Mechanics: Study of What Happens To A "Thing" (The Technical Name Is "Body") When FORCES Are Applied To It

Mechanics
Study of what happens to a thing (the technical name

is body) when FORCES are applied to it.
Mechanics
Rigid Deformable
Fluids
bodies bodies
This course concentrates only rigid-body mechanics since it

forms a suitable basis for the design and analysis encountered
in engineering. Also, it provides part of the necessary
background for the study of the deformable-body and fluid
mechanics.
Newtons Laws of Motion
Three Laws of Definition

Motion
First Law an object either remains at rest or continues to
move at a constant velocity, unless acted upon
by an external force
Second Law F = ma.
The vector sum of the forces F on an object is
equal to the mass m of that object multiplied
by the acceleration vector a of the object.
Third Law When one body exerts a force on a second
body, the second body simultaneously exerts a
force equal in magnitude and opposite in
direction on the first body.
Newtons Law of Gravitational Attraction
Any two bodies in the universe attract

each other with a force that is directly
proportional to the product of their
masses and inversely proportional to the
square of the distance between them.
F is the force between the masses,

G is the gravitational constant,
m1 is the first mass,
m2 is the second mass, and
r is the distance between the centers of the masses.
From wikipedia
Units
Base units of SI system
Length to locate position distance meter

Mass to compare the action of one body with another kg
Time succession of events important in study of dynamics
second
DERIVED unit
Force push or pull exerted by one body to another

Newton
1 N = (1 kg)(1 m/s2) = 1 kgm/s2
International system of units (SI)
Prefix Abbreviation Multiple

Giga G 109
Mega M 106
Kilo k 103
milli m 10-3
micro 10-6
nano n 10-9
International system of units (SI)
No Plurals [e.g. m = 5 kg not kgs confused with unit for second

(s) ]
Separate Units with a dot () (e.g. meter second = m s )
Most symbols are in lowercase ( some exception are N, Pa, M and

G)
Exponential powers apply to units , e.g. cm2 = cm cm
Use comma (e.g. 8,537) and decimal (avoid fraction e.g. 15.25
not 15)
Represent number in terms of base or derived unit [e.g. (50
kN)(60 nm) = 3 mNm]
Avoid compound prefixes (e.g. 1 kms should expressed as 1 ms)
Avoid use prefix in denominator (e.g. N/mm should be written

as kN/m)
Although not expressed in multiples of 10, the minute, hour, etc.,

are retained for practical purposes as multiples of the second.
Furthermore, plane angular measurement is made using radians
(rad).
Significant Figures and Rounding off
Determines the accuracy of the number

Use engineering notation to report a result
Numbers rounded off to the appropriate number of
significant digits
Expressed in multiples of (103), (106) etc.
Example number 23400

5 significant figures = 23.400 x (103)
3 significant figures = 23.4 x (103)
QUICK EXAMPLES
SCALARS AND VECTORS
DEFINITIONS
SCALAR QUANTITIES VECTOR QUANTITIES

described by a real can be described by a
number nonnegative real number
possess only possess both MAGNITUDE

MAGNITUDE (SIZE) and DIRECTION
volume, energy, force, displacement,

distance, speed, mass, velocity
density
added by ordinary represented by an arrow at

algebraic methods an angle
CARTESIAN VECTORS
For a vector A with a magnitude of A,

an unit vector is defined as uA = A / A .
Characteristics of a unit vector:

a) Its magnitude is 1.
b) It is dimensionless.
c) It points in the same direction as the
original vector (A).
APPLICATION OF VECTOR ADDITION
There are three concurrent forces

acting on the hook due to the
FR chains.
We need to decide if the hook will
fail (bend or break).
To do this, we need to know the

resultant or total force acting on
the hook as a result of the three
chains.
VECTOR OPERATIONS (Section 2.2)
Scalar Multiplication
and Division
VECTOR ADDITION USING EITHER THE
PARALLELOGRAM LAW OR TRIANGLE
Parallelogram Law:
Triangle method
(always tip to tail):
How do you subtract a vector?

