“Try not to become a man of success, but rather ty to become man of value. fi Introduction CHAPTER Introduction Mechanics is the science which deals with the action of forces on different types of bodies either in motion or at rest Engineering mechanics is the application of mechanics to solve problems involving common engineering elements Engineering Mechanics can be broadly classified as, Engineering Mechanics Mechanics of Solids Mechanics of Rigid Bodies Deformable Bodies Strength of Materials, ‘Theory of Elasticity, Theory of Plasticity Statics | | Dynamics | | Kinematics | [ Kineties In this course material we will study about the mechanics of particles and rigid bodies, Particle: itis a portion of matter which is indefinitely small in size. © Rigid Body: A rigid body may be defined as a body in which the relative positions of any two particles do not change under the action of forces. Statics deals primarily with the calculation of external forces which act an rigid body in equilibrium, Tinfo@ thegateacademy.com ©copyright reserved, Webr if AnegalsavalieMy.cem =!“Lam a slow walker — but never wall backwards.” Abraham Lincoln Free Body Diagram and Equilibrium CHAPTER Learning Objectives After reading this chapter, you will know: 1. Equivalent Force System, Newton's Law of Motion 2. Equilibrium and Free Body Diagrams, Type of Equilibrium 3. Static Friction, Virtual Work, Trusses and Frames, Statics Related Problems Introduction Statics deals with system of forces that keeps a body in equilibrium. In other words the resultant of force systems on the body are zero. Force ‘A force is completely defined only when the following three characters are specified. + Magnitude ‘© Point of Application ‘+ Line of action/Direction Scalar and Vector A quantity is said to be scalar if it is completely defined by its magnitude alone. e.g, length, energy, work etc. A quantity is said to be vector if it is completely defined only when its magnitude and direction is specified. Eig: Force, Acceleration. Equivalent Force System Coplanar Force System: If all the forces in the system lie in a single plane system. is called coplanar force Concurrent Force System: If line of action of all the forces in.a system passes through a single point it is called concurrent force system. Collinear Force System: In a lie along a single line then it is called a collinear force system. of action of all forces stem, all the forces parallel to each other, if linio@ thegaleacademy.com ©Copyright reserved. Webcam ihasaisaadms.com =THE GATE’ I keapen Free Body Dia im and Equilibrium Force System Example Coplanar like parallel force is straight | Weight of stationary train on rail off the track Coplanar concurrent force Forces on a rod resting against wall Coplanar non- concurrent force Forces on a ladder resting against a wall when a person stands on a rung which is not at its center of gravity ‘Non- coplanar parallel force ‘The weight of benches in class room Non- coplanar concurrent force ‘A tripod carrying camera Non- coplanar non-cancurrent force | Forces acting on moving bus Newton's Laws of Motion First Law: Everybody continues in its state of rest or of uniform motion ina straight line unless it is compelled to change that state by force acting on it. Second Law: The rate of change of momentum of a body is directly proportional to the applied force & it takes place in the direction in which the force acts. dy) Fe (mg) ‘Third Law: For every action, there is an equal and opposite reaction. Principle of Transmissibility of Forces: The state af rest or motion of rigid body is unaltered if a force action on a body is replaced by another force of the same magnitude and direction but acting anywhere on the body along the line of action of applied forces. ™N ™ Parallelogram Law of Forces: if two forces acting simultaneously on a body at a point are represented in magnitude and direction by the two adjacent sides of a parallelogram their resultant represented in magnitude and direction by the diagonal of the parallelogram which passes through the point of intersection of the two sides representing the