Chapter One

Introduction
1:1 Definitions
Mechanics : is that branch of physical science which considers the motion of
bodies ,with rest being considered a special case of motion.

In engineering mechanics attention is directed primarily to the external effects

of a system of forces acting on a rigid body

A force : may be defined as the action of one body on another body which
changes or tends to change the motion of the body acted on .

The external effect of a force on a body is either:

(i) Development of resisting forces (reaction)

P P F

F
(Equilibrium)

(ii) Acceleration of the body.

F F
Smooth

F= m .a
(not Equilibrium)

1
Force system- is a number of forces acting in a given situation and can
be classified according to the arrangement of the lines of action of the
forces of the system.
The forces may be:-
- Coplanar or non –coplanar.
- Concurrent or non –concurrent.
- Parallel or non-parallel.
- Collinear or non-collinear.

1-2 The Resultant of A Force System: is the simplest force

system which can replace the original system without changing its
external effect on a rigid body.
When the force system acting on a body has a resultant equal to zero,
the body is in equilibrium and the problem is one of statics
(F=m.a , F=0 , m≠ 0 , a=0)
When the resultant is different from zero, the problem is one of
dynamics
(F=m.a , F≠0 , a≠0).

1:3 Scalar and Vector Quantities:

A scalar quantity is one which has only magnitude, such as mass,

volume, time, etc.
A vector quantity is one which involves both magnitude and direction
so that it can be represented by a directed line segment and that
conforms to the parallelogram law of addition. Force, velocity, and
acceleration are examples of vector quantities.
Vector quantities can be divided into:-
(i) Free vector
(ii) Localized vector
(i) Free vector –has specified slope and sense but does not act
through a particular point.
For example, the velocity of wind and the moment of a couple.

2
(ii) Localized vector – has a definite line of action (acts through a
particular point). For example the force (P) on the beam shown
in the figure below is a localized vector, while the moment (M)
is a free vector.

P PM M

A L/4 B

L/2 L/2

1-4 Forces: The characteristics of a force (which describe its

external effect on a rigid body) are:-
(i) its magnitude
(ii) its direction (sense and slope )
(iii) the location of any point on its line of action .

As an example, to define force (F) shown in figure below

│F│= magnitude (10N)

θ = slope

0 = point of application F=10N

Y

θ
O
X

3
 1-4-1 Principle of Transmissibility
The external effect of a force on a rigid body is independent on the
point of application of the force a long its line of action.

P
3
4
3
P 4
The force can be resolved into its components at any point on its line
of action

1-4-2Composition and Aesolution of Forces

Composition: - is the process of replacing a force system by its
resultant.

Resolution: - is the process of replacing a force by its components.

1- Resolving a force along rectangular components

a- In plane force (two dimensional)

For most purposes, rectangular components of a force are more

useful.

Fx = OA =F cos θ = (

= 0.8 F to the right through (O)

Fy =OB =Fsin θ = F
Y
Fy =0.6 F upward though (O)

C
B

F
θ
O
4 A X
Note: -The two components of a force must intersect on the action line of the
force .In other words BC and AC are note the components of (F).The two
component of force (F) are (OA) and (OB).

b-For a force in space (3 dimensional)

The resolution is as following:

Fx =AC=F cos θ x
Fy =AD=F cos θy
Fz =AE=F con θz

-The angles θx ,θy , θz are the angles between the resultant force and the
positive coordinate axes.

- The cosines of the angles θx , θy , θz are called direction cosines .

If the angle is greater than 90° the cosine is negative and the sense of the
component is opposite the +ve direction of the axes.

-Note that the three components always intersect at a point on the line of action
of the resultant force.

θY
A C
X
E θX
θZ

Z D F

5
2-Resolving a force a long non –rectangular components

a) Graphically by drawing the parallelogram to any convenient scale.

b) Using law of sines
Y B C

Fx = ( )x+( ……………………….(1) X
O A
Fy = ( ) y………………………. (2)

C) Resolve the force into rectangular components and equate each of the
rectangular components of the force to the sum of the rectangular components
of and

The following example illustrates this third method of procedure.

6
EX:- Resolve the force 100N force a long OA and OB

Solution:- by using law of sines (method b)

through 0

Q= =53.2N through 0

Y
B C
By using method C Q

Fx =100 cos 30 =86.6N through 0

X
Fy=100sin 30 =50N through 0 O P A
Fy=Q sin (40+30) [P has no y component ]
50= Q sin 70 ……………. (1)
Q = 53.2N through 0
Fx = Qcos70 +P ………………… (2)
86.6=53.2 cos70 + P
P =68.4N through 0

7
EX:- Resolve the 500N force into its rectangular components .

1- Use direction cosines

Length of OA= =14 cm

Cos θ x = , Cos θy = , Cos θ z =

Fx=R cos θx

Fx= 500 ( ) = 428.5N through O

Fy=500 ( ) =214.3N through O

Y

Fz=500 ( ) =142.9N through O

B 12cm
2- Use scale factor 14cm
Length of OA=14cm A
6cm
θY
The scale of ( F) is m θX X
O
θZ D
= 35.7 N/cm C O
O O
Fx= = 428.5N through O
O
Fy= = 214.3N through O Z
O
Fz = = 142.9N through O
O

8
1-5 Moment of A Force
-The moment of a force is a measure of its tendency to turn or rotate a body
about the moment axis.
-The moment of a force with respect to a line perpendicular to a plane
containing the force is the product of the force and the perpendicular
distance from the force to the line or moment axis.
-Line (AB) is perpendicular to the plane ADEH.
-The magnitude of the moment of the force (F) is (F.d)

E D
F1 OF d O
D2 O O O
H A
O
2 F2 O O
O
O D2 d2 C
O O
O 2 O
O
O O
O B
O
O
O in the
Note:- (F.d) is also the moment of the force ( F ) about point (A)
plane (ADEH).

-If the force does not lie in a plane perpendicular to the moment axis, then
the force may be resolved into two component one parallel to the axis and
the other is in a plane perpendicular to the axis.

-The moment of (F) about the axis (BC) may be found by resolving it into
two components.

The moment of the component (F1) about B C = 0

The moment of the component of (F2) about BC= F2.d2

The magnitude of the moment (F) about (BC) is F2.d2.

