Chapter 1 General principles

learning objectives
:

· State newtons law of motion -

> mid state in own words

Reveiw the principles of St units

applying
· General guid for problem solving

Newton's laws of motion :

1 :
A particle at rest or
moving in a straight line with constant velocity tend to remain in equilibrium
state as long it's not subjected to unbalanced forces.
3 tis ·
object at rest stays at
rese
equilibrium #
T
F3
·
object in motion keeps
moving

2nd F ma , a particle acted upon with an unbalanced force experiences an acceleration

that has the same direction of the force and magnitude that is directly proportional to the force
F
>
>
- -

3rd Mutual force of action and reaction between two particles are equal, opposite ,
and colinear.

A b
-

- - - FB
↓
force of force of B
A on B on A
Units :

Name length time mass force

SI meters Seconds Newtons

(semetric) kg

IP feet seconds Pounds

lus customary SingF/
A newton is derived from Fima "I newton - a force required to give lkg of mass an

acceleration of 1 M/s "N =

K.
For
"

keg to weight N W 9 81 M/s earth

mass
my on
=
g
= .
Engineering problem Solving :

General procedure:

1 Read the
.
problem throughly
2 Draw enough
.

diagram that fully shows our

understanding of the system.
.
3 Apply the relevant principles
4 Show the
.

necessary equations -
> Solve > show
- results with 3 sig figs
.
5 Judge solution critically to determine if it's reasonable.

Chapter 2 : Force vectors

learning objectives :

1. Add and resolve forces using the parallelogram law

.
2 Express force and position in cartesion vector from
. Review dot product to find the angle between two vectors and to calculate projections
3

Scalars and vectors :

Scalar : physical quantity (1) Specified by it's magnitude

Vector : physical quantity expressed by both a magnitude and direction

--- Y line of action

...... ditionmagnitude

Vector operations :

Scale vectors

f
&
Add vectors : R =
A+
3
Paralelogram rule
s
BX
F
Triangle rule R AtB
:
= = B+

=
is E R
-
Est

VectorSubtraction:

R =_
R =+ ()
i
-
>
-
B

Vectors and forces :

why talk about vectors

>
-
Forces have both magnitude + direction so vectors are a great way to represent them

·
"Insertpic" Fr (FrF2) F2
:

-
(fz + () + Fz

ex :
En Fr F += +73
=

-
( F2) Es
+ +

Firfe
-

F
ex : 2 1 text book
.
A B

what is the resultant force? > ba(

C
Y

· room * The law of sin

10

G J2ABcose law of cas

8 X

0 = 90 -
15 10-
=
650

Find magnitude of Fr:

law of cos

Fr: JF
27 F2(OS(115) ,

-
To 1502 2000
I So cos(IIS)
+ -
=
213 N

law of Sin
-

-213

/B &

A Fi =
E
0 = 39 66040
SinD
150 sin (115)
= = .

0 =
0 + 15 = 55

Answer :
Fr = 213N measured

550 from horizontal

Addition of Coplanar forces :

we can deconstruct any force into Scalar functions

· Fy FsinG
F(b)
=

Fy =

cartesion Vector notation

Y

· !
↑

What about when we have multiple forces to add ?

F Exi + Fy
5)
=

F2-Faxi + Ezyj
F3
Faxi-Ey
-

>
=

F3

Fr y
= + F + -
-
(xi + (yi) (faxi Fzyj) (f3xY Fzy)
-
+ + -

=>
(fx -F2x f3x) + (fy + Fay Fay)"
+

(Fr) (Fr)y

Fr y tant
:
ex : Find the resultant (5) from F and
↑
Y

Ento- so
book (30)
600sin
-
F
:

Fy +

-
300cos
X- F2 =
400N
Fay :

400 coscu
F2x400sin(45)

Scalar notation :

(frx = [Fx =
fix =

F2x =
600cos (30) -

400 sin (45) = 237 N-

(FR)y Efy = =
Fy + Fay :
600sin (30) + 400C0S(43) =
583NI

I Fr = J
T237)" (583)" + =
629N

tant-FR8
Cartesion Vector :

↑ = 600 cos(38) + 600 sin (30 =

- = 400 Sin (45)i + 400cos(45) =

Fr =
y+T
- (600 10s(30) -

400 sin(4s)]2 [600sin (30) + 400cos(4s)]i

+ = 237-2 + 583]

Carlesion Vector :

