ENGINEERING

MECHANICS
 “ ENGINEERING MECHANICS can be
defined as the branch of physics
concerned with the state of rest or
motion of bodies that subjected to the
action of forces. It may be defined as the
study of forces acting on body when it is
at rest or in motion
”
ENGINEERING MECHANICS: DEFINITION
 The engineering mechanics can be divided into two branches:
1. Statics
2. Dynamics

ENGINEERING MECHANICS: BRANCHES

 It is the branch of mechanics that deals with the
STATICS study of forces acting on a body in equilibrium.
Either the body at rest or in uniform motion.

It is the branch of mechanics that deals with the

study of forces on body in motion. It is further
divided into two branches.

Kinetics – branch of dynamics that studies of

DYNAMICS body in motion under the influence of force

Kinematics - the branch of the dynamics that

deals with the study of body in motion without
considering the force.

STATICS VS. DYNAMICS

 COLLINEAR
In this system, line of action of forces act
along the same line is called collinear forces.
For example, consider a rope is being pulled
by two players as shown in figure

COPLANAR
When all forces acting on the body are in the
same plane the forces are coplanar.
F1 F2

FORCE SYSTEMS
Coplanar forces could be classified as:

Concurrent Forces Non-Concurrent, Parallel Non-Concurrent, Non- Parallel

Contains forces whose When the forces acting on the A system of forces acting on the
lines-of action meet at body are in the same plane same plane but whose line of
same one point. but their line of actions are action does not pass through the
parallel to each other. same point and line of actions are
not parallel to each other.

CLASSIFICATION OF COPLANAR FORCE SYSTEM

 NON-COPLANAR F3
F4

When all forces acting on the body are not in

the same plane.
F1 F2

Similar to coplanar forces, non-coplanar forces could be classified as:

1. Concurrent Forces
2. Non-Concurrent, Parallel Forces
3. Non-Concurrent, Non-Parallel Forces

FORCE SYSTEMS
 The principle of transmissibility states that the point of application of a force can be
moved anywhere along its line of action without changing the external reaction forces on
a rigid body. Any force that has the same magnitude and direction, and which has a point
of application somewhere along the same line of action will cause the same acceleration
and will result in the same moment. Therefore, the points of application of forces may be
moved along the line of action to simplify the analysis of rigid bodies.

PRINCIPLE OF TRANSMISSIBILITY
RESULTANT
FORCE
 “ A RESULTANT FORCE IS A SINGLE FORCE
WHICH PRODUCES THE SAME EFFECT AS
THE NUMBER OF FORCES CAN PRODUCE

”
RESULTANT FORCE: DEFINITION
 y F1 y
Ry R
R Ry
F2 = = ϴ
F3 Rx Rx
x x

𝑹𝒙 = 𝑹 𝒄𝒐𝒔𝜽
𝑹= 𝑹𝒙 𝟐 + 𝑹𝒚 𝟐 𝑹𝒚 = 𝑹 𝒔𝒊𝒏𝜽
𝑹𝒚
𝒕𝒂𝒏 𝜽 =
𝑹𝒙
RESULTANT FORCE: FORMULA
 MOMENT ABOUT THE ORIGIN:
y
Ry ഥ
𝑴𝒐 = 𝑹𝒚 𝒙
R
ഥ
𝑴𝒐 = 𝑹𝒙 𝒚
𝑥ҧ
Where:
Rx 𝑴𝒐 – moment about the origin
𝑦ത ഥ – distance of resultant from the y-axis
𝒙
O x ഥ – distance of resultant from the x-axis
𝒚

RESULTANT FORCE: FORMULA

COMPONENT OF
A FORCE ON NON-
PERPEDICULAR
AXES
 “ PARALLELOGRAM LAW states that if two forces,
acting at a point, are represented in magnitude
and direction by the two sides of a parallelogram
drawn from one of its angular points, their
resultant is represented both in magnitude and
direction by the diagonal of the parallelogram
passing through that angular point. ”
PARALLELOGRAM LAW: DEFINITION
OPERATION: ADD TWO FORCE VECTOR

𝑭𝟏

𝑭𝟐
𝑭𝟏
𝑭𝟑
𝑭𝟐 𝑭𝟐

𝑭𝟏 + 𝑭𝟐 = 𝑭
𝟑

𝑭𝟏

PARALLELOGRAM LAW: DEFINITION

APPLICATION OF PARALLELOGRAM LAW IN RESOLVING A FORCE INTO COMPONENTS:

Ԧ INTO u and v axes

OPERATION: RESOLVE FORCE 𝑭

Treat the force as the resultant of the two Ԧ

𝑭
components of force acting on the given
axes. Make half-parallelogram (or just the 𝑭𝒗
triangle) and apply geometry to resolve the
components of forces.