9
-A force parallel to an axis has no moment with respect to the axis ,
consider the shaft and pulley shown in figure below the forces
T1,T2 tend to rotate the pulley on the shaft( a b ), whereas the force
R which is parallel to the shaft ,tends to translate the pulley along
the shaft (a b).

So the moment of (R) with respect to (a b) is zero.

a T1
R Pulley
O
O
O
O
Shaft
b
T2 O

O O
-The moment of a force acts either clockwise
O or counter clockwise about

a perpendicular moment axis, thus it is a vector quantity with a definite

sense of rotation about a definite axis.

-The moment of a force is frequently represented as a vector along the

moment axis by using a right –hand rule.

B B
O
O O B
O
O O
O
F O
d
A O A O A
O
O O O O O
O F.d
O O F.d O
O O
11
O O O O
O O
 1-5-1 Principle of Moments of Forces
The principle of moments states that the moment of the resultant of the
force system with respect to any axis is equal to the algebraic sum of
the moments of the forces of the system with respect to the same axis.

1-6 Couples:-
- A couples consists of two forces which have equal magnitudes and
parallel non collinear lines of action but which are opposite in sense.

-The couple tends only to rotate the body on which it acts.

-The properties of a couple are:-

a-The magnitude of the moment of the couple .

b- The a spect or slope of the plane of the couple.

c-The sense of rotation of the couple .

D
O
P
O
A O
d P
O
O
O
O
C
O O
O O
θ O
B O
O O
-The moment of the couple
O is the algebraic sum of the moments of its
forces about any axis perpendicular to the plane of the couple.

Note: - the moment of the couple is the same for all axes perpendicular
to the plane.

11
 b e
O O
O O
+ M
P d/2
M Pd a
O O
d/2
P O
O O
+ M O
O O
O O
M

O
f
O
c O
O O
O
-A couple is a vector quantity having both magnitude (of moment) and
direction (aspect of plane and sense of rotation).

-The methods used to indicate a couple are:

5N
O
O M
O
O
c
90°
5N M=90N.cm M=90N.cm
O

18cm O O O O O O

(a)O O (b) (c)

OO O O
O O O

12
 Vector representation of a couple in Fig (c) is convenient for determining
the resultant of a system of couples in space.
A couple is frequently indicated by clockwise or counter clockwise arrow
when coplanar force systems are involved (as in Fig (b)).

1-6-1 Transformation of A Couple:-

Transformations of a couple are operations on the couple that do not
change any of its characteristics.
-The properties of a couple are not changed if:-
1- The couple is rotated in its plane.

Y Y

F2

d
v
X X
F1 F2 F1
d

2-The couple is moved to a parallel position in its plane.

Y Y
X X

X X

B C B C X
A X
X X
F2
X X X X
F1 F2 X
F1 X
X X X X X
X d
d 13
3- The couple is moved to a parallel plane

10N
d
10 10N 10

10N
10
10N 10
10

4- The distance between the forces of the couple and the magnitude of the
forces are changed , provided the moment remains the same .

Y
Y

10
10

10N 10N
5N 5N
A B X
5cm
A C X
10 10 10cm
10 10
10 10 10
10 10 10 10
M=F .d 10

F= 5N

14
 1-6-2 Resolution of A Force into a force and A Couple
A force may be replaced by an equal parallel force through any other point
of the body and a couple .This can be done by adding two equal collinear
forces of opposite sense to a force system on a rigid body.
Ex :- Replace the 60N force shown in the figure below by a force through
(D) and a couple where forces act horizontally through A&B.

60N 60
D 60 D 60
10 5cm 5cm 10

10 A B 10 10 A
10 B
4cm 6cm (2)
10 10
(1)
10 10 10 10
10 10 10
10

60 D bz 60 D
60
60 A
10 10 A B 10
10
5cm B
10

10 10 Mc=60(5)
10 10 10 10
60 Mc= 300 0

10
A B
10
F. (6) =300 6cm
10 10
F=50N 10 10
10
15
 Chapter Four
Equilibrium
The body is in equilibrium when a system of forces acting on it has no resultant,
(equal to zero).

To study the force system acting upon any body or any position of a body, it is
first necessary to recognize both the known and unknown forces acting on the
body.

4-1 Free –Body Diagrams

A free-body diagram is a sketch of a body, a position of a body, completely
insolated and free from all other bodies, showing the forces exerted by all
other bodies on the one being considered.

A free –body diagram has three characteristics:

1- It is a sketch of the body.

2- The body shown is separated (cut free) from all other bodies and from
supports.
3- The action on the free body of each removed is shown as a force or
forces on the diagram.

Note: - The sense of unknown forces, may be assumed and corrected later if
it is incorrect.

16
 The body to be sketch of reacting Action of body
removed bodies removed
body
Earth
w
Earth
10 Tension
θ 10 θ
rope,cable,chain 10 n

10 10
Ry 10
Roller or ball and cv cv
Rx
Pin Ball Roller
Smooth pin 10
10 Q Q
10 10
10
(to surface)
body 10 10
10
Smooth surface θ θ
10

10 Cy
Ay 10Cx
A C By1
Ax10 10
Smooth pin with 10 10
10
Additional forces
By2
On pin
B
Bx2
10
50N 10
By1 Bx1
N By1
30N 10 10
10 10
10 Bx1 Bx2
10 10 50
30
17
N
N 10
10
 ‫ؤ‬ Bx
Ball &socket ‫ر‬ 10
Bz
10 By
10

Y
10

Smooth bearing Bx
on a shaft By Bx
10 10
Z X
10 10
My
10 Fz
Fixed end beam
Fx 10
(Three dimensional) 10

Fy
Mz 10
Fy
Mz
10
Mz
Fixed end beam y
Fx Fy
10 Mz
(Two dimensional) x 10
10
z 10
Fy
10 Fy
Mz
10

18
 Ex:- Draw a free – body diagram of body( A) weights 200N and( B) weights 40N.

A
10 Smooth suface
5
CG 3
10
pin 10 2 B 10
10 A 3
10 10
10 10 cord 40°
10
10

cy cy
10
10
cx cx
10 10
Py T
10 200N 2 400N 3
3 10 10
10 4 N
Px 10 T 10 40° 3
10 10
10 10 10N
10
4-2 General Procedure for the Solution of Problems in Equilibrium
1- Determine the given data and what the unknowns results are required.
2- Draw F.B.D for the member on which the unknown forces are acting.
3- Determine the type of force system acting on the F.B.D.
4- Compare the number of unknowns on the F.B.D. with the number of
independent equations of equilibrium and :-
a) If the number of equation = the number of unknowns, then start the
solution.
b) If the number of unknowns is greater than the number of
independent equations, then draw F.B.D for another body and
repeat step 3 and 4.

