) i and Fy= (1500 lb) j is applied to a
bolt A. Determine the magnitude of the force F and the angle
 it forms with the horizontal.(fig 1)
So/n

𝐹 =√ 700 + 1500 2 2

lb

𝑡𝑎𝑛−1(1500 /700)
=65 0
03/21/2024 by silma 98
2.A force of 800 N is exerted on a bolt A as shown in Fig. 2.
Determine the horizontal and vertical components of the force

N


𝐹 𝑦=800 ∗ 𝑠𝑖𝑛145
N
+459Nj
03/21/2024 by silma 99
3. Determine the x and y scalar components of F1, F2, and
F3 acting at point A of the bracket as shown in Fig. 3.

03/21/2024 by silma 100

 5
3

Cos= Adjacent
hypotheses

Sin =Opposite
hypotheses

03/21/2024 by silma 101

tanα= Opposite
Adjacent
α= tan-1 (
Moment and Couple

03/21/2024 by silma 103

A) Moment of a Force
 The moment of a force is the ability of the force to rotate a
body about an axis.
Known as torque or moment
 Moment is a vector quantity

03/21/2024 by silma 104

Principle of Moments(Varignon’s Theorem).
 The moment of a force about a point is equal to the sum
of moments of the components of the force about the
point:
F must be perpendicular to d

d
Often it is easier to determine MO by using the components
of F as shown (Varignon’s Theorem).

Then
 MO = (Fy a) – (Fx b).

 The typical sign F convention for a moment in 2-D

is that counter-clockwise is considered positive
106
 i) Scalar Formulation.
Varignon’s Theorem
ii) Vector Formulation of Moment

i) Scalar Formulation.
 The moment of a couple, M, is defined as having a
magnitude of M = F * d
 Where d is the perpendicular distance from the axis of
point O to the action of the force F).

03/21/2024 by silma 107

Ex 1 Determine the moment of the force about point O
10 [N]
1 Mo = Fd
= (10N)(2m)

O Mo = 20 [N.m]
2 [m]

10 [N]
10 [N] 3
2

1.5 [m] O
O
2 [m]
Mo = Fd
Mo = Fd = (10N)(2m) = (10N)(1.5m)

Mo = 20 [N.m] Mo = 15 [N.m]
 10 [N]
2
Mo = Fd
O = (10N)(2m)

Mo = 20 [N.m]
2 [m]

10 [N]

3 Mo = Fd
= (10N)(1.5m)
O

1.5 [m] Mo = 15 [N.m]

03/21/2024 by silma 109

2) A 100-lb vertical force is applied to the end of a
lever which is attached to a shaft at O.

Determine:
a)Moment about O,
b)Horizontal force at A which creates
the same moment,

c)The smallest force at A to produce the

same moment occurs when the
perpendicular distance is a maximum or
when F is perpendicular to OA.,
d)Location for a 240-lb vertical force to
produce the same moment,(at point B)
03/21/2024 by silma 110
 Solution
a) Moment about O is equal to the product of the
force and the perpendicular distance between the
line of action of the force and O.

M O  Fd
d  24 in.cos 60  12 in.
M O  100 lb12 in.

M O  1200 lb  in

03/21/2024 by silma 111

 b) Horizontal force at A that produces the same
moment,

F  57.7 lb
03/21/2024 by silma 112
 c) when F is perpendicular to OA

M O  Fd
1200 lb  in.  F 24 in.
1200 lb  in.
F
24 in.

F  50 lb
03/21/2024 by silma 113
d) To determine the point of application of a 240
lb force to produce the same moment,

OB  10 in.
03/21/2024 by silma 114
3) A 20 lb force is applied to the hammer .

y
x a) Find: The moment of the
force at A
Hint Since this is a 2-D problem:
 Resolve the 20 lb force along
the handle’s x and y axes.
 Determine MA using a scalar
analysis

03/21/2024 by silma 115

 y
Solution: (Varignon’s Theorem).
x

+  Fy = 20 sin 30° lb=10 lb

+  Fx
= 20 cos 30° lb=17lb

Fy
MO = (Fy a) – (Fx b). Anti-clockwise

Fx + MA = {–(17)lb (18 in) – (10)lb (5 in)}

= – 361.77 lb·in
= 362 lb·in (clockwise)

03/21/2024 by silma 116

5) Determine the moment of each the force about point
O.