𝑭𝒖

APPLICATION OF PARALLELOGRAM LAW

MOMENT OF A
FORCE ABOUT A
POINT
 “ The MOMENT OF A FORCE is the rational
tendency of a force to move the body in
the direction of its application. Moment is
formed as a force tend to rotate about
the body about an axis.
”
MOMENT OF A FORCE: DEFINITION
USING SCALAR SOLUTION, MOMENT OF A FORCE IS GIVEN BY:

𝑴𝑶 = 𝑭 ∗ 𝒅

Where:

Moment of a force
𝑴𝑶
about point O

Perpendicular distance
from the moment point
𝒅 at O to the line of action
of the force

MOMENT OF A FORCE ABOUT A POINT: SCALAR

SIGN CONVENTION OF THE MOMENT USING SCALAR SOLUTION:

CURL RIGHT HAND RULE

USING YOUR RIGHT HAND, DIRECTION YOUR THUMB IN THE POSITIVE DIRECTION OF THE
MOMENT AXIS. CURL YOUR HAND IS IF YOU ARE THIGHTENING A POLE. THE DIRECTION OF
MOTION IS THE POSITIVE CONVENTION OF THE MOMENT ABOUT THAT AXIS.

MOMENT OF A FORCE ABOUT A POINT: SCALAR

USING VECTOR SOLUTION, MOMENT OF A FORCE IS GIVEN BY:

𝑴𝑶 = 𝒓 𝒙 𝑭

Where:

𝑴𝑶 Moment vector

𝒓 Position vector

𝑭 Force vector

MOMENT OF A FORCE ABOUT A POINT: VECTOR

 POINT ALONG THE POINT WHERE
HOW TO COMPUTE FOR 𝒓 ? 𝒓= LINE OF ACTION - MOMENT WILL BE
OF THE FORCE TAKEN
BASED ON THE FIGURE:

POINT ALONG THE

LINE OF ACTION 𝑨
OF THE FORCE
POINT WHERE
MOMENT WILL BE 𝑶
TAKEN

𝒓=𝑨−𝑶

MOMENT OF A FORCE ABOUT A POINT: VECTOR

HOW TO COMPUTE FOR 𝑭 ? 𝑭 = 𝑭𝝀
Where:

𝑭 Magnitude of force
𝑭
𝝀 Unit vector
B

A
𝑭𝑰𝑵𝑨𝑳 − 𝑰𝑵𝑰𝑻𝑰𝑨𝑳
𝝀= O
𝑭𝑰𝑵𝑨𝑳 − 𝑰𝑵𝑰𝑻𝑰𝑨𝑳

MOMENT OF A FORCE ABOUT A POINT: VECTOR

 𝑭𝑰𝑵𝑨𝑳 − 𝑰𝑵𝑰𝑻𝑰𝑨𝑳
𝝀=
𝑭𝑰𝑵𝑨𝑳 − 𝑰𝑵𝑰𝑻𝑰𝑨𝑳
𝑭
BASED ON THE FIGURE:
B
FINAL: 𝐴Ԧ
OPTION 1:
INITIAL: 𝑂 A

O
𝑨−𝑶
𝝀=
𝑨−𝑶

MOMENT OF A FORCE ABOUT A POINT: VECTOR

 𝑭𝑰𝑵𝑨𝑳 − 𝑰𝑵𝑰𝑻𝑰𝑨𝑳
𝝀=
𝑭𝑰𝑵𝑨𝑳 − 𝑰𝑵𝑰𝑻𝑰𝑨𝑳
𝑭
BASED ON THE FIGURE:
B
FINAL: 𝐵
OPTION 2:
INITIAL: 𝑂 A

O
𝑩−𝑶
𝝀=
𝑩−𝑶

MOMENT OF A FORCE ABOUT A POINT: VECTOR

 𝑭𝑰𝑵𝑨𝑳 − 𝑰𝑵𝑰𝑻𝑰𝑨𝑳
𝝀=
𝑭𝑰𝑵𝑨𝑳 − 𝑰𝑵𝑰𝑻𝑰𝑨𝑳
𝑭
BASED ON THE FIGURE:
B
FINAL: 𝐵
OPTION 3:
INITIAL: 𝐴Ԧ A

O
𝑩−𝑨
𝝀=
𝑩−𝑨

MOMENT OF A FORCE ABOUT A POINT: VECTOR

HOW TO COMPUTE FOR 𝒓𝒙𝑭 ?

OPTION 1: MANUALLY

𝒊 −𝒋 𝒌
𝑴𝒐 = 𝒓 𝒙 𝑭 = 𝒓𝒙 𝒓𝒚 𝒓𝒛
𝑭𝒙 𝑭𝒚 𝑭𝒛

𝑴𝒐 = 𝒓𝒚 ∗ 𝑭𝒛 − 𝒓𝒛 ∗ 𝑭𝒚 𝒊 − 𝒓𝒙 ∗ 𝑭𝒛 − 𝒓𝒛 ∗ 𝑭𝒙 𝒋 + (𝒓𝒙 ∗ 𝑭𝒚 − 𝒓𝒚 ∗ 𝑭𝒙 ) 𝒌

MOMENT OF A FORCE ABOUT A POINT: VECTOR

HOW TO COMPUTE FOR 𝒓𝒙𝑭 ?