19
 5- If number of unknowns in the second F.B.D = the number of equations
then solve the problem.
If it is not then repeat step (4-b).
6- If there are still too many unknowns after drawing F.B.D for all bodies
then the problem is statically indeterminate.

4-3 Equation of Equilibrium for A Concurrent Coplanar Force

System

The resultant of a concurrent, coplanar force system is a single force, and

when this resultant force is zero, the body on which the force system acts is
in equilibrium.
The equations necessary to ensure a zero resultant are the equation of
equilibrium for this type of force system.
There are three sets of equilibrium for this type of the force system.

1) ∑ F x =0 ,∑ F y=0

2) ∑F x=0,∑ =0

(A is any point in the plane and not on the y-axis)

3-∑ =0, ∑ =0 F3 Y F2
(Where line AB does not pass through the point
of concurrence of the forces of the system ) F1

X
F4

21
Ex:- The 300N shaft (M)and the 500N shaft (N)are supported as shown in
Fig. below .Neglecting fraction at the contact surfaces, determine the
reactions at R and S on shaft N.
Q 40°

6cm
R (M) P
500N F.B.D.for(n)

Q P
8cm
(N) 40°
R
S
F.B.D.for(N)
10
S
For M Y
(+ )∑Fy=0 F.B.D.for(n)

P P X
Qsin 40 -300 =0 F.B.D.for(n)

Q=467N 300N P
F.B.D.for(n)

For N Q 40°
P
(+ ) Fy=0 F.B.D.for(M)
S – 500 –Qsin40 =0
S= 500+467sin 40 =800N on N
) ∑Fx=0
–Q cos 40 =0
R= 358 N on N

21
4-4 Equilibrium of Bodies Forces Acted on by Two Forces
or ThreeFoeces
A body acted on by only two forces is called a two force body.
If this body is held in equilibrium, then the two forces must be collinear,
equal in magnitude and opposite in sense.
[Ex. each member in truss is a two force body].

c
c
A body acted on by three forces is called a three- forces body
When a body is held in equilibrium by three non-parallel forces, then they
must be concurrent and coplanar.

This fact can be used to locate the point of intersections of three forces and
thus provides a simple solution to some problems.

A P
F.B.D.for(n) F.B.D.for(n)
P
F.B.D.for(n)

θP P
N P
F.B.D.for(n)

P
F.B.D.for(n)
W
P F.B.D.for(n)

22
Ex:- The center of gravity of the 90 N bar is 10cm from (B)measured along
the bar,all surfaces are smooth . Determine the reactions at (A) and (B) on
the bar.
+ ∑Fy = —90=0
‫ؤ‬ ‫ؤ‬
A
=102N 15 on (AB)
8
P 15
+ ∑ =0 B
- =0
20
=48N on (AB)

C
25
10
0
90 8
X=8 15
55
20
P

x=8

23
4-5 Equilibrium of Bodies Acted on by Non – Concurrent,
Coplanar Force Systems.
The resultant of this force system is either a single force or a couple .The
equations which eliminate all possible resultant are the equations of
equilibrium. For this type of force system, there are only three independent
equation of equilibrium.
There are three sets of equation of equilibrium:

1-∑ =0 (A is any point in the plane of the forces or any axis to the
plane)
∑ FX =0
∑ FY =0

2- ∑ =0 (A is any point in the plane)

∑ =0 (B is any another point in the plane)
∑FX=0 (X- axis is in the plane of forces and not to the line AB)

X
XA F.B.D.for(n)

BX
F.B.D.for(n)
P
P
F.B.D.for(n)

P
2- ∑ =0 (point A,B and C are in the plane and are not collinear)
∑ =0
XA
∑ =0 F.B.D.for(n)

BX X
F.B.D.for(n)
C P
F.B.D.for(n)

P
P

24
Ex1:- The tension in the spring is 540N, the weights of members and friction
can be neglected. Determine the horizontal and vertical components of the
pin reaction at (B) on member (EB).
E
Solution F.B.D.for(n)

From F.B.D.(2) 42°

cP C
cvvcv
v B F.B.D.for(n)

F.B.D.for(n)
P
( + )∑ =0 cvvcvP
36°
F.B.D.for(n)
1120N
EXP(6 tan 42 +6 tan 36) +1120(8) =0 P
A F.B.D.for(n)

9.76Ex+8960=0 F.B.D.for(n) 2 4 2
EX=-918N P F.B.D.for(n) F.B.D.for(n) F.B.D.for(n)

EX= 918N on (EB) P P P

EX
F.B.D.for(n)

EY P
cvvcv
F.B.D.for(n)

P 540 BX
F.B.D.for(n) F.B.D.for(n)
BY
P
F.B.D P
(1) F.B.D.for(n)

F.B.D(1) :- P
∑FX =0
P
F.B.D.for(n)

Bx =Ex =-918N on (EB) EX

F.B.D.for(n)

( + )∑ =0 EY P
cvvcv
F.B.D.for(n)
Bx(6tan42)+BY(6)+540(2)=0 F.B.D.for(n)

BY=P647N on (EB). P AY cvvcv 1120

F.B.D.for(n)

AX P N F.B.D.for(n)

F.B.D.for(n)
A F.B.D (2) P
P F.B.D.for(n)

P PF.B.D.for(n)

25
 Ex.2:- Body (G) weights 1500N. Determine the horizontal and vertical
components of force at (A) on (AB).

Solution

Frome F.B.D.(3)

∑ =0 B
2.25 ‫ؤ‬ F3
T=1500N F
2 4
F.B.D.for(n)
F.B.D.for(n)

∑FX =0 F PP 4
F3 F.B.D.for(n) 2
F
F.B.D.for(n)

P
F.B.D.for(n)

DX=T = 1200N on pully F3 P GF

P
F.B.D.for(n)

‫ؤ‬
P2F F.B.D.for(n) F.B.D.for(n)