Answer :
MO1 = 200kNm
MO2 =70kNm
MO3 = 50kNm, How?
MO4 = 70kNm
,
MO5 =125kNm

03/21/2024 by silma 117

ii) Vector Formulation of Moment
 The moment of F about point O discussed earlier, can be
expressed using the vector cross product;

MO = rxF
ü Where r represent the position vector drawn from O to any
point lying on the line of action of F

03/21/2024 by silma 118

a)Magnitude: MO = rF sin θ = F(r sin θ) = Fd
b)Direction:
 Apply right‐hand rule at the intersection point of the tails of
extended r and F
 Note that the moment axis is perpendicular to the plane
containing r and F
 r is treated as a sliding vector
03/21/2024 by silma 119
 Activity 2.3
1. Calculate the magnitude of the moment about the
base point O of the 600-N force in different ways.

a) Use the moment arm (CW+)

Mo= F*d
b) Use rectangular components at
A (By Varignon’s theorem)
c) Use vector approach (Mo= r*F)

03/21/2024 by silma 120

a) Use the moment arm (CW+) Mo= F*d

03/21/2024 by silma 121

b) Use rectangular components at A (By Varignon’s theorem)

03/21/2024 by silma 122

c) Use vector approach (Mo= r*F)

03/21/2024 by silma 123

B) Couple
 The moment produced by two equal, opposite, and non
collinear forces is called a couple.
 Couples have certain unique properties and have important
applications in mechanics.
 Two parallel forces that have same magnitude, opposite direction,
separated by perpendicular distance d

M =F (a +d) –Fa =Fd

03/21/2024 by silma 124
 We may also express the moment of a couple by
using vector algebra.
 With the cross-product notation of the combined
moment about point O of the forces forming the
couple of Fig. 2.10b is

03/21/2024 by silma 125

 We may also express the moment of a couple by
using vector algebra.
 With the cross-product notation of the combined
moment about point O of the forces forming the
couple of Fig. 2.10b is

03/21/2024 by silma 126

Couple: Example
 Moment required to turn the shaft connected at center of the
wheel = 12 Nm
 Case A: Couple Moment produced by 30 N forces = 12 Nm
 Case B: Couple Moment produced by 40 N forces = 12 Nm

03/21/2024 by silma 127

• If only one hand is used?
• Force required for case A is ------------
• Force required for case B is ---------------

03/21/2024 by silma 128

2) Determine the magnitude and direction of the
couple moment acting on the gear in Fig(b).

03/21/2024 by silma 129

03/21/2024 by silma 130
 •Activity 2.4
1) Find(fig a): The magnitude of F so that the resultant couple
moment is 1.5 kN.m clockwise. Given: Two couples act on the beam
with the geometry shown.
Hint
 Add the two couples to find the resultant couple.
 Equate the net moment to 1.5 kN.m clockwise to find F.

03/21/2024 by silma 131

 • Solution

Solving for the unknown force F

The net moment is equal to

+ M = – F (0.9) + (2) (0.3)

= – 0.9 F + 0.6
– 1.5 kN.m = – 0.9 F + 0.6
-1.5-0.6=-0.9F
-2.1=-0.9F
03/21/2024
F = 2.33 kN by silma 132
 2.3 Three Dimensional Force Systems
 Many problems in mechanics require analysis in three dimensions,
and for such problems it is often necessary to resolve a force into
its three mutually perpendicular components.
 The force F acting at point O in Fig. 2/16 has the rectangular
components Fx, Fy, Fz, where

03/21/2024 by silma 133

Using the direction cosines of F, which are
𝑙 =cosx, m =cos y, and n = cos z ,
where 𝑙2+m2+n2+=1,
we may write the force as
𝐅 = 𝐹(𝑙𝐢+ 𝑚 𝐣+ 𝑛𝐤
)

03/21/2024 by silma 134

03/21/2024 by silma 135
Moment of a Force
 Moments in 3-D can be calculated using a
mathematical approach called the vector cross
product
 Using the vector cross product, MO= r xF.
 Here r is the position vector from point O to
any point on the line of action of F.

03/21/2024 by silma 136

03/21/2024 by silma 137
Activity 2.5
1) Find: The moment of the force at point O.

Hint
a) Resolve the 100 N force along x and y-axes.
b) Determine MO using a scalar analysis for the two force
components and then add those two moments together..
03/21/2024 by silma 138
 Fy= F sin  Fy

Fx
F*

Fx= F cos  =F *
+ ↑Fy= –100 (3/5)N=-60N
+ →Fx= 100 (4/5)N=80N

MO = (Fy a) – (Fx b).

MO = (-60N*5m) – (80N*2m).
= –460 N·m or 460 N·m CW
03/21/2024 by silma 139
2) Find: Resultant moment by the forces about point O.

03/21/2024 by silma 140

Solution:
 First, find the resultant force vector F
F=F1+F2
= { (100 -200) i+ (-120 + 250) j+ (75 + 100) k} lb
= {-100 i+130 j+175 k} lb

 Find the position vector rOA

rOA= {4 i+ 5 j+3 k} ft

 Then find the moment by using the vector cross product

03/21/2024 by silma 141

3) Determine the moment produced by each force
and resultant couple moment about point O located
on the drill bit. Express the results as Cartesian
vectors.