Follow the right wond ran

sy
·
coordinate

- I' + Tz A Ex + ty =

magnitude It =1.
A +A :

1 =x Ay + Az +

cartesion :: Axi + Ay + At
 coordinate direction angles :
Z
Direction cosines :

i
cos2 =

CosB
=
coso-
cos2 + cos" B + 2050 = 1

Addition of 3D Cartesion vectors :

E Axi + Ay + Azl
=

Byy + Bzπ
-

13 =
Bxi +
-

R =
A+ 13
=
(Ax+ Bx)i + (Ay + By)j + (Az+ Bz)i

=
[fx + [fy[fzi

Position vectors :

A position vector
asbeingdefined by two points. P(xyz) and P(Xy z)ofPorR is (0,0
,

#
&
 Dot product : "Scalar product"
-

T
EE .
=
ABCUSO

laws of operations :

· TB.
= BI .

· a (t B) (a* ) (B) 1 (a)

.
=
.
=
.

·. (B) ( 5)+ ( 5) =
. .

Applications :

· Find angle between vectors

Cost
=
=

(A
-
-
-
·
Axi
(Bx + By + Bzk) .

-
AxAx +
AyBy + AzBz

·
Finding components of a vector that are 11 orI to a line

·
-I Dia
= Acosta

three examples i
 Chapter 3 : Equilibrium of a particle

learning Objectives :

· Introduce free body diagrams

·

Apply the equations of equilibrium to solve particle equilibrium problems.

What is Equilibrium ?
· A particle is in equilibrium if it remains at rest (if it's
originally at rest) or has constant

velocity (if it's originally was in motion) .

conditions for the equilibrium of a particle :

·
[F = 0 equation of equilibrium.
> Follows
- newton first law
>
- follows newtonSecond lawma = o
,
a = 0

Free body diagrams : "FID"

·
FISD's show a particle that is isolated "free" from it's surroundings and it shows all of the
forces acting on that particle

Springs :

-
E FXS

where I is the stifness (spring constant

E-frictionless
cables +
pulleys: pucly
· cables can
only
Support a pulling
(tensile) Force & ↓
T
T
 :
T
Smooth contact

% N equilibrium =
Sum of Forces = o

Process for drawing FBD's

free from it's
· Draw the outlined Shape
Surroundings
Show all Forces
·
, both active and reactive

Identify
· the forces and label them

-
exto-weight -
TA

& -
Tis

Ibis
of 10kN
A
ex :
3 3 .
Ropes Al and AC CanSupport Force Al always remains horizontal.
a net

Determine the smallest angle (8) to which the 200kg cable can be
-j Suspended before of the ropes fail.
-
one

·
hand
-

-------
>
-

Step 1 : Draw FBD

y +4

# Foa
0(
>
-

20019
81
.
↓ FB
* -
+

En =

>
1962 N
-

Skep 2 Apply Equilibrium Equation

:

[T = 0 -> [Ex =
>

[fy =

[Fx =
-

FeCUSA + fi = 0- -

10cs (11 3) +Fi

.
= 0-
Fi 9 81kN
=
. < 10kN break
>
-

[fy = Fusin8-1962N = 0 -
> 10Sint-1 962kN .
= 0 -8 11 30
=
.

let Fc 10kN condition at faliure

=
 Coplanar Force systems :

·
when forces lie in the xy plane we can resolve those forces into it's xy components

F2
fi [T 0 [ [Fy
Af
= =

[FX =
0

[fy =
0

Y
Be precise with signs !
- -

& = 10kN
-
T10kN
to -
-
>

·
I
Determine the required length of Lord AC So that the
8 kg
lamp can be suspended. The unstrecked ength of Spring AB
B is
AB
=
0 4m
.
. And the Spring has stifness Kar =
Soon /m

y
Step 1 :
FBD

Taco X- +

A
↓ w= 8kg(9 81) .
=
78 3N.

Step 2 Equilibrium equs

:

[ = 0 =
TAB-TacCos (30) >
-
TAB = 135 9 N
C

e
.

-
-

[fy = 0 =
TacSin(30) -
74 5 .

Tac = 157 N CAB0

Step 3 :
un
=
S

Spring eq : F =
I
LAB

TAB 300 2m Patfac(OS(30)

=
=

135 9 .
=

N Ses
300 = 0 . 453 M lac = 1 32m
.

e lots
= = (0 4) + .
0 .
453 =
0 .
853m
AB
Problem 3 1 .
:

Step1 :
FID

FAB
wessolbed ,
Step 2 equilibrium eg
:

[Fx = 03
-

Fa(os(30) + fr(t) = 0 -
f fa(oS(30)
= ·

E
[F =
FaSin (30) +c (3) -
550 0
=

FabSin(30) + (Fai (OS (30) ·

&) 3-550
· = o

FX 1 14-550
.
FAB =50 FAB 482 4 .