D x = 1200N on CD P C A FP
F F.B.D.for(n)

F F
F.B.D.for(n)

∑ FY=0 P F.B.D.for(n)
F.B.D.for(n)
P
F.B.D.for(n)

T 4 P P
4
P 4
DY+ T-1500 =0 F.B.D.for(n) 4 3 F F
P F.B.D.for(n)
4 F.B.D.for(n) F.B.D.for(n)

D y=600N on pully PDY F.B.D.for(n)

P P
PDX
F.B.D.for(n)

=600N on CD P F.B.D.for(n)

P1500
rom F.B.D (2)
F.B.D (3) F.B.D.for(n)

DX
∑ =0 PEP
F.B.D.for(n)
F.B.D.for(n)

4
F.B.D.for(n)
P DY
(+ ) 5E+8Dy -6Dx=0
P 4 3 F.B.D.for(n)
F.B.D.for(n)
F.B.D.for(n)
cvvcv P
E=480N 4
3
F.B.D.for(n)
on CD PP F.B.D (2)
F.B.D.for(n)
CX
E480N P4 P3 on AB F.B.D.for(n) P
F.B.D.for(n)

F.B.D.for(n)
F.B.D.for(n)
P CY
PP F.B.D.for(n)

26
 B
4
From F.B.D.(1) F.B.D.for(n)

4 3
F P
c T
4
F.B.D.for(n)

(+ ) ∑F y=0 F.B.D.for(n)
v P F.B.D.for(n)
F.B.D.for(n)

P v
3 PP
-Ay-T +E =0 c
4 4
v 4
F.B.D.for(n) E
F.B.D (1)
Ay= -516 N P F.B.D.for(n)
F.B.D.for(n)

P
F.B.D.for(n) PP
Ay=516N on AB AX
F.B.D.for(n)

(+ ) ∑ =0 T ( ) (2 ) –Ax (10) +E ( ) 5=0 AY P

F.B.D.for(n)

Ax= 414N on AB. P

27
 Trusses
A truss is a structure made up of a number of members fastened together at
their ends in such a manner as to from a rigid body.

c a b c
c P c
P P
b b F.B.D.for(n)
c
F.B.D.for(n) P v
F.B.D.for(n)
joint
P P v
F.B.D.for(n)
c
v P

The calculation for the internal forces in the members of a truss are based on
the following assumptions:

1- The members of the truss are joined together by smooth pins

2- The loads and reactions act only at the joints.
3- The weights of the members can be neglected.
Each member of the truss in two –force member.

A B A B
P F.B.D.for(n)

Tensile force
P
F.B.D.for(n)
P F.B.D.for(n) F.B.D.for(n)
P
F.B.D.for(n) P PF.B.D.for(n)
F.B.D.for(n) P compressive force P F.B.D.for(n)

P P P P

A B A B
P F.B.D.for(n) F.B.D.for(n)
P P F.B.D.for(n) F.B.D.for(n)
P
P
F.B.D.for(n) Internal force P F.B.D.for(n) F.B.D.for(n) P Internal force P F.B.D.for(n)

P P P P
28
 Analysis of Trusses
The forces in the members of a truss can be determined by two methods:
1- Method of Joints :-
a single joint in the truss is isolated as a free body and then applying
equations of equilibrium

(1) 1000
B C P D E F
c
P P P P c
c P
P P F.B.D.for(n)
P P c
c
F.B.D.for(n) F.B.D.for(n) P F.B.D.for(n)
F.B.D.for(n)

P
A c Pc P
c bP P
d e Pf c
c (1)
c
c c c
c c c c
F.B.D.for(n)

c c) c Pc
c c c
c Pc
c c c P P
c B Pc c
c
c c P P
c c c
F.B.D.for(n)

P c F.B.D.for(n) F.B.D.for(n)
c
c
c P P
P P P Joint cb
c c P c P c
c
P P c F.B.D.for(n) P c c
P cvBP
F.B.D.for(n)
c c c
P P c P P
F.B.D.for(n)

cvB PcvBJoint B P c P
cvB P c P
F.B.D.for(n)
F.B.D.for(n) c c
P
F.B.D.for(n)

P cvB P cP c RA P P
F.B.D.for(n)

cvB c
P c
P P F.B.D.for(n)
P
P F.B.D.for(n)

cJoint A
c c
c
c P P P P
P
c P c
F.B.D.for(n)

c P c c c F.B.D.for(n)

P
F.B.D.for(n)

P P
P ∑Fx =0P P P P
c
F.B.D.for(n)

c P
P ∑Fy=0P P P
F.B.D.for(n)
F.B.D.for(n)

F.B.D.for(n)
P
F.B.D.for(n)
P
P F.B.D.for(n)

Note
P :- The forces
P applied at each joint P
represent a concurrent coplanar
force system.
P F.B.D.for(n)

29
2- Method of Section :Two or more non -concurrent members are cut to
obtain a free body and then applying equations of equilibrium
∑F x =0
∑Fy =0 B
RA c
∑ =0
RA c c
c c P
b
c
RA P cP
RA F.B.D.for(n)
P P
Section1-1
b cP
RA
Note(1):-The forces applied at any sectioncrepresent P
F.B.D.for(n)
Pnon concurrent coplanar
c
P PPF.B.D.for(n)
F.B.D.for(n)

force system.
RA
Note (2):- If all but one of the members at a joint are
P P the forces in
Pc collinear
F.B.D.for(n)

the non collinear member can be RA determinedP by summing

P forces
perpendicular to the collinear members c
P
c F.B.D.for(n)

∑FX=0 F1=F2 P P 0
∑FY=0 Fy=0 P b Y
X
F2
F.B.D.for(n)
c F1 b
b
P b b c
RA
c
c F2 RA c RA
RA
∑FY=0 F3=0
RA b c RA Y RARA
RA c RA b c
X
∑FX=0 F1=F2 c F1 vc c
c F3=0
RA P c c c
c
c RAb P c RA vvc
b
P
c P
F2
P cc P RA Pb F.B.D.for(n)

∑FX=0 F1=F2 PvccRA P P c

RA cP F.B.D.for(n)

PRA F.B.D.for(n)

∑Fy=0 F3sinθ=0 vvcPRA θ RA

F.B.D.for(n) F1
c P F.B.D.for(n)

