SPECIAL INDIAN EDITION ENGINEERING MECHANICS Revised Fourth Edition Ts S TIMOSHENKO DH YOUNG i V RAOM4 Special Indian Edition 2007 Tata McGraw-Hill Adapted in India by arrangement with The McGraw-Hill Companies, Inc., New York Sales Territories: India, Pakistan, Nepal, Bangladesh, Sri Lanka and Bhutan only Engineering Mechanics (in SI Units) Ninth reprint 2008 RBXLCDRXRADLD Copyright © 1956, 1951, 1940, 1937, by McGraw-Hill Book Company, Inc. All rights reserved, No part of this publication may be reproduced or distributed in any form or by any means, electronic, mechanical, photocopying, recording, or otherwise or stored in a database or retrieval system without the prior written permission of the McGraw-Hill ‘Companies, Inc. including, but limited to, in any network or other electronic storage or transmission, or broadcast for distance learning. ISBN-13: 978-0-07-061 680-6 ISBN-10: 0-07-061680-9 Information contained in this work has been obtained by Tata McGraw-Hill, from sources believed to be reliable. However, neither Tata McGraw-Hill nor its authors guarantee the accuracy or completeness of any information published herein, and neither Tata McGraw-Hill nor its authors shall be responsible for any errors, omissions, or damages arising out of use of this information. This work is published with the understanding that Tata McGraw- Hill and its authors are supplying information but are not attempting to render engineering or other professional services. If such services are required, the assistance of an appropriate professional should be sought. Published by the Tata McGraw-Hill Publishing Company Limited, 7 West Patel Nagar, New Delhi 110 008, typeset at The Composers, 260 C.A. Apt., Paschim Vihar, New Delhi 110 063 and printed at Adarsh Printers, New Delhi 110 032 palm ReaPreface to the Adapted Edition xv Preface ait Part One Statics 1_Introduction 3 L.1_Engineering Mechanics 3 Summary 8 Practice Set 1.] 9 - : = 9 Summary _13 1.3 Method of Problem Solution and the Accuracy of Solutions 15 2,_Concurrent Forces in a Plane 16 2.1 Principles of Statics 6 Summary _37 Practice Set 2.] 39 Problem Set 2.]__43 2.2 Composition and Resolution of Forces 46 Summary _48 Practice Set 2.249 Problem Set 2.2__50 2.3 Equilibrium of Concurrent Forces ina Plane 50 Summary _ 65 Practice Set 2.3 66 Problem Set 2.367 2.4 Method of projections 72 Summary 81 Practice Set 2.482 Problem Set 2.483 2.5 Equilibrium of Three Forces in a Plane 88 Summary _94 Contentsow Contents Summary 108 Pi Sein 700 a9 Friction L4 Summary 121 Pogattea 3 a _Parallel Forces ina Plane [28 Summary 137 oo ‘Cepoasl Coa oe ricaltan Rana Summary 152 3.3__Center of Parallel Forces and Center of Gravity 157 ‘Summary 178 es and curves 184 4.1 Composition of Forces ina Plane 2// ‘Summary 216 4.2 Equilibrium of Force ina Plane 2/8 Summary 223 : Practice Set42 224 4.3 Plane trusses: method of joints 228 “Summary _234 eaten ees Tk % 235 wi Stains ae ms_237 Summary 241 Copyrighted materialContents Eas Practice Set 4.4241 Problem Set 4.4241 4.5 Plane frames: method of me = “Summary _ 252 4.6 The funicular polygon _257 ‘Summary 265 _ Problem Set 4.6266 4.7 Maxwell diagrams 27) Summary 276 — actice Set 47276 4.8 Distributed force inaplane 279 285 49 Flexible suspension cables 287 “Summary 293. Force Systems in Space _296 5.1 Concurrent Forces in Space: Method of Projections 296 Summary 305 cee BlemiRey : : 5.2 Concurrent Forces in Space: Method of Moments _309 ‘Summary 314 5.3 Couples in Space 3/8 Summary 322 (5.4 Parallel Forces in Space 325 Summary 330 Problem Set 5.4331 5.5 Center of Parallel Forces and Center of Gravity 334 Summary 337 : : Problem Set 55238 5.6 General Case of Forces in Space 34] Summary _ 349 Practice Set 5.6349 Copyrighted materialContents 6.__ Principle of Virtual Work 357 6.1 Equilibrium of Ideal Systems 357 Summary _ 364 Practice Set 6] 365 Problem Set 61 365 6.2 Efficiency of Simple Machines _ 369 63 72 Summary 374 Problem Set 6.2 374 Stable and Unstable Equilibrium 377 Summary 384 Practice Set 6.3 384 Summary 400 Practice Set 71 401 Problem Set 7.1 402 Principles of dynamics 404 7.3__ Differential Equation of Rectilinear Motion 407 74 Summary 411 Practice Set 7.2 and 7.3 412 Problem Set 7.2 and 7.3412 Motion of a Particle Acted upon by a Constant Force 414 Practice 7 19 Problem Set 7.4419 15 FF Function of Ti 2 16 V7 78 19 Summary 427 Problem Set 7.5 427 Force Proportional to Displacement—Free Vibrations 428 Summary 438 Practice Set 7.6 438 Problem Set 7.6 438 D’Alembert’s Principle 440 Summary 444 Practice Set 7.7 445 Problem Set 7.7 446 Momentum and Impulse 449 Summary 452 Practice Set 7.8 452 Problem Set 7.8 453 Work and Energy 453 Summary 458 Practice Set 7.9 458 Problem Set 7.9 4589 Contents xi 7.10 Ideal Systems: Conservation of Energy 460 Summary 464 Practic Z. Problem Set 7.10 465 7.11 Impact 467 Summary 473 Practice Set 7.11] 474 Problem