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Contents

Preface xv
List of Symbols xxiii

1 Introduction 1
1.1 What Is Mechanics? 2
1.2 Fundamental Concepts and Principles 2
1.3 Systems of Units 5
1.4 Conversion from One System of Units to Another 10
1.5 Method of Problem Solution 11
1.6 Numerical Accuracy 13

2 Statics of Particles 14
2.1 Introduction 16
Forces in a Plane 16
2.2 Force on a Particle. Resultant of Two Forces 16
2.3 Vectors 17
2.4 Addition of Vectors 18
2.5 Resultant of Several Concurrent Forces 20
2.6 Resolution of a Force into Components 21
2.7 Rectangular Components of a Force. Unit Vectors 27
2.8 Addition of Forces by Summing x and y Components 30
2.9 Equilibrium of a Particle 35
2.10 Newton’s First Law of Motion 36
2.11 Problems Involving the Equilibrium of a Particle.
Free-Body Diagrams 36
Forces in Space 45
2.12 Rectangular Components of a Force in Space 45
2.13 Force Defined by Its Magnitude and Two Points on Its
Line of Action 48
2.14 Addition of Concurrent Forces in Space 49
2.15 Equilibrium of a Particle in Space 57

Review and Summary 64

Review Problems 67
Computer Problems 70
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Contents

Rigid Bodies: Equivalent

Systems of Forces 72
3.1 Introduction 74
3.2 External and Internal Forces 74
3.3 Principle of Transmissibility. Equivalent Forces 75
3.4 Vector Product of Two Vectors 77
3.5 Vector Products Expressed in Terms of
Rectangular Components 79
3.6 Moment of a Force about a Point 81
3.7 Varignon’s Theorem 83
3.8 Rectangular Components of the
Moment of a Force 83
3.9 Scalar Product of Two Vectors 94
3.10 Mixed Triple Product of Three Vectors 96
3.11 Moment of a Force about a Given Axis 97
3.12 Moment of a Couple 108
3.13 Equivalent Couples 109
3.14 Addition of Couples 111
3.15 Couples Can Be Represented by Vectors 111
3.16 Resolution of a Given Force into a Force at O
and a Couple 112
3.17 Reduction of a System of Forces to One Force and
One Couple 123
3.18 Equivalent Systems of Forces 125
3.19 Equipollent Systems of Vectors 125
3.20 Further Reduction of a System of Forces 126
*3.21 Reduction of a System of Forces to a Wrench 128

Review and Summary 146

Review Problems 151
Computer Problems 154

4 Equilibrium of Rigid Bodies 156

4.1 Introduction 158
4.2 Free-Body Diagram 159
Equilibrium in Two Dimensions 160
4.3 Reactions at Supports and Connections
for a Two-Dimensional Structure 160
4.4 Equilibrium of a Rigid Body in Two Dimensions 162
4.5 Statically Indeterminate Reactions. Partial
Constraints 164
4.6 Equilibrium of a Two-Force Body 181
4.7 Equilibrium of a Three-Force Body 182
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Equilibrium in Three Dimensions 189 Contents

vii
4.8 Equilibrium of a Rigid Body in Three Dimensions 189
4.9 Reactions at Supports and Connections for a
Three-Dimensional Structure 189
Review and Summary 210
Review Problems 213
Computer Problems 216

5 Distributed Forces: Centroids

and Centers of Gravity 218
5.1 Introduction 220
Areas and Lines 220
5.2 Center of Gravity of a Two-Dimensional Body 220
5.3 Centroids of Areas and Lines 222
5.4 First Moments of Areas and Lines 223
5.5 Composite Plates and Wires 226
5.6 Determination of Centroids by Integration 236
5.7 Theorems of Pappus-Guldinus 238
*5.8 Distributed Loads on Beams 248
*5.9 Forces on Submerged Surfaces 249
Volumes 258
5.10 Center of Gravity of a Three-Dimensional Body.
Centroid of a Volume 258
5.11 Composite Bodies 261
5.12 Determination of Centroids of Volumes by
Integration 261