P F3=0 vc P vc c RA X
F3 =0 bP c P Y
c c vcvvc vvc c c vc
P vc
F.B.D.for(n)

P vvcb bP
See example 4-6 page 171 RA P vvc c vvc F.B.D.for(n)

RA P b c P cP b P b
cRA RA
F.B.D.for(n)

31 P c P c
F.B.D.for(n)
c
P RARA RA RA
F.B.D.for(n)

c RA P
P
RAc c RA
4-6 Equilibrium of Bodies Acted on by Concurrent ,Non
Coplanar Force Systems
The resultant of concurrent force system in space is a single force through
the point of concurrence. So a complete set of equations of equilibrium
for this force system is:
(1) ∑Fx=0 , ∑Fy=0 , ∑Fz=0
One or more of the above force equations can be replaced by the same
number of moment equations, for example:-
Y
C A D
vc
F2 X
vc X
v vc BX X
v
F3 F1v v vv X vc
vc X
Xv E
vc vc G c c v vc
c vc vc
b b v v v
vv vv vc b vc v
c ccvH c c v vc v
RARA b
Z b bvRAvc c c b c
c
vc c cRcv R RA b cb b
(2) ∑Fx=0, ∑Fy=0, ∑ =0RA A c RA RA c
v b
AvintersectcRthecZ axis)
RA
(CD is not // to Z axis and it does not
v R RAcc c cc RA RRA RA
c PA A R
Note: line CD or DEc might beA morecc convenient.
RA
b
PP
RcR
(3) ∑Fx=0 ,∑ =0b ,∑ c cR P
=0 c A A c A
P c F.B.D.for(n)

c c PPARA P c cc c
(4) ∑
F.B.D.for(n)
=0 ,∑ =0,∑ P =0c P
RA PR P c c P c
F.B.D.for(n)

P P
See EX .4-9
R page 192.P PA c F.B.D.for(n)

P P
P
P
F.B.D.for(n)
P
F.B.D.for(n)
F.B.D.for(n)

PP PP
A P
P c F.B.D.for(n)

Pc F.B.D.for(n)

P P
c F.B.D.for(n)

c P F.B.D.for(n)

PP
P P
P F.B.D.for(n)

F.B.D.for(n)
31
P
P
4-7 Equilibrium of Bodies Acted on by Parallel ,Non
Coplanar Force System :
The resultant of a parallel force system in space is either a single force or
a couple.
A complete set of independent equations of equilibrium for this system
is:-
∑Fy=0, ∑Mx=0, ∑Mz=0 (y axis is parallel to the forces)

Y
vc
F1
vv vc X
F3
c vv vc
vc
b
c vv
vv
c b F2 c
c
RA b
c
b X

Z c RA F4RA X c
c RA
vc RA RA vc vc

vv RA c vvc vv RA
Another set of independentP equations of equilibrium for this force
c c c c c
system is:-
P b
P b c
∑ =0,∑MX=0,∑MZ=0 b c F.B.D.for(n)

c P Por parallelPcto the Y-axis)

(A is an axis not intersecting c P

RA P RA RA P F.B.D.for(n)

P F.B.D.for(n)

RA RA
F.B.D.for(n)
RA P
P c c
c
c c c
P P P

P P P
F.B.D.for(n) F.B.D.for(n)
F.B.D.for(n)

P P P

32
 Example page 198
A homogeneous triangular steel plate, 6 in, thick, is supported in a
horizontal position by vertical cables at the vertices as shown in Fig.below,
and is a acted on by a 300 ft-Ib couple in the Yz plane .Determine the
tension in each cable, The specific weight of steel is 490 Ib / .
Solution

Y
vc TA
vvA vc

300ft.Ib c vc 300ft.Ibvvc
b vvb C b
c TB b c
cc vc X cvc TC
RA vc RA
RA RA vv vc RA RAvv vc
B b C vv
b
c
c RAc c vv ‫׳‬ c vc RA
c c
vv
vc c
Zc P c b c vc ‫ ׳‬Pvv c c
P ‫ ׳‬RA vv‫׳‬ b P b W2
vc c c b vv cc b
RA F.B.D.for(n)
P RA c
vc c vc c P W1 F.B.D.for(n)

vv vc P RA c c b vc PRA vc c
RA c
vvb vv
RA
cc vvP
c RA RA b c RAP vvc RA
cc RAc vvc
‫׳‬
c P b ‫׳‬ RA
F.B.D.for(n)

c RA c
F.B.D.for(n)
b RA b c
c P bRA cb vcP c vc
cP b c c RA c
P RA
c c c RA vvcc vc RA vv
RA c F.B.D.for(n)
P c RA c vc c
P RAc vc PRA RAP
RA P P P c vvc c c vvcRA
vvcc P
RA F.B.D.for(n)

RAP
RA
c h=6‫׳‬
Pc RAc P b
RA F.B.D.for(n)

P b c b b
F.B.D.for(n)
b P
cc
P
P P c F.B.D.for(n) vc
F.B.D.for(n)
cP
c c c cc F.B.D.for(n)

RAP
c c = =0.5 ft P
cRA P
Thickness P
cP P vvc c
RA P RA
P c P F.B.D.for(n)
RA RA
F.B.D.for(n)
c P P
P
= P
0.5 490=2205Ib
P
P
F.B.D.for(n) b
c c P RA RA PRA RA
P ‫ ׳‬P
PP
‫׳‬
P P RA c c ‫׳‬
c
‫׳‬ F.B.D.for(n)
F.B.D.for(n)

= 0.5 490=735 Ib PF.B.D.for(n)

vc
c
Pvcvc F.B.D.for(n)

P F.B.D.for(n)
F.B.D.for(n)

RA cP c cc vc
P PP
P vv
F.B.D.for(n)
vvvvcvvc
+ c P P
P P
c cP c b b
W1
P P PP
P b bc c
F.B.D.for(n)

W1
F.B.D.for(n)
33 F.B.D.for(n) F.B.D.for(n)

vc
F.B.D.for(n)
P cP P c PP RA
RA

vvc RA RARARA
6Tc-2 -2 =0
Tc= 980Ib (tension)
+
W1
∑Mx=0
W1 –Tc (1) +0.667(
300-4TB ) +2 =0
vc
TB=1055Ib (tension)
vvc
+ b ∑Fy=0
c
W1
TA+1055+980-2205-735=0
WRA
TA=905Ib (tension).
1RA
c
vc
vvc
cP
4-8 PbEquilibrium of Bodies Acted on by Non Concurrent ,Non
Parallel
c P ,Non Coplanar Force Systems.
F.B.D.for(n)

The RA
resultant of this force system is a single force, a couple, or a force and a
R
couple.
A of equations of equilibrium for this general force system is:-
A set
c
∑Fx=0 ∑Fy=0 ∑Fz=0 (1)
c
∑Mx=0
P ∑My=0 ∑Mz=0 (2)
P
One or all of the force equations (1), can be replaced by additional moment
F.B.D.for(n)

equations,
P provided the moment axes so selected that six independent
equations are obtained.