03/21/2024 by silma 142

Give
rOA= {150 i+ 300 j+0k} mm
rOA= {0.15 i+ 0.3 j+0k} m

rOB= {0 i+ 600 j-150k} mm

rOB= {0 i+ 0.6 j-0.15k} m
Required
a) moment produced by each force and
b) Resultant couple moment about point O(MO)

03/21/2024 by silma 143

Solution:
 MoA =FA*rA i j k
0.15 0.3 0 = {18i-9 j-3 k} NM
-50 -120 60

 MoB =FA*rB i j k
0 0.6 -0.15 = {-51i+6j+24 k} NM
-40 -100 -60

 MO=MoA+MoB={-33i-3j+21 k} NM
 CHAPTER THREE-
EQUILIBRIUM

 Introduction
 Equilibrium In Two-Dimensions
 Equilibrium in Three Dimensions
Introduction
 When the force and the couple are both equal to zero, the
external forces form a system equivalent to zero, and the
rigid body is said to be in equilibrium.
 When the resultant of all concurrent forces acting on a
particle is zero, the particle is in a state of equilibrium.

03/21/2024 by silma 146

 In order to write the equations of equilibrium … first
identify all of the forces acting on that body and then to
draw the corresponding free-body diagram.
 To apply the equation of equilibrium, we must account for
all the known and unknown forces which act on the
particle.
 The best way to do this is to think of the particle as
isolated and “free” from its surroundings.

03/21/2024 by silma 147

Free Body Diagram
 A drawing that shows the particle with all the forces that
act on it is called a free-body diagram (FBD). See
figures 3.1

03/21/2024 by silma 148

03/21/2024 by silma 149
Example 1.
Determine the tension developed in wires CA and CB
required for equilibrium of the 10-kg cylinder

FBD

03/21/2024 by silma 150

03/21/2024 by silma 151
equations of equilibrium

03/21/2024 by silma 152

 ….equ 1

….equ 2

03/21/2024 by silma 153

 equ 1&2

Answer
03/21/2024 by silma 154
 In addition to the forces applied to a structure, the
reactions exerted on the structure by its supports will
be considered.
 To solve a problem involving a particle in equilibrium,
one first should draw a free-body diagram of the
particle showing all the forces acting on it.
 If only three coplanar forces act on the particle, a force
triangle may be drawn to express that the particle is in
equilibrium.
03/21/2024 by silma 155
 Using graphical methods of trigonometry, this triangle can
be solved for no more than two unknowns.
 If more than three coplanar forces are involved, the
equations of equilibrium

Should be used.

03/21/2024 by silma 156

3.2 Equilibrium In Two-Dimensions
 The number of unknown for a reaction to represent the
support and connection is equal to 1 to 3 depending
on the type of support and connection.
 Since maximum three unknowns can be determined in
the two dimensional rigid structure, in general,
unknown forces of an equilibrium rigid body with
simple support and connection in two dimensions can
be determined by the application of equilibrium
03/21/2024 by silma 157
3.2 Equilibrium In Two-Dimensions
 The number of unknown for a reaction to represent the support and
connection is equal to 1 to 3 depending on the type of support and
connection.
 Since maximum three unknowns can be determined in the two
dimensional rigid structure, in general, unknown forces of an
equilibrium rigid body with simple support and connection in two
dimensions can be determined by the application of equilibrium
equations
 In the first part of this chapter, the equilibrium of a two-dimensional
structure is considered; i.e., it is assumed that the structure being
03/21/2024 by silma 158
analyzed and the forces applied to it are contained in the same plane.
 The reactions exerted on a two-dimensional structure can be divided
into Two or three groups corresponding to three types of supports,
or connections:
1. Reactions Equivalent to a Force with Known Line of Action.
 Supports and connections causing reactions of this type include
 rollers,
 rockers,
 frictionless surfaces,
 short links and cables, c
 collars on frictionless rods, and
 frictionless pins in slots.
• Each of these supports and connections
03/21/2024 by silma can prevent motion in one
159
2.Reactions Equivalent to a Force of Unknown Direction and
Magnitude.
 Supports and connections causing reactions of this type include
frictionless pins in fitted holes, hinges, and rough surfaces.
 They can prevent translation of the free body in all directions,
but they cannot prevent the body from rotating about the
connection.
 Reactions of this group involve two unknowns and are usually
represented by their x and y components.
 In the case of a rough surface, the component normal to the
surface must be directed away
03/21/2024
from the surface.
by silma 160
Reactions at supports and connections.

03/21/2024 by silma 161

Reactions at supports and connections.