Review and Summary 274

Review Problems 278
Computer Problems 281

6 Analysis of Structures 284

6.1 Introduction 286
Trusses 287
6.2 Definition of a Truss 287
6.3 Simple Trusses 289
6.4 Analysis of Trusses by the Method of Joints 290
*6.5 Joints under Special Loading Conditions 292
*6.6 Space Trusses 294
6.7 Analysis of Trusses by the Method of Sections 304
*6.8 Trusses Made of Several Simple Trusses 305
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viii Contents Frames and Machines 316

6.9 Structures Containing Multiforce Members 316
6.10 Analysis of a Frame 316
6.11 Frames Which Cease to Be Rigid When Detached
from Their Supports 317
6.12 Machines 331

Review and Summary 345

Review Problems 348
Computer Problems 350

7 Forces in Beams and Cables 352

*7.1 Introduction 354
*7.2 Internal Forces in Members 354
Beams 362
*7.3 Various Types of Loading and Support 362
*7.4 Shear and Bending Moment in a Beam 363
*7.5 Shear and Bending-Moment Diagrams 365
*7.6 Relations among Load, Shear, and Bending Moment 373
Cables 383
*7.7 Cables with Concentrated Loads 383
*7.8 Cables with Distributed Loads 384
*7.9 Parabolic Cable 385
*7.10 Catenary 395

Review and Summary 403

Review Problems 406
Computer Problems 408

8 Friction 410
8.1 Introduction 412
8.2 The Laws of Dry Friction. Coefficients
of Friction 412
8.3 Angles of Friction 415
8.4 Problems Involving Dry Friction 416
8.5 Wedges 429
8.6 Square-Threaded Screws 430
*8.7 Journal Bearings. Axle Friction 439
*8.8 Thrust Bearings. Disk Friction 441
*8.9 Wheel Friction. Rolling
Resistance 442
*8.10 Belt Friction 449

Review and Summary 460

Review Problems 463
Computer Problems 467
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Contents
ix
9 Distributed Forces:
Moments of Inertia 470
9.1 Introduction 472
Moments of Inertia of Areas 473
9.2 Second Moment, or Moment of Inertia, of an Area 473
9.3 Determination of the Moment of Inertia of an
Area by Integration 474
9.4 Polar Moment of Inertia 475
9.5 Radius of Gyration of an Area 476
9.6 Parallel-Axis Theorem 483
9.7 Moments of Inertia of Composite Areas 484
*9.8 Product of Inertia 497
*9.9 Principal Axes and Principal Moments of Inertia 498
*9.10 Mohr’s Circle for Moments and Products of Inertia 506
Moments of Inertia of a Mass 512
9.11 Moment of Inertia of a Mass 512
9.12 Parallel-Axis Theorem 514
9.13 Moments of Inertia of Thin Plates 515
9.14 Determination of the Moment of Inertia of a
Three-Dimensional Body by Integration 516
9.15 Moments of Inertia of Composite Bodies 516
*9.16 Moment of Inertia of a Body with Respect to an Arbitrary Axis
through O. Mass Products of Inertia 532
*9.17 Ellipsoid of Inertia. Principal Axes of Inertia 533
*9.18 Determination of the Principal Axes and Principal Moments of
Inertia of a Body of Arbitrary Shape 535

Review and Summary 547

Review Problems 553
Computer Problems 555

10 Method of Virtual Work 556

*10.1 Introduction 558
*10.2 Work of a Force 558
*10.3 Principle of Virtual Work 561
*10.4 Applications of the Principle of Virtual Work 562
*10.5 Real Machines. Mechanical Efficiency 564
*10.6 Work of a Force during a Finite Displacement 578
*10.7 Potential Energy 580
*10.8 Potential Energy and Equilibrium 581
*10.9 Stability of Equilibrium 582

Review and Summary 592

Review Problems 595
Computer Problems 598
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Contents