Fac = 482 4 (os(30)

. (5) =
Fac-S22lb
Problem 3 2

&
.

TA
/te
&
W

Step 2 :

EFy = 0

1500 SinD -700 => 0 27 8

=
.
Problem 3 3
.

Tna
Step 1 FIBD :

sm

↓0 g . 2 8 = 49N
.

CD = 0 .
15 m

AB = 0 .
4 m

BD =
0 2 m .

fant-(5) =
30 .

[Fy = 2TSint-WT
=4
[FX = 0 Tc COSE-TALOSO-COSE-COSO
0=

34

-
Problem .
:

1 FBD :

3
[FX = 0

Efy = 0

3 Spring equation
 Chapter 4 : Force System resultant

learning objectives :

·
Introduce the concept of moments and find the moment of a force about a specified axis

·
Define the moment of a couple
·
find the resultant effect of non-concourent force systems.

Moment of a Force -
Scalar formulation :

-when a force is applied to a

body it will produce a
tendency for the body to rotate

about a point that is not in the line of action of the force

-
we can the resultant a "moment"

- Mo Mo
. is a vector quantity
-

/
Follow the right hand rule for direction of the moment
=
·

&

.
0 >
- As shown Mo is a positive quantity about the verticle axis
& T
37
-

The magnitude of Mo is the Force scaled by the perpendicular distance to the axis at point
o Mo =
Fd
-
Postive vs negative moments :
-

Mo Mo
- >
-
clockwise moments - negative
&

[ &
Ca clockwise moments= positive
d - counter

di
A
S
= ·

Moxo >
-

Moso

Resultant Moments :
(MR)o EMo
i
=

F ↓+ (Mr)o Fidi-Eadz = + Fad

Y
-de
⑧
Just like Forces moments can be added to find their resultant

is
d3

↑
F3 -
2
Principle of Moments (Varignon's theorem) :

-
The moment of a force about a point is equal to the Sum of moments of the components
of the force about the point

e
Mo =
Fd

Mo =

Fxy
+
Fyx
O
01
X

Determine the moment of the force

exten
about poin o

Solution I : Use trigonometry

Mo =
Fd Sin
-
(5 kn)(3sin (75)) d

14 3kN 14 5kN -m
-my
= -

. = .

force intox andy components

Som deco 3
=x f(us(30

Fy
Mo
=

=
+ 45)

f(oc(15)
=
Fx(0) +
= FSin (75)

Fy(r)
=
Esin (75)(3) = 14 5
. kN-md

Fx = 11

Fy +
=
Solution # :
decomposing into
X-y components
3COS(30)
Y-X X

if↑ sins
=

&
Mo-Fay y
Scos(45) (3 sin (30)) + 5 Sin (45) (3(0s(30))
=

=
14 5
.

kN-mJ

Problem 4 / .

a) /o
Mo =
fd =
100x2 = 200 N-m

4)
# Dim
blc perpendian a
choose this
one
-

Mo = Fd =
50 x 0 . 75 =
37 5 .
N-mL
X+

9 holb

a) .

/Sins
Mo =
-60 Sin (45) = 42 4.

N-mP

e)
Mo 7kn =
(4-1) =
21 kN-m
Cross product :

·
5 = X
O
Magnitude :

12 = 11/15/Sin O
Direction :

C+

↑
- alAXB) a xE Ex as
= =

x (55 + 5) Axi + AXXD

-
=

cartesion rector
X Ye & x* =
formulation
=
Y
:

L
;
an L
(X( =
-
j
A A

(X) = 0

Ax5 =

Ayy + AzY) + (BxY + Byj + Bzk)

(Axi +

(n)(ixi) + AxBy((xj) AzBz(YX() + AyBx([xi) + AyBy(Yxj)

-

E
+

+
AyBz((XY) + AzBx(kxj) + AzBy((xj) AzBz(X)
-
(AyBz-AzBy)Y (AxBzAzBx)y (AxBy- AyBx) -

iii
=

I Ax

Bx
1y

By
Az

Be
I
 Force-vector formulation
Moment of a

Mo EXF =
where t is a position vector from 0 to
any point on the line of action of J
.