OPTION 2: CALCULATOR

STEP 1: MODE 8 (VCTR) + 1 (VCT A) + 1 (1:3)

STEP 2: INPUT COMPONENTS OF 𝒓 .

STEP 3: (SHIFT+8 OR APPS) + 2 (VCT B) + 1 (1:3)

STEP 4: INPUT COMPONENTS OF 𝑭 .

STEP 5: CA/AC + (SHIFT+8 OR APPS) + 3 (VCT A)

+ x + 4 (VCT B) + =

MOMENT OF A FORCE ABOUT A POINT: VECTOR

MOMENT OF A
FORCE ABOUT
AN AXIS
USING VECTOR SOLUTION, MOMENT OF A FORCE IS GIVEN BY:

𝑴𝑶 = 𝒓 𝒙 𝑭 𝝀𝒂𝒙𝒊𝒔
𝑭
𝑴𝒐 = 𝑴𝒐 𝒙 𝝀𝒂𝒙𝒊𝒔

Where: B

𝝀𝒂𝒙𝒊𝒔 Unit Vector of Axis C

A
𝑴𝒐 Magnitude of Moment
O
𝑴𝒐 Moment vector

𝒙 Cross product
D
Dot product
“C-D” axis

MOMENT OF A FORCE ABOUT AN AXIS

 𝑭𝑰𝑵𝑨𝑳 − 𝑰𝑵𝑰𝑻𝑰𝑨𝑳
𝝀𝒂𝒙𝒊𝒔 =
𝑭𝑰𝑵𝑨𝑳 − 𝑰𝑵𝑰𝑻𝑰𝑨𝑳 𝑭
BASED ON THE FIGURE: B
C
FINAL: 𝐷 A
OPTION 1:
INITIAL: 𝐶Ԧ
O

𝑫−𝑪
𝝀𝒂𝒙𝒊𝒔 =
𝑫−𝑪 D
“C-D” axis

MOMENT OF A FORCE ABOUT AN AXIS

HOW TO COMPUTE FOR 𝒓 𝒙 𝑭 𝝀𝒂𝒙𝒊𝒔 ?

OPTION 1: MANUALLY

𝝀𝒙 −𝝀𝒚 𝝀𝒛
𝑴𝑶 = (𝒓 𝒙 𝑭) 𝝀𝒂𝒙𝒊𝒔 = 𝒓𝒙 𝒓𝒚 𝒓𝒛
𝑭𝒙 𝑭𝒚 𝑭𝒛

𝑴𝑶 = 𝒓𝒚 ∗ 𝑭𝒛 − 𝒓𝒛 ∗ 𝑭𝒚 𝝀𝒙 − 𝒓𝒙 ∗ 𝑭𝒛 − 𝒓𝒛 ∗ 𝑭𝒙 𝝀𝒚 + (𝒓𝒙 ∗ 𝑭𝒚 − 𝒓𝒚 ∗ 𝑭𝒙 ) 𝝀𝒛

MOMENT OF A FORCE ABOUT AN AXIS

HOW TO COMPUTE FOR 𝒓 𝒙 𝑭 𝝀𝒂𝒙𝒊𝒔 ?

OPTION 2: CALCULATOR

STEP 1: MODE 8 (VCTR) + 1 (VCT A) + 1 (1:3)

STEP 2: INPUT COMPONENTS OF 𝒓 .

STEP 3: (SHIFT+8 OR APPS) + 2 (VCT B) + 1 (1:3)

STEP 4: INPUT COMPONENTS OF 𝑭 .

STEP 5: (SHIFT+8 OR APPS) + 3 (VCT C) + 1 (1:3)

STEP 6: INPUT COMPONENTS OF 𝝀𝒂𝒙𝒊𝒔

.
MOMENT OF A FORCE ABOUT AN AXIS
HOW TO COMPUTE FOR 𝒓 𝒙 𝑭 𝝀𝒂𝒙𝒊𝒔 ?

OPTION 2: CALCULATOR

STEP 7: CA/AC + (SHIFT+8 OR APPS) + 3 (VCT A)

+ x + 4 (VCT B) + =

STEP 8: (SHIFT+8 OR APPS) + 7 (VCT ANS) + 8 (DOT)

+ 5 (VCT C) + =

MOMENT OF A FORCE ABOUT AN AXIS

COPLANAR
EQUILIBRIUM
ANALYSIS
 “ A body is said to be in EQUILIBRIUM if
the resultant of the force system that acts
on the body vanishes. Equilibrium means
that both the resultant force and the
resultant moment is zero.
”
EQUILIBRIUM: DEFINITION
COPLANAR EQUILIBRIUM

FOR A GIVEN PLANE, EQUILIBRIUM

IS ACHIEVED WHEN THE
RESULTANT ABOUT THE TWO AXES
BOUNDING THE PLANE IS ZERO,
AND THE MOMENT ABOUT THE
AXIS PERPENDICULAR TO THE
PLANE IS ZERO.