Note: only six unknowns (magnitudes, distances or slopes) can be

determined from one free-body diagram acted on by a general force system.

See EX. 4-11 page 201

34
 Chapter Five
Friction
5-1 Introduction
-The force tangent to the contact surface which resists the motion, or the
tendency toward motion, of one body relative to the other is defined as
Friction force.

The frictional force is always opposes the relative motion of the body.

-In the preceding problems we assumed that all contact surfaces are smooth,
so the reaction of one body on the other was only a force normal to the
contact surface.

P P P P
vc Body with vc vc vc
w w
vv weight(w) vv X vv vv X
c c F X c c X
Friction force N Smooth surface N
b c b vc vc b b vc
P cc P c F.B.D
c cc vv vc
c c P c vv
vc
P vv
PP vv vc
vv
RAP c c P
F.B.D.for(n) F.B.D.for(n)
RA RA RA c
5-2 Static and P Kinetic Friction
F.B.D.for(n)
c : vvcc
RA RA b b RA RA b
a) cStatic Friction c c c b c bb c
c c
-when there is no relative motion c between two bodies, the resistance to anyc
RA
c c RA RA c c RA
tendency toward relative motion is called static friction.
RARA
P RA
P-In static friction the RA P two bodies willPincrease RA
RA force (F) between
frictional as
P the force tendingPto cause RA P bodies increases.P
c csliding between the c
RA
c
c
F.B.D.for(n)
c c F.B.D.for(n)
-The static frictional force
F.B.D.for(n)

c
F.B.D.for(n)

c is always the minimum force required to maintain

c P
P P P
c motion between the bodies. P c P
equilibrium or prevent Prelative
P P
P P
P F.B.D.for(n)

P P P
P F.B.D.for(n)
F.B.D.for(n) P F.B.D.for(n)

P P P
F.B.D.for(n) F.B.D.for(n)

P P
35
b) Kinetic Friction.
-when one body moves relative to another body, the resisting force
between the bodies tangent to the contact surface is called Kinetic fraction.
-The kinetic fractional force ˂ the maximum static frictional force for any
pair of surfaces with the same normal force.
-The kinetic frictional force varies with the relative velocity of the sliding
surfaces.

W P
F vc vc
Fri Equilibrium a vc vv vv
cti Smooth surface F1vcvv c a c Motion
on Smooth surface vvvc vc c
al
c b b
c
fo
c
c P P vv c b c vv cSmooth surface
rc P
F.B.D.for(n) cb c RA c RA
Smooth surface
b
bc RA RA
e( b b
RAc c P P
F) Applied force (P) RA c cvcRelative
c velocity between
vcRA c
P
RA RA c vvRA Contact surfaces F.B.D.for(n)

vv c c
a-static Fraction RA c c P
b-Kinetic
RAc P
Fraction
c
Fig. 1 showscstatic c P and kinetic
P
bc friction
P
b
cP c
c P
F.B.D.for(n) F.B.D.for(n)

P RA P
PRAP P
F.B.D.for(n)

In Fig 1-a PP
F.B.D.for(n)
RAP
RAP from zero, the fractional
-As the force (p) is increasedF.B.D.for(n)
c force (F) increases just
F.B.D.for(n)

Pc
enough to prevent motion (equilibrium). P
c
- When the frictional forcechas reached its maximum value, motion impends,
P
or a condition of unstable equilibrium
P exists.
P and the force (F) becomes a
-Any slight increase in (P) will produce motion,
P F.B.D.for(n)
function of the velocity as indicted in Fig 1-b.
F.B.D.for(n)
P
P

36
 The frictional decreases rapidly for a small increase in velocity until it
reaches a fairly constant value. Another decrease of (F) is shown for high
velocities.
5-3 Laws of friction:
The work of many researchers led to the following laws of friction for dry
surfaces:
1- The maximum frictional force is proportional to the normal force.
2- The maximum frictional force is independent of the size of the contact
area.
3- The limiting static frictional force is greater than the kinetic frictional
force.
4- The kinetic frictional force is independent of the relative velocity of the
bodies in contact.
5-4 Coefficient of Static Friction µ :
The Coefficient of static friction, µ , is defined as the ratio of the magnitude
of the maximum static frictional force, F‫׳‬, to the magnitude of the normal
force N, between the two surfaces.
‫׳‬
µ=
- The Coefficient of static friction is an experimentally determined constant
which depends on the materials from which the contacting bodies are made,
and on the condition of the contact surfaces.
-The values of, µ, is listed in the following table indicate the general range of
published results obtained by experiments on dry surfaces.

Material µ
Steel on steel 0.4-0.8

Wood on wood 0.2-0.5

Wood on metal 0.2-0.6

Metal on stone 0.3-0.7

37
5-5 Types of problems Involving Frictional forces
There are three types of friction problems which depend on the motion
condition that exists:

1- Impending motion is not assured from the statement of the problem.

2- Impending or relative motion is specified at all contact surfaces where

there are frictional forces.
3- Impending motion is known to exist, but either the type of impending
movement (slipping or tipping) is not specified.

5-5-1-Procedure when impending motion is not assumed

(type one)
1- Assume the system to be in equilibrium.
2- Determine the frictional and normal forces, (F) and (N) using the
equations of equilibrium ( ∑ F x=0, ∑ F y=0, ∑M at any point =0).
3- Check the initial assumption by comparing F with F‫=׳‬µN.
If F≤ F‫(׳‬µN), the assumption is correct, and the problem is solved.
If F˃F‫) ׳‬µN), equilibrium does not exist, and a complete solution
involves the principles of dynamics.