How can you add more than two concurrent vectors graphically?
RESOLUTION OF A VECTOR
Resolution of a vector is breaking up a vector into components.
It is kind of like using the parallelogram law in reverse.

ADDITION OF A SYSTEM OF COPLANAR FORCES (Section 2.4)
We resolve vectors into components

using the x and y-axis coordinate system.
Each component of the vector is shown as

a magnitude and a direction.
The directions are based on the x and y axes. We use the unit vectors
i and j to designate the x and y-axes.
For example,
F = Fx i + Fy j or F' = F'x i + ( F'y ) j
The x and y axis are always perpendicular to each other. Together, they can
be directed at any inclination.
ADDITION OF SEVERAL VECTORS
Step 1 is to resolve each force into

its components.
Step 2 is to add all the x-components

together, followed by adding all the y-
components together. These two
totals are the x and y-components of
the resultant vector.
Step 3 is to find the magnitude and

angle of the resultant vector.
An example of the process:
Break the three vectors into components, then add them.

FR = F1 + F2 + F3
= F1x i + F1y j F2x i + F2y j + F3x i F3y j
= (F1x F2x + F3x) i + (F1y + F2y F3y) j
= (FRx) i + (FRy) j
You can also represent a 2-D vector with a magnitude and angle.
EXAMPLE
Given: Three concurrent forces acting

on a tent post.
Find: The magnitude and angle of the
resultant force.
Plan:
a) Resolve the forces into their x-y components.
b) Add the respective components to get the resultant vector.
c) Find magnitude and angle from the resultant components.
EXAMPLE (continued)
F1 = {0 i + 300 j } N
F2 = { 450 cos (45) i + 450 sin (45) j } N

= { 318.2 i + 318.2 j } N
F3 = { (3/5) 600 i + (4/5) 600 j } N

= { 360 i + 480 j } N
EXAMPLE (continued)
Summing up all the i and j components respectively, we get,

FR = { (0 318.2 + 360) i + (300 + 318.2 + 480) j } N
= { 41.80 i + 1098 j } N
Using magnitude and direction: y

FR
FR = ((41.80)2 + (1098)2)1/2 = 1099 N
= tan-1(1098/41.80) = 87.8

x
Components in Three Dimensions
The direction or orientation of vector
A is defined by the angles , and .
These angles are measured between
the vector and the positive x, y and z
axes, respectively. Their range of
values are from 0 to 180
Using trigonometry, direction

cosines are found using the formulas
CARTESIAN UNIT VECTORS
For a vector A, with a magnitude of A, an

unit vector is defined as
uA = A / A .
Characteristics of a unit vector :

a) Its magnitude is 1.
b) It is dimensionless (has no units).
c) It points in the same direction as the original
vector (A).
The unit vectors in the Cartesian axis system

are i, j, and k. They are unit vectors along the
positive x, y, and z axes respectively.
DIRECTION OF A CARTESIAN VECTOR
The direction or orientation of vector A is defined by the
angles , , and .
These angles are measured between the vector and the

positive X, Y and Z axes, respectively. Their range of values
are from 0 to 180
Using trigonometry, direction cosines are found using
These angles are not independent. They must satisfy the following equation.
cos + cos + cos = 1
This result can be derived from the definition of a coordinate direction angles and the unit vector.
Recall, the formula for finding the unit vector of any position vector:
or written another way, uA = cos i + cos j + cos k .

ADDITION OF CARTESIAN VECTORS
(Section 2.6)
Once individual vectors are written in Cartesian form, it is easy to add or

subtract them. The process is essentially the same as when 2-D vectors are
added.
For example, if
A = AX i + AY j + AZ k and
B = BX i + BY j + BZ k , then
A + B = (AX + BX) i + (AY + BY) j + (AZ + BZ) k

or
A B = (AX - BX) i + (AY - BY) j + (AZ - BZ) k .