COPLANAR EQUILIBRIUM
COPLANAR EQUILIBRIUM
FOR XY PLANE:

𝜮 𝑭𝒙 = 𝟎 𝜮 𝑭𝒚 = 𝟎 𝜮 𝑴𝒛 = 𝟎

FOR XZ PLANE:

𝜮 𝑭𝒙 = 𝟎 𝜮 𝑭𝒛 = 𝟎 𝜮 𝑴𝒚 = 𝟎

FOR YZ PLANE:

𝜮 𝑭𝒚 = 𝟎 𝜮 𝑭𝒛 = 𝟎 𝜮 𝑴𝒙 = 𝟎

COPLANAR EQUILIBRIUM
COPLANAR EQUILIBRIUM

With the number of unknowns per

plane, it can be deduced that for a
coplanar equilibrium, the
maximum number of unknown is
three (3).

COPLANAR EQUILIBRIUM
COPLANAR SUPPORT REACTIONS
COPLANAR SUPPORT REACTIONS
ANALYSIS OF
COMPOSITE
BODIES
WHEN A SINGLE RIGID BODY IS CUT, THREE INTERNAL REACTIONS ARE EXPOSED

INTERNAL REACTIONS ON SINGLE RIGID BODY

WHEN A COMPOSITE RIGID BODY IS
CUT ON THEIR POINT OF
CONNECTION, TWO INTERNAL
REACTIONS ARE EXPOSED

INTERNAL REACTIONS ON COMPOSITE BODIES

ANALYSIS OF
PLANE TRUSSES
 “ Astraight,
TRUSS is a structure that is made of
slender bats that are joined
together to form a pattern of triangles.
Trusses are usually designed to transmit
forces over relatively long spans;
common examples are bridge trusses and
roof trusses.
”
PLANE TRUSS: DEFINITION
ASSUMPTIONS IN ANALYZING PLANE TRUSSES:
1. Weights of the members are negligible
2. All joints are pin-connected
3. The applied forces act at the joints

PLANE TRUSS: ASSUMPTIONS

ANALYSIS OF PLANE TRUSSES
1. Method of Joints
2. Method of Sections

ANALYSIS OF PLANE TRUSSES

 The free-body diagram of any joint is a concurrent force system in which
the summation of moment will be of no help. This means that to solve
completely for the forces acting on a joint, we must select a joint with no
more than two unknown forces involved. Upon selection of joint, we can
assume any unknown member as either tension or compression.
FBD OF JOINT 1:

R1 F12

F13

0.5P
R1 R2
METHOD OF JOINTS
 If negative value is obtained, this means that the force is opposite in
action to that of the assumed direction. Once the forces in one joint are
determined, their effects on adjacent joints are known. We then continue
solving on successive joints until all members have been found.

FBD OF JOINT 1:

R1 F12

F13

0.5P
R1 R2
METHOD OF JOINTS
 It is used if a joint contains two or more unknown members. The free-body
diagram of a part of the truss is a non-concurrent, coplanar force system. To
solve using this method, a part of truss is isolated on an FBD so that it exposes
the forces to be computed.
EXAMPLE: FIND F46 SECTION A-A (LEFT)

A
F46

F47
F57

R1 R2
A
METHOD OF SECTIONS
 SECTION A-A (LEFT)

F46
One way to solve for F46 is to make full use
of the three available equilibrium equations
F47
since there are three unknowns. All three
F57 forces will be solved simultaneously.

But one of the major advantage of method of section over method joints is the
application of the “Principle of Transmissibility” especially when taking
moment equilibrium.

METHOD OF SECTIONS
 SECTION A-A (LEFT)
F46V Note that though we have used
F46 the left side of Section A-A, does
F46 not limit us from using the joints
F46H
on the right side (Joints 6 to 9).
F47 Only the forces on the right side
of cutting section are left out.
F57

Instead of solving three equations simultaneously in finding F46, we can just

take moment equilibrium about Joint 7, since both the unknowns F47 & F57
passes through this point. Also, we are transferring F46 from Joint 4 to Joint 6
using Principle of Transmissibility as it is likely easier to calculate the moment
arm if not directly given.
METHOD OF SECTIONS
Case 1: At a TWO-member joint: If those
members are NOT parallel AND there are
no other external loads (or reactions) at
the joint THEN both of those members are
zero force members.

Case 2: In a THREE-member joint: If TWO of

those members ARE parallel AND there are no
other external loads (or reactions) at the joint
THEN the member that is not parallel is a zero-
force member.

IDENTFYING ZERO FORCE MEMBERS ON TRUSS

NON-COPLANAR
EQUILIBRIUM
ANALYSIS
NON- COPLANAR EQUILIBRIUM
𝜮 𝑭𝒙 = 𝟎 𝜮 𝑭𝒚 = 𝟎 𝜮 𝑭𝒛 = 𝟎

𝜮 𝑴𝒙 = 𝟎 𝜮 𝑴𝒚 = 𝟎 𝜮 𝑴𝒛 = 𝟎

With all equilibrium equations

available, the maximum number of
unknowns for a FBD diagram is six (6).