38
 Example 5-1
A ladder is placed against a smooth vertical wall.The coefficient of friction
between the ladder and the floor is 0.3 .Determine the frictional force at
(A) acting on the ladder .The weight of the ladder is 50 Ib and the mass
center of the ladder is assumed to be at its mid point.
Solution:
This problem belongs to the (first type) since the statement of the problem
does not specify that motion is impending or exists.

B B R
‫ؤ‬
c smooth b
26 v b c
b
vc v
‫׳‬
v
vc vvc v
vc
vc
c
b v vv vv v b
c c
50 c v
vc RA
RA c v
µ=0.3 A A Fb b
vv 10‫׳‬ b
c c
b b bc N vc F.B.D
c
c b c b b
vc
vc b RA
P vc b
P vv RA b
vc vc c
Assumevvc vc
that the ladder is in equilibrium sovv
vv c vvc RA use
P vc
vv c RA RA to
equations of equilibrium
F.B.D.for(n)

find (F) and

b (N)
c c RA b c c vv c b vvc c
R
b c c c c b
RA bR
+ ∑FY=0 c N-50=0 c N=50 b A
RA c A RA P c b
c
RA RAP
c
b RA PRA
c ∑MB=0 P RA c
+ vc c RA c RA 50 10-50 5-F (24) =0
RA c F.B.D.for(n)

RA I b c RA RA
RA
c
F.B.D.for(n)
c
PbvvF=10.42 P c P
P c P c
Find maximum value c P of frictional
c force F‫ ׳‬c RA c
vc
c P
P
PP
F.B.D.for(n)
F‫= ׳‬µN c= 0.3 50=15 Ib c c
c
P
vv b P
F.B.D.for(n)
P
Since F˂PF‫׳‬ P c P PP F.B.D.for(n)

c cassumption P F.B.D.for(n)
P
Therefor the
P P is correct (equilibrium
P is Passured) and the frictional
F.B.D.for(n)

force at (A)bRAis
F.B.D.for(n)
P P
P
F.B.D.for(n)
P F.B.D.for(n)
F.B.D.for(n)

cRA P
F=10.42Ib P P F.B.D.for(n)

RAc P
39
RAc
cP
 5-5-2 Procedure when impending or relative motion is
specified at all contact surfaces with frictional forces
(type two).
1- Write the equation of friction F=F‫=׳‬µN for all surfaces where motion
impends. Make sure that the sense of the friction force is correct
(the fraction force opposes the motion or the tendency to move).
2- Determine the unknown quantities, using the equations of
equilibrium together with the friction equation (F‫= ׳‬µN).
-No check is necessary for this type of problems because no
assumptions are required.

Example 5-2
A 150 Ib man starts to climb the ladder .Determine the distance (x) from
the man to the wall when the ladder starts to slip.

M
x 150
m B x
c b
‫ؤ‬ b R
b b c b
26 v vc vcv 50 vc b
v vc
vc
‫ ׳‬vv c v bvvcv vc
v vv c vv
b c v vcb
v
vv
c c
vc c vv c c
A b b A b
vv 10‫׳‬ b c RAF=F‫=׳‬µN b
b c c b N bRA c F‫=׳‬0.3N
c bRA c b vc c
RA vc RA
vc (a)
b vc RA
b c (b)
c bb
vc RA

vv vvc RA RA vv vc RAcvvc RA c
b RAvvc b RAc
c b cR c RA
c c c vvRA P
Solution This problem b A to the second group
RAbelongs
vc vc
because the RA
distance
c (X) is
cslipping ofc ladder. From
b c theP c
F.B.Dc there RAfour
to be found for impending
b
R vvc c cvv c arec
unknowns, three forces and Pthe unknown
P c bc c P
distance(X). P c
c cP
F.B.D.for(n)

A cPRAc P RA c
P P P
P
P PP
RA P b
c RAb P F.B.D.for(n) F.B.D.for(n) F.B.D.for(n)
F.B.D.for(n)

RA RA RAP c P
c cPc P
F.B.D.for(n)

P PP F.B.D.for(n)

c c RA
F.B.D.for(n) F.B.D.for(n)

P RA c 41
P
RA
c P c c RA
P RA P
P P c
Pc
F.B.D.for(n) c
There are three equations of equilibrium and one equation of fiction F‫= ׳‬µN,
since the problem states that motion impends.

+ ∑ F y =0, N-50-150=0, N=200Ib

F=F‫=׳‬µN=0.3(200) =60Ib

+ ∑ =0, -150(x)-50(5) +200(10)-60(24) =0

X=2.07ft

5-5-3 Procedure when impending motion is specified but

either the type of impending motion or the surface or
surfaces where motion impends is not specified (type three):
1- Assume that one or more of the bodies will start to move in one of the two
or more possible ways.
2- Set F=F‫=׳‬µN at the pair or pairs of surfaces when sliding is assumed to
impend.
Or place the normal force at the corner about which the body is assumed
to tip when tipping is assumed.
3- Motion is assumed not to impend at all other surfaces.
4- Determine the frictional and normal forces at all surfaces where motion is
assumed not to impend.
5- Check the initial assumption :-
a- by comparing F and F‫= ׳‬µN for all surfaces where slipping was assumed not
to impend
If F is ≤ F‫ ׳‬the initial assumption was correct.
But if F˃ F‫ ׳‬for any of the surfaces, the original assumption was in correct,
and a different assumption must be made.
b- Or by checking the position of the normal forces where tipping was
assumed not to impend.
If none of the normal forces acts outside the base of the body, the initial
assumption was correct, otherwise the original assumption was incorrect,
and a different assumption must be made.

41
 Example 5-3
The lower end of the ladder in the preceding examples is placed on a 100-Ib
box which is 2ft high. The coefficients of friction are as indicated in the
Fig.below .The weights of the man and the ladder are the same as in
preceding example. Determine the distance (x) when motion of the ladder
impends.