03/21/2024 by silma 162

 The free-body diagram of the truss

03/21/2024 by silma 163

03/21/2024 by silma 164
Example
1. Three loads are applied to a beam as shown. The beam is supported by a roller
at A and by a pin at B. Neglecting the weight of the beam, draw the FBD AND
determine the reactions at A and B when P = 70kN.

P
27kN 27kN

1.8m
0.9m 0.6m 0.6m 16
03/21/2024 by silma 165
Solution
P 27kN 27kN

1.8m
0.9m 0.6m 0.6m

Free-Body Diagram

70kN 27kN 27kN

Bx
A By
1.8m
0.9m 0.6m 0.6m 166
03/21/2024 by silma 166
Solution 70kN 27kN 27kN

Bx
A By
1.8m
0.9m 0.6m 0.6m

Equilibrium Equations

We write the following three equilibrium equations and solve for the reactions indicated :

Bx = 0

; -(70N)(0.9m) + By(2.7m) – (27 kN)(3.3m) – (27kN)(3.9m) = 0

By = +95.33 kN

03/21/2024 By = 95.33 kN
by silma 167
 Remember Varignon’s Theorem.
Solution  counter-clockwise is considered positive

70kN 27kN 27kN

Bx
A By
1.8m
0.9m 0.6m 0.6m

Equilibrium Equations

= 0 ; - A(2.7m) + (70N)(1.8m) – (27 kN)(0.6m) – (27kN)(1.2m) = 0

A = +28.67 kN A = 28.67 kN
03/21/2024 by silma 168
2) A fixed crane has a mass of 1000 kg and is used to lift a 2400-kg crate. It is
held in place by a pin at A and a rocker at B. The center of gravity of the crane is
located at G. Determine the components of the reactions at A and B.

F.B.D

03/21/2024 by silma 169

 Sample Problem 4.1
• Determine B by solving the equation for the
sum of the moments of all forces about A.

 M A  0 :  B1.5m   9.81 kN2m 

 23.5 kN6m   0
B  107.1 kN
• Determine the reactions at A by solving the
equations for the sum of all horizontal forces
• Create the free-body and all vertical forces.
diagram.
 Fx  0 : Ax  B  0
Ax  107.1 kN
 Fy  0 : Ay  9.81kN  23.5 kN  0
Ay  33.3 kN
03/21/2024
• Check
by silmathe values obtained. 170
 • Determine B by solving the equation for the
sum of the moments of all forces about A.

 M A  0 :  B1.5m   9.81 kN2m 

 23.5 kN6m   0
B  107.1 kN

• Determine the reactions at A by solving the

equations for the sum of all horizontal forces
and all vertical forces.
• Create the free-body
diagram.  Fx  0 : Ax  B  0
 Fy  0 : Ay  9.81kN  23.5 kN  0 Ax  107.1 kN

Ay  33.3 kN
• Check the values obtained. +↑ΣFY = 0 33.3 kN– 9.81kN – 23.5kN = 0
03/21/2024 by silma 171
3) Two crates each having a mass of 110 kg, are placed as shown in the
bed of a 13.5 kN pick-up truck. Determine the reactions at each of the
two
(a)rear wheels A, (b) front wheels B

03/21/2024 by silma 172

 Solution Free body diagram

1.7 m 2.7 m

1.8 m 1.2 m 0.75 m

173
03/21/2024 by silma 173
 Solution Free body diagram

1.7 m 2.7 m

1.8 m 1.2 m 0.75 m

03/21/2024 by silma 174

3.Equilibrium In Three-Dimensions
 When a particle is in equilibrium, the vector sum of all
the forces acting on it must be zero (ΣF = 0 )
 This equation can be written in terms of its x, y and z
components. This form is written as Follows.
(ΣFx) i + (ΣFy) j + (ΣFz) k = 0
 This vector equation will be satisfied only when
ΣFx = 0 ΣFy = 0 ΣFz = 0
 These equations are the three scalar equations of
equilibrium.
03/21/2024 by silma 175
They are valid at any point in equilibrium and allow
you to solve for up to three unknowns

03/21/2024 by silma 176

Common Supports for Three-Dimensional Loading

03/21/2024 by silma 177

Common Supports for Three-Dimensional Loading (Table continues

03/21/2024 by silma 178

03/21/2024 by silma 179
03/21/2024 by silma 180
03/21/2024 by silma 181
03/21/2024 by silma 182
03/21/2024 by silma 183
Activity
The uniform 7m steel shaft has a mass of 200kg and is supported by a
ball and socket joint at A in the horizontal floor. The ball end B rests
against the smooth vertical wall as shown. Compute the forces exerted
by the walls and the floor on the ends of the shaft

03/21/2024 by silma 184

03/21/2024 by silma 185
03/21/2024 by silma 186