NON-COPLANAR EQUILIBRIUM
NON-COPLANAR SUPPORT REACTIONS
NON-COPLANAR SUPPORT REACTIONS
ANALYSIS OF
CABLES
 “ CABLES are flexible structures that
support the applied transverse loads by
the tensile resistance developed in its
members. The distinguishing feature of a
cable is its ability to take different shapes
when subjected to different types of
loadings.
”
CABLES: DEFINITION
1. Cables are pin supported at its both ends

2. Cables are always in tension. When they

are taut, tension is zero.

3. Horizontal component of the internal

reaction of cable at any point is constant

4. For cables subject to uniform distributed

loadings (parabolic & catenary), the
minimum tension is at its lowest point.

5. For cables subject to uniform distributed

loadings (parabolic & catenary), the
maximum tension is at the higher
support.

GENERAL PROPERTIES OF CABLE

When a cable of negligible weight
of supports several concentrated
loads, the cable takes the form of
several straight-line segments,
each of which is subjected to
constant tensile force. One
important aspect of these cables
is that the horizontal component
of support reactions as well as of
cables is equal.

Cables Subjected to Concentrated Loads

Otherwise known as parabolic cables,
these cables are acted upon by
horizontal distributed loads across its
span. Maximum tension is located at the
higher support and minimum tension
occurs at the cable’s lowest point.

Cables Subjected to DISTRIBUTED Loads

Otherwise known as catenary
cables, these cables are
supported only by its weight and
takes a shape known as catenary.
Maximum tension is located at
the higher support and minimum
tension occurs at the cable’s
lowest point.

Cables Subjected to ITS OWN WEIGHT

 𝑻𝒐 𝝎𝒙 𝝎𝒙
𝟏. 𝒚 = (𝒄𝒐𝒔𝒉 − 𝟏) 𝟑. 𝑻 = 𝑻𝑶 𝒄𝒐𝒔𝒉
𝝎 𝑻𝒐 𝑻𝒐

𝑻𝒐 𝝎𝒙
𝟐. 𝒔 = 𝒔𝒊𝒏𝒉 𝟒. 𝑻 = 𝑻𝒐 + 𝝎𝒚
𝝎 𝑻𝒐

Where: yOB
𝜔 – cable weight per unit length
y – sag from cable’s lowest point
x – horizontal distance from cable’s
lowest point yOA
s – length of cable from cable’s
lowest point O
To – tension at cable’s lowest point
T – tension at any point in the cable
xOA xOB

CATENARY CABLES FORMULA

DRY FRICTION
 “ FRICTION IS DEFINED AS THE RESISTANCE
THAT ONE SURFACE OR OBJECT
ENCOUNTERS WHEN MOVING OVER
ANOTHER
”
FRICTION: DEFINITION
 1. DRY FRICTION

2. FLUID FRICTION

3. MOLECULAR FRICTION

TYPES OF FRICTION
 “
DRY FRICTION REFERS TO THE FRICTION
FORCE THAT EXISTS BETWEEN TWO
UNLUBRICATED SOLID SURFACES.

”
DRY FRICTION: DEFINITION
CONSIDERING TWO BODIES THAT ARE CONTACT TO EACH OTHER,
THE PLANE OF CONTACT IS TANGENT BOTH BODIES AT THEIR
POINT OF CONTACT.

COULUMB’S THEORY OF DRY FRICTION

IT PRODUCES A NORMAL CONTACT FORCE (N) WHICH IS
PERPENDICULAR TO THE PLANE OF CONTACT, AND A FRICTION
FORCE (F) THAT LIES IN THE PLANE OF CONTACT.

COULUMB’S THEORY OF DRY FRICTION

 COULOMB’S THEORY CONSISTS OF SEVERAL
POSTULATES THAT ARE EXPLAINED IN THE FOLLOWING:

1. STATIC CASE

2. DYNAMIC CASE

COULUMB’S THEORY OF DRY FRICTION

IF THERE IS NO RELATIVE MOTION BETWEEN TWO SURFACES
THAT ARE IN CONTACT, THE NORMAL FORCE N AND THE
FRICTION FORCE F SATISFY THE FOLLOWING RELATIONSHIP.

F ≤ (FMAX = µSN)
WHERE:
FMAX – MAXIMUM STATIC FRICTION THAT CAN EXIST
BETWEEN THE CONTACTING SURFACES
µS – COEFFICIENT OF STATIC FRICTION

COULUMB’S THEORY: STATIC CASE

CONSIDER THE STATIC CASE IN WHICH THE FRICTION FORCE
EQUALS ITS LIMITING VALUE. THAT IS:
F = (FMAX = µSN)
FOR THIS CONDITION, THE SURFACES ARE ON THE VERGE OF
SLIDING, A CONDITION KNOWN AS IMPENDING SLIDING.
WHEN SLIDING IMPENDS, THE SURFACES ARE AT REST
RELATIVE TO EACH OTHER. HOWEVER, ANY CHANGE THAT
WOULD REQUIRE AN INCREASE IN THE FRICTION FORCE
WOULD CAUSE SLIDING.