forces. Equilibrium and Free Body Diagrams Equilibrium: Any system of forces which keeps the body at rest is said to be equilibrium, or when the condition of the body is unaffected even though a number of forces acted upon it, is said to in equilibrium. Laws of Equilibrium + Force Law of Equilfbrium: For any system of forces keeping a body in equilibrium, the algebraic sum of forces, in any direction is zero, ie. 2F = 0 * Moment Law of Equilibrium: For any system of forces keeping a body in equilibrium, the algebraic sum of the moments of all the forces about any point in their plane is zero, ie,IM = 0 aFxd=0 This law is applicable only to coplanar, non-concurrent foree systems. info thegateacademy com OUopyright reserved, W cbsimunarihezaisacadems.nimn z=Nes GATE" Free Body Diagram and Equilibrium Coplanar Concurrent Forces ‘Triangle Law of Forces If two forces acting simultaneously on a body are represented by the sides of triangle taken in order, their resultant is represented by the closing side of the triangle taken in the opposite order. Polygon Law of Forces Pp - BR OD R a Pi P2 my ARB if a number of forces acting at a point be represented in magnitude and direction by the sides of a polygon in order, then the resultant of all these forces may be represented in magnitude and direction by the closing side of the polygon taken in opposite order. oe E Pr [ITT he Resultant, (R) = (PF + By + 2A RicosD Pysind tna = (con) Where, 8 = Angle between two forces, a= Inclination of resultant with force P When forces acting on a body are collinear, their resultant is equal to the algebraic stm of the forces. Lamt’s Theorem: (Only three coplanar concurrent forces) Ifa body is in equilibrium under the action of three forces, then each force is proportional to the sine of the angle between the other two forces. RL mh Sina Sin sinyTHE GATE" I ke Free Body Diagram and Equilibrium Free Body Diagram: A free body diagram is a pictorial representation used to analyze the forces acting on a free body. Once we decide which body or combination of bodies to analyze, we then treat this body or combination as a single body isolated from all our surrounding bodies. A free body diagram shows all contact and non-contact forces acting on the bodies. ‘Sample Free Body Diagrams 600N 600N | w . P P TR A Ladder Resting on Smooth Wall wh F2 FL v v v v A Cantilever Beam LQH of just the Block: ABlock ona Ramp Ina free body diagram all the contacts/supports are replaced by reaction forces which will exert on the structure. A mechanical system comprises of different types of contacts /supports. Tnio@ thegateacademy com ©Copyright eserves, Webaniaa Inecueacaceae cam =THE GATE" Free Body Dia m and Equilibrium ‘Types of Contacts /Supports Following types of mechanical contacts can be found in various structures, + Flexible Cable, Belt, Chain or Rope Weight of Cable Negligible ‘Weight of Cable not Negligible Force exerted by the cable is always a tension away from the body in the direction of the cables. + Smooth Surfaces Contact force is compressive and is normal to the surfaces © Rough Surfaces Rough surfaces are capable of supporting a tangential component F (frictional force as well asa normal component N of the resultant R. N GE F Roller, rocker or ball support transmits a compressive force normal to supporting surface. © Freely lidingGuide nee Collar or slider support force normal to guide only. There is no tangential force as surfaces are considered to be smooth, © Pin Connection Ae A freely hinged pin supports a force in any direction in the plane normal to the axis; usually shown as two components R.and Ry. A pin nat free to turn also supports a couple M. © Built in or Fixed End A. A M; A Weld. A built-in ar fixed end supports an axial force F, a transverse force V, and a bending moment M. nfo thegateacademy.com OCopyrignt reserved, Web Wii INagateicilel.A0mhh THE GATE Free Body Diagram and Equilibrium Coplanar Non-Concurrent Forces ‘Varignon’s Theorem: The algebraic sum of the moments of a system of coplanar forces about a momentum center in their plane is equal to the moment of their