Kinematics of Particles 600

11.1 Introduction to Dynamics 602
Rectilinear Motion of Particles 603
11.2 Position, Velocity, and Acceleration 603
11.3 Determination of the Motion of a Particle 607
11.4 Uniform Rectilinear Motion 616
11.5 Uniformly Accelerated Rectilinear Motion 617
11.6 Motion of Several Particles 618
*11.7 Graphical Solution of Rectilinear-Motion Problems 630
*11.8 Other Graphical Methods 631
Curvilinear Motion of Particles 641
11.9 Position Vector, Velocity, and Acceleration 641
11.10 Derivatives of Vector Functions 643
11.11 Rectangular Components of Velocity and Acceleration 645
11.12 Motion Relative to a Frame in Translation 646
11.13 Tangential and Normal Components 665
11.14 Radial and Transverse Components 668

Review and Summary 682

Review Problems 686
Computer Problems 688

12 Kinetics of Particles:
Newton’s Second Law 690
12.1 Introduction 692
12.2 Newton’s Second Law of Motion 693
12.3 Linear Momentum of a Particle. Rate of Change
of Linear Momentum 694
12.4 Systems of Units 695
12.5 Equations of Motion 697
12.6 Dynamic Equilibrium 699
12.7 Angular Momentum of a Particle. Rate of Change
of Angular Momentum 721
12.8 Equations of Motion in Terms of Radial and
Transverse Components 722
12.9 Motion under a Central Force. Conservation of
Angular Momentum 723
12.10 Newton’s Law of Gravitation 724
*12.11 Trajectory of a Particle under a Central Force 734
*12.12 Application to Space Mechanics 735
*12.13 Kepler’s Laws of Planetary Motion 738

Review and Summary 746

Review Problems 750
Computer Problems 753
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Contents
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13 Kinetics of Particles: Energy and
Momentum Methods 754
13.1 Introduction 756
13.2 Work of a Force 756
13.3 Kinetic Energy of a Particle. Principle of Work
and Energy 760
13.4 Applications of the Principle of Work and Energy 762
13.5 Power and Efficiency 763
13.6 Potential Energy 782
*13.7 Conservative Forces 784
13.8 Conservation of Energy 785
13.9 Motion under a Conservative Central Force.
Application to Space Mechanics 787
13.10 Principle of Impulse and Momentum 806
13.11 Impulsive Motion 809
13.12 Impact 821
13.13 Direct Central Impact 821
13.14 Oblique Central Impact 824
13.15 Problems Involving Energy and Momentum 827

Review and Summary 843

Review Problems 849
Computer Problems 852

14 Systems of Particles 854

14.1 Introduction 856
14.2 Application of Newton’s Laws to the Motion of a System
of Particles. Effective Forces 856
14.3 Linear and Angular Momentum of a System of Particles 859
14.4 Motion of the Mass Center of a System of Particles 860
14.5 Angular Momentum of a System of Particles about Its
Mass Center 862
14.6 Conservation of Momentum for a System of Particles 864
14.7 Kinetic Energy of a System of Particles 872
14.8 Work-Energy Principle. Conservation of Energy for a System
of Particles 874
14.9 Principle of Impulse and Momentum for a System
of Particles 874
*14.10 Variable Systems of Particles 885
*14.11 Steady Stream of Particles 885
*14.12 Systems Gaining or Losing Mass 888

Review and Summary 905

Review Problems 909
Computer Problems 912
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Contents