SPECIAL CASE FOR STATIC: IMPENDING SLIDING

IF THE TWO CONTACT SURFACES ARE SLIDING RELATIVE TO
EACH OTHER, THE FRICTION FORCE F IS POSTULATED TO BE:

F = (FK = µkN)
WHERE:
FK – KINETIC OR DYNAMIC FRICTION FORCE
µK – COEFFICIENT OF STATIC FRICTION

COULUMB’S THEORY: DYNAMIC CASE

 METHOD OF
TYPE 1
ANALYSIS
THE PROBLEM DOES NOT ASSUME EQUILIBRIUM. COMPUTE
SPECIFY IMPENDING FOR FRICTION FORCES REQUIRED
MOTION FOR EQUILIBRIUM. CHECK THE
ASSUMPTION.

TYPES OF FRICTION PROBLEM

 METHOD OF
TYPE 2
ANALYSIS
THE PROBLEM SPECIFIES SET F = (FMAX = µSN) AND SOLVE
IMPENDING MOTION FOR THE UNKNOWNS USING
EQUILIBRIUM EQUATIONS

TYPES OF FRICTION PROBLEM

 METHOD OF
TYPE 3
ANALYSIS
THE PROBLEM SPECIFIES DETERMINE ALL POSSIBLE WAYS
IMPENDING MOTION BUT IN WHICH SLIDING CAN IMPEND.
DID NOT INDICATE FOR EACH CASE, F = FMAX AT THE
WHERE SURFACES WHERE SLIDING CAN
IMPEND AND SOLVE USING
EQUILIBRIUM EQUATIONS.
CHOOSE THE APPROPRIATE
ANSWER BY INSPECTION.
TYPES OF FRICTION PROBLEM
 IT IS THE ANGLE MADE BETWEEN THE NORMAL REACTION FORCE AND THE
RESULTANT FORCE BETWEEN FRICTION AND NORMAL REACTION FORCE.

Ø= tan -1 (μs)

F
F

Ø ϴ ϴ Ø
R
N R N
ANGLE OF FRICTION, Ø
BELT FRICTION
“ BELT FRICTION IS A TERM DESCRIBING THE FRICTION
FORCES BETWEEN A BELT AND A SURFACE. WHEN A
FORCE APPLIES A TENSION TO ONE END OF A BELT OR
ROPE WRAPPED AROUND A CURVED SURFACE, THE
FRICTIONAL FORCE BETWEEN THE TWO SURFACES
INCREASES WITH THE AMOUNT OF WRAP ABOUT THE
CURVED SURFACE, AND ONLY PART OF THAT FORCE
(OR RESULTANT BELT TENSION) IS TRANSMITTED TO

”
THE OTHER END OF THE BELT OR ROPE.

BELT FRICTION: DEFINITION

where:
T2 – larger tension/
pulling side
T1 – lower tension/
resisting side
μ – coefficient of friction
𝝁𝜭
ϴ - angle of “belt” in 𝑻2 = 𝑻1 𝒆
contact with the pulley
BELT FRICTION: FORMULA
AREA, CENTROIDS &
MOMENT OF INERTIA
CENTROID & AREA OF A PLANE USING INTEGRATION
CENTROID & AREA OF A COMPOSITE SECTION
 Determine the area and centroids of the following figure.

SITUATION 8: CENTROID AND AREA BY INTEGRATION

 By integration:

MOMENT OF INERTIA BY INTEGRATION

 For composite shapes (e.g. rectangle)
y ഥ
𝒚

h ഥ
𝒙

X
b

MOMENT OF INERTIA FOR COMPOSITE SHAPES

 For composite shapes (e.g. rectangle)
y ഥ
𝒚

h ഥ
𝒙

X
b

MOMENT OF INERTIA FOR COMPOSITE SHAPES

SUMMARY OF MOMENT OF INERTIA OF COMMON SHAPEs
SUMMARY OF MOMENT OF INERTIA OF COMMON SHAPEs
SUMMARY OF MOMENT OF INERTIA OF COMMON SHAPEs
 PARALLEL AXIS THEOREM IS
USED TO DETERMINE
MOMENT OF INERTIA OF
ANY AXIS PARALLEL AND AT
A DISTANCE “d” AWAY
FROM A CENTROIDAL AXIS
WHOSE MOMENT OF
INERTIA IS ALREADY
DEFINED

PARALLEL-AXIS THEOREM
 y ഥ
𝒚

h ഥ
𝒙
ഥ
𝒙

X
b
 “ DYNAMICS IS A BRANCH OF MECHANICS
CONCERNED WITH THE MOTION OF
BODIES UNDER THE ACTION OF FORCES.
IT IS DIVIDED INTO KINEMATICS AND
KINETICS. ”
DynamICS: DEFINITION
 Kinematics – concerned with
1. the geometric aspects of
motion