resultant forces about the same moment center. Rd = Pudi +P2.de Effect of couple is unchanged if © Couple is rotated through any angle. * Couple is shifted to any position. * The couple is replaced by another pair of forces whose rotated effect is the same © Coupleis free vector. Condition for Body in Equilibrium + The algebraic sum of the components of the forces along each of the three mutually perpendicular direction is zero + The algebraic sum of the components of the moments acting on the body about each of the three mutually perpendicular axis is zero. ‘When a body is in equilibrium, the resultant of all forces acting on it is zero. Thus, the resultant force Rand the resultant couple Mare both zero and we have the equilibrium equations, For non-collinear force system Sq =o. y= 085 Me =0 ‘These requirements are both necessary and sufficient conditions for equilibrium, ‘Two forces can be in equilibrium only if they are equal in magnitude, opposite in direction, and collinear in action. If a system is in equilibrium under the action of three forces, those three forces must be concurrent, info thepateacademy com OCapyright reserved, W eonanruzthsaatsasademy.com 7 |Tks GATE Free Body Diagram and Equilibrium Wrench: When the direction of resultant couple called ‘wrench’. When direction of resultant couple & direction of resultant force is same then it is called “Positive wrench’ and when the direction opposite to each other itis called negative wrench. Example of wrench is screw driver and resultant farce ‘F’ are parallel, then it is ‘Types of Equilibrium ‘There are three types of equilibrium as defined below, Stable Equilibrium: A body isin stable equilibrium ifit returns to its equilibrium position after ithas been displaced slightly. Unstable Equilibrium: A body is in unstable equilibrium if it does not return to its equilibrium position and does not remain in the displaced position after it has been displaced slightly. Neutral Equilibrium: A body is in neutral equilibrium if it stays in the displaced position after if has been displaced slightly. \ ME es Stable Equilibrium Unstable Equilibrium Neutral Equilfbrium Friction Friction is the force resisting the relative motion at solid surfaces, fluid layers and material elements sliding against each other. ‘Types of Friction 1. Dry Friction; Friction between the contact surface. 2. Fluid Friction: Friction between the layers of fluid element, 3. Internal Friction: When cyclic load applied on the solid then, friction between the elements. ‘When applied force is, F And static friction coefficient, w Fux = uN FFa F = N= Friction Farce etic Friction Co-efficient info@thegateacademy com ©Copyright reserved. Webumarucihsgatsacaden.com =Tees GATE Solved examples Example 1 ABCD Is a string suspended from points A and D and carries a weight of 5 N at Band a weight of WN at C The inclination to the vertical of AB and CD are 45° and 30 respectively and angle ABC Is 165’. Find W and thetensions in the different parts of the string. LetT,,,T, and T, be the tensions in the parts AB, BC and CD respectively, as shown in figure. 5N For the equilibrium of point B, we have ZT o_o Lom sin60 sin 135 sin 165 (From ¢ nom) sin6o" _ 5 0.86602 sin 165" 0.25882 sin 135° _ 5 0.70710 T= SSE = Scag TROON For the equilibrium of point , we have h Tr sin 150° sin 120° = 1673 w . Sag (From Lam's theorem) _ (sin 120") _ v3 2_ yo (SBI) = sgeos Sed ansen T, sin 90° 13.66 x1 sinisO OS = 2752N A fine string ABCDE whose extremity A is fixed has weights Ws and W» attached to it at B and € and passes over a smooth pulley at D carrying a weight of 20 N at the free end E. If in the position of equilibrium, BC is horizontal and AB, CD makes angles 60° and 30 respectively with the vertical, find (A) Tensions in the portions AB, BC, CD and DE (B) The value of the weights, W, and W; (©) The pressure on the pulley axis Since the string passes aver a smooth pulley at D, the tension in CD portion of string is 20 N. Let the tension in AB and BClbe T, and T, respectively, as shown in figure. For the equilibrium of point B, we have info@® thegateacademy.com