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Lecture 2_09_Jan

Uploaded by

abhaythenoone1230301
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Mechanics of Solids

Lecture 2
By
Dr. Gaurav Tiwari
Assistant Professor
Civil Engineering Department, IIT Kanpur
Conditions for Equilibrium - For a Particle
⮚A particle is in the state of equilibrium if the resultant force is zero and the acceleration is zero.
⮚Zero acceleration implies:
▪ Constant velocity
▪ Zero velocity – we deal most frequently
➢ The study of forces in systems at rest is called statics.

For Equilibrium:
𝟓

𝑹 = ෍ 𝑭𝒊 = 𝑭𝟏 + 𝑭𝟐 + 𝑭𝟑 + 𝑭𝟒 + 𝑭𝟓 = 𝟎
𝒊=𝟏
In general,
𝒏

𝑹 = ෍ 𝑭 𝒊 = 𝑭𝟏 + 𝑭𝟐 + ⋯ + 𝑭𝒏 = 𝟎
𝒊=𝟏

Necessary and sufficient condition: Moment equilibrium is


automatically satisfied as the vector sum of forces is zero
Conditions for Equilibrium - For a Solid Body
⮚The condition of equilibrium of particle could be extended to the solid body (which is a collection of
these particles)
⮚The solid body is made of large number of infinitesimal particles
⮚Such a system remains in equilibrium if every constituent particle is in equilibrium
⮚Consider an isolated system of particles showing external and internal forces

External forces on this sub-system due to particles


outside this system/any other reason
Internal forces represent interactions with other
particles in the system (equal and opposite forces with same
line of action)

For particle 1 to be in equilibrium in M particle system:


𝑴−𝟏
𝑰
෍ 𝑭𝒊 𝟏 + 𝑭𝑬𝟏 = 𝟎
𝒊=𝟏
For jth particle,
𝑴−𝟏
𝑰𝒋
෍ 𝑭𝒊 + 𝑭𝑬𝒋 = 𝟎
𝒊=𝟏
Conditions for Equilibrium - For a Solid Body
⮚Considering the system equilibrium (i.e., as all particles are in equilibrium)
0
𝑴 𝑴−𝟏 𝑴 𝑴
𝑰𝒋
෍෍ 𝑭𝒊 + ෍ 𝑭𝑬𝒋 = 𝟎 ⇒ ෍ 𝑭𝑬𝒋 = 𝟎 … … (𝟏)
𝒋=𝟏 𝒊=𝟏 𝒋=𝟏 𝒋=𝟏

Self cancelling pairs

⮚For the equilibrium of an isolated system of particles, the vector sum of all external forces should
be zero
⮚Similarly, considering the moment about an arbitrary point ‘O’
0
𝑴 𝑴−𝟏 𝑴 𝑴
𝑰𝒋
෍෍ 𝒓 𝒋 × 𝑭𝒊 + ෍ 𝒓𝒋 × 𝑭𝑬𝒋 = 𝟎 ⇒ ෍ 𝒓𝒋 × 𝑭𝑬𝒋 = 𝟎 … . . (𝟐)
𝒋=𝟏 𝒊=𝟏 𝒋=𝟏 𝒋=𝟏

Same line of action

⮚For the equilibrium of an isolated system of particles, the total moment of all external forces about
an arbitrary point should be zero
⮚However, these conditions, i.e., (σ 𝑭 = 𝟎; σ 𝑴𝒐 = 𝟎; ) are necessary but not sufficient
Conditions for Equilibrium - For a Solid Body
⮚Why not sufficient?
⮚Consider a system of two particles acted upon by an equilibrium set of external forces, i.e. 𝑭 and −𝑭

⮚The internal forces (𝑭𝒊 ) are also an equilibrium set

⮚The particles will be in equilibrium only when 𝑭 = 𝑭𝒊


⮚The example is of rubber band: Apply same force along rubber ends, still rubber stretches
⮚However, this does not happen with some objects like duster, steel rod (at least upto significantly
higher forces)
➢ Perfectly rigid objects (no pair of particles could separate) could adjust these internal forces
automatically

Stretching of a rubber band


Conditions for Equilibrium - For a Solid Body
⮚For Rigid Bodies: The necessary and sufficient conditions for a perfectly rigid body to be in equilibrium
are that the sum of all the external forces should be zero and the sum of all the moments of all the
external forces about an arbitrary point together with any external applied moments should be zero
⮚For Deformable Bodies: The necessary and sufficient conditions for a deformable body to be in
equilibrium are that the sum of all the external forces should be zero and the sum of all the moments of
all the external forces about an arbitrary point together with any external applied moments should be
zero on the body and on every possible subpart isolated from the body.