Kinetics – concerned with

2. how
motion
the forces causes

DIVISION OF DYNAMICS
THREE ROOT FORMULAS FOR MOTION

1. 𝒗=
𝒅𝒔
𝒅𝒕
where:
v – velocity

2.
𝒅𝒗 s – position
𝒂=
𝒅𝒕 a – acceleration
t – time
3. 𝒂𝒅𝒔 = 𝒗𝒅𝒗

KINEMATICS: CONTINUOUS MOTION

 Treating “a” as constant

𝒅𝒗
𝒂= 𝒂𝒅𝒔 = 𝒗𝒅𝒗
𝒅𝒕

KINEMATICS: RECTILINEAR, CONSTANT ACCELERATION

 Treating “a” as constant

𝒅𝒔
𝒗=
𝒅𝒕

KINEMATICS: Rectilinear, CONSTANT ACCELERATION

 Summary of rectilinear, continuous motion formula:

1. 𝒗𝒇 = 𝒗𝒐 + 𝒂𝒕 where:
vo – initial velocity

2. 𝒗𝒇𝟐
= 𝒗𝒐𝟐
+ 𝟐𝒂𝑺
vf – final velocity
S – displacement
a – acceleration
3.
𝟏 𝟐
𝑺 = 𝒗𝒐 𝒕 + 𝒂𝒕 t – time
𝟐
KINEMATICS: Rectilinear, CONSTANT ACCELERATION
 “ A FREE FALLING OBJECT IS AN OBJECT
THAT IS FALLING UNDER THE SOLE
INFLUENCE OF GRAVITY. ANY OBJECT
THAT IS BEING ACTED UPON ONLY BY THE

”
FORCE OF GRAVITY IS SAID TO BE IN A
STATE OF FREE FALL.

KINEMATICS: FREE-FALL MOTION DEFINITION

There are two important motion characteristics that are true
of free-falling objects:

1. Free-falling objects do not encounter air resistance.

2. All free-falling objects (on Earth) has a downward

acceleration due to gravity (g = 9.81 m/s2 for SI unit,
g = 32.2 ft/s2 for English unit)

KINEMATICS: FREE-FALL MOTION DEFINITION

 motion
motion

gravity

gravity
Initial velocity
FREE FALL THROWN UPWARD
SINCE MOTION AND GRAVITY IS OF SINCE MOTION AND GRAVITY IS OF
SAME DIRECTION, g is “+” OPPOSITE DIRECTION, g is “-”

SIGN CONVENTIONS FOR FREE FALL

Given the position vector of a particle: By differentiating with respect to time:

dr 𝑑𝑥 dy 𝑑𝑧
= 𝑖+ 𝑗+ 𝑘
dt 𝑑𝑡 dt 𝑑𝑡

Note that the derivative of position with

respect to time is the velocity, we could rewrite
it as:
𝑣Ԧ = 𝑣𝑥 𝑖 + 𝑣𝑦 𝑗 + 𝑣𝑧 𝑘
and resultant velocity is:

r = xi + yj + zk 𝑣= 𝑣𝑥 2 + 𝑣𝑦 2 + 𝑣𝑧 2

KINEMATICS: CURVILLINEAR MOTION

 Note that this velocity is also known as Differentiating the velocity equation:
“tangential velocity” because its
direction lies along the tangent line 𝑣Ԧ = 𝑣𝑥 𝑖 + 𝑣𝑦 𝑗 + 𝑣𝑧 𝑘
from point considered. dvy
𝑑𝑣 𝑑𝑣𝑥 dvz
= 𝑖+ 𝑗+ 𝑘
curve path 𝑑𝑡 𝑑𝑡 dt dt
P Which could also be rewritten in terms of
acceleration being the derivative of velocity with
respect to time.
vt t
𝑎Ԧ = 𝑎𝑥 𝑖 + 𝑎𝑦 𝑗 + 𝑎𝑧 𝑘
and resultant acceleration is:
n
a= 𝑎𝑥 2 + 𝑎𝑦 2 + 𝑎𝑧 2

KINEMATICS: CURVILLINEAR MOTION

 Note that similar to “tangential But for curvilinear motion, there is another
velocity”, the resultant acceleration is acceleration considered. This acceleration is
also known as “tangential called “normal acceleration”, because its direction
acceleration” because its direction lies lies along the normal line from point considered,
along the tangent line from point directed to the center of curvature (O).
considered. Normal acceleration helps the particle maintain
curve path its curved path. Its equation is given by:
P
𝑣𝑡 2 𝑣𝑡 – tangential velocity
𝑎𝑛 =
𝜌 𝜌 – radius of curvature
at t
an From math, radius of curvature is computed as:
3
′ 2 2
1+ 𝑦
n 𝜌=
𝑦"
O
KINEMATICS: CURVILLINEAR MOTION
 “ PROJECTILE MOTION IS THE MOTION OF
AN OBJECT THROWN OR PROJECTED
INTO THE AIR, SUBJECT TO ONLY THE
ACCELERATION OF GRAVITY. THE OBJECT
IS CALLED A PROJECTILE, AND ITS PATH IS

”
CALLED ITS TRAJECTORY.