Set 7.11 474 Curvilinear Translation 416 £1 Ki Hi ‘nda Wing z, Summary 485 Practice Set 8] 486 Problem Set 8.1 487 8.2 Differential Equations of Curvilinear Motion 488 Summary 491 Problem Set 8.2 492 8.3 Motion of a Projectile 494 Summary 498 Practice Set 8.3 499 Problem Set 8.3 499 8.4__D’Alembert’s Principles in Curvilinear Motion 501 Practice Set 8.4 506 Problem Set 8.4 507 8.5 Moment of Momentum _509 Summary 511 Practice Set 8.5 512 Problem Set 8.5 512 8.6 Work and Energy in Curvilinear Motion 5/3 Summary 518 Practice Set 8.6 519 Problem Set 8.6 519 Rotation of a Rigid Body about a Fixed Axis 523 9.1 Kinematics of Rotation 523 Summary _527 Practice Set 9] 527 Problem Set 9.1 527 9.2 Equation of Motion for a Rigid Body Rotating about aFixed Axis 528 Summary 532 Practice Set 9.2. 533 Problem Set 9.2. 533 9.3 Rotation under the Action of a Constant Moment 534 Summary 538 Practic é Problem Set 9.3 539Contents 94 Torsional vibration 542 Summary 547 Practice Set 9.4548 Problem Set 9.4 548 9.5 The Compound Pendulum 550 96 97 Summary _554 Practice Set 9.5 555 Problem Set 9.5 555 General Case of Moment Proportional to Angle of Eotation 557 Summary _ 561 Practice Set 9.6 562 Problem Set 9.6 562 D’Alembert’s Principle in Rotation 564 Summary 570 Practice Set 9.7 570 Problem Set 9.7 570 98 Resultant Inertia Force in Rotation 572 Summary 577 Practice Set 9.8 577 Problem Set 9.8578 9.9 The Principle of Angular Momentum in Rotation 579 9.10 Summary 585 Practice Set 9.9 586 Problem Set 9.9 586 Energy Equation for Rotating Bodies 587 Summary 591 Practice Set 9.10 591 Problem Set 9.10 592 9.11 Gyroscopes 594 Summary 599 Practice Set 9.11 600 Problem Set 9.11 600 10. Plane Motion of a Rigid Body 602 P c 10.3 Summary 605 Practice Set 10.1606 Problem Set 10.1 606 Instantaneous Center 607 Summary 611 Practice Set 10.2. 611 Problem Set 10.2. 611 Equations of Plane Motion 6/3 Summary 619 Practice Set 10.3 620 Problem Set 10.3 620Contents 10.4 D’Alembert’s Principle in Plane Motion 623 Summary 627 Practice Set 10.4627 Problem Set 10.4 627 10.5 The Principle of Angular Momentum in Plane Motion 630 Summary 634 Practice Set 10.5 635 Problem Set 10.5 635 10.6 Energy Equation for Plane Motion 637 Summary 641 Practice Set 10.6 642 Problem Set 10.6 642 11. Relative Motion 645 icant ; 5 Summary 649 Practice Set IL] 649 Problem Set IL. 1 650 11.2 Equations of Relative Motion 651 Summary 658 Practice Set 11.2 659 Problem Set 11.2 659 11.3_D’Alembert’s Principle in Relative Motion 667 Summary 663 Practice Set [1.3 663 Problem Set 11.3 663 Appendix I 666 Appendix II 684 Appendix IT 698 Appendix IV 708 Index 219About the Adaptation Author JV Rao did his post graduation in Structural Engineering from CIT, Coimbatore in 1993. A Ph D in Computer Science, he has been teaching for over 15 years. He has taught Engineering Mechanics for over six years. In association with Prof. Sudhir K. Jain, IIT Kanpur, he did static and dynamic analyses of TV Towers. He is currently working in the field of Physics, teaching for IIT-JEE coaching.Preface to the Adapted Edition This book is the product of more than half a century of innovation in Engineering Mechanics education. When the first edition of Engineering Mechanics by S. Timoshenko and D.H. Young appeared in 1937, it was revolutionary among engineering mechanics textbooks with its emphasis on the fundamental principles of mechanics and how to apply them. The success of Engineering Mechanics with generations of students and educators throughout the world is a testament to the merits of this approach. In this revised fourth edition, SI units, which are most frequently used in mechanics, are introduced in Chapter | and are used throughout. Objective The main objective of a first course in mechanics should be to build a strong foundation, to acquaint the student with as many general methods of attack as possible, and to illustrate the application of these methods to practical engineering prob- lems. However, it should avoid routine drill in the manipulation of standardized. methods of solution. Such are the aims of this book. This text is designed for the first course in statics and dynamics offered in sophomore or junior year. It is hoped that this text will help the instructor achieve this goal. General Approach Scalar approach is used throughout the presentation of statics and dynamics. In Part One, statics, chapters are based on Force systems except principle of virtual work. In dynamics, emphasis is on rectilinear translation, curvilinear translation, rotation of a rigid body about a fixed axis and plane motion. Finally relative motion is dealt with in Part Two. New to This Edition While retaining the well-received approach and organization of the previous edi- tion, the revised fourth edition offers the following new features and improvements: e Each topic ends with a summary of the material covered in it.