Oa} reserved. Webouunuthesatzacademy.com =THE GATI | kia Free Body Diagram and Equilibrium % Tt, wy sing” sin 120" sin 150 And for the equilibrium of point C, t 20 w sin 150° sin90" sin 120 ws we He WwW, = 20 sin 120" 20 8 17.32N ence, We = 20 XE = 20 x = 47, T = 20 sin 150° 20 te 10N 2 * sin 90° ar ~ sin 90° _ 10 x2 Thus,T, = T, ¥——— = 11.55N sin 120° Ww, = 1, 10 5.77N 4 = bb Son Tao Pressure on the pulley 3 = 20 |2+v3 =386N F = (0)? + (20) +2 20 X20 cos 30° = 20 haand N A beam AB hinged at A and is supported at B by a vertical chord which passes over two frictionless pulleys ¢ and D. If the pulley D carries a vertical load W, find the position x of the load P if the beam is to remain in equilibrium in the horizantal position, [email protected] OCopyright reserved. Webi winwhegateacadeny.com,THE GATE I kaa Free Body Diagram and Equi ‘Solution: From pulley D: ez Taking moments about A wx 0 v xl-pxe 2 P. ‘Example + The wire passing round a telephone pole is horizontal and the two portions attached to the pole are inclined at an angle of 60° to each other. The pole is supported by another wire attached to the middle point of the pole and inclined at 60° to the horizontal. Show that the tension in this wire is 4V3 times that of the telephone wire. ‘Solution: Let the tension in the two portions of the telephone wire be T,each and the tension in another wire be, as shown in figure. Then T=2T,cos 30° = V3T, Let AC= BC Taking moments about B, we get Tx 21 =T, cos 60°x! 2M, xV3K2 =4vi, han oe v3 Talo thegateacademy com Olopyright reservedFree Body Diagram and Equilibrium ‘Two halves of a round homogeneous cylinder is held together by a thread wrapped round the cylinder with two equal weights, P attached to its ends, as shown in figure. The complete cylinder weighs, W Newton. The plane of contact of both af its halves is vertical Determine the minimum value of P for which both halves of the cylinder will be in equilibrium on a horizontal plane. OQ Ww @ ‘Solution: Given the problem as shown in below figure. We draw the free body diagram as follows. Note the following salient points Free Body Diagram In the FBD. * As the question is to find the minimum value of force F on rope for which the two halves just remain in contact, we see that the limiting case is that the two halves are just about to touch. In this case, the two halves rotate about point of contact C. So, the point of contact as acts as revolute joint about which the two semi-circular cylinders rotate and hence has two normal reactions N, & N, as shown in FBD. + Incase ofa halfturn rope (rope which goes around the cylinder just halfa tun around the top half once), to split the two halves as we have to cut the rope once. On cutting the rope, the rope tension force P is exposed once an the top tip each half, which is why itis marked on top. * The left two force, are gravity of each half which is > acting on Center of Gravity of each semi cylindrical half, To calculate the CG location, we know that Jyxda J,da Now, employing polar coordinates and taking a infinitesimal element as shown in figure, we get as fallows. CG. [email protected] Oapyright reserved, Web wars thagateacaaemy.coM =Th THE GATE Free Body Diagram and Equilibrium co, 8 [Ersinordrda $e” _ an _ Avda _ JE ff reose (rdryde eI SA ES (Rraryae PR 3m fda fe [ecearjae (which is clear from symmetry of the body about X axis) x=rsino y=rcosé dA = (rd6)dr x ‘Semi-Cylinder COG Calculation Diagram Now, as the body is to be in static equilibrium in the limiting condition, we get by zero ‘moment sum about point P as follows. (§)(2)+@w - men =o-72= Modification/Extension for Multiple Turns: When the number of turns on the cylinder increases, by physical intuition, clearly, the minimum value of P required to just hold the two halves together must be lesser, right? Let's check if the solution gives this analytically. ‘Assume that the rope turns n fall turns around the cylinder. In this case, when we try to draw FBD of two halves separately, we have to cut the ropes n+ times on top edge of cylinder which means a force of (n+1)P acts on top edge. In addition, we have to cut rope ntimes at bottom edge ie at point C, which means force acting at bettom point is nP. With these modifications, we get the new FBD as follows. Now, (+P (tur FED for the General n Rope Turn Case Wy /4R ‘Again taking moment about point C,we get (5) (=) + (PMR) — ((n + 1)P)(2R) = 0 1_2w =P= x 2n+1 30 Clearly, as number of turns n t=. 