µ=150
x 150
vvcb
‫ ؤ‬µ=0.2
vc x = =µ
c 50
b v b c b B cv R 0.2b
26 v c vc bv vc 50
vc b vc vc vvc bb
‫׳‬RA cRAvv vvc
v
vc
v c vv vccv
RA vc
A b cµ=0.35 c vvc
v 50 c RA
c b
c 50c v R vvc
b b c P
2 bc vcP P b A 50 b v b c b P
c RA
c = =µ c
vv
b 2b 2 µ=0.25 P
vc
RA b N RA bccv R=0.35 c vc F.B.D.for(n)
vc
P RA F.B.D.for(n)
b RA
vc vv c 50
b vcb 10‫׳‬ vvc
5 b
RA c
c
vc b
RA vcvc vcvvc
RA b b b RA
c b
vv vvc vc b b vc vv vc vv b vvc vvc
RA c b
Solution: This problem
c specified cc that ofP the motion of cthe
P ladder
RARA impends c but
c
c
c b
vv v 150 RA
not where it impends vc vvc
the c v c c
c
under thecthird type.
RA
RA RA
c From the
c problem comes Pwallband c P
ccthat RA
vvc c P PRAladder will P
c either
R
F.B.D.for(n)
b v
Fig. it is apparent (B)
v RA Pc will
b slip on the v also
P b
thatc c PP P F.B.D.for(n)

slide on (c),c orcRA R

that (A)b and (C) will movec together asP (C)Aslides on the P
bc c RAP c P c RA
P F.B.D.for(n)
F.B.D.for(n)

horizontal surface.
RA RA A c PRA
cb b c PRA RA b F.B.D.for(n) cc F.B.D.for(n)

RA that
-First assume c will c slip P P the ladderRA P RA
F.B.D.for(n)

c (B)RAc RA c
and will c
slide on (C) so c and
P c are
equal to maximum
c cR c
Frictional c
force
RA RARA P c RA PP
F.B.D.for(n)
c
P P
= c =µRA P
R c
=0.35 P c R c P P
P P P c P P
F.B.D.for(n)
F.B.D.for(n)

A A c A
F.B.D.for(n)
P
P P
= P=µ =0.2 P F.B.D.for(n)
F.B.D.for(n)

P
Pcc Pc
F.B.D.for(n)
c P F.B.D.for(n)

+ ∑F x=0 P c Pc 0.35 P - =0 P c
F.B.D.for(n)

F.B.D.for(n) P
PP P P P
=0.35
P P
F.B.D.for(n)
P
P 42
F.B.D.for(n)F.B.D.for(n) F.B.D.for(n)

P P P
+ ∑ F y=0 +0.2 -50-150=0

+0.2(0.35 ) =200

=186.9Ib

=0.35(186.9) = 65.4Ib
Before determining the distance x, it is important to check that motion does
not impend between block (C)and the horizontal plane, then block(C) not
tipping before the ladder would slide on it .

-Check that block (C) not slide on floor

+ ∑F y=0 -100-186.9=0

=286.9Ib F =186.9
vc
b =65.4
b
vvc c b
RA
100 RA vc vvc
bc c b
c
Pvc
PbRA RA
vvc
P vc c
F.B.D.for(n)

c
bb
∑FX =0 =65.4 cvc vv P
F P
=µ =0.25(286.9) RA c
vvc F.B.D.for(n)
P
RA b
b
=71.7Ib c
cc
Since ˃ 71.7 ˃65.4 c
RA
RA

P R
The assumption F RA
that the ladder slides on the block is correct.
Pc A
- Check if block (C) tip before the ladder would slide on it. F.B.D.for(n)
c
c
P
Put at distance (d) from the center of block and Find (d) c
P
P
P
43 F.B.D.for(n) P
P F.B.D.for(n)

P
 + ∑F y=0 =286.9Ib
F
+ ∑ M0=0

(286.9)(d) – 65.4(2) =0

d=0.445ft
Since d˂ 2, so block(c) will not tip and the first assumption is correct.

Now find (x) from F.B.D of the ladder (first assumption)

+ ∑ MB=0

186.9(10)-65.4(24)-50(5)-150(x) =0

X=0.329ft.
N=186.9
b
vc
=65.4
vvc
b
b
2 c vc
vvc
100
RA
RA b
b
vc c
vc c
vvcc RA bRA
vv d P bP
c vc
c b b c
c P P vv F.B.D.for(n)

b vc P
vc RA
c vvc vv cP F.B.D.for(n)

RA
RA b b
c c
R c b c
c
A RA c RA
P
c RA R
RA P
c c R A F.B.D.for(n)

P c P c
A
P P c c
P
F.B.D.for(n)
P
P c F.B.D.for(n)

44 P P
P F.B.D.for(n)

P P
F.B.D.for(n)
Example 5-4
The homogeneous 400-Ib block A is rests on a horizontal plane,(µ) between
the block and the plane is 0.34,Determine the force (p), which will cause
motion of (A) to impend.

20″
P b
vc
b 35″
25″ vvc
vc A b
″ b
vv b vc
Solution b c
c vc vvc
vc
- The problem states that motion impends but itbis not evidentRAwhether the
vv
block slide along the plane or whether it tips about the lower right corner,b thus
vvc RA
this problem comes under the third type.
c c c
b c
-In this example we must determine two valuesRA b
of (P), one required to slide
RA the
c c
block and the other required to tip the blockR.The smallercvalue of (P) is the
RA P
RA
required result. A RA c
For sliding of block A RA P
c R c
State F=F‫=׳‬µN c
F.B.D.for(n)

c
+ ∑F y=0 N=400Ib c PAP P
F P
F =F‫=׳‬0.34 400 P bc P
400
P cvc F.B.D.for(n)

F=136Ib P
F.B.D.for(n)
bP
+ ∑F x=0 P F= =µvv
F.B.D.for(n) P vc
P N
P=136Ib (to make A slip) P vvc N
vc c
For tipping of block (A) put (N) at corner (0) vvc F.B.D.for(n)

bb
Pb
∑ M0=0 + b
c c RA 20
c vc
P (25)-400(10) =0 Pc RA b RA
RA c vv
P=160Ib (to tip A) vc
Pb R
25 RA c 35
Since the block will slide when P
vc vv c b N
400
P = 136 Ib and will not tip until P=160 Ib, N PA
bc cc 0 b
F.B.D.for(n)

vv
the force to cause impending motion Is 136 Ib to the right.
b c b
c vc P RA Nvc
45 vc c b
c
vvcPR vc b
vvc P
b vvc
RA
F.B.D.for(n)

c b A
P vv bvc
b P
46
47