Kinematics of Rigid Bodies 914

15.1 Introduction 916
15.2 Translation 918
15.3 Rotation about a Fixed Axis 919
15.4 Equations Defining the Rotation of a Rigid Body
about a Fixed Axis 922
15.5 General Plane Motion 932
15.6 Absolute and Relative Velocity in Plane Motion 934
15.7 Instantaneous Center of Rotation in Plane Motion 946
15.8 Absolute and Relative Acceleration in
Plane Motion 957
*15.9 Analysis of Plane Motion in Terms of a Parameter 959
15.10 Rate of Change of a Vector with Respect to a
Rotating Frame 971
15.11 Plane Motion of a Particle Relative to a Rotating Frame.
Coriolis Acceleration 973
*15.12 Motion about a Fixed Point 984
*15.13 General Motion 987
*15.14 Three-Dimensional Motion of a Particle Relative to a Rotating
Frame. Coriolis Acceleration 998
*15.15 Frame of Reference in General Motion 999

Review and Summary 1011

Review Problems 1018
Computer Problems 1021

16 Plane Motion of Rigid Bodies: Forces

and Accelerations 1024
16.1 Introduction 1026
16.2 Equations of Motion for a Rigid Body 1027
16.3 Angular Momentum of a Rigid Body in
Plane Motion 1028
16.4 Plane Motion of a Rigid Body.
D’Alembert’s Principle 1029
*16.5 A Remark on the Axioms of the Mechanics
of Rigid Bodies 1030
16.6 Solution of Problems Involving the Motion of a
Rigid Body 1031
16.7 Systems of Rigid Bodies 1032
16.8 Constrained Plane Motion 1052
Review and Summary 1074
Review Problems 1076
Computer Problems 1079
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Contents
xiii
17 Plane Motion of Rigid Bodies: Energy
and Momentum Methods 1080
17.1 Introduction 1082
17.2 Principle of Work and Energy for a Rigid Body 1082
17.3 Work of Forces Acting on a Rigid Body 1083
17.4 Kinetic Energy of a Rigid Body in Plane Motion 1084
17.5 Systems of Rigid Bodies 1085
17.6 Conservation of Energy 1086
17.7 Power 1087
17.8 Principle of Impulse and Momentum for the Plane Motion
of a Rigid Body 1103
17.9 Systems of Rigid Bodies 1106
17.10 Conservation of Angular Momentum 1106
17.11 Impulsive Motion 1119
17.12 Eccentric Impact 1119

Review and Summary 1135

Review Problems 1139
Computer Problems 1142

18 Kinetics of Rigid Bodies in

Three Dimensions 1144
*18.1 Introduction 1146
*18.2 Angular Momentum of a Rigid Body in
Three Dimensions 1147
*18.3 Application of the Principle of Impulse and Momentum to the
Three-Dimensional Motion of a Rigid Body 1151
*18.4 Kinetic Energy of a Rigid Body in
Three Dimensions 1152
*18.5 Motion of a Rigid Body in Three Dimensions 1165
*18.6 Euler’s Equations of Motion. Extension of
D’Alembert’s Principle to the Motion of a
Rigid Body in Three Dimensions 1166
*18.7 Motion of a Rigid Body about a Fixed Point 1167
*18.8 Rotation of a Rigid Body about a Fixed Axis 1168
*18.9 Motion of a Gyroscope. Eulerian Angles 1184
*18.10 Steady Precession of a Gyroscope 1186
*18.11 Motion of an Axisymmetrical Body
under No Force 1187
Review and Summary 1201
Review Problems 1206
Computer Problems 1209
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xiv
19
Contents

Mechanical Vibrations 1212

19.1 Introduction 1214
Vibrations without Damping 1214
19.2 Free Vibrations of Particles. Simple Harmonic Motion 1214
19.3 Simple Pendulum (Approximate Solution) 1218
*19.4 Simple Pendulum (Exact Solution) 1219
19.5 Free Vibrations of Rigid Bodies 1228
19.6 Application of the Principle of Conservation of Energy 1240
19.7 Forced Vibrations 1250
Damped Vibrations 1260
*19.8 Damped Free Vibrations 1260
*19.9 Damped Forced Vibrations 1263
*19.10 Electrical Analogues 1264

Review and Summary 1277

Review Problems 1282
Computer Problems 1286

Appendix Fundamentals of Engineering Examination 1289

Photo Credits 1291
Index 1293
Answers to Problems 1305