1 The minimum force to hold the halves together P 1 Ini info® thegateacacemy com ©Copyright reserved. Webrarins Inesaieasadeang.com =THE GATE I ki Free Body Diagram and Equilibrium Example 6 A smooth circular cylinder of radius 2 m is lying in a triangular groove, one side of which makes an angle of 10° and the other an angle of 30° with the horizontal, as shown in figure, Find the reactions at the surface of contact if there is no friction and the weight of the cylinder is 150.N. Solution: Let R, and R, be the reaction of the 10° and 30° planes respectively. Using Lamis theorem, we get sin 150° =Wo—= sin 40° sin 170° sin 40" 2 1 Example 7 Two smooth spheres of weight, W and radius, r each are in equilibrium in a horizontal channel of width (b<4r) and vertical sides, as shown in figure. Find the three reactions from the sides of the channel which are all smooth. Also find the force exerted by each sphere on the other. Calculate these values ifr = 25 cm, b = 90 em and W = 100 N. info thegateacademy com ©Copyright reserved. Webmsrurthegateacalemy.comFree Body Diagram and Equilibrium Let Ri R2 and R; be the reactions at C, E and D respectively. Also let P be the force exerted by one sphere on the other at the point of contact 0. Then, _b-2r cose = ‘The forces acting at the point Aare (R, — W), R, and P. Using Lami’s theorem, we get R,-W_ R, sin@sin(90° — 6) R,-W sind R, = (Ry —W)cote The forces acting at the point B are W, R, and P. Again using Lami Rz P w Ww. Singer —8) ~ Singer ~ sing’ R# = Weot®: P= SG For r= 25cmandb =90cm 90—(2x25)_ 40 theorem. cos 2x25 50 28 = 36.87° 2 Ry = 100 cot 36.87°= 133.3 N 100 166.66 N 3687" R, =P sin® + W = 166.66 sin36.87° + 100 = 200N 200-100) cot36.87° = 133.33. Example 8 A.uniform wheel of 0.5 m diameter and weighing 1.5 KN rests against a rectangular block 0.2 m hight lying on a horizontal plane, as shown in figure. It is to be pulled over this block by a horizontal force, P applied to the end of a string around the circumference of the wheel. Find the force, Pwhen the wheel is just about to roll over the block. Let W = weight of wheel, Ry = reaction on the wheel at A The three forces P, W and Ra are in equilibrium. Since P and W meet at D, therefore Ra ‘must pass through D. Using Lami's theorem, we have P _ ww Sin(ia0" 6) — sin(90" + 6) info@ thegateacademy.com OCopyright reserved. Web:irii Ihezaleacaaeay conres GAT! Free Body Diagram and Equilibrium P= Woos 8 sing S88 P= Wan AE tane = DE AE = J(AC? = (CEY = (0.25)? = (0.25 = 0.2) = 0.0625 — 0.0025 = 0.06 = 0.245 m tana= 245 0.8165, and = Oy = 0= 39.23" 1,5 X 08165 = 1.225 KN Example 9 Two rollers of weights W, and W, are connected by a flexible string AB, The rollers rest on two mutually perpendicular planes DE and EF, as shown in figure. Find the tension in the string and the angle, @ that it makes with the horizontal when the system is in equilibrium, Take, W, = 60 N, W, = 120 Nanda = 30° Let Ra and Ry be the reaction on the planes at A and B respectively and T the tension in the string AB, These forces are shown in figure, Roller A[Fig (b)] Applying Lam's theorem at A, we have T w, sin(90"+ a) sinf180°=(a+ 6)) T MW a cosa ~ sin(a+ 6)” Roller B [Fig. (c)] T _ Ww, sin(@l60° =a) ~ sin{90° + (a + 8)) TegaTHE GATE" Free Body Diagram and Equilibrium T sina cos(@+ a) -@) Ws cos a Wo sine sin(®+«) = eas (0+ a) = == Ra Tr (90°+ 6 + ay (90°+ a) r We wy (<) (b) a =u -2 30° = 0.866 tan(@ + a) = Gyr cota = 755 x eot30° = 8+ a = 40,895; 8 = 40,89° — 30°= 10.89° Wycosa _ 60cos 30° aT = 79.38N sin(a+ 6) sin 4089" Example 10 Three cables are joined at the junction ring C, Determine the tensions in cables AC and BC caused by the weight af the 30 kg cylinderThess GATE’ Free Body Diagram and Equilibrium in 304.68 x sin 135" = 215.44 N 304.68 x sin 120° = 263.86 