IMPORTANT NOTES
Sometimes 3-D vector information is given as:

a) Magnitude and the coordinate direction angles, or,
b) Magnitude and projection angles.
You should be able to use both these sets of information to

change the representation of the vector into the Cartesian form,
i.e.,
F = {10 i 20 j + 30 k} N.
Quick Examples 2
Quick Examples 3
Quick Examples 3 cont.
EXAMPLE
Given: Two forces F1 and F2 are applied to

a hook.
G
Find: The resultant force in Cartesian

vector form.
Plan:
1) Using geometry and trigonometry, write F1 and F2 in Cartesian vector

form.
2) Then add the two forces (by adding x and y-components).

EXAMPLE (continued)
Solution:
First, resolve force F1.
Fx = 0 = 0 N
Fy = 500 (4/5) = 400 N
Fz = 500 (3/5) = 300 N
Now, write F1 in Cartesian vector form (dont

forget the units!).
F1 = {0 i + 400 j + 300 k} N
EXAMPLE (continued)
Now, resolve force F2.

F2z = -800 sin 45 = 565.7 N
F2 = 800 cos 45 = 565.7 N
F2 can be further resolved as, F2

F2x = 565.7 cos 30 = 489.9 N
F2y = 565.7 sin 30 = 282.8 N F2z
Thus, we can write:

F2 = {489.9 i + 282.8 j 565.7 k } N
EXAMPLE (continued)
So FR = F1 + F2 and
F1 = {0 i + 400 j + 300 k} N
F2 = {489.9 i + 282.8 j 565.7 k } N
FR = { 490 i + 683 j 266 k } N

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Mechanics

Study of what happens to a thing (the technical name

This course concentrates only rigid-body mechanics since it

Three Laws of Definition

Any two bodies in the universe attract

F is the force between the masses,

Base units of SI system

Length to locate position distance meter

Force push or pull exerted by one body to another

Prefix Abbreviation Multiple

No Plurals [e.g. m = 5 kg not kgs confused with unit for second

Separate Units with a dot () (e.g. meter second = m s )

Most symbols are in lowercase ( some exception are N, Pa, M and

Exponential powers apply to units , e.g. cm2 = cm cm

Avoid compound prefixes (e.g. 1 kms should expressed as 1 ms)

Avoid use prefix in denominator (e.g. N/mm should be written

Although not expressed in multiples of 10, the minute, hour, etc.,

Determines the accuracy of the number

Example number 23400

SCALAR QUANTITIES VECTOR QUANTITIES

possess only possess both MAGNITUDE

volume, energy, force, displacement,

added by ordinary represented by an arrow at

For a vector A with a magnitude of A,

Characteristics of a unit vector:

There are three concurrent forces

To do this, we need to know the

How do you subtract a vector?

Resolution of a vector is breaking up a vector into components.

It is kind of like using the parallelogram law in reverse.

We resolve vectors into components

Each component of the vector is shown as

Step 1 is to resolve each force into

Step 2 is to add all the x-components

Step 3 is to find the magnitude and

Break the three vectors into components, then add them.

Given: Three concurrent forces acting

F2 = { 450 cos (45) i + 450 sin (45) j } N

F3 = { (3/5) 600 i + (4/5) 600 j } N

Summing up all the i and j components respectively, we get,

Using magnitude and direction: y

Using trigonometry, direction

For a vector A, with a magnitude of A, an

Characteristics of a unit vector :

The unit vectors in the Cartesian axis system

These angles are measured between the vector and the

Using trigonometry, direction cosines are found using

or written another way, uA = cos i + cos j + cos k .

Once individual vectors are written in Cartesian form, it is easy to add or

A + B = (AX + BX) i + (AY + BY) j + (AZ + BZ) k

A B = (AX - BX) i + (AY - BY) j + (AZ - BZ) k .

Sometimes 3-D vector information is given as:

You should be able to use both these sets of information to

Given: Two forces F1 and F2 are applied to

Find: The resultant force in Cartesian

1) Using geometry and trigonometry, write F1 and F2 in Cartesian vector

2) Then add the two forces (by adding x and y-components).

Fz = 500 (3/5) = 300 N