Force Equilibrium: σ 𝑭 = 𝟎 ⇒ σ 𝑭𝒙 = 𝟎 ; σ 𝑭𝒚 = 𝟎 ; σ 𝑭𝒁 = 𝟎

Moment Equilibrium: σ 𝑴𝒐 = 𝟎 ⇒ σ 𝑴𝒙 = 𝟎 ; σ 𝑴𝒚 = 𝟎 ; σ 𝑴𝒛 = 𝟎

Equations of Equilibrium
Conditions for Equilibrium – Two Force Member

➢ A body under the action of 2 forces can be in equilibrium iff they are collinear, equal and
opposite

Conditions for Equilibrium – Three Force Member


➢ A body under the action of 3 forces can be in equilibrium if they are co-planar and their
lines of action intersect at a common point
Free Body Diagram (FBD)
⮚Statically Determinate Systems: For certain systems, it is possible to determine all the forces involved
by using the equilibrium requirements.
⮚The analysis involves:
▪ Selection of appropriate system – what system and accuracy?
▪ Idealisation of their characteristics – e.g. replacement of supports by reactive forces/moments
▪ Study of forces
▪ Use of equilibrium conditions to estimate unknown forces
➢ Free Body Diagram (FBD): The sketch of the isolated system and all the external forces acting on it.
➢ Steps to construct FBD:
▪ Draw a reasonably careful sketch of the periphery of the isolated sub-system
▪ Show all external forces/moments acting: Forces acting from a distance (gravity) and forces acting
through direct contact along complete periphery of the sub-system. These forces could also come in
terms of reaction forces/moments often used to represent supports in the system (To be discussed!).
Free Body Diagram (FBD)
➢ Block pushed horizontally on a frictionless surface and restrained by a frictionless rigid wall

All contact forces (due to hand and


Equal and opposite wall) and non-contact forces (gravity)
Support and Connections for Structures
⮚ Structural systems transfer their loading through a series of elements to the ground.

⮚ This is accomplished by designing the joining of the elements at their intersections.

⮚ Each connection is designed so that it can transfer, or support, a specific type of load or loading

condition.
⮚ In order to be able to analyze a structure, it is first necessary to know about the forces that can be

resisted, and transferred, at each level of support throughout the structure.


⮚ The actual behaviour of a support or connection can be quite complicated. For the analysis

purpose, they are idealized and replaced by equivalent forces/moments for the analysis.
⮚ There are different types of support/connections generally used in different structures for different

structural reasons.
Types of Support
⮚ Four types of connections which join a built structure to its foundation are:
▪ Roller:
✔ Roller supports are free to rotate and translate along the surface upon which the roller rests.
✔ The surface can be horizontal, vertical, or sloped at any angle.
✔ Eg: Roller supports are commonly located at one end of long bridges. This allows bridge structure to expand and
contract with temperature changes. Expansion forces could fracture if the bridge structure was "locked" in place.

✔ Representation:

✔ Idealization: The support is idealized by an equivalent Reactions Forces (Friction and Mass ignored). The reaction force
is always a single force that is perpendicular to, and away from, the surface as shown below.
Types of Support
➢ Pinned:
✔ Pinned supports make structures free to rotate and do not translate along the surface
✔ A pinned connection could allow rotation in only one direction; providing resistance to rotation in any other
direction.
✔ Eg: Human knee; Every time a hinged door is pushed open a pinned connection has allowed rotation around a
distinct axis; and prevented translation in two. The door hinge prevents vertical and horizontal translation

✔ Representation:

✔ Idealization: The reaction forces include both horizontal and vertical forces.
Types of Support
➢ Fixed/Rigid Support:
✔ Fixed supports can resist vertical and horizontal forces as well as a moment.
✔ Since they restrain both rotation and translation, they are also known as rigid supports.
✔ E.g.: Railway girders or beams along some structures

✔ Representation:

✔ Idealization: The reaction forces include horizontal force, vertical force and a moment.
Other Idealizations for Analysis

Frictionless surface – contact force normal to


surface

Surface with friction – contact force


normal and tangential to surface

A weightless flexible string or cable – Transmits


force along its length; If string passes over
frictionless peg or pulley, the direction of force in
the string is altered but magnitude remains same.
Truss - Introduction
⮚Truss: Structure of connected slender light weight members which are designed to carry axial loads
⮚Plane Truss: A truss consisting of a co-planar system of members
⮚The external loads must be applied at the joints (idealisation for simplified analysis)
⮚Truss members are 2-force members with both ends pinned/hinged and carrying no load in between
(weights are neglected)
➢ Two force principle: These elements can only have two forces acting upon them at their hinges. If
only two forces act on a body that is in equilibrium, then they must be equal in magnitude, co-linear
and opposite in sense.

2- force members (tensile or compressive)

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