N 204.3 N = 21544N ‘Tz = 263.80N Example 11 Solution: ‘The flanged steel cantilever beam with riveted bracket is subjected to the couple and two forces shown and their effect on the design of the attachment at A must be determined, Replace the two forees by an equivalent couple M and resultant force, at A. en F, = 2 cos70 + 1.2cos 36.87° F, 1.644 KN sin 70 — 1.2sin 36,87° 1.1594 kN Felt Fyl 7 R = 1.64414 1.1594) Ma = -[2 cos 70° x 0.15] + [2 sin 70° x 2] + [1.205 36.87 x 0.15] = [1.2sin 36.87 x 1.5] — 05 My = 2.7205 My = 2.22. Nim cew Example 12 Aladder rests at an angle, « to the harizontal, with Its ends resting on a smooth floor and against a smooth vertical wall, the lower end being attached by a string to the junction of the wall andl the floor. (a) Find the tension in the string (b) Find also the tension in the string when a man whose weight ts one-half that of the Inder stands onthe ladder at two-thirds of ts Length TatoanhFree Body Diagram and Equilibrium Let AB be the ladder resting against the wall BC, Let R and $ be the reactions of the floor and wall respectively and T be the tension in the string AC. EMp =O it gives AB R XABCos a =T x (ABsin a) +W x (cos a) w Tsin a + cos @ 2 Reos « IF, = Oitgives R=w w T sin a=W cos a— Fc0s a w T= Foota w When a man of weight stands at D where AD IF, = Oitgives 2 aus then, 3 R=oWw 2 IMy O it gives AB Wok Rx AB cos «= 7 xan « + x (Beare) + (Ye Lancs a) Or R = Tsing + Neos a+ Mead - 2 6 3 w w OrT sina = 5Weos a=Fcosa= Ecos a T ew ZW cat a Example 13 Ajib crane is loaded as shown in figure. Determine the forces in the jib and the tle. info @thegateacademy.com ©Copyright reserved. Webaunn.thegateacademy.com =Tes GATE’ Solution: Using Lami’s theorem at point A, we get wt Tt sin 15° sin 45° sin 61 10 S85 = 10 x 4 x 4 = a7 32kn Sint Vz” 0.25882 ~ “" sin 60° v3 Ty = 10 TS = 10 x Sx Saas = Sak Otherwise, for the equilibrium of point A, EF,= Ogives T, cos 30° = T, x cos 45° 2 IF,=0 gives Ty cos 60° + 10 = Ty cos 45° 1 1 x5t = hx ue mane) oe finen=w Te (0.707 - 0.408) = 10 10 Ta = Qgp9 = 3545KN 2 a= i Example 14 Determine the reactions at the supports for the beam loaded as shown in figure. 33.45 = 27.31 KN Ry EF) =0 gives R, +R, = 500+ 1000 + 500 x 2=2500N Mp = 0 gives R, X6=500 x 4+ 1000 x2+500 x2 x3 2000 + 2000 + 3000 7000 R= = 1166.67 N R, = 2500 — 1166.67 = 1333.33 N, jo@ thegateacademy com ©Copyright reserved. Web:arnoa Inezateacadem).com =nTHE GATE" Free Body Diagram and Equilibrium Example 15 Find the force, P that is capable of pulling the cylinder of figure. Over the block 10 cm QL ‘Solution: 3M. =O gives Weos 30° x (0) — (20) = (P — Wsin 30°) x 20 3 1 100 x > x 22.36= (P10 x 5) x20 1936 = 20P - 1000 936 P= so = 46.8N ‘Example 16 A uniform wheel 60 cm in diameter rests against a rigid rectangular block 15 cm thick in figure. Find the least pull through the centre of the wheel to just turn the wheel over the comer of the block. All surfaces are smooth, Find the reaction of the block. The wheel weighs 10 KN. 10 kN ‘Solution: Let R be the reaction at A between the wheel and rectangular block and O be angle which the pull P makes with R. Now (Ac)? = (0a)? - (oc = (30)? - (30 — 15)? = 900 - 225 = 675 AC = 25.98 cm info thogateacademy com OCopyright reserved. Web- iin MhegaleacadeaycamTHE GATE’ I ka Free Body Diag AD=AOsin © = 30sin 6 Taking moments about A, we get 10x CAP XDA 25.98 _ 8.66 30sin@ sind m and Equilibrium P=10x P will be least when sin @ ismaximum, L.e.,6 = 90° P = 866kN Now _ oc 15 eos AOC = GF = 55H 05 ZA0C = 60° 10 Resolving along R, we get; R = 10 cos AOC = 10cos60°= =) SRN Example 17 A cylinder of diameter 1 m weighing 1kN and another block weighing 500 N are supported by a beam of length 7 m weighing 250.N with the help of a cord as shown in figure. If the surface of contact are frictionless, determine the tension in the cord NE Solution: R Sv sin90° 135° sin 135° R= 1000V2 = 1414N 5 = 1000N 135% From 4 OAE 135% s ‘90° os tan (22.5) = 55 Taking moment at A a000K (7) = R(AI) + 250 x 35 x cos 45 + 500 x 7 cas 45° TH4a2114N ST cainfo@thogateacademy-com ©copyright reserved, Webwic hegateaciiems.com =e