i
Magnitude Mo -FSinD
do
: =

=
F(rsinG)
=
Fd
d VSinG
=

i
Direction :

RHR
Ide
Principle of
transmissability :

Mo = xF =zXJ zx
-
=

Mo
O
↑

·
cartesion vector formulation

:I
:

- Mot
ry
·
O
X
Y
O

X
&
Resultant moment from a
system of forces :

(Mr)o =
[([xj) = x +2x7 +3x %
-

=
rX F
-
(MR) o

eL
X

Principles of Moments :

Mos = x(π + Fz)

=xF + X Fz
-

O
&

ex : Fundamental (F4-11) B
Mo = xY
- xT = xY FBC =
OL-OB
-

r = Si = 15 , 0 , 03 >
- = (5 , 0 , 0
=
< 1 4 2)
, ,

n
Define :
Blch2 (4 , 2)
=
4,
-
-

t =
36 =
6
=

-(4 , -41-2)

--
= 120 Y B 802-805-40%
=

/
SolveMo :
Mo-rix =

:
2005 - book
 Moments of a couple :

-
A couple is defined as two parallel forces that have the magnitude but opposite direction
and are separated by a perpendicular distanced

>
-
F

↑
-
>
Y

-
&

&

The moment produced by the couple we call a "couple moment"

Bro
free vector (it can point)
F
-
A couple moment is a act on
any . Since M only depends on ,
(position vector) between the forces.

SoON
Replace the Force and couple system by or equivalent resultant force
zon and Couple moment
1 Sum
.
the forces

> . Sum the moments

2
200 N

1 .
- [fx =
-200 + 200
3(500)
+ =
300N-
+ ↑ [Fy =
-

750 +
1(500) =
350Nd

9 .
4
 Fe FX
.
2
↓ (Mr) 0 = 750 (1 25)
-

.
+
500) (2 5).
-
500 (3)(1) + 20011)
-
=
37 5 Nm
.

ouG
Chapter 5 :
Equilibrium of a Rigid body

(h)
O
-

rignonit

learning objectives :

·
Develope equations of equilibrium
·
Drawing FBD's
Solve rigid body equilibrium problems in 2D and 3D

conditions for rigid-body equilibrium :

En

·
↑
-

↓
E
-
we car reduce all forces and couple momentsSystem to a resultant force and resultant couple

at any pointO either on or of the rigid body

.
Fr Fr [F=
>

·
If (Mor and both equal hero the
body is equilibrium =

(MR [Mo-:

·
key assumption for rigid:
bodies we assume that there is no deformation

· Equilibrium in 2D -
> working
 8
free body diagrams :
·
Support reactions either :

1. prevent the translation

a body for a force

ofo
.
2
prevent rotation of a body from a couple moment

Rover Support :

3 +

]2
Pin Support : T

#
Fixed Support :

#
Internal forces :

all the components and particles within a rigid body will lover on another out blo
>
-
e-
of newtons 3 la.
w
-F

u
we ignore them for rigid body problems

weight and Center of gravity

&
fos Ch9 willexplore
Idealized Model :

&
A ///

Process for drawing FBD's :

· Draw the outline shape of the body by "cutting" it from constraint and connection.Remove all Supports
and replace with reaction forces
· Show all Forces + couple moments , show all known and unkown eternal forces + couple moment
>
-
applied loadings
> reactions at support
-
>
- of the
weight
body

·
Identify loading and give directions
>
- + direction
magnitude
>
-
dimensions
> clear
-
naming sheeve
·
&

A
&

Ni
Na
Nis

equilibrium
[Fx = 0
t
EFyo
ex :
57 . Determine the horizontal and vertical reactions at point A .

FBD : 80 Nim

i real
Lom
3m)(80Nm)
.
= b

.
Apply Eg Ea's
3 FX = 0

[fy = o

&Mo = o
>
-
[Ma =
o
* ( - 90) -

(60)(1) + NB(075) + Ax05) + AyX S)

. .

NB =
200 N

[Fyto Ay -60-2000s (30)

- = o

233N
Ay =

[fy + 0 >
- Ax-200Sin (0) = o

Ax 100 N =

Soolb
FBD 6001b 76

i
.

By
Ay

[Ma = 0 360o(s) + By (10) -

500()(10) = 0

By = 200 lb

[Fx = 0 Ax-50o() = o

A 3001b
=

[fy = 0 >
-
Ay