KINEMATICS: PROJECTILE MOTION

 vo sinϴ trajectory (parabolic)
vo

projectile
ϴ
vo cosϴ

Initial point/
firing point projectile after
time “t”
vx

vy

1. The projectile is launched obliquely, with an initial velocity, vo, at an

angle of inclination ϴ with trajectory resembling a parabolic path.

PROPERTIES OF PROJECTILE MOTION

 vo sinϴ vo

ϴ
vo cosϴ

vx
x – “range”

vy

2. The horizontal distance travelled is called range.

PROPERTIES OF PROJECTILE MOTION

 Highest Point (Vertex)

vo sinϴ vy = 0
vo

ϴ
vo cosϴ

gravity
vx
x
vy

3. Projectile is influenced by the vertical acceleration due to gravity only.

As it goes up, the vertical component of velocity diminishes until it
reaches its maximum point (vertex) where vy = 0

PROPERTIES OF PROJECTILE MOTION

 vo sinϴ vo

ϴ
vo cosϴ

gravity
vx
x = vo cosϴ

vy

4. There is no acceleration in horizontal direction, thus the horizontal

velocity is uniform or constant at all points of projectile.

PROPERTIES OF PROJECTILE MOTION

 vo sinϴ vo

ϴ
vo cosϴ

gravity
vx
x
vy

5. The time of flight of projectile is equal to the time if the projectile

moves horizontally at constant velocity, and equal to the time if the
projectile moves vertically starting at vertical component of vo.

PROPERTIES OF PROJECTILE MOTION

 In the x-direction (uniform motion, zero acceleration):

𝒅 𝒙 𝒙
𝒗= 𝒗𝒙 = 𝒕=
𝒕 𝒕 𝒗 𝒄𝒐𝒔 𝜽

FORMULA FOR PROJECTILE MOTION

 In the y-direction (rectilinear, constant acceleration):

𝟏 𝟐
𝒗𝒇 = 𝒗𝒐 + 𝒂𝒕 𝒗𝒇𝟐 = 𝒗𝒐𝟐 + 𝟐𝒂𝑺 𝑺 = 𝒗𝒐 𝒕 + 𝒂𝒕
𝟐

FORMULA FOR PROJECTILE MOTION

As a rule, the sign convention depends on the direction of the vertical component of the velocity
from initial point you select.
For velocity, v:

If the initial point is point O, upward

direction is the positive convention.

𝑣𝐴 𝑖𝑠 " + " 𝑣𝐵 & 𝑣𝑐 𝑖𝑠 " − "

If the initial point is point B, downward

direction is the positive convention.

𝑣𝑐 𝑖𝑠 " + "

SIGN CONVENTION FOR PROJECTILE MOTION

As a rule, the sign convention depends on the direction of the vertical component of the velocity
from initial point you select. For vertical distances, y:
If the initial point is point O, upward
vertical distances from point O is the
positive convention.
𝑂𝐴 & 𝑂𝐵 𝑖𝑠 " + " 𝑂𝐶 𝑖𝑠 " − "
If the initial point is point A, upward
vertical distances from point A is the
positive convention.
𝐴𝐵 & 𝐴𝐶 𝑖𝑠 " − "
If the initial point is point B, downward
vertical distances from point B is the
positive convention.
𝐵𝐶 𝑖𝑠 " + "

SIGN CONVENTION FOR PROJECTILE MOTION

As a rule, the sign convention depends on the direction of the vertical component of the velocity
from initial point you select.
For gravity, g:
If the initial point is point O or A, upward
direction of acceleration is the positive
convention
𝑔 𝑖𝑠 " − "
If the initial point is point B or C,
downward direction of acceleration is
the positive convention

𝑔 𝑖𝑠 " + "

SIGN CONVENTION FOR PROJECTILE MOTION

 “ RELATIVE MOTION REFERS TO THE
MOTION OR SPEED OF ANY OBJECT IN
RESPECT TO A PARTICULAR POINT.
”

KINEMATICS: RELATIVE MOTION DEFINITION

KINEMATICS: RELATIVE MOTION
 For easier solution, the position, velocity or acceleration are represented in vector form
For position:

𝑟𝐵Τ𝐴 = 𝑟𝐵 − 𝑟𝐴 Position of “B” with respect or as observed from point A

𝑟𝐴Τ𝐵 = 𝑟𝐴 − 𝑟𝐵 Position of “A” with respect or as observed from point B

For velocity:
𝑣𝐵Τ𝐴 = 𝑣𝐵 − 𝑣𝐴 Velocity of “B” with respect or as observed from point A
𝑣𝐴Τ𝐵 = 𝑣𝐴 − 𝑣𝐵 Velocity of “A” with respect or as observed from point B

For acceleration:
𝑎𝐵Τ𝐴 = 𝑎𝐵 − 𝑎𝐴 Acceleration of “B” with respect or as observed from point A
𝑎𝐴Τ𝐵 = 𝑎𝐴 − 𝑎𝐵 Acceleration of “A” with respect or as observed from point B

KINEMATICS: RELATIVE MOTION FORMULA